PART - A UNIT - 1 AN INTRODUCTION TO & ITS DYNAMICS: Electrical drives. Advantages of electrical drives.

Parts of electrical drives, choice of electrical drives, status of dc and ac drives, Dynamics of electrical drives, Fundamental torque equation, speed torque conventions and multiquadrant operation. Equivalent values of drive parameters, components of low torques, nature and classification of load torques, calculation of time and energy loss in transient operations, steady state stability, load equalization. 9 Hours UNIT - 2 SELECTION OF MOTOR POWER RATING: Thermal model of motor for heating and cooling, Classes of motor duty, determination of motor rating. 5 Hours UNIT - 3 & 4 D C MOTOR DRIVES: (a) Starting braking, transient analysis, single phase fully controlled rectifier, control of dc separately excited motor, Single-phase half controlled rectifier control of dc separately excited motor. (b) Three phase fully controlled rectifier control of dc separately excited motor, three phase half controlled controlled rectifier control of dc separately excited motor, multiquadrant operation of dc separately excited motor fed form fully controlled rectifier. Rectifier control of dc series motor, chopper controlled dc drives, chopper chopper control of separately excited dc motor. Chopper control of series motor. 12 Hours

ID & A

PART - B UNIT - 5 & 6 INDUCTION MOTOR DRIVES: (a) Operation with unbalanced source voltage and single phasing, operation with unbalanced rotor impedances, analysis of induction motor fed from non-sinusoidal voltage supply, starting braking, transient analysis. (b) Stator voltage control variable voltage frequency control from voltage sources , voltage source inverter control, closed loop control, current source inverter control, current regulated voltage source inverter control, rotor resistance control, slip power recovery, speed control of single phase induction motors. 12 Hours UNIT - 7 SYNCHRONOUS MOTOR DRIVES: Operation form faced frequency supply, synchronous motor variable speed drives, variable frequency control of multiple synchronous motors. Self-controlled synchronous motor drive employing load commutated thruster inverter. 10 Hours
UNIT - 8 INDUSTRIAL DRIVES: Rolling mill drives, cement mill drives, paper mill dries and textile mill drives. 4 Hours

 Duty cycle is a repetitive load pattern over a given period of time which is expressed as the ratio of on-time to cycle period.

Short time duty In short time duty ,time of motor operation is considerably less than the heating time constant and motor cool down to the ambient temperature before it is required to operate again I f motor with continuous duty power loaded to short time duty then motor temperature rise will be far below maximum permissible temperature

Practise problem Half hour rating of a motor is 100kw .heating time constant is 80 min and the maximum efficiency occurs at 70% full load ,determine the continuous rating of the motor.

Regenerating braking

Dynamic braking
In dynamic braking connection, motor armature is disconnected from supply and connected across a resistance RB. The generated energy is dissipated in RB and RA .braking connection for separately excited motor is shown in fig

Basic equation of motor -----1 -----2 -----3

From above equation ,we can write

In case of shunt and separately excited motor field flux is constant hence

From above equation speed torque characteristic can be obtained for separately excited motor

Separately excited motor

 In the case of a series machine the excitation current becomes zero as soon as the armature is disconnected from the mains and hence the induced emf also vanishes. In order to achieve dynamic braking the series field connection either reversed so that field assist residual magnetism or isolated & connected to a low voltage high current source to provide the field.

 Speed torque characteristic and transition from motoring from generating for series motor is shown in fig 2

Fig 2

 The series motor 220V,220A is operated under dynamic braking at twice the rated torque and 800 rpm .calculate the value of braking current and resistor .Assume linear magnetic circuit. RA=0.1

For dc series motor torque is proportional to the square of the current,T1 during motoring mode and T2 torque during braking mode,E1 EMF induced during motoring, E2 EMF during braking

Plugging For plugging supply voltage of separately excited motor is reversed so that it assists the back emf in forcing armature current in reverse direction.

 For plugging series motor

Plugging The induced armature voltage E and supply voltage V aid each other and a large reverse current flows through the armature. This produces a large negative torque or braking torque. The machine instantly comes to rest. If the motor is not switched off at this instant the direction of rotation reverses and the motor starts rotating the reverse direction. This type of braking therefore has two modes viz. 1) plug to reverse and 2) plug to stop.

Plugging
If we need the plugging only for bringing the speed to zero, then we have to disconnect the supply at zero speed by some mechanism otherwise it plugs to reverse mode. Plugging is a convenient mode for quick reversal of direction of rotation in reversible drives. During plugging also it is necessary to limit the current and thus the torque, to reduce the stress on the mechanical system and the commutator. This is done by adding additional resistance in series with the armature during plugging

For plugging series motor

Four-Quadrant Operation

ECE 442 Power Electronics

30

METHODS OF ARMATURE VOLTAGE CONTROL Variable armature voltage for speed control, starting, reversing and braking of dc motors can be obtained by: Ward Leonard schemes Transformer with taps Static ward Leonard scheme Chopper control When the supply is ac, Ward Leonard schemes, transformer with taps and static Ward Leonard scheme can be used. When the supply is dc, chopper control is used.

