ELEC 482 Module # 5 Outline TOPIC: DC Chopper Drives

Key educational goals: Evaluate and identify the different types of dc choppers (dc-dc converter) configurations to drive a separately excited dc motor. Reading/Preparatory activities for class i) Textbook: Chapter 5: DC motor control using a dc chopper. 5.1. Basic equations of a dc motor 5.2 DC chopper drives ii) Power-point file: DC_chopper_drives. Questions to guide your reading and think about ahead of time. 1. What are the two main conduction modes in a class A chopper? 2. How does the critical duty ratio (cycle) determine the conduction mode of a class A chopper? 3. What is a class B (two quadrant) chopper? 4. What is a four quadrant chopper?

ELEC 482 Module # 5 Outline TOPIC: DC Chopper Drives

The main concepts for today 1. Evaluate how minimum and maximum currents are determined in continuous and discontinuous conduction mode of a class A chopper. 2. Identify the parameters that control the critical duty ratio (cycle). 3. Analyze how to compute the efficiency of a class A chopper drive. 4. Contrast the working of the class A, class B and the four quadrant chopper drives.

Summary The knowledge gained from this module helps in analyzing and designing choppers (dc-dc converters) for separately excited dc machines. For next time We will discuss in the next module how to control the separately excited dc motor using single phase and three phase line commutated converters supplied from the standard utility AC supply. Then we will compare their performance with the dc chopper controlled drives.

ELEC 482 Module # 5 Outline TOPIC: DC Chopper Drives

Sample test/exam questions/problems to help you study 1) A separately excited dc motor has armature resistance of 0.2 , and armature inductance of 1 mH. The switching time period of the chopper is 3 ms with TON = 1 ms. If the back emf is 10 V and the supply voltage is 100 V, find the following: (i) Average load voltage (ii) Average load current (iii) Maximum value of load current (iv) Minimum value of load current (v) The drive efficiency

2) A separately excited dc motor has armature resistance of 0.2 , and armature inductance of 1 mH. The switching time period of the chopper is 3 ms with TON = 2 ms. If the back emf is 85 V and the supply voltage is 100 V, find the following: (vi) Average load voltage (vii) Average load current (viii) Maximum value of load current (ix) Minimum value of load current (x) The drive efficiency

Chopper Drives
Continuous conduction mode (CCM) in a class A chopper

Boundary between the continuous conduction mode (CCM) and discontinuous conduction mode (DCM) in a Class A chopper Discontinuous conduction mode (DCM) in a class A chopper Numerical examples on CCM and DCM in a class A chopper Class B Chopper ( Multiquadrant or 2 quadrant chopper) forward motoring, regeneration/braking.

Class B Chopper (Alternative configuration) forward motoring, regeneration/braking.

Four quadrant chopper.

Chopper (DC-DC converter) driven dc drives

is
DC

iD
D

iL

Vs

vL

Ra La

e - b

DC

}=

Class A chopper drive

Continuous conduction mode (CCM)

is
DC

iD
D

iL

Vs

vL -

Ra La

DC

eb

}=

vL(t)

Vs
TON

T = TON+TOFF
TOFF

iL(t) Imin t=0

Imax

CCM implies that iL does not go to zero

Definitions
d = duty cycle; =

fc = chopping frequency = 1/T ( ) = ( ) =

0 1

0 = =

(1)

2 0 1

0 1

2 =

(2)

Ripple factor: . . =
2 2 ( ) ( )

( )

(3)

Substituting equations (1) and (2) in (3), . . =

1

(4)

Smaller the value of d larger is the ripple factor.

Harmonics in load voltage

= ( ) + = =
1 1 2 0 2 0 =1

( + ())
2 0 2 0
= (2 )

(5)

= =

(6) (7)

= 1 (2 )

RMS value of the fundamental ( = 1)switching component = 1( ) =

2 + 2 1 1

(8)

Example 1
Question: = 100 , = 1ms, = 2.5 ms. Calculate ( ) , ( ) , 1( ) , ripple factor RF. Solution: = 1 = 0.4. = 2.5

( ) = = 100 0.4 = 40V. ( ) = = 100 0.4 = 63.25 V . R. F. = 1 = 1 =

1

=
100

10.4 0.4

= 1.225.

(2 ) =

sin 0.8 = 18.71V.

100 1 cos(0.8) = 57.58V. 1 (2 ) =

2 + 2 1 1

Also 1( ) =

18.712 +57.58 2 2

= 42.81 V.

Example 2
Question: A separately excited dc motor with = 0.3 , = 15 mH is controlled by a chopper over a speed range of 0-2000 rpm. The dc supply voltage is 220V. = constant and requires an ( ) = 25A. Calculate the range of if = 0.96 rad . Solution: At = 0; = ( ) = =
7.5 220 N 60 V s

2 = 0V;

+ =25 0.3 + 0 =7.5 V.

