5/04/2022

BEKE 4753 Electrical Drives

DC MOTOR DRIVES
(AC-DC Controlled Rectifier)
(Module 3)

BEKE 4753
ELECTRICAL DRIVE
DC Motor Drives
AC-DC Controlled Rectifier
(MODULE 3)

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Phase-controlled rectifier (AC–DC)

Uncontrollable
HALF-WAVE
Controllable

RECTIFIER Uncontrollable
Single Phase
Controllable
FULL-WAVE
Uncontrollable
Three Phase
Controllable

Phase-controlled rectifier (AC–DC)

Full-wave Bridge Rectifier (Uncontrolled)

100 Vo
50 Vm
Voltage (V)

-50

-100

0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

Time (s)

T T
1
T 0
1 VO ,rms 
T 0
VO ,ave  VO , DC  Vdt V 2 dt

 
sin t d t 
1
V sin 2 t d t 
 1
 V
2

m

m
0 0
2Vm Vm
 
 2
4

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Phase-controlled rectifier (AC–DC)

Full-wave Bridge Rectifier (Controlled)

T T
1
T 
VO ,ave  VO , DC  1
T 
Vdt VO ,rms  V 2 dt

sin t d t 
1
V


sin 2 t d t 
1
  V
m 2


m


Vm
cos  1 1  sin 2 
  Vm  
2 2 4
5

Phase-controlled rectifier (AC–DC)

Three-phase Rectifier (uncontrolled)
The diode conducts in pairs (6,1), (1,2),
(2,3), (3,4), (4,5), (5,6), (6,1)..
The output are determined by the highest
V L-L .
There are six combinations of V L-L.
Considering one period of the source is
3600 , a transition of the highest V L-L must
take place every 3600 / 6 = 600.

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Three-phase Rectifier (uncontrolled)

Phase voltages vab Line voltages

vab  3Vm sin t  30O  

van  Vm sin t 

vbn  Vm sin t  120O  vbc  3Vm sin t  90O  
vca  3Vm sin t  210 
 
O
vcn  Vm sin t  240O
T
1 A
T 0
Average output voltage Vo,ave  Vo,dc  v(t )dt 
T


3Vm sin t  30O d t  

3
1 3 3
A

  0

Vm
3
T
1
T 0
Vo ,rms  v(t ) 2 dt
π/6 π/2

3
cos2 t d t   1.6554Vm
1
  3V
2
 0
m

3 7

Phase-controlled rectifier (AC–DC)

Three-phase Rectifier (Controlled)
Conduction does not begin until a
gate signal is applied.
Thus, the transition of the output
voltage to the m axim um
instantaneous line-to-line source
voltage can be delayed.
The average output voltage is:
1 23   3V 
 / 3 3 
Vo   Vm,L  L sin(t )d (t )   m,L  L  cos 
  
2
1   3Vm,L  L 
Vo  
3
 / 3 3 
Vm,L  L sin(t ) d (t )  
 
 cos 


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AC-DC Controlled Rectifier

2Vm


+ 2Vm
Vo  cos 

50Hz Vo 90o 180o 
1-phase
 2Vm



3VL  L ,m

50Hz
+
3-phase
3VL  L,m
Vo Vo  cos 
 90o 180o 


3VL L,m



For steady state continuous current flow

AC-DC Controlled Rectifier

Output v oltage and current (Pow er Capability)
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

5

 over 10ms
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

500

0
3VL  L ,m
50Hz
+ Vo  cos 
3-phase  -500

0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

Average voltage
Vo over 3.33 ms
30

20

  Higher output voltage

& current 10

 minimize voltage & 0

current ripples 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

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AC-DC Controlled Rectifier

4-Quadrant operation of DC Motor

Q2 Q1

Q3 Q4

ia
AC-DC Controlled Rectifier

Single Converter – 2Q operation

ia

+

1/3-phase
Vt Q2 Q1
supply

 Q3 Q4 T

3VL  L ,m
Vt  cos 

i a can only flow in one
(0⁰ < α < 90⁰) : V t > 0 and ia> 0 (Q1)
direction only due to
unidirectional current
(90⁰ < α < 180⁰) : V t < 0 and ia> 0 (Q4)
property of thyristors

