Power Electronics

Winter 2015

Lectures 3 and 4

Dr. Walid Atef Omran

Today’s Lecture
➢ Rectifiers
◼ Introduction

➢ Half wave controlled rectifiers

◼ Pure resistive load
◼ Resistive load with back EMF
◼ R-L load

 R-L load with free wheeling diode

 Highly inductive load with free wheeling diode

2
Rectifier Circuits

10
Rectifiers
➢ The rectifier is a power electronics converter that converts the AC
voltage and current into DC voltage and current with constant or
variable magnitude.

➢ Rectifiers are either single phase (where the input AC supply is

single phase) or three phase (where the input AC supply is three
phase).

➢ Rectifiers are used in many applications such as:

◼ Recharge of batteries
◼ Control of DC motors
◼ High Voltage DC Transmission (HVDC)
4
Circuit Nomenclature
➢ Rectifier circuits are divided into half-wave and full-wave
connections.

➢ Half-wave connection is a circuit that has a unidirectional current in

each supply line (current flows from the supply in one direction
only).

➢ Full-wave connection is a circuit that has a bidirectional current in

each supply line (current flows from the supply in both directions).

➢ Note: the current flowing in the load connected to a rectifier circuit

is always unidirectional unless a dual converter is used.

5
Thyristors and Diodes
➢ Our analysis will focus on the use of thyristors in rectifier circuits
because it is the general case.

➢ ON state: vAK > 0 & iG > 0

The turn on angle of the thyristor is α
The thyristor will be represented as a short circuit

➢ OFF state: vAK < 0 & iAK ≈ 0

The turn off angle of the thyristor is β
The thyristor will be represented as an open circuit

➢ The diode can be represented as a thyristor with a turn on angle α = 0.

6
Device Voltage Ratings
➢ The voltage ratings for the thyristor are specified by:
◼ Peak reverse voltage (VPRV), which is the maximum reverse voltage
that can appear across the anode and cathode of the thyristor in the
OFF state.
◼ Peak forward voltage (VPFV), which is the maximum forward voltage
that can appear across the anode and cathode of the thyristor in the
OFF state.

➢ The voltage rating for the diode is specified by:

◼ Peak reverse voltage (VPRV), which is the maximum reverse voltage
that can appear across the anode and cathode of the diode in the OFF
state.
◼ Note: The peak forward voltage of the diode is always zero
7
Definitions
➢ The root mean square value of any function x(t) is:
1
𝑇 2
1
𝑋𝑟𝑚𝑠 = න 𝑥(𝑡)2 𝑑𝑡
𝑇
0

➢ The average value of any function x(t) is:

𝑇
1
𝑋𝑎𝑣 = න 𝑥(𝑡) 𝑑𝑡
𝑇
0
➢ The power factor is:
𝑃
𝑝𝑓 =
𝑆 8
Definitions
➢ Firing angle (α) is the turn on angle of the thyristor.

➢ Extinction angle (β) is the turn off angle of the thyristor.

➢ Conduction angle (γ) is the angle during which the thyristor conducts
and is given by:
γ=β–α

➢ Rectification Ratio (efficiency) is a figure of merit for comparing the

effectiveness of rectification and is defined as:

𝑉𝑜𝑎𝑣 𝐼𝑜𝑎𝑣
𝜎=
𝑉𝑜𝑟𝑚𝑠 𝐼𝑜𝑟𝑚𝑠
9
Definitions
➢ The form factor (FF) is a measure for the shape of the output voltage
and is defined as:
𝑉𝑜𝑟𝑚𝑠 𝐼𝑜𝑟𝑚𝑠
𝐹𝐹𝑉 = & 𝐹𝐹𝐼 =
𝑉𝑜𝑎𝑣 𝐼𝑜𝑎𝑣

➢ The ripple factor (RF) is a measure of the ripple content in the

waveform and is defined as:
2
𝑉𝑜𝑟𝑚𝑠
𝑅𝐹𝑉 = −1= 𝐹𝐹 2 − 1
𝑉𝑜𝑎𝑣

➢ The number of pulses (p): is the number of times that the waveform of
the output voltage is repeated during 2π (2π is the period of the supply).
10
Useful Trigonometric Identities
sin2 𝜃 + cos 2 𝜃 = 1

1
sin2 𝜃 = 1 − cos 2𝜃
2

𝛽
𝛽
න sin 𝜃 𝑑𝜃 = − cos 𝜃 ቚ
𝛼
𝛼

𝛽 𝛽
1
න cos 2𝜃 𝑑𝜃 = sin 2𝜃 ቤ
2 𝛼
𝛼

11
I – Single Phase Half-Wave Rectifier
1 – Pure Resistive Load:
▪ The thyristor is fired (gets a gate signal)
at ωt = α and ωt = 2π +α and so on.

