EAB 4323 Power Electronics II

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A MAJOR/TECHNICAL ELECTIVE COURSE FOR B.ENG. EE(INSTRUMENTATION & CONTROL) , B.ENG. EE(POWER SYSTEMS)

EAB 4323 POWER ELECTRONICS II

Course I t C Instructor: A t Assoc P f D K S R Prof Dr. K. S. Rama R Rao. Electrical & Electronics Engineering Department UTP,

Course Outline e-mail: ksramarao@petronas.com.my, Office: 22-03-26 Tel: 368 7875 @p y,

Pa I art

Review of DC Motors Electronic Control of DC Motors Power Electronics and Control Review of AC Motors Electronic Control of AC Motors UPS and Microprocessor Implementation in drive systems p p y Heat sink design and Cooling of Power Electronics Converters
3

Part III

Pa II art

EAB 4323 POWER ELECTRONICS II

Course Time-table
Lectures - 3 hrs per week 1 Hour: Tuesday 10 11 AM (20-02-06) 2 Hours: Thursday 3 5 PM (D5) Laboratory - 2 hours Power Electronics Lab (23-01-14) Odd weeks Tutorials & Revision -2 hr/wk ( especially week b f T i l R i i 2h / k i ll k before test, and d final examination ) Even weeks

Course Resources
Lecture notes, Laboratory handouts, Example papers Textbook: See details in Course planner.

Assessment
Final Examination, T t ( 2) Quizzes, Laboratory, Fi l E i ti Tests (x2), Q i L b t Case study (in group), and Assignments (Tutorials) (x6).
4

Subject Name Code Subject Status Level Credit Value Prerequisite (if any) Assessment

Power Electronics II EBB4323 Major Electives Bachelor 3 Power Electronics I

Test/Quiz Project Assignment / Tutorial Lab Final Examination

Lecturer Semester/ Year Taught Learning Outcomes

- 20% - 10% - 10% - 10% - 50% Assoc Prof Dr K S Rama Rao 7/4 At the end of this course, students should be able to: y , 1. Analyze the methods used for DC and AC motor control, and their applications. 2. Perform harmonic analysis of inverters/converters circuits. 3. Design power electronic circuits for UPS. 4. Evaluate microprocessor-based system (e.g., gate drive circuit) for the control of drives drives. 5. Design of heat sink, implementation of electric drives and traction for industrial applications. 6. Adapt power electronics controller technologies for industrial AC and DC drives. This course covers topics related to principles and concepts of controlling both DC and AC motors, the gate drive circuits design and safety considerations, and the applications of microprocessor in controlling 5 electric drives.

Subject Synopsis

Subject Planning

Lect.

Hours Tut.

Lab

Power Electronic Control of DC motors: Review on DC motors types and components; series, shunt, compound Operation of DC motors and losses Electronic Control of DC motors performance parameters Converters: principles, single and three phase bridge configurations, controllability and protection implications on AC supply (power factor and protection, harmonics) PWM chopper amplifier: principles, single, two and four quadrant bridge configurations, losses, controllability and protection, supply implications (capacitor, choke, regeneration Power Electronics Control of AC motors: Induction motor drives; three-phase induction motor rotor and stator losses Connections for torque, speed, and horse power Synchronous motor; construction, starting the synchronous motor, characteristics of synchronous motor, power factor rating. Relative features of AC drives and DC drives Speed control of induction motors: slip control (constant frequency) i e i.e., primary voltage control and slip energy recovery and frequency control i.e., DC link inverter (Quasi square wave, and PWM). Speed control of synchronous motors: current source inverters (CSI) and load commutation.

12

12

Microprocessor-based gate drive circuit and UPS: Design of microprocessor -based system of gate drive circuits Implementation applicable to power and energy conversion in drive systems, e.g., PWM control strategy. UPS components rectifier, battery, inverter, static Transfer switch

Heat sink design and Cooling of Power Electronic components: g g p Steady state thermal resistance Transient thermal resistance Heat sink design and cooling.

Power Electronic Drives in Industries: General requirements Implementation of electric drives for traction, for factories and traction electric vehicles

Total Hours

28

12

16
7

Rujukan / Reference 1. Mohan, Undeland, Robbin, Power , , , Electronics: Converters, Application and Design, 3rd Edition, 2003, John Wiley. Rujukan Utama / j Main Reference

1. Muhammad H. Rashid, Power Electronics: Circuits, Device and Applications, 3rd Ed. 1998, Prentice-Hall, Inc. 2. C.W. Lander, Power Electronics, McGraw- Rujukan Tambahan Hill / Optional Reference Rf 2. W. Sh h d d L N H ll P 2 W Shepherd and L.N. Hulley. Power electronics and motor control, 2nd Edition, 1999, Cambridge University Press.

PART I: TOPIC 1,2 AND 3 POWER ELECTRONICS IN THE CONTROL OF DC MACHINES Review of D.C. motors: operation, characteristics and modes of control DC operation Degree of Control applied: quadrants of control, implications on power electronic requirements Converters: principles, single and three phase bridge configurations, controllability and protection, implications on a.c. supply (power factor and harmonics) Pulse Width Modulated Chopper amplifiers: principles, single-four quadrant bridge configurations, losses, controllability and protection, supply implications (capacitor, choke, regeneration)

Type of Electric Motors Classification of Motors

Electric M t El t i Motors

Alternating Current g (AC) Motors

Direct Current (DC) ( ) Motors

Synchronous

Induction

Separately Excited

Self Excited

Single-Phase

Three-Phase

Series

Compound

Shunt

Motors are categorized on the basis of input supply, construction and operation principles l t ti d ti i i l
10

Type of Electric Motors DC Motors Components p

Field poles
North poles and south poles Receive electricity to form magnetic field

Armature

(Direct Industry, 1995)

Cylinder between the poles El t Electromagnet when current goes th t h t through h Linked to drive shaft to drive the load

C Commutator t t
Overturns current direction in armature
11

Type of Electric Motors DC motors

Speed control without impact to power supply quality
Changing armature voltage Changing field current

Restricted use
Few low/medium speed applications Clean, non-hazardous areas

Expensive compared to AC motors

12

ia

DC motors
Separately-excited DC motor: V
field fi ld current supplied from a separate t li d f t source
a

Ra La n vf ea if

Ka

Self-excited DC motor: shunt motor

Field winding parallel with armature winding Line Current = field current + armature t t current

Speed constant independent of load up t certain torque to t i t

Speed control: insert resistance in armature or field circuit

13

DC motors
Self-excited DC motor: series motor S lf i d i

Suitable for high starting torque: cranes, hoists

Speed restricted to 5000 RPM Avoid running with g no load: speed uncontrolled

Field winding in series g with armature winding Field current = armature current

14

DC motors
DC compound motor
Good torque q and stable speed Suitable for high starting torque if high t ti t hi h % compounding: cranes, hoists Higher % compound in series = high starting torque

Field winding in g series and parallel with armature winding

15

LOAD TORQUE CHARACTERISTICS

Electric drives are used for a wide range of different loads based on Torque-speed b d T d characteristics. Some common load characteristics are shown along with their associated equation. It is desirable that the load torque and the motor torque characteristics are orthogonal h t i ti th l or nearly so. This will improve speed regulation.

Torque, T L
oad F u ll L

T L = k0 + k 1N
Eg., Hoist
oad No L

Speed, N 16

Dynamic torque equation for a motor

d T=J + B + TL dt 2 J = Moment of Inertia kg m , B = Friction coefficient Inertia, = speed, rad s -1 TL = Load torque, N . m, T = Developed torque, N . m
Dynamic voltage equation for a motor

di a va = iaR a + L a + ea dt

17

INTERMITTENT OPERATION
Intermittent Duty

In many applications the load may be applied cyclically and intermittently. Duty Cycle determines the rating of the driving motor. For instance, the motor instance main motor of a rolling mill might have a duty cycle as shown, where the rolling torque demand is 50,000 Nm for 10 seconds and the motor speed is reversed from +10 rad/s to 10 rad/s in 4 seconds. If the effective moment of inertia J referred to the motor shaft is 15 000 kgm2, determine the reversing torque 15,000 required, the Trms, velocity rms, and the motor rating :velocity, rad/s
10

d [10 (-10)] = 15000 = 75,000 Nm. dt 4

Time
2 -10 10 12 16 26 30 40

[(50,000 2 x 10) + (75,000 2 x 4)] The rms Torque is : - T = rms 14 = 58,250 Nm The rms velocity is : - rms 1 1 = 2 x (5t ) 2 dt + (10 2 ) 20 10
2 2

Torque, Nm
28s 75000 50000

-50000 -75000

Time

25t 3 = d/ + 10 = 9 rad/s 3 0 Motor rating = T = 9 x 58,250 = 524.25 kW rms rms

18

DC motors
Relationship bet ee speed, field flux and armature e at o s p between e d u a d a atu e voltage
Ea = Z N P/(60 A) Define Ka = Z P/(60 A)

Back l t B k electromotive force: ti f where Ka = Volts/rpm

Ea = Ka N V lt Volts

1 If speed is expressed as = 2 N/60 rad.sec-1 di d d

Back electromotive force: Ea = Kv where Ka1 = Volts/ rad sec-1 = Kv = ZP/(2 A) rad.sec Ea = Kv Volts, where emf constant Kv = Volts/ rad.sec-1
Ea N Z P A = electromotive force developed at armature terminals (volts) = field flux which is directly proportional to field current = speed in RPM (revolutions per minute) Ea = Ka N Volts = speed in radians/sec Ea = Kv Volts =N Number of conductors in series b f d t i i = Number of poles = Number of parallel paths

19

DC motors

Power developed, Pa = Ea Ia Watts

Torque developed, T = Pa/ Torque: T T = EaIa/ Nm N

Nm

Basic equations for average EMF and average T Torque developed by motor d l db t Average EMF, Ea = Ka1 = Kv Volts
T = Ka1 Ia Nm
Define Ka1 = ZP/(2 A)

Average Torque, T = KT Ia Ia = armature current = speed, rad. sec-1

Nm,

Kv = Volts/rad. sec-1, EMF constant

KT = Nm/A, torque constant

20

BASIC DC MOTOR EQUATIONS

Separately excited motor
ia

Average induced voltage

E a = K a N or K a1 = K v Average Torque developed T AV = K a1 I a = K T I a Average speed, if flux is constant Va = I a R a + E a = I a R a + K v
vf

Ra La Va n if

ea

Va I a R = Kv

rad sec

Ka

Dynamic Voltage and torque equations

Expressing in terms of torque torque, as I a = T AV / K T Va I a R = Kv

a

v a = iaR

+ La
a n

di a + ea dt

Va IaR a = Kv Kv
1

= K

T = K a ia

Va Ra = T AV rad sec Kv K vK T

21

Separately excited motor Average induced voltage

E a = K a N or K a1 = K v Average Torque developed T AV = K a1 I a = K T I a Average speed if flux is constant speed, Va = I a R a + E a = I a R a + K v
Avearge armature voltage E a = K v Average Torque developed TAV = K T I a Average speed, if flux is constant

Va I a R a Kv

rad sec 1

Expressing

in terms of torque,

= =

as I a = T AV / K T

Va I a R a Kv

rad sec 1

= =

Va I a R a V I R = a a a Kv Kv Kv Va Ra T AV rad sec 1 K v K vK T

Va Ra TAV rad sec 1 K v K vKT

22

BASIC DC MOTOR EQUATIONS

Series excited

Dynamic equations ea = K a n = K fi a ea = K aK f ian Torque developed T = K a ia = K a K f i

Average induced voltage
E
n
a

if = ia

Ra+Rf La Va Lf

= K aK f Ia N Torque
2

Average

developed

T AV = K a K f I

a
+ Lf) di a + ea dt

ea

Dynamic Voltage equations y g q

v a = i a (R
Ka
a a

+ R f ) + (L + Rf)+ E

a a

V a = I a (R

Average Speed , N V I a (R a + R f ) N = a K a K f Ia

23

CONSTANT FIELD OR PERMANENT MAGNET D.C. MOTOR

Va = I a R a + K V
where

T = K T Ia

K V = Back e . m . f constant, Volts/rad sec 1 Va = Applied Voltage, V I a = Armature current, A

K T = Torque constant, Nm/A

= = Speed, rad sec -1

If I f is constant, K V ( Volts/rad sec 1 ) = K T ( Nm/A)
24

D.C. MOTOR WITH VARIABLE FIELD, CONSTANT VA

= IaR

+ K

If I f0

T = IaK

If T If0 where K V = Back e . m . f constant, Volts/rad sec 1

K T = Torque constant, Nm/A Va = Applied Voltage, V I a = Armature current, A

= = Speed, rad sec-1 d d

I f = Field current, A (required) I fo = Full Field current, A
25

SERIES FIELD D.C. MOTOR

Va = IaR T = IaK

+ K

Ia I a0

Ia I a0

where K V = Back e . m . f constant, Volts/rad sec 1 K T = Torque constant Nm/A constant, Va = Applied Voltage, V I a = Armature current, A = I f = Field current, A (required) I ao = Full Armature current, A = I fo = Full Field current, A

= = Speed, rad sec -1

26

D.C. MOTOR WITH VARIABLE VA AND VARIABLE FIELD

If Va = I a R a + K V I f0 If T = IaK T I f0

where K V = Back e . m . f constant, Volts/rad sec 1 , K T = Torque constant, Nm/A Va = Applied Voltage, V I a = Armature current, A

= = Speed, rad sec-1

I f = Field current, A (required) I fo = Full Field current, A
27

Class work problems:

Problem:1

A fixed field DC motor drives a compressor and has the following characteristics: Back emf constant 0.172 0 172 V/rpm Torque constant 1.64 N.m/A Armature resistance 0.25 Under the most severe conditions, the compressor needs to be driven at 825 rpm with a o p o d ob d a 8 5 p torque of 50 Nm. Determine the Maximum current and voltage required for the motor

Average induced voltage, E a = K a N Volts Average Torque developed TAV = K a1 I a = K T I a Motor volt age equation : Va = I a R a + E a = I a R a + K a N E a = K a N = 0.172 x 825 = 142 V Motor torq ue, TAV = K T I a Td 50 Motor maximum current, I a = = = 30.48 A K T 1.64 Va = I a R a + E a = 30.48 x 0 25 + 142 = 149.62 V 0.25 Motor maximum voltage = Vdo = 149.62 V

Problem:2

A DC traction motor has the following characteristics: Back emf constant 2 V/rad s 1 (Fully V/rad.s-1 fluxed) Torque constant 3 Nm/A (Fully fluxed) Armature & field resistances 0.3 Armature inductance 2 mH The motor is to provide a maximum torque of 600 N.m at a speed of 1500 rpm. Determine the armature voltage, Vd.

2 N 2 1500 Ans: = = = 157 . 07 rads Motor speed 60 60

Average induced voltage, Ea = K v Average Torque developed TAV = K T I a Motor volt age equation : Va = I a R a + E a E a = K v = 2 x 157 = 314 V Motor torq ue, TAV = K T I a 600 Motor maximum current, I a = = 200 A 3 Va = I a R a + E a = 200 x 0 3 + 314 = 3 4 V 0.3 374 Motor maximum voltage = Vdo = 374 V

DC Drives Part II

FOURQUADRANTOPERATIONOFADRIVESYSTEM
TheTplanewithmotor'sshaftcrosssectionalareaisshown

Mech

Electrical

Electrical

Mech

Forward Braking B ki

-ve +ve
Mech M h

+ve +ve

Forward Monitoring

Electrical El t i l

Mech

Electrical

Reverse Monitoring

-ve -ve

+ve -ve

Reverse Braking

When accelerating Electrical P = IV

Motor

When braking Mechanical P = Electrical

Generator

Mechanical P =
2

P = IV

FOURQUADRANTOPERATIONOFADRIVESYSTEM

Forward

Thepositiveorforward speedisarbitrarily chosen Thepositivetorque isin positivetorque thedirectionthatwill produceaccelerationin forwardspeed,asshown forwardspeed above.

Q II

QI

Q III
Reverse

Q IV

QUADRANT I QUADRANTI

Ea positive Ia positive

q p p Bothtorqueandspeedarepositive themotorrotatesin torqueandspeedarepositive forwarddirection forwarddirection,whichisinthesamedirectionasthe thesamedirectionasthe motortorque motortorque. Thepowerofthemotoristheproductofthespeedand torque(P=T),thereforethepowerofthemotorispositive. Energy isconvertedfromelectricalformtomechanicalform electricalformtomechanicalform, whichisusedtorotatethemotor hi hi usedtorotatethemotor. dt t t th t Themodeofoperationisknownasforwardmotoring. forwardmotoring.

QUADRANT II QUADRANTII

Ea positive Ia negative

Thespeedisinforwarddirection butthemotortorqueisinopposite speedisinforwarddirection motortorqueisinopposite directionornegativevalue. Thetorqueproduced bythemotorisusedto'break theforward torqueproduced usedto'break'theforward rotation ofthemotor. Themechanicalenergyduringthebreaking,isconvertedto mechanicalenergyduringthebreaking,isconvertedto gy g g, electricalenergy thustheflowofenergyisfromthemechanical systemtotheelectricalsystem. Theproductofthetorqueandspeedisnegative thusthepoweris productofthetorqueandspeedisnegative negative,implyingthatthemotoroperatesinbreakingmode ti i l i th tth t implyingthatthemotoroperatesinbreakingmode. i t i b ki d Themodeofoperationisknownasforwardbreaking forwardbreaking

QUADRANT III QUADRANTIII

Ea negative Ia negative

Thespeedandthetorqueofthemotorareinthesame speedandthetorqueofthemotorareinthesame directionbutarebothnegative. directionbutarebothnegative Thereverseelectricaltorqueisusedtorotatethemotorin reverseelectricaltorqueisusedtorotatethemotorin q reversedirection. reversedirection Thepower,i.e.theproductofthetorqueandspeed,ispositive productofthetorqueandspeed,ispositive implyingthatthemotoroperatesinmotoringmode implyingthatthemotoroperatesinmotoringmode. Theenergyisconvertedfromelectricalformtomechanical h df electricalformtomechanical l lf h l form. form Thismodeofoperationisknownasreversemotoring reversemotoring.

