538

IEEE Transactions on Energy Conversion, Vol. 4, No. 3, September 1989

SPEED CONTROL OF A DC SERIES MOTOR US1NG.A MODULATED PHASE-ANGLE CONTROLLED SINGLE TRIAC

N.H. Fetih G.A. Girgis G.M. Abdel-Raheem Electrical Engineering Dept., Assiut Univ., Assiut, Egypt. Keywords: Speed control , Phase modulation firing scheme, Efficiency , Speed r i ppl e. Abstract - The speed ripples associated with the integral-cycle control of a dc series motor are greatly reduced, i f a modulated phase-angle control led t r i a c replaces the integralcycle control led one.This control strategy combines b o t h the advantages of integral-cycle and phase-angle controlled drives- The new strategy performance i s explained and the associated - motor characteristics are determined. The firing circuit necessary for this new method of triac triggering i s developed and i s used t o verify theoretical validity A of the proposed control strategy experimentally. good agreement i s found between the theoretical and the experimental results.
To measuring

Circuit

INTRODUCTION
The speed control of a dc series motor using the integral-cycle control method [1,2] of thyristors (or t r i a c ) triggering has some advantages over t h a t using the phase-angle [3-7) one. However the integral -cycle controlled motor suffers from the relatively high speed ripples C23, especially a t lower ratios of the ON/OFF motor applied supply cycles. The resulting vibration and noise may propably make this form of control unsuitable for large traction motors. In this paper the method of controlli.ng the speed phase -angle of a dc series motor using a modulated controlled single t r i a c i s introduced. The new the motor speed method has the advantage t h a t , ripple can be reduced t o the desired value. The motor dynamics will be improved, and acceptable levels for vibration and noise can be attatned. The new control strategy i s explained and the associated motor performance characteristics are derived. The derivation i s carried out using the motor nonlinear mathematical model [Z]. The necessary t r i a c firing circuit i s developed and i s used t o demonstrate the practical feasibility of the new suggested method experimentally. DESCRIPTION OF THE SUGGESTED CONTROL STRATEGY Fig.1 shows the experimental set-up of the modulated phase-angle controlled dc series motor. The motor i s controlled by applying a number N of complete of supply cycles followed by another number ( T - N ) phase-control led supply cycles a t i t s terminals through a bridge rectifier. In other words the t r i a c has t o be triggered for the f i r s t N cycles of the control period T a t the zero-crossings of the supply voltage (zero phase-angle). For the remaining ( T - N ) cycles a i t has t o be triggered a t the desired phase-angle Fig.1 Experimental set-up of the controlled motor. the supply with respect t o the zero crossings of giving such voltage. A firing circuit capable of t r i a c triggering pulses i s developed and i s given schematically in Fig.2. A sample of the ac input voltage i s fed t o a zero crossing detector followed by two monostable stages, so a square wave Q1 of 10 m s duration i s generated , with the frequency of the power is to network. The purpose of the 2 monostables eliminate the interference caused by the stray electromagnetic fields. Q b i s extracted as shown t o give a square wave o f 5 m s duration and a frequency of double the supply frequency. The required pattern of a complete ON and OFF cycles are stored in a 16 bit s h i f t registerwhichacts The as a ring counter. I t s o u t p u t i s denoted by Qs. o u t p u t Q6 i s the integral-cycle control pulses which are in phase with the supply voltage. The omitted pulses of the o u t p u t Q6 are generated and denoted by 47. These pulses are delayed with an adjustable delay the time Td.Qlo represents the delayed .pulses of omitted cycles of Q6.Q11 i s the necessary firing pulses for the suggested control scheme.
MOTOR PERFORMANCE EQUATIONS

The controlled motor equations governing the performance are formulated under the following assumptions: ( i ) The t r i a c and diodes are assumed t o be ideal

89 w?I 245-2 EC A paper recommended and approved by the IEEE Rotating Machinery Committee of the IEEE Power Engineering Society for presentation at the IEEE/PES 1989 Winter Meeting, New York, New York, January 29 February 3, 1989. Manuscript submitted March 16, 1988; made available for printing January 12, 1989.

