UNIT 4

1) Explain the ward-Leonard method of speed control in DC shunt motor? (AU/NOV-2015)

(AU/APR-2015)(8M) (AU/NOV-2014) (AU/APR-2014) (AU/APR-2013) (AU/NOV-2012)
(AU/APR-2011) (12M)
 In this scheme, both field and armature control are integrated as shown in figure. Arrangement for field
control is rather simple. One has to simply connect an appropriate rheostat in the field circuit for this
purpose. However, in the pre power electronic era, obtaining a variable d.c supply was not easy and a
separately excited d.c generator was used to supply the motor armature.
 Obviously to run this generator, a prime mover is required. A 3-phase induction motor is used as the
prime mover which is supplied from a 3-phase supply. By controlling the field current of the generator,
the generated emf, hence Va can be varied.
 The potential divider connection uses two rheostats in parallel to facilitate reversal of generator field
current. First the induction motor is started with generator field current zero (by adjusting the jockey
positions of the rheostats). Field supply of the motor is switched on with motor field rheostat set to zero.
 The applied voltage to the motor Va, can now be gradually increased to the rated value by slowly
increasing the generator field current. In this scheme, no starter is required for the d.c motor as the
applied voltage to the armature is gradually increased. To control the speed of the d.c motor below base
speed by armature voltage, excitation of the d.c generator is varied, while to control the speed above
base speed field current of the d.c motor is varied maintaining constant Va.

 Reversal of direction of rotation of the motor can be obtained by adjusting jockeys of the generator
field rheostats.
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 Although, wide range smooth speed control is achieved, the cost involved is rather high as we
require one additional d.c generator and a 3-phase induction motor of similar rating as that of the d.c
motor whose speed is intended to be controlled.
 In present day, variable d.c supply can easily be obtained from a.c supply by using controlled
rectifiers thus avoiding the use of additional induction motor and generator set to implement Ward
Leonard method.
Advantages:
(1)Full forward and reverse speed can be achieved.
(2)A wide range of speed control is possible
(3)Power is automatically regenerated to the ac line through the M.G set when speed is reduced.
(4)Short-time overload capacity is large
(5)The armature current of the motor is smooth.

Disadvantages:

(1)High initial cost

(2)The overall efficiency is low, less than 80% because of an additional M.G.set.
(3)Costly foundation and a large amount of space is required.
(4)The drive produces noise.
(5)It requires frequent maintenance.
2) Explain the voltage control strategies employed in DC chopper drives. (8M)
The average output voltage can be controlled through α by opening and closing the
semiconductor switch periodically. The various control strategies for varying duty cycle α or ζ
are as follows.
1. Time ratio control method (TRC)
2. Current limit control method (CLC)
By changing duty cycle, the motor speed also changes.

(I)Time ratio control method:

𝑇𝑂𝑁
In the time ratio control, the value of , is varied. This is effected in two ways.
𝑇

(i) Constant frequency system

(ii) Variable frequency system
(i) Constant frequency system:
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In this control method the on time TON is varied but chopping frequency ( or chopping
period T) is kept constant. The width of the pulse is varied and this type of control is known as
pulse width modulation (PWM)

Principle of pulse- width modulation (constant T)

Therefore output voltage V0 can be varied between zero to source voltage Vs. the constant
frequency control gives low ripple and requires smaller size of filter and has fast response. Thus
this scheme is preferred for chopper drives.
(ii)Variable frequency system:
In this control method, the chopping frequency f ( or chopping period T) is varied and either
(i) On- time TON is kept constant
(ii)Off- time toff is kept constant
This method of controlling duty cycle α is called frequency modulation scheme.
Frequency modulation scheme has some disadvantages as compared to pulse width modulation
scheme
(1)The chopping frequency has to be varied over a wide range for the control of output voltage
in frequency modulation. The filter design is very difficult for wide range of frequency variation
(2)This type of control would generate harmonics at unpredictable frequencies ehich would
produce interference with signalling and telephone lines
(3)The large off-time in FM scheme may make the load current discontinuous which is
undesirable.

