BEE4223

Power Electronics & Drives Systems

Chapter 7
DC Drive

Mohd Shawal Bin Jadin

Ext : 2321
A01-2074
shawal@ump.edu.my
Tazkirah for today
Tazkirah for today
 DC Drives

• Review of DC motors characteristics

• Basic of operating modes
• Single-phase drive
• Introduction to three-phase drive
• Introduction to DC-DC converter drives
• Closed-loop control of DC drives
 Objectives
• To introduce the basic principles of electrical
drives
• To consider the operation of DC machines in
the motoring, generating and braking modes
• To introduce the principles of variable-speed
drives as applied to DC machines
• To examine the control of drives based on DC
machines
 Introduction
• 1896 – Harry Ward-Leonard proposed variable
speed drive in which DC generator driven by
diesel engine provided DC supply for motor
 Introduction
• System had dominating effect and use of controlled DC machine
became very fashionable
• Hence, even with increasing availability of power electronic
switching devices, DC machines continued to dominate variable
speed market until 1980s
• From then, growth in availability and rating of self commutating
devices such as GTO thyristors, power transistors and insulated
gate bipolar transistors (IGBTs) has meant that drives based on use
of AC induction machines have become increasingly common
• Recently, microprocessor-based digital control systems have
replaced analogue controllers in many applications – increased
sophistication of operation, facilitating use of other types of
machine such as stepper motor and switched reluctance motor
• Inspite of increasing popularity of AC machines and other forms,
in this course time limitations mean we will concentrate on DC
machine control
 INTRODUCTION TO ELECTRICAL DRIVES

• DEFINITION: Electric drives for motor is used to

draw electrical energy from the mains and supply
the electrical energy to the motor at whatever
voltage, current and frequency necessary to achieve
the desired mechanical output.
• General arrangement for variable speed drive:
Example of Motor Drive System: Air Conditioning System

• Three Main Elements of Motor • Requirements of

Drives: Drives:
 Electric Motor (DC, AC, SRM, Stepper)  Variable speed
 Load Type  Controllable Torque
 Control
 Components of electrical drives
1. Motors

• Obtain power from electrical sources & convert energy from electrical
to mechanical - therefore can be regarded as energy converters .
• There are several types of motors used in electric drives – choice of
type used depends on applications and electrical sources available.
Broadly, they can be classified as either DC or AC motors :
• DC motors
– wound or permanent magnet - DC voltage,
• AC motors
– Induction motors – squirrel cage, wound rotor - AC voltage
– synchronous motors – wound field, permanent magnet - AC
voltage
– Brushless DC motor – AC voltage
– Stepper motors – require power electronic converters
– Synchronous reluctance motors or switched reluctance motor–
require power electronic converters
 Components of electrical drives
2. Source
• Electrical sources or power supplies provide the energy
to the electrical motors. For high efficiency operation,
the power obtained from the electrical sources need to
be regulated using power electronic converters.
• Power sources can be AC or DC in nature and they
normally uncontrollable, i.e. their magnitudes or
frequencies are fixed or depend on the sources of
energy such as solar or wind.
• AC source can be either three phase or single phase
• 3-phase sources are normally for high power
applications
 Components of electrical drives
3. Power processor or power modulator
• Since the electrical sources are normally uncontrollable, it is therefore
necessary to be able to control the flow of power to the motor – this is
achieved using power processor or power modulator.
• With controllable sources (i.e. output of power processor ), the motor
can be reversed, brake or can be operated with variable speed. Classical
method used, for example, variable impedance or relays , to shape the
voltage or current that is supplied to the motor – these methods
however are inflexible and inefficient.
• Increasing number of power processors use power electronic converters
which has advantages over classical method such as :
– More efficient - since ideally no losses occur in power electronic
converters
– Flexible - voltage and current can be shaped by simply controlling
switching functions of the power converter
• Power electronic converters
– Converters are used to convert and possibly regulate (i.e. using
closed-loop control) the available sources to suit the load i.e. motors
DC to AC, AC to DC, DC to DC AC to AC.
– These converters are efficient because the switches operate in
either cut-off or saturation modes
 Components of electrical drives
4.Control Unit
• Complexity depends on drive performance
• analog - noise, nonflexible, infinite bandwidth
• digital - immune to noise, configurable,
bandwidth depends on sampling frequency
• DSP/microprocessor - flexible, lower bandwidth
compared to above. DSPs perform faster
operation than microprocessors (multiplication
in single cycle). With DSP/microprocessor,
complex estimations and observers can be easily
implemented.
 Advantages of electrical drives
• easy to control (e.g. by varying voltage or
current)
• wide range of speed
• high efficiency - switch-mode converters and
electrical motors are very efficient
• Clean - does not pollute
• easy to store or transport energy
 AC vs. DC Drives
• Motors :
– DC Drives
• require maintenance, heavy, expensive, speed
limited by mechanical construction

