DC Advanced Drives Lec-2

S
Io

DC Chopper Vs Vo R

controlled DC Drive

• Advantages:
• High starting torque
• Wide range speed control Ton
• Simple and economic control Vo = Vs = kVs
system T
• DC Drive is cheaper than the AC
drive (>40 kW)
DC Chopper Drive

• Generally, transistor choppers are preferred over thyristor because

they can be operated at a much higher frequency (2.5 to 10 kHz)
than thyristors (up to 1 kHz). But because of lower voltage and
current ratings of transistors, use of transistor is restricted to 200
kW.
• Recently, choppers operate at a frequency, which is high enough
to ensure continuous conduction. Waveforms of motor terminal
voltage va and armature current ia for continuous conduction are
shown below
 DC Chopper Drive
Vs/v

Vs

t/ms
va/v

Vs
Ton Toff Va

T
t/ms
ia/A
𝑇𝑜𝑛
iQ iD •𝑉𝑎 = 𝑉 = 𝑘 𝑉𝑠 = 𝛿 𝑉𝑠
Ia 𝑇 𝑠

1
•Switching frequency 𝑓 =
𝑇
t/ms

•k or d is the duty ratio : 0.1 to 0.9

 DC Chopper Drive
•When using high switching frequency and large
inductance, the ripple in the armature current may be
neglected
•The current and voltage waveforms will be as shown

𝑇𝑜𝑛
•𝑉𝑎 = 𝑉 = 𝑘 𝑉𝑠 = 𝛿 𝑉𝑠
𝑇 𝑠
•𝑃𝑒 = 𝑉𝑎 × 𝐼𝑎 = 𝛿𝑉𝑠 𝐼𝑎 •𝐼𝑠 = 𝛿𝑉𝑠 𝐼𝑎
 DC Chopper Drive
•Example 2.1
•A DC permanent-magnet motor is supplied from a 50 V
source through a fixed frequency chopper circuit. At normal
rating the armature current is 30 A and the speed is 1000
r.p.m. The armature resistance is 0.2  . if the current
pulsation can be taken as relatively small so that mean
current can be used in calculations. What is the required
duty-cycle ratio of the chopper if the motor is to operate at a
mean torque corresponding to full rating and at speed of 400
r.p.m.
 Example 2.1 Solution
•Vs=50 V, Ia=30 A, n=1000 r.p.m. Ra=0.2 .If n=400 r.p.m,
find the duty-cycle ratio at a mean torque corresponding to
full rating.

at rated conditions: 𝐸1 = 𝑉𝑎1 − 𝐼𝑎1 ∗ 𝑅𝑎 = 50 − 30 ∗ 0.2 = 44 𝑉

𝐸2 = 𝑉𝑎2 − 𝐼𝑎2 ∗ 𝑅𝑎 = 𝑉𝑎2 − 6
permanent-magnet ➔ 𝐾∅ = 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑛 400
𝐸2 /𝐸1 = 2 = = 0.4
𝑛1 1000
𝐸2 = 0.4 ∗ 44 = 𝑉𝑎2 − 6
∴ 𝑉𝑎2 = 𝛿 ∗ 𝑉𝑠 = 23.6𝑉
23.6
∴𝛿= = 0.472
50
 Example 2.1 Solution
•Vs=50 V, Ia=30 A, n=1000 r.p.m. Ra=0.2 .If n=400 r.p.m,
find the duty-cycle ratio at a mean torque corresponding to
full rating.

