Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

Harmonics Analysis And Reduction Of Seperately

Excited DC Motor
Dr. S.R. Kapoor, Dr. M.K. Lalwani#1,Shubham Tiwari#2, Sahir Mohd#3, Shashank Singhwal#4
Dept. of Electrical Engineering, University College of Engineering
2
Rajasthan Technical University, Kota,
Rajasthan, India.

AbstractHarmonic analysis and reduction of dc motor fed by

ac source through converters. DC motors are widely used in
industrial areas due to its flexible characteristics and because of
power electronics its controlling becomes very easy and precise
but on the other hand due to power electronic devices power
factor and total harmonic distortion (THD) problems becoming
more major. In this paper dc motor control tactics is proposed
which includes thyristor based converters and filters with
improved power factor and less total harmonic distortion.
IndexTermsTotal Harmonic Distortion, converters and
filters

I.

INTRODUCTION

The field of electrical energy may be divided into three areas of

specialization: Electronics, Power and Control. In recent time,
many new modern electromechanical energy conversion
machines have been invented. Electrical machines like dc
motor, brushless dc motor etc. are being controlled with power
electronic converters. In present paper, we use dc motor since
these motors are widely used in applications requiring
adjustable speed, good speed regulation; frequent starting,
braking and reversing. Due to its outstanding speed control
characteristics, dc motors are widely used in industries even
though its maintenance cost is higher than induction motors.
Among different dc motors, present paper mainly deals with
separately excited dc motors since they have many
applications. They are often used as actuators. This type of
motor is used in trains and for automatic traction purpose.
This paper contains a dynamic model of dc motor fed by ac
source through converters.The electrical and mechanical
equations of equivalent armature circuit and mechanical circuit
of separately excited dc motor is solved. These dynamic
equations then yield the model of separately excited dc motor.
Harmonic analysis of developed dc motor is done through the
FFT(Fast Fourier Transform) tool present in MATLAB. By
using various filters and thyristor based converters harmonics
are reduced in motors and thus increases its performance.
The aim of this paper is to utilize the knowledge of circuit
analysis to model out separately excited dc motor in order to
know-how the actual dynamic behavior of the same. In doing
this a prevailing, mathematical software tool is required. The

modeling and simulation in present paper has been done by

using the help of MATLAB/SIMULINK to provide desired
outputs of harmonic response of dc motor from which Total
Harmonic Distortions are evaluated.
\
II.

MODELLING OF SEPERATELY EXCITED DC

MOTOR

The realization of a separately excited dc motor involves

the following steps:
Step1: Represent the dc motor equivalent circuit diagram.
Step2: Represent the system equation from the circuit diagram.
Step3: Derive the transfer function from system equations.
Step4: Change the transfer function to model block diagram.
Step5: Create the m-file to simulate the model.
A. DC motor equivalent circuit
Toperform the simulation of separately excited dc motor, the
equivalent circuit diagram must be obtained first as shown in
fig1.

Fig. 1 DC Motor Equivalent circuit

B. System Equations
The rotor is assumed to be a single coil described by
inductance La and resistance Ra having generated emfeb . In
separately excited dc motor flux is constant.the dynamic
equation of separately excited dc motor are as follows:

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

ea= eb + ia.Ra+La.

(1)

The relation between torque Tm and armature current ia is given

by following equation:
Tm=km..ia (2)
The relation between back emfeb and the angular speed is given
by the following equation:
Fig. 2.Block Diagram of DC Motor
Where
Ra =Armature Resistance (in ohm)

eb= kb. (3)

from equation (1) and (3)
=

(4)

The dynamic equation for mechanical system is

=

La =Armature inductance (in H)

ea=Armature voltage (in V)
eb=Back emf (in V)
Kf=Friction coefficient (N-m/ rad/ sec)
J= Mechanical inertia (in kg-m2)
Km = Motor torque constant (N-m/ rad)
Kb = Back emf constant (V / rad / sec)
Tm =Mechanical torque developed (N-m)
W = angular speed (rad / sec)

+Td (5)

C. Model block Diagram

III.

