PANIMALAR ENGINEERING COLLGE

DEPARTMENT OF MECHANICAL ENGINEERING

II YEAR / III SEMESTER

ELECTRICAL DRIVES AND CONTROL

UNIT - II

DRIVE MOTOR CHARACTERISTICS

 Unit-II

Drive motor characteristics

DC Motor Characteristics:
The performance of a d.c. motor can be judged from its characteristic curves known as motor
characteristics, following are the three important characteristics of a d.c. motor:
i. Torque and Armature current characteristic (T a - Ia)
It is the curve between armature torque Ta and armature current Ia of a d.c. motor.
It is also known as electrical characteristic of the motor.
ii. Speed and armature current characteristic (N - Ia)
It is the curve between speed N and armature current I a of a d.c. motor. It is very
important characteristic as it is often the deciding factor in the selection of the motor for
a particular application.
iii. Speed and torque characteristic (N - Ta)
It is the curve between speed N and armature torque T a of a d.c. motor. It is also known
as mechanical characteristic.

Types of D.C. Motors:

DC motors are broadly classified into three types based on field winding connected with
armature.
1. Shunt motor
2. Series motor
3. Compound motor
i. Long shunt compound motor
ii. Short Shunt compound motor

Basics of DC Motors:
The electrical equivalent circuit of dc motor as shown in fig.

Let in a d.c. motor,

V = applied voltage, V
Eb = back e.m.f., V
Ra = armature resistance, Ω
Ia = armature current, A
Rsh or Rf = shunt field resistance, Ω
IL = Line or supply current, A
Ta = developed motor torque or armature torque, N-m
Tsh = shaft torque, N-m

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 The back e.m.f. Eb (= P  ZN/60 A) is always less than the applied voltage V, since back e.m.f.
Eb acts in opposition to the supply voltage or applied voltage V, The net voltage across the armature
circuit is V- Eb.
The armature current Ia is given by

Voltage equation

Power equation
Power P = V x Ia in watts

VIa = electric power supplied to armature (armature input)

EbIa = power developed by armature (armature output)
Ia2 Ra = electric power wasted in armature (armature Cu loss)

Alternate back emf expression in dc machines,

Motor or armature torque expression Ta

Also,

Shaft torque Tsh

Since Z, P and A are fixed for a given machine,

Ta Ia

Hence torque in a d.c. motor is directly proportional to flux per pole and armature current.
i. For a shunt motor, flux is practically constant
Ta Ia
ii. For a series motor, flux is directly proportional to armature current
Ia provided magnetic saturation does not take place.

Ta a2  a

Where, P – No. of stator poles

 - Flux per pole, web
A – No. of armature parallel path
Z – Total number of armature conductors

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 N – Speed in rpm

Speed of a D.C. Motor

Therefore, in a d.c. motor, speed is directly proportional to back e.m.f. E b and inversely
proportional to flux per pole .

DC Shunt Motor Characteristics:

Shunt motor in which the field winding is connected in parallel with the armature. Shown in
fig. The field current Ish is constant since the field winding is directly connected to the supply voltage V
which is assumed to be constant. Hence, the flux in a shunt motor is approximately constant.

i. Ta / Ia Characteristic

Ra

DC Shunt motor Ta Vs Ia Characteristics

We know that in a d.c. motor,

Ta a
Since the motor is operating from a constant supply voltage, flux  is constant (neglecting armature
reaction).
Ta  Ia

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 Hence Ta / Ia characteristic is a straight line passing through the origin as shown in fig. The shaft
torque (Tsh) is less than Ta and is shown by a dotted line. It is clear from the curve that a very large
current is required to start a heavy load. Therefore, a shunt motor should not be started on heavy load.

ii. N / Ia Characteristic
The speed N of a. d.c. motor is given by;

The flux  and back e.m.f. Eb in a shunt motor are almost constant under normal conditions.
Therefore, speed of a shunt motor will remain constant as the armature current varies (dotted line AB in
Fig.). Strictly speaking, when load is increased, E b (= V- IaRa) and  decrease due to the armature
resistance drop and armature reaction respectively. However, E b decreases slightly more than f so that
the speed of the motor decreases slightly with load (line AC).

iii. N / Ta Characteristic.
The curve is obtained by plotting the values of N and T a for various armature currents (See
Fig.). It may be seen that speed falls somewhat as the load torque increases

Conclusions
Following two important conclusions are drawn from the above characteristics:
(i) There is slight change in the speed of a shunt motor from no-load to full load.
Hence, it is essentially a constant-speed motor.
(ii) The starting torque is not high because Ta α Ia.

Characteristics of DC Series Motor:

Fig. shows the connections of a dc series motor. Note that current passing through the field
winding is the same as that in the armature. If the mechanical load on the motor increases, the armature
current also increases. Hence, the flux in a series motor increases with the increase in armature current
and vice-versa.