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AC-DC Controlled Rectifier

Dual Converter – 4Q operation

+
1/3 phase 1/3-phase
supply Vt supply


(i) Non-sim ultaneous operation 

(ii) Sim ultaneous operation
Q2 Q1

Q3 Q4
T

Non-simultaneous Operation
• Operating each converter one at a time
• When operation from Q1 to Q2 is required (i.e. from forward motoring to
forward braking), the operation of the converter has to be switched from
converter 1 to converter 2.
• Before the switching can be made, the armature current has to be forced to
zero by increasing the delay angle of converter 1 to the highest possible
value.
• When the current goes to zero, a certain dead time is needed before
converter 2 is operated to ensure that the SCRs for converter 1 recover the
reverse blocking capability.
• After this deadtime, rectifier 2 is activated. The initial delay angle of
converter 2 is set to the highest value and gradually reduced (advance firing
scheme) so that armature current builds up.
• The current is regulated to the allowable maximum value through current
control loop.
• The motor decelerates and accelerates in reverse direction with converter 2
in operation.

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Simultaneous operation
• Both converters are operated simultaneously such as they produced the
same average voltage.
• For instance, if converter 1 operates with α1, then the delay angle of
converter 2 should be (180°- α1).
• This control scheme produces circulating current since the instantaneous
voltages of the two converters are not the same. To reduce the circulating
current an interphase reactor is needed which will inevitably introduce
losses, cost and weight. As both converters are always in operation, there is
no deadtime delay (as discussed in (i)) involved.

+
1/3 1/3-phase
phase Vt supply
supply


AC-DC Controlled rectifier

Single Converter – 4Q operation

F1 R1

3-phase
supply
+ Va -
R2 F2

Contactor/sw itches 
(i) F1 and F2  quadrants 1 and 4 Q1
(ii) R1 and R2  quadrants 2 and 3 Q2

Q3 Q4
T

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AC-DC Controlled Rectifier

Controlling V t and if using Controlled Rectifier

Controlled Rectifier Controlled Rectifier

if

+
3-phase +
Vt Vf
supply
−
−

Vt  E g
Ia 
αt Ra αf
3Vll 3V
Vt  cosαt Vf  ll cosαf
π π
Current if is changed by changing Vf

Phase controlled rectifier – small bandwidth – large ripple

AC-DC Controlled Rectifier

Controlling V t using Controlled Rectifier
Controlling i f using variable resistance

Controlled Rectifier Un-controlled Rectifier

if
Rf
+
3-phase +
supply Vt Vf
−
−

Vt  E g
Ia  3Vll
αt Ra Vf 
π
3Vll
Vt  cosαt Current if is changed by
π changing Rf

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Phase-controlled Rectifiers DC Motor Drives

• By changing the firing angle,α of the rectifier, a variable DC

output voltage can be obtained.
• Mains operated, single phase (low power) and three phase
(high and very high power) supply can be used.
• Normally field rectifier have much lower ratings than the
armature rectifier. It is only used to establish the flux.
• Small control bandwidth hence slow response compared to
switched mode DC Motor drives.

Continuous/Discontinuous current operation

• 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”.
• 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 mayoccur.
• Effect of discontinuous current: Output voltage of rectifier rises; motor
speed goes higher. In open loop operationthe speed is poorlyregulated.
• Worthwhile to add extra inductance in series with the armature
inductance.

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Three-Phase Controlled Rectifiers

Problem 1:
The speed o f a 20 HP, 300 V, 1800 rpm separately excited DC motor is
controlled by a three-phase single converter drive. The field current is also
controlled by a three-phase single converter and is set to the maximum
possible value. The AC input is a three-phase, Y-connected, 208 V, 60 Hz
supply.
The armature resist ance is Ra = 0.25 Ω, the field resistance is Rf = 245 Ω, and
the motor voltage const ant is Kv = 1.2 V/A rad/s. The armature and field
currents can be assumed to be continuous and ripple free. The viscous
friction is negligible.

