TON DUC THANG UNIVERSITY

FACULTY OF ELECTRICAL & ELECTRONICS ENGINEERING

401072

CHAPTER 2: DC MOTOR DRIVE

Tri-Vien Vu, PhD

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 CHAPTER OBJECTIVES

After study this chapter, the student should be

able to:
• Remember the characteristics of the DC motor.
• Understand the states of DC motor such as
motoring and braking.
• Create drivers for DC motors by using rectifiers or
choppers to adjust theirs input voltage in DC
motor speed control.

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 CHAPTER 2: DC MOTOR DRIVE

2.1. Introduction
2.2. DC motor’s steady-state characteristics
2.3. Speed control
2.4. Working modes
2.5. Rectifier – DC motor systems
2.6. DC converter – DC motor systems
2.7. Closed-loop control

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 2.1. INTRODUCTION

Concepts
− Electromechanical system driven by DC motor
− Widely used in industrial applications for years
− Offer precise control
− Conventional variable dc voltage supply (1960s)
− Mostly replaced by induction motor drive
− Still have many applications where DC drives
offer advantages
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 2.1. INTRODUCTION

Fleming's Left Hand (Motor) Rule

Thumb = Direction of
Conductor Motion
Fore Finger =
Direction of Fixed
Magnetic Field (N
to S)
Middle Finger =
Conventional
Current Direction

Determines the direction of DC current carrying

conductor in a fixed magnetic field
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 2.1. INTRODUCTION

Fleming's Left Hand (Motor) Rule

S
N
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 2.1. INTRODUCTION

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 2.1. INTRODUCTION

Advantages
− Speed control over a wide range
− High starting torque
− Quick start, stop, reversing, and acceleration
− Free from harmonics
Disadvantages
− High initial cost
− Increased operation and maintenance cost
− Cannot operate in explosive and hazard condition

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 2.1. INTRODUCTION

DC motor construction (courtesy of Baldor Electric Company)

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 2.1. INTRODUCTION

DC motor construction
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 2.1. INTRODUCTION

DC motor classification

− Permanent magnet motors
− Series Excitation
− Shunt Excitation
− Separate Excitation
− Compound Excitation

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 2.1. INTRODUCTION

PM DC motor Series DC motor

Shunt/Separately DC motor Compound DC motor

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 2.1. INTRODUCTION

Application
− Marine applications: crane

− Material handling: hoist

− Paper: coiler, winders

− Plastics, Rubbers: Extruders

− Steel: Winders, Coilers

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 CHAPTER 2: DC MOTOR DRIVE

2.1. Introduction
2.2. DC motor’s steady-state characteristics
2.3. Speed control
2.4. Starting and Braking
2.5. Rectifier – DC motor systems
2.6. DC converter – DC motor systems
2.7. Closed-loop control

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 2.2. DC MOTOR’S STEADY-STATE
CHARACTERISTICS
Transient
di f
Vf  i f Rf  Lf
dt
dia
Va  Ra ia  La  ea
dt
d wM
TM  TL  J t
dt
a : Armature Vf : Voltage  V 
f : Field/Excitation i f : Current  A 
L : Inductance  H  e: Back EMF  V 
R : Resistance    T: Torque  N.m 
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 2.2. DC MOTOR’S STEADY-STATE
CHARACTERISTICS
Steady state: wM = const
  Kf If
Va  Ea  Ra I a
Ea  K wM  kV nM
TM  K I a  kT I a
TM  TL
K : Machine Constant   
kV : Voltage Constant  V/rpm   N.m  30  V 
kT    kV  
 A    rpm 
kT : Torque Constant  N.m/A 
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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Current-Speed Characteristic:
= −
Torque-Speed characteristic:
= −

Input power = ×
Motor/Output power: = ×
Motor efficiency
=
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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Separately excited DC motor

V f  Va
  const ; K   const
TM  K I a ; Ea  K wM

Va Ra Va Ra
wM   Ia wM   T
2 M
K K K  K

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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Separate DC motor
– Starting current
Vn wnM(rad/s)
I st  wM,0
Ra
– Starting torque

