UNIT six

ELECTRICAL DRIVES
Introduction To Electrical Drives
&
DC Drive
1.1 Definition of Electric Drives
In general Electric Drives refers to
• The electric motors,
• The coupling between the motor and the
driven unit and
• The control system of power supply to the
electric motor.
Electric Motors
Electric motors can be DC or AC. DC motors can also
be categorized as separately excited, shunt excited,
series excited or compound.
Coupling
The motor and the driven unit can be coupled
through belts, gears, chains, directly, etc

Electric Control
The electric voltage/current can be controlled
using circuit breakers, magnetic contacts,
rheostats, discrete resistors, pole changers, etc

The electric control include the starting current

limiting mechanisms, speed control mechanisms
like resistors, pole changers, etc
In modern Electric Drives
• The coupling between the motor and
driven units are direct to improve
efficiency and robustness.
• The electric power flow is controlled using
static power converters

Therefore, modern electric drives refers

to the electric motor and the static
power converters.
 Modern Variable Speed System
A modern variable speed system has four
components:
1. Electric Motor
2. Power Converters
- Rectifiers
- Choppers
- AC Voltage Controller
- Cycloconverters
- Inverters
3. Controllers – matching the motor and power converter to
meet the load requirements
4. Load
 Electric Motors
Types of electric motors presently used for speed
control applications are:
1. DC motors 2. AC motors
 Shunt  Induction
 Series  Wound rotor synchronous
 Compound  Permanent magnet
synchronous
 Separately excited
 Reluctance motors
 Switched reluctance
motors  Hysteresis motors
 Power Converters
The power converters driving the motors are:
1. Controlled Rectifiers
Controlled rectifiers are fed from single and three-phase
AC main supply.

Vc: Voltage controlled

Kr: Gain (proportionality constant)
2. Chopper

3. AC Voltage Controllers
 Power Converters (contd’)
4. Inverters – Voltage and current source: converters
are fed from a DC link. The DC link is generated with either a
controlled or uncontrolled rectifier or any DC source.

Vc: controlled magnitude command

fc: frequency command
 Power Converters (contd’)
5. Cycloconverter

Controllers
• The controllers implement the control strategy governing the
load and motor characteristics
• To match the load and motor, the input to the power converter is
controlled (manipulated) by the controller
Motor Drive Schematic
Controller Block
 Controllers (contd’)
The inputs to the controller consists of:

1. Torque, flux, speed, and/or position commands

2. Their rate of variations to facilitate soft start, to preserve

the mechanical integrity of the load

3. The actual values of torque, flux, speed, and/or position

for feedback control.

4. Limiting values of currents, torque, acceleration, etc.

5. Temperature feedback, instantaneous currents and/or
voltages in the motor and/or converter.
 Dynamic equation of dc machines
• Introduction
• A motor generally drives a load ( machine) through some transmission system.
• While motor always rotates, the load may rotate or undergo translational motion, or
both simultaneously.
• Load speed may be different from that of the motor.
• Representation of motor-load system may seem the following.

Fig. 4.12 Motor and load torque

• Motor-load system can be described by the following fundamental torque equation
(Equation of motion).

d m
T  TL   J m   J
d dJ
 m
dt dt dt 18
 For drives with constant inertia, (dJ/dt) = 0; thus,

d m
T  TL  J
dt Where, T= developed motor torque
TL = Load torque referred to motor shaft.
J = polar moment of inertia of
motor load system referred to motor
shaft
ωm = angular velocity of motor shaft

This equation shows that, torque developed by the motor is

Counter balanced by a load torque TL and a dynamic torque
J(dω/dt).

Torque component J(dω/dt) is called the dynamic torque

because it appears during the transient operation.

Moment of inertia of a drive may be expressed as;

2 Where, r and D – radius and diameter of
GD
J  mr 2  kg  m 2 gyration, respectively
4g G – weight, N
19
g – 9.81 m/c2 accele. Due to gravity
• Analysis of the equation shows that;

- When T > TL, dω/dt > 0. i.e. the drive undergo acceleration.
- When T < TL, dω/dt < 0. i.e. the drive will undergo deceleration.
Deceleration occurs also at negative values of motor torque ( i.e.
during braking operation).
- When T = TL, dω/dt = 0, i.e the drive will run at a steady state speed.

• Speed –torque conventions and multi-quadrant operations.

