DC Drives

E-Learning, DC drives
DC drives fundamentals,
Part 1
© ABB Group
March 4, 2010 | Slide 1
DC_DRIVE_BASICS_01R0201
Help
Objectives
This training module covers:

General layout of a thyristor based converter
Functionality of a six pulse thyristor bridge
Armature 2 quadrant and 4 quadrant converter
Armature voltage and current
Mains voltage and current
Continuous and discontinuous current
Driving and braking mode
© ABB Group
Help
General Layout with external field excitation
General layout
MV line
MV / LV Power Transformer
transformer
Armature circuit
Field fuse AC fuse
(F3) (F1) Fuse
Autotransformer Main contactor Main contactor
(T3) (K1)
Commutation choke
Field contactor Commutation
(K3) choke (L1)
Armature converter
Field ~ ~ Armature
converter - - converter Field circuit
DC fuse Fuse
Field Autotransformer
winding M Load
Contactor
© ABB Group
Field exciter
Help
General Layout with on-board field excitation
Internal field excitation

MV line
Build-in inside module
MV / LV
transformer Fixed field current depending on
module size
AC fuse F1
Main contactor
Advantages
K1
Commutation Compact module
L1
choke
Fast commissioning
Field fuse
Less hardware required
~ ~ Converter (transformer, chokes)
- -
DC fuse
Field
winding M Load
© ABB Group
Help
Armature Converter
6-pulse thyristor bridge
AC line current DC current
Id
1 3 5
3∼ AC network
L iL
1
~
L
N 2 Ud α
~
uL
L
3
~
4 6 2
© ABB Group
Help
Generating output current
Voltages
Phase voltage
L1
L3
L1
L2
L3
a=0
Phase to phase voltage
L2
a=0
L12 Thyristor 1 and 6 are active
Output shows a bubble
AC line current DC current Id

1 3 5
3 ∼ AC network
L1 iL
~
L2
~ Ud α
L3 uL
~
© ABB Group
4 6 2
DC_DRIVE_BASICS_01R0201 DC voltage ( controlled )

Help
How works a thyristor converter
6-pulse thyristor bridge with

a load
L1
L3 Firing sequence
L2
a=0
Thyristor 1 + 6
Thyristor 2 + 1
Thyristor 3 + 2
Thyristor 4 + 3
Id
3 ∼ AC network
1 3 5 Thyristor 5 + 4
L1 iL
~ Thyristor 6 + 5
L2
~ Ud α
L3 uL
~
© ABB Group
4 6 2
Help
Driving mode
Machine works in motor mode
Positive voltage
Firing angle smaller than
90°
Minimum firing angle is
L1
L3
L2
15°
a=0
L12
Natural firing point is the

intersection point between
two phases
α=30°
In this example the thyristor
is fired after 30° from natural
firing point
© ABB Group
Help
Regenerative mode
Machine works in regenerative mode
Negative voltage
Firing angle greater than 90°
Maximum firing angle is 150°
α=150°
© ABB Group
Help
Shoot-through
Commutation failure
GDCZ142
DC drives are compromised by shoot-
WECHSELRICHTERKIPPEN through
Damage fuses
Damage thyristors
Ausgangsgleichspannung
balancing voltage
α = 180°
t Causes of shoot- through
Power failure
L2 L3 L1 Too big firing angles
Working range has to be limited
Netzspannung
t Typical firing angles are between

15°and 150°
α
0° 30° 60° 90° 120° 150° 180°
Zündwinkel
firing angle
© ABB Group
Help
Armature Converter
Mains Line chokes Thyristor bridge
© ABB Group
Help
Converter current in a DC drive

Id
1 2 3 4 5 6
6 1 2 3 4 5
Average current:
0° 60° 120° 180° 240° 300° 360° ωt Id
IV 2
2
DC current in one
IV 3 thyristor arm:
3
IV2, IV3, IV4
IV 4 120° width
4
AC current in mains
I L1
1
IL1, IL2, IL3
4
120°: Id
IL2
3
60° : 0
6 6
I L3
5
© ABB Group
Help
Armature voltage of 2-quadrant drive
2-quadrant drive maximum motor

voltage
Firing angle between 15° and 90°
For example:
U d max = 1.35 ⋅U mains⋅ cos(15°)

