EXERCISE No.

TITLE:

NECESSARY
COMPONENTS:

30
Bridge B2HZ for the control of a DC motor
1 Microprocessor module
M5R
1 Module of Power Circuits
M6R + Mask 1 (BSP)
1 Signal acquisition module
MDAQ
1 DC motor
M-1/EV
1 Tachogenerator
M-16/EV
2 True RMS multimeters
1 Multimeter (recommended for the measurement of RPM on the
tachogenerator; thus avoinding the use of a specific instrument)
1 Dual-trace oscilloscope
Power supply unit: mod. AEP-1/EV

TARGETS:
1. Measurement of the voltages and currents crossing the power circuit with resistive load and
with load represented by a motor in open-loop and closed-loop configuration.
2. Analysis of voltage and current waveforms.
STARTING PROCEDURES :
A specific starting procedure is applied to each experiment and it is available at the beginning of
the description.
EXPERIMENT No. 1: MEASUREMENT OF VOLTAGES and OF CURRENTS and
ANALYSIS OF WAVERFORMS WITH RESISTIVE LOAD
This experiment with resistive load enables to obtain canonical waveforms. Then the resulting data
will be compared with the theoretical values. Therefore this experiment will be taken as reference for
the other experiments where the load is represented by a DC motor.
Differently from modules M3R and M4R described in the Second and Third parts of the
handbook, where the main parameter was the firing angle of SCRs and it varied from 0 to 180,
the TRIGGERING parameter of this Experiment is not expressed in degrees, but in percentage
and it varies from 0% to 100% (where 0% corresponds to a firing angle of 180).
STARTING PROCEDURE :
1. Arrange the modules on the vertical support. Insert Mask 1 on module M6R.
2. The expected resistive load is of 100 .
3. Connect the jumpers with the power supply unit to assemble the circuit shown in Exercise 30 Fig. 2. Adjust the variac of the power supply unit to attain a max. voltage of 70 Vac across input
L1-N of Module M6R.
4. Connect the white jumper of mask identification.
5. Connect the white jumpers with the Gates of the two SCRs.
6. Carry out the following preliminary operations:
- Switch Module M5R on.
- Enable the component pressing the ON key of Module M5R (on the right of the display).
After the preliminary operations have been carried out correctly, implement the following
measurements:
1. Measure the AC voltage across input L1-N of Module M6R. Write down the value on Table 1.
26

2. Set the tester to measure the average value Udc of the voltage across the load. Turn the
potentiometer of module M5R, following the indications of Table 2, and observe the waveforms
of voltage for different values of the TRIGGERING parameter. Write down the data on Table 2.
3. Use the tester as an ammeter A (open the circuit and connect the Tester), to measure the average
value Idc of the current crossing the load. Turn the potentiometer of module M5R, following the
indications of Table 2, and observe the waveforms of voltage for different values of the
TRIGGERING parameter. Write down the data on Table 2.
4. Plot the curve of the data UdAV versus the TRIGGERING parameter / firing angle, and compare
with the theoretical curve.
At the end of the exercise push the OFF button of module M5R (on the right of the display) to
switch the control circuit off.
EXPERIMENT No. 2: MEASUREMENT OF VOLTAGES AND CURRENTS AND ANALYSIS OF
THE WAVEFORMS WITH A LOAD CONSISTING OF A DC MOTOR WITH SEPARATE
EXCITATION (OPEN CONTROL LOOP)
In this experiment the load is represented by a motor, consequently, as the open loop configuration is
used, the tachogenerator is not necessary.
STARTING PROCEDURE :
1. Arrange the corresponding modules on the vertical support. Insert Mask 1 (BSP) on module
M6R.
2. Connect the jumpers with the power supply unit to assemble the circuit shown in Exercise 30 Fig. 2. Adjust the variac of the power supply unit to attain a max. voltage of 160 Vac across
input L1-N of Module M6R.
3. Connect the white jumper of mask identification.
4. Connect the white jumpers with the Gates of the two SCRs.
5. Carry out the following preliminary operations:
Switch Module M5R on.
Pressing the arrow key ( ) move to SETUP (buttons of the central area of Module
M5R).
Pressing the arrow key ( ) move to FEEDBACK (buttons of the central area of
Module M5R).
Pressing the keys (+ and -), near the display, select OL (open loop) for the test without
feedback (open loop).
Confirm OK pressing the central button of Module M5R.
IMPORTANT WARNING: BEFORE POWERING THE MOTOR ARMATURE,
MAKE SURE TO HAVE POWERED THE FIELD (160 Vdc).
After the preliminary operations have been carried out correctly, implement the following
measurements:
1. Set the tester to measure the average value Udc of the voltage across the motor. Turn the
potentiometer of module M5R, following the indications of Table 3, and observe the
waveforms of voltage for different values of the TRIGGERING parameter. Write down the data
on Table 3.
2. Use the tester as an ammeter A (open the circuit and connect the Tester), to measure the average
value Idc of the current crossing the load. Turn the potentiometer of module M5R, following the
indications of Table 3, and observe the waveforms of voltage for different values of the
TRIGGERING parameter. Write down the data on Table 3.
3. Considering the same values for the triggering parameter, compare the values and waveforms of
this experiment with the values obtained before with the resistive load.
4. Plot the curve of motor RPM versus the parameter of TRIGGERING / firing angle.
At the end of the exercise push the OFF button of module M5R (on the right of the display) to
switch the control circuit off. MOREOVER, DISCONNECT THE EXCITATION VOLTAGE
OF 160 Vdc FROM THE MOTOR ARMATURE.
27

