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W
K
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K?
W
K
EF
K
W
EKKKKKF
K
EKKKKKKKKF
W
K
KW
J
K J
Controlled Rectifiers
K DC Chopper
]<gj]<]<j<^]<]
WW
K
K
W
W
--
DC Motors WW
K
--
Ia
Ra
Va
If
Eb
Vf
( )
K ( )
[E bY
:
( )
Vf = Rf If
( )
Va = Eb + Ra Ia
Eb = Kv If
Td = K t I f I a
( )
( )
Td = T L + B
(-)
W
(V)
Va
(V)
Eb
()
Ra
(A)
Ia
(V)
Vf
--
()
Rf
(A)
If
(V/A-rad./sec)
Kv
(N.m/A)
Kt
(N.m)
Td
(N.m)
TL
(rad./sec)
(N.m/rad./sec)
( )
Speed()
V1
V2
V3
V4
V1>V2>V3>V4
Torque
( )
W( )
{ KV
WK N.m.{ V/A.rad./sec
--
Rf =
Va = V
Vf = V
TL= N.m
Kv = { V/A.rad./sec.
Td = TL = N.m
Vf
If =
Rf
Ia =
WZ
= {
Amp.
Td
100
=
={
K v I f (1.15)(1.467)
Amp
Eb = Va IaRa= {
E
431.107
= b =
= {
K v I f (1.15)(1.467)
n=
Volt
rad./sec
60
= {
2
rpm
Td = TL = N.m.
T
120
Ia = d =
={
K v I f (1.15)(1.467)
Amp
Eb = Va IaRa = {
E
429.33
= b =
= {
K v I f (1.15)(1.467)
n=
Ra = {
Volt
rad./sec
60
= {
2
rpm
Series Motor
W( )
( )
Va = Eb + (Ra+Rf) Ia
--
Eb = Kv Ia
( )
Td = Kt Ia
( )
Td = T L + B
( )
Ia
Ra
Va
Eb
( )
Speed
V1>V2>V3
V1
V2
V3
Torque
( )
( )
K
W( )
--
K hp, V, rpm
{ V/A.rad./sec { {
rpm N.m.
Rf = {
Ra = {
Td = TL = N.m
I f = Ia =
TL= N.m
Kv = { V/A.rad./sec.
WZ
Td
= {
Kv
Amp.
2n
= {
60
rad./sec
Eb = KvIf= {
Volt
Va = Eb + (Ra+Rf) Ia={
Volt
n = .rpm
2n
=
= {
60
Eb = KvIf= {
EF
rad./sec
Volt
Va = Eb + (Ra+Rf) Ia={
Volt
AC Motors
--
K
Three Phase Induction Motors
( ) ( )
:K( )
s =
4f
P
( )
ns n
= s= s
ns
s
Pg
n =
s
3I 2'2
R2'
s =
( )
3V12 R2'
2
R'
s s R1 + 2 X 1 + X 2'
s
( )
120 f
P
( )
W
(A)
--
(A)
I '
()
()
R'
()
()
X'
()
Rc
()
Xc
(A)
Io
(A)
Ix
(A)
(rad./sec)
(rpm)
ns
Io
R1
Ic
V1
X2
I2
R2
Ix
Rc
Xc
( )
--
(rpm)
X1
(rad./sec)
I1
Ic
R '2
(1 s)
s
( )
K
( )
[s=Y
Io
Ic
V1
X2
X1
I1
I2
R1
R 2
Ix
Rc
R '2
(1 s )
s
Xc
( )
- -
Pin =VICos
Pst+Pi =IRHV/RC
Pg=Tds
Pg=IR/s
Pcu = IR
Pm=Tds(-s)
Pm = IR(-s)/s
Pf
Psh = Tsh
( )
600
Torque
Tm
400
200
Sm
Tst
0.0
0.2
0.4
0.6
0.8
1.0
Slip
( )
