Submitted To: Sir Ahmed Hasham Pasha

Submitted By: Bushra Altaf

Roll No: 2015-EE-12
Fourth Year

(Session 2015-2019)

Department of Electrical
Engineering UCE&T BZU,Multan
 Electrical DC Drives

What are Electrical Drives?

2.1 INTRODUCTION
Nowadays, modern power electronics and drives are used in electrical as well as
mechanical industry. The power converter or power modulator circuits are used
with electrical motor drives, providing either DC or AC outputs, and working from
either a DC (battery) supply or from the conventional AC supply. Here we will
highlight the most important aspects which are common to all types of drive
converters. Although there are many different types of converters, all except very
low-power ones are based on some form of electronic switching. The need to adopt a
switching strategy is emphasized in the Wrist example, where the consequences are
explored in some depth. We will see that switching is essential in order to achieve
high-efficiency power conversion, but that the resulting waveforms are inevitably
less than ideal from the point of view of the motor.
The thyristor DC drive remains an important speed-controlled industrial drive,
especially where higher maintenance cost associated with the DC motor brushes (c.f.
induction motor) is tolerable. The controlled (thyristor) rectifier provides a low-
impedance adjustable DC voltage for the motor armature, thereby providing speed
control.

2.1.1 Definitions of Electrical Drives

• An electrical drive can be defined as an electro mechanical device for converting
electrical energy into mechanical energy to impart motion to different machines
and mechanisms for various kinds of process control.
• An electrical drive is an industrial system which performs the conversion of
electrical energy into mechanical energy or vice versa for running and controlling
various processes.
• An electrical drive is defined as a form of machine equipment designed to convert
electrical energy into mechanical energy and provide electrical control of the
processes. The system employed for motion control is called an electrical drive.

2.2 ELECTRICAL DRIVES AND THEIR BLOCK DIAGRAM

An electrical drive system has the following components (Fig. 2.1).
1. Electrical machines and loads
2. Motor
3. Power modulator
4. Sources
5. Control unit
6. Sensing unit
 Electrical Drives 9

2.2.5 Types of Power Modulators

In the electric drive system, the power modulators can be any one of the following:
1. Controlled rectifiers (AC to DC converters)
2. Inverters (DC to AC converters)
3. AC voltage controllers (AC to AC converters)
4. DC choppers (DC to DC converters)
5. Cyclo converters (frequency conversion)

2.2.6 Electrical Sources

Very low power drives are generally fed from single-phase sources. Rest of the
drives are powered from a three-phase source. Low and medium power motors are
fed from a 400 V supply. For higher ratings, motors may be rated at 3.3 kV, 6.6 kV,
and 11 kV. Some drives are powered from the battery.

2.2.7 Control Unit

Control unit for a power modulator is provided in the control unit. It matches the
motor and power converter to meet the load requirements.

2.2.8 Sensing Unit

1. Speed sensing: Speed can be sensed by using a tachometer. Wind speed can
be sensed by anemometer similarly both speed and velocity can be measured
by the speedometer.
2. Torque sensing: Magneto elastic torque sensor is used in-vehicles
applications on race cars, automobile, and aircraft.
3. Position sensing: Motion can be sensed through GPS, vibrato meter, and
rotary encoder.
4. Current sensing and Voltage sensing from lines or from motor terminals.
5. Temperature sensing: Thermistor is a device which is used for temperature
measurement.

2.3 CLASSIFICATION OF ELECTRICAL DRIVES

There are two types of electrical drives.
(1) DC Drive: It is further classified into two types:
1. Non-regenerative DC drives: Non-regenerative DC drives are the most
conventional type. In their most basic form, they are able to control motor
speed and torque in one direction.
2. Regenerative DC drives: Regenerative adjustable speed drives, also known
as four-quadrant drives, are capable of controlling not only the speed and
direction of motor rotation but also the direction of motor torque.
 Electrical Drives 9

2.3.1 Non-regenerative DC Drives

Non-regenerative DC drives, also known as single-quadrant drives, rotate in one

direction only & they have no inherent braking capabilities. Stopping the motor is done
by removing voltage & allowing the motor to coast to a stop. Typically nonregenerative
drives operate high friction loads such as mixers, where the load exerts a strong natural
brake. In applications where supplemental quick braking and/or motor reversing is
required, dynamic braking & forward & reverse circuitry, may be provided by external
means.

Dynamic braking (DB) requires the addition of a DB contactor & DB resistors that
dissipate the braking energy as heat. The addition of an electromechanical (magnetic)
reversing contactor or manual switch permits the reversing of the controller polarity &
therefore the direction of rotation of the motor armature. Field contactor reverse kits
can also be installed to provide bidirectional rotation by reversing the polarity of the
shunt field.

