Phase-Controlled DC

Machines Drives
components and models

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DC machines for drives:
Analysis and modelling
• Converter circuits for one and two quadrant drives
• Converter circuits for 4 quadrant drives
• Three-phase converter model
• dc motor drive normalized average analysis
• dc motor drive harmonics analysis
• dc motor drive: transfer functions of subsystems

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 Phase-Controlled Inverter
Single-Phase Inverter Three-Phase Inverter

2𝑉𝑚
𝑉𝑑𝑐 = cos 𝛼 3𝑉𝑚
𝜋 𝑉𝑑𝑐 = cos 𝛼
both equations assuming continuous idc 𝜋
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4-Quadrant Phase-Controlled DC Motor
with dual converter
a p-a
a6 a5 a4 a3 a2 a1

Discontinuous
current region

a1 a2 a3 a4 a5 a6

The switching signal either applied to converter 1 or converter 2.

in light loading region, the converter in subjected to discontinuous
operation.
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 Circulating Current Dual Converter

L1-L4 prevent short circuiting the supply, and

produce a circulating current that ensure
operation in continuous mode regardless the
load.

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 Circulating-current supplied motor

Circulating current dual

converter assures continuous
current. a5 a4 a3 a2 a1

The torque speed

characteristics is linear for
each a

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Control of three-phase converter

Vsy

a
ig1

For modelling and controller design

purpose, we will model the rectifier and vc
Gr(s)
Vdc
triggering system as one block :

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Three-phase converter model
the inverter output is nonlinear function of α. The converter gain is fixed by introducing the function of the form:
𝛼 = cos −1 𝑣𝑐𝑛 ; where vcn is the normalized control voltage(= vc / Vcm )
vc is the control voltage and Vcm is the maximum control voltage.
3𝑉𝑚
𝑉𝑑𝑐 = cos 𝛼 = 1.35𝑉 cos(cos −1 𝑣𝑐𝑛 ) = 1.35𝑉 𝑣𝑐𝑛
𝜋
𝑉
The gain of the rectifier is denoted by Kr, where 𝑉𝑑𝑐 = 𝐾𝑟 𝑣𝑐 , gives 𝐾𝑟 = 1.35 𝑉
𝑐𝑚

The time delay associated with this block is the time between the change in vc and the next triggering signal.
Since the instant of change in vc is random and the firing occurs every 60 (6-pulse rectifier), we will consider the
delay equivalent to 30.
1 1
𝑇𝑟 =
12 𝑓
The first order model that we will use to model and control the drive:
𝑲𝒓
𝑮𝒓 𝒔 =
𝟏+𝒔𝑻𝒓

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 Current source
High performance (torque, speed and position) drives are
based on torque control. (armature current control)

PI Controller with
limiter

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 Normalized Average Analysis
Essential base quantities
The average armature voltage equation: Base I Ir
𝑉𝑎 = 𝑅𝑎 𝐼𝑎 + 𝐸
Base V Vr
in terms of speed and torque:
𝑇𝑒 Base  r
𝑉𝑎 = 𝑅𝑎 + 𝐾Φ𝑓 𝜔𝑚
𝐾Φ𝑓
For a three-phase rectifier driven motor …
3 3 2 Derived base quantities
𝑉𝑎 = 𝑉𝐿𝐿,𝑝 cos 𝛼 = 𝑉 cos 𝛼
𝜋 𝜋 𝐿𝐿 Base R Vr/Ir
𝑉𝑎 = 1.35𝑉𝐿𝐿 cos 𝛼
by substitution, we obtain the following torque-speed relationship: Base m Vr/r
1.35𝑉𝐿𝐿 cos 𝛼 − 𝐾Φ𝑓 𝜔𝑚 Base Te Ir*r
𝑇𝑒 = 𝐾Φ𝑓
𝑅𝑎 Base P Vr*Ir
To normalize, we first specify the “base values” …
Normalized Torque-speed equation
𝟏.𝟑𝟓𝑽𝑳𝑳,𝒏 𝒄𝒐𝒔 𝜶−𝜱𝒇𝒏 𝝎𝒎𝒏
𝑻𝒆𝒏 = 𝜱𝒇𝒏
𝑹𝒂𝒏

