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LECTURE NOTES
ON
POWER ELECTRONICS
BY
PROF. M. MADHUSUDHAN RAO
DEPARTMENT OF ELECTRONICS &
COMMUNICATION ENGG.
M.S. RAMAIAH INSTITUTE OF
TECHNOLOGY
BANGALORE 560 054
( R M
S )
A C
V a r ia b le
A C
V o lt a g e
R M S O / P V o lt a
C o n t r o lle r
fS
There are two different types of thyristor control used in practice to control the ac
power flow
On-Off control
Phase control
falls to zero. Thus the ON thyristor naturally turns off, when the device current falls to
zero.
Phase control Thyristors which are relatively inexpensive, converter grade
Thyristors which are slower than fast switching inverter grade Thyristors are normally
used.
For applications upto 400Hz, if Triacs are available to meet the voltage and
current ratings of a particular application, Triacs are more commonly used.
Due to ac line commutation or natural commutation, there is no need of extra
commutation circuitry or components and the circuits for ac voltage controllers are very
simple.
Due to the nature of the output waveforms, the analysis, derivations of expressions
for performance parameters are not simple, especially for the phase controlled ac voltage
controllers with RL load. But however most of the practical loads are of the RL type and
hence RL load should be considered in the analysis and design of ac voltage controller
circuits.
TYPE OF AC VOLTAGE CONTROLLERS
The ac voltage controllers are classified into two types based on the type of input
ac supply applied to the circuit.
Single Phase AC Controllers.
Three Phase AC Controllers.
Single phase ac controllers operate with single phase ac supply voltage of 230V
RMS at 50Hz in our country. Three phase ac controllers operate with 3 phase ac supply of
400V RMS at 50Hz supply frequency.
Each type of controller may be sub divided into
Uni-directional or half wave ac controller.
Bi-directional or full wave ac controller.
In brief different types of ac voltage controllers are
Single phase half wave ac voltage controller (uni-directional controller).
Single phase full wave ac voltage controller (bi-directional controller).
Three phase half wave ac voltage controller (uni-directional controller).
Three phase full wave ac voltage controller (bi-directional controller).
APPLICATIONS OF AC VOLTAGE CONTROLLERS
Lighting / Illumination control in ac power circuits.
Induction heating.
Industrial heating & Domestic heating.
Transformer tap changing (on load transformer tap changing).
Speed control of induction motors (single phase and poly phase ac induction
motor control).
AC magnet controls.
PRINCIPLE OF ON-OFF CONTROL TECHNIQUE (INTEGRAL CYCLE
CONTROL)
The basic principle of on-off control technique is explained with reference to a
single phase full wave ac voltage controller circuit shown below. The thyristor switches
T1 and T2 are turned on by applying appropriate gate trigger pulses to connect the input
ac supply to the load for n number of input cycles during the time interval tON . The
thyristor switches T1 and T2 are turned off by blocking the gate trigger pulses for m
number of input cycles during the time interval tOFF . The ac controller ON time tON
usually consists of an integral number of input cycles.
R = RL = Load Resistance
Fig.: Single phase full wave AC voltage controller circuit
V s
wt
V o
io
wt
ig 1
a t e
p 1u
l s e
o f
T
wt
ig 2
a t e
p 2u
l s e
o f
T
wt
Fig.: Waveforms
Example
Referring to the waveforms of ON-OFF control technique in the above diagram,
n = Two input cycles. Thyristors are turned ON during tON for two input cycles.
m = One input cycle. Thyristors are turned OFF during tOFF for one input cycle
tOFF = m T
1
= input cycle time (time period) and
f
f = input supply frequency.
tON = controller on time = n T .
tOFF = controller off time = m T .
TO = Output time period = ( tON + tOFF ) = ( nT + mT ) .
Where T =
tON
t
= VS ON
TO
TO
VO( RMS )
Substituting for
VO( RMS )
Now
1 ON 2 2
=
Vm Sin t.d ( t )
TO t=0
Vm 2
=
TO
Sin 2 =
Vm 2
=
TO
tON
Sin 2 t.d ( t )
1 Cos 2
2
tON
1 Cos 2 t
d ( t )
2
tON
tON
( ) Cos 2 t.d ( t )
0
VO( RMS ) =
Vm 2
2TO
VO( RMS ) =
Vm 2
( t )
2TO
VO( RMS ) =
Vm 2
sin 2 tON sin 0
( tON 0 )
2TO
2
tON
0
Sin 2 t
2
tON
0
Where T is the input supply time period (T = input cycle time period). Thus we note that
sin 2 tON = 0
VO( RMS )
Vm 2 tON Vm
=
=
2 TO
2
tON
TO
tON
t
= VS ON
TO
TO
Vm
= VS = RMS value of input supply voltage;
2
tON
tON
nT
n
=
=
=
= k = duty cycle (d).
TO tON + tOFF nT + mT ( n + m )
VO( RMS ) = VS
n
=V k
( m + n) S
n
=
2 ( n + m )
VO( RMS ) =
Vm
2
0 Vm sin t.d ( t )
n
=V
k = VS k
( m + n ) i ( RMS )
Duty Cycle
t
tON
nT
k = ON =
=
TO ( tON + tOFF ) ( m + n ) T
Where, k =
n
( m + n ) = duty cycle (d).
VO( RMS )
Z
VO ( RMS )
RL
PF =
PO
P
output load power
=
= O
VA input supply volt amperes VS I S
I O2 ( RMS ) RL
Vi( RMS ) Iin ( RMS )
I O2 ( RMS ) RL
Vi( RMS ) Iin ( RMS )
PF = k =
VO ( RMS )
Vi ( RMS )
Vi ( RMS ) k
Vi ( RMS )
= k
n
m+n
a v e f o r m
iT
o f
T h y r is t o r
Im
IT ( Avg ) =
n
I m sin t.d ( t )
2 ( m + n ) 0
IT ( Avg ) =
nI m
sin t.d ( t )
2 ( m + n ) 0
IT ( Avg ) =
nI m
2 ( m + n )
IT ( Avg ) =
nI m
[ cos + cos 0]
2 ( m + n )
cos t
u r r e
IT ( Avg ) =
nI m
( 1) + 1
2 ( m + n )
IT ( Avg ) =
n
[ 2Im ]
2 ( m + n )
IT ( Avg ) =
Imn
k .I
= m
( m + n)
k = duty cycle =
IT ( Avg ) =
Where I m =
tON
n
=
( tON + tOFF ) ( n + m )
Imn
k .I
= m ,
( m + n)
Vm
= maximum or peak thyristor current.
RL
IT ( RMS )
n
=
I m2 sin 2 t.d ( t )
2 ( n + m ) 0
IT ( RMS )
nI m2
2
=
sin
t
.
d
t
(
)
2 ( n + m ) 0
IT ( RMS )
nI m2
=
2 ( n + m )
IT ( RMS )
nI m2
=
d ( t ) cos 2 t.d ( t )
0
4 ( n + m ) 0
IT ( RMS )
nI m2
=
( t )
4 ( n + m )
IT ( RMS )
nI m2
sin 2 sin 0
=
( 0 )
2
4 ( n + m )
( 1 cos 2 t ) d
( t )
sin 2 t
10
IT ( RMS )
nI m2
=
{ 0 0}
4 ( n + m )
IT ( RMS )
nI m2
=
4 ( n + m )
IT ( RMS ) =
Im
2
IT ( RMS ) =
Im
k
2
nIm2
=
4 ( n + m)
I
n
= m
( m + n) 2
PROBLEM
1. A single phase full wave ac voltage controller working on ON-OFF control
technique has supply voltage of 230V, RMS 50Hz, load = 50 . The controller is
ON for 30 cycles and off for 40 cycles. Calculate
ON & OFF time intervals.
RMS output voltage.
Input P.F.
Average and RMS thyristor currents.
Vin( RMS ) = 230V ,
T=
1
1
=
= 0.02sec ,
f 50 Hz
T = 20ms .
n
30
=
= 0.4285
( m + n ) ( 40 + 30 )
n
( m + n)
11
30
3
= 230
7
( 30 + 40 )
VO( RMS )
Z
VO ( RMS )
RL
150.570V
= 3.0114 A
50
n
30
=
= 0.4285
70
( m + n)
PF = 0.654653
Average Thyristor Current Rating
I n k Im
IT ( Avg ) = m
=
m + n
where
Im =
Vm
2 230 325.269
=
=
RL
50
50
6.505382 3
IT ( Avg ) = 0.88745 A
RMS Current Rating of Thyristor
I
IT ( RMS ) = m
2
I
n
= m
( m + n) 2
k=
6.505382
3
2
7
IT ( RMS ) = 2.129386 A
12
13
Equations
Input AC Supply Voltage across the Transformer Secondary Winding.
vs = Vm sin t
VS = Vin( RMS ) =
Vm
= RMS value of secondary supply voltage.
2
vo Vm sin t
=
; for t = to 2 .
RL
RL
io = iL = 0 ; for t = 0 to .
TO DERIVE AN EXPRESSION FOR RMS OUTPUT VOLTAGE VO( RMS )
VO( RMS ) =
1
2
2
Vm sin t.d ( t )
2
VO( RMS ) =
Vm 2 2 1 cos 2 t
.d ( t )
2
2
14
VO( RMS )
Vm 2 2
=
( 1 cos 2 t ) .d ( t )
4
VO( RMS )
V
= m
2
2
2
d ( t ) cos 2 t.d t
VO( RMS )
V
= m
2
( t )
VO( RMS ) =
Vm
2
sin 2 t
( 2 )
VO( RMS ) =
Vm
2
( 2 )
VO( RMS ) =
Vm
2
( 2 ) +
VO( RMS ) =
VO( RMS ) =
sin 4 sin 2
2
2
Vm
2 2
;sin 4 = 0
sin 2
2
( 2 ) +
sin 2
2
1
sin 2
( 2 ) +
2
2
Vm
2
VO( RMS ) = VS
sin 2 t
1
sin 2
( 2 ) +
2
2
1
sin 2
( 2 ) +
2
2
Vm
= RMS value of input supply voltage (across the
2
transformer secondary winding).
Where, Vi ( RMS ) = VS =
Note: Output RMS voltage across the load is controlled by changing ' ' as indicated by
the expression for VO( RMS )
15
PLOT OF VO( RMS ) VERSUS TRIGGER ANGLE FOR A SINGLE PHASE HALFWAVE AC VOLTAGE CONTROLLER (UNIDIRECTIONAL CONTROLLER)
VO( RMS ) =
1
sin 2
( 2 ) +
2
2
Vm
2
VO( RMS ) = VS
1
sin 2
( 2 ) +
2
2
By using the expression for VO( RMS ) we can obtain the control characteristics,
which is the plot of RMS output voltage VO( RMS ) versus the trigger angle . A typical
control characteristic of single phase half-wave phase controlled ac voltage controller is
as shown below
Trigger angle
in degrees
Trigger angle
in radians
300
600
900
1500
2
2
3
5
6
1800
1200
( R M
1 0 0 %S
2 0 %
V
0
VS =
( 6)
; ( 2 )
6
; ( 3 )
6
; ( 4 )
6
; ( 5 )
6
; ( 6 )
6
; 1
Vm
2
0.992765 VS
0.949868 VS
0.866025 VS
0.77314 VS
0.717228 VS
0.707106 VS
7 0 . 7 S%
6 0 %
VO( RMS )
6 0
1 2 0
1 8 0
T r i g g e r a n g l e
in
d e g r e e s
Note: We can observe from the control characteristics and the table given above that the
range of RMS output voltage control is from 100% of VS to 70.7% of VS when we vary
the trigger angle from zero to 180 degrees. Thus the half wave ac controller has the
draw back of limited range RMS output voltage control.
TO CALCULATE THE AVERAGE VALUE (DC VALUE) OF OUTPUT
VOLTAGE
2
1
VO( dc ) =
Vm sin t.d ( t )
2
VO( dc ) =
Vm
2
VO( dc ) =
Vm
2
cos t
VO( dc ) =
Vm
[ cos 2 + cos ]
2
Vdc =
Hence Vdc =
sin t.d ( t )
Vm
[ cos 1]
2
; cos 2 = 1
; Vm = 2VS
2VS
( cos 1)
2
Vm
These drawbacks of single phase half wave ac voltage controller can be over come
by using a single phase full wave ac voltage controller.
17
Given,
radians.
3
VS = RMS secondary voltage.
= 600 =
Vp
VS
Therefore
Np
1
= =1
NS 1
V p = VS = 230V
18
1
2
2
m
sin 2 t.d ( t )
VO( RMS ) = VS
1
sin1200
2
+
2
3
2
1
[ 5.669] = 230 0.94986
2
VO( RMS )
RL
218.46966
= 4.36939 Amps
50
PO = 0.9545799 KW
PO
VS I S
954.5799 W
= 0.9498
( 230 4.36939 ) W
19
1
Vm sin t.d ( t )
2
We have obtained the expression for the average / DC output voltage as,
VO( dc ) =
VO( dc ) =
VO( dc ) =
2 230
325.2691193
cos ( 600 ) 1 =
[ 0.5 1]
2
2
325.2691193
[ 0.5] = 25.88409 Volts
2
Vm
[ cos 1]
2
VO( dc )
RL
25.884094
= 0.51768 Amps
50
iT 1
Im
2
( 2
) t
1
=
I m sin t.d ( t )
2
IT ( Avg )
I m
=
sin t.d ( t )
2
20
IT ( Avg ) =
Im
( cos t )
2
IT ( Avg ) =
Im
cos ( ) + cos
2
IT ( Avg ) =
Im
[ 1 + cos ]
2
Where, I m =
Vm
= Peak thyristor current = Peak load current.
RL
Im =
2 230
50
I m = 6.505382 Amps
IT ( Avg ) =
Vm
[ 1 + cos ]
2 RL
2 230
1 + cos ( 600 )
2 50
2 230
=
[ 1 + 0.5]
100
IT ( Avg ) =
IT ( Avg )
1 2 2
I m sin t.d ( t )
2
IT ( RMS ) =
I m2 ( 1 cos 2 t )
.d ( t )
2
2
IT ( RMS ) =
I m2
d
cos 2 t.d ( t )
(
)
IT ( RMS ) = I m
1
( t )
4
sin 2 t
21
IT ( RMS ) = I m
1
sin 2 sin 2
( )
4
2
IT ( RMS ) = I m
1
sin 2
( ) +
4
2
IT ( RMS ) =
IT ( RMS )
Im
2
1
sin 2
( ) +
2
2
0
6.50538 1
sin ( 120 )
+
=
2
3
2
2
IT ( RMS ) = 4.6
1
2
2
3
0.8660254
+
22
Fig.: Single phase full wave ac voltage controller (Bi-directional Controller) using
SCRs
The thyristor T1 is forward biased during the positive half cycle of the input
supply voltage. The thyristor T1 is triggered at a delay angle of ' ' ( 0 radians ) .
Considering the ON thyristor T1 as an ideal closed switch the input supply voltage
appears across the load resistor RL and the output voltage vO = vS during t = to
radians. The load current flows through the ON thyristor T1 and through the load resistor
RL in the downward direction during the conduction time of T1 from t = to
radians.
At t = , when the input voltage falls to zero the thyristor current (which is
flowing through the load resistor RL ) falls to zero and hence T1 naturally turns off . No
current flows in the circuit during t = to ( + ) .
The thyristor T2 is forward biased during the negative cycle of input supply and
when thyristor T2 is triggered at a delay angle ( + ) , the output voltage follows the
negative halfcycle of input from t = ( + ) to 2 . When T2 is ON, the load current
Fig.: Single phase full wave ac voltage controller (Bi-directional Controller) using
TRIAC
23
for t = to and t = ( + ) to 2
1
2
v d ( t ) ;
2
L
24
For a full wave ac voltage controller, we can see that the two half cycles of output
voltage waveforms are symmetrical and the output pulse time period (or output pulse
repetition time) is radians. Hence we can also calculate the RMS output voltage by
using the expression given below.
V 2 L( RMS ) =
L ( RMS )
1
Vm2 sin 2 t.d t
0
1
=
2
2
L
.d ( t ) ;
1
2
2
V
sin
t
d
t
+
(
)
(
)
( Vm sin t ) d ( t )
m
2
+
2
2 2
2
V
sin
t
.
d
t
+
V
sin2 t.d ( t )
(
)
m
m
1
2
Vm 2 1 cos 2 t
1 cos 2 t
d
t
+
d ( t )
(
)
2
2
2
+
2
2
Vm 2
d
cos
2
t
.
d
t
+
d
cos 2 t.d ( t )
(
)
(
)
(
)
2 2
+
+
Vm 2
( t )
4
+ ( t )
sin 2 t
sin 2 t
2 2 +
Vm 2
1
1
=
( ) + ( ) ( sin 2 sin 2 ) ( sin 4 sin 2 ( + ) )
4
2
2
Vm 2
4
1
1
2 ( ) 2 ( 0 sin 2 ) 2 ( 0 sin 2 ( + ) )
Vm 2
4
sin 2 sin 2 ( + )
+
2 ( ) +
2
2
Vm 2
4
sin 2 sin ( 2 + 2 )
+
2 ( ) +
2
2
25
sin 2 1
Vm 2
=
4
L ( RMS )
Vm 2
4
sin 2 sin 2
2 ( ) + 2 + 2
Vm 2
2 ( ) + sin 2
4
Vm 2
=
( 2 2 ) + sin 2
4
Vm
2
( 2 2 ) + sin 2
Vm
2 2
( 2 2 ) + sin 2
VL( RMS ) =
Vm
2
1
( 2 2 ) + sin 2
2
VL( RMS ) =
Vm
2
1
2
VL( RMS ) =
Vm 1
sin 2
( ) +
2
2
VL( RMS ) = VS
sin 2
2 ( ) + 2
1
sin 2
( ) +
1
sin 2
( ) +
Maximum RMS voltage will be applied to the load when = 0 , in that case the
full sine wave appears across the load. RMS load voltage will be the same as the RMS
Vm
supply voltage =
. When is increased the RMS load voltage decreases.
