IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS ANDCONTROL INSTRUMENTATION, VOL. IECI- 23 , No.
4, November
SPEED CONTROL OF D.C. MOTOR USING TEYRISTOR DUAL CONVERTER
ABSTRACT
The paper describes the design, constru-
ction and testing of a closed-loop system for
the speed control of a separately excited d.c.
motor ted from a dual converter. The dual
converter makes possible regenerative braking
and reversal of direction of rotation. There
is only one firing unit and the firing pulses
are diverted to the appropriate converter by
a master controller. There are three control
loops: one for armature current control, one
for adjusting the firing angle of the oncom-
ing converter, and one for speed control.
Proportional plus integral type of controll-
ers have been used to achieve good dynamic
and steady-state responses. -Experimental re-
sults are given and compared with theoretical
ones.
NOMENCLATURE
armature current
ia standstill armature current (UR/Ra)#
Ist
Ua armature voltage.
UR rated armature voltage (220V).
w motor speed (rad/sec).
motor no load ideal speed (164 rad/sec). current
-nrc
Ra armature resistance.
La armature inductance.
Te electrical time constant of the motor
(La/Ra)*
aa
J moment of inertia of the motor and load. the present work.
M t standstill torque of the motor.
TM mechanical time constant of the motor
(JNQ/Mvt).
B normalised viscous friction constant
(includes load on the motor).
Vcm maximum control voltage (15v).
yR speed reference voltage.
vi current transducer output voltage.
Manuscript received February 5, 1976.
This paper was presented at the IFAC Symposium
on Control in Power Electronics and Electrical
Drives, Duesseldor'f, October 7-9, 1974, the
title of the paper being "A thyristorized four. it is possible to have only diverted
quadrant d.c'. motor drive."
T. Krishnan is with the Kerala State Elec-
tronics Development Corporation Ltd.,. Trivand-
rum, India.
B. Ramaswami is with the Department of Elec smooth current transfer, it is necessary that
trical Engineering, Indian Institute of Tech-
nology, Madras, Indiaa.
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1976
T. xrisbnan and B. Ramaswami
vw speed feedback voltage.
L [ Laplace transform of [.J
Ia(5) - L [a/IstIJ4 Ua(5) L La/U1
f1,() = L I Vci(a) 5L [lc/VcjJe
~~~~/V -
v XVc2/VcJ
Vc2()LT) v
tVR(8)
s L II Rcm '
IJTRODUCTION
Thyristor fed d.c. motors are being used
increasingly in several industrial applicat-
ions where control of speed is required. An
armature controlled motor fed by a 2-quadrant
converter cannot give 4-quadrant operation, a
capability inherent in the .Ward-Leonard drive.
There are several schemes [i ,Ch. J for obtaiaing
four quadrant control. Among all these, the
dual converter (two converters connected in
antiparallel) scheme provides a fast response
and is frequently used in industry. There
are two basic modes of the dual converter op-
eration: (i) the circulating current mode;
(ii) the circulating current-free mode.. TAe
are well discussed in Chapter 5 of Pelly LJ
In large. capacity drives, the circulating
mode dual converter works out to be
uneconomical dueto the high cost of the d.c.
choke required and the increased current rat-
ing required for the tbyristors to carry the
circulating current. Therefore, the circula-
ting current-free mode dual converter is of
practical importance and is the subject- of
The principal differences between the
works of the various researchers on the cir-
oulating current-free mode dual converter
arise from the following considerations.
(i) Current Limiting Method: The current can
be limited by using either a current limit
amplifier that comes into operation only when
the current exceeds the set value or an inner
current loop that is in operation all the
time. The latter has the advantages of givii-
ng a fast response and overcoming the adverse
effects of supply disturbances.
(ii) The Number of Firing Units Used: The two
converters of the dual converter can be fired
from two separate firing units. Since, in the
circulating current-free mode, only one con-
verter conducts at any given instant of time,
one firing unit
to the
and have the firing pulses
appropriate converter.
(iii) Method of Ensuring Smooth Current Rise
in the Oncoming Converter: In order to have a
the output voltage of the oncoming converter
should be equal- to the back emf of the motor
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IEEE TRANSACTONS ON INDUSRAL ELECTROMCS AND CONTROL INSTRUMENTATION

at the instant of switching over. One method converter consisting of two 3-phase bridge
of ensuring the smooth current transfer is to convetters A and B oonnected in antiparallel.
