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Closed-loop Control of DC Drives with
Chopper
By
Dr. Ungku Anisa Ungku Amirulddin
Department of Electrical Power Engineering
College of Engineering
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 1

Outline
Closed Loop Control of DC Drives with Choppers
Current Control for DC Drives with Choppers
Pulse-Width-Modulation (PWM) Controller
Hysteresis-Current Controller
Comparison between PWM and Hysteresis Controller
Transfer Function of PWM-Controlled Chopper
Two-quadrant
Four-quadrant
Design of Controllers
References

Closed Loop Control of DC Drives
Closed loop control is when the duty cycle is varied
automatically by a controller to achieve a reference
speed or torque
This requires the use of sensors to feed back the
actual motor speed and torque to be compared with
the reference values
Reference + Output
signal Controller Plant signal

Sensor

Feedback loops may be provided to satisfy one or more of
the following:
Protection
Enhancement of speed response
Improve steady-state accuracy
Variables to be controlled in drives:
Torque achieved by controlling current
Speed
Position

For DC Drive,
Cascade control structure this can be:
Flexible outer loops can be added/removed depending on control Controlled
requirements. rectifier or
DC-DC
Control variable of inner loop (eg: speed, torque) can be limited by converter
limiting its reference value

Closed Loop Control for DC
Drives with Choppers
Outer speed loop very similar to that in the controlled
rectifier dc drive
Inner current control loop different
Current
Speed Control Control Loop
Loop

Current Control for DC Drives
with Choppers
Current control loop is used to control torque via
armature current (ia)
Output of current controller determines duty cycle (i.e.
switching) of DC-DC converter
Current controller can be either:
Pulse-Width-Modulation (PWM) Controller
contain PI controllers, i.e. linear
fixed switching frequency
Hysteresis (bang-bang) controller
on-off controllers, i.e. non-linear
varying switching frequency
Selection of controller affects current control loop
transient response
Hence, affects speed loop bandwidth.
Current Control for Chopper
Drives PWM Controller
In two quadrant chopper, upper and
lower switches are complementary 1 vc > Vtri T1 on, Va = Vdc
Only ONE control signal required q
0 vc < Vtri T2 on, Va = 0
Current error is passed to PI controller
to produce control voltage vc +
vc is then passed to a PWM circuit to T1 D1 Vdc
produce the switching signal q. ia
q = 1 T1 on, T2 off Va = Vdc Vdc
+
q = 0 T1 off, T2 on Va = 0
D2
T2
Va
vtri -
i a* + ierr Pulse Width
vc q
PI Modulator
(PWM)
ia
Drives PWM Controller
In the PWM circuit: vc > Vtri vc < Vtri
vc is compared with a triangular Ttri
waveform
if vc > Vtri on signal is produced
(q = 1)
if vc < Vtri off signal is produced vc
(q = 0)
1 vc > Vtri 1
q (1)
0 vc < Vtri q
0
Chopper switching frequency is fixed ton
Vdc
by triangular waveform frequency
regardless of operating conditions va
Bandwith of current loop controller 0
is limited by frequency of Vtri q=1 q=0

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives T1 on, va = Vdc T2 on, va = 0 9
Current Control for Chopper Drives
PWM Controller Ttri
In the PWM circuit:
Average value of q over a cycle
determines duty cycle of
chopper: vc
t Ttri
1 ton, T1
q dt
1
q
Ttri t
Ttri
0
Average armature voltage: ton
Vdc
T va
1
Va va dt Vdc
Va
T 0 0
va switches between Vdc and 0
average armature voltage Va depends on duty cycle (i.e. how long T1 is on)
PWM Controller
PWM controls chopper duty cycle once in every
cycle
Frequency of Va fixed by frequency of Vtri
Hence, chopper is a variable voltage source with
average current control
Instantaneous current control is not exercised
Current can exceed maximum armature current
between two consecutive switching

Hysteresis Controller
1 ia ia* - ia
Instantaneous current control q
0 ia ia
* + i
a
Current controlled within a narrow
band of excursion from the desired +
value ia* T1 D1 Vdc
Hysteresis window determines ia
allowable deviation of ia Vdc
+
D2
ia* T2
Va
ia Hysteresis
ia Controller -
i a* ierr q
ia
q
ia
Drives Hysteresis Controller
Actual current ia compared with reference
current ia* to obtain error signal ierr ia ia* + ia
If ia ia* + ia q = 0, T2 on and Va = 0
If ia ia* - ia q = 1, T1 on and Va = Vdc
ia*
1 ia ia* - ia ia
q ia
0 ia ia
* + i
a
ia
Value of ia can be externally
ia ia* - ia q
set or made to be a fraction of ia
Chopper switching frequency is
not fixed q=1 q=0
T1 on, va = Vdc T2 on, va = 0

