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Chopper
By
Dr. Ungku Anisa Ungku Amirulddin
Department of Electrical Power Engineering
College of Engineering
Outline
Closed Loop Control of DC Drives with Choppers
Current Control for DC Drives with Choppers
Pulse-Width-Modulation (PWM) Controller
Hysteresis-Current Controller
Comparison between PWM and Hysteresis Controller
Transfer Function of PWM-Controlled Chopper
Two-quadrant
Four-quadrant
Design of Controllers
References
Dr. Ungku Anisa, July 2008
Plant
Controller
Output
signal
Sensor
Dr. Ungku Anisa, July 2008
the following:
Protection
Enhancement of speed response
Improve steady-state accuracy
rectifier dc drive
Inner current control loop different
Current
Control Loop
Speed Control
Loop
transient response
Hence, affects speed loop bandwidth.
1
q
0
vtri
i a* +
ierr
PI
vc
T1 on, Va = Vdc
vc < Vtri
T2 on, Va = 0
+
T1
Vdc
D1
ia
Vdc
+
T2
Pulse Width
Modulator
(PWM)
vc > Vtri
D2
Va
-
ia
Dr. Ungku Anisa, July 2008
1
q
0
vc > Vtri
Ttri
vc
vc > Vtri
vc < Vtri
(1)
q
0
vc < Vtri
ton
Vdc
va
0
q=1
T1 on, va = Vdc
q=0
T2 on, va = 0
Ttri
t Ttri
q dt
t
ton, T1
Ttri
vc
1
Va va dt Vdc
T 0
ton
va
Vdc
Va
0
average armature voltage Va depends on duty cycle (i.e. how long T1 is on)
Dr. Ungku Anisa, July 2008
10
11
i
0
a
a
a
+
T1
ia
Vdc
Hysteresis
Controller
i a*
ia
+
T2
ia*
ia
ia
ierr
Vdc
D1
D2
Va
-
ia
Dr. Ungku Anisa, July 2008
12
ia ia* + ia
1 ia ia* - ia
q
* + i
i
i
0
a
a
a
ia*
ia
ia
ia
ia ia* - ia
q=1
T1 on, va = Vdc
q=0
T2 on, va = 0
13
Switching
frequency
Hysteresis Controller
PWM Controller
Varying
Fixed
(follows sawtooth waveform
frequency i.e. carrier frequency)
Switching losses
High
Low
(due to varying
switching frequency)
Speed of
response
Ripple current
Fastest
Fast
(due to instantanous
change in current)
Adjustable
Fixed
(depends on hysteresis
window ia )
Filter size
Dr. Ungku Anisa, July 2008
Depends on ia
EEEB443 - Control & Drives
Small
Preferred method !
14
1.
a)
b)
c)
2.
15
3.
i.
ii.
16
Controller
Before we can design the PI controller, need to obtain linear
relationship between control input vc and average armature
voltage Va for PWM method
Need transfer function
for PWM-controlled
chopper
vtri
i a* +
PI
vc
Pulse Width
Modulator
(PWM)
Chopper
Va
DC
motor
ia
ia
17
1
q
0
vc Vtri
Vtri
vc > Vtri
vc < Vtri
vc
-Vtri
Ttri
Dr. Ungku Anisa, July 2008
q0
t Ttri
q dt
t
ton, T1
Ttri
-Vtri
vc
18
vc
-Vtri
T1 on cycle
i.e.