(II) Current limit control (CLC)

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Current limit control

In this control strategy, the on and off of chopper circuit is decided by the previous set value of
load current. The two set values are maximum load current and minimum load current. When the load
current reaches the upper limit, chopper is switched off. When the load current falls below lower limit,
the chopper is switched on. Switching frequency of chopper can be controlled by setting maximum and
minimum level of current. Current limit control involves feedback loop, the trigger circuit for the
chopper is therefore more complex. PWM technique is the commonly chosen control strategy for the
power control in chopper circuit.

3) Explain the single phase half wave converter drive speed control for dc drive with waveforms.
(AU/APR-2015)

Single phase half-wave controlled rectifier drive

Assume armature current Ia is constant. Here, the motor is separately excited DC motor.
Motor is operated from single phase half wave controlled rectifier. Motor field winding is fed
through separate DC source.
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During the positive half cycle SCR T is forward biased. At 𝜔𝑡 = 𝛼, SCR T is triggered and comes to
the on state. Then the positive voltage is fed to the motor.
At 𝜔𝑡 = 𝜋, freewheeling diode comes to forward biased and SCR comes to the off state, because of
reverse voltage.
During the negative half cycle , SCR T is off state , and freewheeling diode conducts upto 2𝜋 + 𝛼
𝛼 𝑡𝑜 𝜋 − 𝑇 𝑜𝑛
𝜋 𝑡𝑜 2𝜋 + 𝛼 − 𝐹𝐷 𝑜𝑛
During the period, Π to 2Π+α , current is positive but output voltage is zero because of closed path
(FD-motor-FD)

Input and output waveform of this converter

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For single phase half wave controlled rectifier, average output voltage of converter V0= armature
terminal voltage Va
1 𝜋
𝑉0 = ∫ 𝑉 𝑑(𝜔𝑡)
2𝜋 𝛼 𝑆

1 𝜋
= ∫ 𝑉 𝑠𝑖𝑛𝜔𝑡 𝑑(𝜔𝑡)
2𝜋 𝛼 𝑚
𝑉𝑚
𝑉0 = (1 + cos 𝛼) for 0<α<Π
2𝜋

Where Vm= maximum value of input voltage =√2𝑉𝑠

α= delay angle
 Here by varying the firing or delay angle α, the output voltage can be varied.
 This variable voltage fed to the motor, then the motor speed can be changed.

One quadrant drive

 It is the one quadrant drive, because the output voltage and current is always positive.

4) With diagram describe working of single phase fully controlled rectifier drive (AU/APR-2014)
(16M)
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Single phase fully controlled rectifier

 Assume armature current Ia is constant. Here, the load is DC motor. Full converter consists of 4
SCR and load.
 During positive half cycle (o to Π) SCR T1 AND T2 are forward biased.
 At ωt= α, SCR T1 and T2 are triggered and comes to on state. These two SCR’s conducts upto Π+
α. During the period (α to Π+ α) SCR T1 and T2 are ON state.
 At ωt= Π+ α, SCR T3,T4 are triggered. And SCR T1 and T2 comes to OFF state.
 Now SCR T3 and T4 conducts upto 2 Π+ α.
Average output voltage 𝑉𝑎 = 𝑉0
1 𝜋+𝛼
𝑉0 = ∫ 𝑉𝑆 𝑑(𝜔𝑡)
𝜋 𝛼
1 𝜋+𝛼
= ∫ 𝑉𝑚 𝑠𝑖𝑛𝜔𝑡 𝑑(𝜔𝑡)
𝜋 𝛼
𝑉𝑚
𝑉0 = cos 𝛼
2𝜋

2𝑉𝑚
For firing angle 𝛼 = 0°; 𝑉𝑎 = 𝜋

α = 90°; 𝑉𝑎 = 0

α = 180°; 𝑉𝑎= −2𝑉𝑚

𝜋

from the above equation, by changing the firing from 0°𝑡𝑜 90°; we can get positive output voltage
and 90° to180° we can get negative output voltage.

Figure 1:Two quadrent converter

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From figure 1, the full converter is also called two quadrant converter. It means, the average output
voltage is either positive or negative but output current is always positive.