Qualitative Comparison
Characteristics Hysteresis Controller PWM Controller
Switching Varying Fixed
frequency (follows sawtooth waveform
frequency i.e. carrier frequency)
Switching losses High Low
(due to varying
switching frequency)
Speed of Fastest Fast
response (due to instantanous
change in current)
Ripple current Adjustable Fixed
(depends on hysteresis
window ia )
Filter size Depends on ia Small
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives Preferred method ! 14
Closed Loop Control for DC Drives
with Choppers
Controller design procedure:
1. Obtain the transfer function of all drive subsystems
a) DC Motor & Load Exactly the same as before
b) Current feedback loop sensor (i.e. transfer functions obtained
in closed loop control using
c) Speed feedback loop sensor controlled rectifier)
2. Design torque (current) control loop first

Two options to choose from:
A. Hysteresis Controller to design just choose value of ia
B. PWM Controller (contains PI controller)
i. determine transfer function of PWM-controlled chopper
ii. design PI controller using the same procedure as in closed
loop control using controlled rectifier
Closed Loop Control for DC Drives
with Choppers
Controller design procedure (continued):
3. Then design the speed control loop
i. Obtain 1st order model of the designed current controller
ii. Design the speed PI controller using the same procedure as
in closed loop control using controlled rectifier

Transfer Function of PWM-Controlled
Chopper
PWM current controller is preferred over Hysteresis
Controller
Before we can design the PI controller, need to obtain linear
relationship between control input vc and average armature
voltage Va for PWM method Need transfer function
for PWM-controlled
chopper
vtri
i a* + Pulse Width
vc Modulator q Va DC ia
PI Chopper
(PWM) motor
ia

Two-quadrant Chopper
Need to obtain linear relationship between control input vc
and average armature voltage Va for PWM method
Case 1:
vc Vtri 1 vc > Vtri
q
Vtri 0 vc < Vtri

-Vtri vc
T1 off all the time
q0
i.e. ton, T1 = 0
t Ttri
1 ton, T1

Ttri q dt
t
Ttri
0
-Vtri
vc

Case 2:
vc 0
Vtri
1 vc > Vtri
q
-Vtri vc
0 vc < Vtri

T1 on cycle 1, for 1/2 a cycle
i.e. q
ton, T1 = 0.5Ttri 0, for 1/2 a cycle
t Ttri 0.5
1 ton, T1

Ttri q dt
t
Ttri
0.5
vc
-Vtri

Case 3:
vc Vtri
1 vc > Vtri
q
Vtri
0 vc < Vtri
-Vtri vc

T1 on all the time q 1 1
i.e. ton, T1 = Ttri
t Ttri
1 ton, T1 0.5

Ttri q dt
t
Ttri
1
vc
-Vtri Vtri

Relationship between and vc :
1
1 (2)
0.5 vc
2Vtri 0.5
For the two-quadrant chopper: vc

-Vtri +Vtri
Va Vdc 0.5Vdc
Vdc
vc
(3)
2Vtri
Hence, considering only the term due to vc, the twoquadrant
chopper gain is:
Va Vdc
Kr (4)
vc 2Vtri

Four-quadrant Chopper
Recap Chopper operation:
Positive current:
Va = Vdc when T1 and T2 on
Va = 0 when current
freewheels through T2 and D4
+
D1 D3
T1 T3
+ Va -
Vdc
T4 T2
D4 D2
-

Recap Chopper operation:
Positive current:
Va = Vdc when T1 and T2 on
Va = 0 when current
freewheels through T2 and D4
Negative current:
Va = -Vdc when T3 and T4 on +
D1 D3
Va = 0 when current T1 T3
freewheels through T4 and D2 + Va -
Vdc
Output voltage can swing
between:
T4 T2
Vdc and -Vdc D4 D2
Vdc and 0
-

Need to obtain linear relationship between control input vc
and average armature voltage Va for PWM method
Four quadrant chopper has two legs, so it requires two
switching signals (one for each leg)
Depending on relationship between the two switching signals,
4-quadrant chopper has two switching schemes:
Bipolar switching +
D1 D3
Unipolar switching T1 T3
+ Va -
Switching scheme Vdc
determines output
T4 D2 T2
voltage swing between D4
Vdc and -Vdc or Vdc and 0.