2
26
VL( RMS )
VL( RMS )
VL( RMS )
Vm 1
sin 2 0
( 0) +
2
2
Vm 1
0
( ) +
2
2
Vm
= Vi ( RMS ) = VS
2
=0
=0
=0
The output control characteristic for a single phase full wave ac voltage controller
with resistive load can be obtained by plotting the equation for VO( RMS )
CONTROL CHARACTERISTIC OF SINGLE PHASE FULL-WAVE AC
VOLTAGE CONTROLLER WITH RESISTIVE LOAD
The control characteristic is the plot of RMS output voltage VO( RMS ) versus the
trigger angle ; which can be obtained by using the expression for the RMS output
voltage of a full-wave ac controller with resistive load.
VO( RMS ) = VS
1
sin 2
( ) +
Where VS =
Trigger angle
in degrees
0
300
600
900
1200
1500
1800
Vm
= RMS value of input supply voltage
2
Trigger angle
in radians
0
; 1
6
6
; 2
3
6
; 3
2
6
2
; 4
3
6
5
; 5
6
6
; 6
6
(
(
(
(
(
(
)
)
)
)
)
)
VO( RMS )
VS
%
100% VS
0.985477 VS
98.54% VS
0.896938 VS
89.69% VS
0.7071 VS
70.7% VS
0.44215 VS
44.21% VS
0.1698 VS
16.98% VS
0 VS
0 VS
27
( R M
0 . 6S V
0 . 2
V
0
6 0
1 2 0
1 8 0
T r i g g e r a n g l e
We can notice from the figure, that we obtain a
characteristic by using a single phase full wave ac voltage
voltage can be varied from a maximum of 100% VS at
= 1800 . Thus we get a full range output voltage control
wave ac voltage controller.
in
d e g r e e s
a t e
T r i g g e r
P u ls e
G e n e r a t o r
K1
G2
K
AC
VOLTAGE
CONTROLLER
WITH
28
D1
D3
+
T1
A C
S u p p l y
D4
D2
RL
29
A single phase full wave ac controller can also be implemented with one thyristor
and four diodes connected in a full wave bridge configuration as shown in the above
figure. The four diodes act as a bridge full wave rectifier. The voltage across the thyristor
T1 and current through thyristor T1 are always unidirectional. When T1 is triggered at
t = , during the positive half cycle ( 0 ) , the load current flows through D1 , T1 ,
diode D2 and through the load. With a resistive load, the thyristor current (flowing
through the ON thyristor T1 ) , the load current falls to zero at t = , when the input
supply voltage decreases to zero at t = , the thyristor naturally turns OFF.
In the negative half cycle, diodes D3 & D4 are forward biased during
t = to 2 radians. When T1 is triggered at t = ( + ) , the load current flows in the
opposite direction (upward direction) through the load, through D3 , T1 and D4 . Thus D3 ,
D4 and T1 conduct together during the negative half cycle to supply the load power. When
the input supply voltage becomes zero at t = 2 , the thyristor current (load current)
falls to zero at t = 2 and the thyristor T1 naturally turns OFF. The waveforms and the
expression for the RMS output voltage are the same as discussed earlier for the single
phase full wave ac controller.
But however if there is a large inductance in the load circuit, thyristor T1 may not
be turned OFF at the zero crossing points, in every half cycle of input voltage and this
may result in a loss of output control. This would require detection of the zero crossing of
the load current waveform in order to ensure guaranteed turn off of the conducting
thyristor before triggering the thyristor in the next half cycle, so that we gain control on
the output voltage.
In this full wave ac controller circuit using a single thyristor, as there are three
power devices conducting together at the same time there is more conduction voltage
drop and an increase in the ON state conduction losses and hence efficiency is also
reduced.
The diode bridge rectifier and thyristor (or a power transistor) act together as a
bidirectional switch which is commercially available as a single device module and it has
relatively low ON state conduction loss. It can be used for bidirectional load current
control and for controlling the RMS output voltage.
SINGLE
PHASE
FULL
WAVE
AC
VOLTAGE
(BIDIRECTIONAL CONTROLLER) WITH RL LOAD
CONTROLLER
In this section we will discuss the operation and performance of a single phase full
wave ac voltage controller with RL load. In practice most of the loads are of RL type. For
example if we consider a single phase full wave ac voltage controller controlling the
speed of a single phase ac induction motor, the load which is the induction motor winding
is an RL type of load, where R represents the motor winding resistance and L represents
the motor winding inductance.
30
31
= ( ) , which depends on the delay angle and the load impedance angle . The
waveforms of the input supply voltage, the gate trigger pulses of T1 and T2 , the thyristor
current, the load current and the load voltage waveforms appear as shown in the figure
below.
is the extinction angle which depends upon the load inductance value.
Waveforms of single phase full wave ac voltage controller with RL load for > .
Discontinuous load current operation occurs for > and < ( + ) ;
i.e., ( ) < , conduction angle < .
Fig.: Waveforms of Input supply voltage, Load Current, Load Voltage and
Thyristor Voltage across T1
Note
The RMS value of the output voltage and the load current may be varied by
varying the trigger angle .
This circuit, AC RMS voltage controller can be used to regulate the RMS voltage
across the terminals of an ac motor (induction motor). It can be used to control the
temperature of a furnace by varying the RMS output voltage.
33
For very large load inductance L the SCR may fail to commutate, after it is
triggered and the load voltage will be a full sine wave (similar to the applied input
supply voltage and the output control will be lost) as long as the gating signals are
applied to the thyristors T1 and T2 . The load current waveform will appear as a
full continuous sine wave and the load current waveform lags behind the output
sine wave by the load power factor angle .
t
Vm
sin ( t ) + A1e ;
Z
= Load impedance.
L
= tan 1
= Load impedance angle (power factor angle of load).
R
L
= Load circuit time constant.
R
Therefore the general expression for the output load current is given by the
equation
R
t
Vm
iO =
sin ( t ) + A1e L ;
Z
34
The value of the constant A1 can be determined from the initial condition. i.e.
initial value of load current iO = 0 , at t = . Hence from the equation for iO equating
iO to zero and substituting t = , we get
R
t
Vm
iO = 0 =
sin ( ) + A1e L
Z
R
Therefore
A1e L =
A1 =
e
A1 = e
A1 = e
Vm
sin ( )
Z
1 Vm
Z sin ( )
R
t
L
+R
t
L
Vm
Z sin ( )
R( t )
Vm
Z sin ( )
A1 = e L m sin ( )
Z
Substituting the value of constant A1 from the above equation into the expression for iO ,
we obtain
R R( )
t
Vm
V
iO =
sin ( t ) + e L e L m sin ( ) ;
Z
Z
R( t )
( )
V
e L m sin ( )
Z
iO =
Vm
sin ( t ) + e
Z
iO =
R
( t ) Vm
Vm
sin ( t ) + e L
sin ( )
Z
Z
Therefore we obtain the final expression for the inductive load current of a single
phase full wave ac voltage controller with RL load as
iO =
Vm
Z
R
( t )
L
sin
sin
e
(
)
(
)
Where t .
35
The above expression also represents the thyristor current iT 1 , during the
conduction time interval of thyristor T1 from t = to .
To Calculate Extinction Angle
The extinction angle , which is the value of t at which the load current
iO falls to zero and T1 is turned off can be estimated by using the condition that
iO = 0 , at t =
By using the above expression for the output load current, we can write
iO = 0 =
As
Vm
Z
R
( )
L
sin
sin
e
)
(
)
(
Vm
0 we can write
Z
R
( )
L
sin ( ) sin ( ) e
=0
R
( )
L
( ) =
radians.
Extinction angle
Conduction angle
36
waveform appears as a continuous sine wave identical to the input supply voltage
waveform for trigger angle and the control on the output is lost.
vO
vO
vS
Vm
iO
Im
Fig.: Output voltage and output current waveforms for a single phase full wave ac
voltage controller with RL load for
Thus we observe that for trigger angle , the load current tends to flow
continuously and we have continuous load current operation, without any break in the
load current waveform and we obtain output voltage waveform which is a continuous
sinusoidal waveform identical to the input supply voltage waveform. We loose the control
on the output voltage for as the output voltage becomes equal to the input supply
voltage and thus we obtain
V
VO( RMS ) = m = VS ; for
2
Hence,
RMS output voltage = RMS input supply voltage for
TO DERIVE AN EXPRESSION FOR RMS OUTPUT VOLTAGE VO( RMS ) OF A
SINGLE PHASE FULL-WAVE AC VOLTAGE CONTROLLER WITH RL
LOAD.
37
When > O , the load current and load voltage waveforms become discontinuous
as shown in the figure above.
1
VO( RMS )
1
2
= Vm 2 sin 2 t.d ( t )
VO( RMS )
Vm 2 ( 1 cos 2 t )
=
d ( t )
VO( RMS )
Vm 2
=
2
VO( RMS )
V 2
= m ( t )
2
VO( RMS )
V 2
sin 2 sin 2
= m ( )
+
2
2
2
VO( RMS )
1
sin 2 sin 2
= Vm ( ) +
2
2
2
VO( RMS )
V 1
sin 2 sin 2
= m ( ) +
2
2
2
d ( t ) cos 2 t.d ( t )
sin 2 t
The RMS output voltage across the load can be varied by changing the trigger
angle .
For a purely resistive load L = 0 , therefore load power factor angle = 0 .
L
= tan 1
=0 ;
R
= radians = 1800
Extinction angle
38
Vm 1
sin 2
( ) +
2
2
Vm
= VS = RMS
2
I O( RMS ) =
RL
PO = I O2 ( RMS ) RL
I O2 ( RMS ) RL IO ( RMS ) RL
PO
PF =
=
=
VS I S VS I O( RMS )
VS
PF =
VO( RMS )
VS
1
sin 2
( ) +
( 2
) t
IT ( Avg )
1
1
=
iT d ( t ) =
Im sin t.d ( t )
2
2
IT ( Avg )
Im
I
=
sin t.d ( t ) = m cos t
2
2
IT ( Avg ) =
Im
I
[ cos + cos ] = m [ 1 + cos ]
2
2
39
IT ( RMS ) =
1 2 2
I m sin t.d ( t )
2
Im
2
1
sin 2
( ) +
2
2
Im
2
In the case of a single phase full wave ac voltage controller circuit using a Triac
with resistive load, the average thyristor current IT ( Avg ) = 0 . Because the Triac conducts in
both the half cycles and the thyristor current is alternating and we obtain a symmetrical
thyristor current waveform which gives an average value of zero on integration.
IT ( RMS ) =
Vm
Z
R
( t )
L
sin
sin
e
(
)
(
)
for t
Where,
Vm = 2VS = Maximum or peak value of input ac supply voltage.
Z = R2 + ( L )
= Load impedance.
L
= tan 1
= Load impedance angle (load power factor angle).
R
sin ( ) = sin ( ) e L
( )
40
Vm 1
sin 2 sin 2
( ) +
2
2
2
1
IT ( Avg ) =
iT1 d ( t )
2
IT ( Avg ) =
IT ( Avg )
1
2
Vm
( t )
L
sin
sin
e
)
(
)
(
d ( t )
( t )
Vm
=
d ( t )
sin ( t ) .d ( t ) sin ( ) e L
2 Z
1 2
= iT1 d ( t )
2
41
PROBLEMS
1. A single phase full wave ac voltage controller supplies an RL load. The input
supply voltage is 230V, RMS at 50Hz. The load has L = 10mH, R = 10 , the
= 1 = 2 = radians, .
3
Vm = 2VS = 2 230 = 325.2691193 V
Z = Load Impedance = R 2 + ( L ) =
2
( 10 )
+ ( L)
L = ( 2 fL ) = ( 2 50 10 103 ) = = 3.14159
Z=
Im =
( 10 )
Vm
2 230
=
= 31.03179 A
Z
10.4818
1 L
Load Impedance Angle = tan
= tan 1 = tan 1 ( 0.314159 ) = 17.440590
10
Trigger Angle > . Hence the type of operation will be discontinuous load
current operation, we get
< ( + )
range
of
is
from
180
degrees
to
240
degrees.
42
R
( )
L
( ) = ( 60 17.44059 ) = 42.55940
10
( )
0
=
1800
Assuming = 1900 ;
Rad =
0 1900
=
= 3.3161
1800
180
Rad =
0 1830
=
= 3.19395
1800
180
( ) = 3.19395
= 2.14675
3
0
L.H.S: sin ( ) = sin ( 183 17.44 ) = sin165.56 = 0.24936
= 7.2876 104
Assuming 1800
Rad =
0 1800
=
=
1800
180
( ) =
2
=
3 3
43
Rad =
0 1960
=
= 3.420845
1800
180
Rad =
0 1970
=
= 3.43829
1800
180
3
L.H.S: sin ( ) = sin ( 197 17.44 ) = 7.69 = 7.67937 10
Rad =
0 197.42
=
= 3.4456
1800
180
4
L.H.S: sin ( ) = sin ( 197.42 17.44 ) = 3.4906 10
VO( RMS )
1
sin 2 sin 2
( ) +
2
2
1
= 230
0
0
3
2
2
1
( 2.39843) + 0.4330 0.285640
44
PO
VS I S
I O( RMS ) =
VO( RMS )
Z
207.0445
= 19.7527 A
10.4818
VS = 230V ,
PF =
I S = I O( RMS ) = 19.7527
PO
3901.716
=
= 0.8588
VS I S 230 19.7527
2. A single phase full wave controller has an input voltage of 120 V (RMS) and a
load resistance of 6 ohm. The firing angle of thyristor is 2 . Find
a. RMS output voltage
b. Power output
c. Input power factor
d. Average and RMS thyristor current.
Solution
= 900 , VS = 120 V,
2
R = 6
1
sin 2 2
VO = VS +
2
1
1
sin180 2
VO = 120 +
2
2
VO = 84.85 Volts
RMS Output Current
IO =
VO 84.85
=
= 14.14 A
R
6
Load Power
PO = I O2 R
PO = ( 14.14 ) 6 = 1200 watts
2
45
1
Vm sin t.d ( t )
2 R
Vm
( 1 + cos ) ;
2 R
Vm = 2VS
2 120
[ 1 + cos 90] = 4.5 A
2 6
1 Vm2 sin 2 t
d ( t )
2
R2
Vm2 ( 1 cos 2 t )
=
d ( t )
2 R 2
2
1
V 1
sin 2 2
= m +
2R
2
1
2VS 1
sin 2 2
=
+
2R
2
=
1
2
2 120 1
sin180
+
= 10 Amps
2 6
2
2
46
3. A single phase half wave ac regulator using one SCR in anti-parallel with a diode
feeds 1 kW, 230 V heater. Find load power for a firing angle of 450.
Solution
power
Therefore
PO = VO IO =
VO VO VO2
=
R
R
Resistance of heater
V 2 ( 230 )
R= O =
= 52.9
PO
1000
2
1
sin 2 2
VO = VS 2 +
2
2
1
VO = 230
2
sin 90 2
= 224.7157 Volts
4
2
io
1
+
1 2 0
a c
, 2
e a t e r
47
Solution
= 450 =
, VS = 220 V
4
Resistance of heater
V 2 ( 220 )
R=
=
= 48.4
R
1000
2
2
1
sin 90
VO = 220 +
4
2
1
1
VO = 220 + = 209.769 Volts
4 2
RMS current flowing through heater
VO 209.769
=
= 4.334 Amps
R
48.4
I Avg = 0
5. A single phase voltage controller is employed for controlling the power flow from
220 V, 50 Hz source into a load circuit consisting of R = 4 and L = 6 .
Calculate the following
a. Control range of firing angle
b. Maximum value of RMS load current
c. Maximum power and power factor
d. Maximum value of average and RMS thyristor current.
Solution
For control of output power, minimum angle of firing angle is equal to the
load impedance angle
= , load angle
L
1 6
0
= tan 1
= tan = 56.3
R
4
Maximum possible value of is 1800
Therefore control range of firing angle is 56.30 < < 1800
48
Maximum value of RMS load current occurs when = = 56.30 . At this value
of the Maximum value of RMS load current
IO =
VS
220
=
= 30.5085 Amps
Z
4 2 + 62
Input Volt-Amp
Power Factor =
PO
3723.077
=
= 0.5547
Input VA 6711.87
2 Z
Note:
At = 0 ,
R
( t )
Vm
L
iO = iT1 =
sin ( t ) sin ( ) e
iT1 = iO =
Vm
sin ( t )
Z
IT ( Avg ) =
+
Vm
cos ( t )
2 Z
IT ( Avg ) =
Vm
cos ( + ) + cos ( )
2 Z
IT ( Avg ) =
Vm
V
V
cos ( ) + cos ( 0 ) = m [ 2] = m
2 Z
2 Z
Z
But = ,
IT ( Avg ) =
Vm
2 220
=
= 13.7336 Amps
Z 4 2 + 62
1
=
2
Vm
sin ( t ) d ( t )
Z
49
ITM
Vm2 + 1 cos ( 2 t 2 )
=
d ( t )
2 Z 2
2
ITM
Vm2
=
4 Z 2
ITM =
ITM =
sin ( 2 t 2 )
t
Vm2
[ + 0]
4 Z 2
Vm
2 220
=
= 21.57277 Amps
2 Z 2 4 2 + 62
50
CONTROLLED RECTIFIERS
(Line Commutated AC to DC converters)
INTRODUCTION TO CONTROLLED RECTIFIERS
Controlled rectifiers are line commutated ac to dc power converters which are
used to convert a fixed voltage, fixed frequency ac power supply into variable dc output
voltage.
