ANALYSIS OF CHOPPER FED D.C.

DRIVE WITH PWM & HYSTERESIS CURRENT

CONTROL SCHEME

Document By
SANTOSH BHARADWAJ REDDY
Email: help@matlabcodes.com
Engineeringpapers.blogspot.com
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(a)
ABSTRACT- The work presented in this paper deals with --------------------------------------------------------------------------
the analysis of chopper controlled DC drive. Performance *
of DC drive with open loop (conventional and PWM) and
closed loop has been done. After analysis, it is found that
using chopper circuit in open loop does not give accurate
result as compared to theoretical value as well as in
terms of quality. To avoid this draw-back, closed loop
control system is taken for drive control. Using Hysteresis
current control, it is observed that performance has been
improved and output characteristics are satisfactory.
Key word: chopper, PWM, Hysteresis current control
INTRODUCTION In DC shunt motor the speed is approximately Fig 1( a & b)-chopper circuit & output parameter

a constant speed. The speed drop from no load to full load is

generally less than 5 to 6%. called as constant speed motor. In a chopped load voltage as shown in figure(1) is obtained from a

separately excited dc motor the field winding is separately constant D.C supply of magnitude VS. During the period Ton, the

connected to an external source. This motor are almost chopper is on and Vo= VS . During the interval Toff, chopper is off,

exclusively used for variable speed drive as it can be easily load current flows through the free wheeling diode and Vo is zero,

adopted to the load requirement. Different type of control for a chopped d.c voltage is produce at the load terminal in

speed are used i.e. field control armature voltage control etc. But
Ton
armature voltage control method are generally used. The speed continuous. V0 = .Vs = α . Vs ,
regulation depends on the armature circuit resistance which is
Ton +Toff
practically very less. The speed torque characteristics of this V0 = f . Ton . V s
motor is a straight line i.e. the speed decreases with increasing in
load. This type of motor are used where good speed regulation where α is called duty cycle, f = chopping frequency.
and adjustable speed is required. It has wide range of speed CONTROL STRATEGIES
control. Output voltage Vo can be controlled through α by opening and
Elementary Chopper Circuit closing the semiconductor switch periodically.

(a) Const frequency System :Ton is varied but chopping

frequency f is kept constant. adjustment of Pulse width as
such this scheme is also called Pulse – width –
modulation scheme or time ratio control (TRC) scheme,.

1
 (b) Variable frequency Scheme The chopping frequency ‘

f ’ is varied and either Ton of Toff is kept Const. this

method of controlling ‘α ’ is also called frequency
modulation Scheme
High efficiency of 70% to 95% are typically
obtained using switched-mode, or chopper, circuits. Pulse-
width modulation (PWM) allows control and regulation of the
total output voltage. A basic dc-dc converter circuit known as
the buck converter is illustrated in Fig.1. An SPDT switch is

connected to the dc input voltage Vg as shown. The switch

.
network changes the dc component of the voltage. Fig(2) PWM CONTROLLING SCHEME
Since 0≤ D ≤ 1, the dc component of Vs is less than or The output voltage is sensed and is compared with a reference

equal to Vg . In addition to dc voltage component V s ,

voltage Vr . The resulting error signal is compensated to

V s (t ) contains undesired harmonics of the switching

derive analog voltage Vc (t ) . The pulse-width modulator

produces a switched voltage waveform that controls the gate of

frequency. A low-pass filter is employed for this purpose
the power switch Q1. If this control system is designed such that
converter of Fig. contains a single-section L-C low-pass filter.
duty cycle is automatically adjusted and v follows the reference

1 voltage Vr , independent of variations in Vg or load current.

The filter has corner frequency f0 = .
2π LC
the conversion ratio M(D) is defined as the ratio of the dc CHOPPER CONTROL DC DRIVE

Vg the constant-voltage d.c supply input allows improved

output voltage V to the dc input voltage under stead-
power factor and wave form of A.C side. Also the relatively high
state condition:
chopping frequency employed permits reduced ripple current,
V
M ( D) = which ensures better motor performance as well as reduced time
Vg lay in the system response due to the lower value of filter
For the buck converter, M(D) is given by inductance required. However energy is lost at each commutation
M(D) = D and the efficiency of the chopper decreases as the chopping

When δ (t) is high (for 0< t < DTs), then MOSFET Q1 conducts frequency is increased.

with negligible drain-to-source voltage. Hence, Vs(t) is In CLC ,α is varied in directly by controlling the motor
approximately equal to Vg , and the diode is reverse-biased. The current between certain specified maximum and minimum values.
positive inductor current i1(t) flows through the MSOFET. In effect, this type of control is a variable frequency control,
control system: control system can be constructed. that varies variable on-time and off-time. The diagram of a chopper fed to a
the duty cycle to cause the output voltage to follow a given motor load is shown in below.
Chopper control of separately excited dc moto:
reference Vr Figure(2) shown below illustrates the block
A chopper controlled separately excited dc motor drive
diagram of a simple converter feedback system is shown in Fig.(3)
Raia + La dia/dt+ E=V, 0 ≤ t ≤ ton
In this interval, armature current increases from ia1to ia2. Since
motor is connected to the source during this interval. Which is
called duty interval.

