Electrical Drives:: An Application of Power Electronics

ELECTRICAL DRIVES:
An Application of Power Electronics

CONTENTS
Power Electronic Systems
Modern Electrical Drive Systems
Power Electronic Converters in Electrical Drives

:: DC and AC Drives
Modeling and Control of Electrical Drives

What is Power Electronics ?
A field of Electrical Engineering that deals with the application of

power semiconductor devices for the control and conversion of
electric power
sensors
Input
Source Power
PowerElectronics
Electronics Load
Load
- AC Converters
Converters
- DC Output
- unregulated - AC
- DC
POWER ELECTRONIC
CONVERTERS – the
heart of power a power
Reference Controller
Controller electronics system
Why Power Electronics ?
sensors
Input
Source Power
PowerElectronics
Electronics IDEALLY
IDEALLYLOSSLESS
Load!!
Load
LOSSLESS
- AC Converters
Converters
- DC Output
- unregulated - AC
- DC
Reference Controller
Controller
Why Power Electronics ?
Other factors:
• Improvements in power semiconductors fabrication
• Power Integrated Module (PIM), Intelligent Power
Modules (IPM)
• Decline cost in power semiconductor
• Advancement in semiconductor fabrication

• ASICs • FPGA • DSPs
• Faster and cheaper to implement complex
algorithm
Some Applications of Power Electronics :

Typically used in systems requiring efficient control and conversion of
electric energy:
Domestic and Commercial Applications
Industrial Applications
Telecommunications
Transportation
Generation, Transmission and Distribution of electrical energy
Power rating of < 1 W (portable equipment)

Tens or hundreds Watts (Power supplies for computers /office equipment)
kW to MW : drives
Hundreds of MW in DC transmission system (HVDC)
Classic Electrical Drive for Variable Speed Application :
• Bulky
• Inefficient
• inflexible
Typical Modern Electric Drive Systems
Power Electronic Converters Electric Motor

Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy
POWER IN Power
Power
Moto
Moto Load
Electronic
Electronic rr
Load
Converters
Converters
feedback
Reference
Controller
Controller
Example on VSD application
Constant speed Variable Speed Drives
valve
Supply
motor pump
Power out
Power
In
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
Electric motor consumes more than half of electrical energy in the US
Fixed speed Variable speed
Improvements in energy utilization in electric motors give large

impact to the overall energy consumption
HOW ?
Replacing fixed speed drives with variable speed drives
Using the high efficiency motors
Improves the existing power converter–based drive systems

Overview of AC and DC drives
DC drives: Electrical drives that use DC motors as the prime mover

Regular maintenance, heavy, expensive, speed limit
Easy control, decouple control of torque and flux
AC drives: Electrical drives that use AC motors as the prime mover

Less maintenance, light, less expensive, high speed
Coupling between torque and flux – variable spatial angle

between rotor and stator flux
Before semiconductor devices were introduced (<1950)

• AC motors for fixed speed applications
• DC motors for variable speed applications
After semiconductor devices were introduced (1960s)

• Variable frequency sources available – AC motors in variable
speed applications
• Coupling between flux and torque control
• Application limited to medium performance applications –
fans, blowers, compressors – scalar control
• High performance applications dominated by DC motors –

tractions, elevators, servos, etc
After vector control drives were introduced (1980s)

• AC motors used in high performance applications – elevators,
tractions, servos
• AC motors favorable than DC motors – however control is
complex hence expensive
• Cost of microprocessor/semiconductors decreasing –predicted
30 years ago AC motors would take over DC motors

Power Electronic Converters in ED Systems
Converters for Motor Drives
(some possible configurations)
DC Drives AC Drives
AC Source DC Source AC Source DC Source
DC-AC-DC
DC-AC-DC DC-DC
DC-DC
AC-DC
AC-DC AC-DC-DC
AC-DC-DC AC-DC-AC
AC-DC-AC AC-AC
AC-AC DC-AC
DC-AC DC-DC-AC
DC-DC-AC
Const. Variable NCC FCC

DC DC
Converters for Motor Drives
Configurations of Power Electronic Converters depend on:
Sources available
Type of Motors
Drive Performance - applications

