Chapter 2 - DC Motor Driver - 4

TON DUC THANG UNIVERSITY
FACULTY OF ELECTRICAL & ELECTRONICS ENGINEERING
401072
CHAPTER 2:
DC MOTOR
DRIVES
Tri-Vien Vu, PhD
15-June-2020 401072 – DC motor drive 1

CHAPTER OBJECTIVES
In this chapter, we will:

• Review the working principles, construction,
wiring connections, and operating characteristics
of different types of DC motors
• Establish mathematical model and torque-speed
characteristic curves
• Analyze DC drive in steady-state
• Create drivers for DC motors by using rectifiers or
choppers to adjust theirs input voltage

CHAPTER 2: DC MOTOR DRIVE
2.1. Introduction
2.2. Mathematical Model of DC Motors
2.3. Speed Control
2.4. Starting and Braking
2.5. Rectifier – DC motor systems
2.6. DC converter – DC motor systems
2.7. Open loop and Closed-loop control

2.1. INTRODUCTION
Definitions
− Electromechanical system driven by DC motor
− Widely used in industrial applications for years
− Offer precise control: torque and speed in wide range
− Conventional variable dc voltage supply (1960s)
− Mostly replaced by induction motor drive

− Still have many applications where DC drives
offer advantages
Click here to review how it work
2.1. INTRODUCTION
Configuration

2.1. INTRODUCTION
Configuration

2.1. INTRODUCTION
BEMF & TORQUE

2.1. INTRODUCTION
Induced Voltage

2.1. INTRODUCTION
Brush and Commutator

2.1. INTRODUCTION

2.1. INTRODUCTION

2.1. INTRODUCTION

2.1. INTRODUCTION

2.1. INTRODUCTION

2.1. INTRODUCTION

2.1. INTRODUCTION

2.1. INTRODUCTION
Classification
− Permanent magnet motors
− Series Excitation
− Shunt Excitation
− Separate Excitation
− Compound Excitation

2.1. INTRODUCTION
PM DC motor Series DC motor
Shunt/Separately DC motor Compound DC motor

2.1. INTRODUCTION
Advantages
− Speed control over a wide range
− High starting torque
− Quick start, stop, reversing, and acceleration
− Free from harmonics
Disadvantages
− High initial cost
− Increased operation and maintenance cost
− Cannot operate in explosive and hazard condition

2.1. INTRODUCTION
Application
− Marine applications: crane
− Material handling: hoist
− Paper: coiler, winders
− Plastics, Rubbers: Extruders
− Steel: Winders, Coilers

2.1. INTRODUCTION
Parameters

2.1. INTRODUCTION
Parameters

2.1. INTRODUCTION
Parameters

2.1. INTRODUCTION
Parameters
1 2 3
4 5 6
7 9 8
10 11 1
a b 10
a
What other parameters can be found?

2.1. INTRODUCTION
Parameters
• Insulation Class

2.1. Introduction
2.2. Mathematical Model of DC Motors
2.3. Speed Control
2.2. MATHEMATICAL MODELS
Transient Model
di f
Vf  if Rf  Lf
dt
dia
Va  Ra ia  La  ea
dt
d M
TM  TL  J t
dt
a : Armature V: Voltage  V 
f : Field/Excitation i: Current  A 
L : Inductance  H  e: Back EMF  V 
R : Resistance    T: Torque  N.m 
Transient Model
di f
Vf  if Rf  Lf
dt
dia
Va  Ra ia  La  ea
dt
d M
TM  TL  J t
dt
a : Armature V: Voltage  V 
f : Field/Excitation i: Current  A 
L : Inductance  H  e: Back EMF  V 
R : Resistance    T: Torque  N.m 
Steady-State Model
ia  const.   dia / dt   0
Ia
Va  Ea  Ra I a
Ea  K   M  k E  M
TM  K I a  kT I a
1
M  Ea  kV Ea
kE
 N.m   V.s 
kT    kE  rad 
k E : BEMF Constant V .s / rad   A   
kV : Speed Constant  rad / s / V  1
kV 
kT : Torque Constant  N.m/A  kE
Power Balancing in Armature Circuit
- Input power: Pi  Va I a
- Resistive losses Ploss  Ra I a2  Tm2 / km2
- Electromechanical power PT  Ea I a
- Mechanical power Pm  TM M
- Friction and windage losses Pw

