Electrical DC Motor Drives PDF

POWER ELECTRONIC MOTOR DRIVES
Prof. N. D. Mehta
Assistant Professor,
Department of Power Electronics Engineering ,
Vishwakarma Government Engineering College,
Chandkheda – 382424
MODERN ELECTRICAL DRIVE SYSTEMS
• About 50% of electrical energy used for drives

• Can be either used for fixed speed or variable speed
• 75% - constant speed, 25% variable speed (expanding)
• Variable speed drives typically used PEC to supply the motors
DC motors (brushed) AC motors

• IM: Induction Motor SRM - IM
• PMSM: Permanent Magnet Synchronous Motor
BLDC - PMSM
• SRM: Switched Reluctance Motor
• BLDC: Brushless DC Motor
Classic Electrical Drive for Variable Speed
Application : Ward Leonard Method of Speed
Control
• Bulky
• Inefficient
• inflexible
TORQUE SPEED CHARACTERISTICS
The torque/speed characteristics of an electronic D.C. variable
speed drive with a shunt wound D.C. motor are:
Motor speed, N, is proportional to armature back EMF voltage (Ve)
and inversely proportional to field flux (Flux Φ):
N α Ve/Flux Φ
Output torque, T, is proportional to the product of Iarmature x Flux
Φ:
T α (Iarmature) Flux Φ
Output power, P, is proportional to the product of torque (T) and
Speed (N):
P α (T)N
ADVANTAGES OF WARD LEONARD
DRIVES
 In general, the speed of a D.C. motor can be controlled by varying
the armature voltage or the field flux (but not both).
 Since the field flux is kept constant below base speed, the motor
speed can be varied by increasing or decreasing the armature
voltage.
 This is done by adjusting the variable voltage produced at the
output of the SCR bridge drive (phase controlled rectifier) or the
average variable voltage produced by that SCR bridge that
controls the duty cycle of the D.C. chopper.
DRIVES
 When the maximum output voltage of the converter is reached,
additional speed can be achieved by reducing the field flux. This
is called field weakening.
 In field weakening, the speed range is usually limited to about
3:1 to ensure stability and good motor commutation.
 The motor has full torque over the normal speed range and even
at standstill. In field weakening, torque falls in proportion to
speed but the output power remains constant.
DRIVES
 The main advantages of the Ward Leonard drive are as follows:-
 Smooth speed control of DC motor over a wide range in both the
direction is possible.
 It has an inherent braking capacity.
 The lagging reactive volt-amperes are compensated by using an
overexcited synchronous motor as the drive and thus, the overall
power factor improves.
 When the load is intermittent as in rolling mills, the drive motor
is an induction motor with a flywheel mounted to smooth out the
intermittent loading to a low value.
 If the ac motor is synchronous motor , the ac power factor is
controllable.
 No harmonic are generated
DRAW BACK OF WARD LEONARD DRIVES
 The Initial cost of the system is high as there is a motor
generator set installed, of the same rating as that of the main DC
motor.
 Larger size and weight.
 Requires large floor area
 Costly foundation
 Maintenance of the system is frequent.
 Higher losses.
 Lower efficiency.
 The drive produces more noise.
Typical Modern Electric Drive Systems
Power Electronic Converters Electric Motor

Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy
Power
Electronic Motor Load
Source Converters
feedback
Controller
Reference
Typical Modern Electric Drive Systems
Power Electronic Converters Electric Motor

Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy
Example on Variable Speed Drives (VSD) application
Constant speed Variable Speed Drives
valve
Supply motor pump
Power out
Power
In
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
Example on VSD application
Electric motor consumes more than half of electrical energy in the US
Fixed speed Variable speed
Improvements in energy utilization in electric motors give large impact

to the overall energy consumption
HOW ?
Replacing fixed speed drives with variable speed drives
Using the high efficiency motors

Improves the existing power converter–based drive systems
Overview of AC and DC drives
DC drives: Electrical drives that use DC motors as the

prime mover, Regular maintenance, heavy, expensive,
speed limit, Easy control, decouple control of torque
and flux
AC drives: Electrical drives that use AC motors as

the prime mover, Less maintenance, light, less
expensive, high speed, Coupling between torque and
flux – variable spatial angle between rotor and stator
flux.
Before semiconductor devices were introduced (<1950)