- -
W( )
hp, V, Hz
R = {
R = {
X = {
W
X = {
Xc =
watt watt
rpm
Pc= W,
Pf = W,
P=
VL = V
120 f
= rpm
P
2n
=
={ rad/sec
60
n= rpm,
f = Hz
460
Vph =
={ V
3
2n s
s =
={ rad/sec
60
ns =
ns n
={
ns
( )
Z + Z = (R +
s=
R2 '
o
) + j(X+X) = { + j{ = { 7
s
I =
v ph
Z1 + Z 2
= 20.88 7 o ={-j{
- -
Io =
v ph
Zo
= 9.836 90 o =-j{
I= { Amp
Watt
Td =
Pg
N.m
Psh = Pg -(Pcu+Pf) = {
Watt
Z
Tsh =
Psh
= N.m
Synchronous Motors
K
F
EF
- -
E F
K
Cylindrical Rotor MotorW
( )
( )
W
E f = Vt + I a (Ra + jX s )
Td =
( )
3Vt E f Sin
( )
s X s
( )
(A)
(V)
W
Ia
Ef
(V)
Vt
()
Ra
()
Xs
- -
Xs
Ra
Ia
Ef
Vt
( )
Vt
Ef
IaXs
Ia
( )
Td =
3Vt E f Sin
s X d
( )
3Vt 2
2 s
W
()
Xd
()
Xq
W
W
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
- -
KKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKK
WC 9
K
W
K
K
W
K
K
W
K
{ KV
WK N.m.{ V/A.rad./sec
K K
K K
- -
W
K hp, V, rpm
{ V/A.rad./sec { {
rpm N.m.
K
K K
W
hp, V, Hz
R = {
R = {
X = {
Xc =
X = {
watt watt
W {
J
J
- -
]<gj]<]<j<^]<]
--
W
WW
K
K
K
K
K
K
K
K
W
W
- -
Converters K
K
W
Controlled Rectifiers
DC Choppers
AC Voltage Controllers
Inverters
Controlled Rectifiers
??
EF
K
Semi-converter
- -
K ( )EQF
(D)
Vo =
Vm
(1 + Cos )
2
( )
( )
( )
K
W ( )
W v
- -
o K
A K
Vm = 208 2 = 294.156
V
Vo = m (1 + Cos ) = 46.816(1 + Cos 60) = 70.22
2
V
I o = o = 7.022
R
Volt
Volt
Amp.
E
A
Vo = I o R = 8 10 = 80
Volt
( )
= {o
Vm
(1 + Cos ) = 46.816(1 + Cos0) = 93.63
2
V
= o max = 9.36
R
Vo max =
Volt
I o max
Amp.
Vm( )
(deg)
Vo(volt)
E F
- -
100
Vo
(
50
0
0
45
90
135
Alpha (deg)
180
( )
E F
(D, D) (Q,Q) ( )
( )D
K
( )
[Vo[
[-Y
Vo =
Vm
(1 + Cos )
( )
- -
( )
K
One quadrant
( )
- -
W( )
W v
Vm = 208 2 = 294.156
Vo =
Vm
Io =
Vo
= 11.787
R
Volt
= {o
Volt
Amp.
V( )WE
Vo max =
Vm
Volt
( ) K (Q,Q,Q,Q) ( )
(Q, Q)
- -
(Q, Q)
o K
(Two-quadrant) o
K
Vo
to -
Vo =
2Vm
Cos
( )
( )
( )
- -
( )
W( )
W v
o
Ps
- -
Vm = 208 2 = 294.156
2V
Vo = m (Cos ) = 187.266(Cos 45) = 132.417
Volt
Volt
V
I o = o = 13.2417
R
Amp.
