Course detail

Electrical Controlled Drives

FEKT-MERPAcad. year: 2017/2018

D.C. controlled drives, review and classification. D.C. drives with thyristor converters, speed control, adaptive control, computer control. Combined control of the speed by armature and field control. Drives with a torque - reversation. Drives with brushless D.C. motors, its control. Position controlled servodrives. Induction machine drives, scalar and vector control, induction motor in traction. SRM drives. EMC in electric drives. Electomagnetical compatibility in power electrical engineering.

Language of instruction


Number of ECTS credits


Mode of study

Not applicable.

Learning outcomes of the course unit

Students are able to:
- draw diagrams of the power parts of the thyristor rectifiers and explain in which quadrants are able to operate.
- create mathematical model of the thyristor rectifier and defined requirement on optimal current regulator.
- explain principle of the velocity control of the asynchronous motor, to draw equivalent electrical model and torque characteristic of the asynchronous motor.
- to draw block diagram and explain principle of scalar velocity control of the asynchronous motor.
- describe design techniques of the permanent magnet synchronous motor (PMSM).
- draw block diagram and explain principle of vector control of the PMSM
- explain principle of the switched reluctance motor, to describe its features and to draw block diagram of the regulation structure.
- describe all kinds of fault events in electrical systems and to design techniques which are reducing these effects.

Computer lessons outcome
Students are able to:
- create project in specialized Matlab/Simulink toolbox “SimpowerSystem”, witch is intended to simulation of the power part of the electrical drivetrains and power electronics.
- create model of the two-pulse and six-pulse rectifier loaded with resistor. Measured results and oscilograms help students to better understanding of the theoretical principles. Students are than able to design semiconductor devices (diodes, thyristors) according to measured results.
- create model of the four quadrant inverter with output RLC circuit(filter). Students are also able to create model of the PWM generator with unipolar and bipolar modulation. Measured results and oscilograms help students to better understanding of the theoretical principles.
- create model of the DC motor with permanent magnets. They use this model for realization of the more complex model of the electric drivetrain (DC motor + four quadrant inerter). The students verify features of the PWM modulation with help of current and armature voltage oscilograms

- calculate current and velocity regulator of the electric drivetrain with DC motor with help o theoretical techniques for cascade control structure based on “Optimal module methods”. Calculated values are able to use in models and verify their features with help of simulation of the whole drivetrain. Measured results and oscilograms help students to better understanding of the theoretical principles.
- design semiconductor devices power parts of the drivetrain according to current and voltage measured values during the simulation.
- create model of brushless DC motor and model of an observer estimation of an actual position according to hall sensor signal. They are able to interpret principle of “Six step commutation ” and create logic functions for generating signals for proper transistor switching.
- create simple electric drivetrain supplied from battery. They are able to simulate energy balance in the battery – drivetrain system for defined operation area of the motor. They ensure that the motor operates in rated conditions and according to predefined drive cycle they are able to simulate energy flows from battery to drivetrain and backwards.
- create model of the AC drivetrain with asynchronous motor supplied from three phase DC/AC inverter. They are able to use predefined library models of asynchronous motor or for deeper understanding of the asynchronous motor principle, they are able to create their own model according to differential equations and their transformations. Students are able to create model of simple scalar controlled drivetrain with asynchronous motor.


Prerequisit – Student has to be able to:
- apply differential equations for description of the electromechanical system in time and Laplace domain
- describe motor principle according to their electrical diagram.
- design cascade control structure
- handle the software tool Matlab/Simulink
- prove that he is qualified to handle with electrical equipment according to defined rules.


Not applicable.

Planned learning activities and teaching methods

Numeric and computer excersises obtain idividual projects of controlled electrical drives, projects are itrodused inthe e- learning.
Lboratory excersises are mandatory, all laboratory protocols have to be elaborated

Assesment methods and criteria linked to learning outcomes

Student obtains: max 15 points for numeric excersises, max. 15 points for laboratory excersises and max 70 points for final examination.

Course curriculum

- Electrical drive as a system
- Kinematics and dynamics of drives
- DC drives fed by thyristors, current control, speed control, adaptive control
- DC drives with torque reversal, combined control by armature voltage and field weakening
- Transistorized DC drives, one-quadrant and four-quadrant connection
- Position control of servodrives, industry applications of position control
- Brushless DC drives, connection and control structure
- Induction motor drives, frequency converters, scalar control
- Induction motor drives, vector control and direct torque control
- Permanent magnet synchronous motor drives, structure of a power part and control
- Vector control of servodrives with synchronou motorsl
- Stepping motor drives and switch reluctance motor drives
- Electromagnetical compatibility in power electrical engineering

Work placements

Not applicable.


To ecquaint students with d.c. controlled drives, induction drives, SRM drives and with brushless d.c. motors. To learn of regulator's design for electrical drives, to give a suitable dimensions of power parts. To meet industrial applications.

Specification of controlled education, way of implementation and compensation for absences

Computer laboratory is mandatory
Elaborated numeric excesises are mandatory
Compensation of an absence at laboratory after lecturer's recommendation

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Caha, Černý: Elektrické pohony, SNTL, 1990
Leonhard: Control of Electrical Drives, Springer, 1996
Schröder: Elektrische Antriebe 1, Springer, 1994

Recommended reading

Not applicable.

Classification of course in study plans

  • Programme EEKR-M1 Master's

    branch M1-KAM , 1. year of study, summer semester, optional interdisciplinary
    branch M1-SVE , 1. year of study, summer semester, compulsory
    branch M1-EEN , 1. year of study, summer semester, optional interdisciplinary

  • Programme EEKR-CZV lifelong learning

    branch ET-CZV , 1. year of study, summer semester, optional specialized

Type of course unit



39 hours, optionally

Teacher / Lecturer


Current control of thyristor supplied D.C drives
Speed control by armature voltage, analogue and digital
Speed control by field, combined control
Drives with torque-reversation
Servodrives with transistor converters
Principles of control of switch-mode converters, power circuit connection
Control circuits of transistor converters
Brushless D.C. motor, principle, construction
Transistor converter for brushless D.C. motor
Control structures of a drive with a brushless D.C. motor
Position controlled servodrives
Principles of position control, position sensors, control structures
Multimotor drives and hoist drives

Exercise in computer lab

26 hours, compulsory

Teacher / Lecturer


Mathematical model of a D.C. motor
Design and simulation of a current control loop
Simulation of a current control loop with a discontinuopus current
Design of a speed controller and simulation of a speed closed loop with a subordinate current closed loop
Simulation of a speed control with a current limit
Design of a digital speed controller
Simulation of a D.C. drive controlled by field
Simulation of a drive with a combined control in the armature and in the field
Model of a brushless D.C. motor