= 0.034.
2000 60

At = 2000; = ( ) = =
208.56 220

2 0.96 = 201.06V.

+ = 7.5+201.06 = 208.56 V.

= 0.948.

0.034 0.948.

Continuous Conduction Mode (CCM)

is
DC

iD
D

iL

Vs

vL

Ra La

e - b
vL(t)

DC

}=
t t

Vs
TON TOFF

iL(t) Imin t=0

Imax

CCM(When S is ON, D is OFF)

= +

+ ; [Ignoring speed ripple, = ]

Taking Laplace transformation () = () + 0 + or

= () + +
( ) +

or =

Solving for current by taking inverse Laplace transform =

. 1 +

where = =Armature time constant.

Maximum value of current can be obtained by substituting = = in the above equation. =

. 1

(9)

CCM(When S is OFF, D is ON)

In this case, = 0 since the freewheeling diode is conducting. Shifting the origin of time axis to = = the initial value of current is instead of . Therefore, the final expression for current can be written as =

. 1 +

Minimum value of current can be obtained by substituting = = (1 ) in the above equation. =

. 1

(1 )

(1 )

(10)

Solving the two simultaneous equations (9) and (10) the expressions for and can be obtained. = =

. .

1 1 1

(11) (12)

Boundary between CCM and DCM

is
DC

iD
D

iL

Vs

vL

Ra La

e - b
vL (t)

DC

}=
t t

Vs
TON TOFF Imax

iL (t)

t=0

Imin = 0

Boundary between CCM and DCM(2)

At the boundary is zero. Equating to zero in (12) and replacing d with d' (critical duty ratio),

1 1 1

= 0

= ln

+1

(13)

Using equation (13) the critical duty ratio can be evaluated. This is because From (12) = ln

+ + 1 (14)

> 0, for the converter to be in CCM > . Thus for a given chopper frequency or a given time period and a given d > d' implies CCM and d < d' implies DCM.

Variation of Eb/Vs versus d

Eb Vs 1.0
No conduction zone DCM Boundary between CCM and DCM for a particular T/ ratio T 0

Decreasing T
CCM

0.5

1.0

d'

Example 1
Eb Vs 1.0
No conduction zone DCM Boundary between CCM and DCM for a particular T/ ratio T 0

Decreasing T
CCM

0.5

1.0

d'

Prove in relation to the above figure that d' Eb /Vs as T/ 0.

Discontinuous Conduction Mode (DCM):

is
DC

iD
D

iL

Vs

vL

Ra La

e - b
vL (t)

DC

}=
t t

Vs
TON Imax

Eb
TOFF

tx

iL (t)

t' =0

tx Imin = 0

DCM(When S is ON, D is OFF)

vL (t)

Vs
TON Imax

Eb
TOFF

tx

iL (t)

t' =0

tx Imin = 0

From CCM (equation(11)), =

. 1

In DCM, equals zero. Therefore, =

. 1

DCM(When S is OFF, D is ON)

vL (t)

Vs
TON Imax

Eb
TOFF

tx

iL (t)

t' =0

tx Imin = 0

Let the new time origin be = . =

. 1

Let be the instant at which current becomes zero. Therefore, with respect to new time reference the instant at which current becomes zero is given as ( ). Substituting the value of time in the expression for current, 0=

. 1

( )

( )

DCM(When S is OFF, D is ON)(2)

vL (t)

Vs
TON Imax

Eb
TOFF

tx

iL (t)

t' =0

tx Imin = 0

Substituting the value of in the above expression, the instant at which current becomes zero can be solved for. = 1 + Or =

1+

(textbook expression)

Example 2(CCM)
Problem: A separately excited dc motor has armature resistance of 0.2 , and armature inductance of 1 mH. The switching time period of the chopper is 3 ms with TON = 1 ms. If the back emf is 10 V and the supply voltage is 100 V, find the following: (i) (ii) (iii) (iv) (v) Average load voltage Average load current Maximum value of load current Minimum value of load current The drive efficiency

Example 2 (CCM) (2)

Solution:
Check first for the mode of operation:
The operating duty ratio of the chopper is = = =

= 0.333

0.001 0.2

= 0.005 s

The critical duty ratio d' is obtained using the following relation = ln

+ 1 = 0.003 ln

0.005

0.003 0.005

10 100

+1

or d' = 0.132 Since d > d' , the drive is in CCM. Average load voltage = = 100 0.333 = 33.3 V Average load current

33.310 0.2

= 116.5

Example 2 (CCM) (2)

Maximum value of load current is given by =

or =

100 0.2

0.333 0.003 0.005 0.003 1 0.005

10 0.2

= 500

0.18111 0.4512

50 = 150.70A.

