5 Controlled Rectifier DC Drives-Closed Loop - Pps

Closed-loop Control of DC Drives with
Controlled Rectifier
By
Dr. Ungku Anisa Ungku Amirulddin
Department of Electrical Power Engineering
College of Engineering
Dr. Ungku Anisa, July 2008 1 EEEB443 - Control & Drives
Outline
Closed Loop Control of DC Drives
Closed-loop Control with Controlled Rectifier
Two-quadrant
Transfer Functions of Subsystems
Design of Controllers
Closed-loop Control with Field Weakening
Two-quadrant
Closed-loop Control with Controlled Rectifier
Four-quadrant
References

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 2
Closed loop control is when the firing angle is varied
automatically by a controller to achieve a reference speed
or torque
This requires the use of sensors to feed back the actual
motor speed and torque to be compared with the
reference values

Controller Plant
Sensor
+

Reference
signal
Output
signal
Feedback loops may be provided to satisfy one or more of
the following:
Protection
Enhancement of response fast response with small
overshoot
Improve steady-state accuracy
Variables to be controlled in drives:
Torque achieved by controlling current
Speed
Position
Cascade control structure
Flexible outer loops can be added/removed depending on control
requirements.
Control variable of inner loop (eg: speed, torque) can be limited by limiting its
reference value
Torque loop is fastest, speed loop slower and position loop - slowest
Cascade control structure:
Inner Torque (Current) Control Loop:
Current control loop is used to control torque via armature current
(i
a
) and maintains current within a safe limit
Accelerates and decelerates the drive at maximum permissible
current and torque during transient operations

Torque
(Current)
Control Loop
Cascade control structure
Speed Control Loop:
Ensures that the actual speed is always equal to reference speed e*
Provides fast response to changes in e*, T
L
and supply voltage (i.e. any
transients are overcome within the shortest feasible time) without
exceeding motor and converter capability
Speed
Control
Loop
Closed Loop Control with Controlled
Rectifiers Two-quadrant
Two-quadrant Three-phase Controlled Rectifier
DC Motor Drives
Current
Control Loop
Speed Control
Loop
Actual motor speed e
m
measured using the tachogenerator (Tach) is
filtered to produce feedback signal e
mr
The reference speed e
r
* is compared to e
mr
to obtain a speed error signal
The speed (PI) controller processes the speed error and produces the
torque command T
e
*
T
e
* is limited by the limiter to keep within the safe current limits and the
armature current command i
a
* is produced
i
a
* is compared to actual current i
a
to obtain a current error signal
The current (PI) controller processes the error to alter the control signal v
c
v
c
modifies the firing angle o to be sent to the converter to obtained the
motor armature voltage for the desired motor operation speed
Design of speed and current controller (gain and
time constants) is crucial in meeting the dynamic
specifications of the drive system
Controller design procedure:
1. Obtain the transfer function of all drive subsystems
a) DC Motor & Load
b) Current feedback loop sensor
c) Speed feedback loop sensor
2. Design current (torque) control loop first
3. Then design the speed control loop
Assume load is proportional to speed

DC motor has inner loop due to induced emf magnetic coupling,
which is not physically seen
This creates complexity in current control loop design

Transfer Function of Subsystems
DC Motor and Load
m L L
B T e =
DC Motor and Load
Need to split the DC motor transfer function between e
m
and V
a

(1)

where
(2)

(3)

This is achieved through redrawing of the DC motor and load block
diagram.
( )
( )
( )
( )
( )
( ) s V
s I
s I
s
s V
s
a
a
a
m
a
m
=
( )
( ) ( )
m t
b
sT B
K
+
=
1 s I
s
a
m
( )
( )
( )
( )( )
2 1
1
a
a
1 1
1
s V
s I
sT sT
sT
K
m
+ +
+
=
DC Motor and Load
In (2),
- mechanical motor time constant: (4)

- motor and load friction coefficient: (5)
In (3),
(6)

(7)