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 Average motor current is a function of the electrical time constant
of the motor,τ a, where. τ a = L/R For a PWM waveform with a
period T the ratio of pulse width to switching period is denoted by
δ . The average pulse current will depend upon the ratio of the
current pulse width, δ T, to the motor electrical time constant, τ a.

Va b) Va

Vdc Vdc

ia ia

T
dT

Fig(5) instantaneous motor current waveforms

Figure(3): - Chopper Control of Separately Excited DC Motor Figure5 (a) High inductance motor & Figure 5(b) Low inductance
motor .

Raia + La dia/dt+ E=0, ton ≤ t ≤ T

Motor which has high armature inductance will require a lower
Motor current decreases from ia2 to ia1 during this interval.
PWM drive frequency in order to establish the required current
1 t on
From Fig. (3) Va =
T ∫
0
Vdt =δ V levels, and hence develop the necessary torque. A low
inductance motor allows the use of a high switching drive
Now we have frequency thus resulting in an overall faster system response, the
Ia = (δ V- E) / Ra , ωm = δ V/ K – RaT/K2 printed circuit motor is one of the lowest inductance DC motors
available with electrical time constants in the order of 100 us,
allow these motors to be used with switching rates as high as
100kHz, with typical drive circuits being operated at 10kHz.
Motor current control, and hence torque control, is achieved by

Banking Va varying the width of the applied pulsed waveforms. This is done in

Motoring open look as well as in closed loop situation. . Open loop

situations are situations in which duty ration is fixed but closed

Regenerative loop situations are those in which the duty ratio not necessarily is
fixed but may depend on the state of converter. For the close
loop case amounts to computation that are numerically far less
involved than the computations in averaging. The computations

δ increasing can easily be perform also including higher harmonics.

ω PWM Motor control: The current in the motor winding rises

fig(4)The nature of speed torque characteristics exponentially at a rate governed mainly by average supply

CONTROL SCHEME AND COMPONENTS voltage and motor inductance. If the pulse width is close to the

Principle of the PWM DC motor drive time constant of the motor then the current at the end of the first

The permanent magnet DC motor may be represented by small pulse will reach nearly 60% of its maximum value, lmax = Vdc/Ra .

L/R ratio. This is Sown as l1 in fig.4. For the remainder of the PWM cycle
switch S1 is off and motor current decays through the diode at a

3
rate dependant upon the external circuit constants and internal
motor leakage currents, according to the equation:
ia = I1e −( t −δt ) / τ a
The motor current at the end of the period, T, remains at a level l2,
which is then the starting current for the next cycle, as shown in
Fig.(6
va
t
Ia
Fig. (6) Motor current waveforms at start-up
As the switching sequence repeats, sufficient current begins to
flow to give an accelerating torque and thus cause armature
rotation. As soon as rotation begins, back emf is generated which
subtracts from the supply voltage.
The motor equation then becomes: La. di a / dt + Ra. ia = Vα - Ea
The current drawn from the supply will consequently be less than
that drawn at start-up due to the effect of the motor back emf
term, Ea. For a given PWM duty cycle ratio, δ , the motor reaches
a quiescent speed governed by the load torque and damping
friction. Maximum motor torque is required at start-up in order to
accelerate the motor and load inertias to the desired speed. The
current required at start-up is therefore also a maximum. At the
end of the starting ramp the controller duty cycle is reduced
because less current is then needed to maintain the motor speed
at its steady state value.
Fig (7) MOTOR CURRENT WAVEFORM, τ a << T
For a low inductance motor where the electrical time constant is
much less than the duty cycle then the motor current waveform
will closely follow the applied voltage waveform, as shown in
Fig.above. An approximate expression for the average motor
current is given by:
Vdc − E a
I ave = δ
Ra
In summary, the principle control variable in the PWM
motor control system is ‘duty cycle’, δ Motor torque and velocity
can be tightly
controlled by controlling the PWM duty cycle and motor current.
BASIC HYSTERESIS CONTROLLER
t
Basic self oscillating controllers is based on hysteresis controller.
The hysteresis controller can be made with either a current or a
voltage loop.
The benefits of hysteresis controllers are primarily the linear
modulation caused by the saw-tooth shaped carrier with ideally
straight slopes, and by the infinite power supply rejection ratio
PSRR, if the supply variation can be considered by very slow
compare by the switching frequency. Power supply variation at
higher frequencies are not suppressed totally, and will result in
sum and difference products of the reference signal and the
power supply variation, but these steel meets high suppression
for use in audio amplifier applications the hysteresis controller is
very desirable due to the high linearity and simple design.
However hysteresis controller suffers from a switching frequency
dependent on the modulation index, M, of the amplifier. All other
types of self oscillating modulator suffers this phenomena too.
The basic operation of the current mode hysteresis operation is :
The out put inductor integrates the differential voltage between
the out put voltage of the power stage and the out put voltage of
the amplifier. If the out put voltage of the amplifier can be
considered constant within one switching period the integration
results in a saw-tooth shaped inductor current, which is
subtracted from the reference current programming voltage, and
fed into a hysteresis window to control the switching frequency by
controlling the time delay through the controller loop. In hysteresis
control, the power converter O/P is monitored an active switch
operates as the O/P crosses the threshold. The simplest
technique is to compare the O/P to a reference wave form,
Switching on when the O/P is too low and when it is too high.
The current is controlled with in a narrows band of
excursion from its desired value in the hysteresis controller. The
hysteresis window determines the allowable or present deviation
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of current ∆ i. Commanded current and actual current are shown The simulation results such that the out put of the DC drive with
in the fig. with the hysteresis windows. The voltage applied to the PWM control (Armature speed, Armature Current & Out put
load is determined by the following logic. electro magnetic torque ) are shown in figure. Both steady state
and ripple present in the speed current and torque at no load
∗
ia ≤ ia - ∆ i , Set Va =Vs condition also shown in the result figure(9).
∗
ia ≥ ia + ∆ I , Reset Va = o