Voltage source characteristic:
Ud U A max = 1.35 ⋅ 400V ⋅ cos(15°) ⋅ (± 10% ) = 470V
Ud ∼ cos α
Maximum firing angle
© ABB Group
Help
Armature voltage of 4 quadrant drive
Positive voltage source characteristic:

Ud
voltage
Ud ∼ cos α Firing angle between 30° and 150°
For example:
U d max = 1.35 ⋅ U mains ⋅ cos(30°)

Negative voltage source characteristic:
Ud U A max = 1.35 ⋅ 400V ⋅ cos(30°) ⋅ (± 10% ) = 420V
α
Ud ∼ cos α
© ABB Group
Help
DC current and AC current
Calculate AC current with a known DC

current
Id
I L1 I L1 = I L 2 = I L 3 = I d ⋅ 0.82
Ud
Example with a motor load (2Q):
I d = 1000 A U d = 1000V
I L1 = I d ⋅ 0,82 = 1000 A ⋅ 0,82 = 820 A

U d max 1000V
U L1− L 2 = = = 852V
1,35 ⋅ cos α min ⋅ 0,9 1,35 ⋅ cos(15°) ⋅ 0,9
S = 3 ⋅U L 1− L 2 ⋅ I L 1 = 852 V ⋅ 820 A = 1 , 21 MVA
Pd max = U d max ⋅ I d max
Commutation chokes, cables,
Pd max = 1000V ⋅1000 A = 1MW contactors and fuses have to be
selected depending on RMS values!
© ABB Group
Help
Continuous and Discontinuous Armature Current

Principle circuit diagram
Continuous
Current
Discontinuous
Current
© ABB Group
Help
2-Quadrant converter
Speed / Voltage Typical applications

Extruder
II I Mixer
Braking Driving Properties
Torque
Only forward driving possible
(current) Braking with positive speed isn’t
possible
III IV
Driving Braking
Id
Bridge 1 Ud
© ABB Group
Help

Ski lifts
II I Test rigs
Braking Driving Winder
Properties
Torque
(current) Smooth and fast torque reversal
III IV Id
Driving Braking
M
Ud
Bridge 2 Bridge 1
© ABB Group
Help
2-Quadrant converter and Field Reversal

Mixer, Propulsion
II I Realize E-Stop functionality

Slow changeover of torque
Torque
(current) Less control performance
Useable if P > 500 kW
III IV
Id
Driving Braking
M
Possible by
changing
Ud
field current Bridge 1
© ABB Group
Help
Usable working range of a DC drive
Speed / Voltage
There is a limitation in quadrant II and
IV
II I Maximum firing angle 150°
Braking Driving Thyristors needs a circuit
commutated recovery time
Torque
(current) This reduces the motor voltage in a 4
quadrant drive
III IV 2 quadrant drives cannot used for
Driving Braking braking in positive speed direction
Motor voltage is greater
Maximum
regenerative voltage
© ABB Group
Help
Motor acceleration
Speed / Voltage 1 2 3
3 Speed
II I 2 (EMF) t
1 Torque
(current) Torque
(current)
III IV
t
Example: Acceleration until 100% motor speed

Quadrant I is used
Step 1: Breakaway torque
Step 2: Acceleration at current limit
Step 3: Driving with constant speed
© ABB Group
Help
Motor deceleration
Speed
1
(EMF) t
2 II I
3 Torque
Torque
(current)
(current)
III IV
t
Example: Deceleration until standstill

Quadrant I and II are used
Step 1: Driving mode Æ Constant speed
Step 2: Breaking mode Æ Deceleration at current limit
Step 3: Standstill, current is zero
© ABB Group
Help
Driving in negative direction
Speed
(EMF) t
II I
Torque
1 (current)
Torque
(current)
2 III IV
3 t
Example: Acceleration in negative direction

Quadrant III is used
Step 1: Motor is switched-off
Step 2: Driving mode Æ Acceleration at current limit
© ABB Group
Help
Example for a motor application
Speed / Voltage 1 2 34 5 6 7
4 3 Speed
5 2 (EMF) t
1 Torque
(current) Torque
6 (current)
7 t
Characteristics of a 4-quadrant drive
Acceleration of the machine (1, 2) Deceleration of the machine (5)
Decrease current (3) Acceleration in (6)
Increase current (4) Driving in reverse direction (7)
© ABB Group
Help
Summary
Key points of this module are:

© ABB Group
Help
Additional information
Thyristor Regenerative mode

Control element in a line- Line-commutated converter is
commutated converter. Delicate working as a generator and
against di / dt. supply to mains.
Discontinuous current Commutation
Current includes gaps because Is the change-over from one
the armature current is too thyristor to another.
small.
Harmonics
Continuous current Harmonics are multiples of the
Current is continuous because basic oscillation which
of a big load. generates disturbances in
Firing angle network.
Firing angle controls the
thyristors. Values between 15°
and 150° are typical.
© ABB Group
E-Learning, DC drives
DC drives fundamentals,
Part 1
© ABB Group
Welcome to the DC Drive Basics training module for the ABB DC drives.
If you need help navigating this module, please click the Help button in the top right-hand corner.
To view the presenter notes as text, please click the Notes button in the bottom right corner.
1
Help
Objectives
This training module covers:

© ABB Group
After completing this module, you will know the

• General layout of a thyristor based converter
• Functionality of a six pulse thyristor bridge
• Armature 2 quadrant and 4 quadrant converter
• Armature voltage and current
• Mains voltage and current
• Continuous and discontinuous current
• Driving and braking
2
Help
General Layout with external field excitation
General layout
Power Transformer
Armature circuit
Fuse
Main contactor
Commutation choke
Armature converter
Field circuit
Fuse
Autotransformer
Contactor
© ABB Group
Field exciter
• In this chapter the general layout with external field excitation will be explained.
• The picture shows the general layout of a DC drive configuration. In this example, the power supply is
a medium voltage line which connects the DC drive via a power transformer to the supply network.
• From this point there is a difference between the armature and the field circuit which will be discussed
separately.
• The armature circuit includes an AC fuse, the main contactor or main switch, the commutation choke
and the armature converter. In addition, the drives in regenerative mode with weak power supply
systems should be protected with DC fuses on the DC side.
• The field circuit includes a fuse, the field contactor, the field converter and an autotransformer which
adapts the network voltage to the needed field voltage.
• Note: A fuse cannot be between the field connectors at the motor and the field converter.
3
Help
General Layout with on-board field excitation
Internal field excitation

MV line
Build-in inside module
MV / LV
transformer Fixed field current depending on
module size
AC fuse F1
Main contactor K1
Advantages
Commutation Compact module
L1
choke
Fast commissioning
Field fuse
Less hardware required
~ ~ Converter (transformer, chokes)
- -
DC fuse
Field
winding M Load
© ABB Group
• This is the general layout with DCS800 On-Board field excitation. In comparison with the layout from an
external field excitation, only a reduced amount of external components are required.
• Inside converter module the internal field excitation is built-in. The maximum field current depends on
the size of the module.
• The advantages of this configuration are:
• It is a compact converter module.
• Fast commissioning because all settings can be set with the software tools.
• Less hardware required, transformer, chokes, fuses and a contactor are not needed.
4
Help
Armature Converter
6-pulse thyristor bridge
AC line current DC current
Id
1 3 5
3∼ AC network
L iL
1
~
L
N 2 Ud α
~
uL
L
3
~
4 6 2
© ABB Group
• In this slide, the armature converter will be looked at.

• Basically, the armature converter is a 6-pulse thyristor bridge. It will be connected to a 3-phase supply
because the mains should be loaded symmetrically. The output of this 6-pulse thyristor bridge is in dc
current and dc voltage which is controlled by a firing angle and a firing pulse. The output current is a
dc current plus a current ripple. The motor is like an inductive load in the circuit which smoothes the dc
current.
• Note: The maximum dc voltage is dependent on the incoming AC voltage between two phases!
5
Help
Generating output current
Voltages
Phase voltage
L1
L3
L1
L2
L3
a=0
Phase to phase voltage
L2
a=0
L12 Thyristor 1 and 6 are active
Output shows a bubble
AC line current DC current Id

