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MEK 10103 ELECTRIC DRIVES AND APPLICATIONS By: Engr. Dr. Kok Boon Ching (JEK 2011)
OUTLINES
Introduction to DC drives Types of DC motors and their performance T f t d th i f Starting of DC motors Braking of DC motors Speed control of DC motors
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INTRODUCTION TO DC MOTOR DRIVES
DC motor drives Electric drive system that utilises DC motor as its prime mover mover. DC motors have been used as industry workhorse for a period of more that a century. Advantages of DC drives easy torque and speed control without advanced electronics. Disadvantages of DC d i Di d t f drives hi h high maintenance cost, heavy, speed limitation, sparking.
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INTRODUCTION TO DC MOTOR DRIVES
AC drives replacing DC drives?? Why??
Technology advancement in power electronics allows flexible control (torque and speed) in AC drives. Low maintenance cost. Inexpensive motor cost. Lighter we g t compared to DC motor in same g te weight co pa ed C oto sa e capacity range.
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INTRODUCTION TO DC MOTOR DRIVES
Basic structure of a DC motor
INTRODUCTION TO DC MOTOR DRIVES
DC 2-pole motor
Rotor
Stator
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INTRODUCTION TO DC MOTOR DRIVES
DC 2-pole motor
Armature reaction
X X X X X
Armature mmf produces flux which distorts main flux produced by field Mechanical commutator is use to maintain armature current direction
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TYPES OF DC MOTORS (1) SEPARATELY EXCITED DC MOTOR
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TYPES OF DC MOTORS (2) SHUNT DC MOTOR
TYPES OF DC MOTORS (2) SHUNT DC MOTOR
Field circuit
dI VF = I F RF + LF F dt Armature circuit dI VT = I A RA + LA A + E A dt Electric torque TE = K EI A
Armature back emf E A = K Em
VF = I F RF
In steady state,
VT = I A RA + E A
Thus, steady state speed is given as,
m =
VT RA TE K E ( K E ) 2
Three possible methods of speed control: - Armature voltage VT - Armature resistance RA - Field flux
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TYPES OF DC MOTORS (2) SHUNT DC MOTOR (VARYING VT)
m =
VT K E
m TL
VT RA TE K E ( K E ) 2
VT
TE Requires variable DC supply
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TYPES OF DC MOTORS (2) SHUNT DC MOTOR (VARYING VT)
VT = m (k E ) +
m TL Constant TL
RATE (k E )
TE Requires variable DC supply
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TYPES OF DC MOTORS (2) SHUNT DC MOTOR (VARYING VT)
VT = m ( K E ) + RATE ( K E )
VT = m ( K E ) + I A RA
VT
VT ,rated
Constant TL
I A RA
base
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TYPES OF DC MOTORS (2) SHUNT DC MOTOR (VARYING RA)
m =
m
VT RA TE K E ( K E ) 2
VT K E
TL
RA
TE - Simple control - Losses in external resistor
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TYPES OF DC MOTORS (2) SHUNT DC MOTOR (VARYING )
m
m =
TL
VT RA TE K E ( K E ) 2
VT K E
TE - Not possible for PM motor - Maximum torque capability reduces
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TYPES OF DC MOTORS (2) SHUNT DC MOTOR (SUMMARY)
Armature voltage control : retain maximum torque capability Field flux control (i.e. flux reduced) : reduce maximum torque capability For wide range of speed control 0 to base armature voltage, above base field flux reduction TE
Armature voltage control Field flux control
Maximum Torque capability
base
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TYPES OF DC MOTORS (3) SERIES DC MOTOR
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TYPES OF DC MOTORS (3) SERIES DC MOTOR
Flux is a function of armature current. In unsaturated region IA region, = KF I A Thus, 2 TE = K E K F I A
Speed-torque characteristic
m =
=
VT RA KE KF I A KE KF VT KE KF RA 1 TE K E K F fl
Tfl Tstart TE
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TYPES OF DC MOTORS (4) COMPOUNDED DC MOTOR
Combination of Shunt + Series.
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TYPES OF DC MOTORS (4) COMPOUNDED DC MOTOR
Characteristics: (1) has q g extra torque for starting similar to that of a series motor, (2) does not overspeed at no-load like shunt. Examples application: Lift and winches, use in intermittent load applications like pressing machine (load varies from almost no load to full load).
Speed-torque characteristic
TE
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TYPES OF DC MOTORS (5) UNIVERSAL MOTOR
Can run both on DC and AC supply. Specially d i S i ll designed for hi h speed applications, d f high d li ti exceeding 3000 rpm and up to 20,000 rpm. Disadvantages: high maintenance cost and relatively short operating life. Examples application: fans, electric drills, home appliances. h li
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TYPES OF DC MOTORS (6) PERMANENT MAGNET DC MOTOR
Use permanent magnet (normally ferrites or cobalt samarium) samarium). Available up to 5 kW rating. No field copper loss, and no need field supply. Field flux remains constant for all loads. Speed cannot be controlled above base speed. Examples application: electric vehicles, forklift trucks, and wheel chairs.
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TYPES OF DC MOTORS (7) DC SERVO MOTOR
Normally use in closed loop speed and positional control systems that required good dynamic performance and steady state accuracy. Special designed to achieve the same performance in both directions of rotation, high torque to inertia ratio low friction and smooth ratio, ripple free torque. Much more expensive than common DC motors.
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TYPES OF DC MOTORS (8) TORQUE DC MOTOR
Special designed for stalled or low speed applications. applications Stalled or low speed current in normal DC motors can be 5 10 times the rated current. Applications: (1) operate in stalled condition (develop pressure/ tension on a material, like spring), spring) (2) move through only a few revolutions/ degrees of revolution (opening valves, switches and clamping devices), (3) continuous movement at low speed (reel drive).