– AC Drives
• less maintenance, light, cheaper, robust, high
speed (esp. squirrel-cage type)
 AC vs. DC Drives
• Control unit:
– DC Drives
• Simple to control and the controller can be
implemented using simple analog circuit, thus -
cheaper

– AC Drives
• High performance drives requires complex control
technique, thus expensive.
 AC vs. DC Drives
• Performance:
– DC Drives
• flux and torque perpendicular thus cannot influence one
another – quick torque response and excellent
performance.

– AC Drives
• scalar control : torque and flux components of the stator
current are coupled - sluggish torque response.
Performance is medium
• vector control: torque and flux components of stator
current are decoupled thus similar to DC drives.
Performance comparable to that of the DC drives.
 Overview of Electric Drives
• Electric drives is multi-disciplinary field.
Various research areas can be sub-divided
from electric drives:
• Load can be
– directly coupled to motor shaft Motor Load

– through transmission systems – e.g. gears or belt – speed reduced

Gear
– translational motion
– rotational motion Motor Motor

Load

J2
• For the purpose of analysis and controller design, a combined motor–
load system can be represented by an equivalent rotational system:
• The system can be described by a first order mechanical
system:
d  J m 
Te  T1 
dt
• If dJ/dt = 0 (system with constant inertia)

d  J m  Te = Motor torque (Nm)

Te  T1  T1 = Load torque (Nm)
dt J = Moment of inertia combined
motor - load (kgm2)
m = instantaneous angular
velocity of motor shaft (rad/s)

dynamic torque - present during transient, i.e. acceleration or

d  J m  deceleration. In steady state, where d/dt = 0 , Te = T1
For example, in order to accelerate in forward direction, the net
dt torque, i.e. Te - T1, must be positive and to accelerate in reverse
direction, the net torque must be negative.
• Given a speed profile of a drive system, it is therefore
possible to estimate the required torque produced by the
motor, provided that the load torque is known.
• In order to calculate the motor torque, the system has to
be represented by the equivalent rotating system as
previously described.
m m1 L1 n1

Motor Load 1 m2

Load 2
J1 L2
n2 J2
J

J =?
Motor Load
L = ?

m L
 Equivalent Torque & Equivalent Inertia
• Know that, gear ratio,
• Torque for equivalent circuit,
m m n1 – Using principle of conversion of

2
 a 2 energy
m m n2 1 Mech power = Mech power
equivalent system combined system
• Kinetic energy for equivalent circuit,
– Using principle of conversion of energy  Lm   L m   L m
1 1 2 2

Kinetic energy = Kinetic energy

• Subs : m  am
2 1
equivalent system combined system

1 1 1  L   L  a L Equivalent
Jm  J1m1  J 2m2 2
2 2 1 2 Torque
2 2 2
• Subs : m  am
2

J  J1  J 2 a 2 Equivalent Inertia
 Example 1
• From the testing of electrical drive in Figure 1, the speed profile
in Figure 2 is obtained. Assuming the load torque is negligible,
solve for motor torque profile.
m1 n1 = 5

Motor m2
Jm = 2.5kgm2 Load

n2 = 10 JL = 10kgm2
 rad/s)

5 10 14 19 24 35
t (sec)
 Example 1 (Cont)
a
n1 5
  0.5 For 10  t  14
n2 10
d  0  1000 
e  J  5   1250 Nm
J  2.5   0.5  (10)
2
dt  14  10 
 5kgm 2 For 14  t  19

d d  00 
 e  L  J , L  negligible e  J  5   0 Nm
dt dt  19  14 
d For 19  t 24
 e  J
dt d  1000  0 
e  J  5   1000 Nm
For 5  t  10 dt  24  19 
d  1000  0  For 24  t  35
e  J  5   1000 Nm
dt  50  d  00 
e  J  5   0 Nm
For 0  t  5 dt  35  24 
d  1000  1000 
e  J  5   0 Nm
dt  10  5 
 Example 1 (Cont)
• Equivalent Torque Profile
 rad/s)

1000

5 10 14 19 24 35
t (sec)
 Nm)

1000

5 10 14 19 24 35
t (sec)

1250
 Example 1 (Cont)
• If the load torque is 20Nm, solve for new motor torque profile.
 rad/s)

1000

5 10 14 19 24 35
t (sec)

 Nm)

1020

20

5 10 14 19 24 35
t (sec)

