EEE 360

Energy Conversion and

Transport
George G. Karady & Keith Holbert

Chapter 9
Introduction to Motor Control and Power
Electronics

02/06/22 360 Chapter 9 Power Electronics 1

 Lecture 26

02/06/22 360 Chapter 9 Power Electronics 2

 9.1 Concept motor
control

02/06/22 360 Chapter 9 Power Electronics 3

 Power Electronics DC Motor
control
Controlled Motor
Rectifier Armature
Rectifier

AC
Supply M AC
Supply

Excitation
winding
DC link

• Figure 9.3 Concept of a dc motor drive.

• AC supply is rectified to obtain variable dc voltage
•The capacitor filters the DC voltage
•The motor speed is controlled by changing the supply voltage

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 Power Electronics AC Motor
control
Rectifier Inverter
Motor

AC
Supply M
Variable
frequency
AC voltage
DC link

• Figure 9.7 Concept of induction motor drive.

• The motor speed is controlled by the variation of supply voltage frequency
•Variable frequency AC voltage is produced by an inverter
•The inverter is supplied by Dc voltage
•The Dc voltage is produced by the rectification of AC supply voltage

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 9.3 Semiconductor switches

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 9.3 Semiconductor switches

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 9.3 Semiconductor switches
I

Anode Cathode

Figure 9.9 Typical medium

power diode
Vbreakdown
V
Reverse bias Forward bias
region region
Figure 9.8 Diode symbol and ideal
current–voltage characteristic.

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 9.3 Semiconductor switches

Figure 9.10 Power diode mounted on an air-cooled heat sink.

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 9.3 Semiconductor switches
Vdiode
Iload

Vac Rload Vload Figure 9.11 Power diode operation.

100

80
Vload( t )

V 60

Iload( t )
40
A

20

0
0 90 180 270 360 450 540
t
deg

100
80
60
Vac( t ) 40

V 20
0
Vdiode( t )
20
V
40
60
80
100
0 90 180 270 360 450 540
 t
deg

02/06/22 360 Chapter 9 Power Electronics 10

 9.3 Semiconductor switches
Igate
Gate
IA

Anode Cathode Figure 9.12 Thyristor or silicon

controlled rectifier (SCR) symbol.
VACat Anode current

Forward on
state
Figure 9.13 Thyristor
current–voltage
Forward breakdown voltage (VFB ) vs. characteristics.
gate current
Reverse
breakdown
voltage ig4 ig3 ig2 ig1 ig0 = 0

Anode-Cathode voltage

Reverse bias Forward bias

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 9.3 Semiconductor switchesVthy
Iload

• Figure 9.14
Vgate
Vac Rload Vload

Demonstration of
thyristor operation.
100

80

• The delay of the gate

Vload( t )

V 60

Iload( t )

signal delays the turn on

40
A

20

0
0 90 180 270
t
360 450 540
• This controls the output
dc voltage
deg

100
80
Vac( t ) 60
V 40

Vthy ( t ) 20
0
V
20
Vgate( t )
40
V
60
80
100
0 90 180 270 360 450 540
t
deg

02/06/22 360 Chapter 9 Power Electronics 12

 9.3 Semiconductor switches
• Figure 9.16 Two flat-
pack thyristors mounted
on a liquid-cooled heat
sink

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 9.3 Semiconductor switches

• Figure 9.17 Light-fired thyristor used for HVDC transmission.

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 9.3 Semiconductor switches
VGTO
Iload

Vgate
Vac Rload Vload
Igate
Gate
IA
100

Anode Cathode 80
Vload( t )

V 60

Iload( t )
VACat A
40

•
20

Figure 9.18 Gate turn-off

thyristor (GTO) symbol.
0
0 90 180 270 360 450 540
t
deg

100

75
Vac( t )
50
V

Figure 9.19 Gate turn-off VGTO ( t )

V
25

thyristor (GTO) operation. VGate ( t )

V
25

50

75

100
0 90 180 270 360 450 540
t
deg

02/06/22 360 Chapter 9 Power Electronics 15

 9.3 Semiconductor switches
Drain
Collector
D

Gate
Gate
G

S
Source Emitter

Figure 9.20 Power metal-oxide- Figure 9.21 Insulated

semiconductor field-effect gate bipolar transistor
transistor (MOSFET) symbol. (IGBT) symbol.

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 9.4.2 Single phase
Controllable Rectifiers

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 9.4.2 Controllable rectifiers

Th1 Th3

Vac
AC Vac Vdc

Th4 Th2

Figure 9.27 Single-phase thyristor-controlled bridge rectifier.