• For considerations of multi-quadrant operation of drives, let us see suitable

conventions about the signs of torques and speed.
• Motor speed is considered positive when rotating in the forward direction. For
drives which operate only in one direction, forward speed will be their normal
speed.
• In loads involving up-and-down motions, the speed of motor which causes
upward motion is considered forward motion.

20
• For reversible drives, forward speed is chosen arbitrarily. Then the opposite direction
gives reverse speed.

• Motor torque is considered positive, when it produces acceleration (positive rate of

change of speed) in forward direction.
• Positive load torque is opposite in direction to the positive motor torque.
• Motor torque is considered negative if it produces deceleration.

• A motor operates in two modes. Motoring and braking.

• In motoring, it converts electrical energy to mechanical energy, which supports its
motion.
• In braking, it works as a generator; opposing motion.

• A motor can provide motoring and braking operations for both forward and reverse
directions.

21
•The inertia or dynamic torque appears when the speed changes from one value to
another. If the drive is undergoing acceleration, this torque opposes drive motion. If
the drive is being braked, supports motion. The inertia torque both in magnitude and
in sign, is determined as the algebraic difference between the motor torque and the
load torque. In general the torque equation is written as;

d
 T  TL  J
dt
Power developed by a motor is
given by the product of speed
and torque. P = Txw

In quadrant I, power Developed is

positive; machine works as a motor
supplying Mechanical energy.

Fig 4.14 In quadrant II, power is negative.

Hence the machine works under
Multiquadrant operation of drives
Braking opposing the motion.

22
 Characteristics of Different types of Loads
Most of the industrial loads can be classified into the following four categories.

_ Constant torque type load

_ Torque proportional to speed (Generator Type load)
_ Torque proportional to square of the speed (Fan type load)
_ Torque inversely proportional to speed (Constant power type load)
The motor drives a load which has a certain
characteristics torque-speed requirement.

In general,
where, k may be an integer of a fraction
where, k may be an integer of a fraction.
A. Constant Torque characteristics:
 Most of the working machines that have mechanical nature of
work like shaping, cutting, grinding or shearing,

require constant torque irrespective of speed.

 Similarly cranes during the hoisting and conveyors handling
constant weight of material per unit time also exhibit this
type of characteristics.

B. Torque Proportional to speed:

Separately excited dc generators
connected to a constant resistance
load, eddy current brakes have speed
torque characteristics given by T=kω
 C. Torque proportional to square of the speed:
Another type of load met in practice is the one in which load torque is proportional
to the square of the speed.
• Eg Fans rotary pumps, compressors and ship propellers.

D. Torque Inversely proportional

to speed:
Certain types of lathes, milling
machines, steel mill coiler and electric
traction load exhibit hyperbolic speed-
torque characteristics
 Load Characteristics
 The process of selecting an adjustable AC or DC drive is one
where load is primary consideration.

 When considering load characteristics, the following should be

evaluated:

 What type of load is associated with the application ?

 What is the size of the load?

 Does the load involve heavy inertia ?

 What are the motor considerations ?

 Over what speed range are heavy loads encountered ?

 Motor Load Types
Constant Torque Load
 In this group, the torque demanded by the load is constant
throughout the speed change

Examples: Conveyors, Extruders, and Surface Winders

 Motor Load Types (contd’)
Constant horsepower Load
 The horsepower demanded by the load is constant within
the speed range. The load requires high torque at low
speeds.

Examples: Center-driven winders and Machine tool

spindles
 Motor Load Types (contd’)
Variable torque load
 Load horsepower and torque characteristics (contd’)

• Constant horsepower, torque varies inversely with speed

Applications: Metal cutting tools operating over wide speed range,
mixer, extruder and special machines where operation at low speed
may be continuous
• Constant torque, horsepower varies as the speed
Applications: General machinery hoists, conveyors, printing press

• Horsepower varies as square of the speed, torque varies with speed

Applications: Positive displacement pumps, some mixers, some
extruders

• Horsepower varies as cube of the speed, torque varies as square of

speed
Applications: All centrifugal pumps and some fans (Note that fan
power may vary as the power of speed)
“ DC MOTOR DRIVES ”
• General Concept

• Speed Control

• SCR Drives
• Switched-mode DC Drives
(Chopper Drive)
Advantages of DC motor :
 Ease of control
 Deliver high starting torque
 Near-linear performance

Disadvantages:
 High maintenance
 Large and expensive (compared to induction
motor)
 Not suitable for high-speed operation due to
commutator and brushes
 Not suitable in explosive or very clean environment
• The DC drive is relatively simple and cheap (compared to
induction motor drives). But DC motor itself is more expensive.