1230
 Four-quadrant operation of a drive
system
• The -T plane with motor's shaft cross sectional area is shown

Mech  Electrical Electrical  Mech

Forward Forward
+ve  Monitoring
Braking -ve 
+ve 
+ve 

Electrical  Mech Mech  Electrical

Reverse
Reverse Braking
Monitoring -ve  +ve 
-ve  -ve 

When accelerating When braking

Electrical Mechanical Electrical Mechanical
Motor Generator
P = IV P =  P = IV P = 
 Four-quadrant operation of a drive
system
• The positive or forward Forward

speed is arbitrarily
chosen in
counterclockwise 

direction (it can also be 

chosen as clockwise).
• The positive torque is
in the direction that 
will produce
Reverse 
acceleration in forward 
speed, as shown 

above.
 Quadrant I
• Both torque and speed are positive - the motor rotates
in forward direction, which is in the same direction as
the motor torque.
• The power of the motor is the product of the speed and
torque (P = T), therefore the power of the motor is
positive.
• Energy is converted from electrical form to mechanical
form, which is used to rotate the motor.
• The mode of operation is known as forward motoring.
 Quadrant II
• The speed is in forward direction but the motor torque
is in opposite direction or negative value.
• The torque produced by the motor is used to 'break' the
forward rotation of the motor.
• The mechanical energy during the breaking, is converted
to electrical energy - thus the flow of energy is from the
mechanical system to the electrical system.
• The product of the torque and speed is negative thus
the power is negative, implying that the motor operates
in breaking mode.
• The mode of operation is known as forward breaking
 Quadrant III
• The speed and the torque of the motor are in the
same direction but are both negative.
• The reverse electrical torque is used to rotate the
motor in reverse direction.
• The power, i.e. the product of the torque and speed,
is positive implying that the motor operates in
motoring mode.
• The energy is converted from electrical form to
mechanical form.
• This mode of operation is known as reverse
motoring.
 Quadrant IV
• The speed is in reverse direction but the torque is
positive.
• The motor torque is used to 'break' the reverse
rotation of the motor.
• The mechanical energy gained during the breaking is
converted to electrical form - thus power flow from
the mechanical system to the electrical system.
• The product of the speed and torque is negative
implying that the motor operates in breaking mode.
• This mode of operation is known as reverse
breaking.
 Four-quadrant operation of a drive
system
• The positive or forward Forward

speed is arbitrarily
chosen in
counterclockwise 

direction (it can also be 

chosen as clockwise).
• The positive torque is
in the direction that 
will produce
Reverse 
acceleration in forward 
speed, as shown. 
 Example 2
• A drive system can be represented by an equivalent rotating system in Figure 1. If the
torque produced by the motor is shown in Figure 2, calculate and sketch the speed
profile of the motor. Hence, state the quadrant of operations for section each section.
Given that, L,equ = 5Nm and Jequ = 0.020kgm2.
JL,equ












m

e L,equ

(Nm)

Section Section Section Section Section Section Section

A B C D E F G
55

5
1 2 3 4 5 t(sec)

70
 Example 2 (Cont)
Given, Section B Section D Section G
J  0.02kgm 2 , L  5 Nm    55  5 
2
 70  5   70  5 
3 3

know that ,

1

 0.02


 
2.5 
0.02 
    0.02 
2.5 
3
d
2 3

 e  L  J ,   2500 dt   3750 dt   3750 dt

dt 1 2.5 2.5

 3750 t 2.5  3750 t 2.5

3
  e  L 
3
  
2
 d   2500 t
 dt 1
 1875rad / s  1875rad / s
 J   2500rad / s
Section A Section C
Section E
 55  5 
4
 55
1
  
2.5
 70  5     
  2  0.02   0.02 
0  0.02  3

1  2500rad / s
2.5
  0 dt
0
  3750 dt Section F
 55
2 4.5

 0 t 0
1
 3750 t 2
2.5  4  0.02 
 0rad / s  1875rad / s  0rad / s
 Example 2
(Nm)

Section Section Section Section Section Section Section

A B C D E F G
55

5
1 2 3 4 5 t(sec)

70

(Nm)

Section Section Section Section Section Section Section

A B C D E F G
2500

1 2 3 4 5 t(sec)

1875
 Example 2
  ve 
QSection A    Static
  0 
  ve 
QSection B    Quadrant I
  ve 
  ve 
QSection C   Quadrant III
  ve 
  ve 
QSection D   Quadrant III
    ve 
  ve 
QSection E    Quadrant I
  ve 
  ve 
QSection F    Quadrant I
  ve 
  ve 
QSection G   Quadrant III
  ve 