at rated conditions: 𝐸1 = 𝑉𝑎1 − 𝐼𝑎1 ∗ 𝑅𝑎 = 50 − 30 ∗ 0.2 = 44 𝑉

𝐸2 = 𝑉𝑎2 − 𝐼𝑎2 ∗ 𝑅𝑎 = 𝑉𝑎2 − 6
permanent-magnet ➔ 𝐾∅ = 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑛 400
𝐸2 /𝐸1 = 2 = = 0.4
𝑛1 1000
𝐸2 = 0.4 ∗ 44 = 𝑉𝑎2 − 6
∴ 𝑉𝑎2 = 𝛿 ∗ 𝑉𝑠 = 23.6𝑉
23.6
∴𝛿= = 0.472
50
 Example 2.2
Separately excited dc motor is controlled by a dc chopper via a supply source
of 400 VDC. The armature resistances is 0.1 and the motor voltage constant
is 4 V/A-rad/sec. The viscous friction and no load losses are negligible. The
armature current is continuous and ripple free at 150 A. The duty cycle of 60 %
Is applied. Find:
i. The input power
ii. The motor speed
iii. The developed torque
iv. The maximum and minimum speeds
Example 2.2 Solution
𝑉𝑎 = 𝛿 ∗ 𝑉𝑠 = 0.6 ∗ 400 = 240 𝑉
∴ 𝑃𝑖𝑛 = 𝑉𝑎 ∗ 𝐼𝑎 = 240 ∗ 150 = 36 𝐾𝑤 ⋯ ∎ 𝑟𝑒𝑞.i

∵ 𝐸𝑎 = 𝑉𝑎 − 𝐼𝑎 ∗ 𝑅𝑎 = 240 − 150 ∗ 0.1 = 225 𝑉

225 225 𝑟𝑎𝑑
∵ 𝐸𝑎 = 𝐾∅ ∗ 𝑤 ⇒ 𝑤 = = = 56.25
𝐾∅ 4 𝑠𝑒𝑐
𝑤
∴ 𝑛 = 60 ∗ = 537 𝑟. 𝑝. 𝑚 ⋯ ∎ 𝑟𝑒𝑞. ii
2𝜋
∵ 𝑇𝑎 = 𝐾∅ ∗ 𝐼𝑎 => ∴ 𝑇𝑎 = 4 ∗ 150 = 600 𝑁. 𝑚 ⋯ ∎ 𝑟𝑒𝑞. iii

∵ 𝑛𝑚in be at 𝛿𝑚𝑖𝑛 = 10%

 𝑉𝑎 = 𝛿 ∗ 𝑉𝑠 = 0.1 ∗ 400 = 40 𝑉
∵ 𝐸𝑎 = 𝑉𝑎 − 𝐼𝑎 ∗ 𝑅𝑎 = 40 − 150 ∗ 0.1 = 25 𝑉
25 25 𝑟𝑎𝑑
∵ 𝐸𝑎 = 𝐾∅ ∗ 𝑤 ⇒ 𝑤 = = = 6.25
𝐾∅ 4 𝑠𝑒𝑐
∴ 𝑛𝑚in = 60 𝑟. 𝑝. 𝑚, 𝑆𝑖𝑚𝑖𝑙𝑎𝑟𝑙𝑦 ∴ 𝑛𝑚𝑎𝑥 = 824 𝑟. 𝑝. 𝑚
 Example 2.3 (report)
The speed of a 25hp, 1200 rpm 200 v, separately excited dc motor is controlled
by a dc chopper in each of armature and field circuits. The field current is set
to its maximum possible value. The dc supply voltage 300 V, the armature and
field resistances are 0.1, 160  respectively and the motor voltage constant is
1.15 V/A-rad/sec. The viscous friction and no load losses are negligible. The
armature and field currents are continuous and ripple free. The motor is with
load torque equal half its rated value with a speed 1100 r.p.m. Find:
i. The developed torque
ii. The firing angle in the armature circuit
iii. If the load torque is increased by 40% find the motor speed.
iv. Suggest the suitable method to retun the motor to its previous value.
v. Is it possible to operate the motor at 1400 rpm? Explain your answer.
 Example 2.4
An electrically driven automobile is powered by a DC series motor
rated at 72 V, 200 A.
The motor resistance and inductance are respectively 0.04 Ω and 6
milli-henrys. Power is supplied via an ON/OFF controller having a
fixed frequency of 100 Hz.
When the machine is running at 2500 rev/min; the generated-e.m.f.
per field-ampere, kfs, is 0.32 V which may be taken as a mean
"constant" value over the operating range of current.
When operating at this speed and with a duty-cycle ratio δ of 3/5.
Determine:
➢ The maximum and minimum currents,
➢ The mean torque and the mean power produced by the motor,
Mechanical, battery and semi-conductor losses may be neglected.
 Solution of Example
Given:
𝑉𝑎 = 72 , 𝐼𝑎 = 200 A, 𝑅𝑡 = 0.04 Ω 𝐿𝑡 = 0.006 H 𝐹 = 100 𝐻𝑍
3
𝐸 = 𝐾𝑓𝑠 ∗ 𝑖 = 0.32 ∗ i (V) 𝛿 = = 0.6 𝑇𝑜𝑛 = 0.6 ∗ 0.01 = 0.006 𝑠
5
Known: 𝜏𝑥 . + 𝑥 + 𝐶 = 0 → → 𝑥 = −𝐶 + 𝐴 ∗ 𝑒 −𝑡/𝜏