- Braking
- Response
- Ratings
DC DRIVES
Available AC source to control DC motor (brushed)
AC-DC
AC-DC AC-DC-DC
AC-DC-DC
Uncontrolled Rectifier
Single-phase Control
Control
Three-phase
Controlled Rectifier DC-DC Switched mode
Single-phase 1-quadrant, 2-quadrant
Three-phase 4-quadrant
DC DRIVES
AC-DC
AC-DC
400
200
-200
+ 2Vm
Vo = cos α
-400
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
π 10
50Hz Vo
1-phase Average voltage 5
over 10ms
− 0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
500
50Hz
+ -500
3-phase 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
3VL −L,m
Vo Vo = cos α 30
π
20
− Average voltage
over 3.33 ms
10
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
DC DRIVES
AC-DC
AC-DC
2Vm
π
+ 2Vm
Vo = cos α
π
50Hz Vo 90o 180o
1-phase Average voltage
over 10ms
− 2Vm
−
π
3VL −L,m
π
50Hz
+
3-phase
3VL −L,m
Vo Vo = cos α
π 90o 180o
− Average voltage
over 3.33 ms 3VL −L ,m
−
π
DC DRIVES
AC-DC
AC-DC
ia
+
Vt
3-phase Q1
supply Vt Q2
Q3 Q4 Ia
−
- Operation in quadrant 1 and 4 only

DC DRIVES
AC-DC
AC-DC
+
3-
phase 3-phase
Vt supply
supply
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
AC-DC
F1 R1
3-phase
supply
+ Va -
R2 F2
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
AC-DC
Cascade control structure with armature reversal (4-quadrant):
iD
ωref + iD,ref + Firing

Speed
Speed Current
Current Firing
controller
controller Controller
Controller Circuit
Circuit
_
_
iD,ref
Armature
Armature
iD, reversal
reversal
DC DRIVES
AC-DC-DC
AC-DC-DC
control
DC DRIVES
AC-DC-DC
AC-DC-DC DC-DC: Two-quadrant Converter
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
− T2 D2
Va
T1 conducts → va = Vdc
DC DRIVES
AC-DC-DC
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
− T2 D2
Va
D2 conducts → va = 0 T1 conducts → va = Vdc
Va Eb
Quadrant 1 The average voltage is made larger than the back emf
DC DRIVES
AC-DC-DC
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
− T2 D2
Va
D1 conducts → va = Vdc
DC DRIVES
AC-DC-DC
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
− T2 D2
Va
T2 conducts → va = 0 D1 conducts → va = Vdc
Va Eb
Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction
DC DRIVES
AC-DC-DC
vc
2vtri
+
vA Vdc
-
+
vc
DC DRIVES
AC-DC-DC
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B
+ D1 D3
Q1 Q3
+ Va −
Vdc
− D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON
DC DRIVES
AC-DC-DC
leg A leg B
+ D1 D3
Q1 Q3
+ Va −
Vdc
− D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON
va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
AC-DC-DC
leg A leg B
+ D1 D3
Q1 Q3
+ Va −
Vdc
− D4 D2
Q4 Q2
Positive current Negative current

va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON
va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
AC-DC-DC
leg A leg B
+ D1 D3
Q1 Q3
+ Va −
Vdc
− D4 D2
Q4 Q2
Positive current Negative current

va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON
va = -Vdc when D3 and D4 are ON va = -Vdc when Q3 and Q4 are ON
va = 0 when current freewheels through Q and D va = 0 when current freewheels through Q and D

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ELECTRICAL DRIVES:

An Application of Power Electronics

Power Electronic Systems

Modern Electrical Drive Systems

Power Electronic Converters in Electrical Drives

Modeling and Control of Electrical Drives

What is Power Electronics ?

A field of Electrical Engineering that deals with the application of

Why Power Electronics ?

Why Power Electronics ?

• Decline cost in power semiconductor

• Advancement in semiconductor fabrication

Some Applications of Power Electronics :

Power rating of < 1 W (portable equipment)

Classic Electrical Drive for Variable Speed Application :

Typical Modern Electric Drive Systems

Power Electronic Converters Electric Motor

Constant speed Variable Speed Drives

Constant speed Variable Speed Drives

Constant speed Variable Speed Drives

Electric motor consumes more than half of electrical energy in the US

Fixed speed Variable speed

Improvements in energy utilization in electric motors give large

Improves the existing power converter–based drive systems

Overview of AC and DC drives

DC drives: Electrical drives that use DC motors as the prime mover

AC drives: Electrical drives that use AC motors as the prime mover

Coupling between torque and flux – variable spatial angle

Overview of AC and DC drives

Before semiconductor devices were introduced (<1950)

After semiconductor devices were introduced (1960s)

• High performance applications dominated by DC motors –

Overview of AC and DC drives

After vector control drives were introduced (1980s)

Overview of AC and DC drives

AC Source DC Source AC Source DC Source

Const. Variable NCC FCC

Converters for Motor Drives

Configurations of Power Electronic Converters depend on:

Drive Performance - applications

Available AC source to control DC motor (brushed)

- Operation in quadrant 1 and 4 only

ωref + iD,ref + Firing

D2 conducts → va = 0 T1 conducts → va = Vdc

T2 conducts → va = 0 D1 conducts → va = Vdc

Positive current Negative current

Positive current Negative current

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