+
A C
In p u t
V o lt a g
L in e
D C
O u t p
C o m
m
u t a t e dV
0 (d c )
C o n v e rt e r
-
u t
All these power converters operate from ac power supply at a fixed rms input
supply voltage and at a fixed input supply frequency. Hence they use ac line commutation
for turning off the thyristors after they have been triggered ON by the gating signals.
DIFFERENCES BETWEEN DIODE RECTIFIERS AND PHASE CONTROLLED
RECTIFIERS
The diode rectifiers are referred to as uncontrolled rectifiers which make use of
power semiconductor diodes to carry the load current. The diode rectifiers give a fixed dc
output voltage (fixed average output voltage) and each diode rectifying element conducts
for one half cycle duration (T/2 seconds), that is the diode conduction angle = 1800 or
radians.
A single phase half wave diode rectifier gives (under ideal conditions) an average
V
dc output voltage VO( dc ) = m and single phase full wave diode rectifier gives (under ideal
2V
conditions) an average dc output voltage VO( dc ) = m , where Vm is maximum value of
52
phase controlled thyristor converter uses ac line commutation (natural commutation) for
commutating (turning off) the thyristors that have been turned ON.
The phase controlled converters are simple and less expensive and are widely used
in industrial applications for industrial dc drives. These converters are classified as two
quadrant converters if the output voltage can be made either positive or negative for a
given polarity of output load current. There are also single quadrant ac-dc converters
where the output voltage is only positive and cannot be made negative for a given polarity
of output current. Of course single quadrant converters can also be designed to provide
only negative dc output voltage.
The two quadrant converter operation can be achieved by using fully controlled
bridge converter circuit and for single quadrant operation we use a half controlled bridge
converter.
CLASSIFICATION OF PHASE CONTROLLED RECTIFIERS
The phase controlled rectifiers can be classified based on the type of input power
supply as
Single Phase Controlled Rectifiers which operate from single phase ac input
power supply.
Three Phase Controlled Rectifiers which operate from three phase ac input power
supply.
DIFFERENT TYPES OF SINGLE PHASE CONTROLLED RECTIFIERS
Single Phase Controlled Rectifiers are further subdivided into different types
Half wave controlled rectifier which uses a single thyristor device (which
provides output control only in one half cycle of input ac supply, and it provides
low dc output).
53
R = RL = Load Resistance
Fig.: Single Phase Half-Wave Thyristor Converter with a Resistive Load
A single phase half wave thyristor converter which is used for ac-dc power
conversion is shown in the above figure. The input ac supply is obtained from a main
supply transformer to provide the desired ac supply voltage to the thyristor converter
depending on the output dc voltage required. vP represents the primary input ac supply
voltage. vS represents the secondary ac supply voltage which is the output of the
transformer secondary.
During the positive half cycle of input supply when the upper end of the
transformer secondary is at a positive potential with respect to the lower end, the
thyristor anode is positive with respect to its cathode and the thyristor is in a forward
biased state. The thyristor is triggered at a delay angle of t = , by applying a suitable
gate trigger pulse to the gate lead of thyristor. When the thyristor is triggered at a delay
angle of t = , the thyristor conducts and assuming an ideal thyristor, the thyristor
behaves as a closed switch and the input supply voltage appears across the load when the
thyristor conducts from t = to radians. Output voltage vO = vS , when the thyristor
conducts from t = to .
For a purely resistive load, the load current iO (output current) that flows when
the thyristor T1 is on, is given by the expression
v
iO = O , for t
RL
The output load current waveform is similar to the output load voltage waveform
during the thyristor conduction time from to . The output current and the output
voltage waveform are in phase for a resistive load. The load current increases as the input
supply voltage increases and the maximum load current flows at t = , when the input
2
supply voltage is at its maximum value.
The maximum value (peak value) of the load current is calculated as
V
iO( max ) = I m = m .
RL
54
Note that when the thyristor conducts ( T1 is on) during t = to , the thyristor
current iT 1 , the load current iO through RL and the source current iS flowing through the
transformer secondary winding are all one and the same.
Hence we can write
v
V sin t
iS = iT 1 = iO = O = m
; for t
R
R
I m is the maximum (peak) value of the load current that flows through the
transformer secondary winding, through T1 and through the load resistor RL at the instant
55
Fig: Waveforms of single phase half-wave controlled rectifier with resistive load
EQUATIONS
vs = Vm sin t = the ac supply voltage across the transformer secondary.
Vm = max. (peak) value of input ac supply voltage across transformer secondary.
VS =
Vm
= RMS value of input ac supply voltage across transformer secondary.
2
56
vO
= Load current for t = to , when the thyristor is on.
R
1
VO( dc ) = Vdc =
vO .d ( t )
2
VO( dc )
1
= Vdc =
Vm sin t.d ( t )
2
VO( dc )
1
=
Vm sin t.d ( t )
2
VO( dc ) =
Vm
sin t.d ( t )
2
VO( dc ) =
Vm
2
VO( dc ) =
Vm
[ cos + cos ]
2
VO( dc ) =
Vm
[ 1 + cos ]
2
cos t
; cos = 1
; Vm = 2VS
The maximum average (dc) output voltage is obtained when = 0 and the
V
maximum dc output voltage Vdc( max ) = Vdm = m .
The average dc output voltage can be varied by varying the trigger angle from
0
0 to a maximum of 180 ( radians ) .
We can plot the control characteristic, which is a plot of dc output voltage versus
the trigger angle by using the equation for VO( dc ) .
57
VO( dc ) =
We can obtain the control characteristic by plotting the expression for the dc
output voltage as a function of trigger angle
Trigger angle
in degrees
VO( dc )
Vm
V
0.933 dm
Vdm =
0
300
100% Vdm
93.3 % Vdm
75 % Vdm
0.75 Vdm
0.5 Vdm
600
900
120
0.25 Vdm
0.06698 Vdm
0
1500
1800
Vdm =
50 % Vdm
25 % Vdm
Vm
= Vdc ( max )
6.69 % Vdm
0
( d c )
d m
0 . 6 d Vm
0 . 2
d mV
6 0
1 2 0
1 8 0
T r i g g e r a n g l e
in
d e g r e e s
VO ( dc )
Vdc( max )
Vdc
Vdm
58
Vdcn = Vn =
Vn =
Vm
( 1 + cos )
2
=
Vm
Vdc
Vdm
Vdc 1
= ( 1 + cos ) = Vdcn
Vdm 2
1
=
2
2
v
.
d
t
(
)
O
0
VO( RMS )
2
By substituting sin t =
1
2
= Vm2 sin 2 t.d ( t )
2
1 cos 2 t
, we get
2
1
VO( RMS )
1
( 1 cos 2 t ) .d t 2
= Vm2
( )
2
2
V
VO( RMS ) =
4
2
m
( 1 cos 2 t ) .d ( t )
1
2
VO( RMS )
Vm2
2
= d ( t ) cos 2 t.d ( t )
VO( RMS ) =
Vm
2
1
( t )
sin 2 t
1
2
VO( RMS )
V
= m
2
1
( sin 2 sin 2 ) 2 ; sin 2 = 0
(
)
2
59
Hence we get,
1
1
sin 2 2
+
(
)
VO( RMS )
V
= m
2
VO( RMS )
V
sin 2 2
= m ( ) +
2
2
Output ac power
PO( ac ) = VO ( RMS ) IO ( RMS )
Efficiency of Rectification (Rectification Ratio)
Efficiency =
PO( dc )
PO( ac )
% Efficiency =
PO( dc )
PO( ac )
100
The ac component or the ripple component Vac = Vr ( rms ) = RMS value of all
the ac ripple components.
Form Factor (FF) which is a measure of the shape of the output voltage is given by
FF =
VO( RMS )
VO ( dc )
rv =
Vr ( rms )
VO( dc )
Vac
Vdc
VO( RMS )
=
1
VO ( dc )
Therefore
rv = FF 2 1
Current Ripple Factor defined for the output (load) current waveform is given by
ri =
I r ( rms )
I O( dc )
I ac
I dc
Where
Some times the peak to peak output ripple voltage is also considered to express
the peak to peak output ripple voltage as
Vr ( pp ) = peak to peak ac ripple output voltage
The peak to peak ac ripple load current is the difference between the maximum
and the minimum values of the output load current.
I r ( pp ) = IO ( max ) IO ( min )
Transformer Utilization Factor (TUF)
TUF =
Where
VS =
PO( dc )
VS I S
61
IS =
I 2 2
I I
S
HF =
= 1
2
I
I
S 1
S1
2
S
Where
2
S1
62
VS I S 1
I
cos = S 1 cos
VS I S
IS
I S ( peak )
IS
63
The thyristor T1 is forward biased during the positive half cycle of input supply.
Let us assume that T1 is triggered at t = , by applying a suitable gate trigger pulse to
T1 during the positive half cycle of input supply. The output voltage across the load
follows the input supply voltage when T1 is ON. The load current iO flows through the
thyristor T1 and through the load in the downward direction. This load current pulse
flowing through T1 can be considered as the positive current pulse. Due to the inductance
in the load, the load current iO flowing through T1 would not fall to zero at t = , when
the input supply voltage starts to become negative. A phase shift appears between the
load voltage and the load current waveforms, due to the load inductance.
The thyristor T1 will continue to conduct the load current until all the inductive
energy stored in the load inductor L is completely utilized and the load current through T1
falls to zero at t = , where is referred to as the Extinction angle, (the value of t )
at which the load current falls to zero. The extinction angle is measured from the point
of the beginning of the positive half cycle of input supply to the point where the load
current falls to zero.
The thyristor T1 conducts from t = to . The conduction angle of T1 is
= ( ) , which depends on the delay angle and the load impedance angle . The
waveforms of the input supply voltage, the gate trigger pulse of T1 , the thyristor current,
the load current and the load voltage waveforms appear as shown in the figure below.
i1 = iO = iS
64
Fig.: Output (load) voltage waveform of a single phase half wave controlled
rectifier with RL load
From to 2 , the thyristor remains cut-off as it is reverse biased and behaves as
an open switch. The thyristor current and the load current are zero and the output voltage
also remains at zero during the non conduction time interval between to 2 . In the
next cycle the thyristor is triggered again at a phase angle of ( 2 + ) , and the same
operation repeats.
TO DERIVE AN EXPRESSION FOR THE OUTPUT (INDUCTIVE LOAD)
CURRENT, DURING t = to WHEN THYRISTOR T1 CONDUCTS
Considering sinusoidal input supply voltage we can write the expression for the
supply voltage as
vS = Vm sin t = instantaneous value of the input supply voltage.
Let us assume that the thyristor T1 is triggered by applying the gating signal to T1
at t = . The load current which flows through the thyristor T1 during t = to can
be found from the equation
di
L O + RiO = Vm sin t ;
dt
The solution of the above differential equation gives the general expression for the
output load current which is of the form
iO =
t
Vm
sin ( t ) + A1e ;
Z
= Load impedance.
65
L
= tan 1
= Load impedance angle (power factor angle of load).
R
L
= Load circuit time constant.
R
Therefore the general expression for the output load current is given by the
equation
R
t
V
iO = m sin ( t ) + A1e L ;
Z
The value of the constant A1 can be determined from the initial condition. i.e.
initial value of load current iO = 0 , at t = . Hence from the equation for iO equating
iO to zero and substituting t = , we get
iO = 0 =
Therefore
A1e
R
t
L
A1 =
e
A1 = e
A1 = e
R
t
Vm
sin ( ) + A1e L
Z
Vm
sin ( )
Z
1 Vm
Z sin ( )
R
t
L
+R
t
L
Vm
Z sin ( )
R( t )
Vm
Z sin ( )
A1 = e L m sin ( )
Z
Substituting the value of constant A1 from the above equation into the expression for iO ,
we obtain
R R( )
t
Vm
V
iO =
sin ( t ) + e L e L m sin ( ) ;
Z
Z
iO =
Vm
sin ( t ) + e
Z
R( t )
( )
V
e L m sin ( )
Z
66
iO =
R
( t )
Vm
sin ( t ) + e L
Z
Vm
Z sin ( )
Therefore we obtain the final expression for the inductive load current of a single
phase half wave controlled rectifier with RL load as
iO =
Vm
Z
R
( t )
L
sin
sin
e
(
)
(
)
Where t .
The above expression also represents the thyristor current iT 1 , during the
conduction time interval of thyristor T1 from t = to .
TO CALCULATE EXTINCTION ANGLE
The extinction angle , which is the value of t at which the load current
iO falls to zero and T1 is turned off can be estimated by using the condition that
iO = 0 , at t =
By using the above expression for the output load current, we can write
R
( )
Vm
L
iO = 0 =
sin ( ) sin ( ) e
As
Vm
0 , we can write
Z
R
( )
L
sin
sin
e
(
)
(
)
=0
sin ( ) = sin ( ) e L
( )
is the extinction angle which depends upon the load inductance value.
Conduction angle increases as is decreased for a specific value of .
Conduction angle = ( ) ; for a purely resistive load or for an RL load
when the load inductance L is negligible the extinction angle = and the conduction
angle = ( )
67
Equations
Where t .
sin ( ) = sin ( ) e L
( )
VO( dc )
1
2
v .d ( t )
O
1
= VL =
vO .d ( t ) + vO .d ( t ) + vO .d ( t ) ;
2 0
VO( dc ) = VL =
VO( dc )
1
vO .d ( t ) ; vO = Vm sin t for t = to
2
1
= VL =
Vm sin t.d ( t )
2
cos t
Vm
( cos cos )
=
2
VO( dc ) = VL =
Vm
2
VO( dc ) = VL =
Vm
( cos cos )
2
Note: During the period t = to , we can see from the output load voltage waveform
that the instantaneous output voltage is negative and this reduces the average or the dc
output voltage when compared to a purely resistive load.
68
VO( dc )
RL
Vm
( cos cos )
2 RL
Fig. : Single Phase Half Wave Controlled Rectifier with RL Load and Free
Wheeling Diode (FWD)
With a RL load it was observed that the average output voltage reduces. This
disadvantage can be overcome by connecting a diode across the load as shown in figure.
The diode is called as a Free Wheeling Diode (FWD). The waveforms are shown below.
V m
V s
S
0
G
0
a t e
o l t a g
e
3
u l- s Vm e s
t
a d
c u r r e n
t =
V O
v
2
iO
p l y
iG
u p
a d
2
v o
2 +
l t a g e
69
t1
t2
t3
2 +
t4
Fig. : Waveform of Load Current in Single Phase Half Wave Controlled Rectifier
with a Large Inductance and FWD
70
During the periods t1 , t3 ,..... the SCR carries the load current and during the periods
t2 , t4 ,..... the FWD carries the load current.
It is to be noted that
The load current becomes continuous and the load current does not fall
to zero for large value of load inductance.
The ripple in the load current waveform (the amount of variation in the
output load current) decreases.
SINGLE PHASE HALF WAVE CONTROLLED RECTIFIER WITH A
GENERAL LOAD
A general load consists of R, L and a DC source E in the load circuit
iO
+
vS
L
+
vO
In the half wave controlled rectifier circuit shown in the figure, the load circuit
consists of a dc source E in addition to resistance and inductance. When the thyristor is
in the cut-off state, the current in the circuit is zero and the cathode will be at a voltage
equal to the dc voltage in the load circuit i.e. the cathode potential will be equal to E.
The thyristor will be forward biased for anode supply voltage greater than the load dc
voltage.
When the supply voltage is less than the dc voltage E in the circuit the thyristor
is reverse biased and hence the thyristor cannot conduct for supply voltage less than the
load circuit dc voltage.
The value of t at which the supply voltage increases and becomes equal to the
load circuit dc voltage can be calculated by using the equation Vm sin t = E . If we
assume the value of t is equal to then we can write Vm sin = E . Therefore is
1 E
calculated as = sin .
Vm
For trigger angle < , the thyristor conducts only from t = to .