• AC motors for fixed speed applications
• DC motors for variable speed applications
After semiconductor devices were introduced (1960s)
Variable frequency sources available – AC motors in
variable speed applications
• Coupling between flux and torque control
• Application limited to medium performance
applications – fans, blowers, compressors – scalar
control
• High performance applications dominated by DC
motors – tractions, elevators, servos, etc
After vector control drives were introduced (1980s)

• AC motors used in high performance
applications – elevators, tractions, servos
• AC motors favorable than DC motors – however
control is complex hence expensive
• Cost of microprocessor/semiconductors
decreasing –predicted 30 years ago AC motors
would take over DC motors
Extracted from Boldea & Nasar

POWER ELECTRONIC CONVERTERS IN ELECTRICAL
DRIVE SYSTEMS
Converters for Motor Drives
(some possible configurations)
DC Drives AC Drives
AC DC Source AC Source DC Source

Source
DC-AC-DC DC-DC
AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC
Const. Variable NCC FCC

DC DC
ELECTRONICS CONTROL OF MOTOR
DEFINITION
 An Electrical Machine which converts electrical
energy into mechanical energy is known as
motor. Systems employed for motor control are
called drives.
 An Electric Motor together with its electronic
control equipment and energy transmitting
devices forms an Electric Motor Drive.
 An Electrical Motor Drive is defined as a form of
machine equipment design to convert electrical
energy into mechanical energy and provide
electronics control of this process.
DEFINITION
 An aggregate of Electrical Motor, Energy
Transmitting Link and control equipment by
which the motor characteristics are adjusted and
their operating conditions with respect to
mechanical load varied to suit particular
requirement of application, is called electric
motor drive.
 The drive together with the load constitutes the
drive system.
TYPES OF ELECTRIC DRIVES
 Electric Drive is divided in to three types
1. Individual Drive
2. Group Drive
3. Multimotor Drive
Individual Drive : In individual drive an electric

motor used for transmitting motion to various
parts or mechanism belonging to single equipment.
In individual drive, the energy is transmitted
to different parts of same mechanism by means of
mechanical parts like gear, pulley, etc. hence occurs
some power loss.
Group Drive : when one prime mover or motor is
used for the number of machine tools on
common shaft then the drive is called
as group drive . it is also sometimes called as
line shaft drive.
Mutimotor Drive : The multimotor drive consist
of several individual motor which serve to one of
many motions or mechanism in some production
unit.
For example, in travelling crane, there are
three motors used. One for hoisting, other for
long travel motion and third for cross travel
motion. Such a drive is essential in complicated
metal cutting machine, paper making machine,
rolling mills, rotary printing machine, etc.
The use of multimotor drive is expanding in
modern industries due to their advantage
outweighs increase in capital cost compared to
the group drive.
INDIVIDUAL DRIVE
GROUP DRIVE
MULTIMOTOR DRIVE
Group Drive Individual Drive Multimotor Drive
Big size of motor with Individual drive only In complex machine

the higher capacity one machine is used two or more motors are
used to control more which is connected with used to control the
machine which are shaft. different part of
connected on single machine.
shaft
Less cost, only one Higher Cost because Higher Cost compare to
motor of higher the separately motors the individual or group
overload capacity is are used which drive because of every
used. connected with motor need separate
machine. drive in group.
Space required more Compact size and It’s also required more
and complex looking require small space, space, but it’s
easy to transfer and transferring is easy.
having good
appearance.
Group Drive Individual Drive Multimotor Drive
Braking of any Braking is very ease Individual braking is

individual machine is because of only the complex or may be not
very hard. individual machine. possible.
If any motor will If any motor will If any motor will
disturb whole system disturb particular part disturb particular part
will destroy. of system get on outage. of system get on outage.
BLOCK DIAGRAM OF EMD
BLOCK DIAGRAM OF PES
Form of elec. or
Power proc. stage Post stage mechan. energy
Pre-stage
Output
Input Filter Filter
Electrical
& PE Circuit & Load
Mechanical
Form of Rectify Rectify
electrical
energy Could generate
undesirable
Mostly waveforms
unregulate
d dc Electrical Variable
Switch
Drives
voltage Feedback
Control
Circuit
Mechanical Variable
Mostly ac line Feedback
voltage (single
or three phase)
Interface between Process feedback
control and power signals and decide
circuits on control
BLOCK DIAGRAM OF INDUSTRIAL DC
DRIVE
BLOCK DIAGRAM OF ALLEN-BRADELY DC
DRIVE
PART OF ELECTRONIC MOTOR DRIVE
An electrical drive has the following parts :
 Main Source
 Electrical Motor
 Power Modulator
 Controller
 Working Machine(Load)
 Sensor
 Energy Transmitting Devices

