CONCORDIA UNIVERSITY

DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING

ELEC 440


CONTROLLED ELECTRIC DRIVES

LABORATORY MANUAL







Prepared by
Dr. S. Williamson
And
Mr. J. Woods





January - 2013









ii


TABLE OF CONTENTS

TABLE OF CONTENTS ...................................................................................................... i

I. INTRODUCTION
Safety .............................................................................................................................. ii
General safety rules ......................................................................................................... ii
Laboratory rules .............................................................................................................. v
Scope of electronic laboratory ....................................................................................... vi
Organization of the manual ............................................................................................ vi
Experiments ................................................................................................................... vi
The lab report ................................................................................................................ vii
Grading scheme ........................................................................................................... viii

II. EXPERIMENT 1
DC MACHINE PARAMETERS .......................................................................................... 1

III. EXPERIMENT 2
PHASE CONTROLLED DC MOTOR DRIVES .................................................................... 4

IV. EXPERIMENT 3
DC/DC CHOPPER CONTROLLED DC MOTOR DRIVES ................................................. 9

V. EXPERIMENT 4
INDUCTION MOTOR DRIVES ........................................................................................ 14

VI. EXPERIMENT 5
VOLTS-HERTZ CONTROL OF INDUCTION MOTOR DRIVES ......................................... 19

iii

INTRODUCTION

SAFETY
Engineers are often required to use hand and power tools in constructing prototypes or in
setting up experiments. Specifically, electrical engineers use test instruments to measure
the electrical characteristics of components, devices, and electronics systems.
These tasks are interesting and challenging, but they may also involve certain hazards if
one is careless in his/her work habits. It is therefore essential that students learn the
principles of safety at the very beginning of their career and that they practice these
principles.
Safe work requires a careful and deliberate approach to each task. Before undertaking an
experiment, students must understand what to do and how to do it. They must plan
everything, setting out tools, equipment, and instruments on the workbench in a neat and
orderly fashion, . Extraneous items should be removed, and all cables should be securely
fastened.

GENERAL SAFETY RULES
The first rule of personal safety is always:

Think First!

This rule applies to all industrial workers as well as to those working with electricity.
Develop good habits of workmanship. Learn to use tools correctly and safely. Always
study the job at hand and think through your procedures, your methods, and the
applications of tools, instruments, and machines before searching. Never permit yourself
to be distracted from your work, and never distract another worker engaged in hazardous
work. Don't be a clown! Jokes are fun and so is "horsing around", but not near moving
machinery or electricity. There are generally three kinds of accidents which may occur to
electrical students and technicians- electric shock, burns, and equipment-related injuries.
Your knowing and studying about them, and observing simple rules will make you a safe
person to work with. You could personally be saved from painful and expensive
experiences.


iv

Electric shocks
What about electric shocks? Are they fatal? The physiological effects of electric currents
can generally be predicted with the chart shown in Fig. 1:

0.2
0.1
DEATH
EXTREME BREATHING
DIFFICULTIES
SEVERE SHOCK
CANNOT LET GO
LABORED
BREATHING
MUSCULAR
PARALYSIS
PAINFUL
0.01
0.001
MILD SENSATION
SENSATION
THRESHOLD
AMPERES

Fig. 1 Physiological effects of electrical currents.

Notice that it is the current that does the damage. Currents above 100 mA, or only one
tenth of an ampere, are fatal. A workman who has contacted currents greater than 200
mA may live to see another day if given rapid treatment. Currents less than 100 mA can
be serious and painful. A safe rule: Do not place yourself in a position to get any kind
of shock.

Nine rules for safe practice and avoiding electric shocks:
1. Work with one hand behind you or in your pocket. A current between two
hands crosses your heart and can be more lethal than a current form hand to foot.
A wise technician always works with one hand. Watch your TV serviceman.
v

2. Be sure of the condition of the equipment and the dangers it can present before
working on it. Many sportsmen are killed by supposedly unloaded guns; many
technicians are killed by supposedly "dead" circuits.
3. Never rely on safety devices such as fuses, relays, and interlock systems to
protect you. They may not be working and may fail to protect you when most
needed.
4. Never remove the grounding prong of a three-wire plug. This eliminates the
grounding feature of the equipment making it a potential shock hazard.
5. Do not work on a cluttered bench. A disorganized mess of connecting leads,
components and tools only leads to careless thinking, short circuits, shocks, and
accidents. Develop systematized and organized work habits.
6. Do not work on wet floors. Your contact resistance to ground is greatly reduced
on a wet floor. Work on a rubber mat or an insulated floor.
7. Do not work alone. It is just good sense to have someone around to shut off the
power, to give artificial respiration, or to call a doctor.
8. Never talk to anyone while working. Do not let yourself be distracted. Also,
don't talk to someone who is working on dangerous equipment. Do not be the
cause of an accident.
9. Always move slowly working around electrical circuits. Violent and rapid
movements lead to accidental short circuits and shocks.

Burns
Accidents caused by burns, although usually not fatal, can be painfully serious. The
dissipation of electrical energy produces heat.

Four rules for safe practice and avoiding burns:
1. Resistors get very hot, especially those that carry high currents such as the ones
in this lab. Watch those five- and ten-watt resistors. They will burn the skin of
your fingers. Stay away from them until they cool down.
2. Be on guard for all capacitors which may still retain charges. Not only can you
get a dangerous and sometimes fatal shock, you may also get a burn from an
electrical discharge. If the rated voltage of electrolytic capacitors is exceeded or
their polarities reversed they may get very hot and may actually burst.

vi

LABORATORY RULES
Considering the number of students attending the labs and in order for the lab to operate
properly, the students are asked to abide by the following rules:
1. No smoking, eating, or drinking is permitted in the laboratory.
2. Overcoats, lose clothes (i.e. ties) and briefcases are not permitted in the
laboratory, however, a table will allocated for those students that must bring these
items.
3. All damaged or missing equipment and cables must be reported immediately to
the demonstrator. Failure to do so will result in students being charged for
damages and losses or extra lab work can be assigned.
4. Writing on work benches will result in ejection from the laboratory.
5. Student are required to have their preliminary calculation completed before being
admitted to the corresponding lab session (preparation and participation
evaluation).
6. All data must be recorded on the laboratory sheets in ink and must be signed by
the demonstrator before students leave.
7. No more than three students are allowed to occupy one laboratory workbench
8. Any student who is more than 30 minutes late will not be permitted into the
laboratory room. Furthermore, repeated tardiness will not be tolerated.
9. Do not connect or use any alligator clip leads on equipment binding posts. These
posts are meant to be used with banana plugs or straight wires only.
10. Demonstrators must verify all setups before any power switches are switched on.
11. Any changes even minor ones to the setup must be done when the power is off.
12. Any unusual equipment and machine operating conditions such smoke, sparking,
loud noise, or burning smell must be immediately reported to the lab demonstrator
and all power supplies should be switched off.
13. Always try to maintain low stress conditions during power up and power down.
For example, start the variac at zero during a power-up or reduce the armature
voltage to zero before power-down. Not only will this increase the life span of
expensive equipment in this laboratory but usually fault conditions can be found
before harm or serious damage is incurred.
14. Student's complains concerning lab demonstrators should be presented to the full
time lab instructor.


vii


SCOPE OF THE ELECTROMECHANICS LABORATORY
The main objectives of laboratory work are as follows:
- To provide practical experience in electromechanical devices.
- To provide experience in electrical measurements.
- To provide experience in report-writing.
All three aspects are very important since an engineer spends most of his/her career
designing, measuring, and testing his/her designs and reporting on his/her results.

ORGANIZATION OF THIS MANUAL
This manual is divided into 5 sections, each section describing one experiment. Each
section is broken down into parts as follows:

I. Objectives
II. Introduction
III. Calculations
IV. Experimental procedure
V. Questions

The first part gives the objectives of the experiment. The second part provides a brief
introduction to the experiment. Relevant theory is often included in this part for the
convenience of the student. The third part describes the experimental procedure to be
adopted and is itself broken down into subsections. Some of these subsections indicate to
the student how to connect and test a particular circuit. Other subsections require the
student to carry out a number of preliminary calculations. The fourth part gives a list of
questions which should be answered by the student when the experiment has been
completed and be included in the lab report.

EXPERIMENTS

Each experiment must be studied in advance and required preliminary calculations
completed. If the theory is understood, the student knows exactly what to expect in an
experiment and accurate measurements can be obtained very quickly.
The procedure section may often dictate that graphs be plotted. It is a very good
engineering practice to plot such graphs as the readings are taken. In this way
viii

discrepancies can be immediately detected and checked. Often sketches of various
waveforms are required. These should be drawn clearly and relevant quantities, such as
peak values, should be given.
Devices are invariably characterized with maximum voltage, current, and power ratings.
These should never be exceeded. Otherwise, the properties of a device may be impaired,
or it may be damaged (motor, transformer)
If in doubt about the use of a particular instrument, the operating instructions provided by
the manufacturer should be read. Defective equipment must be reported immediately to
the demonstrator or technical support. This is justified also by the fact that some
equipment may be used in more than one experiment and knowing the exact
characteristics of this equipment may be important.
Each group is required to work at the same bench location each week. Equipment and
components must be returned to their places. The benches must be left clear at the end of
the experiment.
Since the laboratory represents a significant portion of the student's practical training, it is
imperative that the students perform all the experiments. If a student has missed an
experiment due to circumstances entirely beyond his/her control, that student will have
the opportunity to perform it at the end of the term. However, it is most unlikely that
arrangements can be made for any individual to perform more than one experiment at this
time. Any student who misses more than one experiment will not be eligible for any form
of passing grade. That is, should a student miss more than one experiment, the student
will earn the grade "R" (REPEAT)! Information concerning these arrangements will be
provide by the full time lab instructor.

LAB REPORTS
For each experiment, a lab report must be written which can be regarded as a record of all
activities, observations, and discussions pertaining to the experiment. Lab reports should
above all be legible and should contain as much relevant information as possible. A lab
report should consist of papers stapled together with a title page identifying the course,
lab section, experiment, date, student's name, student's ID number, and demonstrator's
name. Any reports without a proper title page will be rejected.
Each lab report should be divided into five parts as follows:




ix


Objectives: they have to be stated clearly and can be copied from the lab
manual.
Preliminary
Calculations:
results and a summary of computations should be given.
Experimental
procedure and
results:
should be broken down into items 1, 2, 3, etc., as in the lab
manual. Each item should briefly contain the conditions of the
experiment and the results.
Questions and
discussions:
answer all the questions (if any) posed in the lab manual or by
the lab demonstrator. Discuss any problems encountered during
the experiment and any important observations made during the
report write-up.
Conclusions: should be brief

GRADING SCHEME
Each lab report will be marked out of seven. Late lab reports will be marked out of three
and no lab will be accepted after the last day of classes. There will be a final lab test
based on experiments performed during the term. The grading scheme is as follows:
A. Lab reports:
1. Objectives and preliminary calculations 15%
2. Experimental results 25%
3. Questions, discussion and conclusions 25%
4. Preparation 15%
B. Experimental setup and participation 20%

It is important that the student prepares for each experiment by reading the instructions
before the student goes to the laboratory. Therefore, both the preparation and the
participation will be evaluated during the laboratory.
1


EXPERIMENT 1

DC MACHINE PARAMETERS

DC Machine Modeling and Simulation

I. DC Machine Parameters: Lab-Volt DC Machine 8211-00

The study of electrical motor drives begins with the determination of a model of the both
the power conversion circuits and the machines that are to be controlled. These models
are used for analysis and simulation of the drive systems. This laboratory will examine a
dc machine supplied by two different dc power conversion circuits. Thus, to start, the
circuit components of the dc machine-model must be identified and measured.

The open-loop model of the dc machine is with a load torque modeled as a disturbance
can be represented by two equations.
It = E
cm]
+Ro io +Io
Ji
Jt

IinJ = [
Jt
Jt
+B
The Laplace transform representation results in

Io(s) =
I(s) -K m(s)
Ro +sIo


m(s) =
K
1
Io(s) -I
Ioud
(s)
(B +s[)



This standard formulation is found in the ELEC 440 Course Notes, lecture - 4, the text by
Krishnan. Chap. 2 and Chap. 3.6.1, and most other reference texts for motors and drives .
2

Note that depending on the author, the torque constant, Kt, and the back-emf constant,
K, may be combined as Kb. Also, the back-emf voltage, E or E
emf
may be designated
Ea, the armature voltage, when Ia = 0.

In order to begin the process of simulating a dc machine and we must find values for six
variables used by the equations describing the open-loop model: 1) Ra, the armature
resistance, 2) La, the armature inductance, 3) K, the back-emf constant, 4) Kt, the
torque constant, 5) J, the moment of inertia and 6) B, the damping constant. Note that
for transient simulation Ra (and La) are found from ac tests.




A. Armature Resistance from DC Test. Analysis of the dc machine in steady-state
operation requires a dc value for the armature resistance, Ra. The armature resistance is
first found from a dc voltage test. A dc voltage is applied to the terminals of the
armature (terminals 1 and 2 on the Lab-Volt dc machine), Fig. 1-1. The voltage is raised
until the rated current is reached, 3 Adc. The voltage, E, and the current, I1, are
measured. The results are given below. This value of R
a,dc
is required for the
determination of the moment of inertia, J, to be found later in this experiment.


shunt
field
150Vdc DMM
A
V
+ -
+
-
+
-
0-120
Vdc


7
N
1
2
7
8
5
6
I1
To DAQ
To DAQ
E1
Dynamometer
Figure 1-1. Test circuit for Ra, dc.
3


The armature resistance (dc test) is given by,
Ro, Jc = IoIo
Table 1. DC Armature Test Values.
Va(Vdc) Ia(Adc) Power(W) Ra,dc(Ohms)

Some sources, suggest applying the rated voltage to the armature terminals. In most cases
this cannot be done because the current would be too great. The belt should be attached
connecting the dc machine to the unpowered prime-mover-dynamometer at standstill.
This will prevent the motor from rotating and allowed the measurements to be taken. The
rotor was shifted 120
o
, and 240
o
and 2 more sets of measurements were taken

B. Armature Inductance, La (H), and Armature Resistance (Ohms) from AC Test,
Ra,ac (Ohms). The parameters derived from ac tests are used for modeling and
simulation the dc machine in transient modes of operation. The armature is connected to
an ac voltage source as shown in Fig. 1-2. While the motor is at standstill, a low ac
voltage is applied to the terminals (f = 60 Hz, = 377). Since the belt is connected to the
unpowered dynamometer, the dc machine will not rotate. The voltage (E1) and the
current (I1) at the armature terminals are measured. This is an ac measurement, hence
the oscilloscope or the Lab-Volt phasor-analyzer are used to determine the angle,,
between the current and the voltage. The circuit and the test results are given below

Ro, oc =
Ioc
Ioc
Cos 0

Xo =
Ioc
Ioc
Sin

Io =
Xo
2n



4
















Table 2. Test Results for Armature AC Parameters.
V(Vac) I(Aac) Power (W) Angle
Oscilloscope
(Deg)


The values for R
a,ac
and L
a
were found to be:

Table 3. Armature AC values.
Ra,ac
(Ohms)
Xa
(Ohms) La(H)


C. Values of the Shunt and Series Field Impedances (optional).

The values of the Shunt field and Series field are found from the Lab-Volt dc machine
using the same test procedure that was used for the armature. The sources (Vac and Vdc)
and metering are transferred from the armature circuit to the appropriate field circuit
terminals 5 and 6 for the shunt field and terminals 3 and 4 for the series field.


shunt
field
DMM
A
V
+ -
+
-
+
-
0-120
Vac
4
N
1
2
7
8
5
6
I1
To DAQ
To DAQ
E1
i
To Osc.
e
To Osc.
Dynamometer
Figure 1-2. The Test circuit for the armature ac tests.
5

Table 4. Shunt Field DC Test Values.
Va(Vdc) Ia(Adc) Power(W) Ra(Ohms)

Table 5. Results of AC Tests on Shunt Field.
V(Vac) I(Aac) Power (W) Angle
Oscilloscope
(Deg)

After calculation the Shunt Field Parameters noted.
Table 6. Shunt Field AC Parameters.
ShuntR
dc
, ShuntR
ac
, ShuntXl,





The values of the test on the Series field are taken from the Lab-Volt circuits using the
same procedures described above.

Table 7. Series Field DC Test Values.
Va(Vdc) Ia(Adc) Power(W) Ra(Ohms)


Table 8. Series Field AC Test Results.
V(Vac) I(Aac) Power (W) Angle
Oscilloscope
(Deg)


6

Table 9. Shunt Field Parameters.
SeriesR
dc
,,Rs SeriesR
ac
, SeriesXl,,Xs




Figure 1-3, below, is a summary of the configurations of the equivalent circuits of the
armature winding and the series and shunt field windings.





D. Back-EMF Constant, K
The Lab-Volt dc machine is connected as shown in the Fig. 1-4 below. The Lab-Volt
power supply is off. The variable transformer (autotransformer) dial is turned to the
minimum position, full counter-clockwise. The belt connects the dc machine to the prime
mover dynamometer. The armature of the dc machine is open circuited. The large
rheostat wiper is at mid-position. The small field potentiometer on the dc machine is
at a minimum position (full clockwise, 0)
Turn on the Lab-Volt power supply. Turn dial of the Lab-Volt power supply clockwise
slowly. The dc voltage to the input of the prime-mover is raised until the dc machine is

Ea
A
1
2
DC


Ra
Ra,ac Xa, La
Armature
AC
5
6
DC


Rp
Rp,ac Xp, Lp
Shunt Field
7


Rpot
8
From AC Test
From AC Test
From DC Test
From DC Test

3
4
DC

1.7

Rs,ac Xs, Ls
Series Field
From AC Test
From DC Test
Rs
From DC Test or Nameplate
Figure 1-3. Summary of dc machine parameters.
7

rotating at 2000 rpm. Next, the voltage to the field of the dc machine (E1) is raised until
the maximum field current (I1, DMM) is obtained or the maximum voltage is applied
(120Vdc). The back-emf or the open-circuit armature voltage (Ea) is measured at test
point E2. At 2000 rpm measure the voltage, Ea, the field current, I1, the field voltage,
E1, and the speed, N. Repeat these measurements at descending intervals of 100 rpm,
i.e. 1900 rpm, 1800 rpm until the machine stalls (100 rpm). Turn off the power.





The data recorded is given below Table 10.


Table 10. Results of Test for K.
rads/sec EaVdc nrpm
Display
PRIME-MOVER DYNAMOMETER
MODE
PRIME
MOVER
M
DYN
Torque
Output
Speed
Output
SPEED
N T
To DAQ
TORQUE
DISPLAY
0-120 Vdc
+
-
7
N
INPUT
24Vac
EXT
MODE
MAN
MANUAL
MIN MAX
1 2
I3
To DAQ
G
To DAQ
Timing Belt
+ 8
-N
120 Vdc
E1
E2
Ea
To DAQ
A
V
DMM
Ohmite
Rheostat
Rh
DC Machine
1
2
To DAQ
shunt
field
7
8
5 6
I1
To DAQ
+
+
+
+
+
24 Vac
Figure 1-4. Circuit for determining K.
8



The collected data is used to produce a curve with as the x-axis and Ea as the y-axis.
The values of Ea and speed are entered into an Excel spreadsheet and plotted using th
scatter plot function. Note that the armature voltage, E
a
, is actually the back-emf
voltage since there is no current, I
a
= 0. Plot the curve.
The slope of this curve is the back-emf constant that satisfies the relation,

Eo = K
or
K =
Eo

Where Ea is in volts dc and is rads/sec. From the given plot

K =
( Eo)
( )



Table 7. Results of Tests for K.
(rads/s) Ea(Vdc) K


9

Method of Identifying K and Kt Simultaneously. The values of Ea, torque, armature
current, Ia, (I2) and speed (n, ) can be found by using the two circuits as shown in the
drawings below (Fig.5 , Fig. 6) .


D. Determination of K (Open Circuit Characteristic, OCC) The armature
connections are open-circuited and the armature current is at zero. The machine is
operating at rated speed, rated field voltage and rated field current. The speed is reduced
in steps of 1000 rpm (104.6 rads/s). The speed and the back-emf, Ea, (E2) are measured.
In this case Ea is given explicitly and K is the slope of
K =
Eo, mox -Eo, min
, max -, min


This satisfies the general relation since Ia = 0. From Chapman, Chap. 9.4, 3 ed:

It = Eo +Io Ro
or
Eo = It -( Io Ro)
And
Eo = K

From El-Sharawi, Chap. 5.1.1, 1
st
ed.:

It = Eo +Io Ro

PJ = Eo Io = IJ
And
IJ = Kt

Note that El-Sharkawi uses the variable K for both K and Kt.
Now since I
a
(I2) and the torque T
ind
from the dynamometer are available, the torque
constant can be found (from Chapman, Chap. 9.4, 3 ed)
IinJ = Kt Io

* Tind = Pa/ = EaIa/

El-Sharkawi uses Td = (EaIa) / .
10

Note that K and Kt have the same numerical value when derived using mks units.
Although the units are different, the actual value is the same they have the same slope
when plotted. Thus
Eo = K

IinJ = Kt Io

Where Ea is given in V, I
a
in amps, T
ind
in N-m, in rads/s, and K in V/ rad/s and Kt
is in N-m/A.

Procedure. The Lab-Volt dc machine is connected as shown in the Fig. 5 below. The
Lab-Volt power supply is off. The variable transformer (autotransformer) dial is turned
to the minimum position, full counter-clockwise. The belt connects the dc machine to the
prime mover dynamometer. The armature of the dc machine is open circuited. The
large Ohmite rheostat wipers are at mid-position. The small field potentiometer on the dc
machine is at a minimum position (full clockwise, 0).




Display
PRIME-MOVER DYNAMOMETER
MODE
PRIME
MOVER
M
DYN
Torque
Output
Speed
Output
SPEED
N T
To DAQ
TORQUE
DISPLAY
0-120 Vdc
+
-
7
N
INPUT
24Vac
EXT
MODE
MAN
MANUAL
MIN MAX
1 2
I3
To DAQ
G
To DAQ
Timing Belt
+ 8
-N
120 Vdc
E1
E2
Ea
To DAQ
A
DMM
Ohmite
Rheostat
Rh
DC Machine
1
2
To DAQ
shunt
field
7
8
5 6
I1
To DAQ
Ra
I2
+
+
+
+
+
To DAQ
Field Rheostat
+
Ia
24 Vac
E
emf
Figure 5. The circuit for determining the open-circuit machine constant (OCC) or the speed
constant, K.
11

The PC, the oscilloscope and the Lab-Volt data acquisition module are powered-on. The


Lab-Volt LVDAM software, the Excel software and the oscilloscope software are
working normally.

Turn on the Lab-Volt power supply. Turn dial of the Lab-Volt power supply clockwise
slowly. The dc voltage to the input of the prime-mover is raised until the dc machine is
rotating at 2000 rpm. First, slowly turn the field rheostat on the dc machine full
clockwise (0). Then adjust the large Ohmite rheostat slowly from the mid-position.
This will raise the voltage to the field of the dc machine. (E1) is raised until the
maximum field current (I1, DMM) is obtained or the maximum voltage is applied
(120Vdc). The rated field voltage, E1, is kept constant.
The back-emf or the open-circuit armature voltage (Ea) is measured at test point E2.
At 2000 rpm record the values of the field voltage (E1), field current (I1), Vt (E2),
armature current (I2), n,(dynamometer), and Torque (dynamometer) in the Lab-Volt data
table. Rs can be measured at the end of the experiment. Ra,dc was determined earlier.
After the first set of measurements, turn down the voltage on the variac (counter-
clokwise) and slow the prime-mover-dynamometer to 1900 rpm. Repeat the
measurements. Repeat these measurements at descending intervals of 100 rpm, i.e. 1800
rpm, 1700 rpm until the machine stalls (100 rpm). Turn off the power. Transfer the Lab-
Volt data table to an Excel spreadsheet for computation and analysis (plotting).

Table 8. Results of Tests for K.
(rads/s) Ea(Vdc) K


E. Determination of Kt (Torque Characteristic) The armature is reconnected as
shown in Fig. 6 below. The variable dc supply is removed from the dynamometer-
prime-mover and connected in series to a second Ohmite rheostat, Rs, and then to the
terminals of the armature. The second resistance, Rs, may be set to the minimum
position and used as a safety element since it is equipped with a fuse. The machine will
12

be tested by changing the value of Ia (I2) and recording the speed and armature voltage,
Vt (E2). The field voltage and current are held constant at their rated values The
armature current is initially set to the minimum value and is raised until the maximum
valued (I2 = 3Adc) or the maximum rated voltage (E2 = 120 Vdc) is observed. The
speed and the armature terminal voltage, Vt, (E2) are measured. In this case Ea must be
calculated. Ea will be required to compute the induced torque,
ind
or T
ind
. After Ea is
found for each step, it is used with Ia and the observed speed, , to calculate the torque
constant, Kt.

Kt =
IinJ, mox -IinJ, min
Io, max -Io, min



Display
PRIME-MOVER DYNAMOMETER
MODE
PRIME
MOVER
M
DYN
Torque
Output
Speed
Output
SPEED
N T
To DAQ
TORQUE
DISPLAY
0-120 Vdc
+
-
7
N
INPUT
24Vac
EXT
MODE
MAN
MANUAL
MIN MAX
1 2
To DAQ
G
To DAQ
Timing Belt
+ 8
-N
120 Vdc
E1
E2
Ea
To DAQ
A
DMM
Ohmite
Rheostat
Rh
DC Machine
1
2
To DAQ
shunt
field
7
8
5 6
I1
To DAQ
Ra
I2
+
+
+
+
+
To DAQ
Field
Rheostat
+
Rs
Ia
24 Vac
Vt
E
emf
Figure 6. The circuit for determining the torque constant, Kt.
13

To start the evaluation of the torque constant, Kt, Ea is derived (From Chapman, Chap.
9.4, 3 ed.):
It = Eo +Io Ro
or
Eo = It -( Io Ro)

If Rs is used and has a non-zero value then the equation becomes:
Eo = It - ( Io Ro) -(Io Rs)

And (From El-Sharawi, Chap. 5.1.1, 1
st
ed.):

PJ = Eo Io = IJ
or
PinJ = Eo Io = IinJ


And
IJ = Kt Io

Note that El-Sharkawi uses the variable K for both K and Kt. Also, the induced torque
is represented by Td, T
ind
or
ind
depending on the author and reference text.
The torque from the dynamometer is available but not used since it represents the applied
torque,
app
, which includes the rotational losses of the machine. the torque constant can
be found (from Chapman, Chap. 9.4, 3 ed)
Kt =
IJ
Io


where Tind = Td= Pa/ = EaIa/.

Procedure. The Lab-Volt dc machine is connected as shown in the Fig. 6 The minimum
position and value of Rs (approximately 2 - 10) and the corresponding terminals are
determined. This must be determined prior to the start of the experiment. The Lab-Volt
power supply is off. The variable transformer (autotransformer) dial is turned to the
minimum position, full counter-clockwise. The belt connects the dc machine to the prime
mover dynamometer. The armature of the dc machine is connected to the variable dc
supply (7, N) in series with the large Ohmite rheostat, Rs. This large Ohmite rheostat has
the wiper are at a mid-position or approximately 100. The small field potentiometer
on the dc machine is at a maximum position (full counter-clockwise). The PC, the
oscilloscope and the Lab-Volt data acquisition module are powered-on. The Lab-Volt
14

LVDAM software, the Excel software and the oscilloscope software are working
normally.
Turn on the Lab-Volt power supply. First, slowly turn the field rheostat on the dc
machine full clockwise (0). Then adjust the large Ohmite rheostat on the field circuit
slowly from the mid-position. This will raise the voltage to the field of the dc machine.
Vf (E1) is raised until the maximum field current (I1, DMM) is obtained or the maximum
voltage is applied (120- 140Vdc). The rated field voltage, E1, is kept constant.
Turn the dial of the Lab-Volt dc power supply clockwise slowly. Adjust the rheostat and
the Lab-Volt dc supply until Vt (E2) and Ia (I2) are at rated values (120 - 140 Vdc,
maximum 3.0 Adc 0.6 Adc is the likely maximum). Note the position of the rheostat
and do not change it. The value of Rs must be determined at the end of the
measurements (approximately 3 10 at end position).
Now lower the Lab-Volt main power supply in steps of 0.01 Adc (I2) until the lowest
value of Ia (I2) is observed.
At each step record the values of the field voltage (E1), field current (I1), Vt (E2),
armature current (I2), n,(dynamometer), and Torque (dynamometer) in the Lab-Volt data
table. Rs is measured at the end of the experiment. Ra,dc was determined earlier. After
the first set of measurements, turn down the voltage on the variac (counter-clockwise)
and turn off the power. Transfer the Lab-Volt data table to an Excel spreadsheet for
computation and analysis (plotting).

Table 9. Results of Tests for Kt.
Torque (N-m) Ia(Vdc) K




F. Determination of Moment of Inertia, J, and Viscous Friction, B

The moment of inertia, J, and the friction coefficient, B, can be determined from a spin-
down test. At the start of the spin-down test, the dc machine is shunt connected and is
rotating at a speed that correspond to the full input voltage, Vt, of 120 140 V. The
voltage source is turned-off quickly at a given instant and the machine decelerates to a
15

full stop. At the moment that the power is removed Vt = Ea or the back-emf since the
input current ceases to flow. There are several methods of determining the value of J and
B. The method given below uses a partial graphical analysis.

Comparison of the speed curve and the back-emf response. Initially, the deceleration
curve of the terminal voltage, Vt, and the speed, n (rpm), are observed and the
oscilloscope trace is taken and analyzed. The circuit is connected as shown in Fig. 7
below.
















Procedure. The Lab-Volt data table is active and ready to record, E1, I1, I2, I3 AI-8 (n),
and P1. The oscilloscope is ready to record Vt or Ea (e1), and speed, (e2, n, rpm) at a
slow time-base 500 m sec/div. CH1 (Vt or Ea) and CH2 (speed) are set to 1 V/div. The
Lab-Volt tachogenerator is ready to record the initial speed of the system at the start of
the test. The shunt field rheostat is set to the minimum resistance, 0 . Thus, the
maximum field current will flow. The machine speed is adjusted to the rated value or a
sufficiently high speed (1500 -2000 rpm, 157 -209 rad/s).

+7
-N
0 -120 Vdc
E1
Lab-Volt Tacho
Ea
DC Machine
1
2
To DAQ
shunt
field
7
8
5 6
To Osc.
I1
n
+

0 -120 Vdc
e1
To DAQ
La
Ra
I2
I3
+ +
+ +
To DAQ
To DAQ
If
Ia
+
e2
AI8
To DAQ
To Osc.
Dynamometer Belt is
Disconnected
Figure 7. The circuit used to compare the speed and back-emf curves.
16



Figure 8. Comparison of speed and back-emf curves.

While the machine is running a set of data is taken using the Lab-Volt data table.
The oscilloscope is active and a set of curves begin to print on the screen. At a given
point, (t
1
), the power to the dc machine is shut-off and the machine decelerates. When
the curves are at zero the stop button on the oscilloscope is pressed. This will freeze the
display. The trace associated with Ea will be a smooth first-order curve. The trace
associated with the speed will have 2 sections. The first part is a smooth first-order
exponential until the break point after which the second portion becomes a linear function
with a negative slope. The cursors should be used to record the voltages associated with
the power-off points a and c (E
1
, t
1
, V
n1
) and the break-points b and d (E
2
, t
2
, V
n2
) as well
as the time interval between, t. The oscilloscope traces can now be printed.
Table 10. The Speed and Back-EMF Curve Estimation.
V
n1
(c)
(Osc.
att
1
)
n
1
(Lab
Volt)
V
E1
(a)
(Osc.
att
1
)
Ea
1
(Lab
Volt)
V
n2
(d)
(Osc.
att
2
)
n
2

V
E2
(b)
(Osc.
att
2
)
Ea
2
t
(Osc.
att)
Trial1
Trial2

17

The value of the voltage that corresponds to the initial speed and the value of the initial
voltage are taken from the Lab-Volt data table. The values of Ea
2
and n
2
(
2
) can be
calculated by using a simple proportion. Have the demonstrator verify the recorded
values.

G. Determination of the moment of inertia, J, without direct speed measurement.
This method determines the values of the inertial constant, J, and the viscous friction, B,
without the use of the dynamometer (A. N. Popov) The circuit of Fig. 9 will provide the
curves shown in Fig. 10 and the data for Table 11. The circuit is connected as in Fig. 9,
so that Ea the back-emf, is sent to the oscilloscope as the variable, e1. The armature
current Ia is observed on the oscilloscope, i2, and on the Lab-Volt data table as I2. The
relation between Ea and speed can be verified using the machine constant.
Eo = K
where is in radians /sec. The test is as follows.
Reconnect the circuit as shown in Fig. 9 below. The Lab-Volt data table should be active
and ready to record, E1, I1, I2, I3, AI8 and P1. The oscilloscope is ready to record Ea
and Ia at a slow time-base 500 m sec/div. CH1 is at 1 V/div.. Channel 2 is at 5 V/div..
The shunt field rheostat is set to the minimum resistance, 0 . Thus, the maximum field
current will flow. The machine speed is adjusted to the rated value or a sufficiently high
speed or the same value as the previous section (1500 -2000 rpm, 157 -209 rad/s).
The initial Lab-Volt values are taken. The oscilloscope is active and a set of curves begin
to print on the screen. At a given point, (t
1
), the power to the dc machine is shut-off and
the machine decelerates. When the curves are at zero the stop button on the oscilloscope
is pressed. This will freeze the display. The traces associated with Ea and Ia will be
smooth first-order curves similar to those in Fig 10 below. Print the oscilloscope
display. The cursors should be used to record the voltages associated with the power-off
points a and c (E
1
, t
1
, Ia
1
) and the break-points b and d (E
2
, t
2
, Ia
2
). Set the cursors so
that the measurements are taken for the same time interval, t, as the first test. The
oscilloscope voltages for the trace representing Ea should be the same (points a and b
Figs. 8 and 10). Referring to Fig. 10, the initial values and voltages on the oscilloscope
(t
1
, points a and c) correspond to the initial values of the data table. The values at the
18

break-point (t
2
, points b and d) are calculated using the interpolation method used in the
previous section. Be sure to print these curves.



Show your results to the demonstrator for verification.
Note that 1 and 2 can be checked by calculating Ea and using the relation Ea = K
. (K was found earlier).


Figure 10. The oscilloscope trace of Ea (Speed) and Ia.



+7
-N
0 -120 Vdc
E1
Lab-Volt Tacho
Ea
DC Machine
1
2
To DAQ
shunt
field
7
8
5 6
To Osc.
I1
n
+

0 -120 Vdc
e1
To DAQ
La
Ra
I2
I3
+ +
+ +
To DAQ
To DAQ
If
Ia
+
i2
AI8
To DAQ
To Osc.
Dynamometer Belt is
Disconnected
Figure 9. Circuit for testing for the inertia, J, and friction constant, B.
19

By using the initial values for Vt or Ea (E1 data table, Ea
1
, point a), the initial value for
the armature current , Ia, (I2 data table, Ia1, point c) and the interpolated values and the
previously determined value for Ra,dc, Ea is given by
It = Ro Io +Eo
or
Eo = It -Ro Io
Since the speed, n, is in rpm it must be converted to , rad/s (1,2, Fig. 10). The
power is given by
P = Eo Io
The torques T
1
and T
2
shown in Fig. 10 are found from the relation
I =
P

The moment of inertia is found from
[ =
( I1 -I2) t
( 1 - 2 ) ln [
I1
I2



These values should yield a value of J on the order of 10
-3
.

Finally, the viscous friction, B, is found from
B =
[

And is the time constant of the speed deceleration curve, Fig. 8. Good results can be
obtained by assuming that the initial speed falls to zero at the point indicated by t
tangent
.

Thus, if the initial speed is 1500 rpm (157 rad/s) at point c (Fig. 8) and the tangent
crosses the x axis at 1.0 sec. then can be taken as =
initial
/ t
tangent
= 157/1 =157.
Similarly, if the speed difference between points c and d is 1500 rpm 1000 rpm or =
53 rad/s and the time difference between c and d is t = .365 sec then is found to be
=

t
= 142

These values of and J should yield a value of B on the order of 10
-5
. Note that he
interval, t, is taken from Fig. 8 and carried over to Fig. 10.

The results of the test should be put in an Excel spreadsheet and the values of T1, T2,
1, 2, J and B can be calculated.




Table 11. First Trial Results of Test for Inertia, J, and Friction, B.
Trial1 Ea(V) Ia(A) P(W) n

Torque
20

(rpm) (rad/s) (Nm)
Initial
Measurement,
att
1

(LabVolt.) (LabVolt) (LabVolt) (LabVolt) (Calculate) (Calculate)

Second
Measurement,
att,t
2

(Calculate) (Calculate) (Calculate) (Calculate) (Calculate) (Calculate)

Table 12. Second Trial Results of Test for Inertia, J, and Friction, B.

Trial2
E1(V) I1(A) P1(W) n
(rpm)

(rad/s)
Torque
(Nm)
Initial
Measurement,
att
1

(LabVolt) (LabVolt) (LabVolt) (LabVolt) (Calculate) (Calculate)

Second
Measurement,
att,t
2

(Calculate) (Calculate) (Calculate) (Calculate) (Calculate) (Calculate)

`

Table 13. Results of Calculations for Inertia, J.
T1
(Nm)
T2
(Nm)
1
(rad/s)
2
(rad/s)
t
(sec)

(sec)
J B
Trial1
Trial2


The moment of inertia, J, can also be found from the method of the U. of Minn. Drives
lab.
] =
-( T
r|ct|un
-B - m
u
)
dm
dt, ( t =
+
)


=
-( K
T
- I
a
)(
-
)
dm
dt, (t =
+
)


From the oscilloscope traces of the spin-down tests (Fig. 8, Fig. 10) the results are Kt =
0.8 and Ia = .59 Adc. The difference in the speeds is d = 157 rad/s 104 rads/s (1500
rpm 1000 rpm) and dt = .365 sec.. The result is of the magnitude 10
-3
which agrees
with the previous calculations.

II Simulation

21

PSIM Simulation

The validity dc motor parameters determined previously can be tested by creating a
circuit in PSIM. The PSIM representation is based on the state-space diagram shown in
Fig. 11. A load torque, T
l
can be applied as a step input as shown in Fig. 12. The speed
output can be plotted in the PSIM package. The required parameters are listed in Table
14.
Table 14. Parameters for PSIM simulation Circuit.
Parameter Value
Ra, Armature Resistance, Lab-Volt and
Tests
-
La, Armature Inductance, Lab-Volt and
Test
- H
J, Moment of Inertia, From Test - kg m
2

B, Viscous Friction, From Test - N-m/(rads/sec)
K, or Km, From Test - V/rads/s
Kt, From Test - N-m/A

Note that K and Kt have the same numerical value when derived using mks units.
Although the units are different, the actual value is the same. Thus
Eo = K
IinJ = Kt Io
Where Ea is given in V, I
a
in amps, T
ind
in N-m, in rads/s, and K in V/ rad/s and Kt
is in N-m/A.
The open-loop model of the dc machine is with a load torque modeled as a disturbance
can be represented by two equations.
It = Eo +Ro io +Io
Ji
Jt

IinJ = [
Jt
Jt
+B
The Laplace transform representation results in

Io(s) =
I(s) -Kbm(s)
Ro +sIo

m(s) =
KbIo(s) -I1(s)
(B +s[)


22


The circuit is from ELEC 440 Course Notes, lecture 4, Krishnan. Chap. 3.6.1 . A PSIM
version is shown below with arbitrary values. This circuit can be tested by applying a
step load (voltage source Vstep), to the summation point. This represents a step change
in the load torque on the motor. The speed response is given by the voltmeter V. On the
Lab-Volt test bench the same result can be accomplished by changing the torque setting
on the dynamometer.
V(s)
E
emf
(s)
1
(B + sJ)
I
a
(s)
1
(R
a
+ sL)
+
-
+
-
T
e
(s)
m
(s)
K
T
T
l
(s)
K
T
e
(s) = T
ind
(s) depending on the source.
Note: K = KT = Kb depending on the source.