,work theOnoming converter at a large firing There is just one firing unit comprising of
anti. initially ( advanced firing), and slowly six firing&circuits, The logic gating signa-
redUeing the firing angle tbreafter. This ls G and G coming from a master controller
scheme results in sluggish response. Another determine which of the two converters is to
method is to monitor the firing angle of the be fired. The master controller also gives
idle converter with the aid of a separate co- out a signal VBLOC of pulse width 'r (z-lo ms)
ntrol loop, so that itS 'output voltage is whenever a change over of operation from one
equal to the back emf of the motor Thisme- converter to the other is to take place. Dur-
thod known as the back emf correction scheme ing the period t , firing pulses are blocked
overcomes the delay present in the advanced to both A and B. This is- to ensure that the
tiring method. outgoing converter is completely switched off
Duff and Ludbtook r1 use an inner current before the oncoming one is fired.
loop, one set of firing its and advanced The motor curnt is sensed on the a.c.
firing. Prans Wessela3 uses an inner cur- side. The sensing device consists of three
rent loop, two sets of firing uni and a current transformers* The rectified outputs
back emf correction loop. Pelly I#,h. 1 of these are connected to a oommon resistive
describes a Wet up which usoe a c ret lit load. The voltage across this resistor.-is
amplifier, two firing units and a back emf proportional to the armature current and is
correction loop. always of a fixed polarity. This voltage, v±
In the present works, the authors use an is used as the current feedback signal for
inner current loop? only one set of firing the current looy. The output of the speed
units and a back emf correction loop. This oontroller, cZ2 -iR) sets the current refere-
scheme achieves all the control sophistica- nce. To ensure satisfactory operation of the
tion with a minimum number of components. current loop, ourrent reference iA should
The complete speed control unit is designed,
constructed and tested. Experimental resul.ts also under steady state be of a fixed polari-
obtained agree closely with the theoretical ty for bothdireetions of motor speed. To ac-
ones. Although the rating of the drive motor hieve this, a digitally controlled analogue
used is only 5.5 kYW, the drive has all the inverter'(D0AI)" is interposed between iR and
features needed for a high power one. iA. The DOAI is controlled by the master
SPEED CONTROL SCHOM oontroller through the signal I and the state
of DCAI is changed whenever the firing pu3ses
The block diagram of the complete 8peed are shifted from one converter to the other.
control scheme is given in Pig.1. A separa- .The crent controller-I processes iR
tely excited dc. motor is fed from a dual and ial and gives a voltage, v that

fV50HZ
400

Pig. 1. Block diagrm of the speed control scheme.

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 _P~ ~5.6Kn
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS AND CONTROL INSTRUMENTATION

+24V

1 25-6K (GOES TO OCAI)

lVt = If'
SN74121 +24V G=I=Ql

PQ ~~ ~ ~ ~~~~~VBLOC
MONOSTABLE
IRS | A O E )C 1
)) ~~FLIPFLO r 2
(SN 7476) ta cnrl
s~~~~~~~-
+24V
r

itC2
i~~~~~~~~~~~~~~~~~~~~~ Q
68K ALL- TfRANSISTORS ARE BC 14-7 A
ALL DIODES ARE BAX 13

Fig* 2. Circuit of the master controller.

controls the firing angle,eoc. During the Table 1
delay period the current loop is open and
hence vcl may vary in an undesirable manner
and result in a large current surge when the Ia x
[ i Y
oncoming converter is fired at the end of T.
To avoid this, vel is controlled by the cur- 0
>0 0
_ _ ._' _ _ _ 1._._.._.'R _ _ _1111-
rent controller-2 during the period, T The
output of the tachogenerator (proportional to
back emf) forms the reference input to the
current controller-2 and vel is forced till It can be easily checked from Fig.2 that
it corresponds to the back emf. under steady state( > 0 and iR ial
As already indicated, the master contro- either +ve or -veX), the signals P and C are
ller generates logic signals whenever the both equal to l, Q1=0 if i is positive and
current Iialgoes to zero preceded by a chan- Q1 =1 if iR is negative. The truth table of
ge in the sign of iR. The signals generated flipflop is given by table 2.
are: (i) I, (ii) VBL0C (iii) G and Go The
Table 2
master controller is shown in Fig.2 and con-
sists of four stages, namely (i) level detec-
tors to convert the analogue signals | ia] and p CQQ Remarks
iR into logic signals X and Y, the relation 1 1 Q1 Q1 and Q+ refer to the
between the signals being given by table 1.
