Chapter One: DC Electric Machine Drives

1.1.1 Types of DC Electric Machines

1.1.2 DC Machine Model
- Steady state
o Speed-torque characteristics
o Speed control
- Dynamic models
o Time-domain block diagram, transfer function and
state equations
o Braking
 DC motors are the first electric motors. They can be categorized into four
depending on their source of excitation as; separately excited, shunt, series and
compound.
Separate control of
field and armature
current (field and
torque)

Coupled field and

armature current
(field and torque)

Highly coupled field

and armature
current (field and
torque)
Compound connections are also possible, combining two windings one in series and the
other in parallel to the armature circuit.
Separately excited DC motor steady state
Armature voltage equation:
Va I a ra ea 1
Va I a ra k E
Torque Equation:
T kT I a 2

V I r
a a a
k E
T Va
T
Natural Torque-speed
Ia kE
kT ra Characteristic Curve

k
T E Va k E
k
T E Va k E
ra

ra
3

ra
T
Va Va

k E 2 k E kE
 Armature Voltage Va ia ra Laf i f 1
equation

Tm Laf i f ia Tm
Torque Equation ia 2
Laf i f
V
Field Winding circuit Va R f i f if a 3
Rf
V i r
a a a
Laf i f
Tm
Va ra Tm
Laf i f
Laf Laf Va 2
Laf

Tm Va 2 1
R f ra
Laf i f

R f ra R f 4
Tm
Va ra
V
Laf a

Rf

Raf

T
ra R f 2
V Laf Laf Va 2 m 4
Laf a R f
Rf L af
 Voltage Equation
1
Va ia (ra r f ) Laf ia

Torque Equation

Tm Laf ia 2
Tm 2
ia
Laf

Tm
Laf
Va 2
Rf ra
Laf Va2
Tm Laf ia 2
R f ra Laf r 2 4

 Constant
Va Torque Constant
Constant Torque
kE Va Va
kE
Torque kE
Armature Field
voltage Armature
Decrease
decreases resistance
increase

T
Va
kE T T
ra Va Va
kE kE
ra ra
a) Armature Voltage control b) External Armature c) Speed Control by Field
resistance control control
Exercise-1
1.1. A DC motor has the following rated values; Van=440 V, Ian = 20A, P = 3 kW
and torque 30N-m.
a. Calculate the rated speed in radians per second.
b. Draw the natural characteristic curve of the motor

1.2. A fan has a torque speed characteristic curve given by the following equation.

Where speed is in radians/sec and torque in N-m

a. If the rated torque is to be 20N-m, what is the rated speed of the fan.
b. If the fan is to be driven by the motor in a, what can be the armature voltage
value to drive the motor operating point to the rated speed of the fan?
c. Repeat b if armature external resistance is to be used
d. Compare the copper loss and motor efficiency for the two cases (b and c).
Exercise-1
1.1
Van 440V ,
I an 20 A
P 3kW
Tm 30 Nm
3000
P Tmn n 100rad / sec
30
Tm 30Nm kT I an
30Nm
kT 30 / 20 1.5 52.8 N-m
I an
From voltage equation
400V 1.5 100
ra 12.5
20 A

293.33 rad/sec
Exercise-1
1.2a
TL 0.002 2

TL TLn 20 Nm 0.002n 2
20
n 100rad / sec
0.002
1.2b
The operating point is at Tm=20Nm and w=100rad/sec
The new torque speed curve is given by
Tm 52.8 / 293.33 b
Tm 20 52.8 / 293.33 100 b
b 20 18 38 But, b Va k 38 V 12.5 38 316.66
E a
ra 1.5
1.2c
Let slop of motor characteristic curve with external resistor be m
Tm m b
At the operating point From these two
20 m100 b 440 1.5b 440
At no-load operation 0 m b m b 1.5 32 rex 8.125
1.5 440 12.5 rex
 Va
kE
T
ra Power
i fn van
if Torque
Tn Ian

n Va
kE
 Braking
1. Dynamic Braking
The electric motor armature
terminal is disconnected from the
Natural power supply and connected to
Characteristic
Curve
resistor bank. The motor operates
as generator with the kinetic energy
of the motor converted to electric
Connected to power and dissipated on the resistor
external resistance bank.
The operation point moves from the
Short
circuited characteristic curve corresponding
to the operating voltage to the
dia kT k E 2
La raia k E 0 Tm characteristic curve corresponding
dt ra rex to zero armature voltage. The speed
and torque slide to zero on the
curve.