- Output shaft power Po  Pm  Pw
Po
- Motor’s Efficiency    100  % 
Pi
Characteristic Curves

Permanent Magnet Vs Separate Excitation
Ra Iaia M L Ia
Ea M TL
Va TM
Permanent Magnet Separate Excitation
Va Ra Va Ra
M   Ia M   T
K K K  K 2 M

PM/ Separate Excitation
  const ; K   const
Ea  k E M ; TM  kT I a ; M  kV Ea
Va Ra Va Ra
M   I a M   2 TM
kT kT kT kT
k E : BEMF Constant V .s / rad   N.m   V.s 

kT    kE  rad 
kV : Speed Constant  rad / sV
.   A   
kT : Torque Constant  N.m/A  1
kV 
kE


Starting current
Vn
I st 
Ra
Starting torque
Tst  K   I st
No load speed Vn

M ,0 
K
Application
– The motor torque and speed can be controlled by
adjusting armature voltage or filed voltage
– Used for traction application such as electrical
vehicles and locomotive nM(rad/s)
Reduce
Armature
Voltage
TM(N.m)
Shunt Excitation
V f  Va Ra ia M L
if
Va Ea M TL
If  Va Rf
TM
Rf
  Kf If RaRf
M   Ia
Va  Ea  Ra I a KK f KK f I f
Ea  k E  M Rf Ra TM
M  
TM  kT I a KK f  KK 
2
If
f

Shunt Excitation
Rf nM(rad/s)
M ,0  M,0
KK f M,n
Pn  kW 
TM , n  9550
nM , n  rpm  TM,n TM(N.m)
Shunt Excitation
‒ Motor speed is nearly constant
‒ The torque can also be controlled by adjusting
the field current
‒ Used for applications with continuous
operations at a constant speed

Series DC motor
I f  Ia
Rf Ra ia M L
  Kf If
Ea M TL
Va TM
TM  K I a  KK f I 2
a
Va Ra  R f M(rad/s)
M   M,m
KK f I a KK f
Va Ra  R f
M  
KK f TM KK f
TM,m TM(N.m)
Series DC motor
• Speed at no load or light load is excessively high
• Must always be connected to a mechanical load
• Much larger starting torque but lower starting
current than those of dc shunt motor
• The motor speed is inversely proportional to the
square root of the load torque
• Used in applications required high starting torque
and constant load torque such as crane, hoist.

Compound
• A combination of series and shunt motors

characteristic
– Capable of starting heavy load as series
– Safe operation at low torque like shunt motor
• Uses for elevators, conveyors, hoists, pumps

and presser.

Speed
Series
Shunt
Compound
Separate
Torque
Exam 1: Draw the natural torque-speed characteristic
of a DC Shunt motor whom its nominal values are:
220V, 6,6kW, 2200 rpm, 35A; Ra= 0,26Ω.
Prob 2.1: Draw the natural torque-speed characteristic
of a DC Shunt motor whom its nominal values are:
220V, 4,4kW, 1500 rpm efficiency is 0,85.
Exam 2: A PM DC has Va = 6V, Ra = 7, KT = 1.41x10-
2 N.m/A, J = 1.06x10-6 kg.m2. No load current I =
M 0
0.15A. Determine the no load speed and the viscous
coefficient factor of the motor
2.1. Introduction
2.2. Steady-state characteristic analysis
2.3. Speed control

2.3. SPEED CONTROL
Va M L
DC DC Load
Power Motor
Ia TL
TM  TL
Va Ra
M   T
K  K 2 L

2.3. SPEED CONTROL
Motor Series Shunt Separate PM
Control variable
Armature Resistance √ √ √ √
Field Resistance √ √
Armature Voltage √ √ √ √
Field Voltage √ √

2.3. SPEED CONTROL
Armature Voltage Control

2.3. SPEED CONTROL
Armature Voltage Control
• Ward-Leonard System

2.3. SPEED CONTROL
Armature voltage control
• Separately/ PM DC Motor

2.3. SPEED CONTROL
Armature Resistance Control
− Increasing the armature resistance also reducing
the stiffness of the motor.
− It is almost impossible to set the speed of a

lightly-loaded motor.
− Only suitable for a fine tuning speed under a

constant load conditions and for a controlled
starting current.