• Due to the numerous disadvantages of DC motor (especially

maintenance), it is getting less popular, particularly in high
power applications.
• For low power applications the cost of DC motor plus drives
is still economical.

• For servo application, DC drives is still popular because of

good dynamic response and ease of control.

• Future Trend? Not so bright prospect for DC, especially in

high power drives.
 Motor Operation
X

The machine is connected to the dc supply X N

mains. With the directions of field and X

armature current shown in the Figure Eb

X Tdrive

i
Rotation

The torque developed by Electro-magnetic

actions will rotate the machine in a
.
X

clockwise direction (as determined by

Fleming's left-hand rule). X

X
S

The friction of the machine and the X

Resultant Torque

mechanical load that the motor is

Forc
X N co

driving will exert a torque in counter- X X

S
X

X
X
X X
X
X
S
clockwise direction, opposing the X
X X
X

X X X

rotation of the motor.

X

N X

35
• Since the armature conductors are revolving in the
magnetic field, emf is induced in the armature conductors.
• The direction of emf so induced, as determined by
Fleming's right hand rule, is in direct opposition to the
applied voltage (see Eb in Figure .
• That is why the induced emf in motor often is called the
counter emf or back emf Eb.
• The applied voltage must be large enough to overcome
this back emf and to send the current through the
resistance of the armature.
• The electric energy supplied to overcome this opposition
is converted into mechanical energy development in the
armature.
 BACK EMF
• emfs induced in the motor action
+
ZN P
Eb   volts,
60 a
Ra Eb

V = Eb+Ia Ra
V +
Eb
V Ia V  Eb
- Ia 
Ra
-
Equivalent circuit of a motor Armature

• Eb depends upon the armature speed and armature current.

• If the armature speed is high, back emf Eb will be large and
therefore armature current becomes small.
• If the speed to the armature is low, then back emf Eb will be
less and armature current Ia will be more resulting in
37
development of large torque.
.
SPEED EQUATION
60.a I
P  N .Z N  ( V  I a R a ). .
 V  Ia R a PZ 
60a

N K
V  I a R a  K
Eb
 

The speed of dc motor is directly proportional to the voltage applied

to the armature or the back emf & inversely proportional to the flux
per pole
For dc shunt motor, the flux per pole is approximately constant and
hence the speed of dc shunt motor is directly proportional to the back
emf i.
N  Eb
Thus the speed of dc series motor is inversely proportional
to the flux per pole or the armature current i.e.
1
N
 40
• The field windings is used to excite the field flux.
• Armature current is supplied to the rotor via brush
and commutator for the mechanical work.
• Interaction of field flux and armature current in the
rotor produces torque.
• When a separately excited motor is excited by a
field current of if and an armature current of ia flows in
the circuit, the motor develops a back emf and a
torque to balance the load torque at a particular speed.

• The if is independent of the ia .Each windings are

supplied separately. Any change in the armature
current has no effect on the field current.

• The if is normally much less than the ia.

 Field and armature equations
Instantaneous field current :

where Rf and Lf are the field resistor and inductor, respectively

Instantaneous armature current :

where Ra and La are the armature resistor and inductor,

respectively
The motor back emf, which is also known as speed voltage,
is expressed :
eg = Kv ω if
Kv is the motor voltage constant (in V/A-rad/s)
and ω is the motor speed (in rad/sec)
 Basic Torque Equation
The torque developed by the motor is :
Td = Kt if ia
Where (Kt = Kv) is the torque constant in V/A – rad/s
Sometimes it is written as :
Td = Kt Φ ia
For normal operation the developed torque must be equal to the load
torque plus the friction and inertia, i.e, :

where
B : viscous friction constant (N-m/rad/s)

TL : load torque (N-m)

J : inertia of the motor (kg.m2)

 Under steady-state operation, time
derivatives is zero. Assuming the motor
is saturated

For field circuit,

Vf = If Rf
The back emf is given by:
Eg = Kv ω if

The armature circuit

Va = Ia Ra + Eg
Va = Ia Ra + Kv ω If
 Steady-state Torque and Speed
The motor speed can be easily derived :

If Ra is a small value (which is usual), or when the motor is slightly

loaded, i.e, Ia is small

That is if the field current is kept constant, the motor speed depends
only on the supply voltage.

