DC MOTOR DRIVES

• Introduction
– Trends in DC drives
– DC motors
• Modeling of Converters and DC motor
– Phase-controlled Rectifier
– DC-DC converter (Switch-mode)
– Modeling of DC motor
• Closed-loop speed control
– Cascade Control Structure
– Closed-loop speed control - an example
• Torque loop
• Speed loop
• Summary
 INTRODUCTION
• DC DRIVES: Electric drives that use DC motors
as the prime movers
• DC motor: industry workhorse for decades
• Dominates variable speed applications before
PE converters were introduced

• Will AC drive replaces DC drive ?

– Predicted 30 years ago
– DC strong presence – easy control – huge numbers
– AC will eventually replace DC – at a slow rate
Introduction

DC Motors

• Advantage: Precise torque and speed control

without sophisticated electronics

• Several limitations:
• Regular Maintenance • Expensive
• Heavy • Speed limitations
• Sparking
Introduction

DC Motors
Rotor: armature
windings
Stator: field
windings

•Mechanical commutator Current in

•Large machine employs compensation windings Current out
Introduction
Ra La Lf Rf

ia +
+ if +

Vt ea Vf

_ _ _

di di f
v t = R a ia + L a + ea v f = R f if + L
dt dt

Te = k t φi a Electric torque

e a = k E φω Armature back e.m.f.

Introduction

Armature circuit:
di a
Vt = R a i a + L + ea
dt

In steady state,
Vt = R a Ia + E a

Therefore speed is given by,

Vt R T
ω= − a e2
k T φ (k T φ)

Three possible methods of speed control:

Field flux
Armature voltage Vt
Armature resistance Ra
Introduction
Armature voltage control : retain maximum torque capability
Field flux control (i.e. flux reduced) : reduce maximum torque capability
For wide range of speed control
0 to ωbase → armature voltage, above ωbase → field flux reduction

Armature voltage control

Field flux control
Te

Maximum
Torque capability

ωbase ω
 MODELING OF CONVERTERS
AND DC MOTOR

POWER ELECTRONICS CONVERTERS

Used to obtain variable armature voltage

• Efficient
Ideal : lossless

• Phase-controlled rectifiers (AC → DC)

• DC-DC switch-mode converters(DC → DC)

Modeling of Converters and DC motor

Phase-controlled rectifier (AC–DC)

ia
ω
+
3-phase Q1
Vt Q2
supply
Q3 Q4 T
−
Modeling of Converters and DC motor

Phase-controlled rectifier

+
3-
phase 3-phase
Vt supply
supply
−

Q2 Q1

Q3 Q4
T
Modeling of Converters and DC motor

Phase-controlled rectifier

F1 R1

3-phase
supply
+ Va -
R2 F2

Q2 Q1

Q3 Q4
T
Modeling of Converters and DC motor

Phase-controlled rectifier (continuous current)

• Firing circuit –firing angle control
→ Establish relation between vc and Vt

+
iref + current vc firing α controlled
- controller circuit rectifier Vt
–
Modeling of Converters and DC motor

Phase-controlled rectifier (continuous current)

• Firing angle control linear firing angle control

vt v vc
= c α= 180
180 α vt

Vm v 
Va = cos c 180 
π  vt 

Cosine-wave crossing control

v c = v s cos α

Vm v c
Va =
π vs
Modeling of Converters and DC motor

Phase-controlled rectifier (continuous current)

•Steady state: linear gain amplifier
•Cosine wave–crossing method
•Transient: sampler with zero order hold

converter

T
GH(s)

T – 10 ms for 1-phase 50 Hz system

– 3.33 ms for 3-phase 50 Hz system
Modeling of Converters and DC motor

Phase-controlled rectifier (continuous current)

400

200

0
Output
-200 voltage
-400
0.3 0.31 0.32 0.33 0.34 0.35 0.36
Control
Td signal
10

5
Cosine-wave
0 crossing
-5

-10
0.3 0.31 0.32 0.33 0.34 0.35 0.36

Td – Delay in average output voltage generation

0 – 10 ms for 50 Hz single phase system
Modeling of Converters and DC motor

Phase-controlled rectifier (continuous current)

