dc Motor Drives 97

2
1 a

Output
Output
(a) On tap 1 (b) Intermediate position (c) On tap 2
Fig. 5.24 On load tap changer
This scheme is employed in 25 kV single
phase 50 Hz ac traction.
The important features of this scheme are:
(a) Output voltage can be changed only in steps; (b)
not change as the output voltage in reduced. A good Rectifier output voltage waveformdoes
power factor is maintainedat the source and
current harmonics introduced in the supply lines do not
acontrolled rectifier when motor voltage is increase abnormally, like in the case of
reduced to a small value: and (c) Becaçse of the use
of diode bridge, circuit is not capable of
regeneration.
5,9 CONTROLLED RECTIFIER FED dc DRIVES
Controlled rectifiers are used to get variable dc voltage from an ac source of fixed
voltage.
Controlled rectifier fed de drives are also known as Static Ward-Leonard drives. Figure 5.25
shows commonly used controlled rectifier circuits and quadrants in which they c¡n operate on
Vla plane. As thyristors are capable of conducting current only in one direction, all these
rectifiers are capable of providing current only in one direction. Rectifiers of Figs. 5.25(a) and

V
AC source AT, AT, ACsource A T;

T, T; ¶D,

(a) Single-phase fully-controlled rectifier (b)Single-phase half-controlled rectifier

ACsource T, ¦I, }I; AC source T,T, T,

D, AD, ¶D,
(d) Three-phase half-controlled rectifier
(c) Three-phase fully-controlled rectifier
rectifier circuits
Fig. 5.25 Single-phase and three phase controlled
98 Fundamentals of Electrical Drives

(c) provide control of dc voltage in either direction and therefore, allow motor control in quadran
Iand IV. They are known as fully-controlled rectifiers. Rectifiers of Figs. 5.25(b) and (d
called half-controlled rectifiers as they allow dc voltage control only in one direction and moto
control in quadrant I only. For low power applications (up to around 10 kw) single-phase
rectifier drives are employed. For high power applications, three-phase rectifier drives are used
Exception is made in traction where single phase drives are employed for large power ratings.
5.10 SINGLE-PHASE FULLY-CONTROLLED RECTIFIER CONTROL
OF de SEPARATELY EXCITED MOTOR
The drive circuit is shown in Fig. 5.26(a). Motor is shown by its equivalent circuit. Field
is not shown. When field control is required, field is fed from a
supply
from an uncontrolled rectifier. The ac input voltage is defined by
controlled rectifier, otherwise

V, = Vm sin wt (5.71)

0
Motor

(a) Drive circuit (b) Discontinuous conduction (c) Continuous conduction

waveforms waveforrms
Fig. 5.26 Single-phase fully-controlled rectifier-fed dc separately excited motor
In acycle of source voltage, thyristors T; and T3 are given gate signals
from o to n, and
thyristors T; and T4 are given gate signals from (7T + a) to 2t. When armature current does not
flow continuously, the motor is said to operate in discontinuous conduction. When current flows
continuously, the conduction is said to be continuous. The drive under consideration, predominantly
operates in discontinuous conduction. Discontinuous conduction has several modes of operation.
The approximate, but a simple, method of analysis is obtained when only the dominant mode of
discontinuous conduction is taken into account. The motor terminal voltage and current waveforms
for the dominant discontinuous conduction and continuous conduction modes are shown in
Figs.
5.26(b) and (c).
In discontinuous conduction mode, current starts flowing with the turn-on of
Ta at
thyristors T; and
t= . Motor gets connected to the source and its terminal voltage equals v. The
current,
which flows against both, E and the source voltage after ot = T, falls to zero at B. Due to the
absence of current T; and T, turn-off. Motor terminal voltage is now èqual to its induced voltage
E. When thyristors T2 and T4 are fired at (1t + ), next cycle of the motor
terminal voltage Va
starts.
In continuous conduction mode, a positive current flows through the
motor, and T and T4 are
in conduction just before a. Application of gate pulses turns on forward biased thyristors TË and
 dc Motor Drives 99
Conduction of T and T; reverse bjases T, and T, and
turns them off. Acycle of U, 1s
completed when T, and T are turned-on at (+ a) causing turn-off of T;
Cince armature current i, is not perfect dc, the motor torque and T3.
freguency of 100 Hz, motor inertia is able to filter out fluctuates.
the
Since torque fluctuates
fluctuations, giving nearly a
constant spccd and rippleless E.
Discontinuous Conduction
Ina cycle of motor terminal voltage u,, the drive operates intwo intervals (Fig. 5.26(b)):
Duty interval (as ot S B) when motor is
i Zero current interval (ßS otS n+ a) connected to the source and U, =Us.
when i, =0 and v, = E.
Drtve operation is described by the following equations:
di,
U,= Rzi, + L,+ E= Vm sin ot, for as wt sß (5.72)
U, = E and i, =0 for BS ots
T+ O (5.73)
Solution of Eq. (5.72) has two components-one due to the ac source
ther due to back emnf (- EIR,). Each of these (V/Z) sin (0 t-), and
components has in turn a transient component. Let.
these be represented by a single exponent Kye-l, then

i, (o)=sin (o1 ) - Ra + Kje-a for as ot <B (5.74)

where

Z=R+ (oL,)² (5.75)