I
Fig.2

Block diagram o f the developed firing circuit.

0885-8%9/89/0900-0538$01 .OO 0 1989 IEEE

539

switches. The motor t o t a l series r e s i s t a n c e is assumed constant. brushes ( i i i ) The motor armature r e a c t i o n and the v o l t a g e d r o p a r e ignored. ( i v ) The mechanical and i r o n l o s s e s f o r both motor and load g e n e r a t o r a r e n o n l i n e a r f u n c t i o n s of motor speed. (v) The supply i n d u c t a n c e i s neglected. ( v i ) The motor self i n d u c t a n c e i s c o n s i d e r e d a s f u n c t i o n of the motor armature c u r r e n t . The c o n t r o l l e d motor will g e n e r a l l y o p e r a t e i n one o r more of the f o l l o w i n g modes:
(ii) T r i a c Conduction I n t e r v a l (Mode 1 ) s t a t e the When the t r i a c i s i n the conducting motor is powered from the supply. The motor performances a r e obtained from the s o l u t i o n of the f o l l o w i n g d i f f e r e n t i a l equations: d v, s i n w t = Rkl i a + 7 { L M ( i a ) . i a l + KE (i a ).U r

name-plate d a t a : 1.25 kW ; 725 r.p.m. ; 180 V ; 8.6 A. The motor c o n s t a n t s and parameters measured using conventional methods a r e
; Rf = 1.714 ohm ; 0.0755 N.m.sz ; AM = 0.3014 N.m. ; AG = 0.3014 N.m. ; BM=1.54x10-3 N.m/(rad/s) BG = 1 . 3 4 ~ 1 0 ' ~N.m/(rad/s) ; DG1 = 0.272 N.m DG2= 1 . 0 3 2 6 ~ 1 0 - ~ N.m/(rad/s).

Ra = 2.55 ohm
=

The f a c t o r KE(ia), w h i c h r e p r e s e n t s t h e induced armature voltagk p e r u n i t speed, i s t o be c a l c u l a t e d from the r e l a t i o n [e] 0.33 ia for ia<4.05 A KE(ia)=0.457 + 0.2172 i a f o r 4.05<ia<5.875 A (8) 1.0026+0.1244 i a f o r ia25.875 A The parameters D ~ l ( i ~ , w r and ) DM2(iaYwr), which a r e used t o determine the i r o n l o s s e s i n the series motor, a r e a l s o t o be c a l c u l a t e d a c c o r d i n g t o the f o l l o w i n g e q u a t i o n s [2]: DMl(ia, U,) = 0.04637 { K E ( i a ) . wr}1'6 (9) DM2(iay wr) = 0 . 3 9 1 1 ~ 1 0 - ~ {KE(ia). or}' (IO) F i n a l l y the motor armature c i r c u i t inductance a s a f u n c t i o n o f i t s armature c u r r e n t i a i s given by the f o l l o w i n g e x p r e s s i o n [2,9]: LM(ia) = (60 + 140 e-Y) (11) where y = (-4.35678 - 4.086 i a + 49.721 i a 2 3.6251 i a 3 + 0.37358 i a 4 ) . (12) The maximum v a l u e o f the a c supply v o l t a g e V, was The motor kept c o n s t a n t a t a v a l u e of 200 d2 v o l t s . performances were measured using the microprocessor a i d e d d a t a - a c q u i s i t i o n system given i n reference [23. RESULTS AND DISCUSSION The performance c h a r a c t e r i s t i c s o f the motor of the previous s e c t i o n a r e computed t h e o r e t i c a l l y and c hec kea experimental 1y The instantaneous v a l u e s o f t h e m o t o r i n p u t c u r r e n t i a and o u t p u t t o r q u e To a r e given i n Figs. 3a and 3b f o r a c o n s t a n t N / i r a t i o and f i x e d load t o r q u e proport i o n a l i t y c o n s t a n t K and v a r i a b l e phase a n g l e a Both computed and measured r e s u l t s a r e given to demonstrate the p r a c t i c a l v a l i d i t y o f the new c o n t r o l method. F i g . 3 ~ shows the i n s t a n t a n e o u s v a l u e s of the