(ii) three NAND gates and SN 7476 (used as a 0 1 1 states of Q before and
set-reset flip flop) to implement the sequen- after a cha'nge in the
tial logic needed. (Q1 to change only when
|i4 goes to zero preceded by a change in the
1 0 0 ~state of PorOC.
sign of iR). (iii) transistor stages to get
digital outputs of higher levels. (iv) two Fig.3 explains the operation of the master
monostables (SN 74121) to generate VBL0C controller assuming that the system is initi-
given by, ally under steady state with iR positive
and iR becomes negative at t2-
VBLOC= +2 =Q3 2 Q3.

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 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS AND CONTROL INSTRUMENTATION

Thyristor Converter
The secondary voltage of the power tran-
sformer is chosen such that the converter
voltage at a firing angle, a = 300 is equal
-t t2 I ,t3 t4
t
to the rated voltage of the motor. The gain
of the converter d(ua/UR)/ d(K /iiw) depends
on the operating point and varies fromF:1.15Tr
- -

I_

G at oC = 900 to To.5 x 1157Tat oC-=300 The

a i_ gain is taken to be the mean of these two
*
&SL
~I
~ I
values. The firing circuit provides a linear
viO I I t variation of oc from 0 to 1800 for a varia-
tion of vcl from 0 to -10V. The normalized
gain of the firing unit, (Co/ )/(vcl/Vcm) is
t; O therefore equal to -1.5. The time delay qf
t+3I I the thyristor converter is approximated L4
0 by a first order time constant, ITA equal to
tz 0
0 half the period between two consecutive firi-
t,ti O ng.pulses (TA = 20/12 = 1.67 ms). Thus the
X w
x (|;a|)) transfer fun-ction of the dual converter can
be written as
Ua(s) A +4
VolT(ST 1=sTA 1+1.67x10 ,s
Current and Speed Transducers
y
A d.c. current transformer is quite ex-
Y Y z pensive and hence the current is sensed on
t4 o I I the a.c. side of the converter. The operat-
G I = ion of the current transducer is already ex-
plained in Section 3. The normalized gain,
t'31 0
a = Q1 Hi= (vi/Vcm)/(ia/Ist) of the current trans-
ducer is found to be equal to +10.7. The
normalized gain of the tachogenerator, Hw =
Fig. 3. Waveforms illustrating the operation O
(VW/Vcm)/(V / fAro) is found to be equal to
of the master controller. 4.2.
TRANSFER FUNCTIONS OF THE SYSTEM ELEMENTS Controllers
The speed and current controllers are
D.-C. Motor required to provide zero steady state error
The rating of the d.c. motor used in the and a fast response. Hence proportional plus
present scheme is 220V, 5.5kW and 1500 r.p.m. integral controllers have been chosen. The
The motor is coupled to an alternator of 5kVA controller configuration is given in Fig. 4b.
capacity for loading purpose. A linear model The transfer function of the controller is
of the d.c. motor-load system. is given in K(l+Tc s)/Tc so
Fig.4a. The time constant Te is experimenta-
lly found to be 13.5 me. The quantities Tm/B
and 1 /B are obtained, from test and it is
found that (Tm/B)>>Te and (1/B) >> 1. Hence
the transfer function between speed and arma- REFERENCE CONTROLLER
ture current is taken to be a pure integrator OUTPUT
of time constant Tm. Tm = 43.5 ma.
FEED BACK
O
+STC) Ri
Ten RL CL c

Fig.4b. Configuration of the P.I. Controller.

Ua, DESIGN OF THE CONTROLLERS
Current Controller-I
The block diagram of the current control
loop is shown in Fig.4c. It can be seen that
the product AHi is positive irrespective of
Fig.4a. Mathematical model of the d.c. motor. which converter is conducting. When the gain

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS AND CONTROL INSTRUMENTATION,

Fig. 4c. Current control loop.

Fig. 4d. Speed control loop.