(a)Speed variation of PWM control dc motor started with no load

Fig(8): HYSTERESIS –CONTROLLER OPERATION

The disadvantages of this controller is higher Switching loss due
to the high switching frequency. Hysteresis control is inherently
Robust, Since the Switchs Operate to enforce a desired O/P,
irrespective of time scale or line or load values. There are still
fundamental limitations but (a low voltage i/p bus can force only a
limited current slew rate on inductor for instance), but hysteresis
(b)Current variation of PWM control dc motor started with no load
can help keep a converter near any feasible operating condition.
The loop gain function is

ia ( s )
= K
ia * ( s )

(1 + ST M )
(1 + ST1 )(1 + ST 2 ) + H C * K (1 + STr )

Where K=Kc*Kr*Ki ,TM= mechanical time constant

,Tr=converter time delay (c) Speed variation when full load (4.54 Nm) is applied

Speed feed back filter is used in the control system. The suddenly

parameter of filter which are in the MATLAB simulation

programme are the combination parameter of tachno generater &
filter. The transfer function of speed feed back filter is Gω(s)=Hω
/ (1+STω) =0.065/(1+0.01s)

RESULTS:
SIMULATION OF CHOPPER FED DC DRIVE WITH PWM
CONTROL

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 (d) Current variation when full load (4.54 Nm) is applied & Out put electro magnetic torque ) are shown in figure. Both
suddenly steady state and ripple present in the speed current and torque at
Fig(9) Drive behavior in PWM control under sudden load no load condition also shown in the result fig.(10).
application Comparison: the comparison table between theoretical value are
shown in table (1)
SIMULATION FOR CHOPPER FED DC DRIVE WITH Speed & No load Half load Full load
HYSTERESIS CURRENT CONTROL current
Theoretical 175.4 rad/sec - 166 rad/sec
0.69 amp. - 5.1 amp.
A simple chopper dc drive with hysteresis control is designed and value
PWM control 175.20 167.16 161.235 rad/sec
simulated in MATLAB . result are shown in fig (10) at different
rad/sec rad/sec
load 0.68 amp. 2.6 amp. 5.1 amp.
Hysteresis 174 rad/sec 174.95 174.93 rad/sec
current control rad/sec
0.61 amp. 2.45 amp. 5.1 amp.

Table (1)
CONCLUSION AND SCOPE FOR FUTURE WORK:
The simulation work of gate pulse, PWM and hysteresis current
control of chopper fed separately excited d.c motor drive,
demonstrates that the hysteresis control is more accurate control
(a) Speed variation of dc motor started with no load among the three scheme and is able to over come the

disadvantages of gate pulse and PWM control of d.c motor

drive. This improve performance is possible due to the current
control in the hysteresis band i.e. the out put of motor compares
with a reference waveform and the chopper switch is on when the
output is low or off when the output is high. The deviation in
speed incase of hysteresis current control as compare to the ideal
case is very less. In hysteresis current control output
characteristics is uniformed but in case of pulse , it is non uniform
and in PWM it is intermediate. This hysteresis control is possible
(b) Speed variation when full load (4.54 Nm) is applied only in buck converter.
suddenly In this work separately excited d.c motor drive with the
control strategies are simulated using SIMULINK tool box of
MATLAB Software Package. This control can also be applied to a
real drive by using Hardware.
REFERENCES:
1 . B.H. KHAN, G.K.DUBEY & SESHAGINI R. DORADLA, “AN ECONOMICAL

