CONTINUOUS AND DISCONTINUOUS OPERATION OF D.
C MOTOR FED FROM
THYRISTOR CHOPPER
Dr. Bilal A. Nasir
Dr. Zaki M. Abdullah
Assist. Prof.
Lecturer
Obaid M. Ali
Assist Lecturer
[email protected], [email protected],
Hawijah Technical Institute/Kirkuk/IRAQ
Abstract
The D.C motor is an attractive device in the field of speed control, due to, it has
variable speed and load characteristic. The object of this work is to indicate the main factors
governing the continuous and discontinuous operation of the D.C. motor fed from the
thyristor chopper. A criterion was adopted from the closed-form solution of the system to
determine the factors governing the discontinuous operation of the motor. The discontinuous
operation of the motor leads to a speed variation which must be avoided during the motor
operation. The analytical results were compared with MATLAB Simulink result to prove the
validity of the analysis.
Keywords: D.C. motor, thyristor chopper, Discontinuous operation, speed control.
1-Introduction
The thyristor choppers can be classified in terms of operation range as first quadrant
o
(90 range), two-quadrant (180o range) and four quadrant (360o range). When the regenerative
process is not required in motor operation, then the first quadrant is suitable for motor speed
control.
Adjustable speed D.C. motors may be operated over a wide speed range by controlling
the armature voltage [1-2]. The chopper-driver fed from D.C. supply has the following
advantages over thyristor-bridge rectifier D.C. motor controlling method [3-4]:
1. High energy efficiency.
2. Flexibility in control.
3. Less ripple in the armature current.
4. Ability to control down to very low speed.
The aim of this work was to indicate the factors governing the discontinuous operation of the
D.C. motor fed from thyristor chopper. The discontinuous operation leads to speed variation
during the operation, which leads to a bad performance of the whole system and it must be
avoided the motor operation [5].
The basic chopper circuit is called step-down converter because the output voltage
cannot exceed the input voltage level. The action of the D.C. chopper is to apply a train of
voltage pulses to the armature winding of the D.C. motor [6].
2-The Basic System Equations
A schematic diagram of a chopper controlled D.C. motor is shown in figure (1). The
idealized motor input voltage and current are given in figure (2). It is assumed that both
continuous and discontinuous conduction occurs in the motor operation, which is generally
the case because of small armature inductance (La), variable duty ratio (), variable chopping
frequency (Fc) and the motor may be rotate at light loads.
The machine equations during the ON and OFF periods of chopper operation are
given as [4]:
During ON-period {MTc<t (M+)Tc}
dia
1
Vs ia Ra K m w .. (1)
dt
La
During OFF-period {( M+) Tc<t(M+1)Tc}
dia
1
ia Ra K m w
dt
La
(2)
While the motor speed during ON and OFF Periods is given as:
dw 1
K m ia B w TL . (3)
dt
J
The analytical or closed form solution of equations (1) and (2) are given as [3]:
( t MTc )
( t MTc )
ON
ON
ia (ON ) I d 1 e
e
min
(4)
And
ia (OFF )
{t ( M )Tc }
K m w {t ( M )Tc } OFF
OFF
e
1 I max e
Ra
Where:
Ra=armature resistance ().
Rsm=smoothing inductor-resistance ().
La=armature inductance (H).
Lsm= smoothing inductor-inductance (H).
(5)
M=Dummy variable=1, 2, 3, ------.
=duty ratio= TON /Tc.
TON= ON-period in every cycle (second).
Tc=period of one chopping cycle (second).
B=torque constant [(N.M)/ (rad. /sec.)].
Km=motor constant (N.m/A).
w=motor speed (radian/second).
TL=load torque (N.m).
Vs=the net motor supply voltage across the chopper (V).
Vd=the average rectifier output voltage (V).
Id=the average rectifier output current (A).
ia=instantaneous armature current (A).
ON=(La+Lsm)/Ra motor time constant during ON-period.
OFF= (La/Ra) motor time constant during OFF-period.
Imin=initial motor current during ON-period.
Imax=initial motor current during OFF-period.