orossover frequency,, * is high compared tQo Speed Controller
1/4IT (verified a little later), the, lc op For designing the speed controller, the
gain function can be approximated as current control loop is approximated by a fi-
rst order system with an equivalent time con-
stant, T* = 10 ms (determined by test) and a
Gui(s) = -iAH (2) gain Rif/RlHi. The tachogenerator output is
5tt- i (1+TAs) s2Te found to contain ripple. To overcome the ef-
The parameters of the controller, K1 and- fect of this, a filter of time constant,, Tf
are desg ed using the symmetric optimum 60 ms is introduced at the tacho output. The
method so that the phase margin is maxci configuration of the speed loop is shown in
mumnd tEe damping ratio for the complex + Fig.4-&. The loop gain function of the speed
poles is 0.707. The parameters of the con w -w- ,
loop-(ttglecting
.~~~~~~~~ T* in comparison with Tf) is
roller are given by
GH s).-
(s)
GH w -K2R1 fEW Tc5(1+Tc22) sTm (5)
To (f= + 1 )TA = 9.75 ms, RiHi 1±UsTf)
1 :quation (5) is similar to (2), and so the
Kr- -, + ) _= 0.082* (3) design is carried out on the same lines as
I i TA that of the current loop. The controller pa-
(The component values of the controller are rameters are found to be-
determined as Ri = 44.5 kni, C L 0.22 ?, T -: 0.348 sec. and K2 = 0 708. (6)
R1f = 543 kfir). It can be calculated that The component values of the speed controller
Wc = 248 rad/sec. and = 41.3, and are: Ri = 348 kn , Ci = 1 &F R2f = 492 kP.
hence the assumption made in writing (2) is The input resistance, R2 is found to be equal
Justified. to 123 kin- for a limiting speed of 1500 rpm.
The input resistance of the current con- The overall transfer function of the speed
troller, R1 has been calculated as 480 kAfor loop is given by
a limiting current of 25A. Although the loop
VRkS) =-0__2s1038
gain is positive, the gain from iR to ia can 160xO XE (7)
have either sign depending on which converter (1+0.145s)(0.021s2+0.205s+l).
is conducting. Because of the DCAI, the gain
from iR( to ia is positive. The trans- Current Controller-2
fer function of the current loop is given by The "back emf correction" has been expl-
ained in Section 1. The current controller-2
performs the back emf correction operation.
ia(s) It comes into operation only during the delay
a period and forces the control voltage, vc
0.106(1+9.75x10 3s) to such a value that makes the output voltage
of the oncoming converter equal to the back
emf of the motor. The tachogenerator output
(1+4x103s ) ( 6x106s2+5
a . 7x10-3s+ 1 ) vw is taken as a measure of the back emf.
395
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS AND CONTROL INSTRUMENTATION

The relation between v, and vcl can be arriv- fy (9). The signals jiand iR now have the
ed by eliminating ua from the two equations role of disturbance signals and their effect
relating ua and vcal and ua (c back emf) and is very little since the gain k1k2 to the
v.. The desired equation is left of these signals is very high (k1k2j 30).
T Fig.6b gives the actual circuit of current
v = + 72.4 cos (- v). (8) controller-2. The switch 'S is realized by
This relation is shown by the dotted lines in - 72.4 V 0 72.4 V
Fig.5. I
/ v.w
The realization of the characteristics "% REVERSE - -FORWARD ,'
given by Fig.5 is quite complicated, firstly
because of the cosinusoidal relationship and
secondly because of Tbe curves being differ- CONVERTER B '-. CONVERTER A
ent for the two converters A and B. To red- TAKING OVER - Xi 4-9d) TAKING OVER
uce the complexity of the electronic circuit-
ry the following simplifications are made.
(i) The converter taking -over conduction sta-
rts always with an initial oC)>900. i.e., the
characteristic for vcl 4 -5V only is realized -yov
(ii) The cosine curve is approximated by cI
straight line as shown in Fig.5. The firing
angle is limited to 1600, and hence it is Fig. 5. Back emf correction characteristics.
sufficient to have a maximum negative value
of 8.9 for vcl. Thus the characteristic rea-
lized is
REl ILl
A5v

[VWl = -(5+v 1) 24-724 (5+v ). (9) 'U~~(.,+ ~II K.

XIi~~~~~ K
CURR~ENT
CONTR~~~~~~~~OLLER- T 1

Fig.6a explains the working of the current

controller-2. The switch 'S' is controlled
by the logic signal VBLO*C When VBLOC=09 S
is closed and hence the signal vw has no ef-
fect on current controller-1. When V BLOOC-1,
Fig. 6a. Block diagram of current
S is opened and vcl is forced by v., to satis- controller-2.