All DC motors are DC generators as well. The term regenerative describes the ability of
the drive under braking conditions to convert the generated energy of the motor into
electrical energy, which is returned (or regenerated) to the AC power source.
Regenerative DC drives operate in all four quadrants purely electronically, without the
use of electromechanical switching contactors:

 Quadrant I -Drive delivers forward torque, motor rotating forward (motoring

mode of operation). This is the normal condition, providing power to a load
similar to that of a motor starter.
 Quadrant II -Drive delivers reverse torque, motor rotating forward (generating
mode of operation). This is a regenerative condition, where the drive itself is
absorbing power from a load, such as an overhauling load or deceleration.
 Quadrant III -Drive delivers reverse torque, motor rotating reverse (motoring
mode of opera tion). Basically the same as in quadrant I & similar to a reversing
starter.
 Quadrant IV -Drive delivers forward torque with motor rotating in reverse
(generating mode of operation). This is the other regenerative condition, where
again, the drive is absorbing power from the load in order to bring the motor
towards zero speed.

A single-quadrant nonregenerative DC drive has one power bridge with six SCRs used
to control the applied voltage level to the motor armature. The nonregenerative drive
can run in only motoring mode, & would require physically switching armature or field
leads to reverse the torque direction. A four-quadrant regenerative DC drive will have
two complete sets of power bridges, with 12 con trolled SCRs connected in inverse
parallel. One bridge controls forward torque, & the other controls reverse torque.
During operation, only one set of bridges is active at a time. For straight motoring in
the forward direction, the forward bridge would be in control of the power to the
 Electrical Drives 9
motor. For straight motoring in the reverse direction, the reverse bridge is in control.

Cranes & hoists use DC regenerative drives to hold back "overhauling loads" such as a
raised weight, or a machine's flywheel. Whenever the inertia of the motor load is
greater than the motor rotor inertia, the load will be driving the motor & is called an
over hauling load. Overhauling load results in generator action within the motor,
which will cause the motor to send cur rent into the drive. Regenerative braking is
summarized as follows:

 During normal forward operation, the forward bridge acts as a rectifier,

supplying power to the motor. During this period gate pulses are withheld from
reverse bridge so that it’s inactive.
 When motor speed is reduced, the control circuit withholds the pulses to the
forward bridge & simultaneously applies pulses to reverse bridge.

During this period, the motor acts as a generator, & the reverse bridge conducts current
through the armature in the reverse direction back to the AC line. This current reverses
the torque, & the motor speed decreases rapidly.

Both regeneration & dynamic braking slow down a rotating DC motor & its load.
However, there are significant differences in stopping time & Controlibility during
stopping, & safety issues depending on how one defines what should happen under
emergency conditions. Regenerative braking will stop the load smoothly & faster than a
dynamic brake for fast stop or emergency stop requirements. In addition regenerative
braking will regenerate power to the supply if the load is overhauling.

2.3.2 Regenerative DC Drives

Regenerative Control
Regenerative control gives a motor the capability to act as a generator while in
operation. Energy is regenerated during the braking process (regenerative braking)
and the output of energy is supplied to an electrical load. Regenerative DC drives are
often called “regen drives” for short.

In its basic form, a regenerative braking system recovers energy by slowing the motor,
and then it actually recycles the energy. For phase-controlled DC drives, regenerative
control involves reverting mechanical energy from an armature and the rotating load
back onto the AC power line. The motor’s reversal of current causes the rotation of the
load to slow down with braking action.

What’s Required for Regeneration?

For regeneration to occur, the regenerative drive must be running as well as be
energized. If the normal stop command is used to slow the motor, then regenerative
stopping occurs. This is called a ramp stop, meaning the motor drive will regenerate
 Electrical Drives 9
and decelerate as needed to follow the decal ramp. Some have a mode for current limit
stop as well, so the decal ramp is bypassed and current limit deceleration occurs.

In regenerative control, the regenerated energy from rotation is not dissipated, but it is
converted for use elsewhere. The drive and motor can both handle a certain amount of
regeneration without doing damage to either.

In general, a drive with regenerative control functions features twice the circuitry and
power components as a nonregenerative motor drive. It is also more expensive;
however, the energy, material and time savings make it well worth the investment in
many industrial facilities.

Example Product:
Carotron’s Elite Series of DC drives provide a great example of regenerative control
products. There are models available for regenerative and nonregenerative needs,
covering a motor horsepower range of 5 to 300.

In a world that’s always trying to find ways to “Go Green” regenerative control can
provide a great solution for plants and other facilities that want to keep their DC
motors in operation and conserve energy in the process.

