Electrical Drive Systems Lecture No.11 Dr.Prof.

Mohammed Tawfeeq Lazim

11. DC CHOPPER DRIVES

11.1 Introduction

A simple chopper – fed d.c. motor drive is shown in Fig.11.1.The chopper

converts a fixed d.c. voltage into variable d.c. voltage by controlling the duty
cycle of the converter . Thus it can supply variable voltage to the armature.
In Fig. 11.1, the converter output gives the dc output voltage Va required to
drive the motor at the desired speed. In this diagram, the d.c. motor is
represented by its equivalent circuit consisting of inductor La and resistor Ra
in series with the back emf (Ea) .

Fig.11.1 Chopper-fed d.c. motor drive.

Chopper drives can operate in the following modes:

1- Motoring mode.
2. Regenerative braking mode.
3. Dynamic (rheostatic) braking mode.

11.2 Motoring mode.

In this mode, the thyristor T1 , which is connected to a fixed voltage Vd , is
triggered by a pulse width modulated (PWM) signal to control the average
motor voltage. Theoretical waveforms illustrating the chopper operation are

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

shown in Fig.11.2.In this case the average armature voltage is a direct function
of the chopper duty cycle γ , i.e. Vav = γ Vd .

Depending on the value of the duty cycle γ , two modes of operation may result
when the chopper operates with d.c. motor load, namely, continuous armature
current operation and discontinuous armature current operation modes as
illustrated in Fig.11.2.

Fig.11.2 Load current and voltage waveforms with motor load :

(a) continuous armature current , (b) discontinuous armature current.

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

11.3 Steady-State Solution of Chopper DC Drive

(A) Armature Voltage Waveform Analysis for Continuous Armature

Current Operation

The armature voltage waveform applied to the d.c. motor for continuous
current operating mode shown in Fig.11.2 (a) is given by

The average value of the armature voltage is

where

The rms value of the armature voltage waveform is given by

The ripple factor, defining the ratio of the a.c components to the average value,
is given by

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

for full conduction when .

To find the average armature current, we can use the following basic equation,

For continuous current operation, the average armature current in the steady –
state is given by

where Va = average armature voltage = Vd

Ia = average armature current
Ea = the internal generated voltage (back emf) is given by: Ea=
Now solving for the motor’s torque using the motor general equation,
Va = Ea +Iav Ra

Solving for the motor’s speed:

At starting, ω = 0. The starting torque Tst may be found as:

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 Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

The speed – torque characteristics of a separately excited d.c. motor is shown

in Fig. 11.3 for different values of the duty cycle .It is clear that ,as the duty
cycle is reduced, the no load speed and the starting torque are reduced
accordingly and the characteristic lines shift down ward in parallel manner.

1
Speed (ω) 1> 2> 3

3
Starting
torque

0 Tm Torque Tst

Fig.11.3 Speed – torque characteristics of a d.c. motor with d.c. chopper drive.

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 Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

11.3 EXACT ANALYSIS OF THE ARMATURE CURRENT WAVEFORM

IN CONTINUOUS CURRENT MODE

When the chopper is loaded with a d.c. motor, the system is represented by the
equivalent circuit as in depicted in Fig.11.6 .

Fig .11 .6 Equivalent circuit of a d.c. chopper- fed separately excited d.c.
motor.

By KVL , the equation govern the operation of the motor is,

or

This general differential equation represents the armature current behaviour in

both the continuous and discontinuous current mode as will be discussed
hereinafter.

For continuous armature current operation

 With switch T1 ON ( and DFW OFF)

At , in Fig.11 .2 (a) , and , solution of the first
order linear differential equation (11.9) given the result, for ,

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

where

When , in Fig.11.2 (a), , , substituting

these values into Eq. (11.10) gives

Equation (11.11) is not time dependent and remains true after T1 switches off.

 With switch T1 OFF ( and DFW ON)

At , in Fig.11.2 (a) , and , hence in the interval

the load current is given by

But at , , equation (11.12) may then be rewritten

The simultaneous solution of Eq.(11.12) and Eq. (11.13) yields

where

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

Therefore,

Example 11.1

A separately excited d.c. motor with Ra = 0.1 ohms and La = 20 mH , is to be

controlled using class-A thyristor chopper .The d.c. supply is a battery with Vd
= 400V . The motor voltage constant is 5 Vs / rad. In the steady – state
operation the average armature current Ia = 100 A and it is assumed to be
continuous and ripple- free.

(a) For a duty cycle of 0.5, it is required to calculate (i) the input power to the
motor, (ii) the speed of the motor, (iii) the developed torque. Mechanical,
battery and semiconductor losses may be neglected.

(b) If the duty cycle of the chopper is varied between 20% and 80%, find the
difference in speed resulting from this variation.

Solution

(a) Input power to the motor, speed of the motor and the developed torque are
calculated as follows:
(i) For continuous current operation the input power is

(ii) Speed of the motor can be calculated as,

The voltage across the armature circuit

The induce voltage

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

To find the speed n in rpm

(iii) The torque produced by the motor,

(b) For duty cycle of 20%,

For duty cycle of 80%,

Hence the difference in speed is

Example 11.2

A class-A d.c. chopper operating at 500 H; feeds a separately excited d.c.

motor from 200 V dc source. The load torque is 35 N.m and speed is 1000 rpm.
Motor resistance and inductance are 0.15 Ω and 1.0 mH respectively. The emf
and torque constant of motor are 1.6 V/rad/s. and 1.4 N.m /A. Find (a)

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

maximum and minimum values of motor armature current, and (b) excursion of
armature current. Neglect chopper losses.

Solution

(a) Let duty cycle =

Vd = 200 V

Average armature current Ia =T/ Kφ =35/1.4 = 25 A

Back emf Ea = K φ ω = 1.6 x (950 x 2 /60)=159.16V

(200) = 159.16 + 25x 0.15 = 162.29 V

= 0.8145

T = 1/500 =2 ms

ton = T=2x0.8145 = 1.629 ms

toff = 2-1.629=0.371 ms

From Eq.s (11.16) and (11.17) ,The maximum and minimum currents are
calculated as

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

(b) Excursion of armature current =

Example 11.3

A d.c. motor is driven from a chopper with source voltage of 220 V and at
frequency of 1000 Hz. Determine the range of duty cycle to obtain a speed
variation from 0 to 2000 rpm while the motor delivered a constant load of
70 N.m. The motor details as follows:

1kW, 200V, 2000 rpm, 80% efficiency, Ra = 0.1Ω, La = 0.02 H, = 0.54

V/rad /s.

Solution

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Electrical Drive Systems Lecture No.11 Dr.Prof. Mohammed Tawfeeq Lazim

For ωm = 0

Hence the range of is .

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