E
Ps= PL =VoIo={
Z
watt
E
o
Vo =
2Vm
Ps= VoIo=
( )
Volt
watt
( )
(Four quadrant)
( )
- -
Q,Q,Q
( )
( )
(t>/) Q
Van(t=/ + )
Q(t=/ + )Q
(t=/ + ) Q Vbn
Vcn Q
( )
Two quadrant
Vo =
3 3Vm
2
( )
Cos
- -
( )
W ( )
o v
Vm =
208 2
3
= 169.83
Volt
3 3Vm
(Cos ) = 140 449(Cos30) = 121.633
2
V
I o = o = 12.166
R
Vo =
- -
Volt
Amp.
( )
One quadrant
Vo =
3 3Vm
(1 + Cos )
2
( )
( )
W ( )
K v
Vm =
208 2
3
= 169.83
Volt
3 3Vm
(1 + Cos ) = 140 449(1 + Cos30) = 262.08
2
V
I o = o = 26.208
R
Vo =
- -
Volt
Amp.
( )
Two quadrant
Vo =
3 3Vm
( )
Cos
( )
W ( )
K v
o
Ps
- -
E
Vm =
Vo =
Io =
208 2
3
3 3Vm
= 169.83
Volt
Vo
= 19.8625
R
Volt
Amp.
E
o
( )
Vo =
3 3Vm
Ps= VoIo=
Volt
watt
( )
Four quadrant
K
- -
( )
DC Choppers
EF
KKKK
Theory of Operation
( )
TonK()
Toff
( )
W
Vo =
Ton
Vs = kVs
T
( )
- -
Vs
Ton
Toff
Vo
( )
E Hz HzF
IGPT
KKKKKKK GTOMOSFET
Vo
S
Io
Vs
Ton
Vs
Toff
Vo
( )
( )
(SCR) W
(PT)W
K
(MOSFET) W
(MOSFET)
K
K
Step Down DC Chopper
( )K
( )
K
(On)
(Off)(Q)
(Q)
K( )
- -
( )
- -
( )
Step Up DC Chopper
K
( )
(L)(On)K
- -
(Off)
vo =
I
Vs
1 k
( )
W
Vs
I
k
vo
( )
K
K
( )
- -
AC Voltage Controller W
EF
( )
Q, Q
K
K
W
On-Off Control
Q, Q
( )
K
Phase Control
Q, Q
K( )
( )
K( )
( )
- -
( )
EF
( )
EF
- -
( )
INVERTERS
(PWM)
K
(Filter)
K
- -
(UPS)
K
( )
(D, D) (Q, Q)
Q Q Vs
Q(T/)EVsF
(-Vs) Q
( ) (T/)
D QEF
D Q
KQ
( )
- -
( )
EKKKK F
Q, Q ( )
EJ VsF Q, Q EVsF
Q, Q D, DK( )
- -
D, D
KQ, Q
( )
( )
( )
K( )
- -
( )
W
K
KK
K
W
WKC 9
K
W
- -
K
K
W
K K
K
K K
K K
WK v
Amp K
Ps K
o K
o v
- -
]<gj]<]<j<^]<]
- -
W
WW
K
K
- -
(Power Converters)
Va I a Ra
Kv I f
( )
(V)
W
Va
()
Ra
(A)
Ia
(A)
If
(V/A-rad./sec)
(rad./sec)
Kv
( )
W
KKKKKKK
- -
Pd, Va
Td
Ia
If
( )
"Va"
- -
K If
Single Phase Drives W
KW
K
" a " Va
( )Kf " If"
K
( )
W
Single Phase Half Converter Drives
K{ KW
( )
One quadrant K
W( )
Va =
Vf =
Vm
(1 + Cos a )
2
Vm
(1 + Cos )
( )
W
( )
( )
( )Kf
K
- -
( )
KW
( )
W
Va =
Vf =
Vm
Vm
(1 + Cos a )
( )
(1 + Cos )
( )
K(f) (a)
K ( )
K(one quadrant)
- -
( )
( )
- -
W( )
Hz V
{
rpm
Rf =
Vs = V
n = rpm
TL= N.m
Kv = { V/A.rad./sec.