Determine;
(a) the delay angle of the armature converter α 1, if the motor supplies at
the rated power at the rated speed.
(b) the no-load speed if the delay angles are the same as in (a) and the
armature current at no load is 10% of the rated value, and
(c) the speed regulation.

Three-Phase Controlled Rectifiers

Problem 2:
The speed of a 20 HP, 300 V, 900 rpm separately excited DC motor is controlled by a three-
phase single converter drive. The field current is also controlled by a three-phase single
converter. The AC input to the armature and field converters is three-phase, Y-connected,
208 V, 60 Hz.
The armature resistance is Ra = 0.25 Ω, the field circuit resistance is Rf = 145 Ω, and the
motor voltage constant is Kv = 1.2 V/A rad/s. The viscous friction and no-load losses can be
considered negligible. The armature and field currents are continuous and ripple f ree.

(a) If the field converter is operated at the maximum field current and the developed
torque is Td = 116 Nm at 900 rpm, determine the delay angle of the armature
converter α 1.
(b) If the field circuit converter is set for the maximum field current, the developed torque
is Td = 116 Nm and the delay angle of the armature conve rter is α 1 = 0, determine the
s pe ed of the motor.
(c) For the same load demand as in (b) , determine the delay angle of the f ield converter is
the speed has to be increased to 1800 rpm.

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Three-Phase Controlled Rectifiers

Problem 3:
The DC motor in Fig. 2.1 has an armature voltage of 450 V while drawing current of
1500 A. Converter 1 delivers a current I 1 of 1800 A, and converter 2 absorbs 300 A. If
the AC line voltage for each converter is 360 V, calculate the following:

(a) The DC power associated with converters 1 and 2.

(b) The active power drawn from the incoming 3-phase line.
(c) The firing angles for converters 1 and 2.
(d) The reactive power drawn from the incoming 3-phase line.

Dual-Converter
Rectifying mode Inverting mode
I1 I2
α1 + Ia =I1-I2
3-phase 3-phase
supply Vt supply

 α2

0<α 1 ≤ π/2 α 2 = π-α 1 π/2 <α 1 ≤ π

Problem 4:
A 3-phase circulating current dual converter drive is feeding power to a
220 V, 20 A, 1500 rpm separately excited DC motor. The ac input to the
converter is 415 V, 3-phase, 50 Hz, Y-connected supply system,
connected through a transformer so that the armature terminal voltage
equal to the rated voltage when converter firing angle is 0°. The
resistances of the armature winding is 0.5 Ω.

Determine the converter firing angles for the following operation

conditions:
i. Motoring operation at rated torque and at 1000 rpm
ii. Braking operation at rated motor torque and at 1000 rpm
iii. Motoring operation at rated motor torque and at (-1000) rpm
iv. Braking operation at rated motor torque and at (-1000) rpm

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Problem 5:
A 210 V, 1200 rpm, 10 A separately excited motor is controlled by 1-
phase fully controlled converter with an ac source voltage of 230 V,
50 Hz. Assume that sufficient inductance is present in the armature
circuit to make to motor current continuous and ripple free for any
torque greater than 25% of rated torque, and Ra = 1.5 Ω.

i. What should be the value of the firing angle to get the rated
torque at 800 rpm ?
ii. Compute the firing angle for the rated braking torque at (-1200)
rpm
iii. Calculate the motor speed at the rated torque and α = 165° for
the regenerative braking in the second quadrant (Q2)?

AC-DC Controlled Rectifier

4-Quadrant operation of DC Motor

Q2 Q1

Q3 Q4

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Modeling of Converters and DC motor

Phase-controlled rectifier (continuous current)