The developed torque is :

Td = Kt If Ia = B ω + TL

The required power is :

Pd = T d ω
 From the derivation, several important facts can be
deduced for steady-state operation of DC motor.

 For a fixed field current, or flux (If) , the torque demand

can be satisfied by varying the armature current (Ia).

 The motor speed can be varied by:

– controlling Va (voltage control)
– controlling Vf (field control)

 These observations leads to the application of

variable DC voltage to control the speed and torque
of DC motor.
 Consider a 500V, 10kW , 20A rated- DC motor with armature resistance
of 1 ohm. When supplied at 500V, the unloaded motor runs at 1040
rev/min, drawing a current of 0.8A
– Estimate the full load speed at rated values
– Estimate the no-load speed at 250V.
Va = Ia Ra + Kv ω If
At full load and rated value, Va  I a Ra
Kv I f 

500  0.8(1)
Kv I f   0.48
At no load and voltage at 250 V 1040

(Note : in reality, this equation strictly rad/sec)

 Family of steady-state torque speed curves for a range
of armature voltage can be drawn as above.
 The speed of DC motor can simply be set by applying
the correct voltage.
 Note that speed variation from no-load to full load (rated) can
be quite small. It depends on the armature resistance.
 V Ra
V Ra m   T
m   Ia Or K e ( K e ) 2

K e K e
Shunt and Separately Excited Motor
With a constant field current, the flux can be assumed to be constant. Let

K e  K (Constant)

V R
V R m   a2 T
m   a Ia K K
K K
 Base Speed and Field-weakening

• Base speed: ωbase

the speed which correspond to the rated Va, rated Ia and
rated If.
• Constant Torque region ( w < wbase)
Ia and If are maintained constant to met torque demand.
Va is varied to control the speed. Power increases with speed.
• Constant Power region ( w > wbase)
Va is maintained at the rated value and if is reduced to increase speed.
However, the power developed by the motor (= torque x speed) remains
constant. Known as field weakening.
 Braking of Dc Motor
• In braking , a motor works as a generator developing a negative torque which opposes
the motion.

• Braking is of three types: regenerative braking, dynamic or rheostatic braking, and

plugging or reverse voltage braking.

a) Regenerative braking

• In regenerative braking, generated energy is supplied to the source. For this to

happen, the following condition should be satisfied.
E > V and negative Ia in equation V = E+IaRa

• To obtain this condition from basic equation (E = Kфω), either field flux or speed or
both should be increased.
• It is obvious that, field flux cannot be increased substantially beyond rated because of
saturation.
• For a source of fixed voltage, regenerative braking is possible only speeds higher52than
rated.
b) dynamic braking of shunt dc motor
• Whenever the armature of a running shunt dc motor is disconnected from
supply and shunted across a resistor, the motor immediately develops a
generating torque and intensively brakes itself.

Basic dynamic braking circuit

53
Plugging (counter current braking) – is accomplished by reversing the
polarity of the voltage applied to the armature while the motor is still
running with its field excitation maintained invariable.
The polarity reversing is done by change-over switch.
• SCR “phase-angle controlled” drive
- By changing the firing angle, variable DC output voltage can be
obtained.
– Single phase (low power) and three phase (high and very high power)
supply can be used

– The line current is unidirectional, but the output voltage can reverse
polarity. Hence 2- quadrant operation is inherently possible.
– 4-quadrant is also possible using “two sets” of controlled rectifiers.

• Switched-mode drive
– Using switched mode DC-DC converter. Dc voltage is varied by
duty cycle.
– Mainly used for low to medium power range.
– Single-quadrant converter (buck): 1- quadrant
– Half bridge: 2-quadrant
– Full bridge: 4-quadrant operation
 • Mains operated.

• Variable DC voltages are obtained from SCR firing angle control.

• Slow response.

• Normally field rectifier have much lower ratings than the armature
rectifier. It is only used to establish the flux.
 Continuous/Discontinuous current
• The key reason for successful DC drive operation is due to the large
armature inductance La.

• Large La allows for almost constant armature current (with small ripple)
due to “current filtering effect of L”. (Refer to notes on Rectifier).

