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T
d
J
B
T
L
+
+
+
v
f v g
f f
g
a
a a a a
f f
f
f f f f
K
i K e
L R
e
dt
di
L i R v
L R
dt
di
L i R v
=
+ + =
+ =
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
7
Basic torque equation
) (kg.m motor the of inertia :
(N.m) torque load :
) (N.m/rad/s constant, friction viscous :
where
: i.e. inertia, and
friction the plus torque load the to equal be must
torque developed the operation, normal For
: as written is it Sometimes
rad/s) - V/A (in
constant. torque the is ) ( where
: is motor by the develped torque The
2
J
T
B
T B
dt
d
J T
i K T
K K
i i K T
L
L d
a t d
v t
a f t d
+ + =
=
=
=
+ = + =
=
=
circuit armature The
: by given is emf back The
circuit, field For
saturated. not is motor the Assuming zero. is
s derivative time , operations state - steady Under
R
f
R
a
I
a
L
a
I
f
E
g
L
f
+
+ +
V
a
V
a
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
9
Steady-state torque and speed
d d
L a f t d
f v
a
a
a
f v
a a a
T P
T B I I K T
I K
V
I
R
I K
R I V
=
+ = =
=
=
: is power required The
: is torque developed The
tage. supply vol on the only depends speed motor
the constant, kept is current field the if is That
small, is i.e. loaded, lightly is motor the
or when usual), is (which value small a is If
: derived easily be can speed motor The
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
10
Torque and speed control
From the derivation, several important
facts can be deduced for steady-state
operation of DC motor.
For a fixed field current, or flux (I
f
) , the
torque demand can be satisfied by varying
the armature current (I
a
).
The motor speed can be varied by:
controlling V
a
(voltage control)
controlling V
f
(field control)
These observations leads to the
application of variable DC voltage to
control the speed and torque of DC motor.
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
11
Example 1
Consider a 500V, 10kW , 20A rated- DC motor
with armature resistance of 1 ohm. When supplied
at 500V, the UNLOADED motor runs at 1040
rev/min, drawing a current of 0.8A (ideally current
is zero at no-load).
Estimate the full load speed at rated values
Estimate the no-load speed at 250V.
rad/sec) strictly equation this reality, in : (Note
rev/min 519
48 . 0
) 1 ( 8 . 0 250
250V, at voltage and load - no At
rev/min 1000
48 . 0
) 1 ( 20 500
value, rated and load full At
48 . 0
1040
) 1 ( 8 . 0 500
=
=
+ =
=
=
=
=
+ = + =
f v
a a a
f v a a a
f v
a a a
fl
a a a
f v
f v a a g a a a
I K
R I V
I K R I V
I K
R I V
R I V
I K
I K R I E R I V
base
Torque
Power
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
14
Four quadrant operation
1
2
3
4
A
C
D
TORQUE
SPEED
FORWARD
MOTORING
REVERSE
MOTORING
REVERSE
GENERATING
B
FORWARD
GENERATING
v
a
e
g
i
a
i
a
= +; T
e
= +
v
a
= +; = +
i
a
= ; T
e
=
v
a
= + ;
m
= +
m
T
e
e
g
v
a
i
a
= ; T
e
=
v
a
= ;
m
=
i
a
i
a
= +; T
e
= +
v
a
= ; =
i
a
v
a
e
g
e
g
v
a
i
a
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
15
Regenerative Braking (in Q2)
Say the motor running at position A. Suddenly v
a
is
reduced (below e
g
). The current ia will reverse
direction.Operating point is shifted to B.
Since i
a
is negative, torque T
e
is negative.
Power is also negative, which implies power is
generated back to the supply.
In other words, during the deceleration phase,
kinetic energy from the motor and load inertia is
returned to the supply.
This is known as regenerative braking-an efficient
way to brake a motor. Widely employ in electric
vehicle and electric trains. If we wish the motor to
operate continuously at position B, the machine
have to be driven by mechanical source.
The mechanical source is a prime mover.
We must force the prime mover it to run faster so
that the generated e
g
will be greater than v
a
.
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
16
Drive types
SCR phase-angle controlled drive
By changing the firing angle, variable DC
output voltage can be obtained.
Single phase (low power) and three phase (high
and very high power) supply can be used
The line current is unidirectional, but the output
voltage can reverse polarity. Hence 2- quadrant
operation is inherently possible.
4-quadrant is also possible using two sets of
controlled rectifiers.
Switched-mode drive
Using switched mode DC-DC converter. Dc
voltage is varied by duty cycle.
Mainly used for low to medium power range.