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives Leg A Leg B 24
Four-quadrant Chopper (Bipolar Switching)
Bipolar Switching PWM
Leg A and Leg B obtain switching signals from the same control signal vc
Switching of Leg A and Leg B are always complementary
q Leg A 1 vc > Vtri
q
0 vc < Vtri
+ q = 1,q =0
T1
D1 D3
T3 T1 on, T2 on
+ Va -
Va= Vdc
vtri Vdc
q = 0, q =1
T4 T2
D4 D2 T4 on, T3 on
Va= -Vdc
vc
q Leg B

Va = Va+- Va-
q Leg A
2vtri vc
+
D1 D3
T1 T3
+ Va - Vdc
Va+
Vdc 0
vtri
Vdc
T4 D2 T2 Va-
D4 0

Vdc
vc
Va
q -Vdc
Va+ Va- Leg B
Va jumps between +Vdc and Vdc Bipolar Switching PWM

2vtri vc 2vtri vc
1 vc > Vtri
q Vdc Vdc
0 vc < Vtri q q q (1 q)
0 0
Vdc Vdc
Va AVdc Va+ Va- Va BVdc
0 0
ton, T1 ton, T3
A Va = Va+- Va- B
T Vdc T
Va Va BVdc 1 A Vdc
-Vdc
Va jumps between +Vdc and Vdc

Transfer Function PWM-Controlled
Each leg is a two-quadrant chopper.
Output of Leg A (average): Bipolar
Va AVdc (5) Switching PWM
where ton, T1 1
A
0.5 vc 2vtri vc
(6)
Ttri 2Vtri Vdc
Output of Leg B (average):
V BVdc 1 A Vdc
Vdc

(7) Va+
a 0
where Vdc
B ton, T3 Ttri toff , T1 Ttri 1 A (8) Va-

0
Hence, average voltage across the motor: Vdc
Va Va Va 2 A 1Vdc (9) Va
-Vdc
Subt. (6) into (9) V
Va dc vc
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives
Vtri 28
Four-quadrant Chopper (Unipolar Switching)
Unipolar Switching PWM
Leg B switching signals obtained from the inverse of control signal for
Leg A
1 vc > Vtri qa
qa Leg A
0 vc < Vtri
vtri +
vc D1 D3
T1 T3
+ Va -
Vdc
vtri T4 T2
D4 D2
-vc
1 -vc > Vtri

qb qb Leg B
0 -vc < Vtri
Unipolar Switching PWM vc
qa Leg A 2Vtri
-vc
vtri + Vdc
vc D1 D3 Va+
T1 T3
+ Va - 0
Vdc
Vdc
Va-
vtri T4 0
D2 T2
-vc D4
Vdc
Va
0
qb
Va+ Va- Leg B
Va = Va+- Va-
Va jumps between +Vdc and 0 Unipolar Switching PWM

vc vc
2Vtri 2Vtri
-vc -vc
1 vc > Vtri Vdc Vdc 1 -vc > Vtri

qa q
qb q -v < V
0 vc < Vtri a
b
0 0 0 c tri
Vdc Vdc
V AVdc
a
Va+ Va- Va BVdc
0 0
ton, T1 ton, T3
A Va = Va+- Va- B
T Vdc T
Va
0
Va jumps between +Vdc and 0
Each leg is a two-quadrant chopper.
Unipolar
Output of Leg A (average): Switching PWM
Va AVdc (10)
vc
where ton, T1 1
A 0.5
2Vtri
vc -vc
Ttri 2Vtri (11)

Output of Leg B (average): Vdc
Va BVdc (12)
Va+
0
where ton, T3

B
0.5
1
vc 1 A (13)V Vdc
Ttri
-
2Vtri a
0
Hence, average voltage across motor armature:
V V V V 2 1V
Vdc
(14) V
a a a A B dc A dc a
0
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives Same as Bipolar Switching Scheme! 32
PWM-Controlled Four-quadrant Chopper
Comparison between Bipolar & Unipolar Switching
Bipolar Switching PWM Unipolar Switching PWM
2vtri vc vc
2Vtri
-vc
Vdc Vdc
Va+ Va+
0 0
Vdc Vdc
Va- Va-
0 0
Vdc Vdc
V
Va Va dc vc Va
Vtri 0
-Vdc
Output voltage swings from Vdc and Vdc Output voltage swings from Vdc and 0
Output voltage frequency equal to Output voltage frequency equal to
frequency of triangle voltage (ftri) 2 times frequency of triangle voltage
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives (ftri) 33
PWM-Controlled Four-quadrant Chopper
Comparison between Bipolar & Unipolar Switching
Characteristics Bipolar Switching Unipolar Switching
Output voltage swing Vdc and -Vdc Vdc and 0
Output voltage ftri = frequency of Vtri 2ftri

frequency
Current ripple = i Vdc

ripple
f output voltage
For same ftri and Vdc, unipolar scheme gives:
better output voltage waveform (less ripple)
lower current ripple
better frequency response