Figure (1) Schematic Diagram of the system
TON
TOFF
(a) Discontinuous conduction
(b) Continuous conduction
Figure (2) The ideal motor input voltage and current
for continuous and discontinuous operation
3-Continuous Conduction Case:
In the steady-state, from figure (2.b) the following equations must be satisfied:
ia (ON ) t MTc ia (OFF ) t ( M 1)Tc .. (6)
ia (ON ) t ( M )Tc ia (OFF ) t ( M )Tc .. (7)
Since () and (Tc) are known from the chopper operation, then substitute equations (6) and (7)
into equation (4) and (5) to obtain Imin and Imax as:
I min
I d (1 ) ( K m w / Ra )(1 )
(1 )
. (8)
And:
I max
I d (1 ) ( K m w / Ra )(1 )
... (9)
(1 )
Where:
e (Tc / ON ) (10)
e (1 )Tc / OFF . (11)
The average motor current (Ia) can be calculated as:
Ia
1
Tc
( M 1)Tc
( M )Tc
i
dt
i
dt
a (ON )
a
(
OFF
)
MTc
( M )Tc
Ia
1
Tc
Km w
)(1 ) OFF I d (1 )( K m w) / Ra .. (12)
( I min I d )(1 ) ON ( I max
Ra
The average motor voltage (Va) is:
Va I a Ra K m w . (13)
The average motor torque (Tm) is:
Tm K m I a . (14)
The mechanical power developed by the motor (Pm) is:
Pm K m wI a (15)
4-Discontinuous Conduction:
This case of operation occurs when the minimum motor current (Imin) cease to zero in
every cycle before the gate pulse of the thyristor chopper reach to the chopper to turn it on in
the next operation cycle. The condition or criterion of the discontinuous conduction can be
derived from equation (8), when Imin is substituted be zero, as:
K m w (Vd K w) (1 )
.. (16)
Ra
( Ra Rsm ) (1 )
From this criterion, the discontinuous conduction depends on the duty ratio (), chopping
frequency (Fc) and the motor speed (w).
The motor speed (w) can be calculated in closed-form by solving equation (3) as:
t
t
( K m i a TL )
1 e J wo e J . (17)
Where wo is the initial speed of the motor. When (ia) becomes zero in case of discontinuous
conduction the motor speed (w) become negative, while it is positive when (ia) greater than
zero. This means that the speed vibrates during the discontinuous conduction
5-Results:
The equations developed in the previous section have been used to determine the
steady-state and transient behavior of a separately excited D.C. motor whose particulars are
given in the appendix.
The validity of the equations and effectiveness of the method are verified by
comparing the results obtained by the present equations with those obtained using MATLAB
Simulink analysis [7] as showing in figure (3).
1- The MATLAB/Simulink results for starting-up and steady-state conditions of D.C. motor
were shown in figures (4-9). Figure (4) shows the starting-up condition without load at
(50 Hz) chopping frequency and (0.5) duty ratio, while figure (5) shows the steady-state
condition at the same chopper parameters. The discontinuity in motor operation is very
clear due to low duty ratio, low chopping frequency and without load. Figure (6) shows
the steady-state motor performance at high duty ratio (0.99) and without load. The
discontinuity operation is disappear at high duty ratio although the motor running without
load. Figure (7) shows the performance at high chopping frequency (200 Hz) and the
operation is continuous due to high chopping frequency and high duty ratio. Figure (8)
shows the motor operation at rated load (5 N.M.). The motor operation is continuous at
rated load, high chopping frequency and high duty ratio. Figure (9) shows the continuous
operation of the motor at rated load although the chopping frequency is low.
2- The numerical results using Runge-Kutta technique to solve the system differential
equations, for starting-up and steady-state conditions of the motor performance were
shown in figures (10-15). These results were compared with those corresponding results
which are obtained from MATLAB/Simulink model, to prove the validity of the analysis.
Figure (10) shows the starting-up condition without load at the same parameters given in
figure (4). The main difference between the two results that spikes appear in the armature
voltage in the numerical result while these spikes are not appear in the MATLAB results
due to the snubber circuit is considered in the Simulink model, while the thyristor
chopper is replaced by an ideal switch in the numerical model. Figures (11-15) show the
motor performance at the same parameters which are corresponding to figures (5-9), for
comparison purposes. From the comparison with those of MATLAB results, there is a
close agreement between the two results.
The possibility of discontinuous conduction is reduced with increasing () and
chopping frequency (Fc) and load, but it is increased with reducing the motor duty ratio at
light load as shown in table (1).
Table (1) effect of chopper parameters and load condition on the motor parameter
Chopper Parameters
Chopping
Duty ratio
frequency
Load condition
TL (N.m)
Fc(Hz)
Motor performance
Armature
Armature
Speed
current
voltage
(rad./sec.)
(A)
(V)
50
0.5
0.0
discontinuous discontinuous oscillate
50
0.99
0.0
continuous
discontinuous oscillate
50
0.99
5.0
continuous
discontinuous constant
200
0.99
0.0
continuous
discontinuous oscillate
200
0.99
5.0
continuous
continuous
constant
Figure (3) complete system block diagram
6-Conclusion:
A closed-form solution for the motor performance in both continuous and
discontinuous conduction operation has been developed analytically. The equations can also
be used to obtain the transient behavior of the system. The duty ratio, the chopping frequency
and the motor speed are the main factors governing the discontinuous operation of the motor
system. From the results, the discontinuous operation of D.C. motor can be occurred at low
duty ratio, low chopping frequency and light load.
Speed (rad. /sec.)
Armature current (A)
Time (sec.)
Armature voltage (v)
Time (sec.)
Motor torque (N.m.)
Time (sec.)
Time (sec.)
Figure (4) MATLAB results for starting-up condition
(Fc=50 Hz, TL=0, =0.5)
Speed (rad. /sec.)
Armature current (A)
Time (sec.)
Armature voltage (v)
Time (sec.)
Motor torque (N.m.)
Time (sec.)
Time (sec.)
