Homework Chapter 4

1) A chopper is driving a separately-excited dc motor whose details are given in Example 4.1. The load
torque is frictional and delivers rated torque at rated speed. Calculate and plot the duty cycle vs.
speed. The maximum electromagnetic torque allowed in the motor is 2 p.u. The friction coefficient of
the motor is 0.002 Nm/rad/sec.
2π
Soln ω m=2500 ×
60
=261.79 rad / s

P out 1 hp ×746 W
I av = = =95 A
voltage ×η 10× 0.785

τ av =K b I av =0.03819 × 95=3.628 Nm

K b ( d V s −K b ωm )
τ av =
Ra

0.03819 ( 24 d−( 0.03819 ×261.79 ) )

3.628=
0.01
d=0.456

duty cycle vs. speed

300
250
200
150
100
50
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
 2) Consider the dc motor chopper details given in Example 4.2 Compute the torque-speed characteristics
for duty cycle of 0.4, using the averaging and instantaneous steady state computation techniques. Do
the methods compare well in the discontinuous current-conduction mode?
Soln From the example 4.2 determine 1 hp, 10v, 2500 rpm, 78.5% efficiency, R a = 0.01Ω,
La = 0.002 H, Kb = 0.03819 v/rad/sec, duty cycle = 0.4
Pout 1hp × 746W
I a= = =95 A=I b
voltage × η 10 ×0.785
τ =0.03819 ×95=3.63 Nm
V t =Eb + I a R a ;V t=V dc=d V s

( 0.40 ) ( 24 )=( 0.03819 ×ω m ) + ( 95 × 0.01 )

9.6=0.03819 ω m+ 0.95

9.6−0.95
ω m= =226.5 rad /sec
0.03819
60
N=226.5× =2162.9 rpm
2π
3) Compare the switch ratings of the two-quadrant choppers shown in Figures 4.12(ii)and(iii).
 4) A chopper-controlled dc series motor drive is intended for traction application. Calculate its torque-
speed characteristics for various duty cycles. The motor details are as follows: 100 hp, 500 V, 1500
rpm, Ra + Rf = 0.01 Ω, La + Lse = 0.012 H, M = 650 V and operates at 600 Hz.
Soln V dc =d V s =≫500 V =650 d

500
d= =0.769
650

d2 θ dθ
T =J +B l
dt 2
dt

θ(s) 1
ℒ τ a ( s )=( J s + Bl S ) B ( s )=¿ (1)
2
=
T a (s ) s( JS+ Bl )

d Ia
V =E b + I a ( R a+ R se ) + ( La + Lse )
dt
V ( s )=E b+ ( Ra + Rse ) I a (s)+ ( La + Lse ) I a (s)+ SMI a (s )

500
S
=Eb ( s)+ [ 0.01+S ( 0.012+ 0.1 ) ] I a (s) (2)
θ (s ) 1 1 0.333
= = =
T a (s) S ( Js+ Bl ) S(3 s+0.1) S ( s+ 0.0333 )

θ (t) 0.333 −1 1
T a (t )
=
0.0333
L
s [ () {
−L
−1 1
s+0.0333 }]
θ ( t )=10 [ 1−e ]∙ τa (t )
−0.0333

D 0.07692
T on= = =1.282 msec
f 600 Hz
D
D=0=¿ T on= =0
f
0.5
D=0.5=¿ T on= =0.833 msec=¿ θ ( t ) =0.274 τ ( t )
600
1.0 −3
D=1.0=¿ T on= =0.167 msec=¿ θ ( t ) =−0.556 ×10 τ ( t )
600
 5) The motor chopper given in Example 4.4 is used in a position servo application. It is required that the
pulsating torque be less than 1% of the rated torque. At zero speed, the motor drive is producing a
maximum of 3 p.u. torque. Determine (i) the increase in switching frequency and (ii) the value of
series inductance to keep the pulsating torque within the specification.
2π
Soln ω r=1500 ×
60
=157.08 rad /sec

3 hp ×746 W
τ r= =14.25 Nm
157.08 rad /sec

Pulsating torque be less than 1%

Plusating torque=14.25 ×0.01=0.1425 Nm

(i) The increase in switching frequency

P=τ m ω

3 hp ×746 W =3 ×2 πf
3 ×746
f= =118.73 Hz
3 ×2 π
 6) The above problem has an outermost position loop. The position controller is of PI type. Determine
the overall-position transfer function and find its bandwidth for K p = 1 and Tp = 0.2 sec, if the
system is stable. Assume that the speed controller is of proportional type, with a gain of 100. The
current controller is a hysteresis controller.
Soln
2π
ω r=1500 × =157.08 rad /sec
60
3 hp ×746 W
τ r= =14.25 Nm
157.08 rad /sec