• Firing circuit –firing angle control
 Establish relation between v c and Vt

+
i ref + current vc firing  controlled
- controller circuit rectifier Vt

AC-DC Controlled rectifier

+
vc firing  controlled
circuit rectifier Va

v c(s) v a(s)
? DC motor

The relation betw een v c and v a is determined by the firing circuit

It is desirable to have a linear relation between vc and va

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AC-DC controlled rectifier

linear firing angle control

Vm
Input v oltage
0  2 3 4

vc vt
Sawtooth compared with control signal

Results of comparison to trigger SCRs

Output v oltage

AC-DC Controlled rectifier

linear firing angle control
vt vc

Vm  

0 2 3 4
vc
 
vt
vc vt
vc
 

2Vm v 
Va  cos c  

  vt 

A non-linear relation betw een Va and v c

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AC-DC controlled rectifier

Cosine-w ave crossing control

Vm
Input v oltage
0  2 3 4

vc vs
Cosine wav e compared with v c

Results of comparison trigger SCRs

Output v oltage

AC-DC controlled rectifier

Cosine-w ave crossing control
cos(t)= v c
V scos()
Vm
v 
0  2 3 4   cos1  c 
 vs 

vc vs


2Vmm v c  1  v c  
Vaa  cos    
cos
 v s   vs 


A linear relation betw een v c and Va

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AC-DC controlled rectifier

e.g. cosine w ave crossing control

AC-DC controlled rectifier

Control model

Va is the average voltage over one period of the w aveform

- sampled data system

Delays depending on w hen the control signal changes – normally taken

as half of sampling period

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AC-DC controlled rectifier

Control model

Va is the average voltage over one period of the w aveform

- sampled data system

Delays depending on w hen the control signal changes – normally taken

as half of sampling period

AC-DC controlled rectifier

Control model

T
 s
G H (s)  Ke 2

Single phase, 50Hz

vc (s) Va(s)
2Vm
K T=10ms
Vs

Three phase, 50Hz

3VL  L,m
K T=3.33ms
Vs

Simplified if control bandw idth is reduced to much low er than the

sampling frequency

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AC-DC controlled rectifier

MATLAB v7.1, SIMULINK v7.5

SympPowerSystems toolbox
SIMULINK EXAMPLES
Open-loop control

Closed-loop control

AC-DC controlled rectifier

Open loop

+
vc firing  controlled
circuit rectifier Va

–
DC motor
modeled with
Step
R-L and Vdc
+
v
-
Voltage Measurement1
Scope2
signal

i
+ Controlled Voltage Source
-
Scope
+

Current Measurement1

A
+
B

C
-
pulses
Series RLC Branch
+ Universal Bridge
v
-
Scope1

+
v
- alpha_deg
AB
i
BC pulses +
-
+
CA
v Current Measurement
-
Block

Synchronized
6-Pulse Generator

acos -K-

Step1 Trigonometric Gain

Function

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Three-phase AC source Step

+
v
-
Voltage Measurement1
Scope2

signal
i
+ Controlled Voltage Source
-
Scope

-
Current Measurement1

A
+
B

C
-
pulses
Series RLC Branch
+ Universal Bridge
v
-
Scope1

+
v
- alpha_deg
AB
i
BC pulses +
-
+
-
v
CA
Block
Current Measurement Load
Synchronized
6-Pulse Generator

acos -K-

Step1 Trigonometric Gain

Function
Controlled rectifier

‘ Firing circuit’
scr_openloop_3phase.mdl

AC-DC controlled rectifier

Closed loop

+
iref current vc firing  controlled
controller Va
circuit rectifier
–

Step

+
v
+ -
v
-

• To control the current – current-controlled converter Scope2

signal

• Torque can be controlled

i
+
-
Scope
+

• Only operates in Q1 and Q4 (single converter topology)

A
+
B

C
-
pulses
Series RLC Branch
+ Universal Bridge
v
-

+
v
- alpha_deg
AB
i
BC pulses +
-
+
CA
v
-
Block

Synchronized
6-Pulse Generator
PID acos -K-

Signal PID Controller1

Generator

Constant1

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Open-loop system from previous simulation

Step

+
v
+ -
v
-

Scope2

signal
i
+
-
Scope

-
A
+
B

C
-
pulses
Series RLC Branch
+ Universal Bridge
v
-

+
v
- alpha_deg
AB
i
BC pulses +
-
+
CA
v
-
Block

Synchronized
6-Pulse Generator
PID acos -K-

Signal PID Controller1

Generator

Constant1

Closed-loop elem ents

scr_closedloop_3phase.mdl

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