Note: J = motor inertia, B
1
= motor friction coefficient,
B
L
= load friction coefficient
t
m
B
J
T =
L t
B B B + =
1
|
|
.
|
\
|
+
|
|
.
|
\
|
+
|
|
.
|
\
|
+ =
a
b
a
t a t
a
a t
a
a
JL
K
JL
B R
J
B
L
R
J
B
L
R
T T
2
2
2 1
4
1
2
1 1
,
1
t a b
t
B R K
B
K
+
=
2 1
Three-phase Converter
Need to obtain linear relationship between control signal v
c
and delay angle o (i.e. using cosine wave crossing method)
(8)

where v
c
= control signal (output of current controller)
V
cm
= maximum value of the control voltage
Thus, dc output voltage of the three-phase converter

(9)

|
|
.
|
\
|
=

cm
c
V
v
1
cos o
c r c
cm
m
cm
c
m m dc
v K v
V
V
V
v
V V V = =
|
|
.
|
\
|
= =

L, L
L, L L, L
t t
o
t
3
cos cos
3
cos
3
1
Three-phase Converter
Gain of the converter

(10)

where V = rms line-to-line voltage of 3-phase supply
Converter also has a delay

(11)

where f
s
= supply voltage frequency
Hence, the converter transfer function
(12)

( )
( )
r
r
sT
K
+
=
1
s G
r
cm cm cm
m
r
V
V
V
V
V
V
K 35 . 1
2 3 3
= = =

t t
L, L
s s
r
f f
T
1
12
1 1
360
60
2
1
= =
Current and Speed Feedback
Current Feedback
Transfer function:
No filtering is required in most cases
If filtering is required, a low pass-filter can be included (time
constant < 1ms).
Speed Feedback
Transfer function:
(13)

where K
e
= gain, T
e
= time constant
Most high performance systems use dc tachogenerator and low-
pass filter
Filter time constant < 10 ms

( )
( )
e
e
sT
K
+
=
1
s G
c
H
Block Diagram of Motor Drive

Control loop design starts from inner (fastest) loop to
outer(slowest) loop
Only have to solve for one controller at a time
Not all drive applications require speed control (outer loop)
Performance of outer loop depends on inner loop
Speed Control
Loop
Current
Control Loop

PI type current controller: (14)
Open loop gain function:
(15)

From the open loop gain, the system is of 4
th
order (due to 4
poles of system)
Current Controller
( )
( )
c
c c
sT
sT K +
=
1
s G
c
( )
( )( )
( )( )( )
r
m c
c
c r c
sT sT sT s
sT sT
T
H K K K
+ + +
+ +
)
`
=
1 1 1
1 1
s GH
2 1
1
ol
DC Motor
& Load
Converter Controller
Current Controller
If designing without computers, simplification is needed.
Simplification 1: T
m
is in order of 1 second. Hence,
(16)
Hence, the open loop gain function becomes:

i.e. system zero cancels the controller pole at origin.
( )
m m
sT sT ~ + 1
( )
( )( )
( )( )( )
( )( )
( )( )( )
( )
( )
( )( )( )
c
m c r c
r
c
r
m c
c
c r c
r
m c
c
c r c
T
T H K K K
K
sT sT sT
sT
K
sT sT sT s
sT sT
T
H K K K
sT sT sT s
sT sT
T
H K K K
1
2 1
ol
2 1
1
2 1
1
ol
where
1 1 1
1
s GH
1 1 1
1
1 1 1
1 1
s GH
=
+ + +
+
~
+ + +
+
)
`
~
+ + +
+ +
)
`
=
(17)

Current Controller
Relationship between the denominator time constants in (17):

Simplification 2: Make controller time constant equal to T
2

(18)
Hence, the open loop gain function becomes:

i.e. controller zero cancels one of the system poles.
1 2
T T T
r
< <
2
T T
c
=
( )
( )
( )( )( )
( )
( )( )( )
( )
( )( )
c
m c r c
r
r
r
c
T
T H K K K
K
sT sT
K
sT sT sT
sT
K
sT sT sT
sT
K
1
1
ol
2 1
2
2 1
ol
where
1 1
s GH
1 1 1
1