02/06/22 360 Chapter 9 Power Electronics 18

 9.3 Semiconductor switches
Th1 Vac Th3 Vth Vac
Th1 Th3
Idc
Idc
Vdc Vdc
AC
AC

Vth Th4 Iac Th2

Th4 Th2
Iac

(b) Negative ac supply cycle (a) Positive ac supply cycle

• Operation
– Thyristor 1 & 2 fired in the positive cycle
– Thyristor 3 & 4 fired in the negative cycle

Figure 9.28 Operation of the single-phase thyristor-controlled bridge rectifier.

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 9.4.2 Controllable rectifiers
180

Vac( t) 120
(a) AC voltage, current and
V

Iac( t )
60 thyristor voltage
A 0

Vth ( t )
DC voltage is controlled by
60
V
120

180
0 60 120 180 240 300 360
the delay of firing
 t
deg
180

Vdc( t ) 150 (b) DC voltage, current and

V gate pulse
120
Idc( t )

Vgate( t )
90
Figure 9.29 Voltage and
current waveforms of the
60
V
30

0
0 60 120 180 240 300 360
single-phase thyristor-
 t
deg
controlled bridge rectifier
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 Operation analysis

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 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
Rectifier operation

Vrms  120V f  60Hz Rload  4

The time is the variable but for the verification of the equations we select:

60deg 3
  2   f t  milli 10 t  2.78 millis



The duration of a half and full period is:

1 1
T half  T half  8.33 millis
 T cyc  T cyc  16.67 millis

2 f f

The ac voltage is:

Vac ( t)  2  Vrms  sin   t 2  Vrms  169.71 V Vac ( t)  146.97 V

02/06/22 360 Chapter 9 Power Electronics 22

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
The dc voltage (voltage across the load resistance) is zero between 0 and alfa degree
when the firing is delayed by alfa degree. Also the dc voltage is zero between 180
degree and 180+alfa degree, because the current can flow only positive direction.

The dc voltage with restive load if the firing is delayed by alpha degrees.

  60deg


Vdc ( t)  if   t    0V  Vac ( t)  Vdc ( t)  146.97 V

This voltage is a periodic function

   
Vdc ( t)  if    t    Vdc ( t)  Vdc  t    Vdc ( t)  146.97 V
   

02/06/22 360 Chapter 9 Power Electronics 23

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
The dc current is always positive:

Vdc ( t)
Idc ( t)  Idc ( t)  36.74 A
Rload

The ac voltage is the same as the dc current but the polarity in the negative cycle is negative:


Iac ( t)  if t  Thalf  Idc ( t)  Idc ( t)  Iac ( t)  36.74 A

The voltage across the thyristors is:

Vth ( t)  Vac ( t)  Vdc ( t)

 30deg   84.85 V
Vth  
  

   
Vth ( t)  if    t    Vth ( t)  Vth  t   
   

02/06/22 360 Chapter 9 Power Electronics 24

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
The gate voltage is:

5
t  0  10  s  T cyc

Vgate1 ( t)  if     t    20deg  10  0

   
Vgate ( t)  if    t    Vgate1 ( t)  Vgate  t   
   
02/06/22 360 Chapter 9 Power Electronics 25
 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
5
t  0  10  s  T cyc

180

Vac( t ) 120
V
60
Iac( t )
A 0

Vth ( t ) 60
V
120

180
0 60 120 180 240 300 360
 t
deg

02/06/22 360 Chapter 9 Power Electronics 26

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
.
180

Vdc( t ) 150

V
120
Idc( t)
90
A

Vgate( t) 60
V
30

0
0 60 120 180 240 300 360
 t
deg

02/06/22 360 Chapter 9 Power Electronics 27

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
The average dc voltage

Thalf
1 
Vdc_ave   Vdc ( t) dt Vdc_ave  81.03 V
T half 
0

An equation for the average DC voltage is derived by integration of the sine wave between
alfa and 180 degree and division with the half period length. Using the Maple symbolic
integration we get:

T
1  half
 2  Vrms  sin   t dt
T half 



 1 1 
1   cos  T half    2 cos   2 
  2  Vrms   2  Vrms   81.03 V
Thalf    

02/06/22 360 Chapter 9 Power Electronics 28

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
The simplification of this equation results in:

2  Vrms
Vdc_average     1  cos  
 Vdc_average    81.03 V

This equation is valid only for restive load.