• Average value of the ripple current is zero. No significant effect on the

torque.
• If La is not large enough, or when the motor is lightly loaded, or if
supply is single phase (half wave), discontinuous current may occur.

• Effect of discontinuous current: Output voltage of rectifier rises; motor

speed goes higher. In open loop operation the speed is poorly regulated.

• Worthwhile to add extra inductance in series with the armature

inductance.
 Armature Field
For continuous current, armature voltage is :

Armature (DC) current is :

Field voltage
1. Single-Phase Half-Wave Converter Drives

V 
Vm
(1  cos ) for 0  
2
2. Single-Phase Semiconverter Drives
Vm
V (1  cos ) for 0  

3. Single-Phase Full-Converter Drives
2Vm
V  cos for 0  

4. Single-Phase Dual-Converter Drives

V 
2Vm
cos for 0  

 Armature voltage :

Armature (DC) current is :

If single phase is used for field is :

1. Three-Phase Half-Wave Converter Drives

V
3 3Vm
cos for 0  
2
2. Three-Phase Semiconverter Drives
3 3Vm
V  (1  cos ) for 0  
2
3. Three-Phase Full-Converter Drives

V 
3 3Vm
cos for 0  

4. Three-Phase Dual-Converter Drives

V 
3 3Vm
cos for 0  

A separately excited DC motor has a constant torque load of 60 Nm. The
motor is driven by a full-wave converter connected to a 240 V ac supply.
The field constant of the motor KIf = 2.5 and the armature resistance is 2
ohm. Calculate the triggering angle for the motor to operate at 200 rpm.
Assume the current is continuous.
For continuous current, 2Vm
Va  cos a
and Va  E g  I a Ra 
Where Eg is the back emf,i.e E g  KI f   2.5I f
and 2Vm  T  
T  KI f I a cos a    Ra  KI f  
  KI f  
A rectifier-DC motor drive is supplied by a three-phase, full controlled SCR
bridge 240Vrms/50Hz per-phase. The field is supplied by a single-phase 240V
rms/50Hz, with uncontrolled diode bridge rectifier. The field current is set as
maximum as possible.
The separately excited DC motor characteristics is given as follows :
Armature resistance:Ra = 0.3 ohm
Field resistance: Rf =175 ohm
Motor constant: KV =1.5 V/A-rad/s
Assume the inductance of the armature and field circuit is large enough to ensure
continuous and ripple-free currents. If the delay angle of the armature converter (αa) is
45 degrees and the required armature current is 30A,
• a) Calculate the developed torque, Td.
• b) Speed of the motor, ω (rad/s)
• c) If the polarity of the field current is reversed, the motor back emf will reverse.
For the same armature current of 30A, determine the required delay angle of the
armature converter.
Since field current is maximum, α = 0.

(b) Motor speed

The armature is supplied by three-phase with αa = 45o,

Now the polarity of field is reversed, then

and

also
Example 4. A separately excited DC motor has rating 220 hp, 230Vdc and
2000 rpm. Armature voltage supplied by full bridge control rectifier with input
voltage vs  346.5 sin 314tVolts Field voltage supplied by diode rectifier with input
vs  346.5 sin 314tVolts

- constant voltage Kv = 0.8 V/A

- armature resistance Ra = 5 Ohm
- field resistanced Rf = 150 Ohm
a. Calculate the load requiring torque if  a  0 0

b. If armature voltage reduced such that the motor run at a speed of 1200 rpm,
calculate the value of  a and developed torque. Armature current is 10 A
Solution
Output of control rectifier for α=0:

2Vm
Va  cos a

2 x346.5
Va  cos 0

Va  220V
Output of diode rectifier:
2Vm
Va 

2 x346.5
Va 

Va  220V
  1.1736  220
Ia 
5

I a  0.23472  44

Torque requiring by the load is:

TL  1.1736(0.23472  44) N  m

b.
from equation (2)
2
E g  1.1736x1200
60
E g  147.4

Va  147.4  50

Va  197.4Volt
 Reversal
• DC motor in inherently bi-directional. Hence no problem to reverse
the direction. It can be a motor or generator.