SOURCES
 Very low power drives are generally fed from a
single-phase sources ; low and medium power
motors are fed from three-phase 400 V supply,
large motors may be rated at 3.3 KV, 6.6 KV and
11 KV.
 Some drives are powered from a battery voltage
may be either 24 V, 48 V or 110 V dc.
 For line traction application 65 KV, 50 HZ supply
used and for underground traction application
500 To 759 KV DC supply is utilized. 115 V , 400
HZ supply is used for the aircraft and space
application.
MOTOR : DC MACHINE
PMBLDC MOTOR
TYPES OF MOTOR
Motor Voltage Power
Type Levels Levels Applications Advantages Disadvantages
Toys, coffee
machine,
gate openers, Brushes wear
Brushed etc. Easy to spin, low out, Inefficient
DC <100 V <100W cost
Household Cost,
appliances, complicated
Brush-- Up to a white goods, Long life/reliable, control
less DC <600 V few kW pumps high efficiency
Starting
issues, low-
Low cost, less power factor
maintenance, correction,
Industrial rugged, reliable complicated
AC and factory in wide power speed control
PMDC AND PMBLDC
CONTROLLER
 The controls for a power modulator are provides
in the control unit.
 The nature of the control unit for a particular
drive depends on the power modulator that used.
 When semiconductor converters are used, the
control unit consists of firing circuits which
employ linear and Digital Integrated Circuits,
transistors and microprocessor are used when
sophisticated control is required.
 Control for power electronics modulator are built
in control unit which usually operates at much
lower voltage and power levels.
CONTROLLER
 In addition to operating the power electronics
modulator it may also generate commands for
the protection of power electronic modulators
and motors.
 Input command signal which adjusting the
operating point of the drive by analyzing the
feedback single in the controller.
 The controller are realized with analog and
integrated circuits. The present trend is to use
microprocessors , single chip modulators, Digital
Signal Processors(DSP) ,VLSI and special custom
chips known as Application Specifics ICs (ASIC)
to embody a set of functions in the controller.
CONTROLLER
 The real time computational capability of those
controllers allows complex control algorithms to
be implemented.
 They lend themselves to software and remote
control hence paving the way to flexible
manufacturing system and high degree of
automation.
POWER ELECTRONICS MODULATOR
 A Power Electronics is a heart of Power
Electronics System which modulates the power
available from the source as required by the load
with the command input given by controller.
 The power modulator performs the following
functions :
 It modulates the flow of power from the source to
the motor in such a manner that motor is
imparted speed-torque characteristics required
by the load.
POWER ELECTRONICS MODULATOR
 It restricts source and motor current to
permissible limits during transient operations,
such as starting , braking and speed reversal.
 It converts the electrical energy of the source in
the from suitable to the motor. Example, if the
source is dc and an induction motor is to be
employed, then the power modulator is required
to convert dc in to a variable frequency ac.
 It selects the mode of operation of the motor i.e.
motoring and braking.
SENSORS
 Sensing units are of speed sensing and current
sensing types.
 Speed sensing is required for implementation of
closed loop speed control schemes. Speed is
usually sensed by using tachometers are used.
 Two commonly used methods of sensing the
current are : (i) using current sensors employing
Hall effect, and (ii) Using a non-inductive
resistance shunt in conjunction with an isolation
amplifier, which has an arrangement for
amplification and isolation between the power
and control circuits.
CURRENT SENSOR
RESISTIVE SHUNT & NON CONTACT
SENSOR
SPEED SENSOR
ENERGY TRANSMITTING LINK
LOAD
 Type of Loads: Load torque can be of two types
 Active load torque:- Active torques continues to