71
vO
a d
l t a
E
0
iO
2 +
Im
0
a d
c u
r r e n
2 +
2 +
Equations
vS = Vm sin t = Input supply voltage .
vO = Vm sin t = Output load voltage for t = to
vO = E for t = 0 to & for t = to 2
Expression for the Load Current
When the thyristor is triggered at a delay angle of , the equation for the circuit
can be written as
di
Vm sin t = iO R + L O +E ; t
dt
The general expression for the output load current can be written as
iO =
t
Vm
E
sin ( t ) + Ae
Z
R
Where
Z = R 2 + ( L ) = Load Impedance
2
L
= tan 1
= Load impedance angle
R
L
= Load circuit time constant
R
The general expression for the output load current can be written as
72
R
t
Vm
E
iO =
sin ( t ) + Ae L
Z
R
To find the value of the constant A apply the initial condition at t = , load
current iO = 0 . Equating the general expression for the load current to zero at t = , we
get
R
Vm
E
iO = 0 =
sin ( ) + Ae L
Z
R
We obtain the value of constant A as
R
E V
A = m sin ( ) e L
R Z
Substituting the value of the constant A in the expression for the load current,
we get the complete expression for the output load current as
iO =
R
Vm
E E V
( t )
sin ( t ) + m sin ( ) e L
Z
R R Z
The Extinction angle can be calculated from the final condition that the output
current iO = 0 at t = . By using the above expression we get,
iO = 0 =
R
Vm
E E V
( )
sin ( ) + m sin ( ) e L
Z
R R Z
VO( dc )
1
2
v .d ( t )
O
1
=
vO .d ( t ) + vO .d ( t ) + vO .d ( t )
2 0
1
=
E.d ( t ) + Vm sin t + E.d ( t )
2 0
VO( dc ) =
1
2
E ( t )
+ Vm ( cos t )
+ E ( t )
73
VO( dc ) =
1
E ( 0 ) Vm ( cos cos ) + E ( 2 )
2
VO( dc ) =
Vm
E
( cos cos ) +
( 2 + )
2
2
VO( dc ) =
2 ( )
Vm
( cos cos ) +
E
2
2
1 2
=
vO .d ( t )
2 0
74
75
iS
+
vO
vS
S
u p p l y
iO
D
vS = Supply Voltage across the upper half of the transformer secondary winding
vS = vAO = Vm sin t
vBO = vAO = Vm sin t = supply voltage across the lower half of the transformer
secondary winding.
This type of full wave controlled rectifier requires a center tapped transformer and
two thyristors T1 and T2 . The input supply is fed through the mains supply transformer,
the primary side of the transformer is connected to the ac line voltage which is available
(normally the primary supply voltage is 230V RMS ac supply voltage at 50Hz supply
frequency in India). The secondary side of the transformer has three lines and the center
point of the transformer (center line) is used as the reference point to measure the input
and output voltages.
The upper half of the secondary winding and the thyristor T1 along with the load
act as a half wave controlled rectifier, the lower half of the secondary winding and the
thyristor T2 with the common load act as the second half wave controlled rectifier so as to
produce a full wave load voltage waveform.
There are two types of operations possible.
Discontinuous load current operation, which occurs for a purely resistive
load or an RL load with low inductance value.
Continuous load current operation which occurs for an RL type of load
with large load inductance.
Discontinuous Load Current Operation (for low value of load inductance)
Generally the load current is discontinuous when the load is purely resistive or
when the RL load has a low value of inductance.
During the positive half cycle of input supply, when the upper line of the
secondary winding is at a positive potential with respect to the center point O the
76
thyristor T1 is forward biased and it is triggered at a delay angle of . The load current
flows through the thyristor T1 , through the load and through the upper part of the
secondary winding, during the period to , when the thyristor T1 conducts.
The output voltage across the load follows the input supply voltage that appears
across the upper part of the secondary winding from t = to . The load current
through the thyristor T1 decreases and drops to zero at t = , where > for RL type
of load and the thyristor T1 naturally turns off at t = .
vO
0
iO
( +
2
( ) +
77
VO( dc )
2
= Vdc =
2
VO( dc )
1
= Vdc =
vO .d ( t )
t=
VO( dc )
1
= Vdc = Vm sin t.d ( t )
vO .d ( t )
t =
Therefore
cos t
VO( dc ) = Vdc =
Vm
VO( dc ) = Vdc =
Vm
( cos cos )
VO( dc ) =
Vm
( cos cos ) , for discontinuous load current operation,
< < ( + ) .
When the load inductance is small and negligible that is L 0 , the extinction
angle = radians . Hence the average or dc output voltage for resistive load is
obtained as
VO( dc ) =
Vm
( cos cos )
VO( dc ) =
Vm
( cos ( 1) )
; cos = 1
78
VO( dc ) =
Vm
( 1 + cos ) ; for resistive load, when L 0
vO
0
iO
t
( +
2
( ) +
VO( dc )
1
= Vdc =
vO .d ( t )
t=0
Therefore
Therefore
VO( dc )
1
= Vdc = Vm sin t.d ( t )
VO( dc )
V
= Vdc = m cos t
VO( dc ) = Vdc =
Vm
[ cos + cos ]
VO( dc ) = Vdc =
Vm
( 1 + cos )
; cos = 1
The DC output voltage Vdc is same as the DC output voltage of a single phase full
wave controlled rectifier with resistive load. Note that the dc output voltage of a single
phase full wave controlled rectifier is two times the dc output voltage of a half wave
controlled rectifier.
CONTROL CHARACTERISTICS OF A SINGLE PHASE FULL WAVE
CONTROLLED RECTIFIER WITH R LOAD OR RL LOAD WITH FWD
The control characteristic can be obtained by plotting the dc output voltage Vdc
versus the trigger angle .
The average or dc output voltage of a single phase full wave controlled rectifier
circuit with R load or RL load with FWD is calculated by using the equation
VO( dc ) = Vdc =
Vm
( 1 + cos )
Vdc can be varied by varying the trigger angle from 0 to 1800 . (i.e., the range
of trigger angle is from 0 to radians).
Maximum dc output voltage is obtained when = 0
Therefore
Vm
2V
( 1 + cos 0 ) = m
2Vm
for a single phase full wave controlled rectifier.
Normalizing the dc output voltage with respect to its maximum value, we can
write the normalized dc output voltage as
80
Vdcn = Vn =
Vdc( max )
Vdc
Vdm
Vm
( 1 + cos ) 1
= Vn =
= ( 1 + cos )
2
2Vm
Vdcn
Therefore
Vdc
Vdcn = Vn =
V
1
( 1 + cos ) = dc
2
Vdm
1
( 1 + cos ) Vdm
2
Vdc =
Trigger angle
in degrees
Vdm =
0
300
0
60
90
1200
0
150
1800
Normalized
dc output voltage Vn
VO( dc )
2Vm
= 0.636619Vm
0.593974 Vm
0.47746 Vm
1
0.9330
0.75
0.3183098 Vm
0.191549 Vm
0.25
0.04264 Vm
0
0.06698
0
0.5
( d c )
d m
0 . 6 d Vm
0 . 2
d mV
6 0
1 2 0
1 8 0
T r i g g e r a n g l e
in
d e g r e e s
Fig.: Control characteristic of a single phase full wave controlled rectifier with R
load or RL load with FWD
81
vO
0
iO
T1
( +
T2
T1
3
2
)(2 +
)
Fig.: Load voltage and load current waveform of a single phase full wave controlled
rectifier with RL load & without FWD for continuous load current operation
In the case of continuous current operation the thyristor T1 which is triggered at a
delay angle of , conducts from t = to ( + ) . Output voltage follows the input
supply voltage across the upper half of the transformer secondary winding
vO = vAO = Vm sin t .
The next thyristor T2 is triggered at t = ( + ) , during the negative half cycle
input supply. As soon as T2 is triggered at t = ( + ) , the thyristor T1 will be reverse
biased and T1 turns off due to natural commutation (ac line commutation). The load
current flows through the thyristor T2 from t = ( + ) to ( 2 + ) . Output voltage
across the load follows the input supply voltage across the lower half of the transformer
secondary winding vO = vBO = Vm sin t .
0
Each thyristor conducts for radians ( 180 ) in the case of continuous current
operation.
82
( + )
VO( dc )
1
= Vdc =
VO( dc )
1
= Vdc =
VO( dc )
V
= Vdc = m cos t
vO .d ( t )
t =
( + )
Vm sin t.d ( t )
( + )
VO( dc ) = Vdc =
Vm
cos cos ( + ) ;
VO( dc ) = Vdc =
Vm
[ cos + cos ]
VO ( dc ) = Vdc =
2Vm
cos
cos ( + ) = cos
The above equation can be plotted to obtain the control characteristic of a single
phase full wave controlled rectifier with RL load assuming continuous load current
operation.
Normalizing the dc output voltage with respect to its maximum value, the
normalized dc output voltage is given by
Vdcn = Vn =
Therefore
Vdc
Vdc( max )
2Vm
( cos )
=
= cos
2Vm
Vdcn = Vn = cos
83
Trigger angle
in degrees
VO( dc )
Remarks
2V
Vdm = m
0.866 Vdm
0.5 Vdm
300
600
0 Vdm
-0.5 Vdm
900
1200
-0.866 Vdm
2V
Vdm = m
1500
1800
VO ( d c )
V
d m
0 . 6 d mV
0 . 2
d mV
3 0
- 0 . d2 m V
- 0 . 6d
- Vd
6 0
9 0
1 2 0 1 5 0 1 8 0
T r i g g e r a n g l e
i n
d e g r e e s
84
( + )
VO( RMS )
2
=
2
2
vO2 .d ( t )
VO( RMS )
1 ( + ) 2 2
2
=
Vm sin t.d ( t )
VO( RMS )
V 2
= m
( + )
2 ( + )
m
V
VO( RMS ) =
VO( RMS )
2
2
sin t.d ( t )
( 1 cos 2 t ) .d
2
1
= Vm
2
1
VO( RMS ) = Vm
2
( + )
( + )
d ( t )
( t )
( + )
( t )
1
2
2
cos 2 t.d ( t )
1
sin 2 t
( + ) 2
sin 2 ( + ) sin 2 2
( + )
2
VO( RMS )
1
= Vm
2
VO( RMS )
1
sin 2 cos 2 + cos 2 sin 2 sin 2 2
= Vm ( )
2
VO( RMS )
1
0 + sin 2 sin 2 2
= Vm ( )
2
VO( RMS )
1
2 V
= Vm ( ) = m
2
2
Therefore
VO( RMS ) =
Vm
; The rms output voltage is same as the input rms supply voltage.
2
85
86
Fig:. Waveforms of single phase semi-converter for RLE load and constant load
current for > 900
87
The load current is transferred from T1 and D1 to the FWD Dm . T1 and D1 are
turned off. The load current continues to flow through the FWD Dm . The load current
free wheels (flows continuously) through the FWD during the free wheeling time period
to ( + ) .
During the negative half cycle of input supply voltage the secondary line A
becomes negative with respect to line B. The thyristor T2 and the diode D2 are both
forward biased. T2 is triggered at t = ( + ) , during the negative half cycle. The FWD
is reverse biased and turns-off as soon as T2 is triggered. The load current continues to
flow through T2 and D2 during the period t = ( + ) to 2
TO DERIVE AN EXPRESSION FOR THE AVERAGE OR DC OUTPUT
VOLTAGE OF A SINGLE PHASE SEMI-CONVERTER
The average output voltage can be found from
Therefore
Vdc =
2
Vm sin t.d ( t )
2
Vdc =
2Vm
[ cos t ]
2
Vdc =
Vm
[ cos + cos ] ; cos = 1
Vdc =
Vm
[ 1 + cos ]
2Vm
to 0 by varying from 0 to .
2Vm
Normalizing the average output voltage with respect to its maximum value
Vdcn = Vn =
Vdc
= 0.5 ( 1 + cos )
Vdm
The output control characteristic can be plotted by using the expression for Vdc
88
VO( RMS )
2
2
= Vm2 sin 2 t.d ( t )
2
VO( RMS )
Vm2
=
2
VO( RMS )
V 1
sin 2 2
= m +
2
2
2
1
cos
2
t
.
d
t
(
)
(
)
The circuit diagram of a single phase fully controlled bridge converter is shown in
the figure with a highly inductive load and a dc source in the load circuit so that the load
current is continuous and ripple free (constant load current operation).
The fully controlled bridge converter consists of four thyristors T1 , T2 , T3 and T4
connected in the form of full wave bridge configuration as shown in the figure. Each
thyristor is controlled and turned on by its gating signal and naturally turns off when a
reverse voltage appears across it. During the positive half cycle when the upper line of the
transformer secondary winding is at a positive potential with respect to the lower end the
thyristors T1 and T2 are forward biased during the time interval t = 0 to . The
thyristors T1 and T2 are triggered simultaneously t = ; ( 0 ) , the load is
connected to the input supply through the conducting thyristors T1 and T2 . The output
voltage across the load follows the input supply voltage and hence output voltage
vO = Vm sin t . Due to the inductive load T1 and T2 will continue to conduct beyond
t = , even though the input voltage becomes negative. T1 and T2 conduct together
89
during the time period to ( + ) , for a time duration of radians (conduction angle
of each thyristor = 1800 )
During the negative half cycle of input supply voltage for t = to 2 the
thyristors T3 and T4 are forward biased. T3 and T4 are triggered at t = ( + ) . As
soon as the thyristors T3 and T4 are triggered a reverse voltage appears across the
thyristors T1 and T2 and they naturally turn-off and the load current is transferred from
T1 and T2 to the thyristors T3 and T4 . The output voltage across the load follows the
supply voltage and vO = Vm sin t during the time period t = ( + ) to ( 2 + ) . In
the next positive half cycle when T1 and T2 are triggered, T3 and T4 are reverse biased
and they turn-off. The figure shows the waveforms of the input supply voltage, the output
load voltage, the constant load current with negligible ripple and the input supply current.
90
During the time period t = to , the input supply voltage vS and the input
supply current iS are both positive and the power flows from the supply to the load. The
converter operates in the rectification mode during t = to .
During the time period t = to ( + ) , the input supply voltage vS is negative
and the input supply current iS is positive and there will be reverse power flow from the
load circuit to the input supply. The converter operates in the inversion mode during the
time period t = to ( + ) and the load energy is fed back to the input source.
The single phase full converter is extensively used in industrial applications up to
about 15kW of output power. Depending on the value of trigger angle , the average
output voltage may be either positive or negative and two quadrant operation is possible.
TO DERIVE AN EXPRESSION FOR THE AVERAGE (DC) OUTPUT VOLTAGE
The average (dc) output voltage can be determined by using the expression
VO( dc ) = Vdc =
1
vO .d ( t ) ;
2 0
The output voltage waveform consists of two output pulses during the input
supply time period between 0 & 2 radians . In the continuous load current operation of
a single phase full converter (assuming constant load current) each thyristor conduct for
radians (1800) after it is triggered. When thyristors T1 and T2 are triggered at t =
T1 and T2 conduct from to ( + ) and the output voltage follows the input supply
Therefore
VO( dc )
2
= Vdc =
Vm sin t.d ( t )
2
VO( dc )
1
= Vdc = Vm sin t.d ( t )
VO( dc )
Vm +
= Vdc =
sin t.d ( t )
VO( dc ) = Vdc =
Vm
+
[ cos t ]
VO( dc ) = Vdc =
Vm
cos ( + ) + cos ; cos ( + ) = cos
VO( dc ) = Vdc =
2Vm
cos
91
2Vm
for = 00 to a
2Vm
for = radians = 1800
minimum value of
Therefore
2Vm
Vdcn
2Vm
cos
= Vn =
= cos
2Vm
Trigger angle
in degrees
VO( dc )
Remarks
2V
Vdm = m
300
600
900
120
1500
1800
0.866 Vdm
0.5 Vdm
0 Vdm
-0.5 Vdm
-0.866 Vdm
2V
Vdm = m
92
VO ( d c )
V
d m
0 . 6 d mV
0 . 2
d mV
3 0
- 0 . d2 m V
- 0 . 6d
- Vd
6 0
9 0
1 2 0 1 5 0 1 8 0
T r i g g e r a n g l e
i n
d e g r e e s
93
The above figure shows the two regions of single phase full converter operation in
the Vdc versus I dc plane. In the first quadrant when the trigger angle is less than 900,
Vdc and I dc are both positive and the converter operates as a controlled rectifier and
converts the ac input power into dc output power. The power flows from the input source
to the load circuit. This is the normal controlled rectifier operation where Pdc is positive.
When the trigger angle is increased above 900 , Vdc becomes negative but I dc is
positive and the average output power (dc output power) Pdc becomes negative and the
power flows from the load circuit to the input source. The operation occurs in the fourth
quadrant where Vdc is negative and I dc is positive. The converter operates as a line
commutated inverter.
TO DERIVE AN EXPRESSION FOR THE RMS VALUE OF THE OUTPUT
VOLTAGE
The rms value of the output voltage is calculated as
VO( RMS ) =
1 2
vO .d ( t )
2 0
The single phase full converter gives two output voltage pulses during the input
supply time period and hence the single phase full converter is referred to as a two pulse
converter. The rms output voltage can be calculated as
VO( RMS ) =
2
2
vO .d ( t )
2
VO( RMS ) =
1
2
2
Vm sin t.d ( t )
VO( RMS ) =
Vm2 + 2
sin t.d ( t )
VO( RMS ) =
Vm2 + ( 1 cos 2 t )
.d ( t )
2
VO( RMS ) =
Vm2 +
d
cos 2 t.d ( t )
(
)
VO( RMS ) =
Vm2
( t )
2
sin 2 t
94
VO( RMS ) =
sin 2 ( + ) sin 2
Vm2
( + )
2
2
VO( RMS ) =
Vm2
2
VO( RMS ) =
Vm2
sin 2 sin 2
( )
2
2
VO( RMS )
Therefore
sin ( 2 + 2 ) sin 2
( )
; sin ( 2 + 2 ) = sin 2
2
Vm2
Vm2 Vm
=
=
( ) 0 =
2
2
2
VO( RMS ) =
Vm
= VS
2
Hence the rms output voltage is same as the rms input supply voltage
The rms thyristor current can be calculated as
Each thyristor conducts for radians or 1800 in a single phase full converter
operating at continuous and constant load current.