1 1 1
1
s GH
=
+ +
~
+ + +
+
~
+ + +
+
~
Current Controller
After simplification, the final open loop gain function:
(19)

where (20)

The system is now of 2
nd
order.
From the closed loop transfer function: ,
the closed loop characteristic equation is:

or when expanded becomes: (21)

( )
( )( )
r
sT sT
K
+ +
~
1 1
s GH
1
ol
c
m c r c
T
T H K K K
K
1
=
( )( ) K sT sT
r
+ + + 1 1
1
( )
( )
( ) s GH 1
s GH
s G
ol
ol
cl
+
=
)
`
+
+
|
|
.
|
\
|
+
+
r r
r
r
T T
K
T T
T T
s s T T
1 1
1
2
1
1
Current Controller
Design the controller by comparing system characteristic
equation (eq. 21) with the standard 2
nd
order system equation:

Hence,
(22)

(23)

So, for a given value of ,:
use (22) to calculate e
n

Then use (23) to calculate the controller gain K
C

2 2
2
n n
s s e ,e + +
=
n
,e 2
=
2
n
e
To design the speed loop, the 2
nd
order model of current loop
must be replaced with an approximate 1
st
order model
Why?
To reduce the order of the overall speed loop gain function

Current loop 1
st
order approximation
2
nd
order
current loop
model
Approximated by adding T
r
to T
1

Hence, current model transfer function is given by:

(24)

Current loop 1
st
order approximation
( )
( )
( )
( )
( )
i
c
m
c
m
sT
K
sT T
T H K K K
sT T
T K K K
i
c r c
r c
+
=
+
+
+
=
1
1
1
1
1
1
s I
s I
3
1
3
1
*
a
a
r
T T T + =
1 3
Full derivation
available here.

1
st
order
approximation
of current loop

Current loop 1
st
order approximation
where (26)

(27)

(28)

1
st
order approximation of current loop used in speed loop
design.
If more accurate speed controller design is required, values of
K
i
and T
i
should be obtained experimentally.
c
m c r c
fi
T
T H K K K
K
1
=
fi
i
K
T
T
+
=
1
3
( )
fi c
fi
i
K H
K
K
+
=
1
1

PI type speed controller: (29)

Assume there is unity speed feedback:
(30)

Speed Controller
( )
( )
s
s s
s
sT
sT K +
=
1
s G
( )
( )
1
1
s G
=
+
=
e
e
sT
H
DC Motor
& Load
1
st
order
approximation
of current
loop

Open loop gain function:

(31)

From the loop gain, the system is of 3
rd
order.
If designing without computers, simplification is needed.
1
Speed Controller
( )
( )
( )( )
m i
s
s t
i s B
sT sT s
sT
T B
K K K
+ +
+
)
`
=
1 1
1
s GH
DC Motor
& Load
1
st
order
approximation
of current
loop
Speed Controller
Relationship between the denominator time constants in (31):
(32)
Hence, design the speed controller such that:
(33)
The open loop gain function becomes:

i.e. controller zero cancels one of the system poles.
m i
T T <
m s
T T =
( )
( )
( )( )
( )
( )( )
( )
( )
s t
i s B
i
m i
m
s t
i s B
m i
s
s t
i s B
T B
K K K
K
sT s
K
sT sT s
sT
T B
K K K
sT sT s
sT
T B
K K K
=
+
~
+ +
+
)
`
~
+ +
+
)
`
=
e
e
where
1
s GH
1 1
1
1 1
1
s GH
Speed Controller
After simplification, loop gain function:
(34)

where (35)

The controller is now of 2
nd
order.
From the closed loop transfer function: ,
the closed loop characteristic equation is:

or when expanded becomes: (36)

