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Electromechanical Energy Conversion

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CHAPTER # 4

DC Machines

160
4.5 Speed Control
4.5.1 Ward-Leonard Control
– Vt control : armature voltage control mode
Ifm= constant at rated
Ifg = change with Vt
– If Control : filed current control mode is used
speed above base speed.
Vt= constant at rated
Ifm = decrease (field weakening)

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4.5.2 Solid-State Control

Control Rectifiers

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Single-Phase input, assume ia is continuous
2 2Vp
Vt = cos α (4.58)
π
For semiconverter
2Vp
Vt = (1 + cos α) (4.59)
π
Three-Phase input, for a full converter
3 6Vp
Vt = cos α (4.60)
π
For semiconverter
3 6Vp
Vt = (1 + cos α) (4.61)
2π
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Basic dc machine equations:

Vt = Ea + I a Ra (4.61a)
Ea = Ka Φωm (4.61b)
T = Ka ΦI a (4.61c)

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EXAMPLE 4.11
The speed of a 10 hp, 220V, 1200 rpm separately excited
dc motor is controlled by a single-phase full converter
as shown in Fig.4.60. The rated armature current is 40A.
The armature resistance is Ra=0.25Ω and armature
inductance is La=10mH. The supply voltage is 265V.
The motor voltage constant is KaФ=0.18 V/rpm.
Assume that motor current is continuous and ripple-free.
For firing angle α =30˚ and rated motor current, determine
the
a) Speed of the motor
b) Motor torque
c) Power to the motor

(a) From (4.58) the average terminal voltage is

2 2 × 265
Vt = cos 30 = 206.6V
π
The back emf.
Ea = Vt − I a Ra
=206.6 − 40 × 0.25 = 196.6V
Hence the speed is
196.6
N = = 1092.2 rpm
0.18
(b) Ka Φ = 0.18 V/rpm
0.18 × 60
= = 1.72 V.sec./rad
2π
T = 1.72 × 40 = 68.75 N.m
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 (c) Power to the motor is

P = (ia )rms
2
+ I a Ea
Since ia is ripple free

(ia )rms = (ia )average = I a

P = I a2Ra + Ea I a
= Vt I a
= 206.6 × 40
= 8264W

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Choppers

ton
Vt = V
T
= αV
where ton = on time
T = chopping period
α = duty ratio

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 Example 4.13
The speed of the separately excited dc motor is control by a
chopper as shown in Fig.4.62a. The dc supply voltage is 120V,
the armature circuit resistance is Ra= 0.5Ω, the armature circuit
inductance is La= 20mH, and the motor constant is KaФ=0.05
V/rpm . The motor drives a constant-torque load requiring an
average armature current of 20A. Assume that motor current is
continuous.
Determine the
(a) Range of speed control
(b) Range of the duty cycle α

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Minimum speed is zero, at which Ea=0. Therefore

Vt = I a Ra = 20 × 0.5 = 10V
From (4.63)
10 = 120α
α = 1/12
Maximum speed corresponds to α=1, at which Vt=V=120.
Ea = Vt − I a Ra
= 120-(20 × 0.5)
= 110V
E 110
N = a = = 2200 rmp
Ka Φ 0.05
(a) The range of speed is 0<N<2200rpm
(b) The range of duty cycle is 1/12< α <1.
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Closed-Loop Operation

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16

167
 Permanent Magnet DC (PMSM) Motors

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Advantage of PMDC
• Copper losses in field winding is absent this increase
efficiency
• No space require for field winding
• PMDC is smaller than corresponding wound-pole
motor
Disadvantage of PMDC
• Risk to demagnetization
• The magnetic fields is always present even when
motor is not used.
• The enclosure of the motor should be carefully
designed so that no foreign matter is attracted.

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168
 Print Circuit Board (PCB) Motors

•The rotor has no iron and form of a disk of

nonconducting
•Nonmagnetic material (rotor)
•Armature winding and the commutator are
printed in copper on both side of disk
•Disk armature place between two set of
permanent magnets

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20

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Advantages
– Motor can acceleration and deceleration from 0 to
4000 rpm in 10 millisecond because its low rotor
inertia.
– The armature inductance is low because no iron in
rotor: there little arc, longer brush life and high-
speed capacity.
– Low armature time constant
– Motor has no cogging torque because the rotor is
nonmagnetic.
– Used for: applications requiring high performance
characteristics.

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