5 Control of DC Motors by Choppers 5.1. Introduction Choppers are used to get variable de volt Self commutated devices such as MOSFETs, power transistors, IGBTs, GTOs and IGCTs are used for building choppers because they can be commutated by a low power control signal and do not need commutation circuit and can be operated at a higher frequency for the same rating. ber of advantages over a controlled rectifiers for a de — loop configurations. The operation at high reducing current ripples, because @ reduction. chine losses and its derating, eliminating conduction region improves tage from a de source of fixed voltage. The choppers offer a num motor control in open — loop and closed frequency improves motor performance by in the armature current ripple, reduces a mat discontinuous conduction. The elimination of discontinuous se of a drive. speed regulation and transient respon: speed control of de motors are: high efficiency, Advantages of using chopper in quick response and regeneration down to flexibility in control, light weight, small size, very low speeds, 5.2. Types of DC Chopper D' 1. Single quadrant chopper drives 2. Two quadrant chopper drives 3, Four quadrant chopper drives rivesFigure 5.1: Chopper control of separately excited motor In the past, series motor'was used in traction, because it has high Starisg torque. It has number of limitations. The field of the series motor cannot be conte easily by static means. If field control is not employed, the series motor mus» designed with its base speed equal to the higher desired speed of the drive. Tz higher base speeds are obtained using fewer turns in the field windings. This reds the torque per ampere at zero and low speeds. Presently, separately excited me: are also used in traction. Because of limitations of a series motor, separately exc motors are now preferréd even for traction applications. t Figure 5.2: Waveforms of motor terminal voltage ‘V,’ and armature current ie for continuous conduction Motoring control A transistor cho) te shore # figure 5.1. PPET controlled separately excited motor drive is shO¥eS / MOTORS coNTROLOF DC BY CHOPPERS i Current limit contr: is used in chopper, In current limit coritrol, the load current is allowed to vary betsveen {wo given (upper and lower) limits. The ON and OFF times of te chopper adjust automatically, when the current increases beyond the upper limit the chopperis tumed off, the load current free wheels and starts to decrease. When it falls teow the ower limit the chopper is tumed ON, The current stars incrcasing in the load. ‘Theload current ‘iq’ and voltage ‘V,’ waveforms are shown above. By assuming proper jis of curent, the amplitude ofthe ripple can be controlled, ‘The lower the ripple current, the higher the chopper frequency. By this switching Josses increase. Discontinuous conduction avoid in this case. The current limit control is superior one. During ON-period of chopper (i.e.) duty interval, 0 Figure 5.17 shows forward motoring mode (0.5 < 6 < 1) of two quadrant type B chopper,— > | POWER SEMICONDUCTOR, OR, CHI, CH2 CHI, D2 1 CHI, CH2 |, CH2, D1 CH1, CH2 ‘ hs FD > ‘ ON ON ‘ON ON ON -———_ i i a ig, Pid— Toy —P * lek i ! i; lye t y i ; Vs i 1 i i , i i H i ih i i A ; j iN boNG i ‘ H t t mM eee el Figure 5.17 Reverse Braking Mode When both choppers CHI and CH2 are off, now the current flows through diode D1 and D2. Here i.¢., power flows from lo; output current is positive and output voltage is negative ad t0 source. Here we can achieve reverse braking moe Itis the fouth quadrant operation, It is shown in figure, Here the motor speed cat be controlled by changin, 1g the duty cycle of the chopper. Figure 5.18 shows reverse braking mode (0 < 8 < 0.5) waveforms of !™? quadrant type B chopper drive,| c MOTORS BY CHOPPERS ont oF D 5.7 pacHi |, 01,02 |, CH2,01 p12 o ———$ ONIEs 20N |e ON ‘ON to Figure 5.18 5.7 Four Quadrant Operation of DC Motor Figure 5.19 shows the power circuit diagram for a four quadrant chopper or type - E chopper. It consists of four power: semiconductor switches CH1 to CH 4 and four power diodes D1 to D4 in antiparallel. Working of this chopper in the four quadrents is explained as under : Forward Motoring Mode For first quadrant operation of figure 5.19, CH4 is kept on , CH3 is kept off aa is operated . With CH1, CH4 on, load voltage is equal to supply voltage eit and load current Ip begins to flow. Here both output voltage Vo and load ping lo are positive giving first quadrant operation, When CH! is turned off, Current freewheels through CH4,D2 in this way, both output voltage Vo sload Curren Sian fk tly can be controlled in the first quadrant. First quadrant operation gives Swatd motoring mode. zaON 5.18 POWER, SEMICONDUCTOg Figure 5.19: Four quadrant operation Forward Braking Mode Here CH2 is operated and CH1, CH3 and CH4 are kept off. With Che reverse (or negative) current flows through L, CH2, D4 and E. During of CH2 the inductor L stores energy. . When CH2 is tured off , current is fed back to source through diodes DI, note that there [E + L di / dt] is greater than the source voltage Vz. As the lo voltage Vo is positive and load current Ip is nagative, it is second quadrant operat of chopper..Also power is flows from load to source.second quadrant operat gives forward braking mode, Reverse Motoring Mode the on tin For third quadrant operation of figure 5.19, CH1 is kept off, CH2 is kept and CH3 is operated. Polarity of load emf E must be reversed for this quairat operation. With CH3 on, load gets connected to source Vg so that both ou! voltage Vo,load current Io are negative It gives third quadrant operation. Itis known as reverse motoring mode. When CH3 is tumed off , negative cure? freewheels through CH2, D4. In this Way, output voltage Vo and load current ly @ be controlled in the third quadrant, : Reverse Braking Mode Here CH is operated amt other devices are kept off Load emf E must} its polarity reversed to that shown in figure 5.19. For operation in the fourthontROL OE pcMOTORSBY CHOPPERS 5.19 CH2 operated: C2, D4: On L Stores energy Gh operated: CH, CHA: ori aft then Dt ,D4 conduct | D2,conduct then CHA Cera braking inode) (Forward motoring mode) ay H3, CH2: on CH3: offthen | CH4, D2 , 02 : on: L Stor gr. De Cored CHé: off, then babs Conduct pe CH4 operated ( Reverse braking mode) ( Reverse motoring mode) Figure 5.20: Operation of conducting devices With CH4 on, positive current flows through CH4, D2, L and E. During the on time of CH4 inductor L stores energy.When CH4 is turned off; current is feedback to source through diodes D2, D3. Here Joad voltage is nagative, but Joad current is positive leading to the choppers operation in the fourth quandrent. ‘Also power is flows fiom load to source. The fourth quadrant operation gives reverse braking mode. The devices conducting in the four quadrants are indicated in figure 5.20: Solved Problems Example 1: The speed of 2 s chopper. The de supply voltage armature circuit inductance is 10mH and the Themotor drives a constant torque Joad requirin 20A. Assuming the motor current to be continuous, speed control, ii) range of duty cycle. eparztely excited de motor is controlled by 4 PWM is 1009, the armature resistance is 0.50, the t Kd is 0.03V/rpm. motor constan gan average armature current of determine i) the range of (MKU/EEE ~April 2004) Given data V = 100V; Ko = 0.03 Virpm; R= 0.595 17, 20A