QUADRANT IV QUADRANTIV

Ea negative Ia positive

Thespeedisinreversedirectionbutthetorqueispositive. Themotortorqueisusedto break thereverserotationofthe Themotortorqueisusedto'break'thereverserotationofthe motortorqueisusedto motortorqueisusedto'break'thereverserotationofthe motor. motor Themechanicalenergygainedduringthebreakingisconverted mechanicalenergygainedduringthebreakingisconverted toelectricalform thuspowerflowfromthemechanicalsystem totheelectricalsystem. h l i l Theproductofthespeedandtorqueisnegativeimplyingthat productofthespeedandtorqueisnegativeimplyingthat themotoroperatesinbreakingmode themotoroperatesinbreakingmode. Thismodeofoperationisknownasreversebreaking. Thismodeofoperationiskno nasreversebreaking reversebreaking. reversebreaking

FOUR QUADRANT OPERATIONS

The Torque/Speed characteristics of a variable speed drive. The operation of a drive often extends outside the quadrant shown and are often expressed as a four quadrant torque/speed graph. The use of quadrant charts to represent common state changes as shown.
Speed, N e.g., Locomotive

Speed, N e.g., Electric car

Speed, N e.g., Crane

II

I
Torque, T

II

I
Torque, T

II

I
Torque, T

III

IV

III

IV

III

IV

Typically motor control systems will operate in either I, II or IV of theses quadrants. q adrants Note: Quadrant II and IV have the potential for regeneration.
8

Problem:3

A d l t is to be d to goods elevator i t b used t lift h heavy l d b t loads between fl floors i a in manufacturing complex as shown in FIGURE 1. It is to be powered by a DC motor with constant excitation. The details below define the characteristics for the motor: Motor: Torque constant Back emf constant Armature resistance 0.8 Nm/A 0.8 V/rad s-1 s1 0.03

y g g a. The elevator is to carry loads with maximum weight of 800 kg. The weight of the lift is 300 kg. The building has 5 floors and the average height of each floor is 8 m. The minimum time for the elevator to move from ground floor to top floor is 33 s. Use the acceleration due to 2 gravity at sea level, g= 9.81 ms-2. Calculate (i) the minimum power requirement for the motor and (ii) the torque when the motor is running at a speed of 900 rpm. b. b Determine the motor armat re c rrent and the armat re voltage. armature current armature oltage

FIGURE 1

D C m o to r

T o p F lo o r

weight of load weight of the lift height of each floor No. of floors N f fl Time taken
up

= W kg. = L kg. =Hm =F = S sec

Fl or 1 lo H m e tre s G n d F lo o r
dow n

Total mass, m Total height of floors g Velocity of the lift, v Force to lift the load, F Power required, P Torque developed, T

=W+L =H x F = (H x F)/S = m a = m x 9.81 =T =Fv = P/

= . kg = .. m = .. m/s = kg.m/s2 = . Watts = . N.m

11

Problem:4

A gantry crane is to be powered by a DC motor with constant excitation. The DC motor is to raise and lower a l d with maximum weight of 1500 k A shown i load ith i i ht f kg. As h in FIGURE 2, the motor with the parameters listed below, is being used with a 50:1 reduction gearbox and a g g drum of diameter 0.3 m. The details below define the characteristics for the motor and dc-dc converter. Motor: Torque constant 0.6 0 6 Nm/A Back emf constant 0.6 V/rad s-1 Armature resistance 0.2

Note: Unit TL, Tm in Nm

L, m in rad.s1
Tmm =TL L TL n = , or Tm 1 = , or L 1

Tmm
Motor

n:1

TL L
Drum

TL = nTm Tm

Gearbox

m n

m = nL
Load

m =
Tm =T
FIGURE 2

F = mg TL = Fr TL L = Fv

1 a The load is being raised at a speed v = 0 25 ms-1. a.The speed, 0.25 Assume zero losses in the gearing from the motor to the drum. Use the acceleration due to gravity at sea level, g = 9.81 ms-2. Calculate (i) the torque required for the motor and (ii) the armature voltage.

b. Under a particular steady-state condition the load is being lowered at a speed of 0.12 ms-1 (or in this case use = 0.8 1). rads-1) Determine (i) the torque required for the motor and . (ii) the armature voltage

F = mg = W x 9 81 = ..... kg m s -1 9.81 T L = Fr = F x d/2 = ..... Nm TL

L

= Fv =

....... W

Tm

= TL

= ....... W T L = n T m = ....

TL n = , 1 Tm

or

n = , 1 =
L

or

= n

= ......

Tm = T As =
L

(T m = T ) = ..... ra d s TL = ....... ra d s
-1

-1

= n

= =

Tm =

TL = ......... N m = T n M o to r to rq u e , T = ....... N m M o t o r s p e e d , = = . . . . . r a d s -1

15

EX: 5

Th mass of th electric b f the l t i bus as shown i FIGURE 3 i 5000 k h The in is kg, including the passengers. A single dc motor mounted on the front wheels drives the bus. The wheel diameter is 1 m. The bus is going up a hill at a speed of 50 km/hr. The slope of the hill is 30o. km/hr The friction coefficient of the road surface at a given weather condition is 0.4. Ignore the motor losses and compute the power consumed by the motor motor.
FIGURE 3

Solution: Data: Mass of the bus, m Wheel diameter, d Speed of the bus, v Slope of the hill, Friction coefficient, r Acceleration due to gravity, g = 5000 kg =1m = 50 km/hr = 30o = 0.4 = 9.8 ms-2

The weight of bus is divided into two components: (i) Perpendicular to the road surface (force F), responsible for the friction force, Fr (ii) Parallel to the surface, responsible for pulling the bus toward the bottom of the hill, Fl The motor force, Fm = Fl + Fr All these forces are dependent on the gravitational force, Fg