• Model simplified to linear gain if bandwidth

(e.g. current loop) much lower than sampling
frequency
⇒ Low bandwidth – limited applications

• Low frequency voltage ripple → high current

ripple → undesirable
Modeling of Converters and DC motor

Switch–mode converters

T1 ω

+ Q2 Q1
Vt Q3 Q4 T
-
Modeling of Converters and DC motor

Switch–mode converters

T1 Q1
Q2
D1
Q3 Q4 T
+
T2 Vt
D2 - Q1 → T1 and D2

Q2 → D1 and T2
Modeling of Converters and DC motor

Switch–mode converters

D1 D3 Q1
T1 T3 Q2
+ Vt -
Q3 Q4 T

T4 D2 T2
D4
Modeling of Converters and DC motor

Switch–mode converters

• Switching at high frequency

→ Reduces current ripple
→ Increases control bandwidth

• Suitable for high performance applications

Modeling of Converters and DC motor

Switch–mode converters - modeling

+
Vdc
Vdc

vtri

q
vc
1 when vc > vtri, upper switch ON
q=
0 when vc < vtri, lower switch ON
Modeling of Converters and DC motor
Switch–mode converters – averaged model

Ttri

vc

q
1 t + Ttri t on
d d=
Ttri ∫ t
qdt =
Ttri

1 dTtri
Vdc
Vt Vt =
Ttri ∫ 0
Vdc dt = dVdc
Modeling of Converters and DC motor
Switch–mode converters – averaged model
d
1
0.5
0 vc
-Vtri,p Vtri,p

vc
d = 0.5 +
2Vtri,p

Vdc
Vt = 0.5Vdc + vc
2Vtri,p
Modeling of Converters and DC motor

DC motor – small signal model

di a dωm
v t = ia R a + L a + ea Te = Tl + J
dt dt
Te = kt ia ee = k t ω

Extract the dc and ac components by introducing small

perturbations in Vt, ia, ea, Te, TL and ωm
ac components dc components
~
~ d i
v t = ia R a + L a a + ~
~ ea Vt = Ia R a + E a
dt
~ ~
Te = k E ( ia ) Te = k E Ia
~ ~)
e e = k E (ω Ee = k E ω

~ ~ ~)
d (ω
~
Te = TL + B ω + J Te = TL + B(ω)
dt
Modeling of Converters and DC motor

DC motor – small signal model

Perform Laplace Transformation on ac components
~
~ d i
v t = ia R a + L a a + ~
~ ea Vt(s) = Ia(s)Ra + LasIa + Ea(s)
dt

~ ~ Te(s) = kEIa(s)
Te = k E ( ia )

~ ~)
e e = k E (ω Ea(s) = kEω(s)

~ ~ ~)
d (ω
~
Te = TL + B ω + J Te(s) = TL(s) + Bω(s) + sJω(s)
dt
Modeling of Converters and DC motor

DC motor – small signal model

Tl (s )
-
Va (s ) I a (s ) Te (s ) ω (s )
1 1
kT
+ Ra + sL a +
B + sJ
-

kE
 CLOSED-LOOP SPEED CONTROL

Cascade control structure

position speed torque converter
controller controller controller
θ* + ω* + T* +
Motor
- - -

tacho
kT

1/s

• The control variable of inner loop (e.g. torque) can be

limited by limiting its reference value
• It is flexible – outer loop can be readily added or removed
depending on the control requirements
CLOSED-LOOP SPEED CONTROL

Design procedure in cascade control structure

• Inner loop (current or torque loop) the fastest –

largest bandwidth

• The outer most loop (position loop) the slowest –

smallest bandwidth

• Design starts from torque loop proceed towards

outer loops
CLOSED-LOOP SPEED CONTROL

Closed-loop speed control – an example

OBJECTIVES:
• Fast response – large bandwidth
• Minimum overshoot
good phase margin (>65o) BODE PLOTS
• Zero steady state error – very large DC gain

