Control of DC Machines Drive

EE-7104
M. Naveed Iqbal
Fall 2014
Department of Electrical Engineering
GC, University, Lahore
Outline
 Introduction
 Theory of Operation
 Field Excitation
 Separately Excited DC Motor
 State-Space Modeling
 Block Diagrams and Transfer Functions
 Measurement of Motor Constants
 References
2
Introduction
• DC motor in service for more than a century
• Dominated variable speed applications before Power
Electronics were introduced
• Advantage:
• Precise torque and speed control without sophisticated
electronics

3
Introduction
 Some limitations:
High maintenance (commutators & brushes)
Expensive
Speed limitations
Sparking
 Commonly used DC motors
Separately excited
Series (mostly for traction applications)

4
DC Machine – Theory of Operation
 Field winding - on stator pole
 if produces f
 Armature winding –on rotor
 ia produces a
 f and a mutually perpendicular
 maximum torque
 Rotor rotates clockwise
 For unidirectional torque and
rotation
 ia must be same polarity under each
field pole
 achieved using commutators and
brushes

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DC Machine – Field Excitation
• Depends on connections of field winding relative to armature winding
• Types of DC machines:
• Separately Excited
• Shunt Excited
• Series Excited
• Compounded
• Permanent Magnet

6
DC Machine – Field Excitation
• Separately Excited
• Field winding separated from armature winding
• Independent control of if (f ) and ia (T)

7
DC Machine – Field Excitation
 Shunt Excited
 Field winding parallel to armature
winding
 Variable-voltage operation complex
 Coupling of f (if ) and T (ia) production
 T vs  characteristic almost constant
 AR = armature reaction
(as T , ia , armature flux weakens
main flux  f , )

8
DC Machine – Field Excitation

 Series Excited
 Field winding in series with
armature winding
 Variable-voltage operation
complex
 Coupling of f (if ) and T (ia)
production
 T ia 2 since if = ia
 High starting torque
 No load operation must be
avoided (T = 0,  )

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DC Machine – Field Excitation
 Compounded
 Combines best feature of series Long-shunt
and shunt connection
 Series – high starting torque
 Shunt – no load operation
 Cumulative compounding
 shunt and series field strengthens
each other.
 Differential compounding Short-shunt
connection
 shunt and series field opposes
each other.

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DC Machine – Field Excitation
 Permanent Magnet
 Field provided by magnets
 Less heat
 No field winding resistive losses
 Compact
 Armature similar to separately
excited machine
 Disadvantages:
 Can’t increase flux
 Risk of demagnetisation
due to armature reaction

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Separately Excited DC Machine
Ra La Lf Rf

ia +
+ if +

vt ea Field vf
Armature
circuit
circuit
_ _ _

dia di f
va  Raia  La  ea v f  Rf i f  Lf
dt dt
. Te  Kia  Kbia Electromagnetic torque

ea  K  Kb Armature back e.m.f.

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Separately Excited DC Motor
 Motor is connected to a load.
 Therefore,

d
Te  J  B  TL
where dt
TL= load torque
J = load inertia (kg/m2)
B = viscous friction
coefficient (Nm/rad/s)

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DC Machine - State-Space Modeling
• DC motor dynamic equations:
dia
va  Raia  La  ea (1) ea  K  Kb (2)
dt
d
Te  J  B  TL (3) Te  Kia  Kbia (4)
dt

• Therefore, dia R 1 K
  a ia  va  b  (5)
dt La La La
d K b B 1
 ia    TL (6)
dt J J J
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DC Machine - State-Space Modeling
• From (5) and (6), the dynamic equations in state-space form:

 Ra Kb 1 0  v 
 sia   L 
La   a    La
i  a (7)
 s    a
     T 
   Kb  B    0  1  L
 J J  J
where s = differential operator with respect to time
• This can be written compactly as:

  AX  BU
X (8)

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DC Machine - State-Space Modeling
• Comparing (7) and (8):
X  ia   - - - - - state variable vector
T

U  va TL  - - - - - input vector

T

 Ra 
Kb
 La 
La 
A 
 Kb B 
 J J 
1 0 
B   La 
 0 1 
 J
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DC Machine - State-Space Modeling
 The roots of the system are the eigenvalues of matrix A

 Ra Kb
 La 
La 
A 
 Kb B 
 J J 
2
1  Ra B  1  Ra B   Ra B K b 2 
1 , 2           4   (9)
2  La J  2  
 La J   JLa JLa 

 1 and 2 always have negative real part, i.e. motor is stable on open-loop
operation.
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DC Machine – Block Diagrams
and Transfer Functions
• Taking Laplace transform of (1) and (3) and neglecting initial conditions:

V s   K b ωs  K b I a s   TL s 
I a s   a ωs  
Ra  s La
(10)
B  s J  (11)

• These relationships can be represented in the following block diagram

TL(s)

Ia(s) Te(s) -
+ 1 1
Kb + (s)
Ra sLa 
Va(s)
- B  s J 

Kb
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DC Machine – Block Diagrams
and Transfer Functions
• From the block diagram, the following transfer functions can be derived:

ωs 
G ωVa s  
Kb
 2

Va s  s JLa   sBLa  JRa   BRa  Kb 2  (12)

ωs   Ra  s La 
G ωTL s    2

TL s  s JLa   sBLa  JRa   BRa  Kb 2  (13)

• Since the motor is a linear system, the speed response due to simultaneous Va input and TL
disturbance is:

ωs   GωVa s Va s   GωTL s TL s  (14)

• The Laplace inverse of (14) gives the speed time response (t).

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DC Machine – Measurement of Motor
Constants
• To analyse DC motors we need values for Ra, La and Kb
• Armature Resistance Ra
• DC voltage applied at armature terminals such that rated ia flows
Vdc  Vbrush  Vcontact resistance
Ra 
ia, rated
• This gives the dc value for Ra
• Need to also correct for temperature at which motor is expected to operate at
steady state
• Similar procedure can be applied to find Rf of field circuit

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DC Machine – Measurement of Motor
Constants
 Armature Inductance La
 Apply low AC voltage through variac
at armature terminals
 Measure ia
 Motor must be at standstill (i.e.  = 0
and e = 0)
2
 Va 
   Ra 2
 I 
 a 
La  (variac)
2f
 f = supply frequency in Hz
 Ra = ac armature resistance
 Similar procedure can be applied to
find Lf of field circuit

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DC Machine – Measurement of Motor
Constants
 EMF Constant Kb = K . Ea (V)
 Rated field voltage applied
and kept constant
 Shaft rotated by another dc
motor up to rated speed
 Voltmeter connected to
armature terminals  gives
value of Ea
 Get values of ea at different
speeds
 Plot Ea vs. 
 (rad/s)
 Slope of curve = Kb
 Units of Kb = [V/rads-1]
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