Figure (5) MATLAB results for steady-state condition
(Fc=50 Hz, TL=0 N.m., =0.5)
Armature current (A)
Armature voltage (v)
Time (sec.)
Motor torque (N.m.)
Time (sec.)
Time (sec.)
Figure (6) MATLAB results for steady-state condition
( Fc=50 Hz, TL= 0 N. m., =0.99)
Speed (rad. /sec.)
Armature current (A)
Time (sec.)
Armature voltage (v)
Time (sec.)
Motor torque (N.m.)
Time (sec.)
Time (sec.)
Figure (7) MATLAB results for steady-state condition
(Fc=200 Hz, TL=0 N.m., =0.99)
Speed (rad./sec.)
Armature current (A)
Time (sec.)
Armature voltage (v)
Time (sec.)
Motor torque (N.m.)
Time (sec.)
Time (sec.)
Figure (8) MATLAB results for steady-state condition
( Fc=200 Hz, TL= 5.0 N. m., =0.99)
Motor speed(road/sec)
Armature current (A)
Time (sec.)
Armature voltage (v)
Time (sec.)
Torque (N.m.)
Time (sec.)
Time (sec.)
Figure (9) MATLAB results for steady-state condition
(Fc=50 Hz, TL=5.0 N.m., =0.99)
Speed (rad/sec.)
Armature current (A)
Time (sec.)
Armature voltage (V)
Time (sec.)
Torque (N.m.)
Time (sec.)
Figure (10) Numerical results for starting-up condition
(Fc=50 Hz, TL=0 N.m., =0.5)
Speed (rad/sec.)
Armature current (A)
Armature voltage (V)
Time (sec.)
Time (sec.)
Torque (N.m.)
Time (sec.)
Figure (11) Numerical results for steady-state condition
(Fc=50 Hz, TL=0 N.m., =0.5)
Armature current (A)
Armature voltage (V)
Torque (N.m.)
Time (sec.)
Time (sec.)
Time (sec.)
Figure (12) Numerical results for steady-state condition
(Fc=50 Hz, TL=0 N.m., =0.99)
Speed (rad/sec.)
Armature current (A)
Time (sec.)
Armature voltage (V)
Time (sec.)
Torque (N.m.)
Time (sec.)
Figure (13) Numerical results for steady-state condition
(Fc=200 Hz, TL=0 N.m., =0.99)
Speed (rad./sec.)
Armature current (A)
Time (sec.)
Armature voltage (V)
Time (sec.)
Torque (N.m.)
Time (sec.)
Time (sec.)
Figure (14) Numerical results for steady-state condition
(Fc=200 Hz, TL=5 N.m., =0.99)
Speed (rad./sec.)
Armature current (A)
Time (sec.)
Armature voltage (V)
Time (sec.)
Torque (N.m.)
Time (sec.)
Figure (15) Numerical results for steady-state condition
(Fc=50 Hz, TL=5.0 N.m., =0.99)
7-References:
1. Kohli, D.R:" A new approach to the performance analysis of chopper controlled D.C.
motor drive", Electric Machines and Electro mechanics, Vol. 6, PP239, 1981.
2. Ahmed, F. Y. D.C. motor control by choppers, M. Sc. Thesis, University of Basrah
1985.
3. Bogumila, M.:" Modelling and Fuzzy control of D.C. drives", 14th European simulation
multi conference ESM2000, May 23-26, Ghent, PP186-190.
4. Sen., P.C.:" Principles of electric machines and power electronics", John Wily and Sons,
New York, 1996.
5. Nasir, B.A. ,zaki, M.A. and Obad. M.A.:Performance Analysis of a separately exited
D.C.
motor
fed
by
half-controlled
bridge-rectifier
International
Scientific
Conference/Foundation of Technical Education/ Najaf Technical College/april 12-14,
IRAQ, 2010.
6. www.carotran.com: Elite D.C. motor control, 2004.
7. Mrozek, B. and Mrozek, Z.:" MATLAB 5-x Simulink 2-x User guide", PLJ Warzawa,
1998.
8-Appendix:
A) D.C. Motor Specifications
The D.C. Machine has the following parameters:
Armature input voltage = 220V. Motor rated power =1.2 KW. Field voltage =220 V.
Field resistance
=370 . Field inductance
=6.7 H. Armature resistance =4 .
Armature inductance=0.086 H. Moment of inertia=0.017 Kg.m2.
Friction torque constant =0.0081 (N.m)/ (rad. /sec.).
B) The uncontrolled, 3-phase bridge, diode rectifier has the following properties:
Forward resistance
=0.2 . Forward voltage drop=0.6 V. Reverse voltage
Snubber resistance
=3*105. Snubber capacitance =0.01*10-6 Farad.
=400 V.
C) Thyristor chopper specifications:
Forward resistance
=0.001. Forward voltage drop =0.8 V. Snubber resistance = 103 .
Snubber capacitance =4.7 *10-6 F. Turn-off time =100*10-6 second.
D) Smoothing inductor specifications:
Smoothing resistance = 2. Smoothing inductance=0.3 H.
/ //
:
.
.
.
. .