Considering the force diagram, the normal force, F and the pulling force, Fl are F = Fg cos Fl = Fg sin g , g The gravitational force, F = m.g = 5000 x 9.8 = 49,000 N F = Fg cos = 49000 x cos 30 = 42435.25 N Fl = Fg sin = 49000 x sin 30 = 24500 N The friction force, Fr = r x F = 0.4 x 42435.25 = 16974 N

The total force seen by the dc motor, Fm = Fl + Fr = 24500 + 16974 = 41474 N The torque to be developed by the motor, Tm = Fm x radius of wheel = 41474 x 0.5 = 20737 Nm Power consumed by the motor, Pm = x Tm = (v/r) x Tm = (50/0.5) x 20737 = 2073700 W = 2073.7 kW

OPEN OR CLOSED LOOP CONTROL

Speed control of motors is carried out in either open or closed loop. p p p

Open loop control In an open loop, the input power is adjusted for an appropriate speed but no check is made to ensure that the required speed is achieved.
Required q speed Power In
POWER CONTROLLER MOTOR LOAD Tacho

Actual speed

In a closed loop speed control system the output speed is compared with the required speed to determine the error. The i Th input power is th adjusted t reduce th error. Th closed l t i then dj t d to d the The l d loop approach has many advantages but the extra expense and complexity is not justified if speed regulation is unimportant.

20

Part 3

SCR DC Drives

Phase Controlled SCR Converter DC drives

DC Motor Drives

Single-phase Drives

Three-phase Drives

Separately Exited

Self Excited

Separately Excited

Self Excited

Series

Shunt

Series

Compound

Shunt

DEFINITION OF PERFORMANCE PARAMETERS

Average motor armature current is defined as, ia instantaneous armature current T time period for one cycle variation of ia. In a separately excited machine the developed torque is proportional to the average armature current. This current Ia is known as the torque producing component of the motor current.

Ia

1 = T

t1 + T

t1

ia (t ) d dt

RMS motor armature current, Iar, is defined as,

1 t1+T (t)2 Iar = i a dt T t1

1 2

This is the heat producing component of the motor current. Similar definitions for Average and RMS voltage exists.

DEFINITION OF PERFORMANCE PARAMETERS

Input Power Factor PF
PF = mean input power r.m.s. input voltamperes

If the supply voltage is an undistorted sinusoid only the fundamental th l lt i di t t d i id l th f d t l component of the input current will contribute to the mean input power. Thus,
PF = VI 1 cos 1 VI

Vrms supply phase voltage Irms supply phase current I1 rms fundamental component of the supply current angle between supply voltage and the fundamental component of supply current
1

Input Power Factor PF is an important parameter because it decides the volt-ampere requirement of the drive system. For the same power demand, if the power factor is poor more volt amperes (and hence more current) are drawn from the supply.

DEFINITION OF PERFORMANCE PARAMETERS

Input Displacement Factor DF This may also be called fundamental power factor and is defined as,
DF = cos 1

where

1 is

known as the input displacement angle.

For the same power demand if the displacement factor is low, more fundamental current is drawn from the supply. Harmonic Factor H.F. The input current being non-sinusoidal contains currents of harmonic frequencies. The harmonic factor is defined as:

HF

=
=

(I

I I1
I
2 n

2 1

1 2

In = rms value of th nth harmonic current l f the th h i t Ih = rms value of the net
harmonic current

HF

n = 2

1 2

I1 = rms
= Ih I1

value of the fundamental current

I1

DEFINITION OF PERFORMANCE PARAMETERS

Th h i factor indicates the harmonic content i th i i t t in the input supply t l The harmonic f t i di t th h current and thus measures the distortion of the input current. The input supply current, i, can be expressed in terms of a Fourier series as follows:
i = I 0 + (a n cos (n t ) + bn sin(n t ) )
n =1

= I 0 + 2 I n sin(n t + n )
n =1

The d.c. component, I0, and the Fourier coefficients an, bn are obtained as follows:

1 = T

i dt
0

2 T an = i cos(n t ) dt T 0
bn = 2 i sin(n t ) dt 0 T

In

an2 + b = 2
n = tan1
an bn

2 n

1 2

FORMS OF VARIABLE SPEED DRIVES

Variable speed DC drives that will give a good approximation to the steady-state motoring operation are grouped under the broad classification: d d th b d l ifi ti D.C. machine systems fed from an A.C. supply [SCR converters] D.C. machine systems fed from a D.C. supply [ DC-DC converters - Pulse-width-modulation (PWM) technique]

DESIGN PARAMETERS

Performance Parameters Voltage ratio: o age a o Power ratio: SCR devices:

Vac , where Vd 0 = maximum dc voltage( = 0) g Vd0

Vac I rms VA rating of the supply = Pd DC output power

Current ratio:

I rms Input rms current = Id output dc current

I SCR Id

SCR current dc load current

I SCR peak SCR current = Id dc load current

V PIV Peak Inverse Voltage of SCR = V d0 maximum dc voltage ( = 0 )

Harmonic contents: a. ac components in output voltage, b. non-50Hz components in input
9

SCRPHASEANGLECONTROLLEDDRIVE

SCR phase-angle controlled drive phase angle controlled By changing the firing angle, variable DC output voltage can be obtained Single phase (low power) and three phase (high and very high power) supply can be used The motor line current is unidirectional, but the output voltage can reverse polarity. Hence 2-quadrant operation is inherently possible 4-quadrant operation is also possible using two sets of controlled rectifiers (D l converters) t ll d tifi (Dual t )
10

Single-phase Converter Controlled Separately excited dc motor drive Single phase Converter SCR Full-Bridge Converter (2-pulse converter) Input supply to converter 1-phase AC, 50 Hz. Switches are marked in clockwise direction.
AC

DC

S1 and S3 are simultaneously triggered at etc. in the positive half cycles S2 and S4 are simultaneously triggered at + etc. in the negative half cycles S1 and S3 conduct during < t < (+) S2 and S4 are conduct during (+) < t < (2+)
11