act in the same direction irrespective of the
direction of the drive. e.g. gravitational force or
deformation in elastic bodies.
 Passive load torque:- the sense of the load
torque changes with the change in the direction of
motion of drive. e. g. torques due to friction, due to
shear and deformation of inelastic bodies
LOAD
 Parameters  Active torque  Passive torque
 Causes  Are due to gravitational  Are caused due to friction or due
force or deformation in to shear and deformation in
ELASTIC bodies INELASTIC bodies
 Implement  When load is moved  When the load is lifted up the
ation upward ,the stored P.E friction torque adds to the useful
increases and active torque but when lowered down it
torque develop oppose subtracts from later.
motion and vice-versa
 Direction  It continue to act in the  It changes its direction after the
SAME direction even direction of the drive has been
after the direction of the reversed
drive has been reversed
 Relation  Closely connected to  Closely connected to kinetic
potential energy energy
 Examples  Hoists, lifts, elevators,  Lathes , fans, pumps etc.

railway locomotives
operating on gradient.
STICTION
It is a passive load to the
motor.
Load torque is independent of

the speed of the motor.
Characterized by the
requirement of an extra torque
at very near zero speed.
It is also known as break away

torque or stiction.
SPEED LOAD
Torque is directly proportional
to the speed.
Calendaring machines, eddy

current brakes and separately
excited dc generators feeding
fixed resistance loads have
such characteristics.
SPEED LOAD
Load torque magnitude is
proportional to some power of
speed.
Centrifugal pumps, propeller

in ships or aeroplanes, fan or
blower type of load has such
characteristics.
For fan,
CONSTANT POWER LOAD
Hyperbolic speed-torque
characteristics, where load
torque is inversely
proportional to speed or load
power is constant.
Certain type of lathes, boring

machines, milling machines,
steel mill coilers etc are having
this type of load
characteristics.
COMBINATION OF LOAD TORQUE
COMBINATION OF LOAD TORQUE
FOUR QUADRANT OPERATION OF DRIVE
ADVANTAGES OF DRIVES
 Flexible control , Wide Range, High Efficiency
 Lower Maintenance , Lower Noise , Longer Life
 Low No load losses, Pollution free
 Transient operation : Starting , Breaking and

Four Quadrant operation
 Improved Process Control
 Reduced Mechanical stress and Soft Start
 Improved Electrical system Power Factor
 Adaptable to all operating condition : Explosive ,

Radio Active , Submerged in liquid , Vertical
Moment
DISADVANTAGE OF DRIVE
 Acoustic Noise
 Motor Derating
 Supply Harmonics
FUNDAMENTAL OPERATING
SPECIFICATION OF DC DRIVE INCLUDES :
 open loop control: uses a tachometer or other
device to monitor motor speed as opposed to
using position feedback to control motor.
 positive feedback: uses position, force, or other
feedback (in addition to speed sensors) to control
motor -- this is also called closed-loop control.
 tacho or velocity module: gives direct feedback of
motor speed
 back EMF (BEMF) or voltage control: can run
without a tachometer using, instead, the motor's
back EMF voltage
 torque or current control mode: allows constant
current control, uses current feedback
 switching frequency: used by drives that use
Pulse Width Modulation (PWM)
 bandwidth: frequency range in which the drive
meets its accuracy specs. Accuracy is diminished
at lower and lower frequencies unless the device
is capable of dc response, and at higher
frequencies near resonance and beyond, where its
output response rolls off. Frequencies in the
drive's database are usually the 3dB roll off
frequencies.
 maximum speed: speed attained where there is no
external load on the motor
 continuous power: maximum power the drive
can continuously output
 continuous output voltage: maximum voltage the
drive can continuously output
 maximum continuous output current: maximum
current the drive can continuously output (may
require cooling)
 peak output current: peak current the drive can
output
 operating temperature
CHOICE OF ELECTRIC DRIVE
 STEADY STATE OPERATION REQUIREMENT
 Nature of Speed Torque Characteristics
 Speed Regulation & Speed Change
 Efficiency
 Duty Cycle
 Quadrant of Operation
 Speed Fluctuation
 Ratings
 TRANSIENT OPERATION REQUIREMENT
 Value of acceleration and deceleration
 Starting
 Stopping
 Reverse performance
 REQUIREMENT RELATED TO SOURCE
 Types of source and its capacity
 Magnitude of voltage and voltage fluctuation
 Power Factor
 Harmonics and their Effects
 Ability to accept Reactive Power

