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DC DRIVES: Electric drives that use DC motors as the prime movers DC motor: industry workhorse for decades Will AC drive replaces DC drive ?
DC strong presence easy control huge numbers AC will eventually replace DC at a slow rate
DC Motors
Limitations:
dv F =M dt
Rotational motion:
Te TL > 0 Te TL < 0 Te TL = 0
continue
Drive accelerates or decelerates depending on whether Te is greater or less than TL During acceleration, motor must supply not only the load torque but also dynamic torque, ( Jd/dt ). During deceleration, the dynamic torque, ( Jd/dt ), has a negative sign. Therefore, it assists the motor torque, Te.
Speed
Load Torque
Load torque, TL, is complex, depending on applications. In general:
TORQUE
TL = k TL = k TL = k2
SPEED
4Q OPERATION
F: FORWARD R: REVERSE M : MOTORING B: BRAKING
Te SPEED Te
FB RM
Te
II III
I IV
FM
Te
RB
TORQUE
Principle of Operation
DC Motors
Stator: field windings Rotor: armature windings
Ra + Vt _ ia
La + e a _
Lf if
Rf + Vf _
di vt = R a i a + L a + ea dt
df v = R if + L f f id t
Te = ktia
ea = k E
Va = Ra I a + Ea
Therefore speed is given by, Ra Va = T + 2 e kT ( kT ) Three possible methods of speed control: Armature resistance Ra Field flux
No load speed
Torque
By Changing Ra
Ra increasing
Maximum Torque
Torque
Power loss in Ra Does not maintain maximum torque capability Poor speed regulation
By Decreasing Flux
Flux Decreasing
Maximum Torque
Torque Trate d
Maximum Torque
Torque
Trate d
Methods of Armature Voltage Control 1. Ward-Leonard Scheme 2. Phase-controlled rectifier (ACDC) 3. Switch-Mode Converter (Chopper) (DCDC)
+ Vt -
Q2 Q1 Q3 Q4
T
T 1 T 2
D 1 + Vt D 2
Q2 Q1 Q3 Q4
T
Q1 T1 and D2 Q2 D1 and T2
T1 D1 D3
+ Vt D4 D2
T3
Q2 Q1 Q3 Q4
T
T4
T2
Switchmode converters