EXPERIMENT No. 3: MEASUREMENT OF VOLTAGES AND CURRENTS AND ANALYSIS OF

THE WAVEFORMS WITH A LOAD CONSISTING OF A DC MOTOR WITH SEPARATE
EXCITATION (CLOSED CONTROL LOOP)
In this experiment the load is represented by a motor, consequently, as the closed loop configuration is
used, the tachogenerator will be necessary.
STARTING PROCEDURE :
a.
Arrange the corresponding modules on the vertical support. Insert
Mask 1 (BSP) on module M6R.
b.
Connect the jumpers with the power supply unit to assemble the
circuit shown in Exercise 30 - Fig. 2. Adjust the variac of the power supply unit to attain a max.
voltage of 160 Vac across input L1-N of Module M6R.
c.
Connect the white jumper of mask identification.
d.
Connect the white jumpers with the Gates of the two SCRs.
e.
Carry out the following preliminary operations:
Switch Module M5R on.
Pressing the arrow key ( ) move to SETUP (buttons of the central area of Module M5R).
Pressing the arrow key ( ) move to FEEDBACK (buttons of the central area of Module
M5R).
Pressing the keys (+ and -), near the display, select TG (tachogenerator) for the test with
speed feedback by tachogenerator (closed loop).
Confirm OK pressing the central button of Module M5R.
IMPORTANT WARNING: BEFORE POWERING THE MOTOR ARMATURE,
MAKE SURE TO HAVE POWERED THE FIELD (160 Vdc).
After the preliminary operations have been carried out correctly, implement the following
measurements:
1. Set the tester to measure the average value Udc of the voltage across the motor. Turn the
potentiometer of module M5R, following the indications of Table 4, and observe the
waveforms of voltage for different values of the TRIGGERING parameter. Write down the data
on Table 4.
2. Use the tester as an ammeter A (open the circuit and connect the Tester), to measure the average
value Idc of the current crossing the load. Turn the potentiometer of module M5R, following the
indications of Table 4, and observe the waveforms of voltage for different values of the
TRIGGERING parameter. Write down the data on Table 4.
3. While the motor is running, disconnect a terminal of tachogenerator TG. Reading the values on
the tester connected with the tachogenerator, observe that RPM increase because the motor is
not controlled any more. Connect the terminal of tachogenerator again and observe that motor
speed is reset to the set value.
5. Considering the same values for the triggering parameter, compare the values and waveforms of
this experiment with the values obtained before with the motor in open loop configuration.
4. Plot the curve of motor RPM versus the parameter of TRIGGERING / firing angle. Compare
with the curve resulting from the previous test where the motor was controlled in open loop
configuration.
At the end of the exercise push the OFF button of module M5R (on the right of the display) to switch the
control circuit off. MOREOVER, DISCONNECT THE EXCITATION VOLTAGE OF 160 Vdc
FROM THE MOTOR ARMATURE.