INPUT AND OUTPUT WAVEFORM OF THE CONVERTER

5) Explain the speed control of a DC shunt motor using three-phase fully controlled rectifiers.
(AU/NOV-2014) (16M)

Three phase full converters are used industrial applications up to 1500 kw drives. It is a two
quadrant conveter.i.e. The average output voltage is either positive or negative but average output
current is always positive.
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Power circuit diagram of 3-phase full converter feeding a separately excited DC motor.

The SCR’S are triggered at an interval of 𝜋/3. The frequency of output ripple voltage is 6fs. The
filtering requirement is less than that of three phase semi converter.
𝜋
At 𝜔𝑡 = + 𝛼, scr T6 is already conducting and SCR T1 is turned on. During interval
6
𝜋 𝜋
( 6 + 𝛼) ≤ 𝜔𝑡 ≤ (2 + 𝛼) SCRs T1 AND T6 conduct and the line –to-line voltage Vab appears

across the motor terminals.

𝜋
At 𝜔𝑡 = + 𝛼, SCR’S T2 is fired and SCR T6 is reversed biased immidiatly.
2

𝜋 5𝜋
SCR T6 is communication. During interval( 2 + 𝛼) ≤ 𝜔𝑡 ≤ ( 6 + 𝛼), SCR’S T1 and T2

conduct and the line to line voltage Vac appears across the load.

For the delay angle α = 120°; the motor terminal voltage becomes negative. This is the inversion
mode of operation. The power can be transferred from motor to supply if the motor voltage is
reversed with a reversing contactor or by reversing the field current. It is known as regeneration.
The motor speed will decrease due to power feedback and thus , the motor voltage will be
decrease.
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The waveform of three phase full converter

The average motor terminal voltage is given by

𝜋
3 2 +𝛼
𝑉𝑎 = ∫ 𝑉 𝑑(𝜔𝑡)
𝜋 𝜋 +𝛼 𝑎𝑏
6

𝜋
3 2 +𝛼 𝜋
= ∫ √3𝑉𝑚 𝑠𝑖𝑛 (𝜔𝑡 + ) 𝑑(𝜔𝑡)
𝜋 𝜋 +𝛼 6
6

3√3𝑉𝑚 3𝑉𝑚𝑙
𝑉𝑎 = = cos α
𝜋 𝜋

The motor speed is given by

𝑉𝑎 = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎 = 𝐾𝑚 ∅𝑁 + 𝐼𝑎 𝑅𝑎

𝑉𝑎 − 𝐼𝑎 𝑅𝑎
𝑁=
𝐾𝑚 ∅

In separately excited motor,

T=𝐾𝑚 ∅ 𝐼𝑎 , therefore
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𝑉𝑎 𝑅𝑎
𝑁= − 𝑇
𝐾𝑚 ∅ (𝐾𝑚 ∅)2

When discontinuous conduction is neglected, speed torque curves are obtained

6) With a neat circuit diagrams, explain chopper fed four quadrant DC drives (AU/NOV-
2013) (16M)

Four quadrant Chopper or Type E Chopper

Four quadrant chopper or type E chopper

It consist of four power semiconductor switches CH1 to CH4 and four power diodes D1 and D4 in
antiparallel. Working of this chopper in the four quadrants is explained as under,
Forward Motoring Mode
For first quadrant operation of figure CH4 is kept on, Cl-l3 is kept off and CH1 is operated. When CHI
and Cl-I4 are on, load voltage is equal to supply voltage i,e, Va =Vs and load current ia begins to flow.
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Here both output voltage va and load current Ia are positive giving first quadrant operation. When CH4
is turned off positive current freewheels through CH-4,D2 in this way, both output voltage va, load
current Ia can be controlled in the first quadrant. First quadrant operation gives the forward
Motoring mode.