 CAPITAL AND RUNNIG COST
 MAINTANANCE NEEDS
 LIFE
 SPEED AND WEIGHT RESTRICTION
 ENVIRONMENT AND LOCATION
 RELIABILITY
POWER ANALYSIS OF DRIVE
Electrical energy input from the source = Mechanical
Energy Output + Increased in stored energy in
coupling field + Energy losses
% Overall Efficiency = ( Pmech / Pelect ) X 100
Losses
(a) Loss in the winding resistance of the energy
converter
(b) Core loss
(c ) Friction and Windage loss
POWER ANALYSIS OF DRIVE
CLASSIFICATION OF DRIVE
 BASED ON LOAD REQUIREMENT
 S1 - Continuous
 S2 – Short Time Load
 S3 – Intermittent periodic duty
 S4 – Intermittent periodic duty with a high startup torque
 S5- Intermittent periodic duty with a high startup torque
and electric braking
 S6 – continuous operation periodic duty
 S7- continuous operation periodic duty with high startup
torque and electric braking
 S8 – continuous duty with periodic speed change
S1 - CONTINUOUS
S2 – SHORT TIME LOAD
S3- INTERMITTENT PERIODIC DUTY
S4 – INTERMITTENT PERIODIC DUTY WITH
A HIGH STARTUP TORQUE
S5- INTERMITTENT PERIODIC DUTY WITH A
HIGH STARTUP TORQUE AND ELECTRIC
BRAKING
S6 – CONTINUOUS OPERATION PERIODIC
DUTY
S7- CONTINUOUS OPERATION PERIODIC DUTY
WITH HIGH STARTUP TORQUE AND ELECTRIC
BRAKING
S8- UNINTERRUPTED PERIODIC DUTY WITH
RECURRING SPEED AND LOAD CHANGES
 BASED ON MEANS OF CONTROL
 Manual
 Semi automatic
 Fully automatic
 BASED ON NO OF MACHINE AND

INTERRELATION
 Group drive
 Individual drive
 Multi motor drive
 BASED ON SPEED CONTROL
 Low speed – Medium speed – High speed

 BASED ON APPLICATION
 Appliance
 Low Performance (2Q)
 High Performance (4Q)
 Servo
 BASED ON DEVICES
 Thyristor
 Transistor : MOSFET
 GTO
 IGCT – Insulated Gate Commutated Thyristor
 IGBT
 BASED ON CONVERTER
 Chopper
 Cycloconverter & Matrix converter
 AC / AC via a dc link voltage source
 AC/ AC via a dc link current source
 BASED ON MOTOR
 DC
 Induction motor
 Synchronous motor
 Special motor : SRM , Stepper ,Servo , Actuator ,

Linear Motor
 BASED ON INDUSTRY
 Power Generation
 Metal
 Petrochemical
 Process Industry
 Mining
 Marine
 BASED ON RATING
 Fraction HP (0.5 KW ) Low Power ( 5 KW)

 Medium Power (500 KW) High Power (50 MW)
SPECIFICATION OF DRIVE
 Application
 Motor Type
 Duty Cycle
 Power Rating
 Supply Voltage
 Supply Frequency
 Speed Range
 Accuracy
 Min / Max Speed
 Torque Dynamic Response
 Power Factor
SPECIFICATION OF DRIVE
 Efficiency
 Performance
 Ambient Temperature
 Supply Harmonic
 Life Expectancy
 MTBF – Mean Time Between Fault
 MTTR – Mean Time To Repair
 IP Rating
APPLICATION
 Constant speed or torque
 Automatic torque limiting
 Constant acceleration
 Ease of reversal of rotation under load
 Precise speed variation
 Automatic dynamic braking
 Precise production operation
 Servo motor for positioning and tracking

application
 Electric Traction application
 Excavators and Cranes

DYNAMICS OF MOTOR LOAD COMBINATION
Here, J = Polar moment of inertia of motor load

Wm = Instantaneous angular velocity
TM = Instantaneous value of developed motor torque
TL = Instantaneous value of load torque referred to
motor shaft
For drives with constant inertia,