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TABLE 1: SUPPLY VOLTAGE OF THE MODULE (Vac)

AC voltage across L1 N of Module M6R:

TABLE 2: VALUES AND PHOTOS FOR THE RESISTIVE LOAD

TRIGGER.
(%)

()

100

75

UdAV
(VDC of tester)
(V)

CH1
MDAQ
Terminal

IdAV
(IDC of
tester)
(A)

CH2
MDAQ
Terminal

See Photo

12B (1V/div)

12A (1V/div)

45

12B (1V/div)

12A (1V/div)

50

90

12B (1V/div)

12A (1V/div)

25

135

12B (1V/div)

12A (1V/div)

180

12B (1V/div)

12A (1V/div)

29

Exercise 30 - Fig. 1
Study of a Half controlled Bridge with resistive load and connected instruments

Exercise 30 - Fig. 2
Connection diagram of the Modules with resistive load
30

FORMULA FOR CALCULATING THE VOLTAGE

ACROSS THE RESISTIVE LOAD

Udc / Udc(0 ) = 0.5 * (1 + cos )

Function Udc/Udc (0 ) of this circuit complies with the following law:

Udc/Udc (0 ) = 0.5 * [1+ cos ]

()
0
45
90
135
180

TRIGGER.
(%)
100
75
50
25
0

0 180

MEASURED VALUES
Udc
Udc/Udc (0)
(V across the load)
blue

THEORETICAL VALUES
FORMULA
Udc/Udc (0 )
red
0.5* [1+ cos ]]
0.5* [1+ cos ]
0.5* [1+ cos ]
0.5* [1+ cos ]
0.5* [1+ cos ]

THE CURVES OF MEASURED DATA AND OF THE THEORETICAL VALUES ARE

SUPERIMPOSED.

31

EXERCISE 30 - PHOTOS OF PURE RESISTIVE LOAD

Exercise 30 Photo 1 - = 0

Exercise 30 Photo 2 - = 45

Exercise 30 Photo 3 - = 90

Exercise 30 Photo 4 - = 135

Exercise 30 Photo 5 - = 180

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TABLE 3:VALUES AND PHOTOS WITH MOTOR IN OPEN LOOP CONFIGURATION AS

LOAD

AC voltage across L1 N of Module M6R:

UdAV
(VDC of
tester)
(V)

CH1
MDAQ
Terminal

IdAV
(IDC of
tester)
(A)

CH2
MDAQ
Terminal

U TG
(V)

MOTOR
RPM

See
Photo

TRIGGER.
(%)

()

180

12B (1V/div)

12A (1V/div)

25

135

12B (1V/div)

12A (1V/div)

50

90

12B (1V/div)

12A (1V/div)

60

72

12B (1V/div)

12A (1V/div)

75

45

12B (1V/div)

12A (1V/div)

100

12B (1V/div)

12A (1V/div)

Tachogenerator mod. M-16/EV:

K TG = 2 mV/RPM
MOTOR RPM = U TG / K TG
Connecting a multimeter with the terminals of tachogenerator mod. M-16/EV enables to
measure UTG

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8
-------9
-------

EXERCISE 30 LOAD: DC MOTOR SEPARATE EXCITATION

BRIDGE B2HZ
KTG = 2 mV/RPM
VCA (L1-N) = 160 V

TRIGGER.
(%)

()

UdAV

U TG

MOTOR

(VDC of tester)

(V)

RPM

(V)
0

180

25

135

50

90

60

72

75

45

100

34

Exercise 30 - Fig. 3
Study of a Half controlled Bridge with load represented by a DC motor (open loop),
and with connected instruments

Exercise 30 - Fig. 4
Connection diagram of the Modules with load represented by a DC motor (open loop)
35