1 3 5
3 ∼ AC network
L1 iL
~
L2
~ Ud α
L3 uL
~
© ABB Group
4 6 2
DC_DRIVE_BASICS_01R0201 DC voltage ( controlled )
• Generating DC output current is the task of the 6-pulse bridge. To do this, the thyristors have to be
fired in a logical sequence.
• There are 2 voltages present in an AC network. The phase voltage is measured between the neutral
point of the transformer and a phase. If the phases are shifted 120°, the graph looks like the picture
with the lines marked with L1, L2 and L3. This voltage is not important for the bridge because of a
symmetrical load where no neutral conductor is used.
• Important for the DC output voltage is the phase to phase voltage which can be measured between
two phases.
• Here is a small example: Thyristor 1 and 6 are active. So the resulting voltage of L1 and L2 is at the
output. The output of the converter shows a bubble which can be measured with an oscilloscope.
6
Help
How works a thyristor converter
6-pulse thyristor bridge with

a load
L1
L3 Firing sequence
L2
a=0
Thyristor 1 + 6
Thyristor 2 + 1
Thyristor 3 + 2
Thyristor 4 + 3
Id
3 ∼ AC network 1 3 5 Thyristor 5 + 4
L1 iL
~ Thyristor 6 + 5
L2
~ Ud α
L3 uL
~
© ABB Group
4 6 2
• How does a thyristor converter work? This question should be explained on this slide.
• The starting point is a 6-pulse thyristor bridge with a load. The firing sequence of the thyristor bridge is
generated from the control board which ensures that two thyristors are fired. Basically, a thyristor from
the upper arm and one thyristor from the bottom arm work together.
• The sequence is like the following: Thyristor 6 is fired in the last cycle. In the next step thyristor one is
fired and thyristor 6 commutates to thyristor 2. This sequence is continuous.
• Note: The commutation from a thyristor to another thyristor changes from the upper and the under
series. In a 50 hertz network, a thyristor is fired every 3.3 milliseconds, alternating from the upper and
the under series.
7
Help
Driving mode
Machine works in motor mode
Positive voltage
Firing angle smaller than
90°
Minimum firing angle is
L1
L3
L2
15°
a=0
L12
Natural firing point is the

intersection point between
two phases
α=30°
In this example the thyristor
is fired after 30° from natural
firing point
© ABB Group
• Driving mode means the motor receives energy from the converter which is transformed into
mechanical energy.
• To control the output voltage of the DC converter, the firing point of a thyristor has to be set. The firing
angle is counted starting with the natural firing point.
• Alpha zero degrees means a diode bridge is in operation. Normally, the firing angle is smaller than 90°
in driving mode. The minimum firing angle should be 15° in order to allow for a safety clearance in the
event of fluctuation in the mains.
• The maximum output dc voltage is reached if the firing angle has the smallest value.
• The point from which the firing angle is calculated is also significant:
• The natural firing point of a thyristor is the point of intersection between two phases. In principle, the
firing angle is a delay between the point of intersection and the firing point.
• With an inductive load at a firing angle of 90°, the dc output voltage is zero.
• In this example, the thyristor is fired 30° from the natural firing point.
8
Help
Regenerative mode
Machine works in regenerative mode
Negative voltage
Firing angle greater than 90°
Maximum firing angle is 150°
L1
L3
L2
a=0
L12
α=150°
© ABB Group
• In this slide, the regenerative mode will be explained.

• In the regenerative mode, mechanical energy is transformed into electrical energy. So the dc machine
functions in the regenerative mode as a generator.
• The properties of the regenerative mode are that with an inductive load the firing angle is greater than
90° but limited to 150°. A limitation of regenerative mode is needed to protect the converter against
conduction-through. Time is needed to have enough circuit commutation recovery time for the
thyristors. It is essential that the thyristor is switched-off after zero-crossing of mains voltage. If there
is a re-ignition of a thyristor, the output voltage can be positive again and the converter could be
damaged.
9
Help
Shoot-through
Commutation failure
GDCZ142
DC drives are compromised by shoot-
WECHSELRICHTERKIPPEN through
Damage fuses
Damage thyristors
Ausgangsgleichspannung
balancing voltage
α = 180°
t Causes of shoot- through
Power failure
L2 L3 L1 Too big firing angles
Working range has to be limited
Netzspannung
t Typical firing angles are between