ALL DIODES ARE BAX 13

LIrLUl I -15V -L I CURRENT CONTROLLER - I
L_ ___ ______ _____ j

Fig. 6b. Circuit diagram of current controller-2.

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 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS AND CONTROL INSTRUMENTATION

a pair of transistors controlled by VBL0O* it is not possible to make out the overshoot
The relation (9) is realized by choosing R3, but it can be seen qualitatively -that the
response is satisfactory. The speed loop re-
R4, R5 and R6 in an appropriate manner. The sponse is shown in Fig.7b. The experimental
biasing of vc to -5V for jv.= 0 is achieved values for the time to reach the first peak,
by making (15/R3) = (5/R1) The gain factor Tp and the overshoot, MO are 0.38 see. and
34% and they agree closely with the analytic-
of 72.4/3.9 is obtained by making (R6/R4) = al values of 0.35 sec. and 36% respectively.
(3.9/72.4). The absolute value of vu} is ob- Figs.8a and 8b show the responses of the
tained by making (1/R4)=(1/20 R5). A gain of speed control system for large step ohanges
in the reference signal, and they demonstrate
0.1 is chosen for the amplifier in the absol- the 4-quadrant capability of the drive. Fig.
ute value circuit to see that it does not sa- 8a illustrates the responses for a step chan-
turate for the maximum working value of v. ge in speed reference from -1000 rpm to +1000
which is around 60 volts. rpm. Converter A takes over conduction from
converter B after- the delay period.vC. Since
DISCUSSION OF THE EXPERIMENTAL RESULTS A operates initially as an inverter with ax-
imum (limiting) value of ourrent, deceleaat--
The response of current and speed loops ion is quite fast. The machine then builds
have been recorded in the linear operating up speed in the positive direction and conve-
mode by giving small step changes and are rter A operates as a rectifier.
shown in Figs.7a and 7b. Fig.7a shows the
hotographed response of the current loop
the response is too fast to be recorded with a1 _f-- A CONDUCTS-
a pen type recorder). The upper trace of the +2S5A -- I -10
figure shows the applied current step and the
bottom trace the armature current. Because -25A - f
of the 300 Hz ripple in the armature currentt O I + l
-25A X2 6 C'ONOUCTS [- COUTS
+1000 RPM , 8 CONDUCTS
current
refe vencee I
0 R P M-
- lOO0 O RPM1 -

AYmcLtlu i
+1000 RPM A

-J 000 RPM
- 1Ir I

Ca_ (a)
Fig. 7a. Current loop response (Scale:Xaxis,
1 large div. 5 ma; Y axis,
1 large div. = 4 A).
A CONDUCTS

25 A At A CONDUCTS

1000 t W4- 8 CONDUCTS

SPEED 1000 RPM
REFERENCE 500 RPM
RPM 0'
TIME
1000_ 1000 RPM
ARPM
500 RPM
SPEED
Goo
RPM
A t (b)
TIME
Fig. 8. Recordings illustrating 4-quadrant
capability of the drive with large
SCALE. step changes in speed reference:
X AXIS, I DIV = 0.5 SEC. (a) From -1000 rpm to +1000 rpm
b) From +1000 rpm to +500 rpm
X scale: 1 division = I secona).
Pig. 7b. Speed loop response (Scale: X axis,
1 division = 0.5 second).

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 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS AND CONTROL INSTRUMENTATION

Fig.8b illustrates the responses for a thyristors. A less complicated scheme provi-
step change in speed reference from +1000 to ding isolation between the control and power
+500 rpm. Converter A is intially conducting circuitry is now being developed by the first
and the same has to conduct finally also. At author and will be reported in due course.
t1* A stops conducting and after the dela.yZ,
B starts conducting and regenerative braking ACKkoWLEDGEMENT
occurs. When A takes over at t2 from B, the
The authors wish to thank the authorities
current rises gradually and this gives a of the Indian Institute of Technology, Madras
slightly slow response. This difficulty for giving the facilities to carry out this
arises only in this mode of operation due to work. Their grateful thanks are due to Dr.J.
an inherent limitation of the back emf corre- Holtz (formerly with this Institute and now
ction scheme realised. The firing angle is with Gesamthochschule Wuppertal, W. Germany)
taken to a value larger than 900 at the end for the encouragement and help given in car-
of the delay periodX . When A takes over at rying out this work.
