Applied Mts Week 3

Applied Mechatronics MTS 371
Muhammad Usman Rafique
Week 3 Electric Drives
M. Usman Rafique
Air University, Spring 2012
Course Outline
Week 1 2 3 4 5, 6 7, 8 9 10 11 12 13 14 15 16 17 Topic Introduction Introduction to Engineering Design Electric Drives Actuators Motors and Motor Control Sensing and Sensors Mid-Term Exam Signal Conditioning and Op-Amps [Students Week] Signal Conditioning and Op-Amps ADC and DAC Control of Mechatronic Systems Introduction to Mobile Robots Localization and Navigation Case Study
M. Usman Rafique
Organization
Introduction
Electric Motor Drives and their components

Power Converters Drive circuits for DC Motors

Phase Controlled Chopper Controlled
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Introduction
Can a motor be driven like this?
Computer / Embedded System
Motor
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Introduction
Can a motor be driven like this?
No.
Why?
Motor
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Introduction
Can a motor be driven like this? No. Because (most of) motors require more power than the maximum power that can be provided by the computer. Even voltage levels may be different
Motor
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Introduction
Can a motor be driven like this? No. How to solve this problem? Requirement: We want the motor to be controlled by the computer
Motor
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Introduction
How to control a motor by a computer?
Drive Circuit or Motor Driver or Power Converter
Supply (High Power)

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Drive Circuit
Motor
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Introduction
Drive Circuit / Electric Motor Driver
Intermediate module which

Provides the power required by motor Is controlled by the computer
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Electric Motor Drives
A typical Electric Motor drive consists of

1.
2. 3. 4.
Controller Drive circuit or Power Converter Electric Machine Load
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Electric Motor Drives
Ref: Electric Motor Drives, R. Krishnan [2]

12 M. Usman Rafique Air University, Spring 2012
Controller
Ref: Electric Motor Drives, R. Krishnan [2]

Control of Electric Machines
Control Systems are used for fast response and precise control of Acceleration, Speed and Torque Control systems are designed with three types of feedback loops

Position Velocity Current
Ref: Motor Drive, Ali Keyhani [1]

Control of Electric Machines

Power Converters
Types of Power Converters
1.
2. 3.
4.
Inverters Cycloconverters Phase Controlled Drive Chopper Controlled Drive
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Power Converters
1.
Inverters
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Power Converters
1.
Inverters Input power is provided by a DC supply Output is single phase or 3 phase variable voltage, variable frequency

Power Converters
2.
Cycloconverters
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Power Converters
2.
Cycloconverters
Input is fixed frequency AC Output is single phase or 3 phase variable voltage and variable frequency

Power Converters
3.
Phase Controlled Drive
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Power Converters
3.
Phase Controlled Drive
Input is AC (single or three phase). Output is controlled DC

Power Converters
4.
Chopper Controlled Drive
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Power Converters
4.
Chopper Controlled Drive
Input is DC supply. Output is controlled DC.
Chopper
DC Supply
Motor
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Drive Circuits for DC Motor
Which drive is suitable if we have:
DC Motor Controlled by a computer
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Drive Circuits for DC Motor
Which drive is suitable if we have:
DC Motor Controlled by a computer
Phase Controlled Drive Chopper Controlled Drive

That is what we will focus on in this week Concept explained in lecture Electronic design parameters will be explained in lab of this week
M. Usman Rafique Air University, Spring 2012
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Control of DC Motor
Direction of operation of a DC Motor
DC Motors operate in both directions

Clockwise Counter Clockwise
Direction can be changed by reversing the voltage polarity across motor terminals
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Control of DC Motor
Speed and Torque of a DC Motor
Speed of a DC motor depends on voltage applied across its terminals
Current of a DC motor depends on the torque provided by the motor (load)
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Control of DC Motor
Four Quadrant Operation of DC Motor
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Control of DC Motor

Torque (I) +
+ Speed (V)
Control of DC Motor

Torque (I) + Reverse Regeneration Forward Motoring
+ Speed (V)
Reverse Motoring
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Forward Regeneration
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Phase Controlled DC Motor Drive

Input is AC (single phase or three phase) Output is controlled DC


How can we design a Phase controlled DC Motor drive?
Prize for completely correct answer
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How can we design a Phase controlled DC Motor drive?
Lets begin from basic conversion of AC to DC

The rectifier circuit
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How can we design a Phase controlled DC Motor drive? The rectifier circuit
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How can we design a Phase controlled DC Motor drive? The rectifier circuit Problem: How to CONTROL the output?
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How can we design a Phase controlled DC Motor drive? The Controlled Rectifier circuit Problem: How to CONTROL the output? Solution: Replace diodes by Thyristors
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Thyristor
Also called Silicon Controlled Rectifier (SCR)

Four element device (PNPN) Three terminals

Anode (A) Cathode (K) Gate (G)

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Operation of Thyristor
Conduction starts when:

Anode (A) is at higher potential than Cathode (K) - Forward Bias (AND) There is a current signal at Gate (G)
Conduction stops when it gets in reverse bias
Cathode (K) is at higher potential than Anode (A)
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The Controlled Rectifier circuit
Control achieved by control signals on Gates of Thyristors
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Chopper Controlled DC Motor Drive