The transfer function TFCN2 represents the relation

Io(s) = Eo(s)
1
(sIo +Ro)

The block TFCN3 represents the relation

wm(s) = Io(s)
1
(s[ +B)


The values of La, Ra , J and B were found earlier by experimentation. The system can
be loaded by a step change of 1Vdc which corresponds to 1.0 N-m on the lab-Volt
dynamometer.
Figure 11. The block diagram of the state-space model of the dc motor.
23



Verification of DC Machine Constants by the Application of a Load Torque
(Transient Test, State-Space Block Diagram Model). To verify the results of the tests
done to determine the machine parameters connect the circuit shown in Fig. 12 below.
Start the dc machine with T = 1.0 N-m. The traces to be shown on the oscilloscope will
represent the speed of the machine and the load (torque) applied by means of the
dynamometer. The oscilloscope time-base should be adjusted to 100 ms/div or 200
ms/division. Channel 1 on the oscilloscope is connected to the meter of the tacho-
generator. Channel 1 is set to 1 V/division. Channel 2 on the oscilloscope is set to 5 V/div
and is connected to the torque output of the dynamometer.
Change the MODE toggle switch on the prime mover-dynamometer from the DYN
(dynamometer) position to the PRIME MOVER position. This will unload the machine.
Since there is no power supplied to the unit (120 Vdc), the dynamometer is coasting.
With the Lab-Volt data table, take an initial set of readings to record the speed and
torque.
Figure 12. A PSIM circuit for the simulation of a dc machine.
24

When the oscilloscope begins a sweep, apply the 1.0 N-m torque to the machine by
putting the toggle-switch back in the DYN position. With the Lab-Volt data table, take a
set of readings to record the speed and torque. When the motor speed is stable push the
run/stop button on the oscilloscope to freeze the speed and torque traces. Use the cursors
to find the total time required for the motor to stop. Print the oscilloscope display. The
lab-Volt Tacho-generator and meter should be used to find the speed. Note that the
Lab-Volt power supply is used as the dc voltage source not the thyristor converter.

When the results of the load test with the dc machine and dynamometer are complete
they can be compared with traces obtained from th PSIM simulation. Compare the initial
and final speeds, torques and the total stop time with the results of the PSIm simulation.



Gnd.
Shunt Field
2
1

Timing
Belt
N T
Speed
Output
Torque
Output
Prime
Mover
Manual
Mode
Min.
Display
Dyn. Max.
Display
1
Mode
To DAQ and Osc. CH2
Torque
2
Man.
Prime Mover - Dynamometer
Speed
Input
Ext.
To DAQ
Vs, field


5
6

7
8
+
V
f
N
Armature
DC Machine
L
a
R
a
L
f
Field
Rheostat
R
f
I
f
I
a
+
7
N
V
a
Vs, armature
Ea
+
120 Vdc
0-120 Vdc
8
Tacho-generator

To Osc.
CH1
Meter
Figure 13. Circuit used to test simulation results of machine parameter calculations.
25

EXPERIMENT 2

PHASE-CONTROLLED DC MOTOR DRIVES

I. OBJECTIVES

There are three objectives to this experiment:
- To learn to use the oscilloscope, the Lab-Volt test equipment and the associated
software, LV-EMS and MS Excel;
- To observe the performance of the single-phase thyristor full-bridge circuit;
- To investigate the characteristics of a dc motor that is driven by a single-phase
thyristor controlled-converter.

II. INTRODUCTION

The phase-controlled dc converter is a circuit that transforms the input from an ac power
source to variable dc power at the output. This can be accomplished by using the
thyristor as the switching component in a single-phase full-bridge configuration. Fig. 1.1
shows the converter connected to a resistive load. Note that the circuit required to initiate
conduction in the thyristors is not shown.

The firing angle of the thyristors in Fig. 1.1 is = 60
o
(/3 radians). With the resistive
load, the current through the thyristors and the load is discontinuous ( > 0). Hence,
there is no current overlap angle, . The dc voltage (V
dc
, Krishnan, V
ave,
El-Sharkawi)
across the resistive load is given by

IJc =
Im
n
_ sint Jt
n
u


=
Im
n
| cos t]
u
n


=
Im
n
|1 +cos o] I

26

The value of I
dc
(I
dc
, Krishnan, I
ave,
El-Sharkawi), the dc current through the resistor, is
calculated from the value of V
dc
.



Figure 2.1 The Single-phase full-bridge controlled rectifier with resistive load ( = 60
o
).
(a) The circuit with a resistive load. (b) The input voltage waveform. (c) The input
current waveform. (d) The thyristor voltage. (e) The thyristor current. (f) The voltage
across the resistor. (g) The current through the resistor.


With the addition of an inductance, the load becomes a series combination of a resistance
and inductor as shown in Fig. 1.2. The value of the counter dc source is assumed to be
27

zero. If the value X
L
is small, the load current may still be discontinuous but the current
conduction angle, , is extended past radians to radians.

Fig. 2.2 The Single-phase full-bridge controlled rectifier with resistive-inductive load (
= 60
o
). (a) The circuit with an RL load (E = 0 V). (b) The input voltage waveform. (c)
The input current waveform. (d) The thyristor voltage. (e) The thyristor current. (f) The
voltage across the RL load. (g) The current through the resistor.



Thus is the current extinction angle and = - . The value of the output voltage is
given by:

28

IJc =
Im
n
|cos(o ) cos( o + y)]
=
Im
2n
|cos(o) -cos([)]

See: Krishnan, Chap. 3.3.1, El-Sharkawi, Chap 3.3.

As more inductance is added to the load circuit the current becomes continuous and the
value of the output voltage is given by:

IJc =
2 Im

cos

See: Krishnan, Chap. 3.3.1, El-Sharkawi, Chap 3.3.

When the current is discontinuous the average or dc voltage is related to the firing angle,
, and the extinction angle .
IJc =
Im
n
|cos o -cos [ ]

When a dc machine is connected to the converter then the effect of the counter-emf, Ea,
must be included. Figure 1.3 (f), (g), show that if Vin is less than Ea when the thyristors
are triggered (at angle ) then the current will not flow until Vin is greater than Ea. Thus
the original firing angle is effectively displaced to . In this case the conduction angle,
, becomes = ( - ). The extinction angle remains the same (El-Sharkawi, Chap.
6.1.4.2). The calculation of the voltage at the terminals of the dc machine is

IJc =
Im
n
|cos o' -cos [ ] + Eo Ko

29


Figure 2.3 The Single-phase full-bridge controlled rectifier with dc machine load ( =
60
o
). (a) The circuit with an RL load and counter emf source. (b) The input voltage
waveform. (c) The input current waveform. (d) The thyristor voltage. (e) The thyristor
current. (f) The voltage across the dc machine terminals. (g) The current through the dc
machine.




Where Ko' is the proportion of /180 with measured in degrees or / with
measured in radians. The dc voltage, Ea, is measured directly from the circuit using the
oscilloscope.
30


The radial speed can be found from
=
(IJc -Io Ro)
K

And
=
n 2
6u


If the motor is loaded with a given torque, the radial speed, , can be found from
=
IJc
K
-
Ro
(K)
2
IJ

Where the motor constant, K, and the armature resistance, Ra, are found by testing the
dc motor separately. Td is the induced or developed torque.

See: Krishnan, Chap. 3.3.1, El-Sharkawi, Chap 6
.

Note that the current phase angle is where
= Ion
-1

I
R

Three relationships exist between the firing angle, , and :
The firing angle is less than . Current will conduct at angle .
The firing angle is equal to . Current will conduct at angle = .
The firing angle is greater than . Current will conduct at .



Refer to: 1) Krishnan, Ramu, Electric Motor Drives, Upper Saddle River, N. J., Prentice
Hall, 2001, Chapter 3. 2) El-Sharkawi, M., Fundamentals of Electric Drives, Toronto,
Ontaio, Cengage Learning,


31

III. PRE-LAB CALCULATIONS

The values of K, Ra, and La will be required from the experiment done previously for
ELEC 331 (Experiment 3, DC Machines) or from the preliminary exercise: DC Machine
Parameters. If the values are not available then they will have to be derived again. Refer
to the handout or the Appendix that details the methods of determining the machine
parameters.


IV. PROCEDURE





Warning:
High voltages are present in this experiment!
DO NOT make any connection while the power is on.



A. DC Shunt Motor Drive using 1-Phase Full-Wave Rectifier


1. Connect the circuit as shown in Fig. 1.3. Do not connect the input smoothing reactors
at the start of the session. Do not connect the freewheeling diode at the start of the
session. Do not connect the output smoothing inductors at the start of the session. Do
not connect i1, to measure the input ac current at the start of the experiment use it to
measure the thyristor current initially. Note that the smoothing reactors at the input and
output of the converter and the freewheeling diode will be disconnected and
reconnected to the circuit later during the experiment. Connect the tacho-generator and
meter to the DAQ at input 8/N. When the connections are complete make the
following initial setting on the equipment.
2. PC and Oscilloscope
32

Power-on the Lab-Volt data acquisition module on the bench ( green LED is on). Turn
on the oscilloscope (Fluke Combiscope) and the computer.
Start the Lab-Volt data acquisition software, LVDAC-EMS. On the right-hand (RHS)
panel set all voltages to HIGH. Set all currents to LOW. Make sure that the software is in
the connected mode not stand-alone. Activate the metering: V1
ac
, I1
ac
, P1, V2
dc
, I2
dc
,
p2, I3
dc
, I4
dc
, N
rpm
, T
N-m
and P
dynamometer
. When the motor is running make sure that the

Figure 2.4 Single-phase full-bridge controlled rectifier and shunt connected dc
machine.

33

speed, n, and torque, T, correspond approximately with the dynamometer display. To
measure , , and, if necessary, , use the synch. output from the thyristor module to find
0. The synch output (SYNCH. OUT) is a square-wave that is Hi from 0 -180. Connect
the synch. output to the external trigger (EXT TRIG) of the oscilloscope.

Start the Lab-Volt data table. Activate the values corresponding to the meter
display.
Start the Excel software. Label the columns corresponding to the LVDAC table.
Add a column for the thyristor firing angle, and the extinction angle, .
3. Thyristor Rectifier
a) Connect the modules as shown in Fig. 1.3 without the input smoothing reactors.
Note: The dc source is a part of the Thyristor Firing Unit.
b) Choose the following settings:
On the Power Supply:
Mains Power Switch ........................................................................................ Off
Voltage Meter Selector ................................................................................... 4-N
Variac .................................................................... 0 or Full Counter Clock-Wise
On the Thyristor Firing Unit:
FIRING CONTROL MODE ...............................................................................1


ANGLE CONTROL COMPLEMENT .............................................................. O
ANGLE CONTROL ARC COSINE .................................................................. O
DC SOURCE ............................................................................................... MAX
On the Power Thyristors module:
Interconnection Switch S
1
...................................................................................0
Interconnection Switch S
2
...................................................................................0
On the Oscilloscope:
Channel-1 Sensitivity ....................................................... 5 V/DIV (DC coupled)
Channel-2 Sensitivity ....................................................... 1 V/DIV (DC coupled)
Vertical Mode ..................................................................................... CHOPPED
Time Base .............................................................................................. 2 ms/DIV
Trigger Source ........................ EXT TRIG (Synch Output on Thyristor Module)
Trigger Coupling ............................................................................................. DC

On the Prime Mover - Dynamometer:
34

Display Toggle Switch ............................................ Torque or Speed as required
Mode Toggle Switch ...................................................................................... Dyn
Operating Mode Toggle Switch .................................................................... Man
Manual Mode Potentiometer ................................ Min (Full Counter-Clockwise)




Set the field resistance of the dc machine at its minimum resistance (full clockwise, 0).
The Variac on the main power supply is set to 0, full counter-clockwise. Monitor the
analog ammeter, A, as you turn on the power and raise the voltage on the main power
supply until V
s
(E1) is at 120 Vac.
Slowly turn the dc source on the thyristor controller from the max. to the min. position (
= 180 to 0). Note the effect on the output dc voltage (e
2
- Ch1, E2) and dc current (i
2
-
Ch2, I2) waveforms.
On the oscilloscope, connect the external trigger (EXT TRIG) to the synchronized output
(SYNCH. OUT) jack on the thyristor module. (Normally, this trigger is set to the rising-
edge). Calibrate the cursors (1 cycle = 360) so that the firing angle, , and the extinction
angle, , can be identified. This is done by setting the vertical reference cursor (TRACK)
to the desired angle and then adjusting the voltage control of the thyristor controller to
coincide with the differential () cursor.
Set the mechanical load at 0.0 N-m on the dynamometer. Set the firing angle at 0 on the
thyristor control unit. Use the LAB-VOLT data table and the MEASURE and phase-
angle cursor function on the oscilloscope and observe the performance characteristics as
given in Table 1. Collect the data in the LVDAC table and oscilloscope. Transfer it to
the Excel table for calculation and plotting the results. Remember to convert speed, n,
from rpm to in rad/sec as required. This can be done in the Excel spreadsheet.
For data set 1, set T = 0.0 N-m, = 0 and the field resistance to the min. position full
CCW. Vary the torque, T, on the dynamometer from 0.0 to 0.1 N-m in 4 steps: 0.0 N-m,
0.1 N-m, 0.15 N-m and 0.2 N-m. Record all the current and voltage values in the
LVDAC data table. For 1 setting only, record , , and, if necessary, from the
oscilloscope and plot the oscilloscope trace. To measure , , and, if necessary, , use
35

the synch. output from the thyristor module to find 0. The synch output is a square-wave
that is Hi from 0 -180.
For data set 2, reset the parameters and vary the field potentiometer from the min.
position (0 ) to the max. position (500 ) in 4 steps. Record all values.
For data set 3, reset the parameters and vary the firing angle , from 0 to 90 in 4 steps
0, 40, 60 and 90. Record the values of separately. For 1 setting only, record , ,
and, if necessary, from the oscilloscope and plot the oscilloscope trace. To measure ,
, and, if necessary, , use the synch. output from the thyristor module to find 0. The
synch output is a square-wave that is Hi from 0 -180. Connect the synch. output to the
external trigger of the oscilloscope. Record all values as before.