METHOD
• Obtain linear small signal model

• Design controllers based on linear small signal model

• Perform large signal simulation for controllers verification

CLOSED-LOOP SPEED CONTROL

Closed-loop speed control – an example

Permanent magnet motor’s parameters

Ra = 2 Ω La = 5.2 mH

B = 1 x10–4 kg.m2/sec J = 152 x 10–6 kg.m2

ke = 0.1 V/(rad/s) kt = 0.1 Nm/A

Vd = 60 V Vtri = 5 V

fs = 33 kHz

• PI controllers • Switching signals from

comparison of vc and triangular
waveform
CLOSED-LOOP SPEED CONTROL

Torque controller design q

vtri

Torque +
controller
Tc +
Vdc
–
•

q kt

DC motor
Tl (s )
Converter
T e (s ) Torque V dc Va (s ) 1 Ia (s ) Te (s ) -
1 ω (s )
kT
+ controller + Ra + sL a + B + sJ
V tri ,peak
- -

kE
CLOSED-LOOP SPEED CONTROL

Torque controller design

Open-loop gain
Bode Dia gram
From: Input Point To: Output Point
150

100 kpT= 90
Magnitude (dB)

compensated
50
kiT= 18000
0

-50
90

45
Pha s e (deg)

compensated
-45

-90
-2 -1 0 1 2 3 4 5
10 10 10 10 10 10 10 10
Frequency (rad/s ec )
CLOSED-LOOP SPEED CONTROL

Speed controller design

Assume torque loop unity gain for speed bandwidth << Torque bandwidth

ω* + Speed T* T
1 1 ω
controller
– B + sJ

Torque loop
CLOSED-LOOP SPEED CONTROL

Speed controller
Open-loop gain Bode Diagra m
From: Input Point To: Output Point
150

100
kps= 0.2
Ma gnitude (dB)

50
compensated
kis= 0.14
0

-50
0

-45
Phas e (deg)

-90

-135 compensated

-180
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequenc y (Hz )
CLOSED-LOOP SPEED CONTROL

Large Signal Simulation results

40

20

Speed 0

-20

-40
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45

Torque 0

-1

-2
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
CLOSED-LOOP SPEED CONTROL – DESIGN EXAMPLE

SUMMARY
Speed control by: armature voltage (0 →ωb) and field flux (ωb↑)

Power electronics converters – to obtain variable armature voltage

Phase controlled rectifier – small bandwidth – large ripple

Switch-mode DC-DC converter – large bandwidth – small ripple

Controller design based on linear small signal model

Power converters - averaged model
DC motor – separately excited or permanent magnet

Closed-loop speed control design based on Bode plots

Verify with large signal simulation
 DC Motor Drive
• General Concept
• Speed Control
• SCR Drives
• Switched-mode DC Drives

1
 DC Motor

• Advantages of DC motor:
– Ease of control
– Deliver high starting torque
– Near-linear performance

• Disadvantages:
– High maintenance
– Large and expensive (compared to induction
motor)
– Not suitable for high-speed operation due to
commutator and brushes
– Not suitable in explosive or very clean
environment

2
 DC Motor Drives
• The DC drive is relatively simple and cheap
(compared to induction motor drives). But DC
motor itself is more expensive.

• Due to the numerous disadvantages of DC motor

(esp. maintenance), it is getting less popular,
particularly in high power applications.

• For low power applications the cost of DC motor

plus drives is still economical.

• For servo application, DC drives is still popular

because of good dynamic response and ease of
control.

• Future Trend? Not so bright prospect for DC, esp. in

high power drives.

3
 Separately Excited DC Motor

ia, Ia if, If

+
La Lf
+
vf, If
va, Va
Ra Rf −
−
+ J
Eg
− ω TL
Td
B

• The field windings is used to excite the field flux.

• Armature current is supplied to the rotor via brush

and commutator for the mechanical work.

• Interaction of field flux and armature current in the

rotor produces torque.

4
 Operation

• When a separately excited motor is excited by a

field current of if and an armature current of ia
flows in the circuit, the motor develops a back emf
and a torque to balance the load torque at a
particular speed.

• The if is independent of the ia .Each windings are

supplied separately. Any change in the armature
current has no effect on the field current.

• The if is normally much less than the ia.

5
Field and armature equations
Instantaneous field current :
di f
vf = Rf if + Lf
dt
where R f and L f are the field resistor
and inductor, respectively

Instantaneous armature current :

di
va = Ra ia + La a + e g
dt
where R f and L f are the armature resistor
and inductor, respectively.