Therefore rms value of the thyristor current is calculated as
IT ( RMS ) = IO ( RMS )
IT ( RMS ) =
1
= IO ( RMS )
2
2
I O( RMS )
2
IT ( Avg ) = IO ( dc )
2
IT ( Avg ) =
1
= IO ( dc )
I O( dc )
2
95
96
We have seen in the case of a single phase full converter with inductive loads the
converter can operate in two different quadrants in the Vdc versus I dc operating diagram.
If two single phase full converters are connected in parallel and in opposite direction
(connected in back to back) across a common load four quadrant operation is possible.
Such a converter is called as a dual converter which is shown in the figure.
The dual converter system will provide four quadrant operation and is normally
used in high power industrial variable speed drives. The converter number 1 provides a
positive dc output voltage and a positive dc load current, when operated in the
rectification mode.
The converter number 2 provides a negative dc output voltage and a negative dc
load current when operated in the rectification mode. We can thus have bi-directional
load current and bi-directional dc output voltage. The magnitude of output dc load voltage
and the dc load current can be controlled by varying the trigger angles 1 & 2 of the
converters 1 and 2 respectively.
are released to the thyristor gates of converter 2 and the trigger angle 2 is adjusted such
0
that 0 2 90 so that converter 2 operates as a controlled rectifier. The dc output
voltage Vdc and I dc are both negative and the load current flows in the reverse direction.
The magnitude of Vdc and I dc are controlled by the trigger angle 2 . The operation
occurs in the third quadrant where Vdc and I dc are both negative and output power Pdc is
positive and the converter 2 operates as a controlled rectifier and converts the ac supply
power into dc output power which is fed to the load.
When we want to reverse the load current flow so that I dc is positive we have to
operate converter 2 in the inverter mode by increasing the trigger angle 2 above 900 .
When 2 is made greater than 900 , the converter 2 operates as a line commutated
inverter and the load power (load energy) is fed back to ac mains. The current falls to zero
when all the load energy is utilized and the converter 1 can be switched on after a short
delay of 10 to 20 milli seconds to ensure that the converter 2 thyristors are completely
turned off.
The advantage of non circulating current mode of operation is that there is no
circulating current flowing between the two converters as only one converter operates and
conducts at a time while the other converter is switched off. Hence there is no need of the
series current limiting inductors between the outputs of the two converters. The current
rating of thyristors is low in this mode.
But the disadvantage is that the load current tends to become discontinuous and
the transfer characteristic becomes non linear. The control circuit becomes complex and
the output response is sluggish as the load current reversal takes some time due to the
time delay between the switching off of one converter and the switching on of the other
converter. Hence the output dynamic response is poor. Whenever a fast and frequent
reversal of the load current is required, the dual converter is operated in the circulating
current mode.
CIRCULATING CURRENT MODE OF OPERATION
In this mode of operation both the converters 1 and 2 are switched on and
operated simultaneously and both the converters are in a state of conduction. If converter
1 is operated as a controlled rectifier by adjusting the trigger angle 1 between 0 to 900
the second converter 2 is operated as a line commutated inverter by increasing its trigger
angle 2 above 900. The trigger angles 1 and 2 are adjusted such that they produce the
same average dc output voltage across the load terminals.
The average dc output voltage of converter 1 is
Vdc1 =
2Vm
cos 1
2Vm
cos 2
98
Vdc1 = Vdc 2
2Vm
2Vm
2V
cos 1 =
cos 2 = m ( cos 2 )
Therefore
Therefore
2 = ( 1 )
Which gives
2 = ( 1 )
or
( 1 + 2 ) =
radians
When the trigger angle 1 of converter 1 is set to some value the trigger angle 2
0
of the second converter is adjusted such that 2 = ( 180 1 ) . Hence for circulating
current mode of operation where both converters are conducting at the same time
( 1 + 2 ) = 1800 so that they produce the same dc output voltage across the load.
0
0
When 1 < 90 (say 1 = 30 ) the converter 1 operates as a controlled rectifier
and converts the ac supply into dc output power and the average load current I dc is
positive. At the same time the converter 2 is switched on and operated as a line
0
commutated inverter, by adjusting the trigger angle 2 such that 2 = ( 180 1 ) , which
0
is equal to 1500 , when 1 = 30 . The converter 2 will operate in the inversion mode and
feeds the load energy back to the ac supply. When we want to reverse the load current
flow we have to switch the roles of the two converters.
When converter 2 is operated as a controlled rectifier by adjusting the trigger
0
angle 2 such that 2 < 90 , the first converter1 is operated as a line commutated
0
inverter, by adjusting the trigger angle 1 such that 1 > 90 . The trigger angle 1 is
0
adjusted such that 1 = ( 180 2 ) for a set value of 2 .
In the circulating current mode a current builds up between the two converters
even when the load current falls to zero. In order to limit the circulating current flowing
between the two converters, we have to include current limiting reactors in series between
the output terminals of the two converters.
The advantage of the circulating current mode of operation is that we can have
faster reversal of load current as the two converters are in a state of conduction
simultaneously. This greatly improves the dynamic response of the output giving a faster
dynamic response. The output voltage and the load current can be linearly varied by
adjusting the trigger angles 1 & 2 to obtain a smooth and linear output control. The
control circuit becomes relatively simple. The transfer characteristic between the output
voltage and the trigger angle is linear and hence the output response is very fast. The load
current is free to flow in either direction at any time. The reversal of the load current can
be done in a faster and smoother way.
99
As the instantaneous output voltages of the two converters are out of phase, there
will be an instantaneous voltage difference and this will result in circulating current
between the two converters. In order to limit the circulating current, current limiting
reactors are connected in series between the outputs of the two converters. This
circulating current will not flow through the load and is normally limited by the current
reactor Lr .
If vO1 and vO2 are the instantaneous output voltages of the converters 1 and 2,
respectively the circulating current can be determined by integrating the instantaneous
voltage difference (which is the voltage drop across the circulating current reactor Lr),
starting from t = (2 - 1). As the two average output voltages during the interval t
= ( + 1) to (2 - 1) are equal and opposite their contribution to the instantaneous
circulating current ir is zero.
ir =
1
Lr
vr .d ( t ) ;
( 2 1 )
vr = ( vO 1 vO 2 )
Therefore
ir =
1
Lr
( vO 1 + vO 2 ) .d ( t ) ;
( 2 1 )
Vm
Lr
V
ir = m
Lr
t
t
( 2 1 )
( cos t )
( 2 1 )
+ ( cos t )
( 2 1 )
ir =
Vm
( cos t ) cos ( 2 1 ) + ( cos t ) cos ( 2 1 )
Lr
ir =
Vm
2 cos t 2 cos ( 2 1 )
Lr
ir =
2Vm
( cos t cos 1 )
Lr
The instantaneous value of the circulating current depends on the delay angle.
101
For trigger angle (delay angle) 1 = 0, its magnitude becomes minimum when
t = n , n = 0, 2, 4,.... and magnitude becomes maximum when t = n , n = 1,3,5,....
If the peak load current is I p , one of the converters that controls the power flow
4Vm
may carry a peak current of I p +
,
Lr
I p = I L( max ) =
Where
Vm
4V
, & ir ( max ) = m
RL
Lr
Problems
.
4
Assume SCR to be ideal. Supply voltage is 330 sin314t. Also calculate the RMS
power and the rectification efficiency.
1. What will be the average power in the load for the circuit shown, when =
3
i n
+
0
3 1
0 0
The circuit is that of a single phase half wave controlled rectifier with a resistive load
Vdc =
Vm
( 1 + cos )
2
Vdc =
330
1 + cos
2
4
radians
4
Vdc2 89.662
=
= 80.38 Watts
R
100
I dc =
Vdc 89.66
=
= 0.8966 Amps
R
100
VRMS
V
= m
2
1
sin 2 2
102
VRMS
sin 2
330 1
4
=
+
2
4
2
VRMS = 157.32 V
RMS Power (AC power)
2
VRMS
157.322
=
=
= 247.50 Watts
R
100
Average power
RMS power
Rectification Efficiency =
80.38
= 0.3248
247.47
2. In the circuit shown find out the average voltage across the load assuming that the
conduction drop across the SCR is 1 volt. Take = 450.
V
+
3 0
i n 3 1
0 0
L oad
v o lta g e
The wave form of the load voltage is shown below (not to scale).
l t a g e
a c r o
r e s i s t a n c e
s s
It is observed that the SCR turns off when t = , where = ( ) because the
SCR turns-off for anode supply voltage below 1 Volt.
VAK = Vm sin = 1 volt (given)
103
1 V
Therefore = sin AK
Vm
1 1
0
= sin
= 0.17 ( 0.003 radians )
330
= ( 1800 )
= 179.830
Vdc =
1
2
(V
sin t VAK ) d ( t )
1
Vdc =
Vm sin t.d ( t ) VAK d ( t )
2
1
Vdc =
Vm ( cos t )
2
VAK ( t )
Vdc =
1
Vm ( cos cos ) VAK ( )
2
Vdc =
1
330 ( cos 450 cos179.830 ) 1( 3.138 0.003)
. Assume ideal
4
R
1 0
2
5
0
0
~V
H z
2 4
( VB
Solution
It is obvious that the SCR cannot conduct when the instantaneous value of the
supply voltage is less than 24 V, the battery voltage. The load voltage waveform is as
shown (voltage across ion).
104
V
V
l t a g e
a c r o
r e s i s t a n c e
s s
VB = Vm sin
24 = 200 2 sin
24
0
= sin 1
= 4.8675 = 0.085 radians
200 2
= = 3.056 radians
Average value of voltage across 10
1
=
( Vm sin t VB ) .d ( t )
2
=
200 2 sin t 24 .d ( t )
2
4
1
2
= 68 Vots
Therefore charging current
=
68
= 6.8 Amps
10
Note: If value of is more than , then the SCR will trigger only at t = ,
(assuming that the gate signal persists till then), when it becomes forward biased.
105
1
Vdc =
( Vm sin t VB ) .d ( t )
2
Therefore
4. In a single phase full wave rectifier supply is 200 V AC. The load resistance is
10 , = 600 . Find the average voltage across the load and the power consumed
in the load.
Solution
In a single phase full wave rectifier
Vdc =
Vm
( 1 + cos )
Vdc =
200 2
( 1 + cos 600 )
Vdc2 1352
=
= 1.823 kW
R
10
5. In the circuit shown find the charging current if the trigger angle = 900 .
R
2
5
+
0 0
V
0
H z
= 1
1 0
( VB
Solution
With the usual notation
VB = Vm sin
10 = 200 2 sin
Therefore
10
= sin 1
= 0.035 radians
200 2
106
= 900 =
radians ; = ( ) = 3.10659
2
2
Average voltage across 10 =
( Vm sin t VB ) .d ( t )
2
1
Vm cos t VB ( t )
1
Vm ( cos cos ) VB ( )
= 85 V
Note that the values of & are in radians.
Charging current =
=
6. A single phase full wave controlled rectifier is used to supply a resistive load of
10 from a 230 V, 50 Hz, supply and firing angle of 900. What is its mean load
voltage? If a large inductance is added in series with the load resistance, what will
be the new output load voltage?
Solution
For a single phase full wave controlled rectifier with resistive load,
Vdc =
Vm
( 1 + cos )
Vdc =
230 2
1 + cos
107
3
0
Vdc =
Since =
2Vm
cos
cos = cos = 0
2
1 0
+
V
~
+
108
Therefore
100
= sin 1
2 230
2
=
( Vm sin t VB ) d ( t )
2
1
Vm cos t VB ( t )
1
Vm ( cos cos ) VB ( )
1
230 2 ( 0.707 + 0.9517 ) 204.36
= 106.68 Volts
Charging current =
=
If one of the SCRs is open circuited, the circuit behaves like a half wave rectifier.
The average voltage across the resistance and the charging current will be half of that of a
full wave rectifier.
Therefore Charging Current =
10.668
= 5.334 Amps
2
109
The output ripple frequency is equal to the twice the ac supply frequency. The
single phase full wave controlled rectifiers provide two output pulses during every input
supply cycle and hence are referred to as two pulse converters.
Three phase converters are 3-phase controlled rectifiers which are used to convert
ac input power supply into dc output power across the load.
Features of 3-phase controlled rectifiers are
Operate from 3 phase ac supply voltage.
They provide higher dc output voltage and higher dc output power.
Higher output voltage ripple frequency.
Filtering requirements are simplified for smoothing out load voltage and load
current
Three phase controlled rectifiers are extensively used in high power variable
speed industrial dc drives.
110
V C
= vbn = Vm sin t
0
V A
0
1
V B
N
Vector diagram of 3-phase supply voltages
111
The 3-phase half wave converter combines three single phase half wave controlled
rectifiers in one single circuit feeding a common load. The thyristor T1 in series with one
of the supply phase windings ' a n ' acts as one half wave controlled rectifier. The
second thyristor T2 in series with the supply phase winding ' b n ' acts as the second half
wave controlled rectifier. The third thyristor T3 in series with the supply phase winding
' c n ' acts as the third half wave controlled rectifier.
The 3-phase input supply is applied through the star connected supply transformer
as shown in the figure. The common neutral point of the supply is connected to one end
of the load while the other end of the load connected to the common cathode point.
0
When the thyristor T1 is triggered at t = + = ( 30 + ) , the phase voltage
6
van appears across the load when T1 conducts. The load current flows through the supply
phase winding ' a n ' and through thyristor T1 as long as T1 conducts.
5
biased and turns-off. The load current flows through the thyristor T2 and through the
supply phase winding ' b n ' . When T2 conducts the phase voltage vbn appears across the
load until the thyristor T3 is triggered .
3
+ = ( 2700 + ) , T2 is reversed
When the thyristor T3 is triggered at t =
2
biased and hence T2 turns-off. The phase voltage vcn appears across the load when T3
conducts.
When T1 is triggered again at the beginning of the next input cycle the thyristor T3
turns off as it is reverse biased naturally as soon as T1 is triggered. The figure shows the
3-phase input supply voltages, the output voltage which appears across the load, and the
load current assuming a constant and ripple free load current for a highly inductive load
and the current through the thyristor T1 .
For a purely resistive load where the load inductance L = 0 and the trigger angle
> , the load current appears as discontinuous load current and each thyristor is
6
naturally commutated when the polarity of the corresponding phase supply voltage
reverses. The frequency of output ripple frequency for a 3-phase half wave converter is
3 f S , where f S is the input supply frequency.
The 3-phase half wave converter is not normally used in practical converter
systems because of the disadvantage that the supply current waveforms contain dc
components (i.e., the supply current waveforms have an average or dc value).
112
3 6
Vdc =
vO .d ( t )
2
6 +
Output voltage
Vdc =
Vm sin t.d ( t )
2
6 +
As the output load voltage waveform has three output pulses during the input
cycle of 2 radians
56 +
3Vm
Vdc =
sin t.d ( t )
2
6 +
3Vm
Vdc =
( cos t )
2
5
+
6
+
6
113
Vdc =
3Vm
2
cos 6 + + cos 6 +
5
cos 6
5
cos ( ) + sin
sin ( ) + cos .cos ( ) sin sin ( )
6
6
Vdc =
3Vm
2
Vdc =
3Vm
cos ( 1500 ) cos ( ) + sin ( 1500 ) sin ( ) + cos ( 300 ) .cos ( ) sin ( 300 ) sin ( )
Vdc =
3Vm
cos ( 1800 300 ) cos ( ) + sin ( 1800 300 ) sin ( ) + cos ( 300 ) .cos ( ) sin ( 300 ) sin ( )
0
0
0
Note: cos ( 180 30 ) = cos ( 30 )
3Vm
+ cos ( 300 ) cos ( ) + sin ( 300 ) sin ( ) + cos ( 300 ) .cos ( ) sin ( 300 ) sin ( )
Vdc =
3Vm
2 cos ( 300 ) cos ( )
Vdc =
3Vm
2
Vdc =
3Vm
3 3Vm
3 cos ( ) =
cos ( )
2
2
Vdc =
3VLm
cos ( )
2
3
cos ( )
2
2
114
Where
VLm = 3Vm = Max. line to line supply voltage for a 3-phase star connected transformer.
The maximum average or dc output voltage is obtained at a delay angle = 0
and is given by
3 3 Vm
Vdc( max ) = Vdm =
2
Where
Vm is the peak phase voltage.
Vdcn = Vn =
Vdc
= cos
Vdm
VO( RMS )
3
=
2
VO( RMS )
1
2
3
= 3Vm +
cos 2
6 8
5
+
6
and we obtain
1
115
a n
b n
c n
V 0
0
=
0
0 6
0 1
01
01
02
02
a n
02
03
03
03
b n
03
04
0 6
0 1
01
01
02
02
02
03
03
03
b n
03
04
6 0
c n
a n
0 6
0 1
V 0
0
c n
V 0
0
3 0
01
01
02
02
02
03
03
03
03
04
9 0
t
116
a n
c n
s
0
0 6
0 1
01
01
02
02
02
a n
03
03
03
03
04
0 6
0 1
01
01
02
02
02
a n
03
03
03
c n
03
04
0 6
0 1
01
c n
01
02
02
02
a n
03
03
03
03
04
30 0
0 6
0 1
01
01
02
02
02
03
03
03
c n
=
0
0
3
10 5
=
V
=
V
03
04
60 0
t
117
3
Vdc =
vO .d ( t )
2 +300
3
Vdc =
Vm sin t.d ( t )
2 +300
3V 180
Vdc = m sin t.d ( t )
2 +300
3V
Vdc = m
2
Vdc =
cos t
+ 300
1800
3Vm
cos1800 + cos ( + 300 )
Since
cos1800 = 1,
We get
Vdc =
3Vm
1 + cos ( + 300 )
118
Thyristor T1 is forward biased when the phase supply voltage van is positive and
greater than the other phase voltages vbn and vcn . The diode D1 is forward biased when
the phase supply voltage vcn is more negative than the other phase supply voltages.