ton, T1 = 0.5Ttri
1
q
0
Ttri
q dt
t
ton, T1
Ttri
vc < Vtri
vc > Vtri
0.5
0.5
-Vtri
vc
19
1
q
0
Vtri
vc
-Vtri
Ttri
q dt
t
ton, T1
Ttri
0.5
1
-Vtri
vc < Vtri
q 1
t Ttri
vc > Vtri
Vtri
vc
20
(2)
0.5
vc
+Vtri
-Vtri
(3)
(4)
21
+
T1
D1
D3
+ Va -
T3
Vdc
T4
D4
D2
T2
22
between:
Vdc and -Vdc
Vdc and 0
Dr. Ungku Anisa, July 2008
T1
D3
+ Va -
T4
D1
D4
D2
T3
T2
23
Leg A
Leg B
24
1 vc > Vtri
q
0 vc < Vtri
Leg A
q = 1,q =0
+
T1
vtri
D3
+ Va -
T3
T1 on, T2 on
Va= Vdc
T2
q = 0, q =1
T4 on, T3 on
Va= -Vdc
Vdc
T4
vc
q
Dr. Ungku Anisa, July 2008
D1
D4
D2
Leg B
25
Va = Va+- Va-
Leg A
2vtri
vc
+
T1
D1
D3
+ Va -
T3
Vdc
vtri
Vdc
Va+
0
Vdc
T4
D2
D4
T2
Va-
0
Vdc
vc
Va
Va+
Va-
-Vdc
Leg B
26
1 vc > Vtri
q
0 vc < Vtri
Va AVdc
ton, T1
A
T
2vtri
vc
Va+
vc
Vdc
Vdc
Vdc
Vdc
Va0
Va = Va+- VaVdc
Va
q (1 q)
Va BVdc
ton, T3
B
T
Va BVdc 1 A Vdc
-Vdc
27
Bipolar
Switching PWM
Va AVdc
(5)
ton, T1
1
A
0.5
vc
2Vtri
Ttri
Output of Leg B (average):
where
(6)
V BVdc 1 A Vdc
2vtri
Vdc
(7)
Va+
Va-
where
(9)
V
Va dc vc
Vtri
Vdc
0
Vdc
Va Va Va 2 A 1Vdc
vc
0
Vdc
Va
-Vdc
28
Leg A
1 vc > Vtri
qa
0 vc < Vtri
qa
Leg A
vtri
vc
T1
D1
D3
+ Va -
T3
Vdc
vtri
T4
-vc
qb
D4
D2
T2
Leg B
29
vc
2Vtri
Leg A
-vc
vtri
vc
T1
D1
D3
+ Va -
T3
Vdc
Va+
Vdc
vtri
Vdc
T4
-vc
Va-
D2
D4
T2
Vdc
Va
qb
Va+
Va-
Leg B
Va = Va+- Va-
30
vc
2Vtri
-vc
1 vc > Vtri
qa
q
0 vc < Vtri a
V AVdc
ton, T1
A
T
2Vtri
-vc
Vdc
qb q
b
0
Vdc
0
Vdc
Va+
Vdc
Va0
Va = Va+- VaVdc
Va BVdc
ton, T3
B
T
Va
0
31
Unipolar
Switching PWM
Va AVdc
(10)
vc
ton, T1
1
0.5
A
vc
2Vtri
Ttri
Output of Leg B (average):
Va BVdc
where
2Vtri
-vc
(11)
(12)
Vdc
Va+
where ton, T3
1
vc 1 A (13)V
B
0.5
2Vtri
Ttri
Hence, average voltage across motor armature:
(14) V
V V V V 2 1V
Vdc
dc
dc
0
Vdc
0
32
vc
2Vtri
Va+
Vdc
-vc
Va+
0
Vdc
Vdc
Va-
Va-
0
Vdc
Va
-Vdc
V
Va dc vc
Vtri
Vdc
0
Vdc
Va
0
Bipolar Switching
Unipolar Switching
Vdc and 0
2ftri
Current ripple = i
ripple
Vdc
f output voltage
34
Va Vdc
Two -quadrant: K r v 2V
c
tri
Fourquadrant:
Kr
Va Vdc
vc Vtri
(15)
(16)
Tr
1
2 fc
(17)
35
Kr
1 sTr
(18)
Va s Ia s Va s
m s
Kb
Ia s Bt 1 sTm
Ia s
1 sTm
K1
1 sT1 1 sT2
Va s
Current Feedback: H c
Speed feedback: G s
K
1 sT
36
Design of Controllers
Block Diagram of Motor Drive
Current
Control Loop
Speed Control
Loop
37
Design of Controllers
Current Controller
PWM-controlled
Chopper
G c s
DC Motor
& Load
K c 1 sTc
sTc
K1Kc Kr H c
1 sTc 1 sTm
G Hi s
T
c
(19)
(20)
38
Design of Controllers
Current loop 1st order approximation
Approximated by adding Tr to T1 T3 T1 Tr
Ia s
*
Ia s
Dr. Ungku Anisa, July 2008
K c K r K 1Tm
1
1
1 sT3
Tc
K c K r K 1 H cTm
1
Tc
1 sT
Ki
1 sTi
(21)
39
Design of Controllers
Current loop 1st order approximation
where
T3
Ti
1 K fi
Ki
K fi
(22)
K fi
1
H c 1 K fi
(23)
K1K c K r H cTm
Tc
(24)
design.
If more accurate speed controller design is required, values of
Ki and Ti should be obtained experimentally.
Dr. Ungku Anisa, July 2008
40
Design of Controllers
Speed Controller
DC Motor
& Load
K s 1 sTs
G s s
sTs
1st order
approximation
of current
loop
(25)
(26)
41
Design of Controllers
Speed Controller
1 sTs
GHs
(27)
42
References
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
43