Chapter 3 - Power Electronics in Drives System - Part2

Power Electronics Converter for
Electrical Drives (ED) system
Contents:
Electrical DC Drives
Electrical AC Drives
Power Electronic Converters in ED Systems
DC DRIVES
AC-DC
400
200
+ 2Vm -200
Vo  cos  -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

over 10ms
5
 0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
500
50Hz
+ -500
3-phase 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
3VL  L ,m
Vo Vo  cos  30

20
 Average voltage
over 3.33 ms 10
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
DC DRIVES
AC-DC
2Vm

+ 2Vm
Vo  cos 

50Hz Vo 90o 180o
1-phase Average voltage
over 10ms
 2Vm


3VL  L,m

50Hz
+
3-phase
3VL  L ,m
Vo Vo  cos 
 90o 180o
 Average voltage
over 3.33 ms 3VL  L ,m


DC DRIVES
AC-DC
ia
Vt
+
3-phase Q1
supply Vt Q2
Q3 Q4 Ia

- Operation in quadrant 1 and 4 only

DC DRIVES
AC-DC
+
3-
phase 3-phase
Vt supply
supply
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
F1 R1
3-phase
supply
+ Va -
R2 F2
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
Cascade control structure with armature reversal (4-quadrant):
iD
ref + iD,ref + Firing

Speed Current
controller Controller Circuit
_
_
iD,ref
Armature
iD, reversal
DC DRIVES
AC-DC-DC
Uncontrolled control
rectifier
Switch Mode DC-DC
1-Quadrant
2-Quadrant
4-Quadrant
DC DRIVES
AC-DC-DC
control
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
D2
 T2 Va
T1 conducts  va = Vdc
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
D2
 T2 Va
D2 conducts  va = 0 T1 conducts  va = Vdc
Va Eb
Quadrant 1 The average voltage is made larger than the back emf
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
D2
 T2 Va
D1 conducts  va = Vdc
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
D2
 T2 Va
T2 conducts  va = 0 D1 conducts  va = Vdc
Va Eb
Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction
DC DRIVES
vc
2vtri
+
vA Vdc
-
+
vc
DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current

va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current Negative current

va = Vdc when D1 and D2 are ON
va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current Negative current

va = Vdc when D1 and D2 are ON
va = -Vdc when D3 and D4 are ON va = -Vdc when Q3 and Q4 are ON
va = 0 when current freewheels through Q and D va = 0 when current freewheels through Q and D
DC DRIVES
Bipolar switching scheme – output
AC-DC-DC swings between VDC and -VDC
vc
2vtri
Vdc
Vdc
+ + vA
vA vB 0
- - Vdc
vB
0
vc Vdc
+ vAB
_ -Vdc
DC DRIVES
Unipolar switching scheme – output
AC-DC-DC swings between Vdc and -Vdc
vc
Vtri
-vc
Vdc
+ + Vdc
vA vB
vA
0
- -
Vdc
vc vB
0
+
Vdc
_
vAB
0
-vc
DC DRIVES
Armature
200 current 200
150 150 Armature

Vdc 100 Vdc 100 current
50 50
0 0
-50 -50
Vdc -100 -100
-150 -150
-200 -200
0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045 0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045
Bipolar switching scheme Unipolar switching scheme
• Current ripple in unipolar is smaller

• Output frequency in unipolar is effectively doubled
AC DRIVES
AC-DC-AC
control
The common PWM technique: CB-SPWM with ZSS

SVPWM
Modeling and Control of Electrical Drives
• Control the torque, speed or position
• Cascade control structure
Example of current control in cascade control structure
* *+ T* +
+
  
position speed current
controller controller controller converter Motor
kT


1/s
Current controlled converters in DC Drives - Hysteresis-based
ia
Vdc
+
iref
−
Va

va
iref + ierr q
_ q
• High bandwidth, simple implementation,

insensitive to parameter variations
ierr
• Variable switching frequency – depending on
operating conditions
Current controlled converters in AC Drives - Hysteresis-based
i*a +
Converter
i*b +
i*c +
• For isolated neutral load, ia + ib + ic = 0

control is not totally independent 3-phase
• Instantaneous error for isolated neutral load can
AC Motor
reach double the band
iq
is
h h h h
id
• For isolated neutral load, ia + ib + ic = 0