Addition of external resistor increase the slop of the curve and extend the
stopping time (reverse torque decreases). Note that the curve on which the
operating point slides is Tm=0 if the terminal is opened.
 1. Dynamic Braking
Equation describing dynamic braking can be taken from the dynamic equation without
the forcing signal. The folowing differential equations can be solved to determine the
speed as a function of time and current as a function of time.
The time constant is modified as the result of the
di external resistance which is required to limit the
La a (ra rex )ia k E 0 armature current.
dt
The braking can be with the load. For example
d
J B TL kT ia when a motor is used for traction in railway, all the
dt resistance forces like friction, wind resistance, are
present during braking.

Exercise: Determine the time function of current and speed for the motor whose
parameters are given above if the motor is to be braked from its rated speed to zero with
external resistor equal to armature resistor.
2. Counter current braking
The electric motor armature terminal is
Natural reversed; the negative terminal of the
Characteristic motor armature being connected to
Curve
the positive terminal of the power
Power to be disconnected supply while the positive terminal of
from the motor at this point the motor is connected to the negative
terminal of the power supply. The
Connected to result is very large reverse torque
external resistance forcing the motor to stop faster.
In fact very high current results in the
armature. Additional resistors may be
required to limit the armature current.
V k E
Tm k E a
ra rex

Addition of external resistor increase the slop of the curve and extend the
stopping time.

Equation describing Counter Current braking

 The electric motor armature terminal
3. Regenerative braking voltage is controlled in such a way
that the power is negative; flowing
back to the source. The motor
Natural operating as generator with the
Characteristic
Curve kinetic energy stored in the motor.
This operation is advanced and the
power supply has to be able to
Power returned absorb the power back.
back to supply in a The efficiency of the motor operating
controlled manner
with frequent stopping and starting
will be high in this braking mode.
Regenerative barking can be done for various Electric vehicle supplied by
operational requirements. For example in crane convertors and power absorbing
applications the torque (armature current) is kept units like battery charging is one
constant so that the deceleration is constant at the example.
required rate.
dia
raia k E Va
V r I
La ra I a k E Va a a a
dt k E k 2 kT
Va I a (ra T ) TL J 0
B B
d
J B TL kT ia J0 B TL kT I a kT I a TL J 0
dt B
 Motor acceleration including during starting
Deceleration including during stopping
Loading the motor
Unloading of the motor

Therefore; we can say that there is a change in speed and/or current during dynamic
performance.

Differential equations derived from Electrical circuit equivalents and Mechanical

equations describe the dynamic performance of electric motors.
 Separately excited DC motor Dynamics Equations
Armature circuit voltage equation from KVL
di Va ra I a La sIa k E
Va raia La a k E
dt Va k E
Ia
k E Laf i f ra La s
Field circuit voltage equation from KVL Field current is generally kept constant and
di f steady state. The air-gap flux is linearly
V f rf i f L f
dt related to the field current if there is no
magnetic saturation. Vf
Mechanical Equations if ki f
rf
d
J B TL Tm
dt Js B TL kT I
kT I TL
1 Laf
Vf Rf Js B
TL
Va 1 Ia Tm
1
+ +
R sLa B sJ
Transfer Function of the system:-
TL 0
k E / JLa
k E
Va ra B k E 2
Va ra sLa B sJ k E 2 s s
a
L J JLa
Root locus of the motor for proper selection of the motor parameters can be drawn. A
particular design results a pole pair with the corresponding speed performance for step
armature voltage input.
k E 2
Gain
JLa
Exercise:- Determine the relative values
and ranges of (kE)^2/JL
a. The roots are real
b. The roots or complex conjugate

ra / La B/ J c. Suggest which of the parameters the

design engineer can change for a
desired performance moving the poles
to a desired location.
 k E B TL 0
La J

Va 2 ra k E 2
s s
La JLa
1
ra k E 2
k E
La Jra

Va 2 ra ra k E 2
s s
La La Jra
L

1
k ETmTa Ta a Electrical time constant
ra
Va 1 1
s2 s Tm
Jra
Mechanical time constant
Ta TmTa
k E 2

1 1 1
s1, s2
2Ta 2
4Ta TmTa
1 Two real roots on the real axis.
1 1 Ta 1
Tm 4Ta
4Ta2 TmTa Tm 4
1 1 1 Ta
s1, s2
2Ta Ta 4 Tm
2 Two complex conjugates
1 1 Ta 1
4Ta Tm 1
2
4Ta TmTa Tm 4 Gain
TmTa
1 1 Ta 1 Tm 4Ta Tm 4Ta
s1, s2 j
2Ta Ta Tm 4
1