ON Period: 𝑉𝑎 = 72 ; 𝐼𝑎 = 𝑖2 = 𝐼𝑚𝑎𝑥 OFF Period: 𝑉𝑎 = 0 ; 𝐼𝑎 = 𝑖1 = 𝐼𝑚𝑖𝑛

𝑑𝑖
Motor Equation (ON): 𝑉𝑎 = 𝐸 + 𝑅𝑡 ∗ 𝑖𝑎 +𝐿𝑡 ∗ 𝑑𝑡 →
𝑑𝑖2
→ 72 = 0.32 ∗ 𝑖2 + 0.04 ∗ 𝑖2 + 0.006 ∗
𝑑𝑡
𝑑𝑖2 𝑑𝑖2
0.006 ∗ + 0.36 ∗ 𝑖2 − 72 = 0 → → 0.0167 ∗ + 𝑖2 − 200 = 0
𝑑𝑡 𝑑𝑡
∴ 𝑖2 = 200 + 𝐴1 ∗ 𝑒 −0.006/0.0167
From Initial condition:
𝑖1 = 200 + 𝐴1 ∗ 𝑒 0/𝜏 → 𝐴1 = 𝑖1 − 200
 Example …cont.
0.006
∴ 𝑖2 = 200 + 𝑖1 − 200 ∗ 𝑒 −0.0167 = 200 + 0.698 ∗ 𝑖1 − 0.698 ∗ 200 = 60.4 + 0.698 ∗ 𝑖1
∴ 𝑖2 = 60.4 + 0.698 ∗ 𝑖1 Equ.1
𝑑𝑖 𝑑𝑖1
Motor Equation (OFF): 𝑉𝑎 = 𝐸 + 𝑅𝑡 ∗ 𝑖𝑎 +𝐿𝑡 ∗ 𝑑𝑡 → → 0 = 0.32 ∗ 𝑖1 + 0.04 ∗ 𝑖1 + 0.006 ∗
𝑑𝑡
𝑑𝑖1
0.0167 ∗ + 𝑖1 = 0
𝑑𝑡
∴ 𝑖1 = 𝐴2 ∗ 𝑒 −0.004/0.0167 From Initial condition: 𝑖2 = 𝐴2 ∗ 𝑒 0/𝜏 → → 𝑖2 = 𝐴2
0.004
∴ 𝑖1 = 𝑖2 ∗ 𝑒 −0.0167 = 0.787 ∗ 𝑖2 Equ.2
𝐸𝑞𝑢. 2 𝑖𝑛 𝐸𝑞𝑢. 1 → 𝑖2 = 60.4 + 0.698 ∗ 0.787 ∗ 𝑖2 = 60.4 + 0.549 ∗ 𝑖2
∴ 𝑖2 = 134𝐴
∴ 𝑖1 = 0.787 ∗ 𝑖2 = 105.5𝐴