DMl ( j a y wr) = KE ( i a ) . i a

- TL

(2)

Free Wheeling I n t e r v a l (Mode 2 ) i s disconnected During t h i s i n t e r v a l t h e motor has an from the supply and t h e armature c u r r e n t i a a l t e r n a t i v e path through t h e b r i d g e rectifier d i o d e s The d i f f e r e n t i a l e q u a t i o n s governing the motor p e r f o r mances i n such a mode a r e : 0 = RM .i a + d (3) d t {(LM ( i a ) . i a l + KE(ia). wr

J.

dwr + dt

{BM + DM2(ias Wr)I + AM +

Dbll(ia, wr) = K E(i a ).ia

- TL

(4)

Zero Current I n t e r v a l (Mode 3 ) When the a r m a t u r e current i a goes t o z e r o t h e motor c o a s t s due t o i n e r t i a . The d i f f e r e n t i a l e q u a t i t h i s mode ons d e s c r i b i n g the motor performances i n a r e given by:
ia = 0
J.

(5)
wr.

dwr dt +

{BM

DM2 ( i a y u r ) l

AM +

DMl ( i a , wr) =

TL

(6) be assumed (7)

A s w e have a g e n e r a t o r l o a d , TL w i l l t o have the form:

TL = K. wr +
U,.

CBG + DG2I + AG + DG1

DIGITAL SIMULATION The d i f f e r e n t i a l e q u a t i o n s d e s c r i b i n g t h e motor performances i n the d i f f e r e n t modes a r e i n t e g r a t e d using the Runge-Kutta f o u r t h o r d e r method modified by G i l l [SI. They a r e i n t e g r a t e d s u c c e s s i v e l y u n t i l a s t e a d y s t a t e s o l u t i o n o v e r the c o n t r o l period T is o b t a i n e d The f i n a l c o n d i t i o n s f o r a c e r t a i n mode o f o p e r a t i o n a r e c o n s i d e r e d a s t h e i n i t i a l c o n d i t i o n s f o r the next mode. APPLICATION The v a l i d i t y of the proposed new method of speed c o n t r o l i s demonstrated by c a r r y i n g o u t experiments on a dc series motor a c c o r d i n g t o the experimental s e t - u p given i n Fig.1. The t e s t e d motor has the f o l l o w i n g

Fig. 3a

540

Fig. 3e Modulated phase-angle control speed ripple oscillogram, a = 90" Horizontal axis i s time, 20 ms/div., verticzl axis i s speed ripple, 0.22 rad/s/div.

Fig. 3 Instantaneous Values of Motor current, torque and speed for different a, w i t h T=8, N=4, and
K=0.093.
LSl

Fig. 3b

are much smaller. Computed and measured average values of the motor steady s t a t e performance characteristics are shown in Figs.4 and 5 as functions of motor average speed w i t h N/T and CI as parameters. The control period i s kept constant a t T=16 throughout.

I 20

LO

60

100

120 velcmty

is:

160
U -

1 8 I0
[radlsec]

Avercge angular

ti-

F i g . 3c

F i g . 4a

Fig. 3d

Integral-cycle control speed ripple oscillogram

a = 90".

o *

Horizontal axis i s time, 20 ms/div., vertical axis i s speed ripple, 0.22 rad/s per div. motor speed+ computed theoretically fortheconsidered case, while the oscillograms of Fig. 3d and 3eshowthe r obtained experimentally. variation i n w The figure shows that the fluctuations in motor input current, output torque and speed are greatly decreased with the increase of the phase angle Q in the (T-N) supply cycles. This i s mainly due to the increase in the period in which the motor i s powered The motor from the supply w i t h the increase i n a average current, torque and speed increase also w i t h the increase in a f o r the same reason. However the maximum values of the motor i n p u t current and torque