3 Double Pole
1 1
Ta
1 1

Tm 4Ta
1
2
4Ta TmTa 4Ta Tm
2Ta
Tm 4Ta
Repeat the above root locus analysis for
a. Speed as output, Va = 0 and TL is considered as an input.
b. Armature current (torque) as output with Va and TL as input.

kV k E
r 1 / kV a m

Va T 0
L
s 2 (1 / a B / J ) s 1 / a (1 / m B / J )

r 1 / J ( s 1 / a )TL

TL V 0
a
s 2 (1 / a B / J ) s 1 / a (1 / m B / J )

ia 1 / 1 / kv a m

TL V 0 s 2 (1 / a B / J ) s 1 / a (1 / m B / J )
a

ia 1 / a ra ( s B / J )

Va T 0 s 2 (1 / a B / J ) s 1 / a (1 / m B / J )
L
 1
* k ETmTa TL B 0
GC s2
1
s
1
Ta TmTa

1
* sa k ETmTa
kp( ) 1 1
s s2 s
Ta TmTa
Controller
zero

Ta
An electric DC motor has the following parameters;
Va 6V B 6.04 10 6 N .m.s ra 7 La 120mH kT 1.41102 N .m / A
J 1.06 10 6
kg.m2 3350r / m no load armature current 0.15 A
0
a. Determine the transfer function of the motor with as output and
i. Va as input
ii.TL as input
b. Indicate the poles of the open-loop motor control and simulate (use MATLAB) the step response
for
i. Va as input
ii. TL as input
c. Specify a certain stable and fast response and design PI controller
i. Simulate the performance for both step torque input and voltage input
d. Specify another stable and fast response and design PI controller
i. Simulate the performance
ii. Compare with the two performances

ia 0.1491 e 32.3t (cos 29.8t 10.3 sin 29.8t )

r 350.31 e32.3t (cos 29.8t 1.08sin 29.8t )

b)
 dia
k E raia Va dia k E ra Va
La
dt ia
dt La La La

d d kT B T
J B TL kT ia ia L
dt dt J J J

ra k 1
E 0 V
d ia La La ia La a

dt a kT B 1 TL
0
J J J

i
0 1 a

d x1 a11 a12 x1 b11 b12 u1

dt x2 a21 a22 x2 b21 b22 u2

x
0 1 1
x2
 The motor rotor position can also be one state variable resulting 3rd order differential
equation of the motor model.
d

dt
ra k E 1
L La
0 L 0
ia a a a
i
d k E 1 Va
0 r 0
B


dt J J J TL
0 0 1 0 0


Non-linear Model flux not constant

Electric motor control may involve control of field current in addition to the armature
current. The field current can be another state variable in this case.

di f rf 1
if Vf
dt Lf Lf
The state variable representation becomes non-linear.

r k E Laf
a 1
0 0
ia La La La i La
a Va
d Laf i f B 1
0 r 0 0 TL
dt
i f f
r J i J
rf f 0 1 V f
0
0 0
L f
L f
 Given Separately excited DC motor
Pn 5hp J 1kg.m2 V f 240V I a(no min al ) 16.2 A
La 0.012H kv 1.8V / rad / sec L 1.8H r (no min al ) 127.7rad / sec
af
ra 0.6
r f 240 L 120H
f
Analyze the speed and current variation as the load torque varies from 29.2 N.m to
0.5x29.2. Assume constant armature voltage.
r 130.4 2.75et / 0.162 0.05et / 0.0228
Speed and
current as a
ia 8.1 9.43e t / 0.162 1.33e t / 0.0228
function of Time
 2.1 Braking
A permanent magnet DC motor has the following parameters.
Ra=0.35, kE=KT=0.5, moment of inertia, Jm=0.02kg.m2 MKS unit. Neglect armature
winding inductance. Rated torque is 8Nm while rated armature voltage is 100V.
Assume that it is driving a load with Jm=0.04kg.m2 running at 300rad/sec. What would be
the maximum armature current which would bring the derive system as quickly as possible
without exceeding 12A current?

The fastest possible braking time can be achieved by applying the maximum braking torque
with the max allowed current of 12A.