The average dc current is:

Vdc_average  
Idc_average    Idc_average    20.26 A
Rload

T
1  half
Idc_ave   Idc ( t) dt Idc_ave  20.26 A
T half 
0

02/06/22 360 Chapter 9 Power Electronics 29

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
The average thyristor current is the half of this value

Idc_ave
Ith_ave  Ith_ave  10.13 A
2

The rms value of the ac current is:

Thalf
1 2
Iac_rms   Iac ( t) dt Iac_rms  26.91 A
Thalf 
0

02/06/22 360 Chapter 9 Power Electronics 30

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
Ac Power and power Factor

Tcyc
1 
Pac   Vac ( t)  Iac ( t) dt Pac  2.9 kW
Tcyc 
0

Sac  Iac_rms  Vrms Sac  3.23 kV  A

Pac
pfac  pfac  0.9
Sac


 pf  acos pfac   pf  26.24 deg

02/06/22 360 Chapter 9 Power Electronics 31

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
The frequency spectrum of the ac current is:

n  0  51

T
2 cyc
Ia   Iac ( t)  cos n    t dt
n T cyc 
0s

T 0 1 2 3 4 5 6 7 8 9
Ia  A
0 0 -10.13 0 5.06 0 5.06 0 -2.55 0 0.51

T
 cyc
2
Ib   I ac ( t)  sin n    t dt
n Tcyc 
0s

T 0 1 2 3 4 5 6 7 8 9
Ib  A
0 0 34.13 0 -8.77 0 2.92 0 1.47 0 -2.63

02/06/22 360 Chapter 9 Power Electronics 32

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load

Iharm 
 n  
Ia
2
 Ib
n
2

Iharm 
Ia
0
n 2 0 2

T 0 1 2 3 4 5 6 7 8 9
Iharm  A
0 0 25.18 0 7.16 0 4.13 0 2.08 0 1.89

The total harmonic distortion factor

2
51 Iharm 
 n
THD    Iharm  THD  37.2 %
n 2  1

02/06/22 360 Chapter 9 Power Electronics 33

 9.4.2.2 Single-phase Bridge Rectifier
with Resistive load
n  0  51
1

Iharm
n
0.5
Iharm
1

0
0 10 20 30 40 50
n
Harmonic Number

02/06/22 360 Chapter 9 Power Electronics 34

 9.4.3 Firing and snubber circuit

Th1 Th3

AC Vdc Load

Th4 Th2

Th1
Zero Delay Pulse Th2
Firing
crossing angle Amplifier
generator Th3
detector control
Th4

Control voltage

Figure 9.38 Gate firing circuit for a bridge converter.

02/06/22 360 Chapter 9 Power Electronics 35

(a)
100
9.4.3 Firing and
Vac( t )

Vsquare( t )
0 snubber circuit
100
0 90 180 270 360 450 540 630 720 810 900 990 1080
 t

Figure 9.39 Example for thyristor firing

deg

(b) 1

Vramp( t ) 0.75
signal generation.
Vfiring( t )
0.5
(a) Reference sinusoidal signal and its
Vcontrol
0.25
square wave conversion;
0
0 90 180 270 360 450 540 630 720 810 900 990 1080
(b) signals to generate delayed firing
 t
deg
pulses;
(c) 0.3 (c) and (d) firing signals to the thyristors
V1_2( t )
0.2

0.1
conducting in the positive and negative
0
0 90 180 270 360 450 540 630 720 810 900 990 1080 directions, respectively.
 t
deg
0.3
(d)
0.2
V3_4( t )
0.1

0
0 90 180 270 360 450 540 630 720 810 900 990 1080
t

02/06/22 deg
360 Chapter 9 Power Electronics 36
 9.4.3 Snubber circuit

Diode

Rs
Thyristor
Rp

Cs

Figure 9.40 Thyristor with snubber circuit.

Purpose: Control turn on and turn off over voltages

02/06/22 360 Chapter 9 Power Electronics 37

 9.5 Inverters

02/06/22 360 Chapter 9 Power Electronics 38

 9.5 Operation Concept Bridge
Inverters
An inverter converts the dc voltage and current to an ac voltage and
current.
The frequency of the ac voltage can be regulated by the inverter
operating frequency.

Typical power applications are

• AC motor drives;
• Solar power conversion to 60 Hz;
• Wind power conversion;
• Fuel cells; and
• High-voltage dc transmission.

02/06/22 360 Chapter 9 Power Electronics 39

 S1 S3
Idc
9.5 Operation
Iac

Rload Vac
Vdc
Concept Bridge
S4
Iac
S2
Inverters
(a)
Idc

Figure 9.43 Concept of inverter

Idc
operation.
Iac S1 S3
(a) Current flow when S1 and S2 are
Rload Vac
Vdc conducting;
S4
Iac
S2
(b) Current flow when S3 and S4 are
(b) conducting;
Idc
(c) Bridge operation generated
Vac(t)
Ton Ton
voltage waveform.
Vdc
A
t Purpose: Converts
DC to AC
B
-Vdc

(c) Tcyc

02/06/22 360 Chapter 9 Power Electronics 40

 9.5 Operation Concept Bridge
Inverters
RMS value of the output voltage and
operation frequency

Ton
2 Ton
V
2
Vrms _ ac  dc dt  2 Vdc
Tcyc 0
Tcyc

1
f ac 
Tcyc

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