Electrical drives and control system

Section 2
Intro to DC motor drives
 Section 2 – Intro to DC Motor Drives

•Review of DC motors and characteristics

• thyristor converter circuits

• PWM converter circuits

Review of DC motors and characteristics
 Steady-state characteristics of DC motor

v a  IaRa
n 
K e f
In the formula:
n——Rotating speed（r/min）; va——
Armature voltage（V）；
• Ia——Armature current (A); Ra——Total armature
circuit resistance (Ω);
φf——excitation magnetic flux (Wb);
Ke —— The electromotive force constant
determined by the structure of the motor.
 Method for adjusting speed of DC motor
v a  IaRa
n 
K e f
（1） Adjust the armature supply
voltage va;

(2) Decreasing the excitation

Steady‐state Torque‐Speed Characteristic with Variable Va
magnetic flux Ø f;

(3) Change the armature circuit

resistance Ra.
Automatic control system is
often based on variable voltage
T‐ω Characteristic with Variable Φ (V a =V ao ,
speed regulation ω> ω b )
 Ua

Schematic diagram of thyristor converter drive system(V-M system)

 ia

Ua

• In an ideal case, Ua and Uc have a linear relationship:

Ua=KsUc
• Ud-average rectified voltage,
Uc-control voltage,
Ks—— amplification factor of thyristor converter.
 Us

Ua

• Adjust the control voltage Uc,

• Move the phase of the GT output pulse of the trigger device.

• Change the waveform of the instantaneous voltage ua output

by the controllable converter VT and the value of the average
output voltage Ua.
 Equivalent circuit diagram of the main circuit of the V-M system

did
ud 0  E  id R  L
dt
E——Motor back-EMF (V);
id——instantaneous value of rectified current (A);
L——total inductance of main circuit (H);
R——total resistance of main circuit (Ω);
• For a general fully controlled converter circuit, when the current
waveform is continuous, it can be expressed by the following formula

U d 0  f ( )
m 
Ud0  U m sin cos 
 m

α——Trigger pulse control angle from natural commutation point;

Um——peak value of rectified voltage waveform when α = 0;
m——the number of rectified voltage pulses within one cycle of AC power.
Table Rectified voltage wave peak, pulse number and average rectified
voltage of different converter circuits

Three-phase
Three-phase
Single phase half-wave
converter circuit bridge type (full
full wave
wave)

Um 2U 2 2U 2 6U 2

m 2 3 6

Ud0 0.9U 2 cos  1.17U 2 cos  2.34U 2 cos 

Continuity and discontinuity of current ripple and its waveform

• When the instantaneous value of the rated phase voltage

u2 on the secondary side of the converter transformer is
greater than the back-EMF E, the thyristor may be
triggered to conduct.
•
If u2 drops below E after conducting, the current id can
continue to flow by the effect of inductance.
The pulsation of the voltage waveform causes the
pulsation of the current waveform.
Output voltage and current waveform of single-phase full-control bridge
converter circuit with load
 During the Id rising phase, the
inductor stores energy;
During the Id drop phase, the
energy in the inductor will be
released to keep the current
continuous

Current waveform of V-M system-------Continuous current

 When the load current is
small, less energy is
stored in the inductor,
When Id drops to zero, the
current waveform is
intermittent.

Current waveform of V-M system-------Intermittent current

 Measures to suppress current ripple

• （1）Increase the number of phase

converter circuits or adopt multiplexing
technology;

(2) Choose a smoothing reactor with

sufficient inductance.
Thyristor converter ----- Mechanical Characteristics of Motor System

• When the current waveform is continuous, the mechanical characteristic

formula of the V-M system is

1
n (U d0  Id R )
Ce

• Ce——EMF coefficient of motor at rated magnetic flux

C e  K e N
Mechanical characteristics of V-M system when current is continuous
Amplification factor and transfer function of thyristor
trigger and converter

• The characteristics of thyristor trigger circuits and

converter circuits are non-linear.

• When designing the speed control system, it can only be

regarded as a linear link within a certain working range.

• After obtaining its amplification factor and transfer

function, the entire speed control system is analyzed using
linear control theory.
 Calculation of amplification factor

Scope of work
U d
Ks 
U c

Input and output characteristics of thyristor trigger and converter and determination of Ks
• When the input of the thyristor
trigger and converter is ΔUc and the
output is ΔUd, the amplification

Scope of work
factor Ks of the thyristor trigger and
converter can be determined by the
characteristic slope in the working
range.