Using Laplace transform of equation (4) and (5)

ea(s) = kb. (s) + ia(s).Ra + La(s).ia (6)
Tm(s) = km.ia(s) = Js. (s) + kf. (s) + Td(s)

(7)

From equation (6)

ia(s) =[ ea(s) kb. (s)] / [Ra + La(s)]

A harmonic is defined as a sinusoidal component of

periodic wave having a frequency that is an integral multiple
of fundamental or root frequency. Harmonics put very adverse
effect on power system and on performance of machine, the
biggest problem with harmonics is voltage waveform
distortion. Harmonics can cause overloading and overheating
of load which can result in load failure.

(8)

from equation (7)

(s) = (Tm Tl) / (s.J + Kf)

HARMONIC ANALYSIS

A. Total Harmonic Distortion

(9)

the input armature voltage(ea) of dc motor is summed with the

back emf (eb) and the result passed through the transfer
function of electrical characteristics to compute armature
current (ia). this is then given to torque constant to produce the
torque which is fed to transfer function of mechanical
characteristics to produce the motor speed ( ). Then the sped is
fed back to emf constant to generate constant emf.

The relation can be deduced between the fundamental and

distorted waveform by mathematical tool Fast Fourier
Transform (FFT). Rectifier is the main component of a power
system base system. The input steps of any ac - dc converters
comprise of full bridge rectifier followed by a large filter
capacitor. The input current to such a rectifier circuit comprises
of large discontinuous peak current pulses that produces high
input current harmonic distortion .the total harmonic distortion
(THD) of a signal is a measurement of the harmonic distortion
present and is defined as ratio of sum of powers of all harmonic
Components to the power of fundamental frequency which is
described in mathematical equations as follows:

Total Harmonic Distortion = IH / If (10)

IH =

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(11)

Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

The simulation diagram of dc motor is as shown in fig 4.
The parameters used in simulation diagram are:
1. Ra = 2 ohms
2. La = 16.2 mH
3. Km = Kb = 1.4
4. J = 0.117 KgM2
5. Kf = .018

Where,
In = Root Mean Square value of nth harmonic current
If = Root Mean Square value of fundamental current

B. Fast Fourier Transform

Fast Fourier Transform (FFT) is an competent algorithm to
compute the Discrete Fourier Transform (DFT) and its inverse.
To compute a DFT of N points in usual way, take into
arithmetical operators, while FFT can derive the same outcome
in only O(N logN) operators . FFT s are very useful to a wide
variety of industrial applications, from digital signal processing
and solving partial differential equations to algorithms for
quick multiplications of large integrals.

In this simulation we take two inputs and two output ports

.

IV. HARMONIC REDUCTION

Many input current waves shaping methods have been
proposed to overcome the disadvatages of the conventional
ractifiers. These wave shaping methods can classified as active,
passive and hybrid methods. In present paper different passive
filter methods are used to improve the power factor and reduce
the Total Harmonic Distortion(THD) of conventional ac dc
rectifiers. Among different passive filter methods, input
parallel resonant tank of capacitor and inductance and output
pie filter is mainly used. Advantages of this method over the
conventional mathods include:
High input power factor
Increase the efficiency of rectifier
Low input current THD
Fig.3 shows the block diagram which describes the
methodology to improve the totol harmonic distortion of DC
drive

Fig. 3 Block Diagram of Methodology used

V. SIMULATION RESULTS
A. DC Motor Model

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Fig. 4 Simulink Model of DC Motor

INPUT
Va = 220 volts
Td = 1 N-m

OUTPUT

Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

Fig. 6 Output speed waveform of DC motor

Current is as shown

V.

HARMONIC ANALYSIS

For harmonic analysis of dc motor we gave AC input via.

