Devices, Circuits, and Applications: DC Drives

POWER ELECTRONICS
Devices, Circuits, and Applications

FOURTH EDITION
CHAPTER
CHAPTER 14
Dc Drives
Power Electronics: Devices, Circuits, and Applications, 4e Copyright ©2014 by Pearson Education, Inc.
Muhammad H. Rashid All rights reserved.
Learning Outcomes After completing this chapter, students should be able to do the
following:
Describe the basic characteristics of dc motors and their control characteristics.
List the types of dc drives and their operating modes.
List the control requirements of four-quadrant drives.
Describe the parameters of the transfer function of converter-fed dc motors.
Determine the performance parameters of single-phase and three-phase converter drives.
Determine the performance parameters of dc–dc converter drives.
Determine the closed-loop and open-loop transfer functions of dc motors.
Determine the speed and torque characteristics of converter-fed drives.
Design and analyze a feedback control of a motor drive.
Determine the optimized parameters of the current- and speed feedback controller.
Symbols and Their Meanings
Symbols and Their Meanings (continued)
Figure 14.1 Controller rectifier- and dc–dc converter-fed drives.
Figure 14.2 Equivalent circuit of separately excited dc motors.
Equations 14.3, 14.4, and 14.5 Separately Excited Dc Motor
• Under steady-state conditions, the time

derivatives in these equations are zero
and the steady-state average quantities
are
Equations 14.6 and 14.7 Separately Excited Dc Motor
• The developed power is
• From Eq. (14.3), the speed of a separately

excited motor can be found from
Figure 14.3 Magnetization characteristic.
Equation 14.2 Magnetization Characteristic

are
Figure 14.4 Characteristics of separately excited motors.
Equations 14.4 and 14.5 Magnetization Characteristic

are
Equation 14.6 Separately Excited Dc Motor
• The developed power is
Figure 14.5 Equivalent circuit of dc series motors.
Equations 14.8, 14.9, 14.10, and 14.11 Series-Excited Dc Motor
• The steady-state average quantities are
Equation 14.12 Series-Excited Dc Motor
• The speed of a series motor can be

determined from Eq. (14.10):
Figure 14.6 Characteristics of dc series motors.
Figure 14.7 Schematic for a gearbox between the motor and the load.
Equations 14.13 and 14.14 Gear Ratio
• Assuming zero losses in the gearbox, the

power handled by the gear is the same on
both sides. That is,
• The speed on each side is inversely

proportional to its tooth number. That is,
Equations 14.15, 14.16, and 14.17 Gear Ratio
• Substituting Eq. (14.14) into Eq. (14.13)

gives
• Similar to a transformer, the load inertia J1

and the load bearing constant B1 can be
reflected to the motor side by
Figure 14.8 Operating modes.
Figure 14.8 (continued) Operating modes.
Figure 14.9 Conditions for four quadrants.
Figure 14.10 Basic circuit arrangement of a single-phase dc drive.
Figure 14.11 Field and armature reversals using contactors.
Figure 14.12 Single-phase semiconverter drive.
Equations 14.18 and 14.19 Gear Ratio
• With a single-phase semiconverter in the

armature circuit, the average armature
voltage is can given by [12]
• With a semiconverter in the field circuit,

Eq. (10.52) gives the average field voltage
as
Figure 14.13 Single-phase full-converter drive.
Equations 14.20 and 14.21 Single-Phase Full-Converter Drives
• With a single-phase full-wave converter in

the armature circuit, Eq. (10.1) gives the
average armature voltage as
• With a single-phase full-converter in the

field circuit, Eq. (10.5) gives the field
voltage as
Figure 14.14 Single-phase dual-converter drive.
Equation 14.22 Single-Phase Full-Converter Drives
• If converter 1 operates with a delay angle

of αa1, Eq. (10.11) gives the armature
voltage as
Equations 14.23 and 14.24 Single-Phase Full-Converter Drives

of αa2, Eq. (10.12) gives the armature
voltage as
• where αa2 = π − αa1. With a full converter

in the field circuit, Eq. (10.1) gives the
field voltage as
Equations 14.25 and 14.26 Three-Phase Semiconverter Drives
• With a three-phase semiconverter in the

armature circuit, Eq. (10.69) gives the
armature voltage as
• With a three-phase semiconverter in the

voltage as
Equations 14.27 and 14.28 Three-Phase Full-Converter Drives
• With a three-phase full-wave converter in

the armature circuit, Eq. (10.15) gives the
armature voltage as
• With a three-phase full converter in the

voltage as
Equations 14.29 and 14.30 Three-Phase Dual-Converter Drives

of αa1, Eq. (10.15) gives the average
armature voltage as

of αa2, Eq. (10.15) gives the average
armature voltage as
Equation 14.31 Three-Phase Dual-Converter Drives
• With a three-phase full converter in the

field circuit, Eq. (10.15) gives the average
field voltage as
Figure 14.15 Converter-fed dc drive in power control.
Equations 14.32 and 14.33 Dc–Dc Converter Drives
• The average armature voltage is
• where k is the duty cycle of the dc–dc

converter. The power supplied to the
motor is
where Ia is the average armature current

of the motor and it is ripple free.
Equations 14.34 and 14.35 Dc–Dc Converter Drives
• The average value of the input current is
• The equivalent input resistance of the dc–

dc converter drive seen by the source is
Equation 14.36 Dc–Dc Converter Drives
• For a finite armature circuit inductance,