• If the measured characteristics are

not obtained, they can also be
estimated based on the parameters
of the device.
Transfer function of thyristor trigger circuit and converter

• The input of the lag link is the step signal 1(t), and the response 1(t-Ts) does
not appear until after a certain interval of time.
• The input-output relationship is:

U d 0  K sU c  1(t  Ts )

 The transfer function is:

U d 0 ( s) Ts s
Ws ( s )   Kse
U c ( s)
 Approximate processing of transfer function

• Expanding by Taylor series, we get

Ts s Ks Ks
Ws ( s )  K s e  Ts s 
e 1 1
1  Ts s  Ts2 s 2  Ts3 s 3  
2! 3!
 According to the principle of engineering approximation, the higher-
order terms can be ignored, and the converter device can be regarded as a
first-order inertial link.

Ks
Ws ( s ) 
1  Ts s
 precise

approximate

Dynamic structure of thyristor trigger and converter

 Problems in thyristor converters

(1) Thyristors are unidirectionally conductive.

(2) Thyristors are very sensitive to over voltage, over current,

and excessive du / dt and di / dt.

(3) When the conduction angle of the thyristor becomes

smaller, the power factor of the system will be reduced
accordingly, which is called "power pollution"
 PWM Converter ------ Motor System
• The DC PWM converter is composed of full-control power
electronic devices and adopts pulse width modulation
(PWM)control
• In medium and small capacity high dynamic performance
systems, the DC PWM speed regulation system has
completely replaced the V-M system

IGBT Module IGBT MOSFET

 Ug
+
C +
Uc PWM控制 ton T VT Us
器 Ud -
id +
•The function of the pulse M -
width modulation converter is E
to use the method of pulse
width modulation（PWM）. U TM
VD
Uc (a)
•the average output voltage
can be changed to adjust the T 2T 3T 4T t
motor speed. Ug

•There are many forms of t

PWM converter circuits, which
can be divided into two U
categories: id ud
Us Ud
•irreversible
E
•reversible. id

ton T 2T 3T 4T t
(b)
Simple Irreversible PWM Converter-DC Motor System
 Ug
+
C +
U c PWM控制 ton T VT Us
In one switching cycle T, Ud
器 id + -
M -
• When 0  t  t on , Ug is positive, E
VT is saturated and conducting,
and the power supply voltage Us is UTM
VD
applied to both ends of the DC Uc (a)
motor armature through VT.
T 2T 3T 4T t
Ug
• When t on  t  T , Ug is negative,
VT is turned off, the current in the t
armature circuit is freewheeling
through the freewheeling diode VD, U id ud
and the DC motor armature voltage Us Ud
is approximately equal to zero.
id E

ton T 2T 3T 4T t
(b)
• The average voltage at both ends of the dc motor armature is
t on
U d  U s  U s
T
• Changing the duty cycle  0    1 can realize the voltage and speed regulation of the DC
motor.

ton Uc Uc
  Ud  U s  K sU c
T UTM UTM

Ud
• If   is the PWM voltage coefficient, it is in the irreversible PWM converter.
Us

 
• Irreversible PWM converter driving system does not allow
current to reverse.
The role of freewheeling diode VD is only to provide a
freewheeling channel for id.
When the speed is adjusted low, the duty cycle should be
reduced and the Ud will be reduced too.
• When Ud is less than the back emf, the current will decay to
zero, and the DC will be intermittent. The same problem as the
phase-controlled converter appears.
• If the motor is to be braked, it must be provided with a reverse
current channel.
 VT2 3
VD2 Ud
2
Ug2
M
id E
Ug 1
VT1
4 1
VD1
C
Us
(a)

Irreversible PWM converter with braking current path ---- DC motor system
 Electirc state

VT2 3
VD2 Ud
2
Ug2
M
id E
Ug 1
VT1
4 1
VD1
C
Us
(a)

Voltage and current waveforms in

general electric state

Irreversible PWM converter with braking current path ---- DC motor system
 VT2 3
VD2 Ud
2
Ug2
M
id E
Ug 1
VT1
4 1
VD1
C
Us
(a)

U g1 positive pulse ratio is narrow

E  Ud
id is always negative

Voltage and current waveforms during braking

Irreversible PWM converter with braking current path ---- DC motor system
 Brake state
VT2 3
• During ton≤t <T, Vg2 is positive and VD2
2
Ud
VT2 is turned on. Under the action of Ug2
M
the induced electromotive force E, the id E
Ug 1
reverse current consumes energy to VT1
4 1
VD1
brake along circuit 3.
C

• Us
(a)
During T≤t <T + ton (that is, 0≤t <ton
in the next cycle), Vg2 is negative, VT2
is turned off, and -id continues to flow
along loop 4 through VD1 to feed back
energy to the power supply.

