Lecture 16: Four Quadrant operation of DC Drive (or) TYPE E Four Quadrant chopper Fed Drive: Operation

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1 Lecture 16: Four Qudrnt opertion of DC Drive (or) TYPE E Four Qudrnt chopper Fed Drive: Opertion The rmture current I is either positive or negtive (flow in to or wy from rmture) the rmture voltge is lso either positive or negtive. This is known s four qudrnt chopper drive. Two type C choppers cn be combined to form clss E chopper. First Qudrnt Forwrd motoring mode For first qudrnt opertion, thyristor S 4 is kept on, thyristor S 3 is kept off nd thyristor switch S 1 is operted. With S 1, S 4 ON, rmture voltge = s nd rmture control I begins flow. Here both nd I re positive giving first qudrnt opertion, when S 1 is turned off, positive current freewheels through S 4, D2. In this mnner,, I cn be controlled in this first qudrnt, nd opertion gives forwrd motoring mode. Second Qudrnt Forwrd brking mode Here thyristor S 2 is operted nd S 1, S 3 nd S 4 re kept off. With S 4 on, reverse or negtive current flows through L, S 2, D 4 nd E b. During the opertion time of S 2, the rmture inductnce L stores energy during the time S 2 is on. When S 2 is turned off, current is fed bck to source through diodes D 1, D 4. Note tht here ( E+L(di/dt)) is more thn the source voltge s.as the s is positive nd I is negtive, it is second qudrnt opertion gives forwrd brking mode. In tht power is fed bck from rmture to source. Third Qudrnt Reverse motoring mode For third qudrnt opertion, thyristor S 1 is kept off, S 2 is kept on nd S 3 is operted, polrity of rmture bck emf E b must be reversed for this qudrnt opertion. With thyristor S 3 is on, rmture gets connected to source. so tht both, I re negtive, leding to third qudrnt opertion. When S 3 is turned off,negtive current free wheels through S 2,D 4. In this mnner only nd I cn be controlled in the third qudrnt. Fourth Qudrnt Reverse Brking mode Here thyristor S 4 is operted nd other devices kept off, bck emf E b must hve its polrity reversed s in third qudrnt opertion. With S 4 on, positive current flows through S 4,D 2,L nd E b (rmture). Armture inductnce L stores energy during the time S 4 is on. When S 4 is turned off, current is fed bck to source through diodes D 2,

2 D3.Here rmture voltge is negtive, but I is positive, leding to the chopper drive opertion in the fourth qudrnt. Also power is fed bck from rmture to source.

3

4 SOLID STATE DRIES Unit-II DC Drives Chopper fed DC Drives D.Gnnprksm AP/EEE

5 Outline Introduction Step Down Clss A Chopper Step Up Clss B Chopper Two-qudrnt Control Four-qudrnt Control References

6 Power Electronic Converters for DC Drives Power electronics converters re used to obtin vrible voltge Highly efficient Idelly lossless Type of converter used is depending on voltge source : AC voltge source Controlled Rectifiers Fixed DC voltge source DC-DC converters (switch mode converters)

7 To obtin vrible DC voltge from fixed DC source Self-commutted devices preferred (MOSFETs, IGBTs, GTOs) over thyristors Commutted by lower power control signl Commuttion circuit not needed Cn be switched t higher frequency for sme rting Improved motor performnce (less ripple, no discontinuous currents, incresed control bndwidth) Suitble for high performnce pplictions Regenertive brking possible up to very low speeds even when fed from fixed DC voltge source

8 - Step Down Clss A Chopper Motoring Q2 Q1 Provides positive output voltge nd current Averge power flows from source to lod (motor) Switch (S) operted periodiclly with period T Q3 S Q4 T I R D L E

9 - Step Down Clss A Chopper Motoring S is ON (0 t t on ) I S I R R D L L E R i L di dt E E = I flows to motor I increses Duty Intervl ( i )

10 - Step Down Clss A Chopper Motoring S if OFF (t on t T) I S I R R D L I D L E R i L di dt E E 0 = 0 I freewheels through diode D F I decreses Freewheeling Intervl ( i )

11 DC DC Converter Fed - Step Down Clss A Chopper Motoring Duty cycle Under stedy-stte conditions: Motor side: Chopper side, verge rmture voltge: Therefore, t on T Hence, verge rmture current: R I where T chopper period R I E E Duty Intervl ( i ) Freewheeling Intervl ( i ) I R E T

12 - Step Up Clss B Chopper Regenertive Brking Provides positive output voltge nd negtive verge output current Averge power flows from lod (motor) to source Switch (S) operted periodiclly with period T D S I R L E Q2 Q3 Q1 Q4 T Possible for speed bove rted speed nd down to nerly zero speed Appliction: Bttery operted vehicles Regenerted power stored in bttery

13 - Step Up Clss B Chopper I Regenertive Brking S is ON (0 t t on ) D R S I R L = 0 (diode blocks ) i increses due to E (since E > ) Mechnicl energy converted to electricl (i.e. genertor) S L E R i L di dt E E Energy stored in L Any remining energy dissipted in R nd S Energy Storge Intervl ( i )

14 - Step Up Clss B Chopper Regenertive Brking S if OFF (t on t T) I R L E i flows through diode D nd source i decreses in negtive direction Energy stored in L & energy supplied by mchine re fed to the source R i L di dt E D S I Duty Intervl ( i ) R L E