Eq. (5.29) can be applied to find the
maximum peak-to-peak ripple current as
Figure 14.16 Regenerative braking of dc separately excited motors.
Equations 14.37 and 14.38 Regenerative Brake Control
• The average voltage across the dc–dc

converter is
• If Ia is the average armature current, the

regenerated power can be found from
Equations 14.40 and 14.42 Regenerative Brake Control
• Therefore, the equivalent load resistance

of the motor acting as a generator is
• The minimum braking speed of the motor
Equation 14.43 Regenerative Brake Control
• The maximum braking speed of a series

motor can be found from Eq. (14.41):
and ω ≤ ωmax.
Figure 14.17 Rheostatic braking of dc separately excited motors.
Equations 14.44 and 14.45 Rheostatic Braking
• The average current of the braking

resistor,
• and the average voltage across the

braking resistor,
Equations 14.46 and 14.47 Rheostatic Braking
• The equivalent load resistance of the

generator,
• The power dissipated in the resistor Rb is
Figure 14.18 Combined regenerative and rheostatic braking.
Figure 14.19 Two-quadrant transistorized dc–dc converter drive.
Figure 14.20 Four-quadrant transistorized dc–dc converter drive.
Figure 14.21 Multiphase dc–dc converters.
Equation 14.48 Multiphase Dc–dc Converters
• For u dc–dc converters in multiphase

operation, it can be proved that Eq. (5.29) is
satisfied when k = 1/2u and the maximum
peak-to-peak load ripple current becomes
where Lm and Rm are the total armature

inductance and resistance, respectively.
• For 4ufLm Rm, the maximum peak-to-peak

load ripple current can be approximated to
• If an LC-input filter is used, Eq. (5.125)

can be applied to find the rms nth
harmonic component of dc–dc converter-
generated harmonics in the supply
• If (nuf/f0) 1, the nth harmonic current in

the supply becomes
Figure 14.22 Block diagram of a closed-loop converter-fed dc motor drive.
Figure 14.23 Converter-fed separately excited dc motor drive.
Equation 14.52 Transfer Function of Separately Excited Motors
• Assuming a linear power converter of gain

K2, the armature voltage of the motor is
Equations 14.53, 14.54, 14.55, and 14.56 Transfer Function of Separately Excited Motors
• Assuming that the motor field current If and

the back emf constant Kv remain constant
during any transient disturbances, the system
equations are
Figure 14.24 Open-loop block diagram of separately excited dc motor drive.
Equations 14.66 and 14.67 Open-loop Block Diagram of Separately Excited Dc Motor Drive
• From Eq. (14.63), the motor speed is
where πm = J/B is known as the

mechanical time constant of the motor.
Equation 14.68 Open-loop Block Diagram of Separately Excited Dc Motor Drive
• From Figure 14.24, we can obtain the

speed response due to reference voltage
as
Figure 14.25 Open-loop block diagram for torque disturbance input.
Equation 14.69 Open-loop Block Diagram for Torque Disturbance Input
• The block diagram for a step change in

load torque disturbance is shown in Figure
14.25.
Equations 14.70 and 14.71 Open-loop Block Diagram for Torque Disturbance Input
• Using the final value theorem, the steady-

state relationship of a change in speed Δω,
due to a step change in control voltage ΔVr,
and a step change in load torque ΔTL, can be
found from Eqs. (14.68) and (14.69),
respectively, by substituting s = 0.
Equation 14.72 Open-loop Block Diagram for Torque Disturbance Input
• Eqs (14.68) and (14.69) give the speed

response as
Figure 14.26 Dc–dc converter-fed dc series motor drive.
Equations 14.73, 14.74, and 14.75 Transfer Function of Series Excited Motors
• Assuming that the back emf constant Kv

does not change with the armature
current and remains constant, the system
equations are
Equations 14.76 and 14.77 Transfer Function of Series Excited Motors
• Assuming that the back emf constant Kv

does not change with the armature
current and remains constant, the system
equations are
Figure 14.27 Open-loop block diagram of dc–dc converter-fed dc series drive.
Equations 14.78, 14.79, 14.80, 14.81, and 14.82 Block Diagram of Dc–dc Converter-fed Dc Series Drive
• Transforming these equations in the