Voltage and current waveforms

Input ac voltage & Motor current

Armature current

Armature voltage A l Va = Ea

Input line current = 60 Input line current = 80

12

Derivation

The armature circuit equation from KV Law v a = e a = R a i a + La di a < < + + eg dt Average motor armature voltage, Va = Ra I a + E g A t t lt Let v = 2 Vac sin where V ac = rms input volt age to the converter The Th avearge motor term i l voltage, Va ( f inal l from waveform ) f Va = Vdc = = = Va =

2 Vac sin d

2 Vac

[ cos ] +

2 Vac

[ cos( + ) + cos ] cos

13

2 2 Vac

Single-phase Converter Controlled Separately excited dc motor drive

Average motor termi l voltage, Va = A t t inal lt

Performance parameters

2 2 Vac

cos

Max V a ( = 0 ) = V dc ( = 0 ) = V d 0 = V ac = = 2 . 22 Vd 0 2 and, V dc = V d 0 cos d Peak Inverse Voltage , V PIV = V PIV = Vd 0 2 V ac = = 3 . 14 Vd 0

2V ac

.1 =

2V ac

2V ac

14

Single-phase Converter Controlled Separately excited dc motor drive

For a normal motor, Average speed, if flux is constant , g p ,

= =

Va I a R a Kv

rad sec 1

Va Ra TAV rad sec 1 d K v K vKT

Here Va is the applied voltage to the armature

If Va is the applied voltage to the armature from the converter, as in Fig.

Average motor applied voltage, Va = g pp g ,

2 2 Vac

cos

Average speed, if flux is constant 2 2 Vac

cos I a R a Kv

rad sec 1

2 2 Vac

cos

Kv

Ra TAV rad sec 1 K vKT

15

A bi phase full wave full controlled silicon controlled rectifier bi-phase full-wave full-controlled (SCR) bridge converter as shown in FIGURE Q1 is being used to control a series DC motor. The bridge operates from a 25 kV single phase 50 Hz supply via a transformer.
I ac S CR 1 L ( Choke) Id Vd

Va c 2 3 0 V r m s, 5 0 Hz , Va c Ia c

S CR 2

The motor has the following characteristics: 2 V/rads-1 (Fully fluxed) ( y ) Back emf constant Torque constant 20 Nm/A (Fully fluxed) Armature and field resistances 0.5

DC MOTOR SCR Drives (1-phase) Part 4

SINGLE PHASE SCR BRIDGE CONVERTER

Two Quadrant (Full controlled) Operation

Example: The following data gives details of a separately excited d.c. motor which is used for propulsion in an electric train. Armature resistance Back e.m.f. Constant Torque constant 0.04 ohm 0.5 V/rpm 4.8 4 8 Nm/A (at max field excitation)

The voltage applied to the armature is regulated by a single phase fullcontrolled (i.e., two quadrant) bridge using SCRs. The field has a separate controller to give full field excitation at low speeds, with field weakening above approximately half full speed.
2

SINGLE PHASE THYRISTOR CONVERTER

Continue ..: The equipment is rated for continuous operation at full speed, at which the motor speed is 2000 r.p.m., its power output is 500 kW and the field has been weakened to 50% of maximum. a) b) c) Draw a diagram to show the major power components of the S.C.R. bridge. Determine the secondary voltage and VA rating of a transformer to supply the bridge. Determine the firing delay angle when starting from standstill with a torque of 6 kN-m. Sketch the output voltage waveforms and the conduction patterns in the power semiconductors. [Neglect the effects of saturation in the motor, supply regulation, regulation voltage drops across the S.C.Rs and commutation delays. S C Rs delays
TYPE Vac/Vdo Irms/Id VA/Pdo ISCR/Id

SCR/Id
1

VPIV/Vd

Output Voltage Harmonic Factor 1.11 1 11 (=90o)

Input Current Harmonic Factor 0.484 0 484

1 phase, full controlled 1- phase full-controlled bridge converter

1.11 1 11

1.11 1 11

0.5 05

1.57 1 57

SINGLE PHASE THYRISTOR CONVERTER

a.
At full speed (assume = 0 0 ) : 2000 r . p . m ., Pout = 500 kW . Regulated by a single phase full controlled (two quadrant) bridge. Full field excitation at low speeds, field weakening above 1 full speed. 2
Speed

= =

2 2000 = 209.4 rads 1 60 1 Base speed = B = = 104.7 = 209.4 rads1 rad sec 2 V Va = k v = 0.5 (1000 rpm) = 500 rpm P I a = out = 995 A. Va

B = = 104.7 rad sec1

1 2

Field weakening

Torque

A t full speed Va = I a R a + k v speed,

If If0

= 542 V

SINGLE PHASE SCR BRIDGE CONVERTER

Secondary voltage and VA rating of transformer : S d l d i f f
b.

From Table : Performance factors for thyristors converters, V VA = 1.11, and ac = 1.11, and Vd 0 = 542 V d d Pd 0 Vd 0 Pd 0 = Vd 0 I d = 542(995) = 540 kW. V A = 1.11 P d 0 = 598.6 kVA (Transform er V A rating) Vac = 1.11 Vd 0 = 1.11(542) = 599.4 V (Secondary voltage)

c. c

Firing delay angle when starting from stand still with T = 6 kN . m . angle,

= 0 rads 1 (standstil l)
Ia = T 6 kN . m = = 1250 A (starting current) KT 4 .8

Armature voltage, Va = I a R a + k v (

If If0

) = 1250 ( 0 .04 ) = 50 V

From eqn . Vdc = E a = Vd 0 cos , solve for ,

= cos 1 (50/542 ) = 84.7 0

PERFORMANCE FACTORS FOR SCR CONVERTERS

Vac=input ac voltage, Vdo=dc voltage at =0, Irms=input ac current, Id= dc load current, ISCR=SCR current, scr=peak SCR current, VA = Volt-amp rating of transformer, VPIV= peak inverse voltage of input

TYPE

Vac/Vdo

Irms/Id

VA/Pdo

ISCR/Id

^ ISCR/ d /I 1 1 1 1

VPIV/Vd

Output Voltage Harmonic Factor 1.21 (=0o) 0.626 (=45o) ( 1.11 (=90o) 1.11 ( 90 (=90o) 0.464 (=60o) 0.66 (=90o)