15°and 150°
α
0° 30° 60° 90° 120° 150° 180°
Zündwinkel
firing angle
© ABB Group
• Shoot-through presents a possible danger for the thyristor converter and the dc motor.
• The DC drives are compromised by shoot-through. This will blow the fuses and the thyristors of the
converter because of a short circuit inside the converter. The motor could also be damaged!
• Some causes of shoot-through are power failure and firing angles that are too large.
• If the drive is in regenerative mode and there is a mains power failure which opens the main contactor,
the drive is in shoot-through.
• The problem occurs if a thyristor commutates to next thyristor, the output polarity is inverted and load
current increases very fast.
• To avoid this unallowed function the working range has to be limited. Typical firing angles are between
15° and 150°. Firing angles greater than 150° could cause a hold-off interval that is too short which
eases a reignition of a thyristor.
10
Help
Armature Converter
Id
1 3 5
Xk iL
~ ik
Ud α E
~
uL
~
4 6 2
Mains Line chokes Thyristor bridge
© ABB Group
• The armature converter must be connected with the 3-phase network. In the picture you can see the
configuration of the armature converter between mains and motor.
• Switching from one thyristor to the next is a short circuit of mains. To limit the increase of short circuit
current "ik", commutation chokes must be connected between mains and a thyristor bridge.
• Basically the 6-pulse thyristor bridge is a controlled voltage or current source.
11
Help
Converter current in a DC drive

Id
1 2 3 4 5 6
6 1 2 3 4 5
Average current:
0° 60° 120° 180° 240° 300° 360° ωt Id
IV 2
2
DC current in one
IV 3 thyristor arm:
3
IV2, IV3, IV4
IV 4 120° width
4
AC current in mains
I L1
1
IL1, IL2, IL3
4
120°: Id
I L2
3
60° : 0
6 6
I L3
5
© ABB Group
• The converter current in a dc drive must be analyzed on the dc and ac side of the supply network. A
thyristor bridge using six controlled thyristors produce a constant component dc at the output with a
current ripple. If the system is working properly, six bubbles can be measured with an oscilloscope.
The average current is the mean value also called the ideal dc current. The picture also shows which
thyristors are active.
• As long as a thyristor is active, a dc current flows through it. So each thyristor controls 120° of current
width in one period.
• In this picture, only three thyristor currents are shown.
• In an ac circuit, the dc current is represented. But the thyristors from the bottom arm produce a
negative current in an ac circuit. In each phase the current is active 120° and inactive 60° in a half
period.
• This is responsible for a factor between dc and ac current which is explained in the next slides.
12
Help
Armature voltage of 2-quadrant drive

voltage
Firing angle between 15° and 90°
For example:
U d max = 1.35 ⋅U mains⋅ cos(15°)

Voltage source characteristic:
Ud U A max = 1.35 ⋅ 400V ⋅ cos(15°) ⋅ (± 10% ) = 470V
Ud ∼ cos α
© ABB Group
• The armature voltage of a 2 quadrant drive depends on the mains voltage and is limited by the
converter type used.
• 2 quadrant drive types have one thyristor bridge with six thyristors. The diagram shows the voltage
source characteristic. With the firing angle alpha, the output voltage can be controlled but it is not
possible to use the full range from zero to 180 degrees. Typical firing angles are between 15 and 90
degrees.
• For a 2-quadrant drive the maximum motor voltage can be calculated with a maximum firing angle of
15° and the used mains voltage.
• If the mains voltage is 400 volts, the maximum motor voltage can be 470 volts. The limitation for 2-
quadrant drives is smaller than with a 4 quadrant drive because the braking mode is not possible in
forward direction.
• Note: Because of fluctuations of the mains voltage, it is necessary to calculate 10% in reserve.
13
Help
Armature voltage of 4 quadrant drive
Positive voltage source characteristic:

Ud
voltage
Ud ∼ cos α Firing angle between 30° and 150°
For example:
U d max = 1.35 ⋅U mains ⋅ cos(30°)

Negative voltage source characteristic:
Ud U A max = 1.35 ⋅ 400V ⋅ cos(30°) ⋅ (± 10% ) = 420V
α
Ud ∼ cos α
© ABB Group
• Armature voltage of a 4 quadrant drive is generated from two thyristor bridges which are anti parallel.
• This configuration allows positive and negative output voltage as well as current.
• For a 4-quadrant drive the maximum motor voltage can be calculated with a maximum firing angle of
30° and the used mains voltage. If the mains voltage is 400 volts the maximum motor voltage can be
420 volts. The limitation comes from the situation that in braking mode 150° is the maximum and a
reserve of 30° also has to be used for the driving mode.
• A 4 quadrant drive uses two characteristics which handle the control of one thyristor bridge.
• Note: Only one thyristor bridge can be active. Thyristor bridge 1 on the left hand side reaches the
maximum positive output voltage with the smallest firing angle. Thyristor bridge 2 on the left hand
side, which is anti parallel, reaches the maximum negative output voltage with the smallest firing
angle. Switching from bridge 1 to bridge 2 is automatically calculated by the controller board.
14
Help
DC current and AC current
Calculate AC current with a known DC

current
Id
I L1 I L1 = I L 2 = I L 3 = I d ⋅ 0.82
Ud
Example with a motor load (2Q):
I d = 1000 A U d = 1000V
I L1 = I d ⋅ 0,82 = 1000 A ⋅ 0,82 = 820 A