Laplace domain gives us
Figure 14.28 Block diagram for reference voltage and load torque distributions.
Equation 14.83 Converter Control Models
• The gain of a dc–dc converter can be

expressed as
where Vc is the control signal voltage (say

0 to 10 V) and Vcm is the maximum value
of the control signal voltage (10 V).
• Kc is the gain of the single-phase

converter as
where Vs = Vm/√2 is the rms value of the

single-phase ac supply voltage.
• Kr is the gain of the three-phase converter

as
where Vs = Vm/√2 is the rms value of the

ac supply voltage per phase.
Equations 14.89 and 14.90 Converter Control Models
• Therefore, a converter can be modeled

with a transfer function Gc(s) of a certain
gain and phase delay as described by
• which can be approximated as a first-

order lag function given by
Figure 14.29 Block diagram for closed-loop control of separately excited dc motor.
Equations 14.92 Closed-Loop Transfer Function
• The closed-loop step response due to a

change in reference voltage can be found
from Figure 14.24 with TL = 0.
Equations 14.93 Closed-Loop Transfer Function
• The response due to a change in the load

torque TL can also be obtained from Figure
14.29 by setting Vr to zero.
Equations 14.94 and 14.95 Closed-Loop Transfer Function
• The steady-state change in speed Δω, due

to a step change in control voltage Vr and
a step change in load torque TL, can be
found from Eqs. (14.92) and (14.93),
respectively, by substituting s = 0.
Figure 14.30 Converter-fed dc motor with current-control loop.
Equations 14.99 and 14.100 Closed-loop Control of Separately Excited Dc Motor
• The blocks in Figure 14.30b can be

simplified
Figure 14.31 Motor drive with current- and speed-control loops.
Equations 14.101 and 14.102 Converter-fed Dc Motor with Current-control Loop
• Using proportional-integral type of control,

the transfer functions of the current
controller Gc(s) and the speed controller
Gs(s) can be represented as
Equation 14.103 Converter-fed Dc Motor with Current-control Loop
• The transfer function of the speed

feedback filter can be expressed as
where Kω and τω are the gain and time

constants of the speed feedback loop.
Figure 14.32 Closed-loop speed control with inner current loop and field weakening.
Figure 14.33 Outer speed-control loop.
Equations 14.116 and 14.117 Outer Speed-control Loop
• The loop gain function is expressed as
• Assuming 1 + sτm ≈ sm and combining the

delay time τs of the speed controller with the
delay time τω of the speed feedback filter to
an equivalent delay time te = τs + τω, Eq.
(14.116) can be approximated to
Equation 14.120 Outer Speed-control Loop
• The closed-loop transfer function of the

speed in response to speed reference
signal is given by
Figure 14.34 Adding a pole-zero compensating network.
Figure 14.35 Dc–dc converter-fed speed and position control system with an IGBT bridge.
Equation 14.127 Speed and Position Control System
• For forward driving, the transistors T1 and

T4 and diode D2 are used as a buck
converter that supplies a variable voltage,
νa, to the armature given by
where VDC is the dc supply voltage to the

converter and δ is the duty cycle of the
transistor T1.
Figure 14.36 Typical profile of a dc–dc converter-fed four-quadrant drive.
Figure 14.37 Phase-locked-loop control system.
Figure 14.38 Schematic diagram of computer-controlled four-quadrant dc drive.

Devices, Circuits, and Applications: DC Drives

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POWER ELECTRONICS

Devices, Circuits, and Applications

• Under steady-state conditions, the time

• The developed power is

• From Eq. (14.3), the speed of a separately

• Under steady-state conditions, the time

• Under steady-state conditions, the time

• The developed power is

• The steady-state average quantities are

• The speed of a series motor can be

• Assuming zero losses in the gearbox, the

• The speed on each side is inversely

• Substituting Eq. (14.14) into Eq. (14.13)

• Similar to a transformer, the load inertia J1

• With a single-phase semiconverter in the

• With a semiconverter in the field circuit,

• With a single-phase full-wave converter in

• With a single-phase full-converter in the

• If converter 1 operates with a delay angle

• If converter 2 operates with a delay angle

• where αa2 = π − αa1. With a full converter

• With a three-phase semiconverter in the

• With a three-phase semiconverter in the

• With a three-phase full-wave converter in

• With a three-phase full converter in the

• If converter 1 operates with a delay angle

• If converter 2 operates with a delay angle

• With a three-phase full converter in the

• The average armature voltage is

• where k is the duty cycle of the dc–dc

where Ia is the average armature current

• The average value of the input current is

• The equivalent input resistance of the dc–

• For a finite armature circuit inductance,

• The average voltage across the dc–dc

• If Ia is the average armature current, the

• Therefore, the equivalent load resistance

• The minimum braking speed of the motor

• The maximum braking speed of a series

• The average current of the braking

• and the average voltage across the

• The equivalent load resistance of the

• The power dissipated in the resistor Rb is

• For u dc–dc converters in multiphase

where Lm and Rm are the total armature

• For 4ufLm Rm, the maximum peak-to-peak

• If an LC-input filter is used, Eq. (5.125)

• If (nuf/f0) 1, the nth harmonic current in

• Assuming a linear power converter of gain

• Assuming that the motor field current If and

• From Eq. (14.63), the motor speed is

where πm = J/B is known as the

• From Figure 14.24, we can obtain the

• The block diagram for a step change in

• Using the final value theorem, the steady-

• Eqs (14.68) and (14.69) give the speed

• Assuming that the back emf constant Kv

• Assuming that the back emf constant Kv

• Transforming these equations in the

• The gain of a dc–dc converter can be

where Vc is the control signal voltage (say

• Kc is the gain of the single-phase

where Vs = Vm/√2 is the rms value of the