Here, J = Polar moment of inertia of motor load

Wm = Instantaneous angular velocity
TM = Instantaneous value of developed motor torque
TL = Instantaneous value of load torque referred to
motor shaft
 So, the above equation states that the motor torque is balanced
by load torque and a dynamic torque J(dωm/dt).
 This torque component is termed as dynamic torque as it is only
present during the transient operations.
 From this equation, we can determine whether the drive is

accelerating or decelerating.
 Such as during accelerating motor supplies load torque and
additional torque component essentially. So, the torque,
balancing the Dynamics of electrical braking is very
helpful.
STEADY STATE STABILITY OF MOTOR
LOAD COMBINATION
For the first system, Let the disturbance causes a of ∆ωm in

speed. At new speed motor torque (T) is grater than Load
torque (Tl) . Therefore motor accelerate and operation will be
resorted to Point A.
STEADY STATE STABILITY OF MOTOR
LOAD COMBINATION
Let now examine for second system. A decrease in speed cause

load torque to become grater than the motor torque, drive
deaccelerate and operating point moves from B.
 where Tm and TL is motor and load torque
respectively in Nm, J is the moment of inertia
and is the angular velocity in rad/sec.
 Motor torque is the applied torque and load
torque is the resisting torque.
Different states at which an electric drive causing
rotational motion are
(i) :-__________ The drive will be accelerating, in
particular, picking up speed to reach rated speed.
(ii) :-_________ The drive will be decelerating and
particularly, coming to rest.
(iii) :- _________ The motor will continue to run at
the same speed, if it were running or continue to
be at rest, if it were running.
POWER ELECTRONIC CONVERTERS IN ED SYSTEMS
Converters for Motor Drives
 Configurations of Power Electronic

Converters depend on:
 Sources Available
 Types of Motor
 Drive Performance – Applications
 Braking
 Response
 Rating
DC DRIVES
Available AC source to control DC motor (brushed)
AC-DC AC-DC-DC
Uncontrolled Rectifier
Single-phase Control
Control
Three-phase
Controlled Rectifier DC-DC Switched mode
Single-phase 1-quadrant, 2-quadrant
Three-phase 4-quadrant
DC DRIVES
AC-DC
400
200
+ 2Vm
Vo  cos 
-200

-400
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
50Hz Vo 10
1-phase Average voltage

 over 10ms 5
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
500
50Hz
+ -500
3-phase 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
3VL L,m
Vo Vo  cos 

30
20
 Average voltage
over 3.33 ms 10
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
DC DRIVES
AC-DC
2Vm

+ 2Vm
Vo  cos 

50Hz Vo 90o 180o
1-phase Average voltage
 over 10ms
2Vm


3VL  L ,m

50Hz
+
3-phase
3VL L,m
Vo Vo  cos 
 90o 180o
 Average voltage
over 3.33 ms 3VL  L,m


DC DRIVES
AC-DC
ia
+
Vt
3-phase
Vt Q2 Q1
supply
 Q3 Q4 Ia
- Operation in quadrant 1 and 4 only

DC DRIVES
AC-DC
+
3-
phase 3-phase
Vt supply
supply

Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
F1 R1
3-phase
supply
+ Va -
R2 F2
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
Cascade control structure with armature reversal (4-quadrant):
iD
ref + Speed
iD,ref + Current Firing
controller Controller Circuit
_
_
iD,ref
Armature
iD, reversal
DC DRIVES
AC-DC-DC
Uncontrolled control
rectifier
Switch Mode DC-DC
1-Quadrant
2-Quadrant
4-Quadrant
DC DRIVES
AC-DC-DC
control
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
 D2
T2
Va
T1 conducts  va = Vdc
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
 D2
T2
Va
D2 conducts  va = 0 T1 conducts  va = Vdc
Va Eb
Quadrant 1 The average voltage is made larger than the back emf
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
 D2
T2
Va
D1 conducts  va = Vdc
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
 D2
T2
Va
T2 conducts  va = 0 D1 conducts  va = Vdc
Va Eb
Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction
DC DRIVES
vc
2vtri
+
vA Vdc
-
+
vc
DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON

DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON

va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current Negative current
va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON

va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current Negative current
va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON

va = -Vdc when D3 and D4 are ON va = -Vdc when Q3 and Q4 are ON
va = 0 when current freewheels through Q and D va = 0 when current freewheels through Q and D
DC DRIVES
Bipolar switching scheme – output
AC-DC-DC swings between VDC and -VDC
vc
2vtri
Vdc
Vdc
+ + vA
vA vB 0
- - Vdc
vB
0
vc Vdc
+ vAB
_ -Vdc
DC DRIVES
Unipolar switching scheme – output
AC-DC-DC swings between Vdc and -Vdc
vc
Vtri
-vc
Vdc
+ + Vdc
vA vB
vA
-
0
-
Vdc
vc vB
0
+
Vdc
_
vAB
0
-vc
DC DRIVES
Armature
200
current 200
150 150 Armature

Vdc 100 Vdc 100
current
50 50
0 0
-50 -50
Vdc -100 -100
-150 -150
-200 -200
0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045 0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045
Bipolar switching scheme Unipolar switching scheme
• Current ripple in unipolar is smaller

• Output frequency in unipolar is effectively doubled
REFERENCE
 Gopal K Dubey, “Power Semiconductor controlled Drives”,
Prentice Hall Inc., New Jersy, 1989.
 R.Krishnan, “Electric Motor Drives – Modeling, Analysis and
Control”, Prentice-Hall of India Pvt. Ltd., New Delhi, 2003.
 Gobal K. Dubey, “Fundamentals of Electrical Drives”, Narosa
Publishing House, New Delhi, 2001.
 P.C Sen “Thyristor DC Drives”, John Wiley and sons, New York,
1981.
 S. Sivanagaraju “Power Semiconductor Drives” , PHI Learning
Private Ltd. , New Delhi , 2009.
 Vedam Subramanyam, “Electric Drives – Concepts and
Applications”, Tata McGraw-Hill publishing company Ltd., New
Delhi, 2002.
QUERIES ?
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POWER ELECTRONIC MOTOR DRIVES

• About 50% of electrical energy used for drives

• Variable speed drives typically used PEC to supply the motors

DC motors (brushed) AC motors

Power Electronic Converters Electric Motor

Power Electronic Converters Electric Motor

Supply motor pump

Electric motor consumes more than half of electrical energy in the US

Fixed speed Variable speed

Improvements in energy utilization in electric motors give large impact

Using the high efficiency motors

DC drives: Electrical drives that use DC motors as the

AC drives: Electrical drives that use AC motors as

Before semiconductor devices were introduced (<1950)

After vector control drives were introduced (1980s)

Extracted from Boldea & Nasar

AC DC Source AC Source DC Source

AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC

Const. Variable NCC FCC

Individual Drive : In individual drive an electric

Big size of motor with Individual drive only In complex machine

Braking of any Braking is very ease Individual braking is

 Energy Transmitting Devices

 Active load torque:- Active torques continues to

 Examples  Hoists, lifts, elevators,  Lathes , fans, pumps etc.

Load torque is independent of

It is also known as break away

Calendaring machines, eddy

Centrifugal pumps, propeller

Certain type of lathes, boring

 Low No load losses, Pollution free

 Transient operation : Starting , Breaking and

 Reduced Mechanical stress and Soft Start

 Improved Electrical system Power Factor

 Adaptable to all operating condition : Explosive ,

 Speed Regulation & Speed Change

 REQUIREMENT RELATED TO SOURCE

 Types of source and its capacity

 Magnitude of voltage and voltage fluctuation

 Harmonics and their Effects

 Ability to accept Reactive Power

 SPEED AND WEIGHT RESTRICTION

 ENVIRONMENT AND LOCATION

% Overall Efficiency = ( Pmech / Pelect ) X 100

 BASED ON NO OF MACHINE AND

 Multi motor drive

 BASED ON SPEED CONTROL

 Low speed – Medium speed – High speed

 Low Performance (2Q)

 High Performance (4Q)

 IGCT – Insulated Gate Commutated Thyristor

 Cycloconverter & Matrix converter

 AC / AC via a dc link voltage source

 AC/ AC via a dc link current source

 Special motor : SRM , Stepper ,Servo , Actuator ,

 Fraction HP (0.5 KW ) Low Power ( 5 KW)

 Min / Max Speed

 Torque Dynamic Response

 MTBF – Mean Time Between Fault

 MTTR – Mean Time To Repair

 Ease of reversal of rotation under load

 Precise speed variation