= tan (oL,/R4) (5.76)
and 1, is given by Eq. (5.25).
Constant K, can be evaluated subjecting Eq. (5.74) to the initial condition i,(c) =0.
vlue of K, so obtained in Eq- (5.74) yields!)lol Substituting
sinose lsixdo)a
i, (ot)= Vm
7 [sin (ot - 0) - sin (a- )e-(af-&)cot 1

- 1 - e-(-a)cot I, for cs otsB (5.77)

Since i,(ß) =0, from Eq. (5.77)

sin (ß- ) E E
=0
Ra (5.78)
Bean be evaluated by iterative solution of Eq. (5.78).
Ince voltage drop across the armature inductánce due to dc
1S Zero component of armature current
V,=E+l¡R, (5.79)
 100 Fundamentals of Elcctrical Drives
armature voltage and current respectivel.
where V, and , are respectivcly de components of
From Fg. 5.26(b)

Vy sin an d(an) +
B)E
Vm (cos a- cos B) + (n+ a-
(5.80)
When flux is constant. on.. .
Armaturc current consists of dc component I, and harmonics.
componcnt produces steady torque. Harmonics produce alternating torque components,the average
8
value of which is zero. Therefore, motor torque is still given by Eq. (5.7). From Eqs. (5.7). (5
(5.79) and (5.80)-,
Vm (cos a- cos B) TRa T:
K(ß-a) K(B- a) (5.81)
+o
Boundary between cohtinuous and discontinuous conduction is reached when B=
Substituting B = I +¢ in Eq. (5.78) gives the critical value of speed @me whích separates
as
continuous conduçtion fromdiscontinuous conduction for agiven a
I +e-Rcot |
R,Vm sin (a (5.82)
ZK o-NCoto 1
atij/
Continuous Conduction
From Fig. 5.26(c)

Vm sin ot d (ot) = 2Vm COS O (5.83)

From Eqs. (5.7), (5.8), (5.79) and (5.83)

2Vm cos - Ra (5.84)
a T
TK K?
Speed torque curves for the drive are shown in Fig. 5.27. The ideal no load operation is obtained
when I, =0. When both thyristor pairs (T, T3) and (T;, T) fail to fire, I, willbe zero. This wal
happen when E> v, throughout the period for which firing pulses are present. Therefore, when
a< N2, Eshould be greater or equal to Vm and when a> 2, E should be greater or equal to
Vm sin 1. Therefore, no Joad speeds are given by
(5.85)
Wmo = for 0s as U2

Vm sin a (5.86)
K
for u2Sas

Maximum average terminal voltage (2V) is chosen equal to the rated motor voltage. e
will then be
no load speed of the motor when fed by a perfect direct voltage of rated value
 101
de Motor Drives

control is
(2V/zK). Itis interesting is note that the maximum no load speed with rectifier
this value. Boundary between continuous and discontinuous conduction is shown by
(z/2)times
dotted line(Fig. 5.27). For torques less than rated, a low power drive mainly
operates in
discontinuous conduction. In continuous conduction,the speed-torque characteristics are parallel
g:
straightlines. whose slope, according to (5.84), depends on the armature circuit resistance
discontinuous conduction is to make speed regulation poor. This behaviour can be
Efect of
explainedfrom waveforms of Figs. 5.26(b) and (c). In continuous conduction, for a given a, any
increase in torque causes @m and Eto drop so that I, and Tcan increase. Average terminal
voltage V, remains constant. In discontinuous conduction, any increase in torque and accompanied
increasein , causesBto increase and V, to drop. Consequently, speed drops by alarger amount.

GNTUTe
Boundary between continuou_ CENCe a
K and discontinuous conductigus CantrLbrery
ACCNo
TECA
2Vm
TK 24548
60°
Discontinuous Continuous
conduction conduction
Rated T
90°
torque
120°

1609

Fig. 5.27 Speed torque characteristics of single-phase fully-controlled

rectifier fed dc separately excited motor
The drive operates in quadrants I (forward motoring) and IV (reverse regenerative braking).
These operations can be explained' as follows:
From Eq. (5.84), under the assumption of continuous conduction, de output voltage of rectifier
varies with das shown in Fig. 5.28(a). When working in quadrant I, am is positive and as 90º;
and polarities of V, and Eare shown in Fig. 5.28(b).For positive /, this causes rectifier to deliver
power and the motor to consume it, thus giving forward motoring. Polarities of E, 1, and V, for
quadrant IV operation are shown in Fig. 5.28(c). Ehas reversed due to reversal of a Since 1,
is still in same direction, machine is working as a generator producing braking torque. Further
due to > 90°, V, is negative,suggesting that the rectifier now takes power from dc terminals
and transfers it to ac mains. This operation of rectifier is called inversion and the rectifier is said
to operate as an inyerter. Since generated power is supplied to the source in this operation, it is
regenerative braking.
Two quadrant operation capability of the drive can be utilised only with overhauling loads or
Oher active loads which can drive the motor in reverse direction. In a normal two quadrant
peration of a motor one needs forward motoring (quadrant I) and forward braking (quadrant II)
Which cannot be provided by the drive of Fig, 5.26(a).
102 Fundamentals of Electrical Drives
Fully-controllcd
Va rcctifier
2Vm
Motor