The motor back emf, which is also

known as speed voltage, is expressed as :
e g = K v ωi f
K v is the motor voltage constant (in V/A - rad/s)
and ω is the motor speed (in rad/sec)
6
 Basic torque equation

The torque develped by the motor is :

Td = K t i f ia
where ( K t = K v ) is the torque constant.
(in V/A - rad/s)

Sometimes it is written as :
Td = K tφia

For normal operation, the developed torque

must be equal to the load torque plus the friction
and inertia, i.e. :
dω
Td = J + Bω + TL
dt
where
B : viscous friction constant, (N.m/rad/s)
TL : load torque (N.m)
J : inertia of the motor (kg.m 2 )
7
 Steady-state operation
Ia
If
Ra
+ Rf +
Va
Va La
Lf −
− +
Eg
−

Under steady - state operations, time derivatives

is zero. Assuming the motor is not saturated.

For field circuit,

Vf = I f Rf

The back emf is given by :

E g = K vωI f

The armature circuit

Va = I a Ra + E g = I a Ra + K vωI f
8
Steady-state torque and speed
The motor speed can be easily derived :
V −I R
ω= a a a
Kv I f

If Ra is a small value (which is usual), or when

the motor is lightly loaded, i.e. I a is small,
Va
ω=
Kv I f

That is if the field current is kept constant, the

motor speed depends only on the supply voltage.

The developed torque is :

Td = K t I f I a = Bω + TL

The required power is :

Pd = Td ω

9
 Torque and speed control

• From the derivation, several important

facts can be deduced for steady-state
operation of DC motor.

• For a fixed field current, or flux (If) , the

torque demand can be satisfied by varying
the armature current (Ia).

• The motor speed can be varied by:

– controlling Va (voltage control)
– controlling Vf (field control)

• These observations leads to the

application of variable DC voltage to
control the speed and torque of DC motor.

10
 Example 1
• Consider a 500V, 10kW , 20A rated- DC motor
with armature resistance of 1 ohm. When supplied
at 500V, the UNLOADED motor runs at 1040
rev/min, drawing a current of 0.8A (ideally current
is zero at no-load).
– Estimate the full load speed at rated values
– Estimate the no-load speed at 250V.

Va = I a Ra + E g = I a Ra + K vωI f
V −I R 500 − 0.8(1)
Kv I f = a a a = = 0.48
ω 1040

At full load and rated value,

Va − I a Ra 500 − 20(1)
ω fl = = = 1000 rev/min
Kv I f 0.48
At no - load and voltage at 250V,

Va = I a Ra + K vωI f
V −I R 250 − 0.8(1)
ω= a a a = = 519 rev/min
Kv I f 0.48
(Note : in reality, this equation strictly rad/sec)

11
 Variable speed operation

Torque Rated torque)

125V 250V 375V 500V

250 500 750 1000 Speed (rev/min)

• Family of steady-state torque speed curves for a

range of armature voltage can be drawn as above.

• The speed of DC motor can simply be set by

applying the correct voltage.

• Note that speed variation from no-load to full load

(rated) can be quite small. It depends on the
armature resistance.

12
Base Speed and Field-weakening
Torque
Power

ωbase ω

• Base speed:ωbase
– the speed which correspond to the rated Va, rated Ia
and rated If.

• Constant Torque region (ω < ωbase, )

– Ia and If are maintained constant to met torque
demand. Va is varied to control the speed. Power
increases with speed.

• Constant Power region (ω > ωbase, )

– Va is maintained at the rated value and if is reduced to
increase speed . However, the power developed by
the motor (= torque x speed) remains constant.
Known as field weakening.

13
 Four quadrant operation

ia
ia

TORQUE
va Te eg va
eg

ia = +; Te = + ia = +; Te = +
va = −; ω = − A
va = +; ω = +
D

REVERSE FORWARD
GENERATING 4 1 MOTORING

SPEED
ωm
REVERSE FORWARD
MOTORING 3 2 GENERATING
ia ia
B
C

eg va eg va

ia = − ; Te = − ia = − ; Te = −
va = − ; ω m= − va = + ; ω m= +

14
 Regenerative Braking (in Q2)
• Say the motor running at position A. Suddenly va is
reduced (below eg). The current ia will reverse
direction.Operating point is shifted to B.

