Outline

•Introduction
•DC – DC Converter Fed Drives
•Step Down Class A Chopper
•Step Up Class B Chopper
•Two-quadrant Control
•Four-quadrant Control
•References

1
Power Electronic Converters
for DC Drives
 Power electronics converters are used to obtain
variable voltage
 Highly efficient
 Ideally lossless
 Type of converter used is depending on voltage
source :
AC voltage source  Controlled Rectifiers
Fixed DC voltage source
 DC-DC converters (switch mode
converters)

2
DC – DC Converter Fed Drives

 To obtain variable DC voltage from fixed DC source

 Self-commutated devices preferred (MOSFETs, IGBTs, GTOs) over
thyristors
 Commutated by lower power control signal
 Commutation circuit not needed
 Can be switched at higher frequency for same rating
 Improved motor performance (less ripple, no discontinuous currents, increased control
bandwidth)
 Suitable for high performance applications
 Regenerative braking possible up to very low speeds even when fed
from fixed DC voltage source

3
 DC – DC Converter Fed Drives
- Step Down Class A Chopper

Motoring
Q2 Q1
• Provides positive output voltage and
current Q3 Q4 T
• Average power flows from source to S Ia
load (motor)
• Switch (S) operated periodically with
period T Ra
Va

V La
D

Ea

4
 DC – DC Converter Fed Drives
- Step Down Class A Chopper
S Ia

Motoring
S is ON (0  t  ton) Ra
Ia
Va

V La
Ra D
Va
V La Ea

Ea
•Va = V Duty
•Ia flows to motor Interval
dia •|Ia| increases ( ia  )
Raia  La  E V
dt
5
DC – DC Converter Fed Drives
- Step Down Class A Chopper
S Ia
Motoring
S if OFF (ton  t  T) Ra
Ia
Va

V La
D
Ra
Va
ID La Ea

Ea •Va = 0 Freewheeling
•Ia freewheels through Interval
dia diode DF ( ia  )
Raia  La E 0
dt •|Ia| decreases
6
DC – DC Converter Fed
- Step Down Class A Chopper
Motoring
 Duty cycle ton
  where T  chopper period
T
 Under steady-state conditions:
Motor side:
Chopper side, average armature
voltage: Va  Ra I a  E Duty
Interval Freewheeling
Therefore,
( ia  ) Interval
V a   V
 Hence, average armature current:
( ia  )

V  Va  Ra I a  E

V  E
Ia 
Ra T
7
 DC – DC Converter Fed Drives
- Step Up Class B Chopper

Regenerative Braking
 Provides positive output voltage and Q2 Q1
negative average output current Q3 Q4 T
 Average power flows from load (motor) to
source Ia
•Possible for speed
D above rated speed
Ra and down to nearly
Va zero speed
S La •Application:
Switch (S) V
• Battery operated
operated vehicles
periodically • Regenerated
Ea
with period T power stored in
battery 8
DC – DC Converter Fed Drives
- Step Up Class B Chopper Ia

Regenerative Braking D
Ra
S is ON (0  t  ton)
Ia  Va = 0 (diode blocks V) Va
 ia increases due to E V S La
Ra (since E > Va)
Va  Mechanical energy
S converted to electrical Ea
La
(i.e. generator)
 Energy stored in La Energy Storage
Ea  Any remaining energy
dissipated in Ra and S Interval
dia ( ia  )
Raia  La E
dt 9
 DC – DC Converter Fed Drives
- Step Up Class B Chopper Ia
Regenerative Braking
D
S if OFF (ton  t  T) Ra
Ia • ia flows through diode D Va
and source V La
V S
Ra • ia decreases in negative
direction
Va
• Energy stored in La & Ea
V La
energy supplied by
machine are fed to the Duty
E source
a Interval
dia ( ia  )
Raia  La V  E
dt
10
Dynamic Braking

 S is ON (0  t  ton)
 Va = 0 (diode blocks V)
 ia increases due to E
 (since E > Va)

 S if OFF (ton  t  T)
 ia flows through diode D and source V
 ia decreases in negative direction

 If Resistance RB is inserted for braking , then the energy stored in the inductance is
dissipiated in RB, RA, and diode D
 S controls the magnitude o energy dissipiated in RB and therefore its effective value .
 Energy consumed EN by RB chopper during a cycle of chopper operation is
11
 E N  I a2 RB (T  ton )

Average power consumed by RB

EN
P  I a2 RB (1  D)
T
Effective value of RB
P
RBE  2  RB (1  D)
Ia

E
Eb  I a [ RBE  Ra ] RBE   Ra
Ia

Eb  I a [(1  D ) RB  Ra ]
12
13
DC – DC Converter Fed Drives
- Step Up Class B Chopper
Regenerative Braking
 Duty cycle t on Negative because
 where T  chopper period current flows from
T motor to source
 Under steady-state conditions
Generator side:
a E
Chopper side, averageVarmature Ra I a Energy Storage
voltage: Duty
Interval
 Therefore, Interval
Va  1   V ( ia  )
( ia  )
 Hence, average armature current:
1   V  Va  E  Ra I a

E  1   V
Ia 
Ra T
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DC – DC Converter Fed Drives
- Two-quadrant Control No Speed
• Combination of Class A & B choppers Reversal
• Forward motoring Q1 - T1 and D2 (Class A)