V, E .V. EOm)

-2Vm
a< 90°, ,, > 0 a> 90°, Om < 0

(a) V, - a curve (b) Motoring (c) Regenerative braking

of Fig. 5.26(a)
Fig. 5.28 Two-quadrant operation of the drive
EXAMPLE 5.13
armature resistance of 0.06 Q. It is
A 200 V, 875 rpm, 150A separately excited dc motor has an
voltage of 220 V, 50 H
fed from asingle pha_e fully-controlled rectifier with an ac source
Assuming contnuous conduction, calculate
(i) firing angle for rated motor torque and 750 rpm.
(ii) firing angle for,rated motor torque and (-500) rpm.
(iii) motor speed for a = 160° and rated torque.

Solution
At rated operation E = 200 - 150 × 0.06 = 191 V
750 × 191 = 163.7 V
(i) E at 750 rpm, E=
875
V,=E +IR, = 163.7 +150 x 0.06 = 172.7 V
2Vm cOs &= Va
Now

2x 220v2 cOS a = 172.7

or

Or COS a = 0.872 Or a= 29.3°

-500
(ii) At -500 rpm E= X 191 = -109 V
875
Since V, = E+ IRa
V, =- 109 + 150 x 0.06 = - 100 V
Now 2Vm cos &= Va

Or
2x 220 v2 COS a =-100

Or Or a= 120°
 de Motor Drives 103

a=1600
(i) At
2Vm 2 x 220/2
V, = COS C =
cos 1600= -186 V

Since
V,=E+lR
- 186 = E+ 150 x 0.06
E=-195 V
of
-195
Speed = 191 x875 = -893.2 rpm

EXAMPLE5.14
circuitinductance of motor of the drive of Example 5.13 be 0.85 mH, calculate the
If armature
motor torquefor

() a= 60° and speed = 400 rpm.

Now external inductance of 2 mH is added to the armature .circuit to reduce the region of
discontinuous conduction. Calculate the torque for

Gi) C= 120° and speed = - 400 rpm

(ii) a= l20° and speed =- 600 rpm

Solution

() )= tan =tan -l 2T X50 x 0.85 x 10-3

R, 0.06

o= tan 4.45 = 77.34° and cot ¢ = 0.2247

Z= JR+ (oL,)? = 0.06+ (27x 50 x 0.85x 10-3) ÷0.2737

60
For motoI, K= E_191 = 2.084
Wm 875 21

R, Vm 0.06 x 220/2
= 32.73
ZK 0.2737 x 2.084
From Eq. (5.82)
1+eNcoto
R,ZK
Vm -sin (a - Q) -cotO 1

= 32.73 sin (60°- 77.34°)1 + 0.494 |

l0.494 -
=+ 28.8 rad/sec or +275 rpm
oLOr speed is greater than Omcs the drive is operating under discontinuous conduction.
 104 Fundamentals of Electrical Drives

At 400 rpm E= 400 X 191= 87.3 V

875
From Eq. (5.78)

sin(8-o)- R, + R, -(B-a)coto = 0

220V2 sin (ß- 77.34°) - 87.3 87.3 220\2 sin (60°

0.2737 0.06
+
0.06 0.2737 -71.34")|
60
180
cot
734°=
1136.74 sin (ß-77.34°) - 1455 + 2376.8e-0.22475=0
sin (ß-77.34°) + 2.09e-02247 =1,28
Trial solution of this equation gives ß= 230°.
From (5.80)
Vm (cos a- cos B) + (1+ -B)E

(60 - 230)T 87.3

220/2(cos 60°- cos 230°) ++ 180
-= 118 V

I,= R,
V, -E_118 - 87.3 = 512 A
0.06

T= Kl, = 2.084 x 512 = 1067 N-m

2.85 x 10-3 = tan- 14.92 = 86.17°
(ii) o= tan - 27X 50x
0.06
cot =0.067, E =-87.3 V
Z= JR + (oL, ) = 0.8974
R, Vm 0.06 x 220/2 =9.982
ZK 0.8974 x 2.084
From Eq. (5.82)
I+e-IX0.067
) me 9.982 sin (120° - -86.17")| a-IX0.067-1

=-52.94 rad/séc or 505.5 rpm and

Since motor speed, - 400 rpm, is higher than the speed on boundary between continuous
discontinuous conduction, the drive is operating under discontinuous conduction.
 dc Motor Drives 105

FromEq.(5.78)
2202 -87.3 -87.3 22042
sin (ß - 86.17°)
0.8974 0.06
+
0.06 0.8974 sin (120° - 86.17")|
xe0067,0.067x120r/1 80 =0
346.7 sin (ß- 86.17°) + 1455 - 1896e-0.067 = 0
sin (ß-86.17°) + 4.2 - 5.4687e-0.067 =0
Solutionofthis equation by trial and error yields
B= 281°
From(5.80)
120 - 281
220/2 (cos 120°- cos 281°) + 7+ l-87.3)
180
V,= =-77.63 V