U d max 1000V
U L1− L 2 = = = 852V
1,35 ⋅ cos α min ⋅ 0,9 1,35 ⋅ cos(15°) ⋅ 0,9
S = 3 ⋅U L 1− L 2 ⋅ I L 1 = 852 V ⋅ 820 A = 1 , 21 MVA
Pd max = U d max ⋅ I d max
Commutation chokes, cables,
Pd max = 1000V ⋅1000 A = 1MW contactors and fuses have to be
selected depending on RMS values!
© ABB Group
• DC current and AC current depend on each other. They are needed to calculate a dc system.
• The ac current can be calculated with a factor of 0.82, if the dc current is known. So the ac current
with factor of 0.82 is lower than the dc current.
• Here is a small calculation example with a two quadrant drive.
• The maximum value for the motor current is 1000 amps and 1000 volts for the motor voltage. The dc
active power with neglected losses can be calculated by multiplying dc voltage and dc current. In this
example the maximum dc active power is 1 megawatt.
• With this information it is easy to calculate the RMS value of an ac current by multiplying the dc
current by a factor of 0.82. In this example the ac current is 820 amps. The ac voltage needed in this
configuration has to be calculated by using the minimum firing angle and a reserve of 10%. In this
example, a minimum ac voltage of 852 volts has to be supplied. The apparent power on the ac side
can be calculated with the known ac voltage and current. It is used to select the transformer power.
• Note: Commutation chokes, cables, contactors and fuses have to be selected depending on RMS
values.
15
Help
Continuous and Discontinuous Armature Current

Principle circuit diagram
Continuous
Current
Discontinuous
Current
© ABB Group
• Continuous and discontinuous armature current depends on the load and the size of armature
inductance.
• With big loads, the current will be continuous. That means the current is greater than zero the entire
time. With small loads the current could include times with zero current.
• The discontinuous current limit is an average dc current where the current bubbles touch the zero line.
Typical motors which are supplied by a six pulse thyristor bridge have a discontinuous current limit
between 20 and 40%.
• The point where continuous and discontinuous current changes is important for the current controller.
There the control performance must be changed which has to be saved in a drive parameter.
16
Help

Extruder
II I Mixer
Torque
Only forward driving possible
(current) Braking with positive speed isn’t
possible
III IV
Driving Braking
Id
Bridge 1 Ud
© ABB Group
• Typical applications for 2-quadrant drives are extruder or mixer. These converters can only be used
for forward driving. Braking with positive speed is not possible.
• The diagram shows the working range of this converter type. Only one thyristor bridge is installed.
That means only quadrant 1 and quadrant 4 can be used because the current cannot change current
direction.
17
Help

Ski lifts
II I Test rigs
Braking Driving Winder
Properties
Torque
(current) Smooth and fast torque reversal
III IV Id
Driving Braking
M
Ud
Bridge 2 Bridge 1
© ABB Group
• Typical applications for 4-quadrant converters are ski lifts, test rigs and winders. This converter
includes two anti parallel thyristor bridges which allow all 4 quadrants to be used. The motor current
can be positive or negative, the same goes for the output voltage. Control behavior of this converter
type is the smooth and fast torque reversal for fast braking.
18
Help
2-Quadrant converter and Field Reversal

