6 Chopper Controlled DC Drives

Chopper-Controlled DC Drives
By
Dr. Ungku Anisa Ungku Amirulddin
Department of Electrical Power Engineering
College of Engineering
Dr. Ungku Anisa, July 2008 1 EEEB443 - Control & Drives
Outline
Introduction
DC DC Converter Fed Drives
Step Down Class A Chopper
Step Up Class B Chopper
Two-quadrant Control
Four-quadrant Control
References

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 2
Power Electronic Converters
for DC Drives
Power electronics converters are used to obtain
variable voltage
Highly efficient
Ideally lossless
Type of converter used is depending on voltage
source :
AC voltage source Controlled Rectifiers
Fixed DC voltage source
DC-DC converters (switch mode
converters)
To obtain variable DC voltage from fixed DC source
Self-commutated devices preferred (MOSFETs, IGBTs,
GTOs) over thyristors
Commutated by lower power control signal
Commutation circuit not needed
Can be switched at higher frequency for same rating
Improved motor performance (less ripple, no discontinuous
currents, increased control bandwidth)
Suitable for high performance applications
Regenerative braking possible up to very low speeds even
when fed from fixed DC voltage source
- Step Down Class A Chopper
Motoring
Provides positive output
voltage and current
Average power flows from
source to load (motor)
Switch (S) operated
periodically with period T

T
Q1 Q2
Q3 Q4
e
V
S
D
R
a
L
a
E
a
V
a
I
a
S is ON (0 s t s t
on
)

Motoring
V E
dt
di
L i R
a
a a a
= + +
Duty
Interval
( i
a
| )
V
a
= V
I
a
flows to motor
|I
a
| increases
V
S
D
R
a
L
a
E
a
V
a
I
a
R
a
L
a
E
a
V
a
I
a
V
S if OFF (t
on
s t s T)
Motoring
0 = + + E
dt
di
L i R
a
a a a
Freewheeling
Interval
( i
a
+ )
V
a
= 0
I
a
freewheels through
diode D
F
|I
a
| decreases
R
a
L
a
E
a
V
a
I
a
I
D
V
S
D
R
a
L
a
E
a
V
a
I
a
DC DC Converter Fed
Motoring
Duty cycle
Under steady-state conditions:
Motor side:
Chopper side, average armature
voltage:
Therefore,

Hence, average armature current:

period chopper where = = T
T
t
on
o
E I R V V
a a a
+ = = o
a
a
R
E V
I

=
o
o T
Freewheeling
Interval
( i
a
+ )
Duty
Interval
( i
a
| )
E I R V
a a a
+ =
V V
a
o =
- Step Up Class B Chopper
T
Q1 Q2
Q3 Q4
e
Possible for speed
above rated speed
and down to nearly
zero speed
Application:
Battery operated
vehicles
Regenerated
power stored in
battery
V
S
D
R
a
L
a
E
a
V
a
I
a
Regenerative Braking
Provides positive output voltage and
negative average output current
Average power flows from load (motor) to
source

Switch (S)
operated
periodically
with period T
S is ON (0 s t s t
on
)

Energy Storage
Interval
( i
a
| )

V
a
= 0 (diode blocks V)
i
a
increases due to E
(since E > V
a
)
Mechanical energy
converted to electrical
(i.e. generator)
Energy stored in L
a
Any remaining energy
dissipated in R
a
and S
E
dt
di
L i R
a
a a a
= +
V
S
D
R
a
L
a
E
a
V
a
I
a
R
a
L
a
E
a
V
a
I
a
S
S if OFF (t
on
s t s T)
Duty
Interval
( i
a
+ )

i
a
flows through diode
D and source V
i
a
decreases in
negative direction
Energy stored in L
a
&
energy supplied by
machine are fed to
the source

E V
dt
di
L i R
a
a a a
= + +
V
S
D
R
a
L
a
E
a
V
a
I
a
R
a
L
a
E
a
V
a
I
a
V
Duty cycle

Under steady-state conditions
Generator side:
Chopper side, average armature
voltage:
Therefore,

Hence, average armature current:

period chopper where = = T
T
t
on
o
( )
a a a
I R E V V = = o 1
( )
a
a
R
V E
I
o
=
1
o T
Duty
Interval
( i
a
+ )
Energy Storage
Interval
( i
a
| )
a a a
I R E V =
( )V V
a
o = 1
Negative because
current flows from
motor to source
- Two-quadrant Control
Combination of Class A & B choppers
Forward motoring Q1 - T1 and D2 (Class A)
Forward braking Q2 T2 and D1 (Class B)

D2
+
V
a

-
T1
D1
T2
D2
+

V

-
T
Q1 Q2
Q3 Q4
e

No Speed
Reversal

V
a
always +ve e always +ve
I
a
can be +ve or ve
Do not fire both switches
together short circuit at
supply
Forward motoring Q1 - T1 and D2 (Class A)
T1 conducting: V
a
= V (i
a
|)