Ih-E--17.63 -(-87.3) = 161.2 A

R, 0.06
T= Kl, = 2.084 x 161.2 = 335.9 N-m
(ii) Since the motor speed (- 600 rpm) is less than the critical speed (-505.5 rpm), drive
operates in continuous conduction, Now.
2x 220V2 !
2Va cos 120°= -99 V

-600
E= 875X 191= -131y

V, -E -99 - (-131) = 533.3 A

R¡ 0.06

T= Kl,= 2.084 x 533.3 = 1111.5 N-m

EXAMPLE 5.15
Motor of drive of Example 5.13 has armature circuit inductance of 2.85 mH. Calculate motor
Speed for:
(() =120° and T= 1200 N-m
(ii) a= 120° and T=300N-m

Solution
From part (i)of Example 5.14 for a = 120°
Wmc =- 59.94 rad/sec or -505.5 rpm
At the
critical speed
 106 Fundamentals of Electrical Drives

-505.5
X 191 = -110.34 V
875
continuous
As at this point (critical speed), the conduction is
2x 2202 cos 120 = -99
V, =:2Vo
,=-E-99 - -I10.34) = 189 A
0.06
R,
Torque at the critical speed 393.9 N-m
T= 189 x 2.084 =
greater than T, drive is operating in continuous conduction
() Since torque of 1200 N-m is
Now
V, =-99 (as above)
1200 = 576.9
2.084
=- 133.6 V
E= V, - R, =-99 - 576.9 x 0.06
-133.6
Speed =191 x 875 = - 612 rpm
operating in discóntinuous conduction.
(i)As the torque of 300N-m is less than Tc, drive is
From Eq. (5.81)
Vmn(cos a - cos B) (1)
Ra R,(B- a) K(ß- c)
From Eq. (5.78)

sin (ß- ) - sin (a-)e-t-a)cot]= RaE1-e-(ß-a)cot o]

Substituting from Eq. (1)

(sin(ß- ) - sin(a - )e--a)cot ]

(cos . - cOs B)
R,(B- a) (2)
From example 5.14,
Z= 0.8974, cot ) =0.067, K=
2.084
220/2
0.8974 = 346.7, = 86.170
 de Motor Drives 107
Substituting values of various parameters in Eq. (2)

346.7|sin(B- 86.17°) - sin (120° - 86.17°) exp 120

xe-0067B
180
220/2 (cos 120°- cos B) 7 X 300
0.06(ß- 120z/180) 2.084(B 120z/180)
120
| - exp 180 IX 0.067xe-0.067

346.7[sin (ß- 86.17°) 0.641e-0.067B

=
5185.4 (0.5 +cos B) 452.24
(2.094 - B) (2.094 - B) [1 -0.14e-0.067 B|
mieis a nonlinear algebraic equation. Trial and error solutions give B= 233.4920.
From Eq. (1)

E=
Vm (cos a- cos B) IR,T
i (B- a) K(ß- a) (3)

B- a= 233.4920- 120° X n = 1.98

180°
Substitution of various values in Eq. (3)

E= 220/2(cos 120°- cos 233.492°) NX 0.06 x 300

1.98 2.084 x 1.98 = 1.2V

Speed =x
191 1.2 = 5.5 rpm
5.11 SINGLE-PHASE HALF-CONTROLLED RECTIFIER CONTROL OF
dc SEPARATELY EXCITED MOTOR
Ihe drive is shown in Fig, 5.29(a). In a cycle of source voltage defined by Eq.
gak pulse from a totand T,from (T+ ) to 2t. Motor, terminal (5.71), T, receives
1or the dominant discontinuous and continuous conduction mode are
voltage and current waveforms
(C) respectively. shown in Figs. 5.29(b) and
10 aiscontinuous conduction mode, when T is
fired at a.,
through T, and D and U, = U,, The armature current flowsmotor gets connected to the source
and D, gets forward biased at z.
Consequently , armature current freewheels through the path formed by D, and D2, and the motor
tdrops
erminalto vol0attage IS zero. Conduction of D, reverse biases T and turns it off. Armature current
Band stays zero until T, is fired at (T+ ). Similarly, the continuous conduction
mode can be
explained.
DiAscyclecontinofuousmotoConduct
r
io
terminal
n voltage consists of three intervals (Fig. 5.29(b)):
108 Fundamentals of Electrical Drives

E
Motor
0
0 a

D, D2 Dj, D,
D, D, D,, D;
(b) Discontinuous conduction (c) Continuous conduction
(a) Drive circuit waveforms
waveforms
half-controlled-rectifier fed separately excited motor
Fig. 5.29 Single-phase

Duty interval (as wi s ): Armature current is given by Eq (5.77). Substitution t

(i)
0t= Tin this equation gives i(). following equation:
(ii) Freewheelinginterval (1S otS B): Operation is governed by the
di,
i,R, + La dt + E=0 (5.81)
yields
Solution of (5.87) subject to i,() as the initial current

i.(ot) = m (sin . e-(o-T)cot9 sin (a-)· e-(ot-a)coto1

-E(1-e-(or-a)cot9],
R,
for 1S 01sB (5.88)
i, (B) =0, one
(iii) Zero current interval (Bs wts n+ ): Equation (5.73) is applicable. Since
gets from (5.88)

eßcoto = R,Vn (sin oecot - sin (a -

ZE
)eacot 1+ ecot (5.89)