Mixer, Propulsion
II I Realize E-Stop functionality

Slow changeover of torque
Torque
(current) Less control performance
Useable if P > 500 kW
III IV
Id
Driving Braking
M
Possible by
changing
Ud
field current Bridge 1
© ABB Group
• Another option of changing the motor direction and of going to quadrants 2 and 3 is to use a field
reversal configuration.
• Normally, the field current is fixed and the flux is in one direction. In field reversal, the current direction
will be changed which causes a flux direction change. This inverts the motor voltage. The result of this
combination is more or less a 4-quadrant drive with reduced components. Motor power is given by
negative motor voltage and positive motor current.
• The control behaviors are a slow changeover of the torque, because changes in the field circuit are
slower than in an armature circuit. This type of field reversal provides less functionality and is
therefore only used if the power is greater than 500 kilowatts. So the costs of a field reversal are
cheaper than with a real 4-quadrant armature converter.
19
Help
Usable working range of a DC drive
Speed / Voltage
There is a limitation in quadrant II and IV
Maximum firing angle 150°
II I
Thyristors needs a circuit
Braking Driving commutated recovery time
Torque This reduces the motor voltage in a 4
(current) quadrant drive
2 quadrant drives cannot used for
III IV braking in positive speed direction
Driving Braking
Motor voltage is greater
Maximum
regenerative voltage
© ABB Group
• The usable working range of a DC drive is limited in quadrants 2 and 4 because of the firing angle
limitation of 150°. This is needed because of a circuit commutated recovery time. This limitation of the
firing angle reduces the motor voltage in a 4-quadrant drive. 2-quadrant drives cannot be used for
braking in positive speed direction, so the motor voltage in quadrants 1 and 3 can be higher,
compared to classic 4 quadrant drives. This voltage variation is needed when classic 2 quadrant
drives are upgraded to 4 quadrant drives.
20
Help
Motor acceleration
3 Speed
II I 2 (EMF) t
1 Torque
(current) Torque
(current)
III IV
t
Example: Acceleration until 100% motor speed

Quadrant I is used
Step 1: Breakaway torque
Step 2: Acceleration at current limit
Step 3: Driving with constant speed
© ABB Group
• Motor acceleration in positive direction is possible in quadrant one.

• The function of an acceleration process of a dc motor should be explained by using an example of an
acceleration from zero to 100% motor speed.
• Before a motor is able to turn, a breakaway torque is needed. After that, the torque is at the limit and
the motor accelerates up to 100% motor speed. Once the motor has reached the maximum speed, the
torque decreases until it reaches a value where it remains constant.
• The motor torque during constant speed includes the mechanical losses as well as the torque from the
load.
21
Help
Motor deceleration
Speed
1
(EMF) t
2 II I
3 Torque
Torque
(current)
(current)
III IV
t
Example: Deceleration until standstill

Quadrant I and II are used
Step 2: Breaking mode Æ Deceleration at current limit
Step 3: Standstill, current is zero
© ABB Group
• Motor deceleration is possible in quadrant two. This example should show a typical deceleration from
maximum speed to zero. In step one the drive works in quadrant one which means the motor speed
and also the torque is positive. Then the machine has to change in breaking mode in step 2, so the
torque will be negative and the motor speed will decrease. The dc machine is breaking at the current
limitation until the speed is zero. In step 3 the motor is standing still and the current is zero.
22
Help
Driving in negative direction
Speed
II I (EMF) t
Torque
1 (current)
Torque
(current)
2 III IV
3 t
Example: Acceleration in negative direction

Quadrant III is used
Step 1: Motor is switched-off
Step 2: Driving mode Æ Acceleration at current limit
© ABB Group
• Driving in negative direction is also possible with a four quadrant drive.

• The example shows an acceleration of motor speed in negative direction. In step 1 the motor is
switched-off. Then in step 2 the motor accelerates in quadrant 3 at the current limitation to 100%
motor speed. In step 3 the acceleration process is finished and the dc machine runs in constant speed
with the needed torque for losses and the load.
23
Help
Example for a motor application
Speed / Voltage 1 2 34 5 6 7
4 3 Speed
5 2 (EMF) t
1 Torque
(current) Torque
6 (current)
7 t
Characteristics of a 4-quadrant drive
Acceleration of the machine (1, 2) Deceleration of the machine (5)
Decrease current (3) Acceleration in (6)
Increase current (4) Driving in reverse direction (7)
© ABB Group
• An example for a motor application as a 4-quadrant drive is shown in the pictures.