EXERCISE 30 - PHOTOS OF THE LOAD WITH MOTOR (OPEN LOOP)

Exercise 30 Photo 6 - =180

Exercise 30 Photo 7 - = 135

Exercise 30 Photo 8 - = 90

Exercise 30 Photo 9 - = 45

CONCLUSIONS:
The current crossing the motor is almost constant because the motor runs in no-load
condition.
The current shows an intermittent trend. That provokes a damage to the motor because
magnetic losses inxcrease and the torque is not kept constant..
Voltage increases as soon as the firing angle decreases.
The voltage waveform is deformed with respect to the case of pure resistive load. That is due
to the inductance of motor armature.

36

TABLE 4: VALUES AND PHOTOS WITH A DC MOTOR (CLOSED LOOP) AS LOAD

AC voltage across L1 N of Module M6R:

TRIGGER.
(%)

()

180

25

135

50

UdAV
(VDC of
tester)
(V)

CH1
MDAQ
Terminal

IdAV
(IDC of
tester)
(A)

CH2
MDAQ
Terminal

U TG
(V)

MOTOR
RPM

See Photo

12B (2V/div)

12A (1V/div)

12B (2V/div)

12A (1V/div)

90

12B (2V/div)

12A (1V/div)

12

60

72

12B (2V/div)

12A (1V/div)

13

75

45

12B (2V/div)

12A (1V/div)

100

12B (2V/div)

12A (1V/div)

Tachogenerator mod. M-16/EV:

K TG = 2 mV/RPM
MOTOR RPM = U TG / K TG
Connecting a multimeter with the terminals of tachogenerator mod. M-16/EV enables to
measure UTG

37

10
11

14
15

EXERCISE 30 - BRIDGE B2HZ

LOAD WITH DC MOTOR - SEPARATE EXCITATION -CLOSED LOOP
KTG = 2 mV/RPM
VCA (L1-N) = 160 V

TRIGGER.
(%)

()

UdAV

U TG

MOTOR

(VDC of tester)

(V)

RPM

(V)
0

180

25

135

50

90

60

72

75

45

100

38

BRIDGE WITH LOAD CONSISTING OF A DC MOTOR (CLOSED LOOP)

Exercise 30 - Fig. 5
Study of a Half controlled bridge with load consisting of a motor (closed loop), and with
connected instruments

Exercise 30 - Fig. 6
Connection diagram of the Modules with load represented by a motor in closed loop
configuration

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PHOTOS WITH LOAD CONSISTING OF A DC MOTOR (CLOSED LOOP)

Exercise 30 Photo 10 - =180

Exercise 30 Photo 11 - = 135

Exercise 30 Photo 12 - = 90

Exercise 30 Photo 13 - = 72

Exercise 30 Photo 14 - = 45

Exercise 30 Photo 5 - = 0
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EXERCISE 30 - BRIDGE B2HZ

LOAD: DC MOTOR SEPARATE EXCITATIONCOMPARING OPEN/CLOSED LOOP CONFIGURATIONS
KTG = 2 mV/RPM
Vac (L1-N) = 160 V

TRIGGER.
(%)
0
25
50
60
75
100

()

MOTOR

MOTOR

RPM

RPM

OPEN LOOP

CLOSED LOOP

180
135
90
72
45
0

CONCLUSIONS:
THE CURVE OF VOLTAGE VS. FIRING ANGLE OF OPEN LOOP CONTROL IS NOT
LINEAR, BUT ITS TREND DEPENDS ON (1 + COS()). IN FACT A MOTOR IS NOT A
PURE RESITIVE LOAD, BUT IT ALSO INCLUDES SOME INDUCTIVE COMPONENTS.
ON THE CONTRARY THE CURVE OF VOLTAGE VS. FIRING ANGLE IN CLOSED LOOP
CONTROL IS LINEATR. IN FACT, THE PID CONTROLLER FOLLOWS THE RPM
REFERENCE OPTIMIZING THE RESPONSE SO THAT IT BECOMES LINEAR.

41