Table 1. Converter Performance Data
Parameter Torque, N-m If, Adc (I4) , , or
degrees
(From
Oscilloscope)
Plot in Excel
Data Set 1 Vary: 0, 0.1,
0.15, 0.2
Min. R, Max. If,
full CW
= 0 versus T (T on
x-axis)
Data Set 2 0.0 Vary - CCW:
from Min R to
max. R in 4 steps
= 0 versus If (If on
x-axis)
Data Set 3 0.0 Min. R, Max. If,
full CW
Vary : 0, 40,
60, 90
versus ( on
x-axis)

After the data has been collected as per the scheme in Table 1, continue to the next
section.

36

Output Smoothing Reactor. Set =40and T = 0.1 N-m. Record the values of the
circuit voltages and currents. Set the oscilloscope display to record the maximum values
of the waveforms (MEAS. Function). Set the cursors to the # mode and find amplitude of
the voltage waveform components (= control) as well as the voltage and current angles,
, , and (|| control). Print the oscilloscope display. Write the angles on the printout if
necessary.
Set the angle control to full clockwise and Rf to 0, full CW. Turn off the power (the
variac is full counter clockwise and the power switch is off). Connect the output
smoothing reactor. Restart the motor and set the controls so that = 40, T = 0.1 N-m.
Note the differences in the waveforms, record the data and plot the oscilloscope
waveforms, Vdc and Idc. Turn-off the motor and remove the smoothing inductor.

Free-Wheeling Diode (FWD). Start the motor and adjust the firing angle, , to 90 and
T = 0.1 N-m. Record the values of the circuit voltages and currents. Set the oscilloscope
display to record the maximum values of the waveforms (MEAS. Function). Set the
cursors to the # mode and find amplitude of the voltage waveform components ( =
control) as well as the voltage and current angles, , , and (|| control). Print the
oscilloscope display. Write the angles on the printout if necessary.
Set the angle control to full clockwise and turn off the power (the variac is full counter
clockwise and the power switch is off). Connect the free-wheeling diode. Restart the
motor and set the controls so that = 90, T = 0.1 N-m. Note the difference in the output
waveforms and plot the oscilloscope traces, Vdc and Idc. Record the circuit data as
before. Turn off the power (the variac is full counter clockwise and the power switch is
off). Disconnect the free-wheeling diode.

Thyristor Voltage and Current. Set the mechanical load at 0.1 N-m on the
dynamometer. Set the firing angle at 40 on the thyristor control unit. Use the LAB-
VOLT data table and the MEASURE and CURSOR functions on the oscilloscope to
obtain values for the average armature voltage, armature current, thyristor current and
37

thyristor voltage. Using the oscilloscope, obtain traces of the waveforms of the armature
voltage, armature current, and thyristor voltage and thyristor current waveforms. Use the
oscilloscope to find a value for Ea, the counter emf.. If necessary, use the oscilloscope
MEASURE function to record the dc values of the voltage and current. After the data is
recorded in the Lab-Volt data-table it can be highlighted, copied and pasted into an Excel
spreadsheet for analysis. Be sure to make a plot of the oscilloscope waveforms. When
the measurements have been taken, set the voltage control ( control) of the thyristor
controller to the max. position (full clockwise). Turn down the main Lab-Volt power
supply (full counter-clockwise) and turn off the switch.

Verification of DC Machine Constants by the Application of a Load Torque
(Transient Test, State-Space Block Diagram Model). To verify the results of the tests
done to determine the machine parameters connect the circuit shown in Fig. 1-5 below.
Start the dc machine with T = 1.0 N-m. The traces to be shown on the oscilloscope will
represent the speed of the machine and the load (torque) applied by means of the
dynamometer. The oscilloscope time-base should be adjusted to 100 ms/div or 200
ms/division. Channel 1 on the oscilloscope is connected to the meter of the tacho-
generator. Channel 1 is set to 1 V/division. Channel 2 on the oscilloscope is set to 5 V/div
and is connected to the torque output of the dynamometer.
Change the MODE toggle switch on the prime mover-dynamometer from the DYN
(dynamometer) position to the PRIME MOVER position. This will unload the machine.
Since there is no power supplied to the unit (120 Vdc), the dynamometer is coasting.
With the Lab-Volt data table, take an initial set of readings to record the speed and
torque.
When the oscilloscope begins a sweep, apply the 1.0 N-m torque to the machine by
putting the toggle-switch back in the DYN position. With the Lab-Volt data table, take a
set of readings to record the speed and torque. When the motor speed is stable push the
run/stop button on the oscilloscope to freeze the speed and torque traces. Use the cursors
to find the total time required for the motor to stop. Print the oscilloscope display.

38




Figure 2-5 Circuit used to test simulation results of machine parameter calculations.

Compare the initial and final speeds, torques and the total stop time with the results of the
PSIm simulation. Note that the dc source is the Lab-Volt power supply and not the
single-phase full-bridge thyristor converter.

V. QUESTIONS
1. For dataset 1, use Excel to plot the radial speed, , versus the torque, T. Calculate
based on one value of the measured torque. Use corresponding values of Vdc, K, and
Ra. How does a change in effect Vdc and ?
2. For dataset 2, plot versus If (If on the x-axis). How does a change in If effect the
speed ? Is the result linear? Find an approximate constant Kf such that Kf/If
3. For dataset 3, use Excel to plot speed, , versus ( on x-axis). For one value of
(and the corresponding or ) calculate . How does a change in effect Vdc and ?
39

4. What is the effect of adding and removing the freewheeling diode on the load side?
Refer to the oscilloscope plots.
5. What is the effect of adding or removing the smoothing reactor at the output of the
rectifier?
6. When the current is discontinuous, what is the voltage that appears in the output
waveform, V
dc
, before the thyristor is triggered and conduction starts?
7. Use PSIM to simulate the steady-state performance of the single-phase full-bridge
thyristor converter and motor when = 0, field current, If, was at a maximum value (Rf
at min. position, full-CW), and T = 1.0 N-m.. Simulate the motor using Ra, La, and Ea.
Ea is found from the oscilloscope trace of Vdc or from K. Note: this PSIM circuit will
require a bridge consisting of individual thyristors, a voltage sensor, an -controller
(alpha controller) as well as the dc machine model. Check with your demonstrator if you
are not sure of the parameters derived previously.
8. Use PSIM to verify the transient performance of the state-space block diagram model
of the machine. This test is described in the procedure above and in the machine
parameter testing procedure.

B. Full-Wave Voltage Control of the Separately-Excited DC Machine


The separately-excited dc machine is shown in Fig. 1-6 below. This configuration allows
for independent control of the armature and field voltages. The shunt field is normally
used when the dc machine is connected in this manner and the field rheostat is at a
minimum resistance (0). Thus the maximum field current, I
f
, will flow. The total
electrical power input to the machine in Fig. 1-4 is

P
LIcc,n
= I
]
I
]
+I
u
I
u


40

Figure 2.6 The separately-excited dc machine circuit.

If the field voltage, V
f
, and the armature voltage, V
a
, have the same voltage source, V
s
,
then
P
LIcc,n
= I
u
(I
]
+I
u
)
The mechanical power at the output of the machine is the product of the speed, (rads/s)
and the machine shaft-torque, T
m
(N-m).
P
Mcch,out
= I
m

The values of V
a
, I
a
, V
f
, I
f
, T
m
and n (rpm) can be measured directly from the
experimental test circuit. The radial speed, , (rads/s) must be calculated.

Set the field regulator at its minimum resistance (full clockwise, 0). By changing the
firing angle of the thyristors, the armature voltage can be controlled. As a result, the
speed can be controlled.

Procedure Connect the circuit as shown in Fig. 1.7. Do not connect the input
smoothing reactors. Do not connect the freewheeling diode. Do not connect the output
smoothing inductors. Do not connect i1, to measure the input ac current use it to
measure the thyristor current. When the connections are complete make the following
initial setting on the equipment, the PC and Oscilloscope.
Figure 2.7 Single-phase full-bridge controlled rectifier and separately-excited shunt-
field dc machine.
Shunt Field
Vs,
field






+
V
f
Armature
DC
Machine
L
a
R
a
L
f
Field
Rheostat
R
f
I
f
I
a
+
V
a
Vs,
armature
Ea
+
41


Power-on the Lab-Volt data acquisition module on the bench ( green LED is on). Turn
on the oscilloscope (Fluke Combiscope) and the computer.
Start the Lab-Volt data acquisition software, LVDAC-EMS. On the right-hand (RHS)
panel set all voltages to HIGH. Set all currents to LOW. Make sure that the software is in
the connected mode not stand-alone. Activate the metering: V1
ac
, I1
ac
, P1, V2
dc
, I2
dc
,
p2, I3
dc
, I4
dc
, N
rpm
, T
N-m
and P
dynamometer
. When the motor is running make sure that the
speed, n, and torque, T, correspond approximately with the dynamometer display. To
measure , , and, if necessary, , use the synch. output from the thyristor module to find
0.




A
4

Gnd.
N
Thyristor
O

I

O

I

S 1
S 2
2
1





Shunt Field
2

1

Power Thyristors

DC Machine
Timing Belt
N T
Speed
Output
Torque
Output
Prime
Mover
Manual
Mode
Min.
Display
Dyn. Max.
Display
1
Mode
To DAQ
Torque
2
Man.
Prime Mover - Dynamometer
Speed
Input
Ext.
Smoothing

Inductors
I 2 i 2
E 2
Diode
from
Power
Diodes
Module
24 Vac
Firing Unit
Angle Control
DC Source
To DAQ
To DAQ
To DAQ
0 -
Vac
120
+
+
+
+
+
+
+
9

Conductor
cable Control
Firing
Inputs

To Osc.
e 2
To Osc.
To Osc. To DAQ
I 4
To DAQ
Analog
Gnd
To DAQ
1 2
3 4
E 1
I1
i 1
i 1
e

1
5

6
7 8
Smoothing

Inductors
To Osc.
Armature
5

6
7 8
To DAQ


5
6
7
8
I 3
+
0 -
Vdc
120
7
N
+
+
+ +
+
+
Gnd.
Synch
Output
To DAQ
Tacho Gen.
42

Start the Lab-Volt data table. Activate the values corresponding to the meter
display.
Start the Excel software. Label the columns corresponding to the LVDAC table.
Add a column for the thyristor firing angle, and the extinction angle, .
4. Thyristor Rectifier
a) Connect the modules as shown in Fig. 1.3 without the input smoothing reactors.
Note: The dc source is a part of the Thyristor Firing Unit.
b) Choose the following settings:
On the Power Supply:
Mains Power Switch ........................................................................................ Off
Voltage Meter Selector ................................................................................... 4-N
Variac .................................................................... 0 or Full Counter Clock-Wise
On the Thyristor Firing Unit:
FIRING CONTROL MODE ...............................................................................1


ANGLE CONTROL COMPLEMENT .............................................................. O
ANGLE CONTROL ARC COSINE .................................................................. O
DC SOURCE ............................................................................................... MAX
On the Power Thyristors module:
Interconnection Switch S
1
...................................................................................0
Interconnection Switch S
2
...................................................................................0
On the Oscilloscope:
Channel-1 Sensitivity ....................................................... 5 V/DIV (DC coupled)
Channel-2 Sensitivity ....................................................... 1 V/DIV (DC coupled)
Vertical Mode ..................................................................................... CHOPPED
Time Base .............................................................................................. 2 ms/DIV
Trigger Source ........................ EXT TRIG (Synch Output on Thyristor Module)
Trigger Coupling ............................................................................................. DC

On the Prime Mover - Dynamometer:
Display Toggle Switch ............................................ Torque or Speed as required
Mode Toggle Switch ...................................................................................... Dyn
Operating Mode Toggle Switch .................................................................... Man
Manual Mode Potentiometer ................................ Min (Full Counter-Clockwise)




43

Set the field resistance of the dc machine at its minimum resistance (full clockwise, 0).
The Variac on the main power supply is set to 0, full counter-clockwise. Monitor the
analog ammeter, A, as you turn on the power and raise the voltage on the main power
supply until V
s
(E1) is at 120 Vac.
Set the mechanical load, using the dynamometer, at 0.1 N-m. Change the armature
voltage and measure the armature current, field current, and speed. Enter the measured
values in the Lab-Volt data table and transfer them to an Excel spreadsheet for
calculation.