𝐸 𝐾𝑓𝑠 ∗𝑖 𝐾𝑓𝑠 134+105.5

𝑇𝑜𝑟𝑞𝑢𝑒 = 𝐾∅ ∗ 𝑖 = ∗𝑖 = ∗𝑖 = ∗ 𝑖2 ; Mean current 𝑖 = = 119.75𝐴
𝑤 𝑤 𝑤 2
0.32
Mean Torque 𝑇𝑒 = 2500 ∗ 119.752 = 17.53 𝑁. 𝑚
(2∗𝜋∗ )
60
2500
Mean Power = 𝑤 ∗ 𝑇𝑒 = 2 ∗ 𝜋 ∗ ∗ 17.53 = 4.59 𝑘𝑊
60
 Starting
DC Drive system using DC Chopper
Starting by
CHOPPER-
FED D.C.
MOTOR
DRIVES
 Starting by
DC Chopper Drive
• With a suitable current detector and control scheme, acceleration
and deceleration can be conducted at some constant "mean"
current varying between two specified limits “IA and IB”.
• The ON period stops when IA is reached and starts again when the
current falls to IB. The chopping frequency is not fixed but it is
determined by the system response to this control.
• The current will continue to pulsate between these limits so that
the mean torque is then "constant" and the rate of change of speed
will be constant.
• This will continue till steady-state speed is reached.
 Starting by
CHOPPER-FED D.C. MOTOR
DRIVES
 DC Series motor Characteristics

An unloaded DC motor
drive is started from rest
by applying a sudden
100% speed demand.
DC Series Drive
How would you expect the
armature voltage and
current to vary as the
motor runs up to speed?
Electric
Braking
DC Series Motor
Regenerative
Braking

B. DC Chopper
Drives
T_off T_on

▪ Illustrate the
operation.

𝑇𝑜𝑓𝑓 𝑇 − 𝑇𝑜𝑛
𝑉𝑎𝑣𝑔 = 𝑉 ∗ =𝑉 ∗
𝑇 𝑇
= 𝑉 ∗ (1 − 𝛿)
Regenerative Braking
o In regenerative mode, the energy of the load is fed back to the supply. The
DC motor works as a generator.
o When chopper is ON, the mechanical energy is converted into electrical
energy, increases the stored magnetic energy in the armature circuit.
o When chopper is OFF, a large voltage Va = (𝐸 + V𝐿 ) appears across the
motor terminals, where Va > Vs . The energy stored in the inductance and
energy supplied by the machine is fed back to the supply.
o When the voltage of the motor fall to Vs , the diode in the line blocks the
current flow. Prevent any short circuit of the load be supplied to the source.
o Very effective braking of motor is possible up to extreme small speeds.

Energy Storage Interval

The interval 0 <t<tON is now called energy storage interval but
The interval tON ≤ t ≤ T is the duty interval.
Regenerative
Braking

▪ Wave forms
▪ Equations
▪ Note:
𝛿𝑚𝑖𝑛 = 10% → Max. speed
𝛿𝑚𝑎𝑥 = 90% → Min. speed
 Example-2.5
A two quadrant D.C. chopper is used to control the speed of a D.C. motor.
The D.C. supply voltage is 120 V. The armature resistance is 0.2 Ω and
the inductance is sufficiently large . The motor constant is 0.1 V/rpm. The chopping
frequency is 250 Hz.

For motoring mode at 400 rpm and 100A (ripple free current), determine :
i. Turn-On time of the chopper
ii. Power delivered by the motor, power absorbed by armature resistance and
power from the DC supply.

For regenerative braking mode at 350 rpm and -100A (ripple free current),
determine :

i. Turn-On time of the chopper

ii. Power delivered by the motor, power absorbed by armature resistance and
power from the DC supply.

Solution
Given:
𝑉𝑠 = 600 𝑉 𝐼𝑎 = 350 A 𝑅𝑡 = 0.08 Ω 𝐾∅ = 4.2 𝑉. 𝑆𝑒𝑐
𝛿 = 0.5
 Example-2.5 Solution
𝑉𝑠 = 120 𝑉 𝐼𝑎 = 100 A 𝑅𝑎 = 0.2 Ω 𝐾∅ = 0.1 𝑉/rpm
𝑛 = 400 𝐹𝑠 = 250 Hz

For motoring Mode:

∵ 𝐸𝑎 = 𝐾∅ ∗ 𝑛 = 0.1 ∗ 400 = 40 𝑉
𝑉𝑎 = 𝐸𝑎 + 𝐼𝑎 ∗ 𝑅𝑎 = 40 + 100 ∗ 0.2 = 60 𝑉
𝑉𝑎 60 1 1
∵𝛿= = = 0.5 , 𝑇= = = 0.004 𝑆𝑒𝑐
𝑉𝑠 120 𝐹 250
∴ 𝑇𝑜𝑛 = 𝛿 ∗ 𝑇 = 0.5 ∗ 0.004 = 0.002 𝑆𝑒𝑐
𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑚𝑜𝑡𝑜𝑟: 𝑃𝑑 = 𝐸𝑎 ∗ 𝐼𝑎 = 40 ∗ 100 = 4 𝐾𝑤
𝐴𝑏𝑠𝑜𝑟𝑏𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑅𝑎 ∶ 𝑃𝑙𝑜𝑠𝑠 = 𝐼𝑎 2 ∗ 𝑅𝑎 = 10000 ∗ 0.2 = 2 𝐾𝑤
𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑠𝑜𝑢𝑟𝑐𝑒: 𝑃𝑠 = 𝑉𝑠 ∗ 𝐼𝑠 = 𝑉𝑠 ∗ 𝛿 𝐼𝑎 = 120 ∗ 0.5 ∗ 100
= 6 𝐾𝑤
 Example-2.5 Solution
𝑉𝑠 = 120 𝑉 𝐼𝑎 = 100 A 𝑅𝑎 = 0.2 Ω 𝐾∅ = 0.1 𝑉/rpm
𝑛 = 400 𝐹𝑠 = 250 Hz

For Regenerative Mode:

∵ 𝐸𝑔 = 𝐾∅ ∗ 𝑛 = 0.1 ∗ 350 = 35 𝑉
𝐸𝑔 = 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑎 ⇒ 𝑉𝑎 = 35 − 100 ∗ 0.2 = 15 𝑉
𝑉𝑎
∵ 𝑉𝑎 = 1 − 𝛿 ∗ 𝑉𝑠 ∴𝛿 =1− = 0.875
𝑉𝑠
∴ 𝑇𝑜𝑛 = 𝛿 ∗ 𝑇 = 0.875 ∗ 0.004 = 0.0035 𝑆𝑒𝑐
𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑚𝑜𝑡𝑜𝑟: 𝑃𝑑 = 𝐸𝑎 ∗ 𝐼𝑎 = 35 ∗ −100 = −3.5 𝐾𝑤
𝐴𝑏𝑠𝑜𝑟𝑏𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑅𝑎 ∶ 𝑃𝑙𝑜𝑠𝑠 = 𝐼𝑎 2 ∗ 𝑅𝑎 = 10000 ∗ 0.2 = 2 𝐾𝑤
𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑡𝑜 𝑠𝑜𝑢𝑟𝑐𝑒: 𝑃𝑠 = 𝑉𝑠 ∗ 𝐼𝑠 = 𝑉𝑠 ∗ 1 − 𝛿 ∗ 𝐼𝑎
= 120 ∗ 1 − 0.875 ∗ −100 = −1.5 𝐾𝑤
Example-2.6
A D.C. chopper is used in a regenerative braking of a D.C. series motor.
The D.C. supply voltage is 600 V. The armature resistance is 0.03 Ω and
the field resistance is 0.05 Ω. The back e.m.f. constant of the motor is 4.2
V.sec. The average armature current is maintained constant at 350 A. The
armature current is continuous and negligible ripple. If the duty cycle of the
chopper is 50%. Determine the:
i. Average voltage across the chopper.
ii. Power regenerated to the DC supply.
iii. Equivalent load resistance of the motor acting as a generator.
iv. Minimum permissible braking speed.
v. Maximum permissible braking speed.
vi. Motor speed.
Solution
Given:
𝑉𝑠 = 600 𝑉 𝐼𝑎 = 350 A 𝑅𝑡 = 0.08 Ω 𝐾∅ = 4.2 𝑉. 𝑆𝑒𝑐
𝛿 = 0.5
Example-2.6 Solution
i. Average voltage across the chopper

𝑉𝑎 = 1 − 𝛿 ∗ 𝑉𝑠 = 0.5*600=300 V

ii. Power regenerated to the DC supply

𝑃𝑔 = 𝑉𝑎 ∗ 𝐼𝑎 = 300 ∗ 350 = 105 𝑘𝑊

iii. Equivalent load resistance of the motor acting as a generator.