B can be calculated by the solution of Eq. (5.89). Now

Vn sin atd(ot) +Ed(a)

Vn (1 + cos o) + (7t a-B)E (5.90)

Frorn Eqs. (5.7), (5.8), (5.79) and (5.90)

Vn (1 + cos C) T (5.91)
K(B- ) K(B- a ) t
Boundary between continuous and discontinuous conduction is reached when ß= + .
Substituting ß = + a in (5.89) gives the critical speed @mes which separates continuous
conduction from discontinuous conduction for a given a.
R, Vn sin e-cot9 - sin (a - o)e-tcoto | (5.92)
I-e-Cot
 dc Motor Drives 109

ContinuousConduction
FromFig.5.29(c)

V, sin otd(wr) = m (1 +cos a) (5.93)

FromEqs.
(5.7),(5.8),((5.79) and (5.93)
R, (5.94)
Om=(1 +cos ca) -yi!
and
Speed-torque curves are shown in Fig. 5.30. No load speeds are given by Eqs. (5.85)
equivalent circuit
(5.86). Operation of drive, which operates in quadrant I only, is represented by
of Fig..5.28(b). It is useful to note why the drive should not be operated in quadrant IV. Figure
a (5.93))
5.31(a) shows plot of V, with (Eq.
haalf-controlled rectifier for continuous
for
conduction operation. The output voltage cannot
be reversed. When coupled to an active load, VmK
the motor speed can reverse, reversing E as
shown in Fig. 5.31(b). As current direction does 2Vm a= 0°

not change, machine now works as a generator

producing braking torque. Since, rectifier voltage 90°
cannot reverse, generated energy cannot be
transferred to ac source, and therefore, it is 120°
absorbed in the armature circuit resistance.
Braking so obtained is nothing but the reverse
0
voltage braking (plugging). Such a braking is T
not only inefficient, but also causes a large Fig. 5.30 Speed torque curves of single-phase
current [!, =(, +E)/R,] to flow through the half-controlled rectifier fed separa
rectifier and motor. Since it cannot be regulated tely excited motor
by adjustment of firing angle, it will damage
the rectifier and motor. Therefore, when load is active, care should be taken to avoid such a
operation. If such a operation cannot be avoided, fully-controlled rectifier should be used.

Half controlled
rectifier

2Vm

0
any a, m <0

(a) V,-a curve (b) Braking operation

Fig. 5.31 Reverse voltage braking operation of the drive of Fig. 5.29(a)
 I10 Fundamentals of Electrical Drives
Ahalf-controlled single-phase rectifier is cheaper and gives higher power factor compared to
provides control in quadrant I.
Single-phase fully-controlled rectifier. But then itonly
EXAMPLE 5.16
motor has armature circuit resistanca
A 220 V, 960 rpm, 12.8 A separately excited dc single-phase
inductance of 2 ohm and 150 mH, respectively. It is fed from a
rectifier with an ac source voltage of 230 V, 50 Hz. Calculate
half-controlled
(i) Motor torque for a = 60° and speed = 600 rpm.
(iü) Motor speed for a =60° andT= 20 N-m.

Solution
Fist it should be ascertained whether motor operates in continuous or discontinuous conduction
by
The critical speed, separating continuous conduction from discontinuous, is given
R, Vm sin de-acot sin (a - d)e-rcot
Wme
KZ
1 - e-Icot (5.92)
150 x 10-3 = tanl 23.562 = 87.57°
Now ó= tan-l 27X 50×

cot ó= 0.04244, e cot= 0.8752, e-a cot = 0.9565

Z= /2+ 47.122 = 47.17
At rated operation: E = 220 - 12.8 × 2 = 194.4

K= E 194.4 =1.9337
0m (960/60) x2a.
R, Vm 2x 230-2 =7.132
KZ 1.9337 x 47.17
Substituting in Eq. (5.92)

Onc= 7.132|sin 87.57° x 0.95651-0.8752

sin (60° -87.57°) x 0.8752

=77.76 rad/sec or 742.54 rpm

Since motor speed of 600 rpm is less than the critical speed, drive is operating under continuous
conduction, for which
Vm 23042 (1 + cos 60°) = 155.3
(1 + cos a) =
600
At 600 rpm E 960 -× 194.4 = 121.5V

T= Kl, =K|E
155.3 121.5
R¡ -1937( 2
=32.68N-m
 dc Motor Drives 111

(ii) Motor
back emf for the critical speed 752.54 rpm

E= 742.54
960
X 194.4= 150.37

T,=K|-
R, 19337| 153150,31) =477 N-m
Since motor torque of 20 N-m is higher than the critical torque Te drive is operating in
continuous conduction. Now
T 20
1.9337 =10.34 A
E= V,-1,R, = 155.3 - 10.34 × 2- 134.6V
Speed = 134.6
194.4
x960 = 664.8 rpm

s12 THREE-PHASE FULLY-CONTROLLED RECTIFIER CONTROL

OF de SEPARATELY EXCITED MOTOR
Three-phase fully-controlled (6 pulse) rectifier fed separately excited de motor drive is shown in
Fig. 5.32(a). Thyristors are fired in the sequence of their numbers with a phase difference of 60°
i
T6
E
Bo
Co gMotor
AC source AT,} T T,