Tb 0.5 12 6 Nm
Neglecting all other torques during braking, except the decelerating dynamic torque

d d 6 Nm
Jt 6 Nm 100rad / s 2
dt dt 0.06
The motor therefore decelerates from 300rad/sec to zero in time of 3 sec. The voltage at the
initial stage to be supplied is:
Va 12 0.35 0.5 300 4.2 150
Va 4.2 150 145.8V
 2.1 Braking
In regenerative braking, the braking system controls the current at the 12A continuously
and with armature supply voltage and back emf falling as shown in figure below.
300rad/sec

E=150V 3 sec
Volts

Va
k E Va ra I a

3 sec
 2.1 Braking
b. What would be the braking time and external resistance required it we have to break the
same motor using dynamic and counter current braking with the current limitation above.

0 (ra rex ) I a k E

k E 0.5 300
rex ra 0.35
Ia 12
0.5 300
rex 0.35 12.15
12
Differential equation describing the dynamics neglecting the armature inductance is;-
d
J kT ia
dt
0 (ra rex )ia k E k E d k 2 d kT 2
ia J T 0
ra rex dt ra rex dt (ra rex ) J

Ae t
kT 2
(ra rex ) J Ae 0 300 A 300
 2.1 Braking

0.25
0.333 300e 0.33t
12.5 0.06

300e 0.33t
k E k E
ia ia ia 12e 0.33t
ra rex ra rex
What can you say about the acceleration and the time it takes for braking the motor to zero
speed?

Repeat the above analysis for counter-current braking.

 2.2 Load and motor
Example 2-6 Consider an automobile driven by electric motor. The aerodynamic drag
force in automobiles can be estimated by;
f L 0.046Cw Au 2
Where fL is the drag force in N, Cw is the drag coefficient (a unit-less quantity), A is the
vehicle cross-sectional area in m2, and u is the sum of the vehicle speed and headwind
in km/h.
If A = 1.8 m2 for each of two vehicles, one with Cw=0.3 and the other with Cw=0.5,

a. Calculate the drag force and the power required to overcome it

at the speed of 50 km/h and 100 km/h.
b. Assuming that each wheel is powered by its electric motor, which is directly coupled to
it. If the week diameter is 60cm, calculate the torque and power required from each
motor to overcome the drag force when the vehicle is running at 100km/h.
The drag force for vehicle with Cw=0.3 at The drag force for vehicle with Cw=0.3 at
50km/h 50km/h
2
f L 0.046 0.3 1.8 50 N 62.1N f L 0.046 0.3 1.8 1002 N 248.4 N
The drag force for vehicle with Cw=0.5 100km/h
The drag force for vehicle with Cw=0.5
f L 0.046 0.5 1.8 1002 N 414.N
f L 0.046 0.5 1.8 502 N 103.51N
The corresponding power sequentially are;

f L [ N ] v[m / s ] 62.1N 13.889 862.5W

f L [ N ] v[m / s ] 248.4 N 27.778 6900W

f L [ N ] v[m / s ] 103.5 N 13.889 1437 .5W

f L [ N ] v[m / s ] 414 N 27.778 11500 .W
Drag force for the vehicle with Cw=0.5 at 100km/h is 414N. Assuming equal load sharing,
drag force corresponding to each motor is 414/4=103.5N.
Torque required from each motor therefore is fxr=103.5Nx.6/2=31.05.

Rotational speed of the electric motor, directly coupled to the wheel, will be
(100x1000/3600)/0.3=92.6rad/sec.

Power required from each motor is therefore;

P Tm[ Nm] [rad / s] 31Nm 92.6 2870.6W

 2. Power Electronic Converter based DC Drives

Power Electronic Converters supplying a DC motor should

have the following capabilities;
1. To reverse both current and current polarity as desired by
the derive to operate in different quadrants
2. Should provide max possible current during acceleration
and deceleration in a controlled manner
3. For accurate position and speed control, the average
output voltage of converter should be linearly related to
the reference input from controller
4. The armature current ripple must be minimum to
minimize fluctuation in torque and speed.
5. The output of the converter should follow the input
reference as fast as possible. The ideal is linear relation,
where the output is product of a constant and the input.
 2. Power Electronic Converter based DC Drives
is ia La
ra
Vs T
VS Va ea
2.5 1
iD

n, T

2
a) Single -Half-wave converter Va
Vav
supplied DC Drive 1.5

Vs Vm sin t ia
1
Vm Vav=(Vm/1cos

For firing angle , the 0.5
armature voltage will be; is
Vm 1 cos 0
VDC ( ) iD 1
2
Single-phase half wave converters current in one direction only. Voltage also can be
positive only. Hence it can operate only in one quadrant.
The current ripple high with the lowest frequency equal to the supply frequency. Current
mostly discontinuous as the inductance required to filter the low harmonics can be too
large.
The output response to the input is relatively long as adjustment of a firing angle
according the command can take as long as one full cycle of the supply frequency.
 AC-DC controlled rectifier
Voltage polarity can change but not current 2Vm