Input is fixed DC supply Output is controlled DC How can we design a Chopper controlled DC Motor drive?
Chopper
DC Supply
Motor
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What are the options for Choppers (or switches) ?
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What are the options for Choppers (or switches) ?
Electric Switches: Bipolar Junction Transistors (BJT) Field Effect Transistors (FET) Insulated Gate Bipolar Transistor (IGBT) Thyristor or Silicon Controlled Rectifier (SCR) Gate Turn-Off Thyristor (GTO)
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MOSFETs and BJTs are used up to 50 kW Beyond that, IGBTs, GTOs and SCRs are used
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Simplest Chopper:
A drive circuit which can control a DC motor in one direction only How can such a circuit be designed?
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Simplest Chopper:
A drive circuit which can control a DC motor in one direction only How can such a circuit be designed?
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Simplest Chopper:
A drive circuit which can control a DC motor in one direction only
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Chopper that can drive in both directions
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How can we achieve forward motoring (1st Quadrant)?
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How can we achieve forward motoring (1st Quadrant)?
T1 and T2 are ON
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T1 and T2 are ON
What if T1 and T2 are turned OFF?
+
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T1 and T2 are ON
What if T1 and T2 are turned OFF? Problem: Motor is inductive load Inductor: no sudden current change

Chopper that can drive in both directions Problem: Motor is inductive load Inductor: no sudden current change We have to provide an alternative path to current

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What happens when we turn OFF T1 and T2 now?
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What happens when we turn OFF T1 and T2 now? Diodes D3 and D4 conduct
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What happens when we turn OFF T1 and T2 now? Diodes D3 and D4 conduct Which quadrant is it now?
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What happens when we turn OFF T1 and T2 now?

Diodes D3 and D4 conduct Which quadrant is it now? Fourth Quadrant Forward Regeneration

These diodes are called catch diodes, freewheeling diode or flyback diode
MOSFETs: These are built-in generally
BJTs: These are not built-in generally

Switching Chopper Controlled Drives
How can we control speed of a DC Motor?
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What will happen if we provide this control signal to motor?
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No Motion
Motor Moves
No Motion
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What will happen if we provide this control signal to motor? Motors moves slow
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Pulse Width Modulation
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Pulse Width Modulation

Speed controlled by Duty Cycle
Greater ON time Faster Motor
Percentage On Time
Higher the duty cycle, faster the motor will move (and vice versa)
Greater OFF time Slower Motor


Pulse Width Modulation How to set frequency of PWM? Motor

A DC motor is an inductive load Motors perform better at higher frequency
Switch

Switches perform better at lower frequencies Switching losses increase and switch life decreases at higher frequencies
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Pulse Width Modulation How to set frequency of PWM? Audible Range

Humans can hear 20 Hz to 20 kHz Sometimes it is preferred to keep frequency higher than 20 kHz
Controller
Frequency that can be provided by the controller
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Speed Control
How can we control speed in forward direction?
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Speed Control How can we control speed in forward direction?
PWM on T1 and T2 T1 and T2 ON and then T1 and T2 OFF
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PWM on T1 and T2 T1 and T2 ON and then T1 and T2 OFF
When both T1 and T2 are off, the motor current has to find alternative path More losses

T1 ON and PWM on T2 T1 is always ON. T2 is ON for some time and then OFF
Less losses Better solution More commonly used


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Ref: Low-Cost Bidirectional Brushed DC Motor control Using PIC16F864, DS00893 [3]
More Considerations
What if any 3 switches are On at a time?
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Discussion on Design of Chopper Controlled Drive
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Further Reading
References [1] and [2]
Any book on Power Electronics
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References
1.
Motor Drive, lecture notes
By: Prof. Ali Keyhani Ohio State University, USA
2.
Electric Motor Drives (Modeling, Analysis and Control)

By: R. Krishnan Virginia Tech University, USA
3.

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Low-Cost Bidirectional Brushed DC Motor control Using PIC16F864

By: M. Rylee, Microchip Technology DS00893

Applied Mts Week 3

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Applied Mechatronics MTS 371

Muhammad Usman Rafique

Week 3 Electric Drives

Air University, Spring 2012

Air University, Spring 2012

Electric Motor Drives and their components

Phase Controlled Chopper Controlled

Air University, Spring 2012

Can a motor be driven like this?

Computer / Embedded System

Air University, Spring 2012

Can a motor be driven like this?

Computer / Embedded System

Air University, Spring 2012

Computer / Embedded System

Air University, Spring 2012

Computer / Embedded System

Air University, Spring 2012

How to control a motor by a computer?

Drive Circuit or Motor Driver or Power Converter

Supply (High Power)

Computer / Embedded System

Air University, Spring 2012

Drive Circuit / Electric Motor Driver

Intermediate module which

Provides the power required by motor Is controlled by the computer

Air University, Spring 2012

Electric Motor Drives

A typical Electric Motor drive consists of

Controller Drive circuit or Power Converter Electric Machine Load

Air University, Spring 2012

Electric Motor Drives

Ref: Electric Motor Drives, R. Krishnan [2]

Ref: Electric Motor Drives, R. Krishnan [2]

Control of Electric Machines

Position Velocity Current

Ref: Motor Drive, Ali Keyhani [1]

Control of Electric Machines

Ref: Motor Drive, Ali Keyhani [1]

Types of Power Converters

Inverters Cycloconverters Phase Controlled Drive Chopper Controlled Drive

Air University, Spring 2012

Air University, Spring 2012

Ref: Motor Drive, Ali Keyhani [1]

Air University, Spring 2012

Ref: Motor Drive, Ali Keyhani [1]

Phase Controlled Drive

Air University, Spring 2012

Phase Controlled Drive

Input is AC (single or three phase). Output is controlled DC

Ref: Motor Drive, Ali Keyhani [1]

Chopper Controlled Drive

Air University, Spring 2012

Chopper Controlled Drive

Input is DC supply. Output is controlled DC.

Air University, Spring 2012

Drive Circuits for DC Motor

Which drive is suitable if we have:

DC Motor Controlled by a computer

Air University, Spring 2012

Drive Circuits for DC Motor

Which drive is suitable if we have: