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ELEC 482 Module # 5 Outline TOPIC: DC Chopper Drives
ELEC 482 Module # 5 Outline TOPIC: DC Chopper Drives
Key educational goals: Evaluate and identify the different types of dc choppers (dc-dc converter) configurations to drive a separately excited dc motor. Reading/Preparatory activities for class i) Textbook: Chapter 5: DC motor control using a dc chopper. 5.1. Basic equations of a dc motor 5.2 DC chopper drives ii) Power-point file: DC_chopper_drives. Questions to guide your reading and think about ahead of time. 1. What are the two main conduction modes in a class A chopper? 2. How does the critical duty ratio (cycle) determine the conduction mode of a class A chopper? 3. What is a class B (two quadrant) chopper? 4. What is a four quadrant chopper?
Summary The knowledge gained from this module helps in analyzing and designing choppers (dc-dc converters) for separately excited dc machines. For next time We will discuss in the next module how to control the separately excited dc motor using single phase and three phase line commutated converters supplied from the standard utility AC supply. Then we will compare their performance with the dc chopper controlled drives.
2) A separately excited dc motor has armature resistance of 0.2 , and armature inductance of 1 mH. The switching time period of the chopper is 3 ms with TON = 2 ms. If the back emf is 85 V and the supply voltage is 100 V, find the following: (vi) Average load voltage (vii) Average load current (viii) Maximum value of load current (ix) Minimum value of load current (x) The drive efficiency
Chopper Drives
Continuous conduction mode (CCM) in a class A chopper
Boundary between the continuous conduction mode (CCM) and discontinuous conduction mode (DCM) in a Class A chopper Discontinuous conduction mode (DCM) in a class A chopper Numerical examples on CCM and DCM in a class A chopper Class B Chopper ( Multiquadrant or 2 quadrant chopper) forward motoring, regeneration/braking.
iD
D
iL
Vs
vL
Ra La
e - b
DC
}=
iD
D
iL
Vs
vL -
Ra La
DC
eb
}=
vL(t)
Vs
TON
T = TON+TOFF
TOFF
Imax
Definitions
d = duty cycle; =
0 = =
(1)
2 0 1
0 1
2 =
(2)
Ripple factor: . . =
2 2 ( ) ( )
( )
(3)
(4)
( + ())
2 0 2 0
= (2 )
(5)
= =
(6) (7)
= 1 (2 )
2 + 2 1 1
(8)
Example 1
Question: = 100 , = 1ms, = 2.5 ms. Calculate ( ) , ( ) , 1( ) , ripple factor RF. Solution: = 1 = 0.4. = 2.5
=
100
10.4 0.4
= 1.225.
(2 ) =
Also 1( ) =
18.712 +57.58 2 2
= 42.81 V.
Example 2
Question: A separately excited dc motor with = 0.3 , = 15 mH is controlled by a chopper over a speed range of 0-2000 rpm. The dc supply voltage is 220V. = constant and requires an ( ) = 25A. Calculate the range of if = 0.96 rad . Solution: At = 0; = ( ) = =
7.5 220 N 60 V s
2 = 0V;
= 0.034.
2000 60
At = 2000; = ( ) = =
208.56 220
2 0.96 = 201.06V.
+ = 7.5+201.06 = 208.56 V.
= 0.948.
0.034 0.948.
iD
D
iL
Vs
vL
Ra La
e - b
vL(t)
DC
}=
t t
Vs
TON TOFF
Imax
= () + +
( ) +
or =
. 1 +
. 1
(9)
. 1 +
. 1
(1 )
(1 )
(10)
Solving the two simultaneous equations (9) and (10) the expressions for and can be obtained. = =
. .
1 1 1
(11) (12)
iD
D
iL
Vs
vL
Ra La
e - b
vL (t)
DC
}=
t t
Vs
TON TOFF Imax
iL (t)
t=0
Imin = 0
1 1 1
= 0
= ln
+1
(13)
Using equation (13) the critical duty ratio can be evaluated. This is because From (12) = ln
+ + 1 (14)
> 0, for the converter to be in CCM > . Thus for a given chopper frequency or a given time period and a given d > d' implies CCM and d < d' implies DCM.