D2 conducting: V
a
= 0 (i
a
+)

Dr. Ungku Anisa, July 2008
14
T1
T2
D1
+

V
a

-
D2
i
a

+

V

T1
T2
D1
+

V
a

-
D2
i
a

Average
V
a
E
a
+

V

Average V
a
= o
1
V,
o
1
= (t
on T1
/ T ), o
2
= 0

EEEB443 - Control & Drives
T2 always
OFF

T1 chopping
ON & OFF

Average V
a
positive
Average V
a
made larger
than back emf E
a

I
a
positive
Forward braking Q2 T2 and D1 (Class B)
D1 conducting: V
a
= V (i
a
+)

T2 conducting: V
a
= 0 (i
a
|)

T1
T2
D1
+

V
a

-
D2
i
a

T1
T2
D1
+

V
a

-
D2
i
a

Average
V
a
E
a
Average V
a
positive
Average V
a
made smaller
than back emf E
a
I
a
negative (motor acts as
generator)
+

V

+

V

Average V
a
=(1 - o
2
)V,
o
1
= 0, o
2
= (t
on T2
/ T )

15 Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives
T1 always
OFF

T2 chopping
ON & OFF

For fast transition from motoring (Q1) to braking
(Q2) and vice versa, both T1 and T2 are controlled
simultaneously, i.e. within a period T:
T1 in ON and T2 is OFF between time 0 < t t
on
If I
a
is positive (V
a
> E), current flows from supply to motor via T1
If I
a
is negative (E > V
a
), current flows from motor to supply via D1
T1 is OFF and T2 is ON between t
on
< t T
If I
a
is positive, current circulates via D2
If I
a
is negative, current circulates via T2
Duty ratio is given by:

Average armature voltage is:
period chopper where
1
= = T
T
t
T on
o
Average V
a
=oV

- Two-quadrant Control: Example
- Four-quadrant Control
Operation in all four quadrants
V
a
and I
a
can be controlled in magnitude and polarity
Power flow can be in either direction
Speed and torque can be reversed
+ V
a
-
T1
D1
T2
D2
D3
D4
T3
T4
T
Q1 Q2
Q3 Q4
e
i
a

Note:
Polarity of V
a
and
direction of I
a

indicated are
assumed
positive.
When a switch is on (i.e. ON state) it may or may not
conduct current depending on the direction of i
a
If a switch conducts current, it is in a conducting state
Converter has two legs (Leg A & Leg B)
Both switches in each
leg, are alternately
switched
If T1 = ON, T4 = OFF
If T4 = ON, T1 = OFF
+ V
a
-
T1
D1
T2
D2
D3
D4
T3
T4
+

V
dc

-
Leg A
Leg B
i
a

Positive Current (I
a
> 0)
V
a
= V
dc
when T1 and T2 are ON
Current increases
Q1 operation
V
a
= 0 when current
freewheels through
T2 and D4
Current decreases
V
a
= -V
dc
when D3 and D4
conducts current
Current decreases
Energy returned to supply
Q4 operation

+ V
a
-
T1
D1
T2
D2
D3
D4
T3
T4
T
Q1 Q2
Q3 Q4
e
+

V
dc

-
i
a

T3 and
T4 off

Negative Current (I
a
> 0)
V
a
= -V
dc
when T3 and T4 are ON
Current increases in negative direction
Q3 operation
V
a
= 0 when current
freewheels through
T4 and D2
Current decreases
V
a
= V
dc
when D1 and D2
conducts current
Current decreases
Energy returned to
supply
Q2 operation

T
Q1 Q2
Q3 Q4
e
+

V
dc

-
i
a

+ V
a
-
T1
D1
T2
D2
D3
D4
T3
T4

T1 and
T2 off

For both positive and negative current, output voltage can
swing between:
V
dc
and -V
dc

V
dc
and 0
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
Unipolar switching
Switching scheme determines output voltage swing between
V
dc
and -V
dc
or V
dc
and 0.

Operation of DC motor drive depends on:
Direction of I
a
(determined by torque, i.e. motoring or
braking)
Polarity of V
a
and E
a
(determined by speed, i.e. forward or
reverse)
the duty cycle of the DC-DC Converter (either two-quadrant
or four-quadrant)
Open loop control is achieved by changing the duty
cycle manually as and when required
References
Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3
rd
ed., Pearson, New-Jersey, 2004.
Dubey, G.K., Fundamentals of Electric Drives, 2
nd
ed., Alpha
Science Int. Ltd., UK, 2001.
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.

6 Chopper Controlled DC Drives

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Chopper-Controlled DC Drives

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