control is not totally independent
• Instantaneous error for isolated neutral load can
reach double the band
• h = 0.3 A • Vdc = 600V
Continuous • Sinusoidal reference current, 30Hz • mH load
powergui
Scope
iaref
To Workspace1 g
+ i
A + -
DCVoltage Source B Series RLCBranchC
3urrent Measurement 3
c1 p1 -
C
i
c2 p2 + -
Universal Bridge 1
c3 p3 Series RLCBranchCurrent
1 Measurement 1
ina p4 i
+ -
Sine Wave
inb p5 Series RLCBranchCurrent
2 Measurement 2
inc p6
Subsystem
Sine Wave 1
Sine Wave 2
Actual and reference currents Current error
0.5
10
0.4
0.3
5
0.2
10
0.1
0 0
9
-0.1
-0.2
-5 8
-0.3
7 -0.4
-10
-0.5
0.005 0.01 6
0.015 0.02 0.025 0.03
-0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2 0.3 0.4 0.5
4 6 8 10 12 14 16
-3
x 10
Actual current locus Current error

10 0.5
5
0 0.6A
-0.5
0
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
-5
0.5
-10
-10 -5 0 5 10 0 0.6A
-0.5
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
0.5
0 0.6A
-0.5
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
Current controlled converters in DC Drives - PI-based
Vdc
iref + vc vPulse
tri width
PI modulator

i*a +
PI PWM
Converter
i*b +
PI PWM
i*c + PWM
PI
• Sinusoidal PWM
Motor
• Interactions between phases  only require 2 controllers
• Tracking error
• Perform the 3-phase to 2-phase transformation

- only two controllers (instead of 3) are used
• Perform the control in synchronous frame

- the current will appear as DC
• Interactions between phases  only require 2 controllers

• Tracking error
Current controlled converters in AC Drives - PI-based
i*a +
PI PWM
Converter
i*b +
PI PWM
i*c + PWM
PI
Motor
i*a
PI
SVM Converter
i*b
3-2 2-3
PI
i*c
3-2
Motor
v a*
id *
+ PI
controller v b*
 SVM
id dqabc or SPWM
VSI IM
i q* +
PI vc *
 iq controller
s
Synch speed
s
estimator
abcdq
Stationary - ia Stationary - id
4 4
2 3
0 2
-2 1
-4 0
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
4 Rotating - ia 4 Rotating - id
2 3
0 2
-2 1
-4 0
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
Modeling of the Power Converters: DC drives with Controlled rectifier
+
vc firing  controlled
circuit rectifier Va
?
vc(s) va(s)
DC motor
The relation between vc and va is determined by the firing circuit
It is desirable to have a linear relation between v c and va

Cosine-wave crossing control
Vm
Input voltage
0  2 3 4
vc vs
Cosine wave compared with vc
Results of comparison trigger SCRs
Output voltage
Cosine-wave crossing control
Vscos(t) Vscos() = vc
Vm
v 
0  2 3 4   cos 1  c 
 vs 
vc vs
2Vm

Va  cos 

2Vm v c
Va 
 vs
2Vm  1  v c  
Va  cos cos   
   vs 

A linear relation between vc and Va

Va is the average voltage over one period of the waveform

- sampled data system
Delays depending on when the control signal changes – normally taken

as half of sampling period
Va is the average voltage over one period of the waveform

- sampled data system
Delays depending on when the control signal changes – normally taken

as half of sampling period
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 bandwidth is reduced to much lower than the

sampling frequency
+
vc 
iref current firing controlled
controller rectifier Va
circuit
–
• To control the current – current-controlled converter

• Torque can be controlled
• Only operates in Q1 and Q4 (single converter topology)
• Input 3-phase, 240V, 50Hz • Closed loop current control

with PI controller
Scope3
+
- v Continuous
Voltage Measurement4
+ i powergui
- Scope2
AC Voltage Source Current Measurement 1 Step
s
AC Voltage Source1 +
g -
+ v
A Controlled Voltage Source
Series RLC Branch
AC Voltage Source2 B To Workspace
+ - i
- v C - + ia
Voltage Measurement2 Universal Bridge Current Measurement To Workspace1
+ +
- v - v
alpha_deg
Voltage Measurement Voltage Measurement3
AB Mux Scope
BC pulses
+ CA
- v
Block
Voltage Measurement1
Synchronized Mux
6-Pulse Generator
Scope1 ir
To Workspace2
PID acos -K-

