Control of AC and DC Drives Lec#3.1

3.
1 DC Drives: Operating Modes of DC Motors
Control of AC and DC
Drives
DC DRIVES
Instructor: Dr. Tanveer Yazdan

tanveer.yazdan@ee.uol.edu.pk
Date: (07.10.2021)
3.1 DC Drives: Operating Modes of DC Motors
CHARACTERISTICS OF DC MOTOR FOR DC DRIVE

Summary
 The speed of a dc motor can be varied by controlling
i. the armature voltage,
ii. the field current, or
iii. the armature current that is a measure of the torque demand.
Va is varied
Dr. Tanveer Yazdan The University of Lahore, Pakistan 2

OPERATION MODES OF AN ELECTRIC MOTOR

VARIABLE SPEED OPERATION
In variable-speed applications, a DC motor may be operating in one or more
modes:
 motoring,
 regenerative braking,
 dynamic braking,
 plugging, and
 four quadrants.

Motoring mode: supply mechanical energy to the load
Generating mode: motor absorbs the load energy, providing a braking action
Fig. Operation mode of the motor.

(A) Motoring mode and (B) generating (braking) mode.
Braking:
• Regenerative braking (efficient, but requires high cost converter)
• Dynamic braking (resistive dissipation, inefficient, inexpensive)

Four Quadrant Operation
• Quadrant of operation is defined by the speed and torque of the motor

• Most rotating electrical machines can operate in 4 quadrants
• Not all converters can operate in 4 quadrants

Four Quadrant Operation


m T
m e Forward Drive:
Te Motoring
Pm generating
Pm
-ive
+ive
Quadrant 2 Quadrant 1 Reverse Drive:
Forward braking Forward motoring Motoring
Te T generating
Te
m
Pm Pm m
+ive -ive
The torque should be controlled in the
Quadrant 3 Quadrant 4 positive and negative direction,
Reverse motoring Reverse braking
The speed should be controlled in the

forward and reverse direction
OPERATION MODES OF DC MOTOR
 The operation of the motor in any one of the operating modes requires
connecting the field and armature circuits in different arrangements
 Operating mode is switched by switching power semiconductor devices and

contactors.
Separately excited DC motor DC Series motor

Motoring Mode:
The arrangements for motoring are shown in Figure. Back EMF Eg is less than
supply voltage Va. Both armature and field currents are positive. The motor
develops torque to meet the load demand.

Regenerative Braking Mode:
• The arrangements for regenerative braking are shown in Figure.
• The motor acts as a generator and develops an induced voltage ‘Eg’.
• Eg must be greater than supply voltage Va.

Regenerative Braking Mode:
• The armature current is negative, but the field current is positive.
• The kinetic energy of the motor is returned to the supply.
• A series motor is usually connected as a self-excited generator.
• For self-excitation, it is necessary that the field current aids the residual flux.
This is normally accomplished by reversing the armature terminals or the
field terminals.

Dynamic Braking:
• The arrangements shown in Figure are similar to those of regenerative
braking, except the supply voltage is replaced by a braking resistance Rb.
• The kinetic energy of the motor is dissipated in Rb.


Plugging:
 Plugging is a type of braking. The connections for plugging are shown in

Figure.
 The armature terminals are reversed while running.
 The supply voltage Va and the induced voltage Eg act in the same direction.

Plugging:
• The armature current is reversed, thereby producing a braking torque.
The field current is positive.
• For a series motor, either the armature terminals or field terminals should
be reversed, but not both.


Four Quadrants:
 Forward Motoring (quadrant I)
• Va, Eg, and Ia are all positive, The torque and speed are also positive.
 Forward Braking (quadrant II)
• The motor runs in the forward direction and the ‘Eg’ continues to be positive.
• For the torque to be negative and the direction of energy flow to reverse, the
armature current must be negative.
• The supply voltage Va should be kept less than Eg.

Four Quadrants:
 Reverse Motoring (quadrant III)
• Va, Eg, and Ia are all negative.
• The torque and speed are also negative
• To keep the torque negative and the energy flow from the source to the
motor, the back emf Eg must satisfy the condition | Va | > | Eg |.
• The polarity of Eg can be reversed by changing the direction of field
current or by reversing the armature terminals


Four Quadrants:
 Reverse Braking (quadrant IV)
• The motor runs in the reverse direction.
• Va, and Eg continue to be negative
• For the torque to be positive and the energy to flow from the motor to
the source, the armature current must be positive.
• The induced emf Eg must satisfy the condition | Va | < | Eg |.