Pulsating torque be less than 1%

Plusating torque=14.25 ×0.01=0.1425 Nm

(i) The increase in switching frequency

P=τ m ω

3 hp ×746 W =3 ×2 πf
3 ×746
f= =118.73 Hz
3 ×2 π
 7) A chopper-controlled dc motor has the following parameters: 6.3 A, 200 V, 1000 rpm, R a = 4 Ω,
La = 0.018 H, Kb = 1.86 V/rad/sec, J = 0.1 kgm2, Bt = 0.0162 Nm/rad/sec, fc = 500 Hz, Vs = 285 V
Determine the following:
(i) Torque-speed characteristics for duty cycles of 0.2, 0.4, 0.6, and 0.8 in the forward- motoring mode;
(ii) The average currents at 500 rpm, using averaging and instantaneous steady-state evaluation techniques;
(Assume a suitable duty cycle.)
(iii) Critical duty cycle vs. speed, with and without an external inductance of 20 mH. (Draw it.)
Soln (i) Torque-speed characteristics for duty cycles of 0.2, 0.4, 0.6, and 0.8 in the forward- motoring
mode;
τ e =K b I a=1.86× 6.3=11.72 Nm
V t =Eb + I a R a ;V t=V dc=d V s ; E b=K b ω m
for d=0.2=¿ ( 0.2 )( 285 )=1.86 ωm + ( 6.3 )( 4 )
57−25.2
ω m= =17.097 rad /sec
1.86
60
N=17.097 × =163.26 rpm
2π
for d=0.4=¿ ( 0.4 ) ( 285 )=1.86 ω m+ ( 6.3 )( 4 )
114−25.2
ω m= =47.74 rad /sec
1.86
60
N=47.74 × =455.88 rpm
2π
for d=0.6=¿ ( 0.6 )( 285 ) =1.86 ωm + ( 6.3 ) ( 4 )
171−25.2
ω m= =78.387 rad /sec
1.86
60
N=78.387 × =748.54 rpm
2π
for d=0.8=¿ ( 0.8 ) ( 285 )=1.86 ω m + ( 6.3 ) ( 4 )
228−25.2
ω m= =109.03 rad / sec
1.86
60
N=109.03 × =1041.2rpm
2π

duty cycle vs. speed

1200
1000
800
600
400
200
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
(ii) The average currents at 500 rpm, using averaging and instantaneous steady-state evaluation techniques;
(Assume a suitable duty cycle.)
(
for d=0.8=¿ ( 0.8 ) ( 285 )=1.86 500 ×
2π
60 )
+4 Ia

228−97.39
I a= =32.65 A
4

(iii) Critical duty cycle vs. speed, with and without an external inductance of 20 mH. (Draw it.)
2π
ω m=1000 × =104.72 rad /sec
60

1 1
T= = =2 msec
f 500

La 0.018
T a= = =4.5 msec
Ra 4

T a 4.5
= =2.25
T 2

°
V s =1.35Vcosα =1.35 ×200 × cos 0 =270 V

E=K b ωm =1.86 ×104.72=194.78 V

d c =2.25 lo g e ¿

critical duty cycle vss. Speed

120
100
80
60
40
20
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
 8) Determine the speed-controller gain and time constant for the following separately-excited chopper-
controlled dc motor drive: 250 hp, 500 V, 1250 rpm, 92% Efficiency, R a = 0.052 Ω, La = 1 mH, Kb =
3.65 V/rad/sec, J = 5 kgm2, Bt = 0.2 Nm/rad/sec, Vs = 648 V.
The current controller has a PWM strategy with a carrier frequency of 2 kHz. Calculate also the speed
response for a speed command of 0 to 0.8 p.u., when the load torque is maintained at 0.5 p.u. {Hint:
Calculate the speed controller gain and time constants, assuming B t = 0.
2π
Soln ω b=1250 ×
60
=130.9 rad / sec

Pb 250 hp ×746 W
τ b= = =1424.75 Nm
ωb 130.9 rad / sec

τ b 1424.75
I b= = =390.34 A
Kb 3.65

I max=2 I b=2 ×390.34=780.68 A

J 5
Time constant T m= m = =25 sec
Bt 0.2