2.3.3 Four Quadrant Motor Control

Understanding how a motor works can certainly give you insight when trying to find
a DC or AC motor drive for an industrial motor. One feature that’s becoming more and
more popular in today’s industrial motor control industry is “four quadrant motor
control.” Machine operators want to be able to have full control and flexibility with the
motor in operation without worrying about an increase in loss of material or untimely
wear and tear on the motor. With four quadrant motor control, this can easily be
achieved.

Traditionally, heavy duty motors could only operate at one speed (full speed) during
operation, and the rigid start up and slow down processes usually meant losing a lot of
inventory for a company. The material in use would become damaged near the
beginning and end of a roll or line because of inflexible motor operation. But with new
four quadrant motor control drives, both the speed and torque can be controlled. This
allows the motor to run much smoother while easing the pressure on the motor itself.
 Electrical Drives 9

What are the Four Quadrants of a Motor?

There are four distinct areas of operation (quadrants), which are based on the directions
of operation as well as the mode of operation. The modes are the acceleration and
deceleration of the motor. Two of the quadrants represent the torque application in the
direction of motion. The other two quadrants represent the torque being applied in an
opposite direction from the motor’s motion.

So the motor has two quadrants in which the energy flow is from an electrical flow to a
mechanical flow. With the other two, however, the motor acts as a generator. As the
motor is in motion, this motion is being converted into electrical power. The motor
drive absorbs this power.

DC Drives for Four Quadrant Motor Control

While many motor drives can only operate in one or two quadrants, some offer four
quadrant motor control. This means the drive provides accurate control in both
directions by sourcing and sinking the motor’s electrical power.

Our Elite Series DC drives are a great example of a drive featuring four quadrant
motor control. These offer full range speed and torque control for motors with a
horsepower rating range of 5 to 300 HP. They can control motors that are rated
for NEMA type C or D power supplies, and there are models available that provide 12
SCR regenerative control. Options such as contactor run/brake chassis models,
disconnect switches, blower starters, braking resistors, and more are available so you
can easily find the one needed for your industrial application.

With four quadrant motor control drives, your machinery and DC motors can run
better than ever…saving you on production costs and reducing long-term profit losses.
 Electrical Drives 11

2.4 CHARACTERISTICS OF ELECTRIC DC DRIVES

An electric drive provides electrical retarding and reduces service brake wear. It also
has many operational advantages. It includes the control of wheel slip and slide thus
reducing the tire wears. The system delivers a smoother ride for the operator. The electric
drive system enhancements include improved retarding grids, slip control algorithms,
the latest in diagnostic and troubleshooting software and silencers.

2.5 MICROPROCESSOR BASED ELECTRICAL DC

DRIVES
Microprocessor and micro controller based electrical drives are DC motor drives,
induction motor drives and traction motor drives.

2.5.1 Microprocessor Based DC Motor Drives

A microprocessor based control system can also be built where a phase controlled rectifier
supplies a DC motor.

Fig. 2.1 Microprocessor based DC drives.

In Fig. 2.1 the armature and field winding of DC motor are supplied from three-
phase AC supply to AC-DC converter then it is fed to the armature and field
winding. A techno- generator acts as a speed sensor, and it produces actual speed.
Analog to Digital (A/D).
 Electrical Drives 13

In general, the main task of the electrical drive is the motion control of mechanisms. An electrical
drive is an automatic control system with a number of feed backs where different automatic control
principles, such as error driven feedback control, model based-control, logical binary control, or
fuzzy logic control methods, are used. Depending on a particular technical solution and selected
control principle, different sensors for measuring of currents, voltages, velocity, acceleration, torque,
etc., in an electrical drive are used. Another information, like pressure signal for controlling pumps
and compressors, air humidity and/or temperature signal for controlling of fans, etc., is also
necessary.
 2.6 APPLICATIONS OF ELECTRICAL DC DRIVES
Electric drives are used in boats,
Electrical Drives 13
1. traction systems,
2. lifts, cranes, electric car, etc.
3. They have flexible control characteristics. The steady state and dynamic
characteristics of electric drives can be shaped to satisfy the load
requirements.
4. They are available in wide range of torque, speed, and power.
5. They can be started instantly and can immediately be fully loaded.
6. They can operate in all the four quadrants of the speed-torque plane.
7. They are adaptable to almost any operating conditions such as explosive
and radioactive environments.
Advantages of Electric DC Drives
• Cost is too low as compared to another system of the drive.
• The system is more simple and clean.
• The control is very easy and smooth.
• Flexible in the layout.
• Facility for remote control.
• Transmission of power from one place to other can be done with the help of
cables instead of long shafts, etc.
• Its maintenance cost is quite low.
• It can be started at any time without delay