Minimum value of load current is given by =

or =

100 0.2

1 0.333 0.003 0.005 1 0.003 0.005 1

10 0.2

= 500

0.22116 0.8221

50 = 84.51 A.

Example 2 (CCM) (3)

Drive efficiency =

. .

[Neglecting mechanical losses]

The average value of switch current has to be computed. The switch current waveform is given below.
is

Imax

Imin TON T

The average value can be calculated using

or or Or

( ) . 1 0

0.2

0.2

0.001 0.005

0.001 0.005

100 10 0.001 0.003

100 10 0.005 0.003

1 0.003 0.005

84.65

1 A

= 150 136 + 25.57 = 39.57 A

Example 2 (CCM) (4)

Substituting the values of supply voltage, back emf, average load current and average switch current the drive efficiency is found to be equal to . 10 116.5 = = = = 0.2944 . 100 39.57

Plot of motor voltage and current under CCM

Example 3 (DCM)
A separately excited dc motor has armature resistance of 0.2 , and armature inductance of 1 mH. The switching time period of the chopper is 3 ms with TON = 2 ms. If the back emf is 85 V and the supply voltage is 100 V, find the following: (i) (ii) (iii) (iv) (v) Average load voltage Average load current Maximum value of load current Minimum value of load current The drive efficiency

Example 3 (DCM) (2)

Solution: Checking for mode of operation: The operating duty ratio of the chopper is =

= 0.666

The critical duty ratio d is obtained using the following relation = ln d = 0.8832 Since d <d', the drive is in DCM. The time at which the current falls to zero is given by = 1 +

+ 1 = 0.003 ln

0.005

0.003 0.005

85 100

+1

= 0.005 1 +

100 85

0.666 0.003 0.005

= 2.28

Example 3 (DCM) (3)

vL (t)

Vs
TON

Eb tx
T t ( ms )

iL (t)

2. 0

2.28

3. 0

t ( ms)

Average load voltage can be calculated from the above waveform.

= =

1 + 0. 0 ( ) 86.9885 1

= 86.98 V.
0.666 0.003 0.005

0.2

= 9.9 A.
100 85 0.2

= =

. 1

. 1

= 24.71 A.

= 0 A.
0

. 1 +

0.2

or or

= =

0.2

0.002 0.005

100 85 0.002 0.003

100 85 0.005 0.003

1 = 8.79 A

Example 3 (DCM) (4)

=

. .

85 9.9 100 8.79

= 95.73 %.

Multi-quadrant Chopper
iL S1 D2 Ra
DC

La iL

S1 D1 vL

Vs vL

S2 D1
DC

S 2 D2

Eb

Class B chopper: [Two quadrant chopper]

Class B chopper: Forward motoring

S1 Ra
DC

La iL

Ra
DC

La
iL

Vs vL
DC

Vs vL D1
DC

iL
S1 D1

Eb

Eb

vL

S1 ON

D1 ON

In forward motoring, energy flows from Vs to Eb. The circuit functions like a Class A ( one quadrant) chopper.

Class B chopper: Regeneration/Braking

iL
D2

Ra
DC

La
DC

Ra Vs iL

La

vL
iL vL
DC

Vs vL S2
DC

S2 D2

Eb

Eb

S2 ON

D2 ON

In this mode, energy flows from Eb to Vs. The energy stored in La when S2 is on aids in transferring the energy from Eb to Vs once S2 is switched-off and D2 is turned-on.

Multi-quadrant chopper(2)
iL S1 Ra
DC

D1 La iL vL D2 Eb
DC

D1 D2

S1 S2 vL

Vs

S2

Another Class B chopper: [ Two quadrant chopper]

Class B chopper: Forward motoring (2)

iL
S1 Ra vL La iL Eb
DC

S1 S2 vL
S2

In forward motoring, S1 and S2 are ON.

Class B chopper: Braking/Plugging

iL
D1 Vs
DC

Ra vL D2

La iL

D1 D2
Eb
DC

vL

In this mode, D1 and D2 conduct reversing the potential across the motor terminals. Eb and Vs get connected in series and quickly decreases the armature current.

Class B chopper: Alternative switch sequence

S1 Ra
DC

D1 La iL vL D2 Eb
DC

Vs

S2

Another switch sequence for this converter can be : S1S2; S1D1; D1D2; S2D2; D1D2

Four quadrant chopper

S1

D1 Ra La iL vL

S3

iL D3 D3 D4 S1 S2 vL S3 S4 D2 D1 D2

Eb
DC

DC

Vs S4 D4

S2