+ 2Vm
Vo cos

Vo 90o 180o
50Hz
1-phase Average voltage over
10ms
2 Vm

3VLL,m

50Hz
+
3-phase
3VLL,m
Vo Vo cos
90o 180o

Average voltage over

3.33 ms 3VL L,m


Three-phase rather than single-phase
For faster response
For higher power
For lower current ripple
Phase control technique, comparing cosine angle with the voltage reference and
firing at the intersection of the reference with the cosine wave.
Cosine-wave crossing control

Vm
Input voltage
0 2 3 4

vc vs
Cosine wave compared with vc

Results of comparison trigger SCRs

Output voltage
Phase control technique, comparing cosine angle with the voltage reference and
firing at the intersection of the reference with the cosine wave.

At the intersection of the reference and the cosine wave

Vc Vt cos

V
cos c
Vt
2Vm 2Vm Vc
Va cos Va
Vt

Vt cost
Vc
 AC-DC controlled rectifier

Dual Converter 4Q operation

+
3-
phase 3-phase
Vt supply
supply

(i) Non-simultaneous operation

(ii) Simultaneous operation
Q2 Q1

Q3 Q4
T
 AC-DC controlled rectifier

Single Converter 4Q operation

F1 R1

3-phase
supply
+ Va -
R2 F2

(i) F1 and F2 quadrants 1 and 4

(ii) R1 and R2 quadrants 2 and 3
Q2 Q1

Q3 Q4
T
 2. Power Electronic Converter based DC Drives
ia La
ra
T1 T2

VS Va ea

T3 T4
n, T
2. Power Electronic Converter based DC Drives
The practical Control system topology using a full-wave three-phase AC-DC
Converter. The control system is implemented in a microprocessor. The
automatic speed controller (ASC) and automatic current controllers can be PI,
PID or other modern controllers.
VS La
ia
ra
T1 T2 T3
Va
* I* Vc ea
ASC ACC
ra Gate T4 T5 T6
Driver n, T
k E

ASC and ACC can be PI, PID or any other controller or regulator.
Vc/ cos1
Va
3 3
Va VDC Vm cos
3 3Vm
Note that the voltage reference and the armature voltage are related nonlinearly.
 +I -I
I
I
ENABLE C+ C-
* I* VC p n
G1 G2

ENABLE

I*>0 I=0+C
I*<0 I=0-C
Logic
Control
G1 and G2 are speed and current controllers. The curves in the block after the
current controllers are voltage to firing angle converters.

The current command value determines which of the dual converter operates. If
the command is positive, the left side of the dual converter is enabled. If the
command current is negative the right side is enabled.
Some Practical Considerations
1. Continuous and discontinuous current as speed varies
V k
Ia a E
ra
As speed increases, the back emf may increase decrease and discontinuous current.
Discontinuous current results in non-linear relation between speed and torque.

2. Overlap in switching can result reduction in output voltage

In power converters analysis, usually ideal power supply with zero internal inductor is
considered. In reality, there is always inductance however small it might be due to wiring.
As the result, the current doesnt reverse instantly and two or more switches conduct
simultaneously short circuiting the DC bus.
Some Practical issues
1. Continuous and Discontinuous Current in Conversion and inversion mode
At high speeds, current tends to be discontinuous.
Conversion mode

a) Single-phase full-wave b) Continuous

converter supplied DC Drive c) Discontinuous
current
current
The converter is said to operate in the conversion mode when average voltage and
average current are positive. The motor operates in the 1st quadrant. On the other
hand if either current or voltage is negative the converter said to be operating in
inversion mode.
The thyristor firing angle can be controlled to control the DC voltage vd that will
control the motor speed. At high back EMF when speed is high, the current can be
discontinuous.
Va k E Va k E
Ia Ia 0 Va k E
ra ra
Inversion mode

a) Single-phase full-wave
converter supplied DC
Drive b) Continuous
c) Discontinuous
current inversion
current inversion

CONVERSION
The torque-speed relation in the two quadrant 1
operation is shown qualitatively in figure below
demonstrating linear relation when the current
4 T
is continuous and non-linear when the current is INVERSION
discontinuous.
Torque-speed curve and firing angle

2
Vdc Vm cos k E I d R

Te kI d

2
Vm cos k E
k EI d k E
R
Tm


Ia
When the current becomes
discontinuous torque and speed are
related non linearly. Because, while
speed keeps varying the current
remains zero during discontinuity.