• Since ia is negative, torque Te is negative.

• Power is also negative, which implies power is

“generated” back to the supply.

• In other words, during the deceleration phase,

kinetic energy from the motor and load inertia is
returned to the supply.

• This is known as regenerative braking-an efficient

way to brake a motor. Widely employ in electric
vehicle and electric trains. If we wish the motor to
operate continuously at position B, the machine
have to be driven by mechanical source.

• The mechanical source is a “prime mover”.

• We must force the prime mover it to run faster so
that the generated eg will be greater than va.

15
 Drive types

• SCR “phase-angle controlled” drive

– By changing the firing angle, variable DC
output voltage can be obtained.
– Single phase (low power) and three phase (high
and very high power) supply can be used
– The line current is unidirectional, but the output
voltage can reverse polarity. Hence 2- quadrant
operation is inherently possible.
– 4-quadrant is also possible using “two sets” of
controlled rectifiers.

• Switched-mode drive
– Using switched mode DC-DC converter. Dc
voltage is varied by duty cycle.
– Mainly used for low to medium power range.
– Single-quadrant converter (buck): 1- quadrant
– Half bridge: 2-quadrant
– Full bridge: 4-quadrant operation

16
 Thyristor/SCR drives
Three/single phase supply Single phase supply

Control
and M
Speed SCR
reference firing
Current
Current sensor T Tachometer

Speed

• Mains operated.

• Variable DC voltages are obtained from SCR firing

angle control.

• Slow response.

• Normally field rectifier have much lower ratings

than the armature rectifier. It is only used to
establish the flux.

17
 Continuous/Discontinuous current
• The key reason for successful DC drive operation is
due to the large armature inductance La.

• Large La allows for almost constant armature

current (with small ripple) due to “current filtering
effect of L”. (Refer to notes on Rectifier).

• Average value of the ripple current is zero. No

significant effect on the torque.

• If La is not large enough, or when the motor is

lightly loaded, or if supply is single phase (half-
wave), discontinuous current may occur.

• Effect of discontinuous current: Output voltage of

rectifier rises; motor speed goes higher. In open-
loop operation the speed is poorly regulated.

• Worthwhile to add extra inductance in series with

the armature inductance.

18
 Basic single-phase drive
Ia If

Ta1 Ra Tf1
Ta3 Lf Tf3
+ +
+ +
vs Vf vs
Va La
_ _
Lf
− + −
Ta4 Ta2 E Tf2 Tf4
g
−

ARMATURE FIELD

For continuous current, armature voltage is :

2V
Va = m cos α a
π

Armature (DC) current is :

Va − E g
Ia = ; E g is the back emf
Ra

Field voltage :
2Vm
Vf = cos α f
π
9
 Basic three-phase drive
I If
Ta1
a

_ van +
Ta3 +
+
Ra Lf
_ vbn
Ta5
n + Vf
_ vcn + La
Ta2 Va Lf
−
+
Ta6
Eg
Ta4 − −
ARMATURE FIELD

Armature voltage :
3Vm, L − L
Va = cos α a
π

Armature (DC) current :

V − VE
Ia = a ; VE is the back emf
Ra

If single phase is used for field :

2V
V f = m cos α f
π
20
 Example 2
A saperately excited DC motor has a constant torque load
of 60 Nm. The motor is driven by s full - wave converter
connected to a 240V ac supply. The field constant of the
motor KI f = 2.5 and the armature resistance is 2 ohm. Calculate
the triggering angle for the motor to opearte at 200 rpm.
Assume the current is continuous.