15 - Step Up Clss B Chopper Regenertive Brking Duty cycle Under stedy-stte conditions Genertor side: Chopper side, verge rmture voltge: Therefore, t on where T chopper period Hence, verge rmture current: T 1 E RI I E R E 1 1 R I Negtive becuse current flows from motor to source Energy Storge Intervl ( i ) T Duty Intervl ( i )

16 - Two-qudrnt Control Combintion of Clss A & B choppers Forwrd motoring Q1 - T1 nd D2 (Clss A) Forwrd brking Q2 T2 nd D1 (Clss B) + Q2 No Speed Reversl Q1 - T1 T2 D1 D2 + - Q3 Q4 lwys +ve lwys +ve I cn be +ve or ve Do not fire both switches together short circuit t supply T

17 DC DC Converter Fed - Two-qudrnt Control Forwrd motoring Q1 - T1 nd D2 (Clss A) T1 conducting: = (i ) D2 conducting: = 0 (i ) + T1 D1 + T1 D1 i i T2 D2 + - T2 D2 + - T1 chopping ON & OFF Chopper fed DC Drives Averge = 1, 1 = (t on T1 / T ), 2 = 0 T2 lwys OFF Averge Averge positive Averge mde lrger thn bck emf E I positive E

18 - Two-qudrnt Control Forwrd brking Q2 T2 nd D1 (Clss B) D1 conducting: = (i ) T2 conducting: = 0 (i ) + T1 D1 + T1 D1 i i T2 D2 + - T2 D2 + - Averge =(1-2 ), 1 = 0, 2 = (t on T2 / T ) T1 lwys OFF T2 chopping ON & OFF Averge Averge positive Averge mde smller thn bck emf E I negtive (motor cts s genertor) E

19 - Two-qudrnt Control For fst trnsition from motoring (Q1) to brking (Q2) nd vice vers, both T1 nd T2 re controlled simultneously, i.e. within period T: T1 in ON nd T2 is OFF between time 0 < t t on If I is positive ( > E), current flows from supply to motor vi T1 If I is negtive (E > ), current flows from motor to supply vi D1 T1 is OFF nd T2 is ON between t on < t T If I is positive, current circultes vi D2 If I is negtive, current circultes vi T2 Duty rtio is given by: tont T Averge rmture voltge is: 1 where T Averge = chopper period

20 - Four-qudrnt Control Opertion in ll four qudrnts nd I cn be controlled in mgnitude nd polrity Power flow cn be in either direction Speed nd torque cn be reversed Q2 Q1 Q3 Q4 T T1 D1 D3 T3 + - i T4 D4 D2 T2 Note: Polrity of nd direction of I indicted re ssumed positive.

21 - Four-qudrnt Control When switch is on (i.e. ON stte ) it my or my not conduct current depending on the direction of i If switch conducts current, it is in conducting stte Converter hs two legs (Leg A & Leg B) Leg B Both switches in ech leg, re lterntely switched + T1 D1 i + - D3 T3 dc If T1 = ON, T4 = OFF If T4 = ON, T1 = OFF - T4 D4 D2 T2 Leg A

22 - Four-qudrnt Control Positive Current (I > 0) = dc when T1 nd T2 re ON Current increses Q1 opertion = 0 when current freewheels through T2 nd D4 Current decreses = - dc when D3 nd D4 conducts current Current decreses Energy returned to supply Q4 opertion + dc - T1 T4 D1 D4 Q2 Q3 i Q1 Q4 + - T3 nd T4 off D3 D2 T T3 T2

23 - Four-qudrnt Control Negtive Current (I > 0) = - dc when T3 nd T4 re ON Current increses in negtive direction Q3 opertion = 0 when current freewheels through + T4 nd D2 T1 Current decreses = dc when D1 nd D2 dc conducts current T4 Current decreses - Energy returned to supply Q2 opertion D1 D4 i Q2 Q3 + - T1 nd T2 off Q1 Q4 D3 D2 T2 T T3

24 - Four-qudrnt Control For both positive nd negtive current, output voltge cn swing between: dc nd - dc dc nd 0 Four qudrnt chopper hs two legs, so it requires two switching signls (one for ech leg) Depending on reltionship between the two switching signls, 4-qudrnt chopper hs two switching schemes: Bipolr switching Unipolr switching Switching scheme determines output voltge swing between dc nd - dc or dc nd 0.

25 Opertion of DC motor drive depends on: Direction of I (determined by torque, i.e. motoring or brking) Polrity of nd E (determined by speed, i.e. forwrd or reverse) the duty cycle of the DC-DC Converter (either twoqudrnt or four-qudrnt) Open loop control is chieved by chnging the duty cycle mnully s nd when required

26 - Two- qudrnt Control: Exmple

27 References Rshid, M.H, Power Electronics: Circuit, Devices nd Applictions, 3 rd ed., Person, New-Jersey, Dubey, G.K., Fundmentls of Electric Drives, 2 nd ed., Alph Science Int. Ltd., UK, Krishnn, R., Electric Motor Drives: Modeling, Anlysis nd Control, Prentice-Hll, New Jersey, Nik Idris, N. R., Short Course Notes on Electricl Drives, UNITEN/UTM, Ahmd Azli, N., Short Course Notes on Electricl Drives, UNITEN/UTM, 2008.

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