ELL-332 Electric Drives

Lecture 5: DC machines part 2

Anandarup Das
Associate Professor
Room-402A, Department of Electrical Engineering, IIT Delhi.
[email protected]
Content
• Thyristor rectifier fed DC drives

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Thyristor properties
• It can be turned on by applying a gate pulse when
vAC voltage is positive.
• After it turns on, the gate pulse can be
withdrawn.
• It turns off when the current goes to zero.
• The current is always unidirectional.
• Thyristors are very robust.

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Thyristor properties
• A thyristor converter is used to convert AC to controlled DC.
• Both single phase and three phase converter exists.

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Thyristor fed resistive load
• It is called a half wave rectifier (rarely
used for motor drive).
• The firing pulses are delayed by the delay
angle called 𝛼 = 𝜔𝑡.
• The average output voltage is given by,
1 𝜋 𝑉𝑚
𝑉𝑜 = ‫ 𝑚𝑉 𝛼׬‬sin 𝜃 𝑑𝜃 = (1 + cos 𝛼)
2𝜋 2𝜋

• The average output voltage can be

varied.

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Thyristor fed inductive load
• With an inductive load, the current
will continue to flow even if the
voltage has gone negative.
• The current will continue to fall and
will go to zero.
• When the current goes to zero, the
thyristor stops conducting.
𝑉𝑚
• 𝑉𝑜 = (cos 𝛼 − cos 𝛽)
2𝜋

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Thyristor fed inductive load
• If it is desired that the output voltage
does not go negative, then a diode
can be introduced at the output.
• The load current is continuous, and
the output voltage is always positive.
𝑉𝑚
• 𝑉𝑜 = (1 + cos 𝛼)
2𝜋

• Commutation (transfer) of current

from thyristor to diode and vice versa
takes place.

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Thyristor fed highly inductive load
• With a highly inductive load e.g., a
motor load the load current can be
considered ripple free.
𝑉𝑚
• 𝑉𝑜 = (1 + cos 𝛼)
2𝜋

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Bridge rectifier with R-load

• Another popular topology is a full bridge rectifier.

𝑉𝑚
• 𝑉𝑜 = (1 + cos 𝛼)
𝜋

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Bridge rectifier with RL load

• With R-L load, the current may become continuous or discontinuous.

• In DCM mode there will a time interval when no thyristors will conduct.

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Bridge rectifier with RL load

• In CCM, the output current is continuous.

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Bridge rectifier with motor load

• The motor can be approximated as a RLE load.

• There can be CCM or DCM with the current, depending on the load current magnitude.
• Note how the output voltage waveform looks like.
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Bridge rectifier with motor load

1 𝛽 𝜋+𝛼
• In DCM, the average voltage is , 𝑉𝑜 = ‫𝑚𝑉 𝛼׬‬ sin 𝜃 𝑑𝜃 + ‫𝐸 𝛽׬‬ 𝑑𝜃
𝜋
𝑉𝑚 𝐸
• = (cos 𝛼 − cos 𝛽) + (𝜋 + 𝛼 − 𝛽)
𝜋 𝜋

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Bridge rectifier with motor load

• The current is not perfect DC, the average of the current is responsible for the
torque.
• The torque ripple does not affect the speed due to inertia.
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Load current in CCM

• Similarly, the current can be continuous for a given alpha, when the torque
requirement is high, so that average armature current is high. The back emf
and hence speed will fall.

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Load current in CCM

2𝑉𝑚
• The average voltage is Vo = cos 𝛼
𝜋

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speed control in CCM/DCM
• In CCM, the torque speed equation is
𝑉 𝑅𝑎 2𝑉𝑚 𝑅𝑎
• 𝜔𝑚 = − 𝑇 = cos 𝛼 − 𝑇
𝑘𝜙 𝑘𝜙 2 𝜋𝐾 𝐾2

• In DCM, the torque speed equation is

𝑉 𝑅𝑎
• 𝜔𝑚 = − 2 𝑇=
𝑘𝜙 𝑘𝜙
𝑉𝑚 cos 𝛼−𝑐𝑜𝑠𝛽 𝜋𝑅𝑎
• − 𝑇
𝐾 𝛽−𝛼 𝐾 2 (𝛽−𝛼)

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Output voltage in CCM
2𝑉𝑚
• In CCM, 𝑉𝑜 = cos 𝛼
𝜋
• The output voltage of the converter
can be positive or negative, but
current in the motor is always
positive.
• This means we are operating in
either 1st quadrant (forward
motoring ) or 4th quadrant
(regenerative braking).
• The operation of the converter for
alpha<900 is called rectifier and
operation of the converter for
alpha>900 is called inverter.
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Example
• A 200V, 875 RPM, 150A separately excited DC motor has Ra=0.06 ohm. It is
fed from a 230V, 50 Hz single-phase full bridge converter under CCM.
• What is alpha required at rated motor torque and 750 RPM speed?