2.3. SPEED CONTROL
Armature resistance control
• Separately/ PM DC Motor
Va Rext  Ra
M   TM
K  K 2

2.3. SPEED CONTROL
• Series DC Motor

2.3. SPEED CONTROL
• Shunt DC Motor

2.3. SPEED CONTROL
Air-gap flux control

2.3. SPEED CONTROL
Separate motor

2.3. SPEED CONTROL
Shunt DC motor

2.3. SPEED CONTROL
Field weakening
• Applied when the armature voltage has reach

its maximum value.
• Reducing the flux can increase the motor

speed higher with lightly-load.
• The rated torque of the motor is no longer

available.

2.3. SPEED CONTROL
Field Weakening

2.1. Introduction
2.3. Speed control

2.4. STARTING and BRAKING
Starting current

Starting resistor

Soft starter

Braking
Regenerative braking
Reverse braking
Dynamic braking

Regenerative braking
• Occurs when Vemf is larger than the armature
voltage, caused by:
– Reduce armature voltage
– Active torque made the motor runs faster than
loaded speed
Ea  Va
Ia 
Ra
Vbr  Ea  I br Ra
Reverse braking

Dynamic braking
• The kinetic energy of the system is dissipated
in an external resistor.

2.1. Introduction
2.3. Speed control
2.4. Starting and braking

2.5. RECTIFIER – DC MOTOR
Multiple Quadrant Operation

Multiple Quadrant Operation

One-quadrant DC drive
Vm
Va  1  cos   Va 
Vm
1  cos  
2

3 3Vm
Va  1  cos  
2

Two-quadrant DC drive
E
2Vm
Va  cos 
 Ia
3 3Vm
Va  cos 


Four-quadrant DC motor drive
E
2Vm
Va  cos 

Iư
+
3 3Vm
Vs Vs Va  cos 
- 

DC motor drive: Matlab toolbox

Examples
Exam 4: A separately DC motor, 10 HP, 220 V, 1200 rpm, 40A, Ra =
0.25 Ω, La = 10 mH, motor constant Ke = 0.18 V/rpm. The motor
speed is controlled by varying the armature voltage by using a single
phase fully control rectifier which is connected to a 265 VAC.
Assumed the motor is working in the continuous current mode.
1) When the delay angle of the rectifier  = 30o with nominal load,
determine:
iư
a) Motor speed +
b) Motor Torque
+
c) Motor power and efficiency
Vs Vd
2) Determine the delay angle of the rectifier -
to achieve speed of 400 rpm when working
with 80% nominal load -

Examples
Exam 5: A DC separately motor has 125 hp, 600 V, 165 A,
1800rpm, Ra = 0.0874 Ω, La = 6.5 mH, Ke = 0.33 V/rpm. The
motor is controlled by a 3-phase fully controlled rectifier which is
connected to a 480VAC, 60Hz. Assumed the motor’s current is
continuous.
a) Find the noload speed when the delay angle of the rectifier is
0o and 30o, respectively. Assumed the noload current is 10% of
nominal current iư
b) Find  when the motor speed is 1800 rpm +
at nominal load +
Vs Vd
-

2.1. Introduction
2.3. Speed control

2.6. DC CONVERTER – MOTOR

Classification
First-quadrant or Type-A Chopper
Second-quadrant or Type-B Chopper
Two-quadrant or Type-C Chopper
Two-quadrant or Type-D Chopper
Four-quadrant or Type-E Chopper

First-quadrant or Type-A Chopper

Second-quadrant or Type-B Chopper.

