Outline

• Introduction
• DC – DC Converter Fed Drives
• Step Down Class A Chopper
• Step Up Class B Chopper
• Two-quadrant Control
• Four-quadrant Control
• References

1
Power Electronic Converters
for DC Drives
 Power electronics converters are used to obtain
variable voltage
 Highly efficient
 Ideally lossless
 Type of converter used is depending on voltage
source :
AC voltage source  Controlled Rectifiers
Fixed DC voltage source
 DC-DC converters (switch mode
converters)
2
DC – DC Converter Fed Drives
 To obtain variable DC voltage from fixed DC source
 Self-commutated devices preferred (MOSFETs, IGBTs,
GTOs) over thyristors
 Commutated by lower power control signal
 Commutation circuit not needed
 Can be switched at higher frequency for same rating
 Improved motor performance (less ripple, no discontinuous
currents, increased control bandwidth)
 Suitable for high performance applications
 Regenerative braking possible up to very low speeds
even when fed from fixed DC voltage source

3
 DC – DC Converter Fed Drives
- Step Down Class A Chopper

Motoring
Q2 Q1
• Provides positive output
Q3 Q4 T
voltage and current Ia
S
• Average power flows from
source to load (motor)
Ra
• Switch (S) operated Va
periodically with period T La
V D

Ea

4
 DC – DC Converter Fed Drives
- Step Down Class A Chopper Ia
S
Motoring
S is ON (0  t  ton) Ra
Ia
Va

V La
Ra D
Va
V La Ea

Ea •Va = V Duty
•Ia flows to motor Interval
dia •|Ia| increases ( ia  )
Raia  La  E V
dt
5
DC – DC Converter Fed Drives
- Step Down Class A Chopper Ia
S
Motoring
S if OFF (ton  t  T) Ra
Ia
Va

V La
D
Ra
Va
ID La Ea

Ea
•Va = 0 Freewheeling
•Ia freewheels through Interval
dia diode DF
Raia  La E 0 ( ia  )
dt •|Ia| decreases
6
DC – DC Converter Fed
- Step Down Class A Chopper
Motoring
Duty cycle   ton where T  chopper period
T conditions:
Under steady-state
Motor side:
Va  Ra I a  E Duty
Chopper side, average armature Interval Freewheeling
voltage: ( ia  ) Interval
Therefore,Va  V ( ia  )

Hence,V  Va armature
average Ra I a  Ecurrent:

V  E
Ia 
Ra T
7
 DC – DC Converter Fed Drives
- Step Up Class B Chopper 
Regenerative Braking
Q2 Q1
 Provides positive output voltage and
negative average output current Q3 Q4 T
 Average power flows from load (motor) to
source Ia
•Possible for speed
D above rated speed
Ra and down to nearly
Va zero speed
S La •Application:
Switch (S) V
• Battery operated
operated vehicles
periodically • Regenerated
Ea
with period T power stored in
battery 8
 DC – DC Converter Fed Drives
- Step Up Class B Chopper Ia

Regenerative Braking D
S is ON (0  t  ton) Ra
Ia  Va = 0 (diode blocks V) Va
 ia increases due to E V S La
Ra (since E > Va)
Va  Mechanical energy
S converted to electrical Ea
La (i.e. generator)
 Energy stored in La
Energy Storage
Ea  Any remaining energy
dissipated in Ra and S Interval
( ia  )
dia
Raia  La E
dt 9
 DC – DC Converter Fed Drives
- Step Up Class B Chopper Ia
Regenerative Braking
S if OFF (ton  t  T) D
Ra
Ia • ia flows through Va
diode D and S La
source V V
Ra
• ia decreases in
Va negative direction Ea
V La • Energy stored in La
& energy supplied Duty
by machine are fed
Ea to the source Interval
( ia  )
dia
Raia  La V  E
dt
10
Dynamic Braking

 S is ON (0  t  ton)
 Va = 0 (diode blocks V)
 ia increases due to E
 (since E > Va)

 S if OFF (ton  t  T)
 ia flows through diode D and source V
 ia decreases in negative direction

 If Resistance RB is inserted for braking , then the energy stored in the inductance is
dissipiated in RB, RA, and diode D
 S controls the magnitude o energy dissipiated in RB and therefore its effective value .
 Energy consumed EN by RB chopper during a cycle of chopper operation is
11
 E N  I a2 RB (T  ton )

Average power consumed by RB

EN
P  I a2 RB (1  D)
T
Effective value of RB
P
RBE  2  RB (1  D)
Ia

E
Eb  I a [ RBE  Ra ] RBE   Ra
Ia

Eb  I a [(1  D ) RB  Ra ]
12
13
DC – DC Converter Fed Drives
- Step Up Class B Chopper
Regenerative Braking
Negative because
 Duty cycle   t on where T  chopper period current flows from
T motor to source
 Under steady-state conditions
Generator side: Va  E  Ra I a Energy Storage
Duty
Chopper side, average armature Interval
Interval
voltage: Va  1   V ( ia  )
( ia  )
 Therefore,
1   V  Va  E  Ra I a
 Hence, average armature current:
E  1   V
Ia 
Ra T
14
DC – DC Converter Fed Drives
- Two-quadrant Control No Speed
• Combination of Class A & B choppers Reversal
• Forward motoring Q1 - T1 and D2 (Class A)