▪ The firing angle should be in the range:

0≤α≤π

▪ During the +ve half cycle vT > 0, thus, when the thyristor is fired at
angle α it is turned on and vo(ωt) = vs(ωt) when T is ON.

▪ A the beginning of the –ve half cycle, the current passing through the
thyristor falls to zero at ωt = π. Thus, the thyristor is turned off at angle
π and remains off till it is fired in the next cycle. The output voltage is
zero during this period.

▪ The conduction angle is: γ = π – α 12

I – Single Phase Half-Wave Rectifier
1 – Pure Resistive Load:

Equivalent circuit during the Equivalent circuit during the

off period of the thyristor on period of the thyristor

13
14
I – Single Phase Half-Wave Rectifier
1 – Pure Resistive Load:
𝑣𝑠 (𝜔𝑡) = 2𝑉𝑠 sin 𝜔𝑡 , where Vs is the rms voltage of the supply
𝜋
1 2𝑉𝑠
𝑉𝑜𝑎𝑣 = න 𝑣𝑠 (𝜔𝑡)𝑑𝜔𝑡 = 1 + cos 𝛼
2𝜋 2𝜋
𝛼
1
𝜋 2 1
1 𝑉𝑠2 1 2
𝑉𝑜𝑟𝑚𝑠 = න 𝑣𝑠2 𝜔𝑡 𝑑𝜔𝑡 = 𝜋 − 𝛼 + sin 2𝛼
2𝜋 2𝜋 2
𝛼

𝑉𝑜𝑎𝑣
𝐼𝑜𝑎𝑣 =
𝑅
𝑉𝑜𝑟𝑚𝑠
𝐼𝑜𝑟𝑚𝑠 =
𝑅
𝑉𝑃𝑅𝑉 = 𝑉𝑃𝐹𝑉 = 2𝑉𝑠 15
I – Single Phase Half-Wave Rectifier
2 – Resistive Load with Back EMF:
▪ T is ON when vs ≥ E & iG > 0 (at ωt = α)

▪ T is OFF when io (ωt)= 0 (at ωt = β)

▪ To find the extinction angle, β:

𝑣𝑠 𝛿 − 𝐸
𝑖𝑜 𝜔𝑡 ቚ = =0
𝜔𝑡=𝛿 𝑅
2𝑉𝑠 sin 𝛿 = 𝐸

−1
𝐸
𝛿 = sin
2𝑉𝑠

∴ 𝛽 = 180 − 𝛿
16
17
I – Single Phase Half-Wave Rectifier
2 – Resistive Load with Back EMF:
𝛽 2𝜋+𝛼
1
𝑉𝑜𝑎𝑣 = න 2𝑉𝑠 sin 𝜔𝑡 𝑑𝜔𝑡 + න 𝐸 𝑑𝜔𝑡
2𝜋
𝛼 𝛽

𝑉𝑜𝑎𝑣 − 𝐸
𝐼𝑜𝑎𝑣 =
𝑅

𝑉𝑃𝑅𝑉 = 2𝑉𝑠 + 𝐸 & 𝑉𝑃𝐹𝑉 = 2𝑉𝑠 − 𝐸

2
𝑃𝑖𝑛 = 𝑃𝑜𝑢𝑡 = 𝑃𝑏𝑎𝑡 + 𝑃𝑅 = 𝐸𝐼𝑜𝑎𝑣 + 𝐼𝑜𝑟𝑚𝑠 𝑅
𝛽 2
2
1 2𝑉𝑠 sin 𝜔𝑡 − 𝐸
𝐼𝑜𝑟𝑚𝑠 = න 𝑑𝜔𝑡
2𝜋 𝑅
𝛼
18
I – Single Phase Half-Wave Rectifier
2 – Resistive Load with Back EMF:
 T is ON when vs ≥ E & iG > 0 (at ωt = α)

 T is OFF when io (ωt)= 0 (at ωt = β)

 To find the extinction angle, β:

𝑣𝑠 𝛿 − 𝐸
𝑖𝑜 𝜔𝑡 = =0
𝜔𝑡=𝛿 𝑅
2𝑉𝑠 sin 𝛿 = 𝐸

−1
𝐸
𝛿 = sin
2𝑉𝑠

∴ 𝛽 = 180 − 𝛿
19
20
I – Single Phase Half-Wave Rectifier
2 – Resistive Load with Back EMF:
𝛽 2𝜋+𝛼
1
𝑉𝑜𝑎𝑣 = 2𝑉𝑠 sin 𝜔𝑡 𝑑𝜔𝑡 + 𝐸 𝑑𝜔𝑡
2𝜋
𝛼 𝛽

𝑉𝑜𝑎𝑣 − 𝐸
𝐼𝑜𝑎𝑣 =
𝑅

𝑉𝑃𝑅𝑉 = 2𝑉𝑠 + 𝐸 & 𝑉𝑃𝐹𝑉 = 2𝑉𝑠 − 𝐸

2
𝑃𝑖𝑛 = 𝑃𝑜𝑢𝑡 = 𝑃𝑏𝑎𝑡 + 𝑃𝑅 = 𝐸𝐼𝑜𝑎𝑣 + 𝐼𝑜𝑟𝑚𝑠 𝑅
𝛽 2
2
1 2𝑉𝑠 sin 𝜔𝑡 − 𝐸
𝐼𝑜𝑟𝑚𝑠 = 𝑑𝜔𝑡
2𝜋 𝑅
𝛼
21
I – Single Phase Half-Wave Rectifier
3 – R-L Load:
 T is ON when vs ≥ 0 & iG > 0 (at ωt = α)

 T is OFF when io (ωt) = 0 (at ωt = β)

 To find the current equation, consider the

period when T is ON (α ≤ ωt ≤ β):
𝑑𝑖𝑜
2𝑉𝑠 sin 𝜔𝑡 = 𝐿 + 𝑖𝑜 𝑅
𝑑𝑡
𝑖𝑜 𝜔𝑡 = 𝑖𝑠𝑠 + 𝑖𝑡𝑟

where iss is the steady state component of the output current

itr is the transient component of the output current
22
23
I – Single Phase Half-Wave Rectifier
3 – R-L Load:
The steady state component of the current is the current that flows in the
circuit when the configuration of the circuit remains unchanged for a long
period:

2𝑉𝑠
𝑖𝑠𝑠 = sin 𝜔𝑡 − 𝜑
𝑍

𝑍 = 𝑅2 + 𝜔𝐿 2

𝜔𝐿
𝜑= tan−1
𝑅

24
I – Single Phase Half-Wave Rectifier
3 – R-L Load:
The transient component is obtained when the source is set to zero:
𝑑𝑖𝑡𝑟
0=𝐿 + 𝑖𝑡𝑟 𝑅
𝑑𝑡
𝑅 𝑅
−𝐿 𝑡 − 𝜔𝐿𝜔𝑡
∴ 𝑖𝑡𝑟 = 𝐴 exp = 𝐴 exp
2𝑉𝑠 𝑅
𝑖𝑜 𝜔𝑡 = sin 𝜔𝑡 − 𝜑 + 𝐴 exp 𝜔𝐿𝜔𝑡
−
𝑍

To find the constant A substitute io(ωt) = 0 at ωt = α

2𝑉𝑠 𝑅
0= sin 𝛼 − 𝜑 + 𝐴 exp 𝜔𝐿𝛼−
𝑍

2𝑉𝑠 𝑅
𝐴=− sin 𝛼 − 𝜑 . exp𝜔𝐿𝛼
𝑍 25
I – Single Phase Half-Wave Rectifier
3 – R-L Load:
Thus, the output current is given by:

2𝑉𝑠 −
𝑅
𝜔𝑡−𝛼
𝑖𝑜 𝜔𝑡 = sin 𝜔𝑡 − 𝜑 − sin 𝛼 − 𝜑 exp 𝜔𝐿
𝑍

To find the extinction angle, β :

io (ωt) = 0 at ωt = β
𝑅
− 𝜔𝐿 𝛽−𝛼
0 = sin 𝛽 − 𝜑 − sin 𝛼 − 𝜑 exp

β can be found at a given value of α from curves relating the conduction

angle γ with the firing angle α or by trial and error (β > π).