Signal
PID Controller Saturation
1
Generator
Constant 1
• Input 3-phase, 240V, 50Hz • Closed loop current control

with PI controller
1000
1000
500
500
0 0
Voltage
-500 -500
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.22 0.23 0.24 0.25 0.26 0.27 0.28
15 15
10
10
5
Current
5
0
0.22 0.23 0.24 0.25 0.26 0.27 0.28
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Modeling of the Power Converters: DC drives with SM Converters
Vdc
Switching signals obtained by comparing
control signal with triangular wave +
Va
vtri
q
vc
We want to establish a relation between vc and Va
AVERAGE voltage
vc(s) Va(s)
? DC motor
Ttri
1 Vc > Vtri
q
vc
0 Vc < Vtri
1 t  Ttri
d
Ttri t
q dt
1
t on

0 Ttri
ton
Vdc
1 dTtri
Va 
Ttri 
0
Vdc dt  dVdc
0
d
0.5
vc
-Vtri
Vtri
-Vtri vc
For vc = -Vtri  d = 0
d
0.5
vc
-Vtri -Vtri
Vtri
vc
Vtri
For vc = 0  d = 0.5
For vc = Vtri  d=1
d
0.5
vc
-Vtri -Vtri
Vtri vc
1
d  0.5  vc
2Vtri
Vtri
For vc = 0  d = 0.5
For vc = Vtri  d=1
Thus relation between vc and Va is obtained as:
Vdc
Va  0.5Vdc  vc
2Vtri
Introducing perturbation in vc and Va and separating DC and AC components:
Vdc
DC: Va  0.5Vdc  vc
2Vtri
~ Vdc ~
AC: va  vc
2Vtri
Taking Laplace Transform on the AC, the transfer function is obtained as:
v a ( s) Vdc

v c ( s) 2Vtri
vc(s) Vdc va(s)

DC motor
2Vtri
Bipolar switching scheme
Vdc
vc
2vtri
-Vdc
q
vtri
+
Vdc
Vdc vA
+ VAB 
0
vc −
Vdc
vB
0
q
Vdc
vAB
v v
d A  0.5  c dB  1  d A  0.5  c -Vdc
2Vtri 2Vtri
Vdc Vdc Vdc

VA  0.5Vdc  vc VB  0.5Vdc  vc VA  VB  VAB  vc
2Vtri 2Vtri Vtri
Bipolar switching scheme
v a ( s) Vdc

v c ( s) Vtri
vc(s) Vdc va(s)

DC motor
Vtri
Vdc
Unipolar switching scheme vc
Leg b
Vtri
+ -vc
vtri Vdc
qa
vc −
vA
Leg a
vtri
-vc qb vB
vc  vc vAB
d A  0.5  dB  0.5 
2Vtri 2Vtri
Vdc Vdc Vdc

VA  0.5Vdc  vc VB  0.5Vdc  vc VA  VB  VAB  vc
2Vtri 2Vtri Vtri
The same average value we’ve seen for bipolar !

Unipolar switching scheme
v a ( s) Vdc

v c ( s) Vtri
vc(s) Vdc va(s)

DC motor
Vtri
DC motor – separately excited or permanent magnet
di a d m
v t  ia R a  L a  ea Te  Tl  J
dt dt
T e = k t ia ee = kt 
Extract the dc and ac components by introducing small
perturbations in Vt, ia, ea, Te, TL and m
ac components dc components
~
~ d i
v t  ia R a  L a a  ~
~ ea Vt  Ia R a  E a
dt
~ ~
Te  k E ( ia ) Te  k E I a
~ ~)
e e  k E ( Ee  k E
~ ~ ~)
d(
~
Te  TL  B  J
Te  TL  B()
dt

Perform Laplace Transformation on ac components
~
~ d i
v t  ia R a  L a a  ~
~ ea Vt(s) = Ia(s)Ra + LasIa + Ea(s)
dt
~ ~ Te(s) = kEIa(s)
Te  k E ( ia )
~ ~)
e e  k E ( Ea(s) = kE(s)
~ ~ ~)
d(
~
Te  TL  B  J Te(s) = TL(s) + B(s) + sJ(s)
dt
Tl (s )
-
Va (s ) Ia (s ) Te (s ) (s )
1 1
kT
+ R a  sL a +
B  sJ
-
kE
q
vtri
Torque
controller +
Tc +
Vdc
–
−
q kt
DC motor
Tl (s )
Converter
Te (s ) Torque Vdc Va (s ) 1 Ia (s ) Te (s ) -
1 (s )
kT
+ controller + R a  sL a + B  sJ
Vtri,peak
- -
kE
Closed-loop speed control – an example