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STARTING OF DC MOTORS
Main concern during starting is the starting current limit limit. At standstill, back emf is zero and the only resistance opposing flow of current is the armature circuit resistance, which is quite small. 2 methods for limiting the starting current:
armature voltage control variable resistance controller in full supply condition.
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STARTING OF DC MOTORS
Example: A 50 hp, 250V motor has RA of 0.06 , and full load current less than 200 A, the starting current is IA = (VT EA)/ RA = (250V 0V)/ 0.06 ( ) = 4167A.
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BRAKING OF DC MOTORS
An electric drive operates in three modes:
Steady-state Acceleration including starting Deceleration including stopping/ braking
Deceleration occurs when TL > TE. Mechanical brake or electric braking are used.
Electric Braking El t i B ki m Motoring M t i A
B m1 m2 C
TE
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BRAKING OF DC MOTORS
During electric braking, motor current tends to exceed the safe limit limit. For short period braking, maximum current is allowed to exceed the rated current. The higher the braking torque, the greater the deceleration. Three types of electric b ki Th t f l t i braking:
Regenerative braking Dynamic braking Plugging or reverse voltage braking
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BRAKING OF DC MOTORS REGENERATIVE BRAKING
Generated energy is supplied to the source if: E > V and negative IA d ti According to the following equation,
E A = K Em
1) 2) 3)
field flux cannot be increased further due to saturation effect. increase speed higher than rated rated. decrease V using variable voltage source.
Regenerative braking is not possible in series DC motor as speed increases, flux decreases.
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BRAKING OF DC MOTORS REGENERATIVE BRAKING
Regenerative braking is possible only when there are enough loads connected to the supply to absorb the regenerated power: Pload = Pregenerated Side effects: raise line voltage that leads to insulation breakdown. Alternatives: use resistance bank or battery. Alt ti i t b k b tt
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BRAKING OF DC MOTORS DYNAMIC BRAKING
In dynamic braking, motor armature is disconnected from the source and connected across a resistance, RB. For fast braking, RB consists of a few sections.
Separately excited/ Shunt
Series
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BRAKING OF DC MOTORS DYNAMIC BRAKING
m m
Motoring Breaking 0 Separately excited/ Shunt TE Breaking 0
Motoring TE
Series
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BRAKING OF DC MOTORS DYNAMIC BRAKING
m Breaking RB2 RB3 RB =0 0 Separately excited/ Shunt with variable armature resistance
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Motoring
RB1
RB1> RB2 > RB3 > 0
TE
BRAKING OF DC MOTORS PLUGGING
Plugging gives fast braking due to high average torque Supply must be disconnected torque. when close to zero speed since the torque is not zero at zero speed.
m Braking Motoring TE Braking g Motoring TE
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0 Separately excited/ Shunt
0 Series
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BRAKING OF DC MOTORS PLUGGING
In separately excited motor, the supply voltage is reversed during plugging as to assist the back emf in forcing armature current in reverse direction.
Separately excited/ Shunt
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BRAKING OF DC MOTORS PLUGGING
For plugging of a series motor, armature alone is reversed reversed.
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SPEED CONTROL OF DC MOTORS
Referring to the following equation:
m =
VT RA TE K E ( K E ) 2
DC motor speed can be controlled through:
1) 2) 3)
Armature resistance control (RA , m ) Field flux (or field voltage) control ( , m ) Armature voltage control (VT , m )
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SPEED CONTROL OF DC MOTORS (ARMATURE RESISTANCE CONTROL)
Speed is varied by inserting additional external resistance (Radd) in series with armature circuit circuit.
m
m =
R + Radd VT A TE K E ( K E )2
TL
VT K E
Radd
TE
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SPEED CONTROL OF DC MOTORS (ARMATURE RESISTANCE CONTROL)
Inefficient method as caused energy waste as heat if operate for a period of time time. Only used for a very short time period of low speed operation. For intermittent load applications only such as in traction drives. Replaced b armature voltage control. R l d by t lt t l
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SPEED CONTROL OF DC MOTORS (FIELD FLUX CONTROL)
Speed is more sensitive to flux variation than to variation in the armature voltage voltage.
m
m =
VT RA TE K E ( K E ) 2
TL
VT K E
TE
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SPEED CONTROL OF DC MOTORS (ARMATURE VOLTAGE CONTROL)
Most preferred method in DC drives because:
High ffi i Hi h efficiency Good transient response Good speed regulation
But it only can provide the speed control below base ( t d) speed as th armature voltage b (rated) d the t lt cannot be allowed to exceed rated value.
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SPEED CONTROL OF DC MOTORS (ARMATURE VOLTAGE CONTROL)
The control methods are depending on the types of supply voltage: When the supply is AC:
Ward-Leonard schemes Transformer with taps and uncontrolled rectifier Static Ward-Leonard scheme or controlled rectifiers St ti W d L d h t ll d tifi
When the supply is DC:
Chopper control
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WARD-LEONARD SCHEMES
AC Motor
drive
DC Gen
DC Motor
Advantages: -Regenerative braking capability -Efficient 4-quadrant operation -Power factor improvement -AC supply is dynamically decoupled from load -Uninterruptible supply
Drawbacks: -High initial cost -Low efficiency -Frequent maintenance -More noise -Need large floor area
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TRANSFORMER WITH TAPS AND
UNCONTROLLED RECTIFIER
AC
Transformer with taps
DC Motor
Uncontrolled rectifier
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CONTROLLED RECTIFIERS
Single-phase fully-controlled rectifier Single-phase half-controlled Single phase half controlled rectifier Three-phase fully-controlled rectifier Three-phase half-controlled rectifier
Va or m
Ia or Tm
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