Four Quadrants:
Polarities of Va, back-EMF ‘Eg’, armature current Ia

Example of Four Quadrant Operation in Elevator
Quadrant 2 Quadrant 1
Forward braking Forward motoring
Quadrant 3
Reverse motoring Quadrant 4
Reverse braking

Example of Four Quadrant Operation in Elevator

Quadrant 1 operation: (+T, +ω)
When the car carrying people goes up and is
heavier than the counterweight
Quadrant 2 operation: (-T, +ω)

When an empty car goes up and is lighter than
the counterweight
Quadrant 3 operation: (-T, -ω)

When an empty car goes down and is lighter than
the counterweight
Quadrant 4 operation: (+T, -ω)

When the car carrying people goes down and is
heavier than the counterweight
Thank You.

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3.

1 DC Drives: Operating Modes of DC Motors

Instructor: Dr. Tanveer Yazdan

CHARACTERISTICS OF DC MOTOR FOR DC DRIVE

Dr. Tanveer Yazdan The University of Lahore, Pakistan 2

OPERATION MODES OF AN ELECTRIC MOTOR

Dr. Tanveer Yazdan The University of Lahore, Pakistan 3

OPERATION MODES OF AN ELECTRIC MOTOR

Motoring mode: supply mechanical energy to the load

Fig. Operation mode of the motor.

Dr. Tanveer Yazdan The University of Lahore, Pakistan 4

OPERATION MODES OF AN ELECTRIC MOTOR

Four Quadrant Operation

• Quadrant of operation is defined by the speed and torque of the motor

Dr. Tanveer Yazdan The University of Lahore, Pakistan 5

OPERATION MODES OF AN ELECTRIC MOTOR

Four Quadrant Operation

The speed should be controlled in the

OPERATION MODES OF DC MOTOR

connecting the field and armature circuits in different arrangements

 Operating mode is switched by switching power semiconductor devices and

Separately excited DC motor DC Series motor

OPERATION MODES OF DC MOTOR

develops torque to meet the load demand.

Dr. Tanveer Yazdan The University of Lahore, Pakistan 8

OPERATION MODES OF DC MOTOR

Regenerative Braking Mode:

• The arrangements for regenerative braking are shown in Figure.

• The motor acts as a generator and develops an induced voltage ‘Eg’.

• Eg must be greater than supply voltage Va.

Dr. Tanveer Yazdan The University of Lahore, Pakistan 9

OPERATION MODES OF DC MOTOR

Regenerative Braking Mode:

• The armature current is negative, but the field current is positive.

• The kinetic energy of the motor is returned to the supply.

• A series motor is usually connected as a self-excited generator.

This is normally accomplished by reversing the armature terminals or the

Dr. Tanveer Yazdan The University of Lahore, Pakistan 10

OPERATION MODES OF DC MOTOR

• The arrangements shown in Figure are similar to those of regenerative

braking, except the supply voltage is replaced by a braking resistance Rb.

• The kinetic energy of the motor is dissipated in Rb.

Dr. Tanveer Yazdan The University of Lahore, Pakistan 11

OPERATION MODES OF DC MOTOR

 Plugging is a type of braking. The connections for plugging are shown in

 The armature terminals are reversed while running.

Dr. Tanveer Yazdan The University of Lahore, Pakistan 12

OPERATION MODES OF DC MOTOR

• The armature current is reversed, thereby producing a braking torque.

The field current is positive.

be reversed, but not both.

Dr. Tanveer Yazdan The University of Lahore, Pakistan 13

OPERATION MODES OF DC MOTOR

 Forward Motoring (quadrant I)

 Forward Braking (quadrant II)

armature current must be negative.

• The supply voltage Va should be kept less than Eg.

Dr. Tanveer Yazdan The University of Lahore, Pakistan 14

OPERATION MODES OF DC MOTOR

 Reverse Motoring (quadrant III)

• Va, Eg, and Ia are all negative.

• The torque and speed are also negative

motor, the back emf Eg must satisfy the condition | Va | > | Eg |.

• The polarity of Eg can be reversed by changing the direction of field