Ra = {
WZ
Td = TL = N.m
2n
=
= { rad/sec
60
Vm = 2 ={ V
Vm
Vf =
If =
(1 + Cos ) = { V
Vf
Rf
= { Amp.
Eb = Kv If = { V
Va = Eb + IaRa= { V
a = {
( )
W(a = )E
Va =
Vm
(1 + Cos ) = {V
a
- -
Eb = Va IaRa= { V
E
181.8
= b =
={ rad/sec
K v I f (1.1)(1.248)
n=
60
= {
2
rpm
rpm E
KEF
2n 2 (1400 )
=
= { rad/sec
60
60
Eb = Va IaRa= { V
Eb
181.8
=
If =
= { Amp.
K v (1.1)(146.6)
Vf = If.Rf = { V
{={(HCos f)
f = {o
Td = KvIfIa = { N.m
KK(Q,Q,Q,Q)( )
Q, Q
t
+ Q, Q
K+ Q Q
K( )
- -
KW KTwo quadrant
KEoF
( )
Va =
2Vm
Vf =
W
(Cos a )
2Vm
( )
(Cos )
( )
- -
( )
W( )
Hz V
Ko Amp. { V/A-rad/sec
K
W
- -
K
K
??
Vs = V
a=o
Rf =
Ia = Amp
Kv = { V/A.rad./sec. a=o
Ra = {
WZ
Vm = 2 ={ V
Td = T L
E
(f=o)
Vf =
If =
2V m
Vf
Rf
(Cos ) = { V
= {
Amp.
Td = Kv If. Ia = { Nm.
Eb = Va IaRa= { V
E
188.7
= b =
={
K v I f (1.35)(1.98)
n=
60
= {
2
rad/sec
rpm
WE
Td ={({) = { Nm.
Ia ={() = Amp
Eb = Va IaRa= { ({) = { V
- -
n=
Eb
190.07
=
={ rad/sec
K v I f (1.35)(1.98)
60
= rpm
2
KoE
f = o
Eb =
{ V
{H ({)=
Va = Eb + IaRa=
- { = Va =
a = {o
2Vm
{ V
(Cos a ) = 396.14(Cos a )
Ps = Pa = VaIa = Watt
K
( )
(Four quadrant)
F Ia Va
E
KEFo
FIaEVaFVa
EIa
Ko
- -
( )
V a1 =
Va 2 =
Vf =
2V m
2V m
2Vm
(Cos )
( )
a1
(Cos )
( )
a2
(Cos )
( )
:W
W
- -
[Two QuadrantY
Va =
3 3Vm
Cos a
2
( )
Vf =
3 3Vm
(1 + Cos f )
2
( )
( )
( )
- -
( )
( )
KW One quadrant
Vo =
3 3Vm
(1 + Cos a )
2
( )
Vf =
3 3Vm
(1 + Cos f )
2
( )
- -
( )
( )
Hz V
{ Amp
Nm. { V/A-rad/sec
Ko
Vs = V
a=
If = Amp
Rf =
Kv = { V/A.rad./sec. a=
Ra = {
TL= Nm.
WZ
Td = TL = Nm
Vm =
- -
2
= { V
3
E
(f=o)
V f = I f R f =
= V f =
3 3Vm
(1 + Cos f ) = {(HCos f)
2
f = {o
Vo =
3 3Vm
(1 + Cos a ) ={(HCos a) = { V
2
Ia =
Td
120
=
=
K v I f (1.2)(1.0)
Amp
V
Eb = Va IaRa= {
E
242.08
= b =
= {
K v I f (1.2)(1.0)
n=
60
= {
2
Td ={() =
Ia ={() =
rad/sec
rpm
WE
Nm.
Amp
Eb = Va IaRa= { ({) =
E
238.08
= b =
={ rad/sec
K v I f (1.2)(1.0)
60
= {
rpm
2
KEbE
n=
Eb = {
{ = Va - IaRa= Va (.)