• VT2 and VD1 are turned on alternately,

and VT1 and VD2 are always turned
off.
• Why is it irreversible?
The average voltage Ud is always greater than zero. Although the current
can be reversed, the voltage and speed cannot be reversed.

If reverse speed is required, VT and VD need to be added to form a

reversible PWM converter-DC motor system, as shown in Figure below.
+Us

1 3
VT1 4 VT3
VD3
VD1
Ug1 Ug3
M
A B
VT2
VT4
VD2 2 VD4
Ug2 Ug4
 Bridge reversible PWM converter
+Us

1 3
VT1 4 VT3
VD3
VD1
Ug1 Ug3
M
A B
VT2
VT4
VD2 2 VD4
Ug2 Ug4

Bridge-type reversible PWM converter circuit

 +Us
Uc Ut

0
t 1 3
VT1 4 VT3
Ug1 Ug4 VD3
VD1
VT1 VD2 VT1 VD2 Ug1 Ug3
VT4 VD3 VT4 VD3
0 ton t M
T
A B
Ug2 Ug3 VT2
VT4
VD2 2 VD4
0 Ug2 Ug4
t

UAB In one switching cycle,

+Us
When 0≤t <ton, UAB = US, the armature current id
flows along circuit 1.
0
ton T t
When ton≤t <T, the driving voltage is reversed, and
id continues to flow along the circuit 2 through the
-Us diode, UAB = -US.
T
id When t on  , the average value of UAB
1 2 1 2 1 id1 2
is positive and the motor rotates forward;
id2
otherwise, the reverse direction.
1 2 1 2 1 T
0
4 3 4 3 4 t When t on  2 , the average output voltage
is zero and the motor stops.

Driving voltage, output voltage and current waveform of bipolar control reversible PWM
converter
 current waveform
• heavy motor load
the load current id1 is large, and the current remains in the
positive direction during the freewheeling phase. The motor
always works in the electric state of the first quadrant.
• light load
the average current is small, and the current quickly decays to
zero during the freewheeling phase, so the diode terminates the
freewheeling, and the reverse switching device is turned on, the
armature current is reversed, and the motor is in a braking state.
Lines 3 and 4 in the id2 current are braking statuses operating in
quadrant II.
The direction of the armature current determines whether the
current flows through the freewheeling diode or the switching
device.
Dynamic mathematical model of PWM controller and converter

Ug Ud
Uc PWM PWM
controller converter

• Diagram of PWM controller and converter

 Transfer Function

• Transfer Function is:

U d ( s)
Ws ( s )   K s e T s s

U c ( s)
• Ks-amplification factor of PWM device
Ts-the delay time of the PWM device

• Approximate transfer function is:

Ks
Ws ( s ) 
Ts s  1
 pump-up voltage of DC PWM speed control system

• The DC power of the PWM converter is usually generated by the

AC grid through an uncontrollable diode converter, and a large
capacitor C filter is used to obtain a constant DC voltage.

• When the motor is operating in the regenerative braking state, the

electric energy cannot be sent back to the ac grid through the
converter, but can only be charged to the filter capacitor.

• Form a direct current PWM converter ---- the problem of electric

energy feedback unique to the motor system.
• As a result of charging the filter capacitor, the DC-side voltage
rises, which is called "pump-up voltage".

• The energy released by the system during braking will be

reflected by the increase of capacitor energy storage.

• The capacitance of the capacitor should be selected carefully

or other measures should be taken to protect the power
electronic switching device from being damaged by the pump-
up voltage.
 K

R0 VT1 VT3
VD1 VD3
Rb
C
~ Us M

VTb VT2
VD2 VT4 VD4

Uc PWM controller

Schematic diagram of the main circuit of the bridge-type reversible DC pulse

width speed regulation system