Tst  K   I st
Tst TM(N.m)
– No load speed Vn
wM ,0 
K
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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Separate DC motor
– The motor torque and speed can be controlled by
adjusting armature voltage or filed voltage
– Used for electrical vehicles and locomotives
wnM(rad/s)
Reduce
Armature
Voltage

TM(N.m)
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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Permanent Magnet DC motor
– Almost low power application
– Similarly to separately dc motor
  const ; K   const
TM  K I a ; Ea  K wM
Va Ra Ra ia wM L
wM   Ia
K K Ea M TL
Va TM
Va Ra
wM   T
2 M
K  K
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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Shunt DC motor Ra ia wM L
Va if
V f  Va ; I f  Va Rf
Ea M TL
Rf TM

Va  Ea  Ra I a
RaRf
Ea  KK f wM wM   Ia
KK f KK f I f
  Kf If Rf Ra TM
wM   2
TM  KK f I f I a KK f  KK 
f
If

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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Shunt DC motor
– To reduce the armature winding loss, Ra very small
– To limit the field current: ≫
– Speed-Torque curve has high stiffness
Rf wnM(rad/s)
wM ,0  wM,0
KK f wM,n

Pn  kW 
TM , n  9550
nM , n  rpm  TM,n TM(N.m)

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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Shunt DC motor
‒ Motor speed is nearly constant
‒ The torque can also be controlled by adjusting the
field current
‒ Used for applications with continuous operations
at a constant speed

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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Series DC motor
I f  Ia Rf Ra ia wM L
  Kf If Ea M TL
Va TM
TM  K I a  KK f I a2
Va Ra  R f wnM(rad/s)
wM   wM,m
KK f I a KK f

Va Ra  R f
wM  
KK f TM KK f
TM,m TM(N.m)
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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Series DC motor
– Speed at no load or light load is excessively high
– Must always be connected to a mechanical load
– Much larger starting torque but lower starting
current than those of dc shunt motor
– The motor speed is inversely proportional to the
square root of the load torque
– Popular applications required high starting torque
and constant load torque such as crane, hoist.

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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Compound DC motor RF Ra ia wM L
if
Va RS
Ea M TL
V f  Va ; I f  Va TM
RS
Va  Ea   Ra  RF  I a
Va Ra  RF
  F  S wM   Ia
K K
Ea  K  w M
Va Ra
TM  K I a wM   T
2 M
K  K

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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Compound
– A combination of series and shunt motors
characteristic
• Capable of starting heavy load as series
• Safe operation at low torque like shunt motor
– Uses for elevators, conveyors, hoists, pumps and
presser.

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 2.2. DC MOTOR’S STEADY-
STATE CHARACTERISTICS
Torque-speed characteristic curves
Speed
Series

Shunt

Compound

Separate

Torque
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 CHAPTER 2: DC MOTOR DRIVE

2.1. Introduction
2.2. DC motor’s steady-state characteristics
2.3. Speed control
2.4. Starting and Braking
2.5. Rectifier – DC motor systems
2.6. DC converter – DC motor systems
2.7. Closed-loop control

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 2.3. SPEED CONTROL

Rfư Rư iư

Rfk Rkt wM L
ikt
Eư M TL
Uư Ukt
TM

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 2.3. SPEED CONTROL

Motor Series Shunt Separate PM

Control variable
Armature Resistance √ √ √ √
Field Resistance √ √
Armature Voltage √ √ √ √
Field Voltage √ √

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 SEPARATE EXCITATION DC MOTOR

Armature voltage control

= −

The armature voltage can be adjust by using:

– DC generator (Ward-Leonard System)
– Chopper
– Controlled rectifier

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 2.3. SPEED CONTROL

Ward-Leonard System

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 2.3. SPEED CONTROL

Armature voltage control – separate motor

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 2.3. SPEED CONTROL

Armature resistance control – separate motor

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 2.3. SPEED CONTROL

Armature resistance control – series motor

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 2.3. SPEED CONTROL

Armature resistance control – Shunt motor

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 2.3. SPEED CONTROL
Armature resistance control
− Increasing the armature resistance also reducing
the stiffness of the motor.
− It is almost impossible to set the speed of a
lightly-loaded motor.
− Only suitable for a fine tuning speed under a
constant load conditions and for a controlled
starting current.
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 2.3. SPEED CONTROL

Air-gap flux control

= −

– By reducing the air-gap flux:

• The gradient of the characteristics increase.

