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Unit -1
DRIVE CHARACTERISTICS
1
Contents
2
Block Diagram of a drive
3
Type of loads
4
Steady State Stability
5
Steady State Stability
6
Mathematical condition for the stability of the equilibrium
point
7
Four quadrant operation of a drive
8
Four quadrant operation of a drive
9
Loads with rotational motion
10
Loads with translational motion
11
Loads with rotational and translational motion
12
Regenerative Braking
13
Regenerative braking in induction motor
14
References
15
EE2352 SOLID STATE DRIVES
UNIT--II
UNIT
1
Contents
2
3
4
5
SCR “phase-angle controlled” DC drives
6
Single phase Full converter fed Dc drive
(a)
(b) (c )
Fig. (a) 1-PHASE THYRISTOR BRIDGE WITH R-L-E LOAD
(b) CONTINUOUS CONDUCTION RECTIFICATION (Mode-A)
(c ) DISCONTINUOUS CONDUCTION RECTIFICATION (Mode-B)
7
(a)
(b)
10
Fig. 3-PHASE THYRISTOR BRIDGE WAVEFORMS IN
RECTIFICATION MODE ( = 40) (Mode-A)
11
Fig. PHASE THYRISTOR BRIDGE WAVEFORMS IN
INVERTING MODE ( = 150) (Mode – C)
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V ab
V ac
V bc
V ba
V ca
V d
(a ) V c
id
t
0
Q 1Q
6 Q 1Q 2
Q 1Q 6 Q 1Q 2
id
0 t
2
/3
(b )
V c
v bc v ba v ca v cb v ab v ac
15
16
17
18
References
19
EE 2352 - SOLIDSTATE DRIVES
Unit -III
DESIGN OF CONTROLLERS FOR DRIVES
1
Contents
• Introduction
• Dynamic model of a DC Motor
• Block Diagram of a DC Motor
• Transfer Functions of a DC Motor
• Closed loop speed control
• Controller design
• Torque loop
• Speed loop
• Position loop
2
Introduction
3
Introduction
4
Introduction
5
Dynamic model of a DC Motor
6
Block Diagram of a DC Motor
7
Derivation of Transfer Functions
8
Transfer Functions of a DC Motor
9
Closed loop speed control
10
Controller Design
Procedure
• Design the torque loop (fastest) first.
• Design the speed loop assuming the torque loop
to be ideal.
• Design the position loop (slowest) assuming the
speed loop to be ideal.
11
Controller design
12
Torque loop
13
Speed loop
14
Position loop
15
References
16
EE 2352 - SOLID STATE DRIVES
Unit -IV
INDUCTION MOTOR DRIVES
1
Contents
2
Advantageous features of converter Fed induction motor in
comparison with line fed induction motor
3
Speed control of induction motor
4
Speed control by Variable Voltage method
5
Slip for maximum torque
S m= r21
((r12+(r21/s)2+(x1+x21)2 )1/2
6
Characteristics with Rotor Resistance Control
7
Td= m1* x2 * Vr2(r21/s)
(2*pi*ns)((r12+(r21/s)2+(x1+x21)2
8
Conclusion from the above characteristics
9
speed control by rotor resistance variation
=1 R*=Zero
=0 R*= R2
0<R* <R2
11
Features
• Speed Range
• Braking
• Harmonics
• Torque Pulsations
• Good pf
• Poor Efficiency
• Reasonable Cost
• General
12
Draw backs of Stator Voltage Control and Rotor
Resistance Control
13
Slip Energy Recovery Schemes
14
Dc voltage of the diode rectifier
Vd=1.35(sE 20)
Corresponding to no voltage condition
Vd0=1.35(sE 20)
For Stator to Rotor turns Ratio ‘a’
Vd0=1.35(sVL/a)
15
Vdi= 1.35(VL cos )
Vd0= -Vdi
s= -a cos
16
sPg =VdId
= VdId/s*2*pi*ns
Put Vd= 1.35(sVL/a)
Td= 1.35*VLId/a*2*pi*ns
Td= KtId
Where Kt =1.35*VL/a*2*pi*ns
17
Features of Slip Power Recovery
18
• For achieving Zero Speed Converter rating should
be equal to the Motor rating.