Mode A: Continuous current conversion

Mode B: Discontinuous current conversion
Mode C: Continuous current inversion
Mode D: Discontinuous current inversion
r K Va
Angle

ra

Simple open loop steady state speed control


K
r* K p (1
1
Ia* Vs
) K1( s ) cos-
Ti s
r
Angle

Ia
D
Compensation

The control can be done independently in quadrant I or II.

d *
Id
dt T

The compensation are to overcome errors due to model

simplification like neglecting the resistance drop
 iS ia
S
+ ra Vt
T
+
VS VD
+ Vo
ea
Vc
1
- -
iD TON
-
TON
T
(a) Basic Buck Converter

The buck converter is the simplest DC-DC converter used. The duty of the switch is used to
control the armature voltage and hence the speed of the motor.
TON
D
T
Vo,av DVs

Vc TON
D
Vt T
Vc
Vo,av Vs Output voltage linearly related to the command voltage.
Vt
Implementation Buck Converter Supplied DC Drive
iS ia
S
+ ra
+ + Vo
VD
VS ea
- -
iD -

Command generated by
controller of speed and current is
Vt
compared with saw-tooth signal.
A comparator compares the saw
Com. Interface tooth and the command signal
Vc
outputting logic high to switch
ON the switch when the
command is greater than saw
tooth and logic low otherwise to
switch-off the switch.

The switching frequency, which is the saw tooth frequency is to be very high usually 10s of
kHz. Switching loss and the possible switching frequency usually limit the triangular
frequency. For ripple minimization and faster response, the higher the frequency the
better.
Buck Converter Supplied DC Ripple current

V k
I a kT a E kT
ra

V Vc
o,av
Vo,av Vs
Vc Vt
Vs k E
V
I a kT t kT
ra

Average current with continuous current is this. The current can also be discontinuous.

During discontinuous current the average voltage equals to the back emf.
V
o,av

Vc
Vs k E
Vt
Buck Converter Supplied DC Ripple current

iL Io
iL diL
di La RiL E 0
La L RiL E Va dt
dt 1
diL
1
(Va E RiL )dt
TON TOFF
diL ( E RiL )dt
La
T La

diL Dio ,Va VS , dt TON , iL I o diL Dio ,VL 0, dt TOFF , iL I o

1 1
Dio (VS E RIo )TON Dio ( E RIo )TOFF
L L
Equating both io expressions and Solving for Io results in:-
Io
1 TON
VS E ) DVS E
(
R TON TOFF Io
R
DVS DVS
Dio TOFF (1 D)T
1 DVS E La La
Dio ( E RIo )TOFF & I o
La R
1 OR D DVS E Di VS D(1 D)
Dio (VS E RIo )TON , TON DTS , Io o
La fS R R f s
Buck Converter Supplied DC Ripple current

Dio 2 I o iL Io
iL

TON TOFF

At the critical point between continuous

current and discontinuous currents
DiS 2I L V D(1 D)
IL L
2 LC f S
For continuous current we can say the inductor current
(which is equal to source current):-
V D(1 D) I L I S (1 D) I o
IL L
2 LC f S
Io VL D(1 D) VL D(1 D) 2
Io
1 D 2 LC f S 2 LC f S
1
VL D(1 D) 2 D(1 D) 2 R
LC R R 8
Io 2 fS 2 fS 2 f S 16 f S
 ia La
ra
T1

Va ea

VS
T2
n, T
4 1 T

T
Va
T1 T1
4 1

3 2
T2 T2
VS
 iS S1 D2 S3 D4

+ iL E L R
VS
- VL D3 S4
D1 S2

iS S1 D2 S3 D4 iS S1 D2 S3 D4

+ iL E L R + iL E L R
VS VS
- VL D3 S4
- VL D3 S4
D1 S2 D1 S2

S2 , D2 , D3 VL (1 D)Vs S1, D1 VL DVs

iS S1 D2 S3 D4 iS S1 D2 S3 D4

+ iL E L R + iL E L R
VS VS
- VL D3 S4
- VL D3 S4
D1 S2 D1 S2

S3 , D3 VL DVs S 4 , D1, D4 VL (1 D)Vs

 ia La
ra
T1

Va ea

T2
VS n, T

r K Va D DC-DC
Duty Converter

ra