• E=200-150*0.06=191V
• E at 750 RPM is 191*750/875=172.7V

2𝑉𝑚
• 𝑉𝑜 = cos 𝛼= 172.7 + 0.06*150, this means alpha=29.3 degrees
𝜋

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Example
• A 200V, 875 RPM, 150A separately excited DC motor has Ra=0.06 ohm. It is
fed from a 230V, 50 Hz single-phase full bridge converter under CCM.
• What is alpha required at rated motor torque and speed=-500 RPM ?

• E at -500 RPM is 191*(-500)/875=-109V

2𝑉𝑚
• 𝑉𝑜 = cos 𝛼= -109 + 0.06*150, this means alpha=120 degrees
𝜋

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Single phase half controlled rectifier
• If it is desired to operate only in 1st
quadrant, then two thyristors can be
removed from the circuit.
• Both CCM and DCM operations are
possible.
• The output voltage cannot get
negative.

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Single phase half controlled rectifier

• In DCM, the output voltage is

1
• 𝑉𝑜 = {𝑉𝑚 1 + cos 𝛼) + (𝜋 + 𝛼 − 𝛽 𝐸}
𝜋

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Single phase half controlled rectifier

• In CCM, the output voltage is

1 𝜋 𝑉𝑚
• 𝑉𝑜 = ‫ 𝑚𝑉 𝛼׬‬sin 𝜃 𝑑𝜃 = (1 + cos 𝛼)
𝜋 𝜋

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Three phase fully controlled rectifier
• For higher power rating we go for three phase system.
3𝑉𝑚
• In CCM, 𝑉𝑜 = cos 𝛼. Note that Vm is the peak of the line voltage.
𝜋

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Four quadrant DC drives

• How can we have four quadrant operation?

• Two ways of doing it, through a reversing switch or through a dual converter.
• We basically reverse the armature current so that negative torque is produced.
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Four quadrant DC drives

• We fire the two thyristors TF for operation in Q1 and Q4 and keep TR off.
• We fire the two thyristors TR for operation in Q2 and Q3 and keep TF off.

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Dual Converter

• Another way to have 4Q operation is to have a Dual converter.

• Rectifier A provides positive current and operates in Q1 and Q4.
• Rectifier B provides negative current and operates in Q2 and Q3.
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Dual Converter with circulating current

• Both converters are working together so that VA+VB=0.

• Thus, cos 𝛼𝐴 + cos 𝛼𝐵 = 0 which means 𝛼𝐴 + 𝛼𝐵 = 𝜋

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Dual Converter with circulating current

• However, instantaneous voltages are not equal so a circulating current will

flow and hence L1 and L2 are present.
• CCM is used here.
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Dual Converter without circulating current

• In this mode, the two converters do not operate simultaneously.

• DCM is used here, there is no circulating current and hence inductors are
not required.
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Example
• A motor develops a rated back emf of 195V at 1500 RPM and is fed from a
165V, 3-phase supply with a dual converter. The rated armature current is
50A and Ra=0.5 ohm.
• Calculate the firing angles for rated motoring torque and speed= 1000 RPM.

• E=195*1000/1500=130V, IaRa=25 V.
• Hence Va=130+25= 155V.
3𝑉𝑚
• 𝑉𝑜 = cos 𝛼𝐴 = 155.
𝜋
• Hence, 𝛼𝐴 = 45.90 , 𝛼𝐵 = 134.10

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Example
• A motor develops a rated back emf of 195V at 1500 RPM and is fed from a
165V, 3-phase supply with a dual converter. The rated armature current is
50A and Ra=0.5 ohm.
• Calculate the firing angles for rated braking torque and speed= 1000 RPM.

• E=195*1000/1500=130V, IaRa=25 V.
• Hence Va=130-25= 105V.
3𝑉𝑚
• 𝑉𝑜 = cos 𝛼𝐵 = 135.
𝜋
• Hence, 𝛼𝐵 = 118.10 , 𝛼𝐴 = 61.90

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Example
• A motor develops a rated back emf of 195V at 1500 RPM and is fed from a
165V, 3-phase supply with a dual converter. The rated armature current is
50A and Ra=0.5 ohm.
• Calculate the firing angles for rated motoring torque and speed= -1000 RPM.

• E=195*(-1000)/1500=-130V, IaRa=25 V.
• Hence Va=-130-25= -155V.
3𝑉𝑚
• 𝑉𝑜 = cos 𝛼𝐵 = 155 (from rectifier B)
𝜋
• Hence, 𝛼𝐵 = 45.90 , 𝛼𝐴 = 134.10

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Example
• A motor develops a rated back emf of 195V at 1500 RPM and is fed from a
165V, 3-phase supply with a dual converter. The rated armature current is
50A and Ra=0.5 ohm.
• Calculate the firing angles for rated braking torque and speed= -1000 RPM.

• E=195*(-1000)/1500=-130V, IaRa=25 V.
• Hence Va=-130+25= -105V.
3𝑉𝑚
• 𝑉𝑜 = cos 𝛼𝐴 = −105(from rectifier A)
𝜋
• Hence, 𝛼𝐴 = 118.10 , 𝛼𝐵 = 61.90

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