• Forward braking Q2 – T2 and D1 (Class B)
Q2 Q1
+
Q3 Q4 T
T1
V D1
• Va always +ve   always +ve
• Ia can be +ve or –ve
+ • Do not fire both switches
T2 Va together  short circuit at
D2
- supply
-

15
 DC – DC Converter Fed Drives
- Two-quadrant Control
 Forward motoring Q1 - T1 and D2 (Class A)
 T1 conducting: Va = V (ia ) • D2 conducting: Va = 0 (ia )

+ +
T1 T1 D1
D1
ia ia
V V
+ +
D2 D2
T2 T2
Va Va
 
- -

Average Va = 1V,
1 = (ton T1 / T ), 2 = 0 Average
Va Ea

T1 chopping T2 always •Average Va positive

ON & OFF OFF •Average Va made larger
than back emf Ea
16
•Ia positive
DC – DC Converter Fed Drives
- Two-quadrant Control
 Forward braking Q2 – T2 and D1 (Class B)
 D1 conducting: Va = V (ia ) • T2 conducting: Va = 0 (ia )

+ +
T1 T1 D1
D1
ia ia
V V
+ +
D2 D2
T2 T2
Va Va
 
- -

Average Va =(1 - 2)V,

1 = 0, 2 = (ton T2 / T ) Average
Ea
Va

T2 chopping •Average Va positive

T1 always
ON & OFF •Average Va made smaller
OFF than back emf Ea
•Ia negative (motor acts as 17
generator)
DC – DC Converter Fed Drives
- Two-quadrant Control
 For fast transition from motoring (Q1) to braking
(Q2) and vice versa, both T1 and T2 are controlled
simultaneously, i.e. within a period T:
 T1 in ON and T2 is OFF between time 0 < t ≤ ton
 If Ia is positive (Va > E), current flows from supply to motor via T1
 If Ia is negative (E > Va), current flows from motor to supply via D1
 T1 is OFF and T2 is ON between ton < t ≤ T
 If Ia is positive, current circulates via D2
 If Ia is negative, current circulates via T2
 Duty ratio is given by:   t on T 1 where T  chopper period
T
 Average armature voltage is: Average Va =V
18
DC – DC Converter Fed Drives
- Two-quadrant Control: Example

19
DC – DC Converter Fed Drives
- Four-quadrant Control
• Operation in all four quadrants
• Va and Ia can be controlled in magnitude and polarity
• Power flow can be in either direction 

• Speed and torque can be reversed Q2 Q1

Q3 Q4 T
D1 D3
T1 T3
+ Va -
ia
Note:
Polarity of Va and
T4
direction of Ia
T2
D2 indicated are
D4
assumed
positive.
20
DC – DC Converter Fed Drives
- Four-quadrant Control
• When a switch is on (i.e. ‘ON state’) it may or may not
conduct current depending on the direction of ia
• If a switch conducts current, it is in a conducting state
• Converter has two legs (Leg A & Leg B)
Leg B
• Both switches in each
leg, are alternately + D1 D3
switched T1
+ Va -
T3

• If T1 = ON, T4 = OFF ia
Vdc
• If T4 = ON, T1 = OFF
T4 T2
D4 D2

-
21
Leg A
DC – DC Converter Fed Drives
- Four-quadrant Control 

 Positive Current (Ia > 0) Q2 Q1

 Va = Vdc when T1 and T2 are ON
Q3 Q4 T
 Current increases
 Q1 operation
 Va = 0 when current
freewheels through +
T2 and D4 T1
D1 D3
T3
+ Va -
 Current decreases ia
 Va = -Vdc when D3 and D4 Vdc

conducts current
T4 T2
D2
 Current decreases D4
-
 Energy returned to supply
 Q4 operation
T3 and
T4 off 22
DC – DC Converter Fed Drives
- Four-quadrant Control 
 Negative Current (Ia > 0) Q2 Q1
 Va = -Vdc when T3 and T4 are ON
Q3 Q4 T
 Current increases in negative direction
 Q3 operation
 Va = 0 when current
freewheels through +
T4 and D2 T1
D1 D3
T3
 Current decreases + Va -
ia
 Va = Vdc when D1 and D2 Vdc
conducts current
 Current decreases T4
D4 D2 T2

 Energy returned to -
supply
 Q2 operation T1 and
T2 off 23
DC – DC Converter Fed Drives
- Four-quadrant Control
 For both positive and negative current, output voltage can
swing between:
 Vdc and -Vdc
 Vdc and 0
 Four quadrant chopper has two legs, so it requires two
switching signals (one for each leg)
 Depending on relationship between the two switching signals,
4-quadrant chopper has two switching schemes:
 Bipolar switching
 Unipolar switching
 Switching scheme determines output voltage swing between
Vdc and -Vdc or Vdc and 0.
24
DC – DC Converter Fed Drives
• Operation of DC motor drive depends on:
• Direction of Ia (determined by torque, i.e. motoring or
braking)
• Polarity of Va and Ea (determined by speed, i.e. forward or
reverse)
• the duty cycle of the DC-DC Converter (either two-quadrant
or four-quadrant)
• Open loop control is achieved by changing the duty
cycle manually as and when required

25
References
• Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3rd ed., Pearson, New-Jersey, 2004.
• Dubey, G.K., Fundamentals of Electric Drives, 2nd ed., Alpha
Science Int. Ltd., UK, 2001.
• Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
• Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
• Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.

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