Single-quadrant converter (buck): 1- quadrant
Half bridge: 2-quadrant
Full bridge: 4-quadrant operation
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
17
Thyristor/SCR drives
Mains operated.
Variable DC voltages are obtained from SCR firing
angle control.
Slow response.
Normally field rectifier have much lower ratings
than the armature rectifier. It is only used to
establish the flux.
Speed
reference
Three/single phase supply
Single phase supply
Control
and
SCR
firing
Current
sensor
Tachometer Current
Speed
M
T
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
18
Continuous/Discontinuous current
The key reason for successful DC drive operation is
due to the large armature inductance L
a
.
Large L
a
allows for almost constant armature
current (with small ripple) due to current filtering
effect of L. (Refer to notes on Rectifier).
Average value of the ripple current is zero. No
significant effect on the torque.
If L
a
is not large enough, or when the motor is
lightly loaded, or if supply is single phase (half-
wave), discontinuous current may occur.
Effect of discontinuous current: Output voltage of
rectifier rises; motor speed goes higher. In open-
loop operation the speed is poorly regulated.
Worthwhile to add extra inductance in series with
the armature inductance.
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
19
Basic single-phase drive
f
m
f
g
a
g a
a
a
m
a
V
V
E
R
E V
I
V
V
cos
2
: voltage Field
emf back the is ;
: is current (DC) Armature
cos
2
: is voltage armature current, continuous For
=
=
=
+
v
s
_
I
a
T
a1
T
a2
T
a3
+
+
V
a
R
a
T
a4
L
a
E
g
I
f
+
v
s
_
T
f1
T
f2
T
f3
+
L
f
T
f4
L
f
V
f
ARMATURE
FIELD
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
20
Basic three-phase drive
f
m
f
E
a
E a
a
a
L L
m
a
V
V
V
R
V V
I
V
V
cos
2
: field for used is phase single If
emf back the is ;
: current (DC) Armature
cos
3
: voltage Armature
,
=
=
=
I
a
T
a1
+
+
V
a
R
a
L
a
E
g
T
a3
T
a2
T
a6
_ v
cn
+
n
_ v
bn
+
_ v
an
+
T
a5
T
a4
+
L
f
L
f
V
f
I
f
ARMATURE FIELD
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
21
Example 2
o
f a
f m
a
f a
f
a
m
a f
f E
E
E a a a
a
m
a
f
V
KI R
KI
T
V
KI R
KI
T V
I KI T
KI V
V
V R I V
V
V
KI
32 . 62
60
200
2 5 . 2 2
5 . 2
60
240 2 2
cos
2
cos
cos
2
and
5 . 2
i.e emf, back the is Where
And
cos
2
current, continuous For
. continuous is current the Assume
rpm. 200 at opearte motor to for the angle g triggerin the
Calculate ohm. 2 is resistance armature the and 2.5 motor
the of constant field The supply. ac 240V a to connected
converter wave - full s by driven is motor The Nm. 60 of
load orque constsnt t a has motor DC excited saperately A
1
1
=
)
`
|
.
|
\
|
+
|
.
|
\
|
(
(
+
|
|
.
|
\
|
=
(
(
+
|
|
.
|
\
|
=
=
= =
+ =
=
=
= =
=
\
|
=
|
|
.
|
\
|
=
=
= + = + =
=
=
=
= = =
=
= =
=
=
=
=
= = =
< <
}
+
v
a
T2
D2
D1
T1
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
30
4 Quadrant DC drives
A full-bridge DC-DC converter is used.
+ v
a
T1 T3
T2
T4
D1
D4
D3
D2
Q1
Q2
Q3
Q4
Torque
T1 T3
T2
T4
D1
D4
D3
D2
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
32
Regeneration
T1, T2 and T3 turned off.
When T4 is turned on, the armature current rises
through T4 and D2.
When T4 is turned off, the motor, acting as a generator,
returns energy to the supply through D1 and D2.
+ v
a
T1 T3
T2
T4
D1
D4
D3
D2
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
33
Reverse motoring
T3 and T3 operate; T1 and T2 off.
When T3 and T4 are on together, the armature current
rises and flows in reverse direction.
Hence the motor rotates in reverse direction.
When T3 and T4 turn off, the armature current decays
through D1 and D2.
+ v
a
T1 T3
T2
T4
D1
D4
D3
D2
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
34
Reverse generation
T1, T3 and T4 are off.
When T1 is on, the armature current rises through T2
and D4.
When Q2 is turned off, the armature current falls and
the motor returns energy to the supply through D3 and
D4.
+ v
a
T1 T3
T2
T4
D1
D4
D3
D2