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Power Electronic DC Drives

Speed control methods of separately excited DC motor

The most efficient method of speed adjustment of separately excited DC motor is control by
changing the armature voltage.

V
0.00 440.00
440

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Power Electronic DC Drives

Properties:
this is the most common method of speed adjustment,
this method is economical (does not cause large power losses), but it does require a
suitable controlled voltge source,
the speed adjustment is continuous.
Limitations:
it is only possible to work at a speed lower than the nominal speed,
worse cooling conditions at low speed.
DC voltage, needed for supply the DC motor, can be obtained from AC voltage by using a
diode or thyristor rectifier.
Diode is a semiconductor element that allows for unidirectional current flow - from anode A
to cathode K.

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Power Electronic DC Drives

Symbol Characteristic Model

Thyristor operates similarly to diode. The moment of turning on the thyristor could be
controlled by a gate signal G.

Symbol Characteristic

The general scheme of a drive system with a rectifier supplying a DC motor:

Advantages of a drive system with a rectifier:

wite range, continuous and high accuracy of speed control,
small time constant of a control system,
small size and light weight devices,
hight efficiency of the system,
high durability and low maintenance costs.

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Disadvantages of a drive system with a rectifier:

Power
low power factor, especcially Electronic
at low speed, DC Drives
current and voltage ripples,
low permissible overload,
two rectifiers needed to get a fast reversing system,
high harmonic distortion in line currents.

Different types of drive systems with rectifier:

1. Single-phase full-wave rectifier

α
0.00 180.00
0

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Power Electronic DC Drives

2. Three-phase half-wave rectifier

α
0.00 180.00
0

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Power Electronic DC Drives

3. Three-phase six-pulse bridge rectifier

α
0.00 180.00
0

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Power Electronic DC Drives

The most often used is the six-pulse bridge rectifier. Output voltage can be described as:

where:
α - firing angle of the tiristors,
Vd0 - the maximum output voltage for α=0. It can be described as:

where:
q - number of output voltage pulses,
V - AC line voltage.
For three-phase 400V AC source:

Depending on α value we get:

rectifier operation for

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Power Electronic DC Drives

inverter operation for

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Power Electronic DC Drives

Commutation overlap
If the AC source has some inductance Ls, the commutation process (overlap process) forces
three diodes to conduct simultaneously.

The overlap angle γ is related to the DC current Id and source inductance Ls.

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Power Electronic DC Drives

The commutation voltage drop is described as:

Discontinuous mode of operation

The discontinuous operation happens when the outgoing thyristor current goes to zero
before another thyristor is switched to conduction. It is possible when the motor load torque
is small.
Waveforms for continuous operation:

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Power Electronic DC Drives

Waveforms for discontinuous operation:

Laboratory oscillogram:

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Mechanical characteristic of the separately excited DC motor supplied with a thyristor

rectifier: Power Electronic DC Drives

At the continuous operation area, the characteristic is described as:

At the discontinuous area the speed varies nonlinearly:

Reversing systems based on a thyristor rectifier

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The current Id of the thyristor rectifier can flow in only one direction. Because of this the
sign of the motor torque isPower Electronic DC Drives
always positive.

Negative value of motor torque can be obtained by changing the sign of:
armature current: -Te=kφ(-Id),
excitation current: -Te=k(-φ)Id.

The second case is not popular because of high time constant of excitation winding.
The negative value of armature current can be obtained using:
1. A relay

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Properties:
simplicity, Power Electronic DC Drives
long reversing time tn caused by neccesity of turning the rectifier off when the relay
switches.

2. Alternately controlled dual converter

The system is composed of two thyristor rectifiers. Only one of them is conducting at the
moment, depending on the sign of the armature current. The second one has to be
switched off.

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Power Electronic DC Drives

Properties:
no mechanical parts,
medium reversing time caused by neccesity of turning the outgoing rectifier off
before starting the incoming one.
two rectifiers needed.