For continuous current,

2V
Va = m cos α a
π
And
Va = I a Ra + VE

Where VE is the back emf, i.e

VE = KI f ω = 2.5ω
and
T = KI f I a
2Vm T
cos α a = Ra + KI f ω
π KI f
π T
α a = cos −1 Ra + KI f ω
2Vm KI f

π 60 200
= cos −1 2 + 2 .5 2 × π ×
2 2 × 240V 2 .5 60

= 62.32 o

21
 Example 3
A rectifier-DC motor drive is supplied by a three-phase, full
controlled SCR bridge 240Vrms/50Hz per-phase. The field is
supplied by a single-phase 240V rms/50Hz, with uncontrolled
diode bridge rectifier. The field current is set as maximum as
possible.
The separately excited DC motor characteristics is given as
follows:
Armature resistance:Ra = 0.3 ohm
Field resistance: Rf =175 ohm
Motor constant: KV =1.5 V/A-rad/s
Assume the inductance of the armature and field circuit is large
enough to ensure continuous and ripple-free currents. If the
delay angle of the armature converter (αa) is 45 degrees and the
required armature current is 30A,
• a) Calculate the developed torque, Td.
• b) Speed of the motor, ω (rad/s)
• c) If the polarity of the field current is reversed, the motor
back emf will reverse. For the same armature current of 30A,
determine the required delay angle of the armature converter.

Since the fiels current is maximum, α = 0.

2V 2 2 × 240
(a ) V f = m cos α f = cos 0 = 216V
π π
Vf 216V
If = = = 1.235 A
Rf 175
Td = K v I f I a = 1.5 × 1.235 × 30 = 55.58 Nm

22
 Example 3 (cont)

(b) Motor speed

Eg
ω=
Kv I f
E g = Va − I a Ra
The armature is supplied by three - phase with α a = 45o ,
3Vm, L − L 3 × 3 × 2 × 240
Va = cos α a = cos 45o = 396.3V
π π
E g = Va − I a Ra = 396.3 − 30 × 0.3 = 387.3V
387.3V
ω= = 209.06 rad / sec
1.5 × 1.235
(c) Now the polarity of field is reversed, then

E g = −387.3V
and
Va = E g + I a Ra = −387.3 + 30 × 0.3 = −378.3V
Also,
3Vm, L − L
Va = cos α a
π
π × Va π × (−378.5)
α a = cos −1 = cos −1
3Vm, L − L 3 3 × 2 × 240
= 132.4 o
23
 Reversal
• DC motor in inherently bi-directional. Hence no-
problem to reverse the direction. It can be a motor
or generator.

• But the rectifier is unidirectional, because the SCR

are unidirectional devices.

• However, if the rectifier is fully controlled, it can be

operated to become negative DC voltage, by
making firing angle greater than 90 degrees,

• Reversal can be achieved by:

– armature reversal using contactors (2-
quadrant)
– field reversal using contactors (2-quadrant)
– double converter (full 4-quadrants)

24
 Reversal using armature or field
contactors
DRIVE REVERSING USING ARMATURE OR FIELD CONTACTORS

CONTACTOR

2
Vs FIELD
1

CONTACTOR AT THE ARMATURE

SIDE (SINGLE PHASE SYSTEM)

Va Eg Va Eg Va Eg

CONTACTOR AT CONTACTOR AT CONTACTOR AT

POSITION 1 POSITION 2 POSITION 2
(MOTORING) (BRAKING/ (RESERVE)
GENERATION)

25
 Reversing using double converters
converter 1 converter 2

Principle of reversal

Vs

FIELD

Practical circuit

26
 Switched–mode DC drives

• Supply is DC (maybe from rectified-filtered AC, or

some other DC sources).

• DC-DC converters (coppers) are used.

• suitable for applications requiring position control

or fast response, for example in servo applications,
robotics, etc.

• Normally operate at high frequency

– the average output voltage response is
significantly faster
– the armature current ripple is relatively less
than the controlled rectifier

• In terms of quadrant of operations, 3 possible

configurations are possible:
– single quadrant,
– two–quadrant
– and four–quadrant

27
 Single-quadrant drive
• Unidirectional speed. Braking not required.

ia Torque ( ia )
a)

Q4 Q1
ω (va)
Q3 Q2

For 0 < t < T ,

The armature voltage at steady state :
ton
va
1 t ia
Va = Vdt = on = DV
T 0 T
Armature (DC) current is :
Va − E g
Ia = ;
Ra
and speed can be approximated as : ton T
Va
ω=
Kv I f

28
 2 Quadrant DC drives

• FORWARD MOTORING (T1 and D2 operate)

– T1 on: The supply is connected to motor terminal.
– T1 off: The armature current freewheels through
D2.
– Va (hence speed) is determined by the duty ratio.