1.) Full bridge rectifier with output parallel RC filter.
2.) Full bridge rectifier with input LC filter.
3.) Full bridge rectifier with pi filter.
4.) Single phase full wave controlled semi converter.
5.) Single phase full wave controlled full converter
A. Full Bridge Rectifier With Output Parallel RC Filter

The simulation diagram is shown in fig. 7. The RC

filter at output is used to reduce the ripples in output
waveform.
Fig. 5 Output Current waveform of DC Motor

Speed of dc motor is as shown

Fig. 7 Full bridge rectifier with output parallel RCfilter

The harmonic analysis of above simulation is done

through the FFT ANALYSIS TOOL.
In it the POWERGUI FFT ANALYSIS TOOL block
is open which as shown in fig. 8

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

Fig. 10 FFT window for full bridge rectifier with input LC filter

C. Full Bridge Rectifier With pi Filter.

Fig. 8.FFT window for full bridge rectifier with

output parallel RC filter

The simulation diagram is shown in fig. 11. The LC

filter at output is used to reduce the ripples in output
waveform.

B. Full Bridge Rectifier With Input LCFilter

The simulation diagram is shown in fig. 9. The LC
filter at output is used to reduce the ripples in output
waveform.

Fig. 11 Full bridge rectifier with pi filter

The harmonic analysis of above simulation is done

through the FFT ANALYSIS TOOL.
In it the POWERGUI FFT ANALYSIS TOOL block
is open which as shown in fig. 12.

Fig. 9 Full bridge rectifier with input LC filter

The harmonic analysis of above simulation is done

through the FFT ANALYSIS TOOL.
In it the POWERGUI FFT ANALYSIS TOOL block
is open which as shown in fig. 10

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

In it the POWERGUI FFT ANALYSIS TOOL block
is open which as shown in fig. 14.

fig. 14 FFT window for single phase full wave controlled semi
converter

E. Single phase full wave controlled full converter

Fig. 12 FFT window for full bridge rectifier with pi filter

The simulation diagram is shown in fig. 15. The

resonant LC filter at input and pi filter is used to
reduce the ripples in output waveform.

D. 4.Single Phase Full Wave Controlled Semi

Converter.
The simulation diagram is shown in fig. 13. The
resonant LC filter at input and pi filter is used to
reduce the ripples in output waveform.

fig. 15 Single phase full wave controlled full converter

The harmonic analysis of above simulation is done

through the FFT ANALYSIS TOOL.
In it POWERGUI FFT ANALYSIS TOOL block is
open which is as shown in fig. 16

Fig. 13 Single phase full wave controlled semi converter

The harmonic analysis of above simulation is done

through the FFT ANALYSIS TOOL.

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

Single phase full wave
controlled full converter

29.00%

VII. CONCLUSION
There are two points which are concluded from this paper:
Among different filters used in full wave bridge
rectifier pi filter is the best filter to reduce the THD
(Total harmonic Distortions) and ripples.
From the two controlled rectifier used above the full
controlled semi converter operates with less
harmonics and reduced THD.

Fig. 16 FFT window for single phase full wave controlled full
converter

VIII. REFERENCES
[1]

VI. RESULT

RECTIFIERS USED

THD
189.58%

Full bridge rectifier with

output parallel RC filter

Full bridge rectifier with

input LC

173.58%

Full bridge rectifier with

pi filter.

69.29%

Single phase full wave

controlled semi converter.

27.85%

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2013.
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[4] B.S.Manke, linear control system with matlab applications, khanna
publication, 2013.
[5] Evaluation of Transient Response of a Separately Excited DC Motor
under No-Load Condition, IEEE International Conference on Emerging
& Sustainable Technologies for Power & ICT in a Developing Society
(NIGERCON)2013.
[6] A Harmonic Model of a 2-Pulse DC Motor Drive Operating in the
Continuous Current Mode S. M. Camacho, Student Member, IEEE and
E. R. Collins, Jr., Member, IEEE Dcpartmcnt of Electrical and
ComputcrEnginccring Clemson University Clemson. SC 29634-09 15
USA.
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Research. O.I. Okoro, Ph.D., C.U. Ogbuka, B.Eng., and M.U. Agu,
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