FOUR-QUADRANT GTO CONVERTER AND ITS APPLICATION TO DC DRIVE”, IEEE

TRAN. ON POWER ELECTRONICS, VOL. 8, NO. 1 JAN 1993.
2. JOACHIM HOLTZ & BERND BEYER, “FAST CURRENT TRAJECTORY TRACKING
CONTROL BASED ON SYNCHRONOUS OPTIMAL PULSE-WIDTH MODULATION”,

(c) Current variation when full load (4.54 Nm) is applied IEEE INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING, DENVER, 1994.

suddenly 3. AKIRA NABAE, SATOSHI OGASAWARA & HIROFURNI AKAGI, “ A NOVEL

Fig.. (10) Drive behavior in Hysteresis current control under CONTROL SCHEME FOR CURRENT — CONTROLLER PWM INVERTER”, IEEE

sudden load application. TRAN. ON INDUSTRY APPLICATIONS VOL. IA-22, NO. 4, JULY/AUGUST 1986.

The simulation results such that the out put of the DC 4. LUIGI MALESANI, PAOLO MATTAVELLI AND PAOLO TOMASIN, “IMPROVED

drive with Hysteresis control (Armature speed, Armature Current CONSTANT

6
FREQUENCY HYSTERESIS CURRENT CONTROL OF VSI INVERTERS WITH. SIMPLE 11. PROF DR. M. MARARI, DR. F.J. KRAUS, “C’ONTROI OF SEPARATELY

FEEDJÖRWARD EXCITED D.C. MOTOR”,AUTOMATION CONTROL LABORATORY, SUMMER TERM

BAN WIDTH PREDICTION”, IEEE TRAN. ON INDUSTRY APPLICATIONS, VOL. 33, 2005.
NO. 5, 12. VEDARN SUBRAHMANYAM , ELECTRIC DRIVE , CONCEPT & APPLICATION ,
SEP/OCT 1997. TATA MCGRAW- HILL PUBLISHING COMPANY LTD. 9T1 EDITION 2002
5. PROF. STVAN NAGY & ZOLTAN SUTO, “ NON-LINEAR PHENOMENON IN

CURRENT CONTROL ()FIFLDUCTIOFL MOTOR”, IEEE PRESS, PP 328-33 1. Document By

6. JOCOVE W. VANDER WOUDE, WILLEM L. DE KONING & YUSUF FUAD, “ ON SANTOSH BHARADWAJ REDDY
THE PERIODIC BEHAVIOR OFPWM DC- DC CONVERTERS”, IEEE TRAN. ON Email: help@matlabcodes.com
POWER ELECTRONICS, VOL. 17, NO. 4, JULY 2002.
7. SOREN POULSEN AND MICHAEL A. E. ANDERSEN, “HYSTERESIS
Engineeringpapers.blogspot.com
CONTROLLER WITH CONSTANT SWITCHING FREQUENCY”. More Papers and Presentations
8. ROBERT W. ERICKSON DRAGAN MAKSIMOVIC, FUNDAMENTALS OFPOWER
available on above site
ELECTRONIC 2ND EDITION 2001, PAGE 657-659.
9. N. MOHAN, T. UNDELAND, W. ROBBINS, POWER ELECTRONICS.

CONVERTERS, APPLICATIONS, DESIGN, 3’ EDITION, NEW YORK: JOHN WILEY &

SONS 2003.
10 . R. KRISHNAN ELECTRIC MOTOR DRIVES MODELING ANALYSIS AND CONTROL
1 ST EDITION
2003.

APPENDIX
Data considered for simulation(PWM)
For 1 H.P. DC motor (From the machine calculation)
Armature resistance = Ra=3Ω
Armature inductance = La=56mH
Field resistance= Rf = 570 Ω
Field inductance = Lf =13.5H
Mutual inductance = 2.75 H
Moment of inertia J= 0.1kg-m2
Frictional constant = Bt = 0.03 N.m / (rad/ sec)
Motor field voltage = Vf = 220volt
For step function :
Initial step = 0.3638 (From PWM calculation)
Final step = 0.3638
For repeating sequence : Frequency = Fc = 1KHz
FOR HYSTERESIS CURRENT CONTROL:
Magnitude of Amplitude = 2
Gain of speed controller Ks= 373.529
For current controller Hc = 1.135294
Speed reference ωref = 157 rad / sec
For filter numerated part 0.065 &
denominated part (1+0.01s)

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