2-

541

Fig.5 shows t h a t f o r c o n s t a n t motor t o r q u e the motor speed can be decreased b y decreasing t h e N/T This is r a t i o o r by i n c r e a s i n g t h e phase a n g l e a s i m p l y due t o t h e decrease i n t h e r i a c conduction p e r i o d i n which t h e motor i s powered f r o m t h e supply. Fig.6 shows t h e r e l a t i o n between t h e computed motor speed r i p p l e and i t s average s p e e d w i t h t h e phase a n g l e a as a parameter.The l o a d torque p r o p o r t i o n a l i t y c o n s t a n t K i s k e p t f i x e d a t 0.24267. Each p o i n t l y i n g on each i n d i v i d u a l c u r v e corresponds to a certain The veriation v a l u e o f t h e W/T r a t i o as i n d i c a t e d obtained o f t h e motor average speed i n t h i s case i s through t h e v a r i a t i o n o f t h e N/T r a t i o f o r c o n s t a n t a. The f i g u r e i n d i c a t e s t h a t i t i s p o s s i b l e t o regul a t e t h e motor speed t o t h e r e q u i r e d average value keeping t h e speed r i p p l e below a maximum d e s i r e d v a l u e through t h e proper c h o i c e o f N/T and a. I f i t i s r e q u i r e d f o r example t o reduce t h e motor average speed t o 60 rad/s w i t h 15% a l l o w a b l e speed r i p p l e , keeping K f i x e d a t 0.24267, t h e f i g u r e shows t h a t t h e above requirement c o u l d be f u l f i l l e d using d i f f e r e n t combinations o f t h e N/T r a t i o and t h e phase

la"
10-

*=30'

Experimental Readlng ass~gmd by for

.= 36
d .

Average angubr velocity

U I $ 3
01

8 2

*for

= 120

6-

0
0

Motor speed r i p p l e a g a i n s t motor average w i t h a as a parameter f o r d i f f e r e n t N/T and c o n s t a n t K=0.24267, T=16.

speed ratio

4-

2-

13 12

14

Fig. 5a

T-I6 K = 0.24267

Fig.7

Average i n p u t c u r r e n t a g a i n s t a, w i t h d i f f e r e n t N .

Fig. 5b Fig. 5 angle a . Motor average o u t p u t c u r r e n t and t o r q u e versus speed, w i t h d i f f e r e n t a, T=16, N/T=0.4374. These combinations range f r o m N/T=2/16 and phase

o f f i g u r e s 7 t o 10. Considering a s a j n t h e previous mentioned example, t h e above f i g u r e s show t h a t w i t h N/T=2/16 and a = 40" t h e maximum instantaneous c u r r e n t i s smaller. On t h e o t h e r hand w i t h N/T=6/16 and a=55" t h e average motor c u r r e n t i s lower, t h e motor e f f i c i e n c y is higher Moreover h i g h e r values o f N w i l l make t h e associated r a d i o frequency problem 1ess pronounced. A compromise should be made between t h e d i f f e r e n t a v a i l a b l e choices t o g e t t h e o p t i m a l c h o i c e f u l f i l l i n g t h e most i m p o r t a n t requirements regarding motor performances. CONCLUSION

q = 40" t o N/T = 6/16 and a = 55", assuming t h e a n g l e a t o be v a r i e d i n a s t e p o f 5".

average Once N/T and a a r e determined t h e motor instantaneous i n p u t torque, average c u r r e n t , maximum c u r r e n t and e f f i c i e n c y can be determined form t h e graphs

1. The performance c h a r a c t e r i s t i c s o f a d c s e r i e s motor having a modulated phase-angle c o n t r o l l e d single t r i a c i n s e r i e s w i t h one o f t h e motor ac supply

542

7 CP.4
0.771 N-15 14 13 12 10 9 8 7 6 5
x

0.75 -

0.73

0.71

T =16

0.69

8 8
W

;" 0.670.65-

90

120 ~ [ d e g e e ]

Firing

Angle

Fig.8

Motor average torque as a function of a different N.

N.1

, with

"

,i'
19-

0.59

7
ml

20 j t

Fig.10

Variation of motor efficiency with a T=16, different N , K=0.24267.