Input Current Harmonic Factor 1.21 0.484 0.484 0.484

Single phase, Half wave Single phase, Halfcontrolled bridge Bi-phase, Two-quadrant Single phase, Fullyg controlled bridge Three phase, half wave, single quadrant Three phase, half wave, two quadrant Three phase, halfcontrolled bridge Three phase, fullycontrolled bridge

2.22 1.11 1.11 1.11

0.707 1 0.707 1

1.57 1.11 1.57 1.11

0.5 0.5 0.5 0.5

3.14 1.57 3.14 1.57

0.855 0.855 0.427 0.427

0.577 0.577 0.816 0.816

1.48 1.48 1.047 1.047

0.333 0.333 0.333 0.333

1 1 1 1

2.09 2.09 1.045 1.045

1.09 0.425 0.306

0.3 (=90o)

0.306

Example: Th following data gives d t il of a separately excited d motor t l it d d.c. t The f ll i d t i details f controlled by a single-phase full converter. Armature resistance 0.03 ohm Back e.m.f. constant 0.182 V/rpm Torque constant 1.74 Nm/A (at max field excitation) The ac supply voltage to the converter is 260 V . Assume that sufficient inductance is present in the armature circuit to make the motor current continuous and ripple free. For a firing angle = 30, and rated motor current, calculate: (i) The motor torque. (ii) The speed of the motor. (iii) The supply power factor factor.

Solution:

Average motor terminal voltage, Va =

Average induced voltage, E a = K a N Average Torque developed T AV = K a1 I a = K T I a Average speed, if flux is constant Va = I a R a + E a = I a R a + K a N N = Va I a R a K a rpm

2 2 Vac

cos

Motor torq Armature

ue, T AV = K T I a = 1.74 voltage, Va = 2 2 V ac

38 = 66.12 N.m 2 2
x

cos =

260

rpm

cos 30 o

= 202.82 V Speed, N = Va I a R a = K a 202.82 202 82 - 38 0.182

x

0.3 03

= 1051.8 rpm

Supply power factor:

If the motor current is constant and ripple free, the input supply th t ti t t d i l f th i t l current is a square wave of amplitude 38 A. pp y Thus the rms supply current, I = 38 A Supply volt-amps = VA = 260 x 38 = 9880 VA Power developed by the motor Pa = Va X Ia = 202 82 x 38 = 7707 2 W motor, 202.82 7707.2 Neglecting losses in the converter, Power input to the converter, Ps = 7707.2 W Supply power factor, pf = Ps/VA = 7707.2/9880 = 0.78

DC MOTOR SCR Drives (3-phase) Part 4a

THREE PHASE SCR CONVERTER (3-PULSE CONVERTER)

Conduction pattern:

Half wave (Single quadrant)

Each SCR conducts for /3 radians Triggering sequence 1 2, 3, 1 1, 2 3 Triggering interval - /3 radians

Parameter values are summarized in Table

2

THREE PHASE THYRISTOR CONVERTER

Half wave (Two quadrant) Conduction pattern:

Each SCR conducts for /3 radians Triggering sequence 1 2, 3, 1 1, 2 3 Triggering interval - /3 radians

Parameter values are summarized in Table

3

Derivation
The armature circuit equation from KV Law v a = e a = R a i a + La dia + eg < < + dt Let the phase voltage, v = Vmax sin where V max = rms input maximum phase voltage to the converter The avearge motor terminal voltage, Va (from waveform) Va = Vd =
+ 1 66+ Vmax sin d 2 / 3 5 5

+ 3 Vmax = [ cos ] 6 + 2 6

3 Vmax 5 [ cos( + ) + cos( + )] 6 6 2 3 Vmax 5 5 = [ cos cos + sin sin + cos cos sin sin ] 2 6 6 6 6 3 Vmax = [0.866 cos + 0.5 sin + 0.866 cos 0.5 sin ] 2 3 Vmax Va = ( 3 cos ) 2 3 3 Vmax cos If Vac = rms phase voltage, then Vmax = 2 Vac Va = 2 =

Derivation

Let the line voltage,VLL = Line - to - line voltage For star connection of the transformer, Then maximum phase voltage, Vmax VLL x 2 = 3

3 3 Vmax As the avearge motor terminal voltage, Va = cos 2 3 3 VLL Va = x 2 cos 2 3 3 2 VLL Va = cos 2
5

THREE PHASE SCR CONVERTER (6-PULSE CONVERTER)

Fully Controlled (Two quadrant)

Each SCR conducts for /3 radians Triggering sequence 1 2, 3, 1 1, 2 3 Triggering interval - /6 radians

Parameter values are summarized in Table

6

dc

3-phase input voltage

Armature voltage

Armature current

Input line current

Derivation
The armature circuit equation from KV Law di va = ea = Ra ia + La a + eg + < < + + dt 6 6 3 Let the voltage between the lines be VLL The waveform for calculation of averagevoltage, define as a cosine wave : 2 VLL cos The avearge motor terminal voltage, Va (from waveform) 1 + Va = Vdc = 66 + /3 = = 3 2 VLL 2 VLL cos d

[sin ] 6

+ 6

3 2 VLL

[sin( + ) sin( + )] 6 6 [sin [i

Va = Va = Va =

3 2 VLL

cos + cos cos

sin sin( ) cos + cos( ) sin ] i i ( ( i 6 6 6

3 3

2 VLL 2 VLL

2 sin

cos
8

DCDC-DC C Converter DC M t D i t Motor Drive

Part 5

SWITCHED-MODE DC DRIVES (PULSE WIDTH MODULATED(PWM) DC DRIVE)

Switched mode drives Switched-mode Using switched mode DC-DC converter. DC voltage is varied by duty cycle y y y Mainly used for low to medium power range Single-quadrant Single quadrant converter converter(buck):1 quadrant converter(buck):1-quadrant Half-bridge: 2-quadrant Full-bridge: 4-quadrant