𝐸𝑔 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑡 300 + 350 ∗ 0.08

𝑅𝑒𝑞 = = = = 0.937 Ω
𝐼𝑎 𝐼𝑎 350
Example-3 Solution
iv. Minimum permissible braking speed

∵ At regenerative braking, the 𝑛𝑚in be at 𝐸𝑚in at 𝑉𝑎) min

∴ 𝑛𝑚in be at 𝛿𝑚𝑎𝑥 = 90%

𝐸𝑔 = 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑡 = 1 − 0.9 ∗ 600 + 350 ∗ 0.08 = 88 𝑉

𝑛𝑚in
𝐸𝑔 = 𝐾∅ ∗ w = 𝐾∅ ∗ 2 ∗ π ∗ ∴ 𝑛𝑚in =200 rpm
60
Example-3 Solution
v. Maximum permissible braking speed

𝑛𝑚𝑎𝑥 be at 𝛿𝑚𝑖𝑛 = 10%

𝐸𝑔 = 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑡 = 1 − 0.1 ∗ 600 + 350 ∗ 0.08 = 568 𝑉

∴ 𝑛𝑚𝑎𝑥 = 1292 rpm

v. Motor speed

𝑛 be at δ = 50%

𝐸𝑔 = 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑡 = 1 − 0.5 ∗ 600 + 350 ∗ 0.08 = 328 𝑉 ∴ 𝑛 = 746 rpm

Operation
Modes
Look a head
 Operating Modes
• DC motor may be operating in one or more modes:
– Motoring,

– Regenerative braking,

– Dynamic braking,

– Plugging, and

– Four quadrants.
• Motoring:
The Back emf 𝐸𝑔 < 𝑉𝑎 .
Both armature and field currents are positive.
The motor develops torque to meet the load demand.
 Regenerative braking
• The motor acts as a generator and develops an induced voltage 𝐸𝑔 > 𝑉𝑎 .
• The armature current is negative, but the field current is positive.
• The kinetic energy of the motor is returned to the supply.
• A series motor is working as a self-excited generator.
• For self-excitation, it is necessary that the field current aids the residual
flux. This is normally accomplished by reversing the armature terminals
or the field terminals.
 Dynamic braking
• Same as regenerative braking, except Va is replaced by Rb,.
• The kinetic energy of the motor is dissipated in Rb.
 Plugging
• The armature terminals are reversed while running.
• The supply voltage Va and the induced voltage Eg act in the same
direction.
• The armature current is reversed, producing a braking torque.
• For a series motor, either the armature terminals or field terminals
should be reversed, but not both.
• The field current is positive.
 Four Quadrants

• Forward motoring (quadrant I): Va, Eg and Ia are all positive. The torque and

speed are also positive.

• Forward braking (quadrant II): the motor speed runs in the forward direction

and the induced emf Eg continues to be positive. For the torque to be

negative; the direction of energy flow to reverse, the armature current must

be negative. The supply voltage Va should be kept less than Eg.

 Four Quadrants
• In reverse motoring (quadrant III), Va, Eg, and Ia are all negative. The torque

and speed are also negative in this quadrant. To keep the torque negative and

the energy flow from the source to the motor, the back emf Eg must satisfy

the condition | Va | > | Eg |. The polarity of Eg can be reversed by changing

the direction of field current or by reversing the armature terminals.

 Four Quadrants
• During reverse braking (quadrant IV), the motor runs in the reverse

direction. Va, and Eg continue to be negative. For the torque to be positive

and the energy to flow from the motor to the source, the armature current

must be positive. The induced emf Eg must satisfy the condition | Va | < | Eg |
 Four Quadrants Summary
Quadrant Va Ia Eg Speed Torque Direction of Energy
I + &|Va|>|Eg| + + + + Consumed in Motor
II + &|Va|<|Eg| - + + - Return to supply
III - &|Va|>|Eg| - - - - Consumed in Motor
IV - &|Va|<|Eg| + - - + Return to supply
Thanks