Thyristor T2 is forward biased when the phase supply voltage vbn is positive and
greater than the other phase voltages. Diode D2 is forward biased when the phase supply
voltage van is more negative than the other phase supply voltages.
Thyristor T3 is forward biased when the phase supply voltage vcn is positive and
greater than the other phase voltages. Diode D3 is forward biased when the phase supply
voltage vbn is more negative than the other phase supply voltages.
The figure shows the waveforms for the three phase input supply voltages, the
output voltage, the thyristor and diode current waveforms, the current through the free
wheeling diode Dm and the supply current ia . The frequency of the output supply
waveform is 3 f S , where f S is the input ac supply frequency. The trigger angle can be
varied from 00 to 1800 .
7
0
0
During the time period t
i.e., for 30 t 210 , thyristor T1 is
6
6
119
7
line to line supply voltage vac appears across the load. At t =
, vac starts to
6
become negative and the free wheeling diode Dm turns on and conducts. The load current
continues to flow through the free wheeling diode Dm and thyristor T1 and diode D1 are
turned off.
If the free wheeling diode Dm is not connected across the load, then T1 would
5
121
from
3
Vdc =
2
vac .d ( t )
6 +
122
3
Vdc =
2
6 +
3 Vm sin t d ( t )
6
Vdc =
3 3Vm
( 1 + cos )
2
Vdc =
3VmL
( 1 + cos )
2
3 3Vm
Vdc
= 0.5 ( 1 + cos )
Vdm
VO( RMS )
3
=
2
3
VO( RMS ) = 3Vm
4
For
2
6
2
2
3Vm sin t d ( t )
6 +
+ sin 2
2
1
2
Output voltage vO = vab = 3Vm sin t + ; for t = + to
6
+
Output voltage vO = vac = 3Vm sin t ; for t = to
6
2
6
6 +
3 2
Vdc =
v
.
d
t
+
v
.
d
t
( ) ac ( )
ab
2
2
6+
123
Vdc =
Vn =
3 3Vm
( 1 + cos )
2
Vdc
= 0.5 ( 1 + cos )
Vdm
The RMS value of the output voltage is calculated by using the equation
1
VO( RMS )
3
=
2
2
6 +
2
2
2
vab .d ( t ) + vac .d ( t )
6 +
2
VO( RMS )
3 2
2
= 3Vm
+ 3 cos 2
4 3
124
turned on by applying the gating signal to the gate of T1 . During the time period
immediately and T6 turns off due to natural commutation. During the time period
t = + to
+ , thyristor T1 and T2 conduct together and the line to line
2
0
= Vm sin ( t 120 )
0
0
= Vm sin ( t + 120 ) == Vm sin ( t 240 )
125
T
iG
iG
t
( 3
+
6
( 3
0
t
iG
iG
iG
iG
t
6
t
6
t
6
126
VO( dc )
6
= Vdc =
2
+
2
vO .d t
+
6
3Vm sin t + .d t
6
32
Vdc =
6
Vdc =
3 3Vm
3V
cos = mL cos
3 3Vm 3VmL
=
Vdc
= cos
Vdm
VO( rms )
6
=
2
vO2 .d ( t )
+
2
127
v .d ( t )
1
2
VO( rms )
6
=
2
+
2
+
2
VO( rms )
3
=
2
VO( rms )
1 3 3
2
= 3Vm +
cos 2
2 4
2
ab
3Vm2 sin 2 t + .d ( t )
6
1
128
The figure below shows the waveforms for the input supply voltages, output
voltages of converter1 and conveter2 , and the voltage across current limiting reactor
(inductor) Lr . The operation of each converter is identical to that of a three phase full
converter.
across the output of converter 1 and vbc appears across the output of converter 2
We define three line neutral voltages (3 phase voltages) as follows
vRN = van = Vm sin t
0
= Vm sin ( t 120 )
0
0
= Vm sin ( t + 120 ) = Vm sin ( t 240 )
129
130
+ 1 t + 1 is
6
vr = 3Vm cos t
6
1
Lr
ir ( t ) =
1
Lr
ir ( t ) =
3Vm
Lr
ir ( max ) =
3Vm
Lr
vr .d ( t )
3Vm cos t .d ( t )
6
+1
6
+1
6
sin t 6 sin 1
There are two different modes of operation of a three phase dual converter system.
Circulating current free (non circulating) mode of operation
Circulating current mode of operation
CIRCULATING CURRENT FREE (NON-CIRCULATING) MODE OF
OPERATION
In this mode of operation only one converter is switched on at a time when the
converter number 1 is switched on and the gate signals are applied to the thyristors the
average output voltage and the average load current are controlled by adjusting the trigger
angle 1 and the gating signals of converter 1 thyristors.
The load current flows in the downward direction giving a positive average load
0
current when the converter 1 is switched on. For 1 < 90 the converter 1 operates in the
rectification mode Vdc is positive, I dc is positive and hence the average load power Pdc is
positive.
131
The converter 1 converts the input ac supply and feeds a dc power to the load.
Power flows from the ac supply to the load during the rectification mode. When the
trigger angle 1 is increased above 900 , Vdc becomes negative where as I dc is positive
because the thyristors of converter 1 conduct in only one direction and reversal of load
current through thyristors of converter 1 is not possible.
0
For 1 > 90 converter 1 operates in the inversion mode & the load energy is
supplied back to the ac supply. The thyristors are switched-off when the load current
decreases to zero & after a short delay time of about 10 to 20 milliseconds, the
converter 2 can be switched on by releasing the gate control signals to the thyristors of
converter 2.
We obtain a reverse or negative load current when the converter 2 is switched ON.
The average or dc output voltage and the average load current are controlled by adjusting
the trigger angle 2 of the gate trigger pulses supplied to the thyristors of converter 2.
When 2 is less than 900 , converter 2 operates in the rectification mode and converts
the input ac supply in to dc output power which is fed to the load.
When 2 is less than 900 for converter 2, Vdc is negative & I dc is negative,
converter 2 operates as a controlled rectifier & power flows from the ac source to the load
circuit. When 2 is increased above 900, the converter 2 operates in the inversion mode
with Vdc positive and I dc negative and hence Pdc is negative, which means that power
flows from the load circuit to the input ac supply.
The power flow from the load circuit to the input ac source is possible if the load
circuit has a dc source of appropriate polarity.
When the load current falls to zero the thyristors of converter 2 turn-off and the
converter 2 can be turned off.
CIRCULATING CURRENT MODE OF OPERATION
Both the converters are switched on at the same time in the mode of operation.
One converter operates in the rectification mode while the other operates in the inversion
0
mode. Trigger angles 1 & 2 are adjusted such that ( 1 + 2 ) = 180
0
When 1 < 90 , converter 1 operates as a controlled rectifier. When 2 is made
greater than 900 , converter 2 operates in the inversion mode. Vdc , I dc , Pdc are positive.
0
When 2 < 90 , converter 2 operates as a controlled rectifier. When 1 is made
greater than 900 , converter 1 operates as an Inverter. Vdc and I dc are negative while Pdc
is positive.
132
Problems
1. A 3 phase fully controlled bridge rectifier is operating from a 400 V, 50 Hz
supply. The thyristors are fired at = . There is a FWD across the load. Find
4
0
the average output voltage for = 45 and = 750 .
Solution
For = 450 , Vdc =
Vdc =
For = 750 , Vdc =
Vdc =
3Vm
cos
3 2 400
cos 450 = 382 Volts
6Vm
1 + cos ( 600 + )
2
6 2 400
1 + cos ( 600 + 750 )
+
3
a s4 e 8 4
F u l l W V a =v0 eV
R e c t i f i e r
+
4
133
3Vm cos
= 484
Therefore
VO =
That is
3 2 415 cos
= 484
Therefore
= 30.27 0
400 sin314t and SCR is fired at = . Find average load voltage. If any one
4
supply line is disconnected what is the average load voltage.
Solution
Therefore
Vdc =
3Vm
[ 1 + cos ]
2
Vdc =
3 400
1 + cos 450
2
Vm
[ 1 + cos ]
Vdc =
400
1 + cos 450
134
EDUSAT PROGRAMME
LECTURE NOTES
ON
POWER ELECTRONICS
BY
PROF. T.K. ANANTHA KUMAR
DEPARTMENT OF
ELECTRICAL & ELECTRONICS ENGG.
M.S. RAMAIAH INSTITUTE OF
TECHNOLOGY
BANGALORE 560 054
135
vs
vo
136
l y
v o
l t a g Se i vn
u s o
i d
a d
o
a l
vo o
l t a g
u r n
o f f
c c u r s h e r e
2
V
l t a g
a c r o
s s
tc
Fig. 1.2: Natural Commutation Waveforms of Supply and Load Voltages
(Resistive Load)
This type of commutation is applied in ac voltage controllers, phase controlled
rectifiers and cyclo converters.
FORCED COMMUTATION
When supply is DC, natural commutation is not possible because the polarity of
the supply remains unchanged. Hence special methods must be used to reduce the SCR
current below the holding value or to apply a negative voltage across the SCR for a time
interval greater than the turn off time of the SCR. This technique is called FORCED
COMMUTATION and is applied in all circuits where the supply voltage is DC - namely,
Choppers (fixed DC to variable DC), inverters (DC to AC). Forced commutation
techniques are as follows:
Self Commutation
Resonant Pulse Commutation
Complementary Commutation
Impulse Commutation
External Pulse Commutation.
Load Side Commutation.
137
V
+
a d
( 0
I ( S s) L
( 0 )
S S
- +
-
C
V
S
Fig.: 1.4.
138
I ( S)
V VC ( 0 )
S
=
1
R + sL +
CS
CS V VC ( 0 )
S
=
RCs + s 2 LC + 1
=
C V VC ( 0 )
R 1
LC s 2 + s +
L LC
V VC ( 0 )
L
=
R 1
2
s +s +
L LC
( V V ( 0) )
C
L
2
2
R 1 R R
2
s +s +
+
L LC 2 L 2 L
( V V ( 0) )
C
L
2
R 1 R
s+
+
2 L LC 2 L
( s + )
Where
A=
+2
( V V ( 0) ) ,
C
R
,
2L
1
LC
R
2L
( s + ) 2 +2
139
A t
e sin t
( V V ( 0) )
C
di
dt
Substituting for i,
vc = V R
A t
d A
e sin t L e t sin t
dt
vc = V R
A t
A
e sin t L ( e t cos t e t sin t )
vc = V
A t
e [ R sin t + L cos t L sin t ]
vc = V
A t
R
e R sin t + L cos t L
sin t
2L
vc = V
A t R
e sin t + L cos t
Substituting for A,
vc ( t ) = V
( V V ( 0) ) e
vc ( t ) = V
( V V ( 0) ) e
L
C
2 sin t + L cos t
R
2 L sin t + cos t
140
( V V ( 0 ) ) e
C
vc = V + V VC ( 0 ) e
( 0 + cos )
vc = V + V VC ( 0 ) e 2 L
Therefore
1
R
<
LC
2L
That is
But
Therefore
V
t
sin
L
LC
1
LC
i=
V
t
C
t
LC sin
=V
sin
L
L
LC
LC
Figure 1.5 shows the waveforms for the above conditions. Once the SCR turns off
voltage across it is negative voltage.
141
C
L
/ 2
r r e n
i
t
V
C
a p
a c i t o
l t a g e
a t e
l s e
t
t
V
V
l t a g
a c r o
s s
Fig. 1.5: Self Commutation Wave forms of Current and Capacitors Voltage
Problem 1.1 : Calculate the conduction time of SCR and the peak SCR current that flows
in the circuit employing series resonant commutation (self commutation or class A
commutation), if the supply voltage is 300 V, C = 1 F, L = 5 mH and RL = 100 .
Assume that the circuit is initially relaxed.
R
1
0 0
+
m
1H
V
=
V
Fig. 1.6.
142
Solution:
1
LC
R
L
2L
1
100
3
6
3
5 10 1 10
2 5 10
i=
V t
R
e sin t , where =
,
L
2L
i=
V
L
i=
300
= 6A
10000 5 103
=
= 0.314msec
10000
Problem 1.2 : Figure 1.7 shows a self commutating circuit. The inductance carries an
initial current of 200 A and the initial voltage across the capacitor is V, the supply
voltage. Determine the conduction time of the SCR and the capacitor voltage at turn off.
L
IO
1 0
T
H
V
=
1 0
i ( t )
+
VF C ( 0 = ) V
Fig. 1.7.
143
Solution :
The transformed circuit of figure 1.7 is shown in figure 1.8.
s L
IO
I ( S
L
+
+
V
S
( 0 )
= V
Therefore
V VC ( 0 )
+ IO L
s
s
I ( S) =
1
sL +
Cs
V VC ( 0 )
Cs
s
s
+ I O LCs
I ( S) =
2
s LC + 1
s2 LC + 1
V VC ( 0 ) C
I O LCs
I ( S) =
+
1
1
LC s 2 +
LC s2 +
LC
LC
I ( S) =
V VC ( 0 )
L s 2 + 2
sI O
s +2
2
V VC ( 0 )
sI
I ( S) =
+ 2 O 2 where =
2
2
L s + s +
1
LC
Taking inverse LT
C
i ( t ) = V VC ( 0 )
sin t + IO cos t
L
144
1
vc ( t ) = i ( t ) dt + VC ( 0 )
C0
t
1
C
vc ( t ) = V VC ( 0 )
sin t + IO cos t dt + VC ( 0 )
C 0
L
vc ( t ) =
1 ( V VC ( 0 ) )
t I
t
C
( cos t ) + O ( sin t ) + VC ( 0 )
o
o
L
vc ( t ) =
1 ( V VC ( 0 ) )
I
C
( 1 cos t ) + O ( sin t ) + VC ( 0 )
L
vc ( t ) =
IO
1
C
LC sin t + ( V VC ( 0 ) ) LC
( 1 cos t ) + VC ( 0 )
C
C
L
vc ( t ) = IO
L
sin t + V V cos t VC ( 0 ) + VC ( 0 ) cos t + VC ( 0 )
C
vc ( t ) = IO
L
sin t ( V VC ( 0 ) ) cos t + V
C
In this problem VC ( 0 ) = V
Therefore we get,
i ( t ) = I O cos t and
vc ( t ) = IO
L
sin t + V
C
145
I0
i ( t )
/ 2
v c( t )
/ 2
Fig.: 1.9
Turn off occurs at a time to so that tO =
Therefore
tO =
0.5
= 0.5 LC
L
sin tO + V
C
10 106
sin 900 + 100
6
50 10
35.12
vc ( tO ) = 200 0.447 sin
+ 100
22.36
vc ( tO ) = 89.4 + 100 = 189.4 V
146
Problem 1.3: In the circuit shown in figure 1.10. V = 600 volts, initial capacitor voltage
is zero, L = 20 H, C = 50 F and the current through the inductance at the time of
SCR triggering is Io = 350 A. Determine (a) the peak values of capacitor voltage and
current (b) the conduction time of T1.
T1
L
0I
i ( t )
Fig. 1.10
Solution:
(Refer to problem 1.2).
The expression for i ( t ) is given by
C
i ( t ) = V VC ( 0 )
sin t + IO cos t
L
It is given that the initial voltage across the capacitor, VC ( O ) is zero.
Therefore
i( t) =V
C
sin t + I O cos t
L
i ( t ) can be written as
i ( t ) = I O2 + V 2
where
and
= tan 1
=
C
sin ( t + )
L
L
C
IO
V
1
LC
C
L
147
50 106
= 1011.19 A
20 106
= 3502 + 6002
vc ( t ) = IO
with
L
sin t V cos t + V
C
VC ( 0 ) = 0, vc ( t ) = IO
Where
= tan 1
L
sin ( t ) + V
C
C
L
IO
L
+V
C
20 106
+ 600
50 106
148
Fig. 1.11.
Therefore conduction time of SCR =
L
IO
C
tan 1
V
=
1
LC
L
IO
C
= tan 1
V
= tan 1
350 20 106
600 50 106
1
1
=
= 31622.8 rad/sec
6
LC
20 10 50 106
0.3534
= 88.17 sec
31622.8
L
T
a
b
i
C
IL
L
F
a d
149
a p a c i t o
va b
l t a
e
t
Ip
IL
IS
tC
t
t
t
V
l t a g
C R
a c r o
s s
t
V=
1 c
I L dt
C 0
V=
I L tc
C
tc =
VC
seconds
IL
For proper commutation tc should be greater than tq , the turn off time of T. Also,
the magnitude of I p , the peak value of i should be greater than the load current I L and
the expression for i is derived as follows
The LC circuit during the commutation period is shown in figure 1.14.
L
T
i
+
V C( 0
= V
Fig. 1.14.
The transformed circuit is shown in figure 1.15.
I ( S
)
s L
T
+
V
s
151
Fig. 1.15.
V
s
I ( S) =
sL +
1
Cs
V
Cs
s
I ( S ) = 2
s LC + 1
VC
I ( S) =
I ( S) =
LC s 2 +
LC
V
1
L s2 + 1
LC
1
V LC
1
I ( S) =
L s2 + 1 1
LC LC
1
C LC
I ( S) =V
L s2 + 1
LC
Taking inverse LT
C
sin t
L
i( t) =V
Where
1
LC
Or
i( t) =
V
sin t = I p sin t
L
Therefore
Ip =V
C
amps .