26
I – Single Phase Half-Wave Rectifier
3 – R-L Load:

Conduction angle versus firing angle of a

controlled half wave rectifier with R-L load

27
I – Single Phase Half-Wave Rectifier
3 – R-L Load:
𝛽
1 2𝑉𝑠
𝑉𝑜𝑎𝑣 = 𝑣𝑠 (𝜔𝑡)𝑑𝜔𝑡 = cos 𝛼 − cos 𝛽
2𝜋 2𝜋
𝛼
1
𝛽 2
1
𝑉𝑜𝑟𝑚𝑠 = 𝑣𝑠2 𝜔𝑡 𝑑𝜔𝑡
2𝜋
𝛼

𝑉𝑜𝑎𝑣
𝐼𝑜𝑎𝑣 =
𝑅
1
𝛽 2
1 𝑉𝑜𝑟𝑚𝑠
𝐼𝑜𝑟𝑚𝑠 = 𝑖𝑜2 𝜔𝑡 𝑑𝜔𝑡 ≠ (because the waveform is not sinusoidal)
2𝜋 𝑍
𝛼

𝑉𝑃𝑅𝑉 = 𝑉𝑃𝐹𝑉 = 2𝑉𝑠 28

I – Single Phase Half-Wave Rectifier
4 – R-L Load with Free Wheeling Diode:
 It was seen that an R-L load will cause
the output voltage to have a negative part
due to the conduction of the thyristor.

 Thus, the output average voltage is

reduced as compared to the case when
the load is pure resistive (no negative part in the output voltage).

 To remove the negative part from the output voltage, a diode is added
in parallel with the load.

 The function of this diode is to clip the negative portion of the output
voltage by allowing the output current to pass through it, and thus, it is
called a “free wheeling” diode. 29
30
I – Single Phase Half-Wave Rectifier
4 – R-L Load with Free Wheeling Diode:
 To simplify the analysis, we will consider the case when α = 0. The
general case at any firing angle can be analyzed in a similar manner.
 During the period 0 ≤ ωt ≤ π:
T is fired at ωt = 0 and vT > 0 and α = 0, thus, T is ON.
At the same time vDF < 0. Thus, DF is OFF.
To find the current io during this period:
𝑑𝑖𝑜
2𝑉𝑠 sin 𝜔𝑡 = 𝐿 + 𝑖𝑜 𝑅
𝑑𝑡
𝑖𝑜 𝜔𝑡 = 𝑖𝑠𝑠 + 𝑖𝑡𝑟
2𝑉𝑠
𝑖𝑠𝑠 = sin 𝜔𝑡 − 𝜑
𝑍
2 2 −1
𝜔𝐿
𝑍 = 𝑅 + 𝜔𝐿 , 𝜑 = tan 31
𝑅
I – Single Phase Half-Wave Rectifier
4 – R-L Load with Free Wheeling Diode:
𝑅
−
𝑖𝑡𝑟 = 𝐴 exp 𝜔𝐿𝜔𝑡

2𝑉𝑠 𝑅
− 𝜔𝐿𝜔𝑡
𝑖𝑜 𝜔𝑡 = sin 𝜔𝑡 − 𝜑 + 𝐴 exp
𝑍
To find the constant A substitute io(ωt) = Io2π at ωt = 0
2𝑉𝑠
𝐼𝑜2𝜋 = − sin 𝜑 + 𝐴
𝑍
2𝑉𝑠
𝐴 = 𝐼𝑜2𝜋 + sin 𝜑
𝑍
2𝑉𝑠 2𝑉𝑠 𝑅
− 𝜔𝐿 𝜔𝑡
𝑖𝑜 𝜔𝑡 = sin 𝜔𝑡 − 𝜑 + 𝐼𝑜2𝜋 + sin 𝜑 exp
𝑍 𝑍
(Don’t memorize) 0 ≤ ωt ≤ π 32
I – Single Phase Half-Wave Rectifier
4 – R-L Load with Free Wheeling Diode:
at ωt = π , io(ωt) = Ioπ , thus,
2𝑉𝑠 2𝑉𝑠 𝑅
− 𝜔𝐿 𝜋
𝐼𝑜𝜋 = sin 𝜑 + 𝐼𝑜2𝜋 + sin 𝜑 exp (1)
𝑍 𝑍
During the period π ≤ ωt ≤ 2π:
vs is in the negative cycle and vDF > 0. Thus, DF is ON.
The current is falls to zero and vT < 0. Thus, T is OFF.
To find the current io during this period:
𝑑𝑖𝑜
0=𝐿 + 𝑖𝑜 𝑅
𝑑𝑡
𝑖𝑜 𝜔𝑡 = 𝑖𝑠𝑠 + 𝑖𝑡𝑟
𝑅
− 𝜔𝐿(𝜔𝑡−𝜋)
𝑖𝑠𝑠 = 0 and 𝑖𝑡𝑟 = 𝐴 exp
33
I – Single Phase Half-Wave Rectifier
4 – R-L Load with Free Wheeling Diode:
𝑅
−
𝑖𝑜 𝜔𝑡 = 𝐴 exp 𝜔𝐿(𝜔𝑡−𝜋)