• The no-load angular velocity increase.

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 2.3. SPEED CONTROL

Air-gap flux control – separate motor

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 2.3. SPEED CONTROL

Air-gap flux control: shunt motor

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 2.3. SPEED CONTROL
Air-gap flux control
− The air-gap flux can be controlled by adjusting the
excitation current.
− With small load, we can increase the speed by
reducing the flux. However, it will lead to reduce
the stiffness, β, of the motor.
− This method cannot be applied for the PM DC
motor
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 2.3. SPEED CONTROL

Field weakening
– Applied when the armature voltage has reach its
maximum value.

– Reducing the flux can increase the motor speed

higher with lightly-load.

– The rated torque of the motor is no longer

available.

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 2.3. SPEED CONTROL
Field Weakening

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 CHAPTER 2: DC MOTOR DRIVE

2.1. Introduction
2.2. DC motor’s steady-state characteristics
2.3. Speed control
2.4. Starting and Braking
2.5. Rectifier – DC motor systems
2.6. DC converter – DC motor systems
2.7. Closed-loop control

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 STARTING

Starting current
– At zero speed, E = 0:

= ≫
− About 20 times its base or rated armature current
− Only small dc motor of 1 HP or less can be
connected directly to a line of rated voltage
− Larger motors require starting device

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 STARTING

Starting resistor

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 STARTING

A soft starter

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 BRAKING

Regenerative braking

Reverse braking

Dynamic braking

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 BRAKING

Regenerative braking
– Occurs when bemf is larger than the armature
voltage, caused by:
• Reduce armature voltage
• Active torque made the motor runs faster than loaded
speed
Ea  Va
Ia 
Ra
Vbr  Ea  I br Ra
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 BRAKING

Reverse braking
− The braking current

+
=
+

− A resistor is needed

+
= −

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 BRAKING (GENERATING)

Dynamic braking
– The kinetic energy of the system is dissipated in
an external resistor.

=
+

= −

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 CHAPTER 2: DC MOTOR DRIVE

2.1. Introduction
2.2. DC motor’s steady-state characteristics
2.3. Speed control
2.4. Motoring and braking
2.5. Rectifier – DC motor systems
2.6. DC converter – DC motor systems
2.7. Closed-loop control

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 2.5. RECTIFIER – DC MOTOR

Multiple Quadrant Operation

In the DC motor, the torque is directly proportion
to the armature current Ia.

−
=
The machine will develop positive (motoring) or
negative (braking) torque by adjusting Va greater
or less than Ea.

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 2.5. RECTIFIER – DC MOTOR
Multiple Quadrant Operation

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 2.5. RECTIFIER – DC MOTOR
One-quadrant DC drive

Vm
Va  1  cos   Vm
2 Va  1  cos  


3 3Vm
Va  1  cos  
2

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 2.5. RECTIFIER – DC MOTOR
E
Two-quadrant DC drive

2Vm
Va  cos 
 Ia

3 3Vm
Va  cos 


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 2.5. RECTIFIER – DC MOTOR
Four-quadrant DC motor drive E

2Vm
Va  cos 
 Iư

+
Vs 3 3Vm
Vs Va  cos 
- 

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 2.5. RECTIFIER – DC MOTOR
DC motor drive: Matlab toolbox

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 CHAPTER 2: DC MOTOR DRIVE

2.1. Introduction
2.2. DC motor’s steady-state characteristics
2.3. Speed control
2.4. Working modes
2.5. Rectifier – DC motor systems
2.6. DC converter – DC motor systems
2.7. Closed-loop control

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 2.6. DC CONVERTER – DC
MOTOR (CHOPPER)
− Using DC-DC converter to adjust DC voltage
− Vs: supply voltage
− Vd: output voltage of the converter
− The switch is on in ton every period T

− Duty ratio: D=

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 2.6. DC CONVERTER – DC
MOTOR (CHOPPER)
First-quadrant or Type-A Chopper

Second-quadrant or Type-B Chopper

Two-quadrant or Type-C Chopper

Two-quadrant or Type-D Chopper

Four-quadrant or Type-E Chopper

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 2.6. DC CONVERTER – MOTOR

First-quadrant or Type-A Chopper.