(a) Drive circuit

T/3 2T

(b) Motoring operation, a= 30°

T
T

(c) Brakíng operation a 140°

Fig. 5.32 Three-phase fully-controlled converter control of separately excited motor
 112 Fundanentals of Electrical Drives

bygate pulses of 120°duration. Each thyristor thyristors)

conducts forand120,
the
and two thyristors conduct
time -one from upper group (odd numbered other from lower
numbered thyristors) applying respective line voltage to the motor. group (even
Transfer of current from an outgoing to incoming thyristor can take place when the
line voltage is of such a polarity that not only if forward biases the incoming thyristor,
leads to the reverse .biasing of the outgoing when incoming turns-on. Thus, firing angle for a
respective
but also

thyristor is measured from the instant when the respective line voltage is zero and increasing. For
example, the transfer of current from thyristor T; to thyristor T; can occur as long as the line
voltage VAC is positive. Hence, for thyristor T;, firing angle a is measured from the instant
5.32(b) and (c).
VAC = 0 and increases as shown in Figs.
voltage, then
If line voltage UAB 0S taken as the reference
VAB = Vm sin wt (5.95)
and
OU=0t - n/3 (5.96)
voltage.
where V, is the peak of line waveforms for continuous conduction are shown
in
Motor terminal voltage and current
and (c) for motoring and braking operations, respectively. Devices under conduction
Figs. 5.32(b)
figure. The discontinuous conduction is neglected here because it occure
are also shown in the
operation. For the motor terminal voltage cycle from a + x/3 to
is a narrow region of its
(c)).
a+ 2r/3 (from Figs. 5.32(b) and
Pa+2r/3
V sin wtd(or)
d+r3
(5.97)
2 V, cos a

From Eqs. (5.7), (5.8), (5.79) and (5.97)

3Vm (5.98)
Wm TK K?
a increasing
Wm 4
When discontinuous conduction isignored, speed-torque
curve has
curves of Fig. 5.33 are obtained. The V, vs a
same nature as shown in Fig. 5.28(a) for single-phase
case.Consequently, drive operates in quadrants Iand IV. Motoring

5.13 THREE-PHASE HALF.

Braking
CONTROLLED RECTIFIER
CONTROL OF de SEPARATELY
EXCITED MOTOR
For rectifier circuit, shown in Fig. 5.25(d), under continuous -Wm fdrive
conduction Curves of
Fig. 5.33 Speed torque
5.32(a) neglectiny
of Fig.
discontinuous conductio
3Vm (1 + cOs ) (5.99)
 dc Motor Drives 113

.(5.8), (5.79) and

(5.7), (5.99)
FromEqs.
3Vm R, (5.100)
m=(1
21k + cos a) - 1

CUrve has
same nature as shown in Fig. 5.31(a). Consequently, drive operates onlyin
K IS Q
qusdrant
I.

ExAMPLES.17
resistance of 0.5 S2, is fed from
220V 1500rpm, 50 Aseparately excited motor with armature
A fully-controlledIrectifier. Available ac source has aline voltage of 440 V, 50 Hz. Astar-
a3-phase equals
connected transformer is used to feed the armature so that motor terminal voltage
delta
ated voltage when converter firing angle is zerO.
ratio.
) Calculate transformer turns and rated
Deternmine the value of firing angle when: (a) motor is running at 1200 rpm
(i1) nrgne: (b) when motor is running at 800rpm and twice the rated torque.
Assume continuous conduction.

Solution
Eq. (5.97)
For 3-phase fully-controlled rectifier from
COS C

00
For rated motor terminal voltage a=
I 220
Vn= 3 cos 0 = 230.4 V

230.4/N2 = 162,9 V
rms converter input voltage between lines = phase windings of primary and
For star-delta transformer connection, ratio of turns between
440/43
secondary = 162.9 = 1.559.
(i) (a) At 1500 rpm E= 220-0.5 x 50 = 195 V
1200
At 1200 rpm E= 1500 X 195 = 156 V

V,= E+ I,R, = 156 + 50 x0.5 = 181 V

Since V,=2v cos

181 = 0.8227
COS C =
230.4
a= 34.650

(b) At- 800 rpm -800 x 195 =-104 V

E=
1500
114 Fundamentals af Electrical Drives
54 V
V,= E+ IR, = - 104 + 100x0.5 = - 5

-54 -0.2454
From Eq. (i) cos = * 230.4 =m
C

Or a= 104.20°

SEPARATELY EXCITED
5.14 MULTIQUADRANT OPERATION OF de RECTIFIER
MOTOR FED FROM FULLY-CONTROLLED
Here, the multiquadrant operation with regenerative braking is considered. In these drivee
within a safe limit during transient
current control is always provided in order to limit current
current is limited using inner current
operations. When closed loop speed control is provided the [Sec. 3,3.11
current limit control
control loop [Sec. 3.3.3], otherwise the drive is operated with
Three schemes are used
switch
(a) Single fully-controlled rectifier with a reversing
(b) Dual converter
with field current reversal.
(c) Single fully controlled rectifier in the armature
are also employed
Allthese schemes are capable of providing four-quadrant operation. Theyregenerative braking
when two-quadrant operation consisting of forward motoring and forward providing forward
capable of
is required. It may be noted that a fully controlled converter is explained in
motoring (quadrant I) and reverse regenerative braking (quadrant IV) operations, as
earlier sections.