Va = { =
a = {o
3 3V m
(1 + Cos a ) ={(HCos a)
2
- -
( )
Two quadrant
EoF
Vo =
3 3Vm
( )
(Cos a )
Vf =
3 3Vm
( )
(Cos f )
( )
W( )
V
{ Hz
rpmf
Rf =
Vs = V
n = rpm
TL= N.m
Kv = { V/A.rad./sec.
Td = TL = N.m
f = o
Ra = {
WZ
2n
= { rad/sec
60
Vm =
2
= { V
3
E
3 3V m
Cos f = { (Cos ) = { V
2
Vf
If =
= { Amp.
Rf
Vf =
Eb = Kv If = {
Va = Eb + IaRa= { V
{ = V a =
a = {o
3 3V m
Cos a ={ (Cos a)
2
W(a = )E
3 3V m
Cos a = { V
2
Eb = Va IaRa= {
V
E
264.55
= b =
={
K v I f (1.2)(1.466)
Va =
rad/sec
- -
60
= { rpm
2
rpm E
n=
KEF
2n 2 (1800 )
=
= {
rad/sec
60
60
Eb = Va IaRa= { V
Eb
264.5
=
If =
= { Amp.
K v (1.2)(188.496)
Vf = If.Rf = {
V
{={(Cos f)
f = {o
Td = KvIfIa = { N.m
( )
K
K
W
Va1 =
3 3Vm
( )
(Cos a1 )
W
Va 2 =
3 3Vm
( )
(Cos a 2 )
W
Vf =
3 3Vm
( )
(Cos f )
- -
W
K
WKC 9
Hz V
{ V/A- {
K rpm Nm.rad/sec
K
K K
K K
- -
rpm K
K
W
Hz V
{ V/A-rad/sec {
Ko Amp.
W
K
??
W
HzV
{ Amp
Nm. { V/A-rad/sec
o
W
- -
]<gj]<]<j<^]<]
- -
WW
K
K
K
K
- -
DC Chopper Drives
EF
K KKKK
K
( )
( )
Ton
Toff
W( )
Vo =
Ton
Vs = kVs
T
( )
- -
Vs
Ton
Toff
Vo
( )
IGPT, MOSFET, GTO
EF
( )K
( )
( ) K
- -
K
W K( )
( )
I s = k Ia
W(Pa) (Ps)
( )
( )
( )
- -
( )
W( )
V
{ { {
K N.m. {V/A-rad/sec
K
- -
rpm.
Rf = {
Vs = V
k= {
TL= N.m
Kv = { V/A.rad./sec.
Ra = {
WZ
Td = TL = N.m
( )( )
If = Ia =
Te
={ Amp
Kv
Eb = Va Ia(Ra+Rf) = {({)= { V
E
= b ={ rad/sec.
Kv I f
n=
60
={ rpm
2
2n
= { rad/sec
60
Eb = KvIf = V
Va= Eb + IaRa = { V
- -
k=
Va
= {
Vs
Regenerative Braking
( )
" Q"
DEF
KK
K
( )
( )
( )
- -
Va=Vch=(-k)Vs
( )
Is = (- k) Ia
( )
( )
- -
( )
W
Eb= Eg = Va + IaRa=(-k)Vs+Ia(Ra+Rf)
( )
K
W
- -
0 E g I a ( Ra + R f ) V s
W
(min)
Eg Ia(Ra+Rf)=
min =
I a ( Ra + R f )
( )
Kv I f
W
min =
( Ra + R f )
( )
Kv
(max)
Eg Ia(Ra+Rf)=Vs
KvIf max - Ia(Ra+Rf)= Vs
min =
Vs + I a ( Ra + R f )
( )
Kv I f
(max)(min)
W( )
{ { V
K A. {V/A-rad/sec {
K
- -
Vs = V
Rf = {
k= {
Ia= Amp
Kv = { V/A.rad./sec.