( )
( )
i
sT s
K
+
~
1
s GH
e
s t
i s B
T B
K K K
K =
e
( )
e
K sT s
i
+ + 1
( )
( )
( ) s GH 1
s GH
s G
cl
+
=
)
`
+
|
|
.
|
\
|
+
i i
i
T
K
T
s s T
e
1
2
Speed Controller
Design the controller by comparing system characteristic
equation with the standard equation:

Hence:
(37)

(38)

So, for a given value of ,:
use (37) to calculate e
n

Then use (38) to calculate the controller gain K
S

2 2
2
n n
s s e ,e + +
=
n
,e 2
=
2
n
e
Motor operation above base speed requires field weakening
Field weakening obtained by varying field winding voltage
using controlled rectifier in:
single-phase or
three-phase
Field current has no ripple due to large L
f
Converter time lag negligible compared to field time constant
Consists of two additional control loops on field circuit:
Field current control loop (inner)
Induced emf control loop (outer)

Closed Loop Control with Field
Weakening Two-quadrant
Field weakening
dt
di
L i R V e
a
a a a a
+ =
Induced emf
controller
(PI-type with
limiter)
Field weakening
Field
current
controller
(PI-type)
Field current
reference
Estimated machine -
induced emf
Induced emf
reference
The estimated machine-induced emf is obtained from:

(the estimated emf is machine-parameter sensitive and must be adaptive)
The reference induced emf e* is compared to e to obtain the induced emf
error signal (for speed above base speed, e* kept constant at rated emf
value so that | 1/e)
The induced emf (PI) controller processes the error and produces the field
current reference i
f
*
i
f
* is limited by the limiter to keep within the safe field current limits
i
f
* is compared to actual field current i
f
to obtain a current error signal
The field current (PI) controller processes the error to alter the control
signal v
cf
(similar to armature current i
a
control loop)

v
cf
modifies the firing angle o
f
to be sent to the converter to obtained the
motor field voltage for the desired motor field flux
dt
di
L i R V e
a
a a a a
+ =
Four-quadrant Three-phase Controlled Rectifier DC
Motor Drives
Rectifiers Four-quadrant
Control very similar to the two-quadrant dc motor drive.
Each converter must be energized depending on quadrant of operation:
Converter 1 for forward direction / rotation
Converter 2 for reverse direction / rotation
Changeover between Converters 1 & 2 handled by monitoring
Speed
Current-command
Zero-crossing current signals
Selector block determines which converter has to operate by assigning
pulse-control signals
Speed and current loops shared by both converters
Converters switched only when current in outgoing converter is zero (i.e.
does not allow circulating current. One converter is on at a time.)
Rectifiers Four-quadrant
Inputs to
Selector block
References
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3
rd
ed., Pearson, New-Jersey, 2004.
Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
DC Motor and Load Transfer Function -
Decoupling of Induced EMF Loop
Step 1:

Step 2:
DC Motor and Load Transfer Function -
Decoupling of Induced EMF Loop
Step 3:

Step 4:
Back
Cosine-wave Crossing Control for
Controlled Rectifiers
V
m

V
cm
v
c
0 t 2t
3t 4t
o
o
Input voltage
to rectifier
Cosine wave compared with
control voltage v
c
Results of
comparison
trigger SCRs

Output voltage
of rectifier

V
cm
cos(o) = v
c

|
|
.
|
\
|
=

cm
c
V
v
1
cos o
Cosine voltage
Back
Current loop 1
st
order approximation
( )
( )
( )
( )
( )
( )
( )
( )
( )
i
c c
c
c
m
c
m
sT
K
K
T
s
K H
K
K sT
H
K
sT
K
sT H
K
sT T
T H K K K
sT T
T K K K
i
fi
fi
fi
fi
fi
fi
fi
c r c
r c
+
=
|
|
.
|
\
|
+
+
+
=
+ +
=
+
+
+
=
+
+
+
=
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
s I
s I
3 3
3
3
3
1
3
1
*
a
a
Back

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Closed-loop Control of DC Drives with

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