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Example: the parameters of a motor drive are given by:
𝑅𝑎𝑛 = 0.1 𝑝. 𝑢. , ∅𝑓𝑛 = 1.0 𝑝. 𝑢. , 𝑉𝑛 = 1.1𝑝. 𝑢. ,
The operating area is has the extremes:
𝑇𝑒1(𝑚𝑖𝑛) = 0.1𝑝. 𝑢. 𝜔𝑚𝑛1(𝑚𝑖𝑛) = 0.1𝑝. 𝑢. , 𝑇𝑒2(𝑚𝑎𝑥) = 1.0 𝑝. 𝑢. 𝜔𝑚𝑛2(𝑚𝑎𝑥) = 1.0𝑝. 𝑢. ,
(a) Find the normalized control voltage to meet the operating range
(b) Compute the change in control voltages required for simultaneous change of torque and speed of 0.02
and 0.01 respectively. for both extreme operating points. Then, calculate he resolution required for the
control voltage.
Sol.
(a)
𝛼 = cos −1 𝑣𝑐𝑛
relate Vcn to the motor torque and speed:
𝑉𝑑𝑐𝑛 − 𝐸𝑛
𝑇𝑒𝑛 = ∅𝑓𝑛
𝑅𝑎𝑛
since ∅𝑓𝑛 =1 (given and not changing)
1.35𝑉𝑛 𝑉𝑐𝑛 − 𝜔𝑚𝑛 ∅𝑓𝑛 𝑇𝑒𝑛 × 𝑅𝑎𝑛 + 𝜔𝑚𝑛
𝑇𝑒𝑛 = → 𝑉𝑐𝑛 =
𝑅𝑎𝑛 1.35𝑉𝑛
0.1 × 0.1 + 0.1 1.0 × 0.1 + 1.0
𝑉𝑐𝑛,1 = = 0.074𝑝. 𝑢. , 𝑉𝑐𝑛,2 = = 0.74𝑝. 𝑢
1.35 × 1.1 1.35 × 1.1
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Compute the change in control voltages required for simultaneous change of torque and
speed of 0.02 and 0.01 respectively. for both extreme operating points. Then, calculate he
resolution required for the control voltage.
Relate an incremental change of the operating point to an incremental change of the control voltage
sol.
(b) 𝑇𝑒𝑛 + 𝛿𝑇𝑒𝑛 × 𝑅𝑎𝑛 + 𝜔𝑚𝑛 + 𝛿𝜔𝑚𝑛
𝑉𝑐𝑛 + 𝛿𝑉𝑐𝑛 =
1.35𝑉𝑛
near point 1
0.1 + 0.02 × 0.1 + 0.1 + 0.01
𝑉𝑐𝑛 + 𝛿𝑉𝑐𝑛 = = 0.0742
1.35 × 1.1
𝛿𝑉𝑐𝑛,1 =0.0002 p.u.
near point 2
1 + 0.02 × 0.1 + 1 + 0.01
𝑉𝑐𝑛 + 𝛿𝑉𝑐𝑛 = = 0.7488
1.35 × 1.1
𝛿𝑉𝑐𝑛,2 =0.0088 p.u.

resolution required 0.0002

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Example 2
An SE motor has Ra=0.05p.u., the filed flux is set to rated value. The armature is connected
to three-phase converter that is fed from ac line of voltage =1.0p.u. The maximum torque is
2.5 p.u. Draw the torque speed characteristics with three different values of a within the
safe operating region.
Sol.
The normalized torque-speed equation:
𝟏. 𝟑𝟓𝑽𝑳𝑳,𝒏 𝒄𝒐𝒔 𝜶 − 𝜱𝒇𝒏 𝝎𝒎𝒏
𝑻𝒆𝒏 = 𝜱𝒇𝒏
𝑹𝒂𝒏
when the flux at its rated:
1.35𝑉𝐿𝐿 cos 𝛼 − 𝜔𝑚𝑛
𝑇𝑒𝑛 =
𝑅𝑎
at rated speed and maximum torque:
𝑇𝑒𝑛 𝑅𝑎 + 𝜔𝑚 2.5 ∗ 0.05 + 1
𝛼= cos −1 = cos −1 = 33.6°
1.35𝑉𝐿𝐿 1.35 ∗ 1

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 a Ten(𝜔𝑚𝑛 ) 𝜔𝑚𝑛 (Te=max) 𝜔𝑚𝑛 (Te=0)
33.6 22.5-20𝜔𝑚𝑛 1 1.125
50 17.4-20𝜔𝑚𝑛 0.745 0.87
75 7-20𝜔𝑚𝑛 0.225 0.35

Ten
2.5

a=75

a=50

a=33.6

Motor SOA mn

1.0
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The Effect of Harmonics

We will use the equations derived and studied in “power electronics “ course …
compare the results to those obtained in the book solution.
Sol.
𝜋
𝐸 = 𝜔𝑚 𝐾𝑏 = 100 ∗ ∗ 2.646 = 27.7𝑉
30
check conduction mode…

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 0.00183
∅ = tan−1 120𝜋 ∗ = 82.73°, 𝑍 = 0.695Ω
0.088
𝐸 𝜋 sin ∅ − 𝛼 27.7 ? sin 17.73
< 𝑠𝑖𝑛 𝛼 + − ∅ + 𝜋 𝑐𝑜𝑠∅ → 𝑠𝑖𝑛 65 + 60 − 82.73 + 𝜋 𝑐𝑜𝑠82.73
𝑉𝐿𝐿,𝑝 3 − 415 2 < −
1 − 𝑒 3𝑡𝑎𝑛∅ 1 − 𝑒 3𝑡𝑎𝑛∅
?
0.047 0.393 satisfied continous conduction
<
𝑉𝐿𝐿,𝑝 𝜋 sin ∅ − 𝛼 − 𝜔𝑡−𝛼 𝐸
𝑖𝑜 𝜔𝑡 = 𝑠𝑖𝑛 𝜔𝑡 + − ∅ + 𝜋 𝑒 𝑡𝑎𝑛∅ −
𝑍 3 − 𝑅
1 − 𝑒 3𝑡𝑎𝑛∅
𝜔𝑡−65
− 449.1
𝑖𝑜 𝜔𝑡 = 843.9 𝑠𝑖𝑛 𝜔𝑡 − 22.73 + 2.43𝑒 − 314.8

Wt 65 75 85 95 105 115 125

io 2304 2358 2394 2407 2397 2363 2304

Δ𝑇𝑒 = Δ𝐼𝑒𝐾𝑏 = 103 ∗ 2.646 = 272.54𝑁. 𝑚

3
415 2𝑐𝑜𝑠65 − 27.7
𝑇𝑒,𝑎𝑣 = 𝐾𝑏 ∗ 𝐼𝑎,𝑑𝑐 = 2.646 𝜋 = 6289𝑁. 𝑚
0.088
Percentage Torque ripple=272.54/6289=4.33%
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Two quadrant armature controlled drive

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 Transfer Functions of Subsystems
motor and load

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 Transfer Functions of Subsystems
motor and load

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 Transfer Functions of Subsystems
Converter

Current and speed controllers

Current feedback : Hc

Speed feedback:

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