Ra = {
E
( )( )
Va=(-k)Vs = {() =
n=
60
={ rpm
2
E
min =
nmin =
min =
n max =
( Ra + R f )
Kv
min
= rad/sec
60
={ rpm
2
Vs + I a ( Ra + R f )
Kv I f
max
={ rad/sec
60
={ rpm
2
Dynamic BrakingEF
E F
- -
( ) K
( )
( )
( ) (Ib)
( )
Ib = (- k) Ia
( )
Vb=Vch=RbIa(-k)
( )
Pb = VbIb = ( - k) Ia Rb
( )
- -
( )
W( )
{ { {
K A {V/A-rad/sec
K
- -
k= {
Rf = {
Ia= Amp
Kv = { V/A.rad./sec.
Ra = {
Rb =
( )( )
Vb)max=Vch)max=RbIa= ()=
Eg = Va + Ia(Ra+Rf) = V
Eg
=
={ rad/sec.
Kv I f
n=
60
={ rpm
2
Q ( )
- -
Q Rb
KQ
( )
EF
EF
K( )
- -
( )
QQ, DEF
OFF Q ON
QQ, DKD
ON
DOFFQ
EFEF
E F
( )KEF
K
- -
( )
ON Q, Q OFF Q, Q , QQ
OFF Q
KEFDQONQ
W
OFF Q
K D, D
ONQ, QOFFQ, Q, QQ
D Q ON Q OFF Q
EF
- -
W
D Q ON Q OFF Q, Q, Q
D, OFF Q
KD
- -
W
K
K
K
K
W
V
{ { {
K A {V/A-rad/sec
K
W
DC chopper
{ { V
- -
K{V/A-rad/sec
W
Nm
{ { V
A. V {V/A-rad/sec
K
{ K DC chopper
mV/A.rad/sec. {
K
A
- -
]<gj]<]<j<^]<]
- -
WW
K
K
K
K
K K
- -
E F
EF
( )
Td =
Pg
3I 2'2
R2'
s =
3V12 R2'
2
R'
s s R1 + 2 X 1 + X 2'
s
( )
W
(A)
- -
I '
()
()
R'
()
()
X'
(rad./sec)
(rad./sec)
( )
( )
( )
K
(n) (V)(n)
(n) (n)(V)
- -
(V)
K
( )
(Frequency Control)
( )
(f)(V)()
V
f
( )
( )
K )
(n) (f) (n)
F
K E
(Field-weakening mode)
( )
( )
( )
- -
E F
K
K(Constant Flux Operation)
E F
( )
- -
( )
K
(Forward Motoring) ( )
(Reverse Plugging)
( )
(A, B, C) K
(A', B, C')
KEFEF
( )
- -
o o
K(PWM Inverter)
( )
( )
- -
W K
( -a)
( -b)
K( -c)
W K
K( )
(a)
(b)
(c)
( )
- -
(a)
(b)
( )
(Slip Power)
(Rex)
( -a)
( -b)K( )
(Rex)
(a)
(b)
( )
(R) (Rex)
(Re) (k) ( )
(R)
Re=R(-k)
K( )
(-)
- -
( )
K( )
(Vd) o
( )
( )
EF
- -
K K
K K
K K
WC 9
- -
]<gj]<]<j<^]<]
- -
WW
- -
(Commutator)
K
E F
E
= s =
( )
4f
P
( )
(rad./sec)
(rad./sec)
- -
(constant V/f)
(b) (b)
( )
(b) K
(constant V/f)
( )
- -
EF
(Independent Oscillator)
ss
K
- -
K
K
( ) K
KEF
( )
EF
- -
( )
F (ref)
( )
EF
- -
K
W
K
K
- -
Electric Motor and Drives: Fundamentals, Types and Applications, Austin Hughes,
Heinemann Newnes,
- -
KW
KW
EF
GOTEVOT appreciates the financial support provided by BAE SYSTEMS