Control of DC Machines Drive

EE-7104
M. Naveed Iqbal
Fall 2014
Department of Electrical Engineering
GC, University, Lahore
Course Outlines
• Classification of Electric Drives
• Requirements of Electric Drives
• Converters and control
• DC motor drives
• Inverters and PWM techniques
• Basic Structure of the Speed Controller
• Analog Speed Controllers
• Digital Speed Control
Prerequisites
• DC Machines
• Power Electronics
• Control Systems
Grading policy
• Class activity 40%
• Quiz
• Assignments
• Final Exam 60%
Contact hours
• Friday 10 AM to 12 PM
• Email: naveediqbal@gmail.com
• Phone: 0331-9735787
Electrical Drives
• An electrical drive is defined as a form of machine equipment
designed to convert electrical energy into mechanical energy and
provide electrical control over this process
• Converters
• Basic controller design
Speed Controlled System
• Task in motion control:
• Controlling the speed of a moving object or tool
• Actual speed of rotation should be made equal to the set speed
• The difference between the actual and set speed is known as the speed error
• The task of speed controller:
• To keep the speed error as small as possible, preferably equal to zero.
• To achieve this controller generates the torque/force reference
Basic elements of speed-controlled system
• Consider a system:
• The rotational speed ω is controlled
• Inertia of the moving parts is J
• friction coefficient B
• Load torque 𝑇𝐿
• 𝑇𝑒𝑚 represents the driving torque
• The rate of change of the actual speed ω is given by Eq.1
Basic elements of speed-controlled system
•m
Basic elements of speed-controlled system
• So we have set point here ω (desired speed)
• The speed error is ∆ω
• ∆ω is the difference between the set speed and the speed feedback signal 𝜔𝑓𝑏
• The transfer function of speed controller is 𝑊𝑠𝑐(𝑠)
• Controller processes the error signal and generates the torque reference 𝑇𝑟𝑒𝑓 to
counter ∆ω
• 𝑇𝑟𝑒𝑓 then fed to an actuator producing the driving torque 𝑇𝑒𝑚
Basic elements of speed-controlled system

• 𝑇𝑟𝑒𝑓 is a digital signal

generated by controller
• It is the input of the torque
actuator, represented by
block 𝑊𝐴 (𝑠)
• To facilitate the speed control task,
• It is desirable to use actuators where the actual torque Tem tracks the reference 𝑇𝑟𝑒𝑓
accurately and without delays.
• Hence, the ideal torque actuator’s transfer function is 𝑊𝐴 (𝑠)= 1 or 𝑊𝐴 (𝑠)= 𝐾𝑀 = const.
Basic elements of speed-controlled system
• Most actuators use power amplifiers with sufficiently large bandwidth
• The power amplifier supplies the motor windings with appropriate
voltages and currents
• A power amplifier use semiconductor switches
• It changes the voltages and currents of the power source into the
voltages and currents required for the motor to generate the desired
torque Tem
• Power amplifiers may perform DC/DC, DC/AC, AC/DC, or AC/AC power
conversion
Limitations
• Time Lag:
• Most available electric drives provide the torque Tem , which responds to the
command 𝑇𝑟𝑒𝑓 with a time lag ranging from several tens to several hundreds
of microseconds.
• Hence, the desired transfer function(WA(s) = KM= const.) can hardly
be achieved
Approximation
• The desired speed-loop response is measured in tens of milliseconds.
• Practically, delays introduced by torque actuators are negligible as
compared with
• dynamics of the mechanical subsystem
• desired response time of the speed loop.
• Therefore, the speed loop analysis and tuning can be performed
under the assumption that
• The torque actuator has a static gain Km with zero delays
Feedback signal response
• Practically, feedback signal 𝜔𝑓𝑏 is not equal to actual speed ω
because
• limited resolution of some shaft sensors,
• owing to the need to filter out the noise and high-frequency content,
• Error content due to specific techniques of speed signal acquisition and/or
reconstruction.
• If we consider a brushed tacho-generator with an RC low-pass
network, said transfer function becomes
𝟏 𝟏
• 𝑊𝑀 𝑠 = =
𝟏+𝒔𝑹𝑪 𝟏+𝒔𝝉
Approximation: Feedback signal response
• When time constants involved in feedback filtering and processing are
found to be considerably smaller compared with the desired speed
response times
• 𝑊𝑀 (s) can be neglected and considered equal to one (𝜔𝑓𝑏 = ω).
• Example:
• The tacho-filtering RC network with τ = 100 µs can be ignored in designing a
speed controller with a desired rise time of τR = 10 ms
Assumptions in speed controller
• Idealized speed measurement system (𝜔𝑓𝑏 = ω)
• Torque actuator that provides a driving torque Tem equal to the reference
𝑇𝑟𝑒𝑓
• A separately excited DC motor that drives an inertial load J.
• The excitation current 𝑖𝑝 and motor field Φ𝑝 are assumed to be constant.
• Hence, torque is in direct proportion to the armature current 𝑖𝑎
• For the given driving torque 𝑇𝑒𝑚 ,
𝑇𝑒𝑚
• 𝐼𝑎 = (where 𝑘𝑚 is the motor torque constant)
𝑘 Φ
𝑚 𝑝
•.
• Power amplifier supply the armature current in Figure 2
• It is reduced to an idealized, controllable current source.
• Switching and conversion losses are ignored
• The amplifier supplies the armature voltage 𝑢𝐴𝐵 to the motor.
• The armature current changes according to the equation
𝑑𝑖
• 𝐿 + 𝑅𝑎 𝑖𝑎 = 𝑢𝐴𝐵 – 𝑒𝑎
𝑑𝑡
• where 𝐿𝑎 and 𝑅𝑎 denote the armature inductance and resistance,
• while 𝑒𝑎 = 𝑘𝑒 Φ𝑝 𝜔 represents the back EMF
• Further considerations assume an ideal current controller where
Ia*=ia
Importance of z/Laplace transform
• Most speed controllers are implemented in a digital manner;
• that is, they reside within the program memory of microcontrollers
and digital signal processors(DSP) dedicated to motion-control tasks.
• their control actions take place at discrete, equally spaced time
• instants, paced by the interrupt events of a microcontroller/DSP
• Analysis, synthesis, involves the z-domain representation of relevant
signals and transfer functions
Importance of z/Laplace transform
• Prior to digital speed controllers, we were using analogue speed
controller
• The analysis of analog speed controllers involves s-domain
representation of signals and functions