Decreasing T
CCM
0.5
1.0
d'
Example 1
Eb Vs 1.0
No conduction zone DCM Boundary between CCM and DCM for a particular T/ ratio T 0
Decreasing T
CCM
0.5
1.0
d'
iD
D
iL
Vs
vL
Ra La
e - b
vL (t)
DC
}=
t t
Vs
TON Imax
Eb
TOFF
tx
iL (t)
t' =0
tx Imin = 0
Vs
TON Imax
Eb
TOFF
tx
iL (t)
t' =0
tx Imin = 0
. 1
. 1
Vs
TON Imax
Eb
TOFF
tx
iL (t)
t' =0
tx Imin = 0
. 1
Let be the instant at which current becomes zero. Therefore, with respect to new time reference the instant at which current becomes zero is given as ( ). Substituting the value of time in the expression for current, 0=
. 1
( )
( )
Vs
TON Imax
Eb
TOFF
tx
iL (t)
t' =0
tx Imin = 0
Substituting the value of in the above expression, the instant at which current becomes zero can be solved for. = 1 + Or =
1+
(textbook expression)
Example 2(CCM)
Problem: A separately excited dc motor has armature resistance of 0.2 , and armature inductance of 1 mH. The switching time period of the chopper is 3 ms with TON = 1 ms. If the back emf is 10 V and the supply voltage is 100 V, find the following: (i) (ii) (iii) (iv) (v) Average load voltage Average load current Maximum value of load current Minimum value of load current The drive efficiency
= 0.333
0.001 0.2
= 0.005 s
The critical duty ratio d' is obtained using the following relation = ln
+ 1 = 0.003 ln
0.005
0.003 0.005
10 100
+1
or d' = 0.132 Since d > d' , the drive is in CCM. Average load voltage = = 100 0.333 = 33.3 V Average load current
33.310 0.2
= 116.5
or =
100 0.2
10 0.2
= 500
0.18111 0.4512
50 = 150.70A.
or =
100 0.2
10 0.2
= 500
0.22116 0.8221
50 = 84.51 A.
. .
The average value of switch current has to be computed. The switch current waveform is given below.
is
Imax
Imin TON T
or or Or
( ) . 1 0
0.2
0.2
0.001 0.005
0.001 0.005
1 0.003 0.005
84.65
1 A
Example 3 (DCM)
A separately excited dc motor has armature resistance of 0.2 , and armature inductance of 1 mH. The switching time period of the chopper is 3 ms with TON = 2 ms. If the back emf is 85 V and the supply voltage is 100 V, find the following: (i) (ii) (iii) (iv) (v) Average load voltage Average load current Maximum value of load current Minimum value of load current The drive efficiency
= 0.666
The critical duty ratio d is obtained using the following relation = ln d = 0.8832 Since d <d', the drive is in DCM. The time at which the current falls to zero is given by = 1 +
+ 1 = 0.003 ln
0.005
0.003 0.005
85 100
+1
= 0.005 1 +
100 85
= 2.28
Vs
TON
Eb tx
T t ( ms )
iL (t)
2. 0
2.28
3. 0
t ( ms)
= =
1 + 0. 0 ( ) 86.9885 1
= 86.98 V.
0.666 0.003 0.005
0.2
= 9.9 A.
100 85 0.2
= =
. 1
. 1
= 24.71 A.
= 0 A.
0
. 1 +
0.2
or or
= =
0.2
0.002 0.005
1 = 8.79 A
. .
= 95.73 %.
Multi-quadrant Chopper
iL S1 D2 Ra
DC
La iL
S1 D1 vL
Vs vL
S2 D1
DC
S 2 D2
Eb
La iL
Ra
DC
La
iL
Vs vL
DC
Vs vL D1
DC
iL
S1 D1
Eb
Eb
vL
S1 ON
D1 ON
In forward motoring, energy flows from Vs to Eb. The circuit functions like a Class A ( one quadrant) chopper.
Ra
DC
La
DC
Ra Vs iL
La
vL
iL vL
DC
Vs vL S2
DC
S2 D2
Eb
Eb
S2 ON
D2 ON
In this mode, energy flows from Eb to Vs. The energy stored in La when S2 is on aids in transferring the energy from Eb to Vs once S2 is switched-off and D2 is turned-on.
Multi-quadrant chopper(2)
iL S1 Ra
DC
D1 La iL vL D2 Eb
DC
D1 D2
S1 S2 vL
Vs
S2
S1 S2 vL
S2
Ra vL D2
La iL
D1 D2
Eb
DC
vL
In this mode, D1 and D2 conduct reversing the potential across the motor terminals. Eb and Vs get connected in series and quickly decreases the armature current.
D1 La iL vL D2 Eb
DC
Vs
S2
Another switch sequence for this converter can be : S1S2; S1D1; D1D2; S2D2; D1D2
S1
D1 Ra La iL vL
S3
iL D3 D3 D4 S1 S2 vL S3 S4 D2 D1 D2
Eb
DC
DC
Vs S4 D4
S2