WARD LEONARD DRIVE

It consist of a separately excited generator feeding the dc motor to be controlled The generator is driven at a constant speed by an ac motor connected to 50 Hz ac mains. The driving motor may be induction or synchronous motor. When the source of power is not electrical, generator is driven by a non electrical prime mover such as diesel or gas turbine. Motor terminal voltage is controlled by adjusting the field current of the generator. When field winding voltage varied smoothly in either direction motor speed can be varied from full positive and full negative . Advantages: It inherent regenerative braking which allows efficient four quadrant operation Can be employed for power factor improvement by using a synchronous motor

TRANSFORMER AND UNCONTROLLED RECTIFIER CONTROL

Variable voltage for the dc motor can also be obtained by either using an autotransformer or a transformer with tapping (either on primary or on secondary) followed by an uncontrolled rectifier. A reactor is connected in the armature circuit to improve armature current waveform. Autotransformer can be used for low power rating. For high applications, a transformer with tapping is employed and tap changing is done with the help of an on load tap changer to avoid severe voltage transient produced due to interruption of current in open circuit transition. The scheme is employed in 25kV single phase 50 Hz ac traction. The important feature of this scheme is: Output voltage can be changed only in steps Rectifier output voltage waveform does not change as the output is reduced.

Armature voltage control using a transformer with taps and an uncontrolled rectifier

STATIC WARD LEONARD DRIVE Also known as controlled rectifier fed dc drive. Are used to get variable dc voltage from an ac source of fixed voltage. For low power applications (up to around 10kW) single phase rectifier drives are employed. For high power applications, three phase rectifier drives are used

Single phase and three phase controlled rectifier circuits

Single phase fully controlled rectifier of separately excited motor

 The input ac voltage vs = vm sint Thyristors T1 and T2 are given gate pulse from to and T3 and T4 are given gate pulse from + to 2. When armature current does not flow continuously ,the motor is said to operate in discontinuous mode. When armature current flows continuously ,the motor is said to operate in continuous mode

Discontinuous conduction mode

T1 & T2 turn on at t= . Motor gets connected to the source and its terminal voltage is equal to vs . The current falls to zero after t= at .Motor terminal voltage becomes equal to induced voltage E of the motor. When T3 and T4 are fired at + ,next cycle of motor terminal voltage starts.

Discontinuous conduction mode of operation

 In a cycle of motor terminal voltage ,drive operate in two intervals 1) when motor connected to source and va=vs, t 2) Zero current interval (t+)when ia=0, va=0, Drive operation is described by equation Va= Raia +La dia/dt +E = vm sint -------1 Va= E and ia = 0 ------------- 2

Discontinuous conduction mode

 Solution of Eq1 and Eq2 has two components one due to ac source (Vm /Z )sin(t ) and other due to back emf (-E/Ra) .Each of these components has in turn a transient component. Let these be represented by a K1e-t/a , a=La/Ra Ia(t)= Vm /Z *sin(t ) -E/Ra + K1e-t/a ------3
z= Ra2+ La2 , tan-1 =La/Ra

Constant K1 can be evaluated from initial condition Ia()= 0

Voltage equation

Va = E + IaRa
+

Va =1/* [ vm sint d(t) +

E d(t)]

------ 4

 On solving eq 4,we get,

Va = 1/*[Vm( cos cos)+(+)E]

T= Kia and E= km
m = [Vm( cos cos)/ k(-)]-[Ra*T/k2 (-)]
Critical speed which separate continuous and discontinuous conduction can be calculated by substituting = + in above equation.

continuous conduction mode

T3 and T4 are in conduction just before . Application of gate pulses turns on T1 and T2 at .

Conduction of T1 and T2 ,reverse biases T3 and T4 and turns them off. Cycle is completed when T3 and T4 turns at + ,causing turn off of T1 and T2

continuous conduction mode of operation

 Va = 1/ * [

vm sint d(t)]

Va = 2vm / cos

m= 2vm /k cos T*( Ra/k2)

Single phase half controlled rectifier control of DC separately excited motor

A single phase rectifier consist of two diodes and two thyristors.

CONTINUOUS CONDUCTION MODE

In cycle of source voltage cycle T1 receive the gate pulse from to and T2 from (+ ) to 2 Motor terminal voltage and current for continuous modes are shown in figure

CONTINUOUS CONDUCTION MODE During the positive half cycle ,the motor is connected to the supply voltage through thyristor T1 (Triggered) and diode D1. The motor terminal voltage is of same wave shape as the ac source Beyond period ,Vs tends to reverse Is. Diode D2 gets forward biased hence armature current free wheels. Motor terminal voltage becomes zero.

CONTINUOUS CONDUCTION MODE

DISCONTINUOUS CONDUCTION MODE

During the positive cycle period t , T1 and Diode D1 conduct and the armature current starts flowing . Beyond t = ,the armature current decay to zero at t = , before the thyristor T2 is triggered at t = +. Therefore the armature current is discontinuous and average output voltage is zero. In the interval t + , output voltage is E.

Discontinuous conduction mode