, for

E
U

18-

! I1 7 -

H -

16-

z 9
.-

15

14-

13

12

'
30
60 90 Firing Angle

of control i s demonstrated be comparing the theoretically predicted and the experimentally obtained dynamic and steady s t a t e performance characteristics of a 1.25 kW, 725 r.p.m., 180 V, 8.6 A series dc motor. The comparison i s made a t different N/T and different phase angle a. 4. The experimental results closely agree with the theoretical predictions. 5. The way in which the N/T ratio and the phase angle a are chosen, so as t o have a certainmotoraverage permissible speed together with a given maximum speed ripple i s explained. 6. Other methods of motor speed ripple reduction will be investigated in a future study. These methods include: ( i ) Supplying the control scheme of Fig.1 from the o u t p u t of a higher frequency power supply. ( i i ) Decreasing the motor control period T from 16 t o 8, or 4 , o r 2.
LIST OF SYMBOLS

111

AG
120o( [de&]

Fig.9

Maximum instantaneous current versus a T=16, and K=0.24267.

, with

AM

geherator torque constant due t o mechanical losses [N.ml. motor torque constant due t o mechanical losses
[N.

BG

lines are presented. The motor current i s unified using a rectifier bridge. 2. The mathematical model describing the performanceof the motor in the different modes of operation i s given. Saturation in iron parts, iron losses, mechanical losses and the dependence of the motor inductance on the motor current are considered. 3. The practical f e a s i b i l i t y o f t h e n e w p r o p o s e d method

generator viscous torque constant due t o mechanical losses [N.m/( rad/s )I. BM motor viscous torque constant due t o mechanical losses [N.m/( rad/s )]. D G ~ generator torque constant due t o hysteresis losses [N.ml. D G ~ generator torque constant due t o eddy current' losses [N.m/( rad/s )]. Di.11 motor torque constant due t o hysteresis losses

[N.ml.

543

motor t o r q u e c o n s t a n t due t o eddy c u r r e n t l o s s e s [N.m/(rad/s 11. supply frequency Cc/s 1. i n s t a n t a n e o u s v a l u e of motor current [A]. moment of i n e r t i a of motor and load [N.m.s21. load t o r q u e p r o p o r t i o n a l i t y c o n s t a n t [N.m/(rad/s)l. motor induced e.m.f. o r developed t o r q u e c o n s t a n t CV/(rad/s)l o r CN.m/AI. t o t a l motor armature circuit inductance [HI. number of motor a p p l i e d complete conducting c y c l e s ( t r i a c f i r i n g a t the beginning o f supply c y c l e ) . t o t a l motor armature circuit r e s i s t a n c e Cohml. time [SI. c o n t r o l period = number of (ON + OFF) c y c l e s . i n s t a n t a n e o u s v a l u e of load t o r q u e [N.m]. i n s t a n t a n e o u s v a l u e of motor o u t p u t t o r q u e [N.ml. motor a p p l i e d v o l t a g e [VI. maximum value of supply v o l t a g e [VI. t r i a c f i r i n g a n g l e i n the (T-N) motor a p p l i e d supply v o l t a g e . a n g u l a r s u p p l y frequency = 27rf [ r a d / s J . mechanical speed [rad/s]. REFERENCES [ l ] W. Shepherd and P.J. Gallagher, " T h y r i s t o r c o n t r o l using of r e s i s t i v e and series dc motor load integral-cycle switching", Conference Proc. of , pp./61-764, 1913. IEEE-IAS Annual Meeti heem, and 6.A. G i r g i s , [23 N.H. t e t i h , G.M. Abdel "Speed c o n t r o l o f a dc series motor using an i n t e g r a l - c y c l e c o n t r o l 1ed s i n g 1 e t r i a c " , Conference Papers and S p e c i a l P u b l i c a t i o n s from the 19-87 c31 i;yer Meeting, Ittt Pr o d u c t No.87 SR 605-9. amamoorty and B. I l a n g o , "The t r a n s i e n t response o f a t h v r i s t o r - c o n t r o l l e d series motor". IEEE Trans. onPAS,V~l. PAS-90, pp.289-297, Jan./Feb.- ?Y/l. [4] A.Yablon and J . Appelbaum, " T r a n s i e n t a n a l y s i s of dc series motor ( l i n e a r v e r s u s n o n l i n e a r models)", IEEE Trans. on Ind. E l e c t r o n i c s and Contr. Instrume n t a t i o n , Vol. IECI-28, pp.120-125, May 1981. converter [5] B. Sharma and G.K. Dubey, "Analysis o f c o n t r o l l e d dc series motor P a r t I : Steady s t a t e a n a l y s i s " , J o u r n a l o f Electric Machines and E l e c t r omechanics, Vol./, pp.261-2/8, 1982. converter [6] B. Sharma and G.K. Dubey, "Analysis of Part I 1 : Transient c o n t r o l l e d dc series motor, o f E l e c t r i c machines and a n a l y s i s " , Journal Electromaqnetics, Vol.7, pp.429-445, 1982.