Table 2. Data for Separately-Excited DC Machine with Thyristor Controller.
V
a
(V)
I
a
(A)
I
F
(A)
(rad/s)
P
Elec.,in
(W)
P
Mech.,out
(W)
(%)





Questions

1. Calculate the input electrical power for each measured point of operation.
2. Calculate the output mechanical power for each measured point of operation.
3. Calculate the efficiency, for each measured point of operation.
4. Plot the speed vs armature voltage.
5. Plot the efficiency vs armature current.
44

Gnd.
2
1
Power Thyristors 2
DC Machine
Timing Belt
N T
Speed
Output
Torque
Output
Prime
Mover
Manual
Mode
Min.
Display
Dyn. Max.
Display
1
Mode
To DAQ
Torque
2
Man.
Prime Mover - Dynamometer
Speed
Input
Ext.
+
I4
To DAQ Analog Gnd
To DAQ
1
2
3 4
5
6
7 8
Armature
5
6
7 8
+
4
Vc
Thyristor
O
I
O
I
S1
S2
2
1
Power Thyristors 1
24 Vac
Firing Unit
Angle Control
DC Source
Va
9 Conductor
cable
Firing Control Inputs
e1
1 2
3 4
To Osc.
+
+
E4
I1
+
Shunt Field
+
To DAQ
5
6
7
8
I3
+
0 -
Vdc
120
7
N
E2
+
i2
+
I2
+
E2
+
0 120/208
Vac
5
6
Vb
4
Vc
Thyristor
O
I
O
I
S1
S2
2
1
24 Vac
Firing Unit
Angle Control
DC Source
Va
9 Conductor
cable
Control
Firing
Inputs
i1
e1
To Osc.
+
+
5
6
Vb
0 120/208
Vac
A
+
e2
+
+
A
+
e2
+
Smoothing
Inductors 2
Smoothing
Inductors 1
Gnd.
Synch
Output
Gnd.
Synch
Output
i1

Figure 2-8. Four-Quadrant Thyristor Drive.
45


EXPERIMENT 3

DC/DC Chopper Controlled DC Motor Drives


I. OBJECTIVES

There are two objectives to this experiment:
- To evaluate the performance of the single-phase 4-quadrant chopper when connected
to a separately-excited dc machine.
- To extend the state-space based model of the dc machine to include a speed control
loop with proportional-integral (PI) control. This model will be used for the design
and simulation of the circuit using the PSIM software. The results of the simulation
will be compared with the performance of the dc machine.


II. INTRODUCTION

The Fig. 2-1 shows the circuit model of a 4-quadrant dc chopper. The chopper is
connected to a separately-excited dc motor. Note that the switches are numbered to
match the panel of the Lab-Volt MOSFET module. The switching pattern shown is the
bipolar voltage scheme. In this example a bipolar triangular carrier wave is compared to
a reference voltage. The carrier voltage varies between V
max
= +10 Vdc and V
min
= -10
Vdc. This is a fixed pattern. The reference voltage is raised or lowered as the voltage
and the current across the armature of the machine are required to change. The switches
operate in complementary pairs. A positive voltage and current flow is observed when
Q1 and Q5 are switched-on and Q2 and Q4 are off. Since this is a voltage-controlled
pattern, switches in the same leg (Q1 and Q4 or Q2 and Q5) cannot turn-on at the same
time as this would result in a short-circuit. The switching action occurs within a given
period, T, which is determined by the switching frequency, f
sw
( T = 1/f
sw
).

The modulation index is
H =
1u +I
c]
I
mux
-I
mn

46


+
+
+

Fig. 2-1. The 4 Quadrant dc chopper (a) circuit, (b) Vdc > 0, (c) Vdc < 0.
47

Thus, when the reference voltage equals 0, the modulation is 1/2. The duty cycle, D or ,
is a measure of the ratio between the time a switch is on, t
on
, and the period, T, of the
switching pattern. The duty cycle for a switch or a pair of complementary switches is
=
t
on
I

If D is multiplied by 100 then the duty cycle is given as a percentage. The design of the
PWM hardware on this test-bench means that D = M.

The average output voltage as seen by the dc machine is
I
dc
=
1
I
(_ +I
s
Jt
t
cn
0
+ _-
1
t
cn
I
s
Jt)

By substituting D = M = t
on
/ T the armature voltage is
I
dc
= (2H-1)I
s

Since the rms voltage is independent of f
sw
then V
rms
= V
s
. In theory, there is no ripple
voltage present when M is equal to 0 or 1. Since these values are not realizable on the
test equipment, the voltage ripple, Vr, is given by
I

=
_
I
ms
2
-I
dc
2

= 2I
s
H(1 -H)
The voltage ripple factor (RF) is
RF =
I

I
dc

=
2I
s
H(1 -H)
(2H-1)


The positive current for switches Q1 and Q5 for the period determined by M (V
dc
= V
s
) is
I
u
Ji
u
Jt
+Ri
u
+E
u
= I
s

The average current is
i
o
(t) =
I
s
-E
R
_1 -c
-t
:
] +I
-nt
c
-t
:

48

for 0 < t < t
on
.
The value for the initial current, I
-init
is
I
-nt
=
I
s
R

2c
-t
cn
:
-1 +c
-1
:
1 - c
-1
:
-
E
R


When switches Q2 and Q4 are turned-on (V
dc
= -Vs)

I
u
Ji
u
Jt
+Ri
u
+E
u
= -I
s


and by starting the calculation time at t
on
, the dc current is
i
o
(t) = -
I
s
+E
R
_1 -c
-t
:
] +I
+nt
c
-t
:

for 0 < t < T - t
on
. The initial condition is
I
+nt
=
I
s
R

1 - 2c
-t
cn
:
+c
-1
:
1 - c
-1
:
-
E
R

The average current per-cycle is
I
u,dc
=
I
dc
-E
u
R

Note that in the circuit that will be used for the experiment, an additional smoothing
inductor has been added. The added reactance reduces the ripple of the output current
significantly and should be added to the value of L
a
if a calculation of the current of the
test circuit is required.


III. CALCULATIONS

A 4-quadrant single-phase chopper depicted in Fig. 2-1, has a nominal supply voltage,
V
s
, of 120 Vdc. The actual value of the dc source is closer to 140 Vdc. The chopper is
required to drive a dc machine at a speed, n, of 1000 rpm. Initially, the machine is
unloaded, T
L
= 0.0 Nm, and an additional source of inertia is added to the shaft of the
49

motor with the addition of the prime mover - dynamometer. The speed and torque
constants of the machine (K, K
T
) are the same as those determined in experiment 1.
1. If V
max
of the sawtooth carrier wave is 10 Vdc and V
min
is -10 Vdc (Fig. 1-1),
compute the modulation index, M, of the chopper when the reference voltage is
at 0 Vdc, +5 Vdc, -5 Vdc, +10 Vdc and -10 Vdc. What is the duty cycle, D,
when M = 0.5?

2. Compute the chopper output voltage, Vdc, when the reference voltage is at 0
Vdc, +5 Vdc, -5 Vdc, +10 Vdc and -10 Vdc.

3. What is the average armature current, Ia, when n = 1000 rpm? (Use the value of
the speed constant determined by earlier experiment.)



IV. PROCEDURE


Warning:
High voltages are present in this experiment!
DO NOT make any connection while the power is ON.




1. Four Quadrant Chopper Drive for DC Motors Circuit Connection

1. Connect the circuit shown in Fig. 2-2. (Bipolar SPWM) Do not connect the speed
feedback circuit. The PID module will be connected later. Connect the Lab-Volt
prime mover dynamometer to the shaft of the dc motor with the timing belt.
2. Choose the following settings:
On the Power Supply:
Voltage Selector ..................................................................................................... 7-N
On the Chopper/Inverter Control Unit:
MODE ..................................................................................................... CHOP.PWM
DC SOURCE 1 ............................................. 3/4 position, clock-wise, CW, 3 oclock
50

DC SOURCE 2 ........................................................................................ mid position
On the Power MOSFETS module:
Interconnection Switch S
1
...........................................................................................1
On the Oscilloscope:
Channel-1 Sensitivity ................................................................ 2 V/DIV (dc coupled)
Channel-2 Sensitivity ................................................................ 2 V/DIV (dc coupled)
Vertical Mode .............................................................................................. CHOPped
Time Base ..................................................................................................... 2 ms/DIV
Trigger Source .......................................... Ext, from Synch Out of MOSFET module
Trigger Coupling ..................................................................................................... DC


2. Connect channel 1 of the oscilloscope to input 1 and the common of the MOSFET
module. Connect channel 2 to input 4. Connect the synchronizing output of the
MOSFET module (Synch Out) to the external trigger of the oscilloscope. (Fluke
model, Refer to the Appendix for setting the oscilloscope).
3. Connect the shunt field of the dc motor to the fixed 120 Vdc source. Put the shunt
field rheostat in the minimum position (full clockwise, 0 ).
4 The prime mover dynamometer should be in the dynamometer mode under manual
control with the manual potentiometer in the minimum position (full
counterclockwise).
5. The tacho-generator should be connected to the dc motor. The output from the meter
box should be connected to the Lab-Volt data acquisition module (8, N). A DMM
should be connected across DC source 1 and the common to measure the control
voltage, Vdc. Note the gain of the tacho-generator, n, rpm to Volts, dc. An Excel
spreadsheet should be opened to store the observed data.


2. The Chopper-Inverter Control Unit

1. After the circuit is checked by your demonstrator, turn on the power supply and
adjust to 120 Vac or full scale on the autotransformer (Variac) dial.

2. Using the oscilloscope, observe the waveform of the PWM by viewing the signal
from the gate of switch 1 (Input 1). The cursors can be adjusted to display t, 1/t
(frequency) and t as required. Slowly adjust the potentiometer of DC Source 2.
What effect does the potentiometer for DC Source 2 have on the signal? Record the
effect at the minimum, midpoint and maximum position of the trimpot. Return the
potentiometer to the mid-position. Note the switching frequency, f
sw
, (Hz) and speed
,n (rpm).

51


Fig. 2-2. The Lab-Volt circuit.


3. Using the oscilloscope, observe the waveform of the PWM by viewing the signal
from the gates of switches 1 (Input 1) and 4 (Input 4). Slowly adjust the
52

potentiometer of DC Source 1. Verify the switching action that is shown in Fig. 2-
1 with respect to switches on the same leg.

4 Change channel 2 of the oscilloscope from the gate of switch 4 (Input 4) to the
output dc voltage, e
2
. What effect does the potentiometer for DC Source 1 have on
the PWM signal, duty-cycle (D), the chopper output voltage (E2), and the
direction of motor rotation? Record the effect at the minimum, 25%, midpoint,
75%, and maximum position of the trimpot. Complete the data shown in Table 1
below. The data can be stored in an Excel file. Return the potentiometer to the
3/4 position, clock-wise, CW, 3 oclock.

5 Change channel 1 of the oscilloscope from the gate of switch 1 (Input 1) to the
voltage across the switch, e
1
. Change channel 2 of the oscilloscope from the dc
output voltage to the current through the switch, i
1
. (CH1, 5 V/div., CH2, 0.1
V/div., MTB=200 us, EXT trig.). What effect does the potentiometer for DC
Source 1 have on the PWM signal, and duty-cycle (D). Plot these waveforms and
compare them to Fig. 2-1. Return the potentiometer to the 3/4 position, clock-
wise, CW, 3 oclock.

6 Make a plot of the speed versus the voltage of DC Source 1 (DC Source 1 on x
axis, speed, rpm, on y axis) to check your results. The data to be collected is
summarized in Table 1. Make a plot of the switching frequency, f
sw
, versus the
voltage of DC Source 2 (DC Source 1 on x axis and f
sw
, Hz, on y axis). Plot 3
points (min., mid., max.) to check your results.

Table 1. DC Source 1
DC Source 1,
Potentiometer
Position
Minimum 25% Midpoint 75% Maximum
DC Source 1,
Vdc, DMM

Duty Cycle,
D, %

Modulation
Index, M

Output
Voltage, E2

Motor
Rotation, CW,
CCW

Motor Speed,
n, rpm



53



7 Start the dc motor and adjust the switching frequency to 1 kHz. Adjust the speed
to 1000 rpm. Set the prime mover to the manual dynamometer mode and set the
load on the motor to 1.0 N-m. On the oscilloscope set the time-base to 500
ms/div and record the shaft-torque (CH1) and the speed (CH2) when the load is
applied as a step input. Plot the oscilloscope results and note the changes in the
motor performance.



2. The Implementation of a PI Speed Control Loop


The speed control-loop is shown in Fig. 2-3. The speed loop has a nominal current
protection built into the bipolar-limiter section. The transfer function of the converter-
motor block was developed in a previous experiment. The gains of the individual blocks
can be determined experimentally by examining the input-output requirements of each
component and the matching them. The tuning of the proportional-integral controller
section requires a more sophisticated approach. The converter-motor is turned on and
testing can be done on an unloaded system. Initally, the integral control section, K
I
, is set
to zero and the proportional gain is increased until the output,
out
, begins to oscillate.
The gain associated with the oscillation is K
osc
and the period of the oscillation is P
osc
.

Figure 2-3. The speed control loop.



The gains of the proportional and integral blocks can be determined from the Ziegler-
Nichols method where,
54

K
P
= u.4S K
osc

And
K
I
=
1.2 K
p
P
osc

This method can be used on the system under test as well as on the simulation circuit. As
well, if a particular gain is not possible, K
I
for example, then the equations can be
calculated in reverse to find a matching value of K
P
. This assumes that the period of
oscillation remains fixed.