• Improved efficiency
• Maximum power factor attained is 0.7.Still the pf
can be improved by designing the inverter if the
converter operates at 180 Degree firing angle
Contd..
19
For Achieving Super synchronous Speed ,Power should
flow to the rotor circuit Via the converter Cascade.
This can be achieved by
20
Achievement of Super Synchronous Speed
21
Scherbius systems
22
Speed Control of IM Using Variable Frequency
• f= pns
23
V/f control circuit for IM (open loop control)
26
Features of VSI Fed IM Drives
28
• Improved Output voltage wave form.
• Uninterrupted operation is possible when buffer
battery is used.
• Control is complicated.
• Four quadrant operation is possible.
• Smooth change over of voltage and frequency
values at zero crossing for speed reversal.
Contd..
29
• Operating frequency is limited at 150 Hz.
• Speed Control range 1:10.
• The inverter and motor need not be matched. The
converter operates as source to which the motor can
be plugged.
• Size of the harmonic filter decreases.
• Good dynamic response.
30
Features of CSI Fed IM Drives
• Simple Configuration.
• Feed back diodes are absent. Blocking diodes
needed.
• Load dependent commutation.
• Multi motor operation is not possible.
• Four quadrant operation is straight forward.
• Inverter is force commutated to provide variable
frequency.
Contd..
31
• Finds application in medium to high power drive.
• Torque pulsations at low speed can be eliminated by
PWM operations.
• Both constant torque and constant power operations are
possible.
32
Slip controlled drives
33
Slip Controlled Drive
34
Features of Slip Controlled Drives
Highly Efficient
Precise and accurate control of torque is possible in the
complete speed range.
The slip frequency can be any value up to the value
corresponding to break down torque from no load slip.
Stable operation with good pf.
Drive efficiency is comparable to a thyristorized dc drive.
High power to Weight ratio, least maintenance, low inertia, no
limitations on power and speed ranges.
Selective harmonic elimination is possible.
35
References
36
EE 2352 - SOLID STATE DRIVES
UNIT--V
UNIT
1
Contents
2
Open loop volts/Hz speed control of synchronous motors.
(Control of Synchronous Motors)
3
Open loop Volts/Hz speed control of synchronous motors
4
open loop volts/hz speed control characteristics
5
Self control
6
Basic features of self-controlled synchronous machine
7
Basic features of self-controlled synchronous machine
8
Self-controlled synchronous motor analogy
9
Self Control Principle
10
• Rotor position is sensed and the firing signals to
the devices are synchronized to the motor
position.
• For every 600 rotation of the rotor a new device
in the sequence is fired.
Contd..
11
• For rotation of the rotor by 2 pole pitches all the six
devices will receive firing pulses.
• Using this control the angle between the rotor and the
stator mmf (Torque Angle) can be controlled. This is not
possible in separately excited motor.
• Synchronous motor in self control is called as
Commutator less motor having the steady state
performance of the separately excited DC motor
12
Separate control
13
Separate control principle
14
Separate control block diagram
15
Draw backs of Separate control
• Hunting
• Poor dynamic Behavior.
16
Attractive feature of a synchronous machine
18
Synchronous motor operating with square wave
inverter
19
Synchronous motor operating with square wave inverter
• Speed Range
– Medium to High
• Braking
– Dynamic Braking Possible. Regeneration not
straight forward.
• Harmonics
– Heating effect is high at lower frequency
Contd..
20
• Torque Pulsations
–Problem at Low speed
• Power Factor
–Low Line pf
• High Cost
• Efficiency
–Moderately good
• Open loop Control is possible.
• Staring by cage winding or by open loop method
Contd..
21
Synchronous motor operating with
pwm inverter
22
Features
• Speed Range
– Very wide Speed range upto zero speed is
possible
• Braking
– Dynamic Braking Possible. Regeneration
possible if primary supply is dc.
• Harmonics
– Nearly Sinusoidal
23
• Torque Pulsations
– Minimal
• Power Factor
– Line pf closer to Unity.
• High Cost
• Efficiency
– Good
• Open loop Control is possible.
24
Brushless excitation of synchronous machine
25
References
26