t2, it should operate as a rectifier, but it
will not do so until its firing angle is bro- REFERENCES
ught down to the right value (less than 900)
by the action of the current controller-1. E1J B.R. Pelly, "Thyristor phase controlled
converters and cycloconvertera," New-Yoxk,
CONCLUSION L ohnWiley, 1971 Chapters 2 nd 5. ,

The design, construction and operation

[2] David L. Duff and Allan Ludbrook, "Rever-
sing thyristor armature dual converter
of a 4-quadrant speed control scheme has been with logic crossover control" IEEE TPrans.
discussed in this paper. The controllers are Industry and General Application, IG-1,
designed to give desirable dynamic responses L v 1965, No.3, p.216-222.
in the linear operating mode. The accelerat- P3Jranz Wesselak, "Thyristor converters with
ion and deceleration are limited only by the natural commutations," Siemens Review,
maximum current permitted through the thyris- r XXXII, 1965,No.12, p.405-410.
tors, and the change over occurs with a smoo- E4J E.A. Parrish and E.S. McVey, "A theoreti-
th transfer of current. The size of the unit cal model for single phase silicon contr-
is approximately 100x65x50 cm. A photograph olled rectifier systems," IEEE Trans.
of the unit is shown in Fig.9. The unit is Automatic Control, AC-12, 1967; No.5, pp.
self contained and complete. It houses the 577-579.
dual converters, field supply circuit, control [5jW. Leonhard, "Einfuhrung in die Regelung-
stechnik," Akademische Verlagsgesellschaft
cards, contactors, etc.
Frankfurt, 1969, Chapter 13.
[63 T.M. Hamblin and Thomas H. Barton, "Cyc-
loconverter control circuits," IEEE Trans.
Industry Applications, IA-8, 1972, ro7.4,
pp.443-453.

Thadiappan Krishnan wasborn

in Tamil Nadu, India in 1946.
He received B.E.(Hons) deg-
ree in Electrical Engineer-
ing in 1968 from the Unive-
rsity of Madras, Madras,
India and M.Tech. in Elect-
rical Engineering in 1970
from Indian Institute of
Technology, Madras. He has
completed Ph.D. in Electri-
cal Engineering in 1976 from
Indian Institute of Techno-
logy, Madras.
Fig. 9. Photograph of the speed control unit.
He was working as an Associate Lecturer in
The unit can be improved. First, the the Department of Electrical Engineering,
limitation of the current controller-2 dis- Indian Institute of Technology, Madras from
cussed in section 6 can be overcome by using 1970 to 1975. Since August. 1975 he is work-
a digitally controlled rectifier in place of ing as a Project Engineer in Kerala State
a simple rectifier (absolute value block) Electronics DeveloDment Corporation, Trivand-
shown in Figs6a. The controlled rectifier is rum, India. He is currently engaged in rese-
to be operated by the master controller. It arch and development works in the field of
is then possible to realize the linearised thyristor control of electrical machines.
characteristics in Fig.5 for the complete Bellamkonda Ramaswami was born in Duddukur
range of vcl. Secondly the delay T of 10 ms
(A.P.), India on 26th September 1934. He
provided between the switching over of the received his B.E. degree in 1955 from Andhra
converters can be reduced by employing a more University, India, M.S.E.E. degree in 1960
reli.ble current zero sensing scheme. Hamb- from Purdue University, U.S.A. and Ph.D. deg-
lin L6] has reported a dual converter scheme ree in 1967 from the Indian Institute of Tec-
where a fast switching over can be achieved hnology, Madras, India. He was in U.S.A.
by sensing the voltages across the individual under the USAID program from February 1965 to

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS AND CONTROL INSTRUMENTATION

July 1966 and studied at

| Purdue and Northwestern
Universities.
He worked as a Junior
Electrical Engineer wlth
-~~~ the Andkira Pradesh Electri-
city Department, Indla. He
served on the faculty at
the Engineering College,
Kakinada and at the Indian
Inotitute of Technology,
Kharagpur. Since June 1961,
he is with the Indian Ins-
titute of Technology, Mad-
ras where he is currently Professor in Elec-
trical Engineering.
His research interests include transformer
analog computers, linear systems theory, op-
timal and suboptimal control systems. Curr-
ently he is working in the areas of static
power conversion and closed-loop speed cont-
rol of electrical machines using thyristor
power amplifiers.

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