L
152
+ t
I
sin 1 L
I
p
= +
circuit. A resonant current ic ( t ) flows in the direction shown, i.e., in a direction opposite
to that of load current I L .
C
ic ( t ) = I p sin t (refer to the previous circuit description). Where I p = VC ( 0 )
L
& and the capacitor voltage is given by
vc ( t ) =
1
iC ( t ) .dt
C
vc ( t ) =
1
C
.
VC ( 0 )
sin t.dt
C
L
vc ( t ) = VC ( 0 ) cos t
a b
+
V C( 0
V
iC ( t )
iC ( t )
IL
T
)
T
L
O
A
D
153
t1
LC
I p = VC ( 0 )
C
L
I
t1 = LC sin 1 L
VC ( 0 )
L
C
CV1
seconds
IL
Normally V1 VC ( 0 )
For reliable commutation tc should be greater than tq , the turn off time of SCR T1 .
It is to be noted that tc depends upon I L and becomes smaller for higher values of load
current.
154
r Cr ( e t ) n
C a p a c i t o r
v o l t aa b g e
v
t
t1
V
tC
V C( 0
iC ( t )
C
+
V C( 0
iC ( t )
IL
2
)
T
L
O
A
D
Fig. 1.17(a)
155
iC
IL
0
V
0
V
V
t1
( O
t2
tC
Fig. 1.17(b)
A diode D2 is connected as shown in the figure 1.17(a) to accelerate the
discharging of the capacitor C. When thyristor T2 is fired a resonant current iC ( t )
flows through the capacitor and thyristor T1 . At time t = t1 , the capacitor current iC ( t )
equals the load current I L and hence current through T1 is reduced to zero resulting in
turning off of T1 . Now the capacitor current iC ( t ) continues to flow through the diode D2
until it reduces to load current level I L at time t2 . Thus the presence of D2 has
accelerated the discharge of capacitor C. Now the capacitor gets charged through the
load and the charging current is constant. Once capacitor is fully charged T2 turns off by
itself. But once current of thyristor T1 reduces to zero the reverse voltage appearing across
T1 is the forward voltage drop of D2 which is very small. This makes the thyristor
recovery process very slow and it becomes necessary to provide longer reverse bias time.
From figure 1.17(b)
t2 = LC t1
VC ( t2 ) = VC ( O ) cos t2
Circuit turn-off time tC = t2 t1
Problem 1.4 : The circuit in figure 1.18 shows a resonant pulse commutation circuit. The
initial capacitor voltage VC ( O ) = 200V , C = 30 F and L = 3 H. Determine the circuit
turn off time tc , if the load current I L is (a) 200 A and (b) 50 A.
156
+
V C( 0
iC ( t )
IL
2
)
T
L
O
A
D
Fig. 1.18.
Solution
(a)
When I L = 200 A
Let T2 be triggered at t = 0 .
The capacitor current ic ( t ) reaches a value I L at t = t1 , when T1 turns off
I
t1 = LC sin 1 L
VC ( 0 )
L
C
200 3 106
t1 = 3 106 30 106 sin 1
200 30 106
t1 = 3.05 sec .
1
1
=
LC
3 106 30 106
and
tc =
CV1
IL
157
tc =
(b)
30 106 189.75
= 28.46 sec .
200
When I L = 50 A
50 3 106
t1 = 3 10 30 10 sin
200 30 106
t1 = 0.749 sec .
6
CV1
IL
30 106 200
tc =
= 120 sec .
50
It is observed that as load current increases the value of tc reduces.
Problem 1.4a : Repeat the above problem for I L = 200 A , if an antiparallel diode D2 is
connected across thyristor T1 as shown in figure 1.18a.
iC ( t )
C
+
V C( 0
iC ( t )
IL
2
)
T
L
O
A
D
Fig. 1.18(a)
158
Solution
I L = 200 A
Let
T2 be triggered at t = 0 .
Capacitor current iC ( t ) reaches the value I L at t = t1 , when T1 turns off
Therefore
I
t1 = LC sin 1 L
VC ( O )
200 3 106
t1 = 3 106 30 106 sin 1
200 30 106
t1 = 3.05 sec .
1
1
=
6
LC
3 10 30 106
VC ( t1 ) = V1 = VC ( O ) cos t1
VC ( t1 ) = 200 cos ( 0.105 106 3.05 106 )
VC ( t1 ) = 189.75V
1
1
=
LC
3 106 30 106
159
At t = t2
Therefore
tC = 23.7 secs
Problem 1.5: For the circuit shown in figure 1.19 calculate the value of L for proper
commutation of SCR. Also find the conduction time of SCR.
4
V
=
3 0
V
R
3
IL
Fig. 1.19.
Solution:
V 30
=
= 1 Amp
RL 30
For proper SCR commutation I p , the peak value of resonant current i, should be
greater than I L ,
I p = 2I L ,
I p = 2 Amps .
Let
Therefore
The load current I L =
Also
Ip =
V
=
L
V
1
L
LC
Therefore
4 106
2 = 30
L
Therefore
L = 0.9mH .
=V
C
L
1
1
=
= 16666 rad/sec
LC
0.9 103 4 106
160
I
sin 1 L
I
Conduction time of SCR =
p
+
1
sin 1
2
=
+
16666
16666
=
+ 0.523
radians
16666
= 0.00022 seconds
= 0.22 msec
Problem 1.6: For the circuit shown in figure 1.20 given that the load current to be
commutated is 10 A, turn off time required is 40 sec and the supply voltage is 100 V.
Obtain the proper values of commutating elements.
C
V
=
1 0
IL
IL
Fig. 1.20.
Solution
I p peak value of i = V C and this should be greater than I L . Let I p = 1.5 I L .
L
Therefore 1.5 10 = 100
C
L
... ( a )
Also, assuming that at the time of turn off the capacitor voltage is approximately
equal to V, (and referring to waveform of capacitor voltage in figure 1.13) and the load
current linearly charges the capacitor
tc =
CV
seconds
IL
40 106 = C
100
10
161
Therefore
C = 4 F
Therefore
L = 1.777 104 H
L = 0.177 mH .
Problem 1.7 : In a resonant commutation circuit supply voltage is 200 V. Load current is
10 A and the device turn off time is 20 s. The ratio of peak resonant current to load
current is 1.5. Determine the value of L and C of the commutation circuit.
Solution
Given
Ip
IL
= 1.5
Therefore
I p = 1.5 I L = 1.5 10 = 15 A .
That is
Ip =V
C
= 15 A
L
... ( a )
It is given that the device turn off time is 20 sec. Therefore tc , the circuit turn
off time should be greater than this,
Let
tc = 30 sec .
And
tc =
Therefore
30 106 =
Therefore
C = 1.5 F .
CV
IL
200 C
10
Substituting in (a)
15 = 200
1.5 106
L
162
152 = 2002
1.5 106
L
L = 0.2666 mH
Therefore
COMMUTATION,
IL
R
a b
iC
C
T
163
vc ( t ) = V f + ( Vi V f ) e t
Where V f is the final voltage, Vi is the initial voltage and is the time constant.
At
t = tc , vc ( t ) = 0 ,
= R1C , V f = V , Vi = V ,
tc
Therefore 0 = V + ( V V ) e R1C
0 = V 2Ve
Therefore
V = 2Ve
0.5 = e
tc
R1C
tc
R1C
tc
R1C
R1 = R2 = R
164
a t e
o f1 T
u l s e
a t e
o f2 T
u l s e
t
p
V
IL
C
C
u r r e n t
u r r e n
2V
V
t h r R o1
R1
t1 t h r o
u g
u g
t
T2 V
R2
h
V
R
t
C
2V
R1
V
R
u r r e n t2 t h r o
u g
V
V o l t a g e
a c r o s s
c a p a ac b i t o r v
t
-V
tC
tC
V
o l t a g
e1
a c r o s s
tC
Fig. 1.22
165
Problem 1.8 : In the circuit shown in figure 1.23 the load resistances R1 = R2 = R = 5
and the capacitance C = 7.5 F, V = 100 volts. Determine the circuit turn off time tc .
V
C
T
Fig. 1.23.
Solution
The circuit turn-off time
tc = 0.693 RC seconds
tc = 0.693 5 7.5 106
tc = 26 sec .
Problem 1.9: Calculate the values of RL and C to be used for commutating the main SCR
in the circuit shown in figure 1.24. When it is conducting a full load current of 25 A
flows. The minimum time for which the SCR has to be reverse biased for proper
commutation is 40 sec. Also find R1 , given that the auxiliary SCR will undergo natural
commutation when its forward current falls below the holding current value of 2 mA.
i1
R
iC
V
=
IL
1 0
V
A
C
i l i a r y
M
S
a i n
C R
Fig. 1.24.
Solution
In this circuit only the main SCR carries the load and the auxiliary SCR is used to
turn off the main SCR. Once the main SCR turns off the current through the auxiliary
SCR is the sum of the capacitor charging current ic and the current i1 through R1 , ic
reduces to zero after a time tc and hence the auxiliary SCR turns off automatically after a
time tc , i1 should be less than the holding current.
166
I L = 25 A
Given
25 A =
That is
V 100
=
RL RL
RL = 4
Therefore
tc = 40 sec = 0.693RL C
That is
40 106 = 0.693 4 C
Therefore
C=
40 106
4 0.693
C = 14.43 F
V
should be less than the holding current of auxiliary SCR.
R1
100
Therefore
should be < 2mA.
R1
i1 =
100
2 103
Therefore
R1 >
That is
R1 > 50 K
T
T
V
V C( O
L
IL
) C
T
L
O
A
D
167
The working of the circuit can be explained as follows. It is assumed that initially
the capacitor C is charged to a voltage VC ( O ) with polarity as shown. Let the thyristor T1
be conducting and carry a load current I L . If the thyristor T1 is to be turned off, T2 is
fired. The capacitor voltage comes across T1 , T1 is reverse biased and it turns off. Now
the capacitor starts charging through T2 and the load. The capacitor voltage reaches V
with top plate being positive. By this time the capacitor charging current (current through
T2 ) would have reduced to zero and T2 automatically turns off. Now T1 and T2 are both
off. Before firing T1 again, the capacitor voltage should be reversed. This is done by
turning on T3 , C discharges through T3 and L and the capacitor voltage reverses. The
waveforms are shown in figure 1.26.
a t e
o f2 T
l s e
a t e
f3 T
l s e
a t e
f1 T
t
a p a c i t o
o l t a g e
r
t
tC
l t a g
e1
a c r o
s s
T
t
168
l s e
1 c
VC = I L dt
C0
(assuming the load current to be constant)
VC =
tc =
I L tc
C
VC C
seconds
IL
i
1
V C( O
IT1
T
V
+
) C
_
D
L
IL
R
169
a t e
f1 T
l s e
a t e
f2 T
l s e
t
C
v
a p a c i t o
o l t a g e
r
t
V
T
IT 1
i s
i s
u e
IL
C
r r e n
t h
t o
uV g
RL
r o
tC
i
R
t
2 V
R L
IL
a d
c u r r e n
t
t
l t a g
e1
a c r o
s s
T
t
tC
170
+
C
( 0
)
R
Fig. 1.29.
Solution
When T2 is triggered the circuit is as shown in figure 1.30.
V
-
( O
i ( t )
C
T
Fig. 1.30.
Writing the transform circuit, we obtain
V
s
( 0 )
I ( s )
+
V
s
Fig. 1.31.
171
C ( V + VC ( 0 ) )
1 + RCs
( V + V ( 0) )
C
Rs +
RC
VC ( s ) = I ( s )
VC ( s ) =
VC ( s ) =
VC ( s ) =
1 VC ( 0 )
Cs
s
1 V + VC ( 0 ) VC ( 0 )
1
RCs
s
s+
RC
V + VC ( 0 ) V + VC ( 0 ) VC ( 0 )
1
s
s
s +
RC
V ( 0)
V
V
C
1
s s+ 1
s+
RC
RC
vc ( t ) = V 1 e
RC
) V ( 0) e
RC
vc ( t ) = V 1 2e
RC
172
V
vC
( t )
t
( 0 )
tC
Fig. 1.32.
At t = tc , vc ( t ) = 0
Therefore
tc
0 = V 1 2e RC
1 = 2e
tc
RC
tc
1
= e RC
2
C
V
(V 0 ) =
I0
Fig. 1.33.
173
Solution
It is given that V varies between 180 and 220 V and I O varies between 50 and
200 A.
The expression for available turn off time tc is given by
tc =
CV
IO
Therefore
CVmax
I O min
tc max = 20 106
tc min =
and
220
= 88 sec
50
CVmin
I O max
tc min = 20 106
180
= 18 sec
200
AV
+
U
IL
T
_ C
L
L
OD
A
D
_
Fig.: 1.35 Line Side Commutation Circuit
Figure 1.35 shows line side commutation circuit. Thyristor T2 is fired to charge
the capacitor C. When C charges to a voltage of 2V, T2 is self commutated. To
reverse the voltage of capacitor to -2V, thyristor T3 is fired and T3 commutates by itself.
Assuming that T1 is conducting and carries a load current I L thyristor T2 is fired to turn
off T1 . The turning ON of T2 will result in forward biasing the diode (FWD) and applying
a reverse voltage of 2V across T1 . This turns off T1 , thus the discharging and recharging
of capacitor is done through the supply and the commutation circuit can be tested without
load.
175
DC CHOPPERS
INTRODUCTION
A chopper is a static device which is used to obtain a variable dc voltage from a
constant dc voltage source. A chopper is also known as dc-to-dc converter. The thyristor
converter offers greater efficiency, faster response, lower maintenance, smaller size and
smooth control. Choppers are widely used in trolley cars, battery operated vehicles,
traction motor control, control of large number of dc motors, etc.. They are also used in
regenerative braking of dc motors to return energy back to supply and also as dc voltage
regulators.
Choppers are of two types
Step-down choppers
Step-up choppers.
In step-down choppers, the output voltage will be less than the input voltage
whereas in step-up choppers output voltage will be more than the input voltage.
PRINCIPLE OF STEP-DOWN CHOPPER
o p
e r
i0
176
v0
V
V
tO
tO
t
F
i0
V
/ R
Id
Vdc = V
tON + tOFF
t
Vdc = V ON
T
but
tON
= V .d
= d = duty cycle
V tON V
= d
R T R
... ( 2.1)
... ( 2.2 )
... ( 2.3)
... ( 2.4 )
... ( 2.5 )
177
tON
1
VO =
T
tON
VO =
v dt
2
o
VO =
dt
t
V2
tON = ON .V
T
T
VO = d .V
Output power
PO = VO I O
But
IO =
VO
R
PO =
VO2
R
dV 2
PO =
R
Effective input resistance of chopper
V
Ri =
I dc
... ( 2.6 )
... ( 2.7 )
... ( 2.8 )
... ( 2.9 )
R
... ( 2.10 )
d
The output voltage can be varied by varying the duty cycle.
Ri =
METHODS OF CONTROL
The output dc voltage can be varied by the following methods.
Pulse width modulation control or constant frequency operation.
Variable frequency control.
PULSE WIDTH MODULATION
In pulse width modulation the pulse width ( tON ) of the output waveform is varied
keeping chopping frequency f and hence chopping period T constant. Therefore output
voltage is varied by varying the ON time, tON . Figure 2.3 shows the output voltage
waveforms for different ON times.
178
V
tO
tO
T
V
tO
tO
v0
V
tO
tO
T
v0
V
tO
tO
t
T
Fig. 2.4: Output Voltage Waveforms for Time Ratio Control
179
o p
e r
i0
+
R
L
E
v0
O u t p u t
v o l t a g e
V
tO
tO
i0
Im
Im
i n
O u t p u t
c u r r e n t
o n t i n u o
c u r r e n t
t
O u t p u t
c u r r e n t
i0
D
i s c o n t i n
c u r r e n t
t
Fig. 2.6: Output Voltage and Load Current Waveforms (Continuous Current)
180
When the current exceeds I max the chopper is turned-off and it is turned-on when
current reduces to I min .
EXPRESSIONS FOR LOAD CURRENT iO FOR CONTINUOUS CURRENT
OPERATION WHEN CHOPPER IS ON ( 0 t tON )
i0
+
R
E
Fig. 2.5 (a)
Voltage equation for the circuit shown in figure 2.5(a) is
V = iO R + L
diO
+E
dt
... ( 2.11)
... ( 2.12 )
IO ( S ) =
V E
I
+ min
R
R
LS S + S +
L
L
... ( 2.13)
... ( 2.14 )
This expression is valid for 0 t tON . i.e., during the period chopper is ON.
