4 Chopper-Controlled DC Motor Drive

Chopper: The variable dc voltage is controlled by varying the on- and off-times of a converter. Fig. 4.1 is a schematic diagram of the chopper.

 Its frequency of operation is

1 1 fc = = ( t on + t off ) T

and its duty cycle is defined as

t on d= T

Assuming that the switch is ideal, the average output is

t on Vdc = Vs = dVs T

varying the duty cycle changes the output voltage.

 The duty cycle d can be changed in two ways: (i) varying the on-time (constant switching frequency). (ii) varying the chopping frequency. Constant switching frequency has many advantages in practice.

4.3 Four-Quadrant Chopper Circuit

Fig. 4.2 is the chopper circuit with transistor switches.

 Fig. 4.3 is first-quadrant operation.

 Fig. 4.4 is first-quadrant operation with zero voltage across the load.

 Fig. 4.5 voltage and current waveforms in first-quadrant operation.

 Fig. 4.6 second-quadrant operation

 Fig. 4.7 voltage and current waveforms in second-quadrant operation.

 Fig. 4.8 Modes of operation in the third quadrant.

 Fig. 4.9 waveform in third-quadrant operation

 Fig. 4.10 Waveforms in fourth-quadrant operation.

4.4 Chopper for inversion

Converter: DC DC (different voltage) The chopper is the building block for that: AC DC DC(different voltage)

4.5 Chopper with other power devices

MOSFETs, IGBTs, GTOs, or SCRs are used for different power level. The MOSFET and transistor choppers are used at power levels up to 50kW.

4.6 Model of The Chopper

The transfer function of the chopper is
Kr G r (s ) = sT 1+ 2

where Kr = Vs/Vcm, Vs is the source voltage, and Vcm is the maximum control voltage. Increasing the chopping frequency decreases the delay time, and its becomes a simple gain.

4.7 Input to the chopper

The chopper input: a battery or a rectified ac supply. Fig. 4.11 is the chopper with rectified circuit.

 Its disadvantage: it cannot transfer power from dc link into ac mains. Fig. 4.12 Chopper with regeneration capability

 The generating converter has to be operated at triggering angles greater that 90.

4.8 Other Chopper Circuits

Fig. 4.13 one- and two-quadrant operation.

4.9 Steady-state analysis ...

4.9.1 Analysis by averaging The average armature current is where Vdc = dVs The electromagnetic torque is Tav = KbIav = Kb(dVs-Kbwm)/Ra (Nm)
Vdc E Iav = Ra

 The normalized torque is

Tav / Vb K b (dVs K bm ) / Vb dVn mn Ten = = = , p.u. Tb / Vb K b I b R a / Vb R an

where 4.9.2 Instantaneous steady-state computation (including harmonics) The equations of the motor for on and off times (continuous current conduction)
dia Vs = E + R a ia + La , 0 t dT dt dia 0 = E + R a i a + La , dT t T dt

IbR a , p.u. R an = Vb

V Vn = s , p.u. Vb

m mn = , p.u. b

 Fig. 4.15 The waveform of applied voltage and armature current.

 The solutions of the above equations:

V E ia ( t ) = s (1 e Ra
t Ta

) + I a 0e

t Ta

, 0 < t < dT

E ia ( t ) = (1 e Ra

t1 Ta

) + Ia1e

t1 Ta

, dT t dT

where Ta = La/Ra (Armature time constant) t1 = t - dT By using boundary condition

E Ia1 = T / Ta R a (1 e ) Ra Vs (1 e
dT / Ta

Ia 0 =

Vs (edT / Ta 1) R a (eT / Ta 1)

E Ra

 The critical duty cycle: the limiting or minimum value of duty cycle for continuous current; Ia0 equates to zero. The relevant equations for discontinuous current-conduction mode
dia Vs = E + R a ia + La , 0 t dT dt
dia 0 = E + R a ia + La , dT t t x + dT dt

with ia(tx + dT) = 0; ia(0) = 0

 Hence,
V E Ia1 = s (1 e dT / Ta ) Ra
E (1 e ia ( t x + dT ) = Ra
tx Ta tx Ta

) + Ia1e

tx is evaluated from (4.25) and the above eqs. as

Ia1R a ] t x = Ta loge [1 + E

 The solution for the armature current in three time segments is

Vs E (1 e ia ( t ) = Ra
t Ta

), 0 < t < dT
( t dT ) Ta

ia ( t ) = Ia1e

( t dT ) Ta

E (1 e Ra

), dT t t x - dT

ia ( t ) = 0,

(t x + dT ) < t < T

4.10 Rating of the device

The rms value of the power switch current
It = I2 max (T + dT ) = 1 + d I max 2T 2

The average diode current

Id = ( 1 d ) I max 2

 Transistor and diode currents for motoring operation in the continuous-conduction mode.

4.11 Pulsating Torque

The average of the harmonic torque is zero. High-performance applications require the pulsating torque to be minimum. The applied voltage is resolved into Fourier components as
Va ( t ) = Va + =1 A n sin( nc t + n ) n

where

Va =
An =

dT Vs = dVs T
2 Vs n dT sin c n 2

c = 2fc =

2 T n dT n = c 2 2

 The armature current is expressed as

A ia ( t ) = Iav + =1 n sin( nc t + n n ) n Z

where

V E Iav = a Ra
n = cos1{

Z n = R a + jnc La
Ra }

2 2 R a + n 2c L2 a

The input power is

Pi = Va ( t )ia ( t ) Va Iav + Iav =1 A n sin( nc t + n ) n 2 = A A + Va =1 n sin( nc t + n n ) + =1 ( n sin( nc t + n ) sin( nc t + n n )) n n Zn Zn

4.12 Closed-loop operation

Fig. 4.20 is the closed-loop speed-controller dc motor drive.

 The current controller can be (i) Pulse-Width-Modulation (PWM) controller (ii) Hysteresis controller Fig. 4.21 shows on- and off-time for PWM

 Fig. 4.22 is the implementation of PWM current controller.

 Fig. 4.24 shows hysteresis-controlled operation

ia i* i, set v a = Vs a

ia i* + i, reset v a = 0 a

 Fig. 4.23

 Fig. 4.25 is realization of hysteresis controller.