To find the constant A substitute io(ωt) = Ioπ at ωt = π

𝐼𝑜𝜋 = 𝐴
𝑅
− 𝜔𝐿 𝜔𝑡−𝜋 (Don’t memorize)
𝑖𝑜 𝜔𝑡 = 𝐼𝑜𝜋 exp π ≤ ωt ≤ 2π
at ωt = 2π , io(ωt) = Io2π , thus,
𝑅
− 𝜔𝐿 𝜋
𝐼𝑜2𝜋 = 𝐼𝑜𝜋 exp (2)
Now solve (1) and (2) to get Io2π and Ioπ
𝑅
𝜋
From (2): 𝐼𝑜𝜋 = 𝐼𝑜2𝜋 exp 𝜔𝐿 (3)
(1) = (3)

34
I – Single Phase Half-Wave Rectifier
4 – R-L Load with Free Wheeling Diode:
Thus,
𝑅
− 𝜋
2𝑉𝑠 1 + exp 𝜔𝐿
𝐼𝑜2𝜋 = sin 𝜑 𝑅 𝑅 (Don’t memorize)
𝑍
exp𝜔𝐿 𝜋 − exp 𝜔𝐿 𝜋
−

𝑅
2𝑉𝑠 1+ exp 𝜔𝐿 𝜋
𝐼𝑜𝜋 = sin 𝜑 𝑅 𝑅
(Don’t memorize)
𝑍
exp𝜔𝐿 𝜋 − exp − 𝜔𝐿 𝜋

35
I – Single Phase Half-Wave Rectifier
4 – R-L Load with Free Wheeling Diode:
𝜋
1 2𝑉𝑠
𝑉𝑜𝑎𝑣 = 𝑣𝑠 (𝜔𝑡)𝑑𝜔𝑡 = 1 + cos 𝛼
2𝜋 2𝜋
𝛼=0

𝑉𝑜𝑎𝑣
𝐼𝑜𝑎𝑣 =
𝑅

𝑉𝑃𝑅𝑉−𝑇 = 𝑉𝑃𝐹𝑉−𝑇 = 𝑉𝑃𝑅𝑉−𝐷 = 2𝑉𝑠

Advantages of using the free wheeling diode:

1- The average output voltage is increased.
2- The output current can be continuous depending on the values of R, L
and α (if ωL ↑, R ↓ and α ↓).
36
37
38
I – Single Phase Half-Wave Rectifier
5 – Highly Inductive Load with Free Wheeling Diode:
 A highly inductive load is an R-L load
with the value of the inductance much
larger than the resistance.

 Since the inductance is very large, the

current flowing through it is assumed
to be constant with a value Io and is
called level current or ripple free current.

 Accordingly, the load current will always have a path to flow through.

 The presence of the free wheeling diode will ensure that there will be
no negative part in the output voltage. 39
40
41
I – Single Phase Half-Wave Rectifier
5 – Highly Inductive Load with Free Wheeling Diode:
𝜋
1 2𝑉𝑠
𝑉𝑜𝑎𝑣 = 𝑣𝑠 (𝜔𝑡)𝑑𝜔𝑡 = cos 𝛼 + 1
2𝜋 2𝜋
𝛼

𝑉𝑜𝑎𝑣
𝐼𝑜𝑎𝑣 = 𝐼𝑜𝑟𝑚𝑠 = 𝐼𝑜 =
𝑅
1
𝜋 2
1 𝜋−𝛼
𝐼𝑠𝑟𝑚𝑠 = 𝐼𝑜2 𝑑𝜔𝑡 = 𝐼𝑜
2𝜋 2𝜋
𝛼
1
2𝜋+𝛼 2
1 𝜋+𝛼
𝐼𝐷𝑟𝑚𝑠 = 𝐼𝑜2 𝑑𝜔𝑡 = 𝐼𝑜
2𝜋 2𝜋
𝜋

𝑉𝑃𝑅𝑉−𝑇 = 𝑉𝑃𝐹𝑉−𝑇 = 𝑉𝑃𝑅𝑉−𝐷𝑓 = 2𝑉𝑠 42