• REGENERATION (T2 and D1 operate)

– T2 on: motor acts as a generator
– T2 off:, the motor acting as a generator returns
energy to the supply through D1.
ω

Torque

T1 D1 Q4 Q1

Q3 Q2

+
T2 va
D2
–

29
 4 Quadrant DC drives

• A full-bridge DC-DC converter is used.

T1 T3

D1 + va – D3

D4 D2 T2
T4

Torque

Q4 Q1
ω
Q3
Q2

30
 4-quadrant: Forward motoring
• T1 and T2 operate; T3 and T4 off.

• T1 and T2 turn on together: the supply voltage appear

across the motor terminal. Armature current rises.

• T1 and T2 turn off: the armature current decay through

D3 and D4

T1 T3

D1 + va – D3

D4 D2 T2
T4

31
 Regeneration
• T1, T2 and T3 turned off.

• When T4 is turned on, the armature current rises

through T4 and D2.

• When T4 is turned off, the motor, acting as a generator,

returns energy to the supply through D1 and D2.

T1 T3

D1 + va – D3

D4 D2 T2
T4

32
 Reverse motoring
• T3 and T4 operate; T1 and T2 off.

• When T3 and T4 are on together, the armature current

rises and flows in reverse direction.

• Hence the motor rotates in reverse direction.

• When T3 and T4 turn off, the armature current decays

through D1 and D2.

T1 T3

D1 + va – D3

D4 D2 T2
T4

33
 Reverse generation

• T1, T3 and T4 are off.

• When T1 is on, the armature current rises through T2

and D4.

• When Q2 is turned off, the armature current falls and

the motor returns energy to the supply through D3 and
D4.

T1 T3

D1 + va – D3

D4 D2 T2
T4

34
 DC-Motor Drives

•These drives continue to be used

DC Motor Drives 13-1

 DC-Motor Structure

• With permanent magnets or a wound field

DC Motor Drives 13-2

 DC-Motor Equivalent Circuit

• The mechanical system can also be represented as

an electrical circuit
DC Motor Drives 13-3
.
 Four-Quadrant Operation of DC-Motor
Drives

• High performance drives may operate in all four

quadrants
DC Motor Drives 13-4
.
 DC-Motor Drive Torque-Speed
Characteristics and Capabilities

• With permanent magnets

DC Motor Drives 13-5
 DC-Motor Drive Capabilities

• Separately-Excited field
DC Motor Drives 13-6
Controlling Torque, Speed and Position

• Cascaded control is commonly used

DC Motor Drives 13-7

 Small-Signal Representation of DC
Machines

• Around a steady state operating point

DC Motor Drives 13-8

Electrical Time-Constant of the DC Machine

• The speed is assumed constant

DC Motor Drives 13-9
Mechanical Time-Constant of the DC
Machine

• The load-torque is assumed constant

DC Motor Drives 13-10
DC-Motor Drive: Four-Quadrant Capability

• If a diode-rectifier is used, the energy recovered

during regenerative braking is dissipated in a resistor
DC Motor Drives 13-11
 Ripple in the Armature Current

• Bi-polar and uni-polar voltage switchings

DC Motor Drives 13-12

 Control of Servo Drives

• A concise coverage is presented in “Electric Drives: An

Integrative Approach” by N. Mohan (www.MNPERE.com)
DC Motor Drives 13-13
 Effect of Blanking Time

• Non-linearity is introduced
DC Motor Drives 13-14
 Converters for Limited Operational
Capabilities

• Two switches for 2-quadrant operation and only one

switch for 1-quadrant operation
DC Motor Drives 13-15
Line-Controlled Converters for DC Drives

• Large low-frequency ripple in the dc output of

converters
DC Motor Drives 13-16
 Four Quadrant Operation using Line
Converters

• Two options to achieve 4-quadrant operation

DC Motor Drives 13-17
Effect of Discontinuous Current Conduction

• Speed goes up unless it is controlled

DC Motor Drives 13-18

 Open-Loop Speed Control

• Adequate for general-purpose applications

DC Motor Drives 13-19

 DC Drive Characteristics and Capabilities

• Line current in switch-mode

and line-converter drives

DC Motor Drives 13-20