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 2.6. DC CONVERTER – MOTOR

Second-quadrant or Type-B Chopper.

= 1−

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 2.6. DC CONVERTER – MOTOR

Two-quadrant Type-C Chopper.

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 2.6. DC CONVERTER – MOTOR

Two-quadrant Type-D Chopper.

= 2 −1

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 2.6. DC CONVERTER – MOTOR

Four-quadrant or E-Type Chopper.

T1 D2 T3 D4 Ea
Va II I
Vs
Ia Ra La Ea III IV Ia
T2 D1 T4 D3

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 2.6. DC CONVERTER – MOTOR

Four-Quadrant (E-Type)
– Case 1: two-level voltage output

– Case 2: three-level voltage output

– Case 3: 1st and 3rd quadrants dc motor drive

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 2.6. DC CONVERTER – MOTOR
Four-Quadrant: Case 1
T = 1/f T = 1/f
T1, T4 Control
PWM1 t
ON OFF ON OFF
T2 T3 Control
PWM2 OFF ON OFF ON t
vo
Vs
Vo t

-Vs
io
Imax
t

Imin D
2 D1 D2 D1 D2
D3 T1+T4 D4 T 2+T 3 D3 T1+T4 D4 T 2+T 3 D3
4 1 2 3 4 1 2 3 4
II I IV III II I IV III II

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 2.6. DC CONVERTER – MOTOR
Four-Quadrant: Case 1
T1 D2 T3 D4 T1 D2 T3 D4

Vo Vo
Vs Vs
vo
io R L E io R L E
II I

1 III IV io
2
T2 D1 T4 D3 T2 D1 T4 D3

T1 D2 T3 D4

Vo
Vs
io R L E

T2 D1 T4 D3

T1 D2 T3 D4 T1 D2 T3 D4

Vo Vo
Vs Vs
io R L E
Va  Vs  2 D  1 io R L E

4 3
T2 D1 T4 D3 T2 D1 T4 D3

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 2.6. DC CONVERTER – MOTOR
Four-Quadrant: Case 2
0.5  D  1 0  D  0.5
1 1
D
0.5 0.5
D
0 0
T1 T2 on T1
T1 on T2 on T1 on T2 on t on on
T2 on t

T4 on T3 on T4 on
t T3 on T4 on T3 on T4 on t
vo vo t
Vs 0 Vo
Vo t
0 -Vs
io io
Imax Imax t
0
t
0
D1 D3 D3 D1 D3 D3 T +T
Imin D3 D1 D1 T +T D3 D1 D1
T1+T4 T1+T4 T2+T3
Imin T4 T2 D2 T4 T2 D2 1 4 T2 T4 D4 2 3 T2 T4 D4
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

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 2.6. DC CONVERTER – MOTOR
Four-Quadrant: Case 2 0.5  D  1

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 2.6. DC CONVERTER – MOTOR
Four-Quadrant: Case 2 0  D  0.5

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 2.6. DC CONVERTER – MOTOR
Four-Quadrant: Case 2
- Average output voltage

Va  Vs  2 D  1

- RMS output voltage

+ D < 0.5: Va ,rms  Vs 1  2D 

+ D > 0.5 : Va ,rms  Vs  2D  1

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 2.6. DC CONVERTER – MOTOR
Four-Quadrant: Case 3

Forward Motion Reverse Motion

Va  DVs Va   DVs
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 2.6. DC CONVERTER – MOTOR

Another H-bridge circuit

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 2.6. DC CONVERTER – MOTOR
DC Motor Drive: L298 Dual H-bridge

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 2.6. DC CONVERTER – MOTOR
DC Motor Drive: L298 Dual H-bridge

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 2.6. DC CONVERTER – MOTOR
Matlab toolbox

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