P.W.M. DC-TO-DC CONVERTER

P.W.M. technique is a method of controlling the voltage within a dc-dc converter. With this technique the converter output voltage involves a pulse modulated wave, and the voltage is controlled by varying the duration of the output g y y g p voltage pulses. The previous slides show the voltage control achieved by varying the phase of the conduction intervals of SCRs, TH1 and TH2 with respect SCRs to TH3 and TH4. The pulse width control is achieved by phase-advancing or retarding the control signals for one or pair of switches (Transistors, MOSFETs or IGBTs), and in this way the converter output voltage can be adjusted smoothly from maximum to zero zero.
3

SINGLE QUADRANT P.W.M. CONVERTER

Conduction pattern:
Vs = dc source voltage,Vd = output voltage of the converter k T = on time of the converter, (1 k T ) = off time of the converter T = time period of the converter = k = duty ratio Vk Vd = V ' = s T = kVs T Is = I' = k Id e . g ., Vs = 100 V, Vd = 10 V, I d = 50 A, k = 0.1 I s = 5 A (assuming no losses) 1 , where f s = switching frequency fs

SINGLE QUADRANT P.W.M. CONVERTER

Example : l Consider t ransistor and diode voltage drops ( VT and vd ) Vs = 100 V, Vd = 60 V, I d = 10 A, VT = 5 V, vd = 0.7 V (100 5) kT 0.7(1 k) T = 60 V T Duty ratio , k = 0.634 Source current, I s = k I d = 6 34 A S t 6.34 Vd = V ' = Power input, Pin = Vs I s = 634 W Power output, Pout = Vd I d = 600 W Efficiency of th converter, = 94 6 % Effi i f the t 94.6 (excluding drive electronic power input )
V'

Vs

VT

kT
0.7

Individual device losses : 1. Transistor : Average power = 2. Diode : 0.7I d (1 k) T = 2.6 W T Total losses = 31.7 + 2.6 = 34.3 Watt Average power =
5

VT I d kT = 31 7 Watt 31.7 T

SINGLE QUADRANT P.W.M. CONVERTER

Choke design : PWM f frequency = 1 kH (T = 1 ms) kHz ) Design to achieve 1 A pk pk ripple (typical) ON period : Inductor v oltage VL = L di I L dt T
.634ms .366ms Time ID 1A 10A

(V s V T ) k(1 ms) T L = VL = = 22.2 mH 1 I Check by analyzing the OFF period : I = V L T 0.7(1 k) T = = 1 0007 A 1.0007 L 22.2 mH

approx. triangular or sawtooth waveform.

SINGLE QUADRANT P.W.M. CONVERTER

Waveforms with allowances for W f ith ll f transistor and diode voltage drops.

TWO QUADRANT P.W.M. CONVERTER

On i O - time of transistor = kTs, Off - time of transistor = (1 k )Ts f i i f i Switching period, Ts = Ton + Toff From the waveform of voltage (Vs 2 VT ) k Ts + ( Vs 2 vd )(1 K )Ts ' Vd = V = Ts
8

TWO QUADRANT P.W.M. CONVERTER

Waveforms with allowances for transistor and diode voltage drops.

TWO QUADRANT P.W.M. CONVERTER

Waveforms with allowances W f ith ll for transistor and diode voltage drops, and for transistor switching times times.

10

Two Quadrant P.W.M. converter

From the waveform of voltage, the average voltage i computed F h f f l h l is d Consider transistor and diode voltage drops (VT and vd ) Consider switching times of transistors and diodes (t R and t F ) duty ratio, k On - time of transistor = kTs, Off - time of transistor = (1 k )Ts Switching S it hi period, Ts = Ton + Toff i d From the waveform of voltage, consider the area of trapeziums [(k Ts t R t F + k Ts )](Vs 2 VT ) Vd = V = + Ts
' 1 2 1 2

[((1 k )Ts + (1 k )Ts t R t F )]( Vs 2 vd ) Ts

' 1 2

[(2 k Ts t R t F )](Vs 2 VT ) Vd = V = + Ts
1 2

[(2(1 k )Ts t R t F )]( Vs 2 vd ) Ts

11

The mass of an electric vehicle as shown in FIGURE is 500 kg The vehicle is going kg, up a slope of 30o at a speed of 30 km/hr. The friction coefficient of the surface at a given weather condition is 0.4. The acceleration due to gravity, g = 9.8 ms-2. The electric vehicle is being powered by a DC motor mounted on the front wheels and the wheel diameter is 0.5 m. A reduction gear of 50:1 is used. The motor takes 72 V with constant excitation, and is controlled by a two-quadrant transistor PWM dc-dc converter. The dc motor on board the vehicle runs at 800 rpm. The following characteristics apply to the system: Armature resistance = 0.2 ohms, Torque constant= 0.4 Nm/A, Back emf constant = 0.4 V/rads-1 Transistor and diode switching times, on and off = 2 sec and 2 sec , Switching frequency of transistors = 5 kHz, Transistor conduction voltage drop = 2 V f ft i t kH T i t d ti lt d

FIGURE

Determine: (i) The torque developed by the motor. (ii) The voltage applied to the motor. ( ) (iii) The duty ratio of the PWM converter. y (iv) The capacitance of the dc-dc converter which will limit the input voltage ripple to less than 2 V peak-to-peak. (Ans: 20.736 Nm, 43.908 V, 0.829, 978 F)

DCDC-DC C Converter DC M t D i t Motor Drive

Part 5a

FOUR QUADRANT P.W.M. CONVERTER

Drive signals for transistors:

Forward current uses T1+T2 then D1 + D2 alternately. Reverse current uses T3+T4 then D3 + D4 alternately. A delay tD is allowed on switchswitch on of the transistors in order to ensure that the other transistors y have fully ceased conduction.

MOTOR DRIVE BLOCK DIAGRAM

PULSE WIDTH MODULATOR

Block diagram

PWM Operation
A control signal is compared with a repetitive switchingfrequency triangular waveform in order to generate the switching signals. C t lli it hi i l Controlling the switching duty ratios allowed the averaged D.C. g p voltage output to be controlled.