• Forward braking Q2 – T2 and D1 (Class B)
Q2 Q1
+
Q3 Q4 T
T1
V D1
• Va always +ve   always +ve
• Ia can be +ve or –ve
+ • Do not fire both switches
T2 Va together  short circuit at
D2
- supply
-

15
 DC – DC Converter Fed Drives
- Two-quadrant Control
 Forward motoring Q1 - T1 and D2 (Class A)
 T1 conducting: Va = V (ia ) • D2 conducting: Va = 0 (ia )

+ +
T1 T1 D1
D1
ia ia
V V
+ +
D2 T2 D2
T2
Va Va
 
- -

Average Va = 1V,
1 = (ton T1 / T ), 2 = 0 Average
Va Ea

T1 chopping T2 always •Average Va positive

ON & OFF OFF •Average Va made larger
than back emf Ea
16
•Ia positive
DC – DC Converter Fed Drives
- Two-quadrant Control
 Forward braking Q2 – T2 and D1 (Class B)
 D1 conducting: Va = V (ia ) • T2 conducting: Va = 0 (ia )

+ +
T1 T1 D1
D1
ia ia
V V
+ +
D2 T2 D2
T2
Va Va
 
- -

Average Va =(1 - 2)V,

1 = 0, 2 = (ton T2 / T ) Average
Ea
Va

T2 chopping •Average Va positive

T1 always
ON & OFF •Average Va made smaller
OFF than back emf Ea
•Ia negative (motor acts as 17
generator)
DC – DC Converter Fed Drives
- Two-quadrant Control
 For fast transition from motoring (Q1) to braking
(Q2) and vice versa, both T1 and T2 are controlled
simultaneously, i.e. within a period T:
 T1 in ON and T2 is OFF between time 0 < t ≤ ton
 If Ia is positive (Va > E), current flows from supply to motor via T1
 If Ia is negative (E > Va), current flows from motor to supply via D1
 T1 is OFF and T2 is ON between ton < t ≤ T
 If Ia is positive, current circulates via D2
 If Ia is negative, current circulates via T2
 Duty ratio is given by: t on T 1
 where T  chopper period
T
 Average armature voltage is: Average V =V
a

18
DC – DC Converter Fed Drives
- Two-quadrant Control: Example

19
DC – DC Converter Fed Drives
- Four-quadrant Control
• Operation in all four quadrants
• Va and Ia can be controlled in magnitude and polarity
• Power flow can be in either direction

• Speed and torque can be reversed

Q2 Q1

Q3 Q4 T
D1 D3
T1 T3
+ Va -
ia
Note:
Polarity of Va and
T4
direction of Ia
T2
D2 indicated are
D4
assumed
positive.
20
DC – DC Converter Fed Drives
- Four-quadrant Control
• When a switch is on (i.e. ‘ON state’) it may or may not conduct current
depending on the direction of ia
• If a switch conducts current, it is in a conducting state
• Converter has two legs (Leg A & Leg B)
• Both switches in each
leg, are alternately Leg B
switched
• If T1 = ON, T4 = OFF + D1 D3
• If T4 = ON, T1 = OFF T1 T3
+ Va -
ia
Vdc

T4 T2
D4 D2

-
21
Leg A
DC – DC Converter Fed Drives
- Four-quadrant Control 
 Positive Current (Ia > 0)
 Va = Vdc when T1 and T2 are ON Q2 Q1
 Current increases Q3 Q4 T
 Q1 operation
 Va = 0 when current
freewheels through
T2 and D4
+
 Current decreases D1 D3
T1 T3
 Va = -Vdc when D3 and D4 + Va -
conducts current ia
Vdc
 Current decreases
 Energy returned to supply T4
D2 T2
 Q4 operation D4
-

T3 and
T4 off 22
DC – DC Converter Fed Drives
- Four-quadrant Control 
 Negative Current (Ia > 0)
Q2 Q1
 Va = -Vdc when T3 and T4 are ON
 Current increases in negative direction Q3 Q4 T
 Q3 operation
 Va = 0 when current
freewheels through
T4 and D2 +
D1 D3
 Current decreases T1
+ Va -
T3

 Va = Vdc when D1 and D2 Vdc ia

conducts current
 Current decreases T4 T2
D2
 Energy returned to -
D4
supply
 Q2 operation
T1 and
T2 off 23
DC – DC Converter Fed Drives
- Four-quadrant Control
 For both positive and negative current, output voltage can
swing between:
 Vdc and -Vdc
 Vdc and 0
 Four quadrant chopper has two legs, so it requires two
switching signals (one for each leg)
 Depending on relationship between the two switching signals,
4-quadrant chopper has two switching schemes:
 Bipolar switching
 Unipolar switching
 Switching scheme determines output voltage swing between
Vdc and -Vdc or Vdc and 0.

24
DC – DC Converter Fed Drives
• Operation of DC motor drive depends on:
• Direction of Ia (determined by torque, i.e. motoring or braking)
• Polarity of Va and Ea (determined by speed, i.e. forward or reverse)
• the duty cycle of the DC-DC Converter (either two-quadrant or four-quadrant)
• Open loop control is achieved by changing the duty
cycle manually as and when required

25
References

• Rashid, M.H, Power Electronics: Circuit, Devices and

Applictions, 3rd ed., Pearson, New-Jersey, 2004.
• Dubey, G.K., Fundamentals of Electric Drives, 2nd ed., Alpha
Science Int. Ltd., UK, 2001.
• Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
• Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
• Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.

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