• But the rectifier is unidirectional, because the SCR are unidirectional

devices.
• However, if the rectifier is fully controlled, it can be operated to become
negative DC voltage, by making firing angle greater than 90 degrees,

• Reversal can be achieved by:

– armature reversal using contactors (2 quadrant)

– field reversal using contactors (2-quadrant)

– double converter (full 4-quadrants)

Reversal using armature or field contactors
DRIVE REVERSING USING ARMATURE OR FIELD CONTACTORS
Reversing using double converters

Principle of reversal

Practical circuit
• Supply is DC (maybe from rectified-filtered AC, or some other DC sources).
• DC-DC converters (choppers) are used.
• suitable for applications requiring position control or fast response, for
example in servo applications, robotics, etc.
• Normally operate at high frequency
– the average output voltage response is significantly faster
– the armature current ripple is relatively less than the controlled rectifier

• In terms of quadrant of operations, 3 possible configurations are possible:

– single quadrant,
– two–quadrant
– and four–quadrant
 • Unidirectional speed. Braking not required.

For 0 < t < T

t
The armature voltage at steady state : 1 on t
Va   V .dt  on V  DV
T 0 T
Armature (DC) current is : Va  E g
Ia 
Ra
Va
And speed can be approximated as : 
Kv I f
 FORWARD MOTORING (T1 and D2 operate)
– T1 on: The supply is connected to motor terminal.
– T1 off: The armature current freewheels through D2.
– Va (hence speed) is determined by the duty ratio.
 REGENERATION (T2 and D1 operate)
– T2 on: motor acts as a generator
– T2 off: the motor acting as a generator returns
energy to the supply through D1.
A full-bridge DC-DC converter is used.
  T1 and T2 operate; T3 and T4 off.

 T1 and T2 turn on together: the supply voltage appear across the motor
terminal. Armature current rises.

 T1 and T2 turn off: the armature current decay through D3 and D4

  T1, T2 and T3 turned off.

 When T4 is turned on, the armature current rises through T4 and D2.

 When T4 is turned off, the motor, acting as a generator, returns energy

to the supply through D1 and D2.
  T3 and T4 operate; T1 and T2 off.

 When T3 and T4 are on together, the armature current rises and flows
in reverse direction.
 Hence the motor rotates in reverse direction.

 When T3 and T4 turn off, the armature current decays through D1 and D2.
  T1, T3 and T4 are off.

 When T2 is on, the armature current rises through T2 and D4.

 When Q2 is turned off, the armature current falls and the motor returns
energy to the supply through D3 and D4.
When IGBT is turning ON:
 Example:
An electric train is powered by four 750-V d.c. series motors. The motor resistance
and inductance are respectively 0.25  and 6mH. A total line inductance of 10 mH and
resistance of 0.1  is in series with the supply. The fixed voltage from the traction
supply is regulated by the chopper of Figure 1 below, operating at 200 Hz. When the
machine is running at 800 rev/min, the generated e.m.f. per ampere can be taken
as an average value of 0.79 V/A. If the modulation factor (D) is 80%,

a. calculate the maximum and minimum currents, allowing 2V for semiconductor loss,
 Solution: At 200Hz chopping frequency with D=0.8
So, tON = 4ms
Mode 1 (switch ON)

dia 0.004 0.004

V  Ria  L  Eg  2 i2 (t )  i1e 0.0457
 656.14(1  e 0.0457
)
dt
dia
750  0.79ia  0.35ia  0.016 2
Rearranging:
dt i2 (t )  0.9162i1  656.14(1  0.9162)

dia
748  1.14ia  0.016 i2 (t )  0.9162i1  55 (1)
dt

For steady state condition:

dia
L 0
dt
So, ia  656.14 Amp

Time constant (   L )=0.0457

R
t t

i2 (t )  i1e 0.0457
 656.14(1  e 0.0457
)
Mode 2 (switch OFF)

di2
0  Ri 2  L  Eg 0.001 0.001
dt i a (t )  i 2 e 0.024
 1.923(1  e 0.024
)
di
0  0.79ia  0.25ia  0.006 a  2
dt
di i1 (t )  0.959i2  0.0788 (2)
0  1.04ia 0.006 a  2
dt Eliminate i1, substitute eq (2) into eq (1):
For steady state condition:
i2 (t )  0.9162(0.959i2  0.0788)  55
dia
L 0
dt
i2  452.45Amp
So, ia  1.923Amp
L )=0.024 i1  433.82 Amp
Time constant ( 
R
t t

i a (t )  i 2 e 0.024
 1.923(1  e 0.024
)

At 200Hz chopping frequency with D=0.8

So, tOFF = 1ms
Thank
You!
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