A common representation of the PI controller (PSIM) is
0 =
K
P
(1 +s)
s

Where
=
K
P
K
I





3. PID Controller Connection

1. The speed control circuit with the PI control section is shown in Fig. 1-2. Connect the
speed control loop as shown in Fig. 2-4(a). When the components have been connected
check with the demonstrator. Make the following settings on the Chopper-Inverter
Control Unit:
MODE. Set the mode to CHOP. PWM

DC SOURCE 1. Leave in the same position from the previous section. It should be set at
1000 rpm (5 oclock).
DC SOURCE 2. This should be in the same position as the previous section. It should be
set for fsw = 1 kHz (mid-position or 12 oclock).

On the PID controller make the following settings:

55

FEEDBACK INPUT AMPLIFIER A1. Set this gain to 1/3 of the range (10 11
oclock).
LOW-PASS FILTER CUTOFF FREQUENCY. Put the dial in the 12 0clock or mid-
position.
PROPORTIONAL GAIN. Disconnect (Point X) and set this gain to the minimum
position.
INTEGRAL, DERIVATIVE GAIN. Set this to the minimum position.
UPPER LIMIT. Adjust the upper limit to 2/3 of the range (2 - 3 oclock).
LOWER LIMIT. Set this potentiometer to the maximum position.


Figure 2-4. The PID circuits: (a) set-up and (b) analysis.



56

OSCILLOSCOPE CH1. Output of the proportional control, 50 mV/div., MTB = 500
msec/ div. AC mode.
OSCILLOSCOPE CH2. Output of the tacho-generator, 50 mV/div., MTB = 500 msec/
div., AC mode.
OSCILLOSCOPE (Fluke-Philips). Math1 Filter is on at m1 = filt acq, PARAM = 41
samples.

Start the motor and raise the proportional gain potentiometer slowly until there is an
oscillation of the waveform of CH1 or CH2. This should be approximately the max.
position of the P trimpot. Reduce this approximately rotation or until the oscillation is
minimized. Note the position of the P control dial. Turn the power supply down, stop the
motor and reconnect the output from the integral amplifier.

Start the motor and adjust the speed to 1000 rpm when the system is unloaded. The
MODE switch on the Prime-Mover Dynamometer is in the Prime-Mover position. Since
there is no dc power to this unit, the prime-mover is inactive. The feedback amplifier, A1,
may have to be raised slightly as well as the upper limit. The oscilloscope should have
the following settings:
OSCILLOSCOPE CH1. Output of the proportional control, 50 mV/div., MTB = 500
msec/ div. DC mode.
OSCILLOSCOPE CH2. Output of the tacho-generator, 0.2 V/div., MTB = 500 msec/
div., DC mode. The x-axis of CH2 should be displaced below the screen at the bottom.
OSCILLOSCOPE (Fluke-Philips). Math1 Filter is on at m1 = filt acq, PARAM = 41
samples.
Have the demonstrator check the circuit and make a few trial tests with the step load to
determine the stability of the circuit.


2 . While the motor is running, throw the MODE switch on the dynamometer to load the
motor with a step torque of 1.0 N-m. Observe the response on the oscilloscope. Raise the
integral gain by turning the trimpot slightly clock-wise. Remove and re-apply the load.
57

Note the change in the speed response. If the loaded and unloaded speeds are not the
same, the gain of amp A1 may have to be adjusted. Repeat until a satisfactory transient
response is obtained. Record and print the result on the oscilloscope. Note the changes in
the motor performance. Record all voltages and currents using the Lab-Volt data sheet
and transfer them to an Excel file. Repeat this exercise by recording the armature current
response, i
2,
and the speed response on the same plot. Before stopping the motor record
the tacho-generator speed and output voltage. Write the results in TABLE 2 below.
When a set of satisfactory results are recorded and plotted turn off the motor but do not
change any of the settings.

Use the DMM in order to identify the gains of the individual components: first measure
the output from DC Source 1 of the chopper control unit using the DMM. This is the


variable
f
in Fig. 2-3. Now set the DC SOURCE 1 to 1.0 Vdc. This voltage will be
injected into each block of the control loop individually and the output will be recorded.
Component V
in
V
out
Gain
Tacho-generator
Output, (Input is
speed, rpm)
( RPM) na
Feedback Amp, A1
Low-Pass Filter
Error Detector, A2,
+ve input, V
ref
DC
Source 1

Error Detector, A2,
-ve input, V
feedback


Proportional Amp,
K
P


Integral Amp, K
I
1 Vdc Step
Function to PI
* * *
Summing Amp
Limiter
Voltage at Control
Input 1
na
58

The gain of each block is calculated from these values. Turn off the power (+15 Vdc, -15
Vdc ) on the power

supply before reconnecting the wires on the PI module.
Use the DMM to record the input and output voltages of each block of the PI control
loop. The gain of each component can be computed and recorded in the Excel spread
sheet. Refer to Fig. 2-2, Fig. 2-3 and Fig. 2-4. Table 2 lists the required measurements.


In order to test the PI control block construct the circuit of Fig. 2-4 (b). Set the
oscilloscope channels to
CH1 DC SOURCE 1, 2 V/div., MTB = 500 ms/div.
CH2 Output of PI, 5 V/div., MTB = 500 ms/div.

The test is done by turning off the power to DC SOURCE 1 or by disconnecting the wire
at the output. The oscilloscope trace is then started and the power is applied or the wire
re-connected. This is a 1.0 Vdc step-input to the PI section. When the PI action is
complete, the oscilloscope trace is stopped. Fig. 2-5 shows the form that the response
should take.



Figure 2-5. Response of the PI block.


59

The proportional gain is given by the voltage level of K
P
. The value of K
I
is given by the
ratio of V/t.




Figure 2-6. The PSIM model of the dc motor and speed control circuit.


60




V. QUESTIONS

1. The dc motor and the speed control circuit are shown in Fig. 2-3 and in the PSIM
circuit format in Fig.2-6. Use the information collected from the load test and the
measurements of the speed control loop block gains to complete the missing PSIM
parameters. Run the simulation with the gain values that were observed on the Lab-
Volt test-bench circuit and compare the response of the actual motor to a step load of
1.0 N-m with the output of the PSIM circuit. Discuss the response times, overshoot,
oscillation and maximum current levels. Note that the inertia constant, J, has been
doubled ( Fig. 2-6, TFCN3 , J = .0025 not .0025) to account for the addition of
the prime mover dynamometer.
2. In the PSIM circuit of Fig. 2-4 replace the PI block with a proportional gain, K
P
. Set
the load torque to 0.0 N-m. Raise the value of the gain until the output variable
begins to oscillate. Use the Zeigler-Nichols method to recalculate the values of the
proportional and integral gains, K
P
and K
I
. Put the new PI controller in the circuit
and replace the step load of 1.0 N-m at 2 seconds. Run the simulation with the new
values. Discuss the difference in the responses of the two circuits the new
simulation versus the simulation using the test-bench values. What is the nature of
the speed and current responses?
3. Discuss the need for an inner current-control loop. Would it include a PI element?
How would the time constant compare to the outer speed loop? How has this been
addressed in the test-bench circuit?






61

EXPERIMENT 4

INDUCTION MOTOR DRIVES

I. OBJECTIVES

There are two objectives to this experiment:
- To observe the performance of the squirrel-cage induction motor under voltage
control;
- To observe the performance of the squirrel-cage induction motor as the frequency of
the applied power changes.

II. INTRODUCTION

Squirrel cage induction machines have been used extensively for many years in variable
speed drive applications, such as in automobiles, trains, aircraft, air conditioners, heaters
and defrosters. Control of the performance of this type of induction machine falls into
two classes: scalar and vector.

The scalar control methods include voltage control, frequency control, volt/frequency
control and slip energy. The easiest methods to implement are the voltage and frequency
techniques. An appreciation of the characteristics and limitations of these approaches
provides the basis for the study of more advanced and more efficient techniques.




III. AIR-GAP FLUX AND SUPPLY FREQUENCY

The air-gap induced emf, E1, of the 3-phase squirrel cage induction motor is given by

E
1
= 4.44 k
o1

m

s
I
1


The coefficients are: k

1
is the stator winding factor (constant),
m
is the air-gap flux, f
s
is
the supply frequency, and T
1
is the number of turns per-phase in the stator (constant).
62

Combing the constants yields
K
b
= 4.44 k
o1
I
1

By omitting the stator impedances R
s
and jX
ls
, the phase voltage of the motor, V
ph,m
, is
equivalent to the air-gap emf E
1
. This produces the essential relationship
I
ph,m

m

s

Thus the phase voltage of the induction machine is linked to the frequency of the supply
and the flux in the air-gap. The final shaft-speed of the motor if is related to the supply
frequency, f
s
, by the slip. (Krishnan, Chap. 7).
In this experiment the motor will first be operated with a variable supply-voltage
amplitude and a set of fixed parameters (supply frequency). Then, the motor will
performance will be tested with a set of fixed parameters (supply-voltage) and a variable
supply frequency.




IV. PROCEDURE


Warning:
High voltages are present in this experiment!
DO NOT make any connection while the power is ON.


1. Connect the circuit shown in Fig. 4-1. Do not connect the current and voltage
isolators assigned to the switch Q1 (e1, i1). The interconnection switch on the
MOSFET module should be in the closed or I position. Connect the Lab-Volt
prime mover dynamometer to the shaft of the motor with the timing belt.
Choose the following settings:
On the Power Supply:
Voltage Selector ..................................................................................................... 4-N
On the Chopper/Inverter Control Unit:
MODE ................................................................................................... 3 Phase 180
o

63

DC SOURCE 1 ............................................. 3/4 position, clock-wise, CW, 3 oclock
DC SOURCE 2 ................................ mid position On the Power MOSFETS module:
Interconnection Switch S
1
...........................................................................................1
On the Oscilloscope:
Channel-1 Sensitivity ................................................................ 5 V/DIV (dc coupled)
Channel-2 Sensitivity ................................................................ 5 V/DIV (dc coupled)
Mode ................................................................................................................. Digital
Time Base ................................................................................................... 10 ms/DIV
Trigger Source .......................................... Ext, from Synch Out of MOSFET module
Trigger Coupling ..................................................................................................... DC


A) Connect channel 1 of the oscilloscope to the voltage isolator, e2. Connect
channel 2 to the current isolator, i2. Connect the synchronizing output of the
MOSFET module (Synch Out) to the external trigger of the oscilloscope. (Fluke
model, Refer to the Appendix for setting the oscilloscope).
B) The prime mover dynamometer should be in the dynamometer mode under
manual control with the manual potentiometer in the minimum position (full
counterclockwise).
C) The tacho-generator should be connected to the motor. The output from the
meter box should be connected to the Lab-Volt data acquisition module (8, N).
dc. An Excel spreadsheet should be opened to store the observed data.
D) The resistor in the dc link consists of three, 172 resistances connected in
series. Each series element is composed of three parallel resistors: 300 600
1200 Ohms.
E) Set up the Lab-Volt data table to record the following parameters:
E1, I1, P1, E2, I2, P2, E3, I3, P3, I4, E4, P4 and PF4. Also, record motor speed,
n, and torque. Assign a meter to report the power factor for E1 and I1.




64



Figure 4-1. Test Circuit for Voltage and Frequency Speed Control




65

2. Speed Control by Variable Voltage

a) Turn on the power supply and slowly increase the voltage until the motor starts
to rotate. The direction should be in a clockwise direction.
b) Adjust the oscilloscope so that the waveform of the line voltage of the motor,
V
ab
, (E3) is visible on the oscilloscope as well as the frequency.
c) Set VOLTAGE SOURCE 1 on the Chopper-Inverter controller so that the
switching frequency is 20 Hz. Turn the variable voltage supply (VARIAC) to
20%.
Verify that the reported tachometer speed is not greater than 600 rpm.
Adjust the torque until the motor phase-current is 1.5 A or the motor stalls.
Record the data in the Lab-Volt date table. Repeat with the Variac at 30% to
90% in 10% increments. The maximum phase current, I3, should be 1.5 Amps.
d) Complete the data set shown in the Table 4-1 below.

Table 4-1 Data for the Variable Speed Tests (20 Hz, I
ph
)
Voltage
(% Varaiac)
f
s ,
Hz Motor Current,
I3
1.5 A max.
All Other
parameters

20 20 -
30 20 -
40 20 -
50 20 -
60 20 -
70 20 * Caution
80 20 * Caution
90 20 * Caution

e) Repeat the test sequence for a fixed frequency of 60 Hz as shown in Table 4-2
below. After the tests are finished turn off the motor and have the laboratory
demonstrator check your data.Verify that the reported tachometer speed is
not greater than 600 rpm.


Table 4-2. Data for the Variable Speed Tests (60 Hz, I
ph
)
Voltage
(% Varaiac)
f
s ,
Hz Motor Current,
I3
1.5 A max.
All Other
parameters

66

20 60 *Caution
30 60 *Caution
40 60 -
50 60 -
60 60 -
70 60 -
80 60 -
90 60 -



3. Variable Frequency Speed Response

a) Turn on the power supply and slowly increase the voltage until the motor starts
to rotate. The direction should be in a clockwise direction.
b) Measure the oscilloscope so that the waveform of the line voltage of the motor,
V
ab
, (E3) is visible on the oscilloscope as well as the frequency
c) Set VOLTAGE SOURCE 1 on the Chopper-Inverter controller so that the
switching frequency is 20 Hz. Turn the variable voltage supply (VARIAC) to
50%. Adjust the torque until the motor phase-current is 1.5 A or the motor
stalls. Record the data in the Lab-Volt date table. Repeat with the frequency 20
Hz and at 40 Hz to 60 Hz in 10 Hz increments. The maximum phase current, I3,
should be 1.5 Amps. The test sequence is shown in Table 4-3. When the test is
finished have the laboratory demonstrator check your data.
d) The test is repeated with the variable voltage source at 90%. The data sequence
is shown in Table 4-4. When the test is finished have the laboratory
demonstrator check your data.