5.14.1 Single Fully-Controlled Rectifier with a Reversing Siwitch

Scheme is shown in Fig.5.34(a). A fully-controlled rectifier feeds the motor through a reversing
fully
switch RS which is used to reverse the armature connection with respect to the rectifier. A
the
controlled rectifier is capable of providing operation in quadrants I and IV. The reversal of
armature connection provides operation in quadrant III and II. The reversing switch may consist
as
of a relay-operated contactor with two normally open and two normally closed contacts
shown in Fig. 5.34(b). When slow operation and frequent maintenance associated with the
contactor is not acceptable, reversing switch is realized using four thyristors as shown in Fig.

R
F R

F T

b b
(a) (b) (c)
Fig. 5.34 Four quadrant drive employing single converter and a reversing switch
 dc Motor Drives 115

quadrants I and IV
5.34(C). Withthyristor pair T; on (and pair TR off) operation is obtained in
with pair ZR on (and T; offi) the operation is provided in quadrants III and I. In both the
and
configurationsof RS, the switching is done at Zero current in order to avoid voltage spikes and

(O reduce its rating.

The speed reversal (transter of operation from quadrant Ito III or from quadrant III to 1) is
done as follows:
reduces
The firing angle of the rectifier is set at the highest value. It works as an inverter and
armature current to zero. After the zero current is sensed, firing pulses are stopped. Adelay time
have all fully
of 2to10 ms is provided to make sure that the thyristors which were conducting
urned off. Such long delay (compared to thyristor turn-off time which is of few hundred micro
seconds) is requiredin order to take care of errors in zero current sensing. Now the armature
connection is reversed and firing pulses are released with the firing angle set at the highest value.
The current control adjust the firing angle continuously so as to brake the motor at the maximum
allowable current from initial speed to zero speed and then accelerates the motor (again at the
maximum allowable current) to the desired speed in the reverse direction. The operation at the
maximum current during speed reversal ensures braking and acceleration at the maximum motor
torque ensuring fast reversal.
5.14.2 Dual Converter
Adual-converter (Fig. 5.35) consists of twofully-controlled rectifiers connected in anti-parallel
across the armature. For power ratings upto around 10 kW, sigle-phase fully-controlled rectifiers
can be used. For higher ratings, three-phase fully controlled rectifiers are employed. Rectifier A,
which provides positive motor current and voltage in either direction, allows motor control in
quadrants Iand IV, Rectifier B provides motor control in quadrants III and II, because it gives
negative motor current and voltage in either direction.
L

ac supply
V VB

A B

Fig. 5.35 Dual converter control of dc separately excited motor. AandB are fully controlled
rectifiers. Inductors L and L are used only with simultaneous control
There are two methods of control for the dual converter: (a) In simultaneous control both the
rectifiers are controlled together. In order to avoid de circulating current between rectifiers, they
are operated to produce same dc voltage across the motor terminals. Thus
VA+ V= 0
 116 Fundamentals of Electrical Drives
Substituting from Eg. (5.97), yields
COS &A + cOS Cp = 0

a + CB = 180° (5.101)
current,
Although. control of firing angle according to relation (5.101) prevents dc circulating
instantaneous output voltages of the two
ac current does circulate due to difference between
current. Because of the flow of
rectifiers. Inductors L, and y are added to reduce ac circulating
circulating current, control. In à
ac circulating current, simultaneous control is also known as 30% of full load
thrce-phase dual converter, inductors are chosen to allow a circulating current of
good speed
current. This completely eliminates discontinuous conduction, and therefore, gives
regulation in the complete range of the drive.
The speed reversal is done as follows:
When operating in quadrant I, rectifier Awill be rectifying (0< aa <90°) and rectifier B will
be inverting (90° < Og< 180°). For speed reversal aa is increased and g is decreased to satisfy
eqn. 5.101. The motor back emf exceeds magnitudes of VA and VR. The armature current shifts
to rectifier Band the motor operate in quadrant II. The current control loop adjusts the firing
angle ag continuously so as to brake the motor at the maximum allowable current from initial
speed to zero speed and then accelerates to the desired speed in the reverse direction. As ag is
changed, a, is also changed to satisfy eqn. (5.101). The inductances LË and L, increase the
weight, volume, cost and reversal time. The circulating current increases the losses. Sudden drop
in source voltage can cause large current to flow through the rectifier working as inverter,
blowing its thyristors.
(b) In non-simultaneous or non-circulating current control method, one rectifier is controlled
at a time. Consequently, no circulating current flows and inductors LË and Ly are not required.
This eliminates losses associated with circulating cuirent and weight and volume associated with
inductors. But then discontinuous conduction occurs at light loads and control is rather complex.
The speed reversal is carried out as follows:
When operating in quadrant I rectifier A willbe supplying the motor and rectifier Bwill not be
operating. The firing angle of rectifier A is set at the highest value. The rectifier works as an
inverter and forces the armature current to zero. After zero current is sensed, a dead time of 2 to
10 ms is provided to ensure the turn-off of all thyristors of rectifier A. Now firing pulses are
withdrawn from rectifier A and transferred to rectifier B. The firing angle a is set initially at
the highest value. Now onwards the current control loop adjust the firing angle ag
sO as to brake the motor at the maximum allowable current from initial speed to Continuously
zero speed and
then accelerates to the desired speed in the reverse direction. The dead time, and
reversal time can be reduced by employing methods which can sense the current zero therefore, the
When this isdone non-simultaneous control provides faster response than accurately.
Because of this and the advantages stated above non-simultaneous controlsimultaneous control.
is widely used.
5.14.3 Field Current Reversal
As shown in Fig. 5.36, armature is fed from a
converter so that field current can be reversed.fully-controlled
With field
rectifier and the field froma dual
operates is quadrants Iand IV. When field current is reverted,current in one direction, the motor
it operates in quadrants III and II.
The dual converter operates with
non-simultaneous control. The speed reversal is done as follows.
 dc Motor Drives 117