• The characteristics of a 4-quadrant drive are:
• The machine will be accelerated in step 1 and 2. This is possible in quadrant 1 because the
voltage and the current are positive.
• The machine reaches the maximum speed, so the current will be decreased. This is also
possible in quadrant 1.
• Now we are switching from quadrant 1 to quadrant 2. So the current will be negative which
causes a deceleration of the motor.
• With maximum torque and no voltage, the motor changes the direction of the rotor.
• In step 6 we are switching from quadrant 2 to quadrant 3 which means that the motor voltage
will be negative.
• If the machine reaches the minimum speed, the current decreases to zero.
• Braking with reverse bridge is possible in quadrant 4.
24
Help
Summary

© ABB Group

• General layout of a thyristor based converter
• Functionality of a six pulse thyristor bridge
• Armature 2 quadrant and 4 quadrant converter
• Armature voltage and current
• Mains voltage and current
• Continuous and discontinuous current and
• Driving and braking
25
Help
Additional information
Thyristor Regenerative mode

Control element in a line- Line-commutated converter is
commutated converter. Delicate working as a generator and
against di / dt. supply to mains.
Discontinuous current Commutation
Current includes gaps because Is the change-over from one
the armature current is too thyristor to another.
small.
Harmonics
Continuous current Harmonics are multiples of the
Current is continuous because basic oscillation which
of a big load. generates disturbances in
Firing angle network.
Firing angle controls the
thyristors. Values between 15°
and 150° are typical.
© ABB Group
26
27

DC Drives

Загружено:

Сведения о документе

Оригинальное название

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

DC Drives

Загружено:

Авторское право:

Доступные форматы

E-Learning, DC drives

This training module covers:

General Layout with external field excitation

General Layout with on-board field excitation

 Internal field excitation

AC line current DC current

Generating output current

AC line current DC current Id

DC_DRIVE_BASICS_01R0201 DC voltage ( controlled )

How works a thyristor converter

 6-pulse thyristor bridge with

 Natural firing point is the

t  Typical firing angles are between

Mains Line chokes Thyristor bridge

Converter current in a DC drive

Armature voltage of 2-quadrant drive

 2-quadrant drive maximum motor

U d max = 1.35 ⋅U mains⋅ cos(15°)

Maximum firing angle

Armature voltage of 4 quadrant drive

Positive voltage source characteristic:

U d max = 1.35 ⋅ U mains ⋅ cos(30°)

Maximum firing angle

DC current and AC current

 Calculate AC current with a known DC

I L1 = I d ⋅ 0,82 = 1000 A ⋅ 0,82 = 820 A

Continuous and Discontinuous Armature Current

Speed / Voltage  Typical applications

Speed / Voltage  Typical applications

2-Quadrant converter and Field Reversal

Speed / Voltage  Typical applications

II I  Realize E-Stop functionality

Usable working range of a DC drive

 Example: Acceleration until 100% motor speed

 Example: Deceleration until standstill

Driving in negative direction

 Example: Acceleration in negative direction

Example for a motor application

 Increase current (4)  Driving in reverse direction (7)

Key points of this module are:

 Thyristor  Regenerative mode

This training module covers:

After completing this module, you will know the

General Layout with external field excitation

General Layout with on-board field excitation

 Internal field excitation

AC line current DC current

• In this slide, the armature converter will be looked at.

Generating output current

AC line current DC current Id

DC_DRIVE_BASICS_01R0201 DC voltage ( controlled )

How works a thyristor converter

 6-pulse thyristor bridge with

 Natural firing point is the

• In this slide, the regenerative mode will be explained.

t  Typical firing angles are between

Mains Line chokes Thyristor bridge

Converter current in a DC drive

Armature voltage of 2-quadrant drive

 2-quadrant drive maximum motor

U d max = 1.35 ⋅U mains⋅ cos(15°)

Maximum firing angle

Armature voltage of 4 quadrant drive

Internal field excitation

6-pulse thyristor bridge with

Natural firing point is the

t Typical firing angles are between

2-quadrant drive maximum motor

Calculate AC current with a known DC

Speed / Voltage Typical applications

Speed / Voltage Typical applications

Speed / Voltage Typical applications

II I Realize E-Stop functionality

Example: Acceleration until 100% motor speed

Example: Deceleration until standstill

Example: Acceleration in negative direction

Increase current (4) Driving in reverse direction (7)

Thyristor Regenerative mode

Internal field excitation

6-pulse thyristor bridge with

Natural firing point is the

t Typical firing angles are between

2-quadrant drive maximum motor

Calculate AC current with a known DC

Speed / Voltage Typical applications

Speed / Voltage Typical applications

Speed / Voltage Typical applications

II I Realize E-Stop functionality

Example: Acceleration until 100% motor speed

Example: Deceleration until standstill

Example: Acceleration in negative direction

Increase current (4) Driving in reverse direction (7)

Thyristor Regenerative mode