Design procedure in cascade control structure
• Inner loop (current or torque loop) the fastest –

largest bandwidth
• The outer most loop (position loop) the slowest –

smallest bandwidth
• Design starts from torque loop proceed towards

outer loops

OBJECTIVES:
• Fast response – large bandwidth
• Minimum overshoot
good phase margin (>65o) BODE PLOTS
• Zero steady state error – very large DC gain
METHOD
• Obtain linear small signal model
• Design controllers based on linear small signal model
• Perform large signal simulation for controllers verification

Ra = 2  La = 5.2 mH
B = 1 x10–4 kg.m2/sec J = 152 x 10–6 kg.m2
ke = 0.1 V/(rad/s) kt = 0.1 Nm/A
Vd = 60 V Vtri = 5 V
fs = 33 kHz
• PI controllers • Switching signals from comparison

of vc and triangular waveform
Torque controller design

Open-loop gain
Bode Diagram
From: Input Point To: Output Point
150
kpT= 90
100
compensated
Magnitude (dB)
50 kiT= 18000
-50
90
45
Phase (deg)
compensated
-45
-90
-2 -1 0 1 2 3 4 5
10 10 10 10 10 10 10 10
Frequency (rad/sec)
Speed controller design
* + Speed T* T
1 1 
controller
– B  sJ
Torque loop
Speed controller design

Open-loop gain
Bode Diagram
From: Input Point To: Output Point
150
kps= 0.2
100
Magnitude (dB)
50
kis= 0.14
compensated
0
-50
0
-45
Phase (deg)
-90
-135 compensated
-180
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (Hz)
Large Signal Simulation results
40
20
Speed 0
-20
-40
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
-1
-2
Torque 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Modeling of the Power Converters: IM drives
INDUCTION MOTOR DRIVES
Scalar Control Vector Control
Const. V/Hz is=f(r) FOC DTC
Rotor Flux Stator Flux Circular Hexagon DTC

Flux Flux SVM
Control of induction machine based on steady-state model (per phase SS

equivalent circuit):
Is Lls Llr’
Rs Ir’
+
+
Lm
Vs Eag Rr’/s
– –
Im
Te
Pull out
Torque Intersection point
(Tmax) (Te=TL) determines the
Te
steady –state speed
Trated TL
sm   r
s rated rotor s
Given a load T– characteristic, the steady-state speed can be

changed by altering the T– of the motor:
Variable voltage (amplitude), variable

Pole changing
Synchronous speed change with no. frequency (Constant V/Hz)
Using power electronics converter
of poles
Discrete step change in speed Operated at low slip frequency
Variable voltage (amplitude), frequency

fixed
E.g. using transformer or triac
Slip becomes high as voltage reduced –
low efficiency
Variable voltage, fixed frequency

600
e.g. 3–phase squirrel cage IM
V = 460 V Rs= 0.25 
500
Rr=0.2  Lr = Ls =
0.5/(2*pi*50)
400
Lm=30/(2*pi*50)
Torque
300 f = 50Hz p=4
200 Lower speed  slip

higher
100
Low efficiency at low
speed
0
0 20 40 60 80 100 120 140 160
w (rad/s)
Constant V/Hz
To maintain V/Hz constant

Approximates constant air-gap flux when Eag is large
+ +
V Eag Eag = k f ag
_ _
E ag V
ag = constant  
f f
Speed is adjusted by varying f - maintaining V/f constant to avoid

flux saturation
Constant V/Hz
900
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160
Constant V/Hz
Vs
Vrated
frated f
Constant V/Hz
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
+ V Width
s* Modulator
Constant V/Hz
In1Out1
Subsystem
isd
Va
isq
Out1 ird
speed
0.41147 In1 Out2 Vb Vd
Scope
Step Slider Rate Limiter irq
Out3 Vq
Gain1
Vc
Constant V /Hz Te
Induction Machine speed
To Workspace1
torque
To Workspace
Simulink blocks for Constant V/Hz Control

Constant V/Hz
200
100
Speed
0
-100
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
400
200
0
Torque
-200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
200
100
0 Stator phase current
-100
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
1
Problems with open-loop constant V/f
At low speed, voltage drop across stator impedance is significant

compared to airgap voltage - poor torque capability at low speed
Solution:
1. Boost voltage at low speed
2. Maintain Im constant – constant ag
700
600 50Hz
500 A low speed, flux falls below

the rated value
400
30Hz
Torque
300
10Hz
200
100
0
0 20 40 60 80 100 120 140 160
With compensation (Is,ratedRs)