Two-quadrant Type-C Chopper

Two-quadrant Type-D Chopper
Va  Vs  2 D  1

Four-quadrant or E-Type Chopper
T1 D2 T3 D4
Ea
Va
Vs II I
Ia Ra La Ea
III IV Ia
T2 D1 T4 D3

Four-Quadrant (E-Type)
• Case 1: two-level voltage output
• Case 2: three-level voltage output
• Case 3: 1st and 3rd quadrants dc motor drive

Four-Quadrant: Case 1
T = 1/f T = 1/f
T1, T4 Control
PWM1 t
ON OFF ON OFF
T2 T3 Control
PWM2 OFF ON OFF ON t
vo
Vs
Vo t
-Vs
io
Imax
t
Imin D
2 D1 D2 D1 D2
D3 T1+T4 D4 T 2+T 3 D3 T1+T4 D4 T 2+T 3 D3
4 1 2 3 4 1 2 3 4
II I IV III II I IV III II

T1 D2 T3 D4 T1 D2 T3 D4
Vo Vo
Vs Vs
vo
io R L E II I io R L E
III IV io
1 2
T2 D1 T4 D3 T2 D1 T4 D3
T1 D2 T3 D4
Vo
Vs
io R L E
T2 D1 T4 D3
T1 D2 T3 D4 T1 D2 T3 D4
Vo Vo
Vs Vs
io R L E
Va  Vs  2 D  1 io R L E
4 3
T2 D1 T4 D3 T2 D1 T4 D3

- Average output voltage
Va  Vs  2 D  1
- RMS output voltage
+ D < 0.5: Va ,rms  Vs 1  2 D 
+ D > 0.5 : Va ,rms  Vs  2 D  1

0  D  0.5
T1 D2 T3 D4 T1 D2 T3 D4
Vo Vo
Vs Vs
io R L E io R L E
1 2
T2 D1 T4 D3 T2 D1 T4 D3
T1 D2 T3 D4 T1 D2 T3 D4
Vo Vo
Vs Vs
io R L E io R L E
4 3
T2 D1 T4 D3 T2 D1 T4 D3

0.5  D  1
T1 D2 T3 D4 T1 D2 T3 D4
Vo Vo
Vs Vs
io R L E io R L E
1 2
T2 D1 T4 D3 T2 D1 T4 D3
T1 D2 T3 D4 T1 D2 T3 D4
Vo Vo
Vs Vs
io R L E io R L E
4 3
T2 D1 T4 D3 T2 D1 T4 D3

0.5  D  1 0  D  0.5
1 1
D
0.5 0.5
D
0 0
T1 T2 on T1
T1 on T2 on T1 on T2 on t on on
T2 on t
T4 on T3 on T4 on
t T3 on T4 on T3 on T4 on t
vo vo t
Vs 0 Vo
Vo t
0 -Vs
io io
Imax Imax t
0
t
0
D1 D3 D3 D1 D3 D3 T +T
Imin D3 D1 D1 T +T D3 D1 D1
Imin T1+T4 T1+T4 T2+T3
T4 T2 D2 T4 T2 D2 1 4 T2 T4 D4 2 3 T2 T4 D4
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

Forward Motion Reverse Motion

Va  DVs Va   DVs

Another H-bridge circuit

DC Motor Drive: L298 Dual H-bridge

DC Motor Drive: L298 Dual H-bridge

Matlab toolbox

2.1. Introduction
2.3. Speed control
2.7. CLOSED-LOOP CONTROL
Configuration of control system

Motor Models

Open-Loop Control System
• Often used in systems:

– Well-defined relationship between input and
output
– Not influenced by disturbances
• Easily affected by parameter variations and
disturbances
Configuration of control system
Closed-loop torque control

Control Scheme

Commercial Drives
Siemens SIMORED DC Drive

Commercial Drives
ABB DCS800 DC Drive

Commercial Drives
Allen-Bradley PowerFlex DC Drive

Commercial Drives
Carotron DC Drive

SUMMARY
In this chapter, we have learnt:

How to control the speed of DC motors.
How to use the controlled rectifiers and the DC
converters in DC motor’s speed control in four
quadrants.
How to use closed-loop control in speed control.