The armature rectifier firing angle is set at the highest value to force the armature current to
zeroand then firing pulses are withdrawn. The firing angle of the rectifier supplying the field is
nowset atthe highest value. It operates as an inverter and the field current is forced to zero. After

a
suitable dead time, the second rectifier is activated at the lowest firing angle. When the field
current has nearly settled and the motor back emf has reversed, the firing pulses of the armature
ctifier are released so as to set the firing angle at the highest value. Now onwards the current
control loop adjust the firing angle continuously to brake and then accelerate the motor at a
Constant current to the desired speed in the reverse direction.
When speed control in wide range is required, field current is also controlled. In armature
voltage control schemes of Figs. 5.34 and 5.35, the field is then supplied by either a fully
controlled or a half-controlled rectifier. In the scheme of Fig.5.36, dual converter is utilized for
the control of field current.

000

Fig. 5.36 Four quadrant drive with field reversal

EXAMPLE 5.18
Motor of Example 5.17 is fed from a circulating current dual converter with ac source voltage
(line) = 16S V. Determine converter firing angles for the following operating points:
i) Motoring operation at rated motor torque and 1000 rpm.
(i) Braking operation at rated motor torque and 100 rpm.
(ii) Motoring operation at rated motor torque and(- 1000) rpm.
(iv) Braking operation at rated motor torque and ( 1000) rpm.

Solution
FromExample 5.17 at 1500 rpm, E= 195 V
(i) At 1000 rpm E= 1000 X 195 = 130 V
1500
V,= E+I,R, = 130 + 50 x 0.5= 155 V
Now V,=2Vm cos A
Or 155 x
m 3 165/2
= 45.9°
OR = 180° - a = 180° 45.9 = 134.1°
118 Fundamentals of Electrical Drives
105 V
(ii) V,= E- ,R, = 130 - 50 x 0.5 =
105 x
From Eq. () Vm 16542
61.9° = 118.1°
or a = 61.9°, ap = 180°.-
90°
(ii) For negative speeds, R <90° and aa >
Hence from part (), aA = l34.1°, ap =45.9°
will interchange their operations compared to (i).
(iv) Here also the two controlled rectifiers
Thus
a = 118.1°, C¡ = 61.90

and Static Ward Leonard Schemes

5.14.4 Comparison of Conventional
from the following disadvantages compared to
The conventional Ward Leonard scheme suffers cost due to use of two additional machines
initial
Static Ward Leonard scheme: (i) higher and
rating as the main motor, (ii) larger weight and size, (iii) needs more floor space
of same maintenance, (v) higher noise, and (vi) lower
proper foundation, (iv) requires more frequent
efficiency due to higher losses.
conventional, has following disadvantages:
The static Ward Leonard scheme, in comparison with
used in intermittent load applications,
(i)There is noprovision for load equalisation. Thèrefore, when and voltage, which adversely effects
load fluctuations cause heavy fluctuations of supply current considerable amount of
quality of supply and stability of generating plant. (ii) It generates generating plant.
harmonics, which again adversally affect quality of supply and performance of
power drives with low
(i1i)Operates at a low power factor particularly at low speeds. For large
line capacity, low power factor and large harmonics cause great concern.
drive
On the whole, static Ward Leonard drive is preferred over conventional Ward Leonard
in most applications. The conventional drive is however preferred for large size intermittent load
applications where drive capacity forms a significant part of source capacity. It may, however, be
noted that when the source of power is non-electrical, as in diesel electric locomotive or ship
propulsion, conventional Ward Leonard drive can only be used.

5.15 RECTIFIER CONTROL OF dc SERIES MOTOR

Single-phase controlled rectifier fed dc series motors are employed in traction. A single-phas
half-controlied rectifier-fed de series motor is shown in Fig. 5.37(a). Equivalent circuit of moto
is also shown. Since back emf decreases with armature current, discontinuous conduction ocvu
only in a narrow range of operation. Hence, it will be neglected here. The waveforms of Va 'a
instantaneous back emf e for continuous conduction are shown in Fig. 5.37(b). Althoug,
steady state, fluctuations in speed are negligible, e is not constant but fluctuates with i. For a
given speed, eis related to i, through magnetization curve of motor, which is nonlinear owing
tosaturation. Thus
(5.102)
e=fi) Om