1) The DC7 block represents a four-quadrant chopper DC drive for DC motors with closed-loop speed control and four-quadrant operation. 2) A braking chopper has been added to limit the DC bus voltage during dynamic braking mode when the current reverses to produce a braking torque, causing the voltage to increase. 3) The drive features a speed regulator followed by a current regulator, with the speed regulator outputting the armature current reference used by the current controller to obtain the electromagnetic torque needed to reach the desired speed.