Chopper: Two and Four Quadrant
Gain of the PWM-controlled chopper:
Va Vdc
Two -quadrant: K r v 2V (15)
c tri
Fourquadrant: Va Vdc (16)

Kr
vc Vtri
where Vdc = dc link voltage
Vtri = maximum control voltage
(i.e. peak of the triangular waveform)
Chopper also has a delay: 1
Tr (17)
2 fc
where fc = carrier (triangular) waveform frequency

Transfer Function of Subsystems
PWM-controlled Chopper: G s Kr (18)
r
1 sTr
Note: Kr and Tr as given in equations (15) (17) above.
Other subsystem transfer functions are as observed in Closed-loop
Control of DC Drives with Controlled Rectifier.
DC Motor and Load:
m s m s Ia s

Va s Ia s Va s
m s Kb Ia s 1 sTm
K1
Ia s Bt 1 sTm Va s 1 sT1 1 sT2
Current Feedback: H c
Speed feedback: G s K

1 sT
Block Diagram of Motor Drive
Current
Speed Control
Control Loop
Loop
Assume that we are using PWM controlled chopper

Control loop design starts from inner (fastest) loop to
outer(slowest) loop
Only have to solve for one controller at a time
Not all drive applications require speed control (outer loop)
Performance of outer loop depends on inner loop
Current Controller
PWM-controlled DC Motor
Chopper & Load
K c 1 sTc
PI type current controller: G c s (19)
sTc
Loop gain function:
K1Kc Kr H c
G Hi s
1 sTc 1 sTm (20)

T c s1 sT1 1 sT2 1 sTr
Design procedure - same as for current controller in closed-
loop control using controlled rectifiers
Current loop 1st order approximation
Approximated by adding Tr to T1 T3 T1 Tr
K c K r K 1Tm 1
Ia s

Tc 1 sT3
Ki
(21)
Ia s
*
1
K c K r K 1 H cTm 1 1 sTi
Tc 1 sT 3
Current loop 1st order approximation
where T3 (22)
Ti
1 K fi
K fi 1 (23)
Ki
H c 1 K fi
K1K c K r H cTm (24)
K fi
Tc
1st order approximation of current loop used in speed loop
design.
If more accurate speed controller design is required, values of
Ki and Ti should be obtained experimentally.
Speed Controller DC Motor
& Load
1st order
approximation
of current
loop
K s 1 sTs
PI type current controller: G s s (25)
sTs
Assume there is unity speed feedback:
H (26)
G s 1
1 sT
Speed Controller
Loop gain function:

K B K s Ki
GHs
1 sTs (27)

BtTs s1 sTi 1 sTm
Design procedure - same as for speed controller in
closed-loop control using controlled rectifiers
References
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
Mohan, Underland, Robbins, Power Electronics: Converters,
Applications and Design, 2nd ed., John Wiley & Sons, USA,
1995.
Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.

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Closed-loop Control of DC Drives with

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 1

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 2

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 3

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 4

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 5

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 6

Bandwith of current loop controller 0

is limited by frequency of Vtri q=1 q=0

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 11

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 13

2. Design torque (current) control loop first

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 16

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 17

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 18

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 19

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 20

For the two-quadrant chopper: vc

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 21

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 22

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 23

Vdc and -Vdc or Vdc and 0.

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 25

Va jumps between +Vdc and Vdc Bipolar Switching PWM

Va jumps between +Vdc and Vdc

B ton, T3 Ttri toff , T1 Ttri 1 A (8) Va-

Hence, average voltage across the motor: Vdc

1 -vc > Vtri

Va jumps between +Vdc and 0 Unipolar Switching PWM

1 vc > Vtri Vdc Vdc 1 -vc > Vtri

Ttri 2Vtri (11)

Output voltage ftri = frequency of Vtri 2ftri

Current ripple = i Vdc

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 34

Fourquadrant: Va Vdc (16)

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 35

Assume that we are using PWM controlled chopper

Loop gain function:

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 43

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