At the instant the chopper is turned off, load current is
iO ( tON ) = I max
181
( 0 t tOFF )
i0
R
L
E
Fig. 2.5 (b)
diO
+E
dt
... ( 2.15 )
E
S
Therefore
IO ( S ) =
I max
E
R
R
S+
LS S +
L
L
R
t
L
R
t
E
1 e L
R
... ( 2.16 )
The expression is valid for 0 t tOFF , i.e., during the period chopper is OFF. At
the instant the chopper is turned ON or at the end of the off period, the load current is
iO ( tOFF ) = I min
182
t = tON = dT , iO ( t ) = I max
Therefore
I max =
dRT
dRT
V E
L
L
1
e
+
I
e
min
R
... ( 2.17 )
At
t = tOFF = ( 1 d ) T
Therefore
I min = I max e
( 1 d ) RT
L
E
1
1 d ) RT
L
... ( 2.18 )
I max
dRT
V 1 e L
=
RT
R
1 e L
E
R
... ( 2.19 )
I min
( I max I min )
dRT
V e L 1 E
=
R
R RTL
e 1
... ( 2.20 )
... ( 2.21)
I max + I min
2
... ( 2.22 )
183
Assuming load current varies linearly from I min to I max instantaneous load current is
given by
iO = I min +
( I ) .t
dT
for 0 t tON ( dT )
I I
iO = I min + max min t
dT
... ( 2.23)
dT
dT
I O( RMS )
1
=
dT
dT
I O( RMS )
1
=
dT
I O( RMS ) =
i dt
2
0
( I max I min ) t
0 I min + dT dt
2
2
2
I max I min 2 2 I min ( I max I min ) t
dt
0 I min + dT t +
dT
(I I )
I O( RMS ) = I min
+ max min + Imin ( Imax Imin )
3
1
2
... ( 2.24 )
I CH
1
=
T
dT
1
=
T
dT
i dt
2
0
I max I min
t dt
I min +
dT
I CH
2
2
2
I max I min )
(
= d I min +
+ Imin ( Imax Imin )
3
I CH = d I O( RMS )
... ( 2.25 )
V
IS
184
Ri =
V
dI dc
... ( 2.26 )
D
+
V
C
o p
e r
L
O
A
D
dI
i.e., VO > V
dt
... ( 2.27 )
If a large capacitor C is connected across the load then the capacitor will provide
a continuous output voltage VO . Diode D prevents any current flow from capacitor to the
source. Step up choppers are used for regenerative braking of dc motors.
EXPRESSION FOR OUTPUT VOLTAGE
Assume the average inductor current to be I during ON and OFF time of Chopper.
When Chopper is ON
Voltage across inductor L = V
185
... ( 2.28 ) ,
VItON = ( VO V ) ItOFF
VO =
V [ tON + tOFF ]
tOFF
T
VO = V
T tON
Where
1
VO = V
t
1 ON
Therefore
1
VO = V
1 d
Where
d=
... ( 2.29 )
tON
= duty cyle
T
For variation of duty cycle d in the range of 0 < d < 1 the output voltage VO will vary
in the range V < VO < .
PERFORMANCE PARAMETERS
The thyristor requires a certain minimum time to turn ON and turn OFF. Hence
duty cycle d can be varied only between a minimum and a maximum value, limiting the
minimum and maximum value of the output voltage. Ripple in the load current depends
inversely on the chopping frequency, f. Therefore to reduce the load ripple current,
frequency should be as high as possible.
186
CLASSIFICATION OF CHOPPERS
Choppers are classified as follows
Class A Chopper
Class B Chopper
Class C Chopper
Class D Chopper
Class E Chopper
CLASS A CHOPPER
i0
C
V
o p
F
p
W
e r
D
+
L
O
A
D
v0
v0 V
i0
187
ig
T h y r i s t o r
g a t e
p u l s e
t
i0
O
C
t p u
c u
r r e n
N
t
F
v0
tO
d u
c t s
O u
t p u
l t a g e
t
N
Fig. 2.15: First quadrant Chopper - Output Voltage and Current Waveforms
Class A Chopper is a step-down chopper in which power always flows from
source to load. It is used to control the speed of dc motor. The output current equations
obtained in step down chopper with R-L load can be used to study the performance of
Class A Chopper.
CLASS B CHOPPER
D
i0
v0
+
R
L
V
C
o p
v0
e r
E
i0
B Chopper operates in second quadrant. In this chopper, power flows from load to source.
Class B Chopper is used for regenerative braking of dc motor. Figure 2.17 shows the
output voltage and current waveforms of a Class B Chopper.
The output current equations can be obtained as follows. During the interval diode
D conducts (chopper is off) voltage equation is given by
i0
+
u Rc t i n
n d
g
V
E
V=
LdiO
+ RiO + E
dt
e
+
I
e
min
R
Therefore
iO ( t ) =
At t = tOFF
i( O ) ( t ) = I max
I max
R
R
tOFF
tOFF
V E
L
L
=
1 e
+ Imin e
R
i0
+
R
o p p
L
N
e r
E
0=
LdiO
+ RiO + E
dt
189
iO ( t ) = I max .
R
t
L
R
t
E
L
1
iO ( t ) = I min
At t = tON
I min = I max e
Therefore
R
tON
L
R
tON
E
1 e L
R
ig
T h y r i s t o r
g a t e
p u l s e
t
i0
tO
tO
t
O
Im
a x
Im
i n
D
c o n
v0
d C u h c o t sp p e r
c o n d u c t s
t p u
t p u
c u
r r e n
l t a g e
i0
v0
+
R
V
C
D
C
o p
v0
e r
i0
ig
a t e
o f 1C
p
H
l s e
t
ig
a t e
f 2C
p
H
l s e
t
i0
O
t p u
c u
r r e n
t
D
C
O
H D
N
C
O
H D
N
C
O
H D
N
C
O
t p u
t
Fig. 2.19: Class C Chopper - Output Voltage and Current Waveforms
191
l t a g
CLASS D CHOPPER
v0
C
D
R
i0
E
i0
v0
+
D
voltage vO is positive if chopper ON-time ( tON ) is more than their OFF-time ( tOFF ) and
average output voltage becomes negative if tON < tOFF . Hence the direction of load current
is always positive but load voltage can be positive or negative. Waveforms are shown in
figures 2.21 and 2.22.
ig
ig
a t e
o f 1C
p
H
l s e
t
G
a t e
o f 2C
p
H
l s e
t
i0
O
C
v0
1H
, C
N
2 DH
, D
t p u
c t i n
c u r r e n
t p u
e v r0 a g
V
A
Fig. 2.21: Output Voltage and Current Waveforms for tON > tOFF
192
l t a g
ig
ig
a t e
o f 1C
p
H
l s e
t
G
a t e
f 2C
p
H
l s e
t
i0
O
C
C
t p u
c u r r e n
1H
2H
t
D
v0
t p u
l t a g
V
A
t
e v r0 a g
Fig. 2.22: Output Voltage and Current Waveforms for tON < tOFF
CLASS E CHOPPER
i0
V
+
C
v0
2
193
v0
C
D
2H
4D
4
C C 1 H o n d - u C c 4 Ht s
C C o 4 H n d u- 2c D t s
C
O N
o n d
u c t s
i0
C
2H
3H
- 4D
C D2 H2 C C 4H o
O D N3 C o n d u c t s
n d- u2 D c t s C o n d u c t s
194
i0
C
o p
e r
Fig. 6.24.
+
L
O
A
D
v0
Solution
tON
Average output voltage, Vdc =
T
Average output current, I dc =
V = dV
Vdc dV
=
R
R
V
, since V is the output
R
Free wheeling diode (FWD) will never conduct in a resistive load. Therefore
average and RMS free wheeling diode currents are zero.
1
=
T
tON
v dt
2
0
vO = V during tON
VO( RMS )
1
=
T
tON
dt
t
VO( RMS ) = V 2 ON
T
VO( RMS ) = dV
Where duty cycle,
d=
tON
T
195
VO( RMS )
R
dV
R
dV
R
Output voltage
T=
1
f
T=
1
= 0.5 m sec
2 103
t
Vdc = ON
T
196
Solution
V = 200 V,
T tON
T
600 = 200
6
T 200 10
Solving for T
T = 300 s
Chopping frequency
1
f =
T
f =
1
= 3.33KHz
300 106
tON =
200 106
= 100 s
2
Frequency is constant
Therefore
f = 3.33KHz
T=
1
= 300 s
f
T
=V
T tON
300 106
= 200
6
= 300 Volts
( 300 100 ) 10
Problem 2.4: A dc chopper has a resistive load of 20 and input voltage VS = 220V .
When chopper is ON, its voltage drop is 1.5 volts and chopping frequency is 10 kHz. If
the duty cycle is 80%, determine the average output voltage and the chopper on time.
197
Solution
VS = 220V , R = 20 , f = 10 kHz
d=
tON
= 0.80
T
tON = dT
Chopping period,
T=
1
f
T=
1
= 0.1103 secs = 100 secs
3
10 10
Chopper ON time,
tON = dT
tON = 0.80 0.1 103
tON = 0.08 103 = 80 secs
Problem 2.5: In a dc chopper, the average load current is 30 Amps, chopping frequency
is 250 Hz. Supply voltage is 110 volts. Calculate the ON and OFF periods of the chopper
if the load resistance is 2 ohms.
Solution
I dc = 30 Amps , f = 250 Hz, V = 110 V, R = 2
Chopping period,
Therefore
T=
1
1
=
= 4 103 = 4 msecs
f 250
I dc =
Vdc
and Vdc = dV
R
I dc =
dV
R
198
d=
I dc R 30 2
=
= 0.545
V
110
3
Chopper ON period, tON = dT = 0.545 4 10 = 2.18 msecs
o p
e r
i0
Fig. 2.25
v0
Solution
V = 200 V, R = 10 , Chopper voltage drop, Vch = 2V , d = 0.60, f = 1 kHz.
199
Vdc 118.8
=
= 11.88 Amps
R
10
Ri =
V
V
200
=
=
= 16.83
I S I dc 11.88
Output power is
1
T
dT
v02
dt
R
1
PO =
T
dT
( V Vch )
PO =
d ( V Vch )
PO =
R
PO =
Input power,
Pi =
1
T
PO =
PO =
1
T
dt
0.6 [ 200 2]
10
= 2352.24 watts
dT
Vi dt
O
dT
V ( V Vch )
dt
R
Chopper efficiency,
P
= O 100
Pi
2352.24
100 = 99%
2376
Problem 2.7: A chopper is supplying an inductive load with a free-wheeling diode. The
load inductance is 5 H and resistance is 10 . The input voltage to the chopper is 200
200
volts and the chopper is operating at a frequency of 1000 Hz. If the ON/OFF time ratio is
2:3. Calculate
Maximum and minimum values of load current in one cycle of chopper operation.
Average load current
Solution:
L = 5 H, R = 10 , f = 1000 Hz, V = 200 V, tON : tOFF = 2 : 3
Chopping period,
T=
1
1
=
= 1 msecs
f 1000
tON 2
=
tOFF 3
2
tON = tOFF
3
T = tON + tOFF
2
T = tOFF + tOFF
3
5
T = tOFF
3
3
tOFF = T
5
3
T = 1103 = 0.6 msec
5
tON = T tOFF
tON = ( 1 0.6 ) 103 = 0.4 msec
Duty cycle,
d=
Refer equations (2.19) and (2.20) for expressions of I max and I min .
Maximum value of load current [equation (2.19)] is
I max
dRT
V 1 e L
=
RT
R
L
1 e
E
R
201
Therefore
I max
dRT
V 1 e L
=
RT
R
1 e L
I max
0.410110
5
200 1 e
=
10110 3
10
1 e 5
I max
1 e 0.810
= 20
2103
1 e
I max = 8.0047A
Minimum value of load current from equation (2.20) with E = 0 is
I min
dRT
V e L 1
=
R RTL
e 1
I min
0.410110
5
200 e
1
=
3
= 7.995 A
10 101510
e
1
3
8.0047 + 7.995
8 A
2
Problem 2.8 : A chopper feeding on RL load is shown in figure 2.26. With V = 200 V, R
= 5 , L = 5 mH, f = 1 kHz, d = 0.5 and E = 0 V. Calculate
Maximum and minimum values of load current
Average value of load current
RMS load current
Effective input resistance as seen by source
RMS chopper current.
Solution
V = 200 V, R = 5 , L = 5 mH, f = 1kHz, d = 0.5, E = 0
202
Chopping period is T =
1
1
=
= 1 103 secs
3
f 1 10
o p
e r
i0
+
R
v0
L
E
Fig.: 2.26
Refer equations (2.19) and (2.20) for expressions of I max and I min .
Maximum value of load current
dRT
V 1 e L
I max =
RT
R
1 e L
E
R
I max
0.55110
3
200 1 e 510
=
5110 3
5
1 e 5103
I max
1 e 0.5
= 40
= 24.9 A
1
1 e
V e L 1 E
I min =
R
R RTL
e 1
0.55110
3
200 e 510
1
=
3
0
5 51103
e 510 1
I min
e0.5 1
I min = 40 1
= 15.1 A
e 1
Average value of load current is
I +I
I dc = 1 2 for linear variation of currents
2
203
Therefore
I dc =
24.9 + 15.1
= 20 A
2
Refer equations (2.24) and (2.25) for RMS load current and RMS chopper current.
RMS load current from equation (2.24) is
2
(I I )
I O( RMS ) = I min
+ max min + Imin ( Imax Imin )
3
1
2
I O( RMS )
2
24.9 15.1)
(
2
= 15.1 +
+ 15.1( 24.9 15.1)
3
I O( RMS )
96.04
2
= 228.01 +
+ 147.98 = 20.2 A
3
V
IS
V 200
=
= 20
IS
10
Problem 2.9: A 200 V dc motor fed by a chopper, runs at 1000 rpm with a duty ratio of
0.8. What must be the ON time of the chopper if the motor has to run at 800 rpm. The
chopper operates at 100 Hz.
Solution
Speed of motor N1 = 1000 rpm
Duty ratio d1 = 0.8 , f = 100 Hz
204
Z
P
A
= speed in rpm
= flux/pole in wbs
= Number of Armature conductors
= Number of poles
= Number of parallel paths
Eb N
Eb N if flux is constant
Therefore
o p
e r
Ia
R
d c
Fig. 2.27
Eb = Vdc I a Ra
where I a =
Ra =
Armature current
Armature Resistance
V=
V=
Vdc1
d1
200
0.8
V = 250 Volts
205
Eb1 N1
200 1000
... ( 2.30 )
... ( 2.31)
800 200
= 160 V
1000
Eb2 = Vdc2 = d 2V
d2 =
Vdc2
V
160
= 0.64
250
206
IL
_ C
b
V
iT
iC
D
L
O
A
D
vO
Fig. 2.28
To start the circuit, capacitor C is initially charged with polarity (with plate a
positive) as shown in the fig. 2.28 by triggering the thyristor T2. Capacitor C gets
charged through VS, C, T2 and load. As the charging current decays to zero thyristor T2
will be turned-off. With capacitor charged with plate a positive the circuit is ready for
operation. For convenience the chopper operation is divided into five modes.
MODE 1
Thyristor T1 is fired at t = 0. The supply voltage comes across the load. Load
current IL flows through T1 and load. At the same time capacitor discharges through T1,
D1, L1, and C and the capacitor reverses its voltage. This reverse voltage on capacitor is
held constant by diode D1. Fig. 2.29 shows the equivalent circuit of Mode 1.
IL
+
V
_ C
iC
L
O
A
D
_
Fig. 2.29
207
C
sin t
L
iC ( t ) = I P sin t ; where I P = V
Where
C
L
1
LC
Since tC depends on load current, it must be designed for the worst case condition
which occur at the maximum value of load current and minimum value of capacitor
voltage.
Then the capacitor recharges back to the supply voltage (with plate a positive).
This time is called the recharging time and is given by
td =
VS C
IL
The total time required for the capacitor to discharge and recharge is called the
commutation time and it is given by
tr = tC + td
At the end of Mode-2 capacitor has recharged to VS and the free wheeling diode
starts conducting. The equivalent circuit for Mode-2 is shown in fig. 2.30.
208
IL
L
V
V
IL
C
T
L
O
A
D
_
Fig. 2.30.
MODE 3
Free wheeling diode FWD starts conducting and the load current decays. The
energy stored in source inductance LS is transferred to capacitor. Instantaneous current is
i ( t ) = I L cos t Hence capacitor charges to a voltage higher than supply voltage. T2
naturally turns-off.
The instantaneous capacitor voltage is
VC ( t ) = VS + I L
S =
Where
LS
sin S t
C
1
LS C
IL
+
V
V
_ C
IL
T
L
O
A
DD
Fig. 2.31
MODE 4
Since the capacitor has been overcharged i.e. its voltage is above supply voltage it
starts discharging in reverse direction. Hence capacitor current becomes negative. The
capacitor discharges through LS, VS, FWD, D1 and L. When this current reduces to zero
D1 will stop conducting and the capacitor voltage will be same as the supply voltage fig.
2.32 shows in equivalent circuit of Mode 4.
209
+
V
V
IL
+
C
_ C
L
O
A
D
D
Fig. 2.32
MODE 5
In mode 5 both thyristors are off and the load current flows through the free
wheeling diode (FWD). This mode will end once thyristor T1 is fired. The equivalent
circuit for mode 5 is shown in fig. 2.33
IL
F
L
DO
A
D
Fig. 2.33
Fig. 2.34 shows the current and voltage waveforms for a voltage commutated
chopper.
210
ic
iT
a p
a c i t o
r r e n
0
Ip
t
1
Ip
IL
vT
IL
r r e n
1t
t h
r o
0
1
Vc
l t a
g 1e
t
vo
V s+ V
Vs
t p
c r o
l t a g
s s
vc
Vc
- Vc
t
C
a p
a c i t o
tc
Fig. 2.34
l t a g
td
211
Jones Chopper
T
+
1
D
V
+
R
F
v0
212
Ig
a t e
l s e
o f
GT
a t e
l s e
o f
a t e
l s e
o f
V
+
a p
a c i t o
l t a g
e
t
e s o n
t o
a n
t r a n
a c t i o
s f o
r m
e r
a c t i o
tC
C a p a c i t o r
i s c h a r g e
c u
C
r r e n t
u r r e1 n
IL
t
IL
l t a g
e1
a c r o
s s
tC
213