700
• Torque deteriorate at low

600 frequency – hence
compensation commonly
500
performed at low
frequency
400
Torque
• In order to truly
300
compensate need to
measure stator current –
200
seldom performed
100
0
0 20 40 60 80 100 120 140 160
With voltage boost at low frequency
Vrated
Linear offset
Non-linear offset – varies with Is

Boost
frated
2
Problems with open-loop constant V/f
Poor speed regulation
Solution:
1. Compesate slip
2. Closed-loop control
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
+ Width
s* + V
Modulator
+ +
Vboost
Slip speed
calculator
Vdc Idc
A better solution : maintain ag constant. How?
ag, constant → Eag/f , constant → Im, constant (rated)
Controlled to maintain Im at rated

Is Lls
Rs Llr’ I r’
+ +
Lm Eag Rr’/s
Vs
maintain at rated
– Im –
Constant air-gap flux

900
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160

Rr
j L lr    
Im  s Is jslip  r Tr  1
R
j (L lr  L m )  r  1  r 
s Is  Im ,
jslip Tr  1
Rr
j L r 
Im  s Is
   R • Current is controlled using current-
j  r L r  r controlled VSI
 1  r  s
• Dependent on rotor parameters –

jslip Tr  1 sensitive to parameter variation
Im  Is ,
  
jslip  r Tr  1
 1  r 
3-phase VSI
Rectifier
supply
C IM
Current
controller
+ slip |Is|
* PI
-
+
s
r
+
THANK YOU

Chapter 3 - Power Electronics in Drives System - Part2

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Chapter 3 - Power Electronics in Drives System - Part2

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Power Electronics Converter for

Electrical Drives (ED) system

1-phase Average voltage

- Operation in quadrant 1 and 4 only

ref + iD,ref + Firing

D2 conducts  va = 0 T1 conducts  va = Vdc

T2 conducts  va = 0 D1 conducts  va = Vdc

va = Vdc when Q1 and Q2 are ON

Positive current Negative current

Positive current Negative current

150 150 Armature

Vdc -100 -100

Bipolar switching scheme Unipolar switching scheme

• Current ripple in unipolar is smaller

The common PWM technique: CB-SPWM with ZSS

• Control the torque, speed or position

• Cascade control structure

Example of current control in cascade control structure

• High bandwidth, simple implementation,

• For isolated neutral load, ia + ib + ic = 0

• For isolated neutral load, ia + ib + ic = 0

Actual and reference currents Current error

Actual current locus Current error

• Perform the 3-phase to 2-phase transformation

• Perform the control in synchronous frame

• Interactions between phases  only require 2 controllers

The relation between vc and va is determined by the firing circuit

It is desirable to have a linear relation between v c and va

Results of comparison trigger SCRs

A linear relation between vc and Va

Va is the average voltage over one period of the waveform

Delays depending on when the control signal changes – normally taken

Va is the average voltage over one period of the waveform

Delays depending on when the control signal changes – normally taken

Single phase, 50Hz

Three phase, 50Hz

Simplified if control bandwidth is reduced to much lower than the

• To control the current – current-controlled converter

• Input 3-phase, 240V, 50Hz • Closed loop current control

PID acos -K-

• Input 3-phase, 240V, 50Hz • Closed loop current control

We want to establish a relation between vc and Va

Introducing perturbation in vc and Va and separating DC and AC components:

vc(s) Vdc va(s)

Vdc Vdc Vdc

vc(s) Vdc va(s)

Vdc Vdc Vdc

The same average value we’ve seen for bipolar !

vc(s) Vdc va(s)

DC motor – separately excited or permanent magnet

DC motor – separately excited or permanent magnet

DC motor – separately excited or permanent magnet

Closed-loop speed control – an example

• Inner loop (current or torque loop) the fastest –

• The outer most loop (position loop) the slowest –

• Design starts from torque loop proceed towards

Closed-loop speed control – an example

• Design controllers based on linear small signal model

• Perform large signal simulation for controllers verification

Closed-loop speed control – an example

B = 1 x10–4 kg.m2/sec J = 152 x 10–6 kg.m2

ke = 0.1 V/(rad/s) kt = 0.1 Nm/A