[7] S.R. Doradla and P.C. Sen, " S o l i d s t a t e series motor d r i v e " , IEEE Trsns. on 1ndust.Electron. and Cont. I n s t r u m e n t a t i o n , Vol.IEC1-22, pp. 164-171 , M a y 1 9 7 5 . [8] M.L. James, G.M. Smith and J.C. Wolford, Applied numerical methods f o r p r a c t i c a l computatBook, Harper & Row P u b l i s h e r , 1985. of dc [9] F.T. Dewolf , "Measurement of inductance machines", IEEE Trans. on PAS, Vol. PAS-98, PP 1636-1644 , Sept ./Oct. 1979.

Nabil H. F e t i h was born i n Mansoura, Egypt, on Oct.1, e received the B.Sc. , M.Sc., and Ph.D. 1942. H i n 1964 , d e g r e e s from Ein-Shams U n i v e r s i t y , Cairo Assiut U n i v e r s i t y i n 1971, U n i v e r s i t y of C l a u s t h a l , West-Germany i n 1978, r e s p e c t i v e l y , a l l i n e l e c t r i c a l engineering In 1964 he j o i n e d - t h e E l e c t r i c a l Engineering Department a t Assiut U n i v e r s i t y . C u r r e n t l y he i s an a s s o c i a t e P r o f e s s o r a t the same department and has a s a b b a t i c vacancy t o work a t Sanaah University,El -Yaman His t e a c h i n g and r e s e a r c h interests l i e i n Republic the a r e a of E l e c t r i c a l Machines.

G i r g i s A. G i r g i s was born i n Minia, Egypt, on March e received the B.Sc. and M.Sc.degreesfrom 2 4 , 1945. H Assiut U n i v e r s i t y , Egypt,in 1966 and 1970 r e s p e c t i v e l y . H e r e c e i v e d Ph.D. d e g r e e from Karlsruhe U n i v e r s i t y , West-Germany i n 1981. All degrees a r e i n e l e c t r i c a l engineering. In 1966 he j o i n e d the E l e c t r i c a l Engineering Department of Assiut U n i v e r s i t y . C u r r e n t l y he i s an His A s s o c i a t e P r o f e s s o r a t the same department t e a c h i n g and r e s e a r c h i n t e r e s t s l i e i n the a r e a of E l e c t r o n i c Measurement Techniques.

Gama1 M. Abdel-Raheem was born i n Sohag, Egypt, on e received the B.Sc. and M.Sc Aug. 22, 1941 H degrees from A s s i u t U n i v e r s i t y , Egypt, i n 1970 , and e o b t a i n e d Ph.D. d e g r e e from 1976 r e s p e c t i v e l y . H degrees Budapest, U n i v e r s i t y , Hungary i n 1984. All a r e i n e l e c t r i c a l engineering. the E l e c t r i c a l Engineering In 1970 he j o i n e d Department of Assiut U n i v e r s i t y . C u r r e n t l y he i s an His A s s i s t a n t P r o f e s s o r a t the same department t e a c n i n g and r e s e a r c h interests l i e i n the f i e l d of E l e c t r o n i c Measurement Techniques.