Forward Motoring Mode

For first quadrant operation of figure CH4 is kept on, Cl-l3 is kept off and CH1 is operated. When CHI
and Cl-I4 are on, load voltage is equal to supply voltage i,e, Va = Vs and load current ia begins to flow.
Here both output voltage va and load current ia are positive giving first quadrant operation. When CH4
is turned of￡ positive current freewheels through CH-4,D2 in this way, both output voltage va, load
current ia can be controlled in the first quadrant. First quadrant operation gives the forward
Motoring mode.
Forward Braking Mode
Here CH2 is operated and CH1, CH3 and CH4 are kept off. With CH2 on, reverse (or negative) current
flows through L, CH2, D4 and E. During the on time of CH2 the inductor L stores energy. When CH2 is
turned off current is fedback to source through diodes D1, D4 note that there [E+L di/dt] is greater than
the source voltage Vs. As the load voltage Va is positive and load current ia is negative, it indicates the
second quadrant operation of chopper. Also power flows from load to source, second quadrant
Operation gives forward braking mode.
Reverse Motoring Mode
For third quadrant operation of figure, CHI is kept off, CH2 is kept on and CH3 is operated. Polarity of
load emf E-must be reversed for this quadrant operation. With CH3 on, load gets connected to source Vs
so that both output voltage Va and load current Ia are negative. it gives third quadrant operation. lt is
also known as reverse motoring mode. When CH3 is turned off, negative current freewheels through
CH2, D4. in this way, output voltage Va and load current Ia can be controlled in the third
Quadrant.

Reverse Braking Mode

Here CH4 is operated and other devices are kept of￡Load emf E must have its polarity reversed, it is
shown in figure. With CH4 on, positive current flows through CH4, D2, L and E. During the on time of
CH4, the inductor L stores energy.
When CH4 is turned off; current is feedback to source through diodes D2, D3. Here load voltage is
negative, but load current is positive leading to the chopper operation in the fourth quadrant. Also power
is flows from load to source. The fourth quadrant operation gives reverse braking mode.
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Operation of conducting devices

7) Explain first quadrant chopper control of separately excited motor for continuous
conduction (AU/APR-2013) (16M)

In this chopper circuit diagram consist of chopping device (SCR, power MOSFET,BJT,etc),free
wheeling diode and motor .
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Input DC supply is fed to the chopper circuit. Then the chopper CH1 is turned on by applying trigger
pulse. Now the input voltage is fed to the motor. During the ON time (Ton) of the chopper, output
voltage is equal to input voltage i.e., V0=VS.

After Ton period, chopper CH1 is turned off. Now the load is disconnected from the supply but the
motor current flows through the freewheeling diode. In the turn-off period(Toff), output voltage is zero
but load current flows through the freewheeling diode.(FD-motor-FD) i.e., V0=0 again the chopper
CH1 is turned on and this cycle is repeated. Here assume armature current is constant

first quadrant or Type –A chopper

Average output voltage is given by

1 𝑇
𝑉0 = 𝑉𝑎 = ∫0 𝑉𝑠 𝑑𝑡
𝑇

𝑇𝑜𝑛 𝑇
1
= (∫ 𝑉𝑠 𝑑𝑡 + ∫ 𝑉𝑠 𝑑𝑡)
𝑇 0 𝑡𝑜𝑛

During the on time period 𝑉0 = 𝑉𝑠

During the off time period 𝑉0 = 0

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1 𝑇 𝑇𝑂𝑁
𝑉0 = 𝑉𝑎 = ∫0 𝑉𝑠 𝑑𝑡 = 𝑉𝑆
𝑇 𝑇

𝑉𝑎 = 𝑉𝑠 𝛼

𝑇𝑂𝑁
Where α= duty ratio or duty cycle of the chopper= 𝑇

TON= turn on time of the chopper

TOFF= turn off time of the chopper

T= total time or chopping period (TON+TOFF)= 1/f

VS= supply voltage

F= chopping frequency

First quadrant

By varying the on time or off time of the chopper, the duty cycle α is change. By changing α , the
output voltage can be changed. This variable output voltage is fed to the DC motor. Then the DC
motor speed can be controlled.

In this type A chopper offers one- quadrant drive. It means, the average output voltage and output
current is always positive.i.e. Power flows from source to load.

This type of chopper is also called step down chopper because average output voltage is always
less than the input DC voltage.