ASSIGNMENT
Homework
 All related exercises
Reading assignment
 Slides of chapter 3
 Textbooks:
• [1]: 383-411 ; 169-195 and 255-276
• [2]: 79-103
• [3]: 116-157
• [5]: 160-170 ; 178-190

10% Process Exam
A DC drive is shown in figure a. The motor has nominal value: 100V, 10N.m,
1500 rpm, Ra = 0.5 
1. The working cycle of the load is shown in figure b. Determine the motor
speed and motor torque, assumed JM = 0.005 kgm2.
2. Determine the load speed when the duty ratio of the chopper is 0.75
3. Determine the duty ratio of the chopper to limit the regenerative braking
current to 3 times the rated current at the load speed of 200 rpm.
100 Class D GearBox Load
DC Motor JL = 0.1 kgm2
VDC Chopper i=5 TL = 50 N.m
a) Schematic of a DC drive
nL [rpm]
300
0 5 240 250 300 305 t (s)

b) Working cycle of the load
10% Process Exam
Hệ truyền động động cơ DC kích từ độc lập như hình vẽ, động cơ có thông
số định mức: 100V, 10N.m, 1500 rpm, Ra = 0.5 
1. Chu trình làm việc của hệ thống như hình b, xác định tốc độ và mô men
yêu cầu của động cơ biết JM = 0.005 kgm2.
2. Xác định tốc độ của tải khi hệ số D của bộ giảm áp bằng 0.75
3. Xác định hệ số D của bộ giảm áp để dòng hãm tái sinh bằng 3 lần dòng
định mức khi tiến hành hãm lúc động cơ đang chạy ở tốc độ 200 rpm
100 Class D GearBox Load
DC Motor JL = 0.1 kgm2
VDC Chopper i=5 TL = 50 N.m
a) Schematic of a DC drive
nL [rpm]
300
0 5 240 250 300 305 t (s)

b) Working cycle of the load

Chapter 2 - DC Motor Driver - 4

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TON DUC THANG UNIVERSITY

FACULTY OF ELECTRICAL & ELECTRONICS ENGINEERING

15-June-2020 401072 – DC motor drive 1

In this chapter, we will:

15-June-2020 401072 – DC motor drive 2

15-June-2020 401072 – DC motor drive 3

− Mostly replaced by induction motor drive

15-June-2020 401072 – DC motor drive 5

15-June-2020 401072 – DC motor drive 6

15-June-2020 401072 – DC motor drive 7

15-June-2020 401072 – DC motor drive 8

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15-June-2020 401072 – DC motor drive 11

15-June-2020 401072 – DC motor drive 12

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15-June-2020 401072 – DC motor drive 15

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− Permanent magnet motors

15-June-2020 401072 – DC motor drive 17

PM DC motor Series DC motor

Shunt/Separately DC motor Compound DC motor

15-June-2020 401072 – DC motor drive 19

− Marine applications: crane

− Material handling: hoist

− Paper: coiler, winders

− Plastics, Rubbers: Extruders

− Steel: Winders, Coilers

15-June-2020 401072 – DC motor drive 20

15-June-2020 401072 – DC motor drive 21

15-June-2020 401072 – DC motor drive 22

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What other parameters can be found?

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- Friction and windage losses Pw

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Permanent Magnet Separate Excitation

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k E : BEMF Constant V .s / rad   N.m   V.s 

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No load speed Vn

15-June-2020 401072 – DC motor drive 38

‒ Motor speed is nearly constant

‒ The torque can also be controlled by adjusting

the field current

‒ Used for applications with continuous

operations at a constant speed

15-June-2020 401072 – DC motor drive 42

• A combination of series and shunt motors

– Safe operation at low torque like shunt motor

• Uses for elevators, conveyors, hoists, pumps

15-June-2020 401072 – DC motor drive 43

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Motor Series Shunt Separate PM

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