Table 4-3. Data for the Variable Frequency Tests (Vs = 50%, I
ph
)
f
s ,
Hz

Voltage
(% Varaiac)
Motor Current,
I3
1.5 A max.
All Other
parameters

20 50 -
67

30 50 -
40 50 -
50 50 -
60 50 -



Table 4-4. Data for the Variable Frequency Tests (Vs = 90%, I
ph
)
f
s ,
Hz

Voltage
(% Varaiac)
Motor Current,
I3
1.5 A max.
All Other
parameters

20 90 -
30 90 -
40 90 -
50 90 -
60 90 -




4. Test of the DC Link Filter

A) Set the voltage supply and frequency to the test point done previously: variable-
voltage supply set at 50% or 60% and frequency at 20 Hz. Repeat the
measurements with the addition of an oscilloscope trace taken using E1 and I1 on
the Lab-Volt oscilloscope or by using a second set of isolators connected to the
oscilloscope. Also observe the phasor angle and the first 10 input harmonics of
the current (THD and HD1)
B) Disconnect the smoothing inductor and the dc-link resistors. Repeat the previous
exercise.








V. QUESTIONS

68

1. Plot the effect of varying the supply frequency on the speed and the torque at rated
motor current. (Use frequency in Hz as the x-axis. If possible, use the primary and
secondary vertical axis functions in Excel to place both curves on the same plot.
Copy the data into 3 columns. Insert scatter plot. The plot will have a flat curve (data
series). Highlight the finished plot. Use FORMAT to select the desired series. In the
Format-Data-Series pane choose secondary axis.)

2. Plot the effect of varying the supply voltage on the speed and the torque at rated
motor current. (Use the amplitude of the supply voltage as the x-axis.)
3. What is the relative advantage of each method of speed control voltage control
versus frequency variation? Cite the percent differences in output speed and torque
and indicate to the typical performance range of each method.
4. Using the data from the operating point where f
s
= 20 Hz and the voltage supply was
at 50% or 60% of maximum amplitude, calculate the efficiency and the input power
factor of the motor-drive combination with the dc link filter and without the
smoothing inductor-resistor combination. What is the improvement in each
parameter, n and PF? What is the percent change in the harmonic components. Are
the harmonics odd or even?

69


EXPERIMENT 5

VOLTS/FREQUENCY CONTROL OF INDUCTION
MOTORS


I. OBJECTIVES
There are three objectives to this experiment:
- To become familiar with the theory of V/f control of induction motors;
- To build an open-loop control circuit that provides V/f operation of an induction
machine;
- To measure the operational characteristics of a V/f based drive circuit.

II. INTRODUCTION

Control of the speed of an induction motor (IM) can be accomplished by changing the
voltage applied to the stator of the motor, V
s
, or by changing the frequency of the supply,
f
s
. Changing either parameter independently of the other results in the pattern of curves
shown in Fig. 5-1(a). Neither approach yields access to the full range of speed and torque
that the IM is designed for. Voltage-control produces large currents in the stator as the
speed is reduced and the effective speed is 66% of the synchronous speed. Attempts to
increase the frequency beyond the rated value will saturate the air-gap flux and cause
overheating. Also, as the frequency is increased, the maximum torque falls quickly. The
preferred technique of control is one that allows simultaneous manipulation of both
parameters: the constant Volts/frequency method. The diagram of Fig. 5-1(b) shows how
the amplitude of the voltage supplied to the stator is varied as the frequency is raised.
Figure 5-1(c) shows the effect on the developed torque, T
e
, the stator current, Ia, and the
slip. The net performance can be summarized as follows:
1. At frequencies below the rated value, the voltage is decreased and the flux remains
constant;
70

2. The air-gap flux does not saturate and overheating of the rotor is avoided;
3. The torque, slip and stator current are constant while the frequency is below f
rated
(1.0
pu);
4. At frequencies immediately above the rated value the machine enters a constant-
power region.



Figure 5-1. Vols/f performance characteristics. (a) Voltage and frequency controlled
independently. (b) Volts/f control. (c) Circuit performance.





71



III. BASIC V/F DRIVE CIRCUITS

1. Volts/f Circuits
There are a variety of methods available for controlling the amplitude and frequency of
the voltage supplied to an induction motor. Figure 5-2 shows three basic open-loop
variations. All three circuits use a voltage-source inverter (VSI) in combination with a
rectifier and a dc-link filter.
a) Manual control of the voltage with a variable-ac source and frequency control
with a VSI.
b) Voltage control with a phase-controlled rectifier and frequency control with a
VSI.
c) Voltage and frequency control using a VSI and a PWM pattern the varies the
amplitude (modulation index) and the frequency of the reference sine-wave.
Option a) was done in the previous experiment. All three methods serve as the basis for
more sophisticated schemes that will include closed-loop controllers.

2. Phase-Controlled Rectifier and VSI
The circuit shown in Fig. 5-2(a) was used the generate the curves shown in Fig. 5-1(a)
(Experiment 4). The shortcomings of this approach will be addressed in the circuit
shown in Fig. 5-2(b). The circuit consists of four parts:
a) The amplitude of the source voltage is controlled by a phase controlled-rectifier
thru the dc link.
b) The dc link consists of an inductor and a resistor.
c) The frequency of the voltage that is supplied to the IM is determined by the
switching frequency of a VSI.
d) The controller uses the input command-frequency to set the switching
frequency, f
sw
, and the point on the V/f slope that determines the stator voltage,
V
s
.


72

(a)
Variable
AC
Source
Diode
Rectifier
DC Link
Filter
Voltage
Source
Inverter
Switching
Control
Circuit
Frequency Command
Induction
Motor
AC
Source
Thyristor Phase-
Controlled
Rectifier
DC Link
Filter
Voltage
Source
Inverter
Switching
Control
Circuit
Frequency
Command
Induction
Motor
Firing
Control
Circuit
V/f
Ratio
Control
AC
Source
Diode
Rectifier
DC Link
Filter
Voltage
Source
Inverter
Switching
Control
Circuit
Programmed V/f
PWM
Induction
Motor
(b)
(c)

Figure 5-2. V/f circuits. (a) Manual open-loop. (b) Controlled rectifier and VSI bridge.
(c) VSI with PWM.
73





IV. PROCEDURE


Warning:
High voltages are present in this experiment!
DO NOT make any connection while the power is ON.


1. Circuit Connection

Connect the circuit shown in Fig. 5-3. Connect the Lab-Volt prime mover
dynamometer to the shaft of the motor with the timing belt. This circuit will use both a
Thyristor bridge to control the voltage of the dc-link and a voltage-source MOSFET
inverter to control the frequency.

2 Circuit Settings

The sections of the circuit should be set to the initial settings listed below.

On the Power Thyristors Module:
Upper Interconnection Switch .................................................................................... I
Upper Interconnection Switch .................................................................................... I
24 Vac source .................................................................. Connected, green LED is on
9 Conductor Cable ....................................................... Connected to the Control Unit


On the Thyristor Firing Unit:
MODE .......................................................................................................... 3 Phase
ARC COSINE ......................................................................................... I (Pushed IN)
COMPLEMENT ............................................................................... O (Pushed OUT)
Firing Angle ............................................................................................................ 90
74



Figure 5-3. The V/f circuit.


The DC-Link :
Smoothing Inductors ..................... 1 section, 2 windings connected in parallel, 0.8 H
Resistance ............... All switches up (171 per section), 3 section in series (513 )
75


On the POWER MOSFETS Unit:
Interconnection Switch ............................................................................................... I
24 Vac Source ................................................................. Connected, green LED is on
9 Conductor Cable ....................................................... Connected to the Control Unit
On the Chopper/Inverter Control Unit:
MODE ................................................................................................... 3 Phase 180
o

DC SOURCE 1 ........................................................................................ mid position
DC SOURCE 2 ........................................................................................ mid position

Prime mover Dynamometer:
MODE .....................................................................................Dynamometer, No-load
Display ................................................................................................................ Speed
Manual Adjust ............................................................................ Minimum, Full CCW
P. I. D. Controller:
Power .......................................................................................................... + - 15 Vdc
Proportional Gain Range............................................................ Low, Pot is pushed in
Proportional Gain ................................................................................ Min, Full CCW
Oscilloscope:
Channel-1 Sensitivity ................................................................... 5 V/DIV (dc coupled)
Channel-2 Sensitivity ................................................................... 5 V/DIV (dc coupled)
Mode .................................................................................................................... Digital
Time Base ...................................................................................................... 10 ms/DIV
Trigger Source ............................................. Ext, from Synch Out of MOSFET module
Trigger Coupling ........................................................................................................ DC
Measure ............................................................................................................ Frequency
Cursors .......................................................... Vertical Frequency, Horizontal - Voltage


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3. Procedure

1. Turn on the PC. Make sure that the Lab-Volt Data Acquisition Module is powered-
on (the green LED is on). Start the Lab-Volt software LVDAM. The data to be
recorded is given in Table 1
Table 1. Lab-Volt Data Set
Meters Meters Meters Meters Meters Meters
E1, Vac E2, Vdc E3, Vac T, N-m E4, Vac PF (E1, I1)
I1, Aac I2, Adc I3, Aac N, rpm I4, Aac
P1, W P2, W P3, W PF (E4, I4), P(E4, I4)

Thyristor Controller Oscilloscope, e1
Firing Angle, deg Switching Frequency, Hz


During the experiment verify that the motor speed, n (rpm) is less than the
frequency of the output voltage of the VSI (e1). There should always be some slip.

2. Turn on the oscilloscope. Start the Fluke software for the Combiscope. Set the
Cursors and Meas. functions to monitor the output voltage of the VSI (e1).
3. Turn on the Lab-Volt power supply. Set the voltage dial on the autotransformer
(VARIAC) to 90 or 90%.
4. On the Chopper/Inverter Control Unit set the DC SOURCE 2 control knob so the
firing angle on the Thyristor Firing Unit display is 90. Measure DC Source 1 and
DC Source 2 with the DMM. Each should be approximately 0.0 Vdc and the motor
should not be moving.
5. Make measurements at 3 points as indicated in Table 2: a) Use the DMM to record
the voltage at the ANGLE CONTROL INPUT of the THYRISTOR controller, b)
visually note the firing angle of the on the THYRISTOR FIRING UNIT, and c)
measure the dc voltage at the input of the VSI.

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Table 2. INITIAL SETTINGS
Voltage, Vdc Firing Angle,
degs
Angle Control
Input
na
Angle Control
Input
na
VSI Input na


6. Adjust DC SOURCE 1 so that the firing angle of the Thyristor bridge is at a
maximum (approximately 90 or slightly greater). Adjust DC SOURCE 2 so that the
firing angle now reduces to approximately 75. The IM should begin to rotate.
Record this data set on the Lab-Volt Data Table. Remember to transfer the
data to an Excel file. (E2, Speed, Firing Angle, switching frequency, f
sw
)
7. Now adjust DC SOURCE 1 (CW) until the VSI output waveform, e1, is operating at
the frequency of the ac source voltage. On the PID Controller set the proportional
gain CW so that the firing angle of the thyristor bridge decreases to 0,(0 - 7). The
line voltage at the VSI output should be approximately equal to the rated voltage of
the IM. Verify that n 1800 rpm, f
sw
= 60 Hz, Vphase (E4) 120 Vac. Record
this data set on the Lab-Volt Data Table.
8. Slowly turn the DC SOURCE 1 until the motor is turning clockwise at 150 rpm.
Using the dynamometer apply a load of 0.1 N-m (0.5 N-m for less stable results).
Record the data-set with the Lab-Volt software.
9. Increase the machine speed to 250 rpm and raise the speed in steps of 250 rpm, from
250 rpm, to 2000 rpm and the maximum speed (10 steps: 150 rpm, 250 rpm 2000
rpm, > 2000 rpm). Take all measurements including the power factor at E1, I1, the
switching frequency at the VSI output, e1, and the power at E4, I4 (phase a of the
motor). For best results take the readings in continuous sequence and allow the
circuit to stabilize 30 secs. before each sample is taken. Record these data sets
on the Lab-Volt Data Table. Remember to transfer the data to an Excel file.

10. Turn off the motor and the power to the bench. Have the TA check your data before
you disassemble your circuit.
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V. QUESTIONS

1. What part of the V/f curve was set in step 6 of the procedure? What does DC
SOURCE 2 determine? What were the parameters with respect to Fig. 5-1 (b)?
Starting voltage, maximum voltage
2. What part of the V/f curve was set in step 7 of the procedure? What does DC the
proportional gain of the PID controller determine? What were the parameters with
respect to Fig. 5-1 (b)?
3. What parameter is set by DC SOURCE 1 in Fig. 5-2 (b)?
4. Reproduce the plot of Fig. 5-1 (b). Plot induced torque (T
e
), motor power, if
applicable , stator current and slip versus the switching frequency of the VSI. If it is
not possible to plot all the data on a single set of axes then combine two parameters
on a single graph and make several plots. What is the ratio of V/f (V/Hz)? Over
what range of switching frequencies (VSI) and speed does this circuit behave as
predicted?
5. From the data collected in step 9, plot input power and power factor versus the
switching frequency.


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APPENDIX


























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