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Power Electronic DC Drives

Oscillograms of process of current reversing:

3. Symetrically controlled dual converter

In this case both rectifiers are controlled simultaneously. One of them operates as a
rectifier and the other acts as an inverter.

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Power Electronic DC Drives

The condition of proper operation:

Above equation implies equality of the mean output voltages of the converters. The
inductors are needed to decrease a circulating current in the circuit outside the load.
α
0.00 180.00
0

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Power Electronic DC Drives

Properties:
fast reversing process,
need for use inductors.

Power factor of the thyristor rectifier

The source AC current of the rectifier is distorted. The fundamental harmonic of the source
current is shifted relative to the source voltage by angle φ. The phase shift depends on the
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output DC voltage value (the motor speed value).

Power Electronic
α DC Drives
0.00 180.00
0

At zero speed operation the angle φ=90°. It means that the active power taken from the
source is zero and the reactive power is high.

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Power Electronic DC Drives

For the speed value greater than zero the active power increases and the reactive power
decreases.

Speed stabilization of DC motor supplied with thyristor rectifier

Speed stabilization could be done using control system with two PI controllers - speed
controller and current controller. Due to the feedback signals and closed-loop control system
it is possible to achieve constant speed operation independent of the load torque.
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Power Electronic DC Drives

In case of a step change in the reference speed to a value less than the current reference
value, it is necessary to force the negative armature current, which will result in negative
torque and reduce the actual speed. After reaching steady state, the armature current returns
to the previous value, depending on the load torque.

Properties of a drive system with DC motor and a thyristor

rectifier
Advantages:
high efficiency of the drive system due to efficiency of thyristor rectifier,
continuous speed control in a wide range,
good dynamic properties,
possibility of regenerative braking,
possibility of armature current reversing using dual converter system.
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Disadvantages:
Power Electronic
the source current is distorted, DC Drives
poor power factor, especially at low speed,
high cost of drive system,
operational problems.

Separately excited DC motor supplied with transistor converter

1. One-quadrant converter

The converter consist of a diode rectifier, a filter and a DC/DC converter. Using PWM
modulation it is possible to change mean value of an output voltage.

where
tz - turn-on time of the transistor,
t0 - turn-off time of the transistor,
Ti - switching period,
0≤λ≤1 - duty cycle.

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Power Electronic DC Drives

Speed of the motor:

The motor characteristic is linear at continuous operation zone and nonlinear at

discontinuous operation zone.

This topology ensures only one-quadrant operation - armature current and voltage have
always positive signs.

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2. Two-quadrant transistor converter

Power Electronic DC Drives

Convertet topology allows for bi-directional flow of motor current, and thus to reversion
of the motor torque. Due to the use of diode rectifier that does not allow the return of
energy to the source during braking operation of the motor, it is necessary to use the
power dissipation circuit composed of the transistor Th and resistor Rh. Motor voltage
varies according to:

where
t1 - turn-on time of the transistor no. 1,
t2 - turn-on time of the transistor no. 2,
0≤λ≤1 - duty cycle.

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Power Electronic DC Drives

Characteristic of the motor is linear and depends on the λ value.

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3. Four-quadrant transistor converter

Power Electronic DC Drives

The output voltage varies according to:

where
t1 - turn-on time of the transistor no. 1 and no. 4,
t2 - turn-on time of the transistor no. 2 and no. 3,
-1≤λ≤1 - duty cycle.

The topology allows four-quadrant operation, which means that both speed and torque of

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the motor can change the sign.

Power Electronic DC Drives

The source current of the converter

The source current of the converter, because of use of diode rectifier, is strongly distorted.

The distortion of the source current can be limited by use of filters.

The advantages of the transistor converter comparised to a rectifier:

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better dynamic properties of the drive due to higher switching frequency,

simplier structure of thePower Electronic
four-quadrant converter, DC Drives
faster current reversion.
Disadvantages:
diode rectifier doesn't allow to put back energy to the source during braking operation of
the motor,
annoing noise due to high switching frequency of the transistors,
distorted source current (both types of converters).

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