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 DC Series Motor Ta – Ia Characteristics

(i) Ta/Ia Characteristic.

We know that: Ta α  Ia
Up to magnetic saturation,  α Ia so that Ta α Ia 2
After magnetic saturation,  is constant so that Ta α Ia

Thus upto magnetic saturation, the armature torque is directly proportional to the square of
armature current. If Ia is doubled, Ta is almost quadrupled.

Therefore, Ta/Ia curve upto magnetic saturation is a parabola (portion OA of the curve in Fig.).
However, after magnetic saturation, torque is directly proportional to the armature current. Therefore,
Ta/Ia curve after magnetic saturation is a straight line (portion AB of the curve). It may be seen that in
the initial portion of the curve (i.e. upto magnetic saturation), Ta α Ia 2. This means that starting torque
of a d.c. series motor will be very high as compared to a shunt motor (where that T a α Ia).

(ii) N / Ia Characteristic.
The speed N of a series motor is given by;

When the armature current increases, the back e.m.f. Eb decreases due to Ia (Ra + Rse) drop while the
flux f increases. However, Ia (Ra + Rse) drop is quite small under normal conditions and may be
neglected.

Thus, upto magnetic saturation, the N/I a curve follows the hyperbolic path as shown in Fig.
After saturation, the flux becomes constant and so does the speed.

N – Ia Characteristics

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 iii. N / Ta Characteristic:

The N/Ta characteristic of a series motor is shown in Fig. It is clear that series motor develops
high torque at low speed and vice-versa. It is because an increase in torque requires an increase in
armature current, which is also the field current. The result is that flux is strengthened and hence the
speed drops (N 1/). Reverse happens should the torque be low.

N – T Characteristics

Following three important conclusions are drawn from the above characteristics of series motors:
(i)
It has a high starting torque because initially T a α Ia 2
(ii) It is a variable speed motor (See N/Ia curve in Fig) i.e., it automatically adjusts the
speed as the load changes. Thus if the load decreases, its speed is automatically raised
and vice-versa.
(iii)At no-load, the armature current is very small and so is the flux. Hence, the speed
rises to an excessive high value (N 1/). This is dangerous for the machine which may be
destroyed due to centrifugal forces set up in the rotating parts. Therefore, a series motor
should never be started on no-load. However, to start a series motor, mechanical load is first
put and then the motor is started.

Characteristics of Cumulative Compound Motors

Fig. shows the connections of a cumulative-compound motor. Each pole carries a series as well
as shunt field winding; the series field aiding the shunt field.

(i) Ta/Ia Characteristic.

As the load increases, the series field increases but shunt field strength remains constant.
Consequently, total flux is increased and hence the armature torque (Ta α Ia ) It may be
noted that torque of a cumulative-compound motor is greater than that of shunt motor for a
given armature current due to series field [See Fig.].

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 (ii) N / Ia Characteristic.
As explained above, as the lead increases, the flux per pole also increases. Consequently, the
speed (N 1/) of the motor tails as the load increases (See Fig.). It may be noted that as
the load is added, the increased amount of flux causes the speed to decrease more than does
the speed of a shunt motor. Thus the speed regulation of a cumulative compound motor is
poorer than that of a shunt motor.

(iii)N / Ta Characteristic.
Fig. shows N / Ta characteristic of a cumulative compound motor. For a given armature
current, the torque of a cumulative compound motor is more than that of a shunt motor but
less than that of a series motor.

Applications of D.C. Motors

1. Shunt motors
Lathes, drills, boring mills, shapers, spinning and weaving machines, wood working machines,
reciprocating pumps, blowers, centrifugal pumps, milling machines, grinders etc.
2. Series motors
Electric locomotives, tram cars, trolley cars, cranes, hoists, elevators, conveyors, winches etc.
3. DC differential compound motor
Battery boosters, experimental and research work only.
4. Cumulative compound motor
Punching, shearing and planning machines, lifts, air compressors, rolling mills, printing presses,
etc.

Braking Characteristics of DC Motors

Sometimes it is desirable to stop a d.c. motor quickly. This may be necessary in case of
emergency stop or to save time. The motor and its load may be brought to rest by using either (i)
mechanical (friction) braking or (ii) electric braking.

In mechanical braking, the motor is stopped due to the friction between the moving parts of the
motor and the brake shoe i.e. kinetic energy of the motor is dissipated as heat. Mechanical braking has
several disadvantages including non-smooth stop and greater stopping time.

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 In electric braking, the kinetic energy of the moving parts (i.e., motor) is converted into
electrical energy which is dissipated in a resistance as heat or alternatively, it is returned to the supply
source (Regenerative braking).

For d.c. shunt as well as series motors, the following three methods of electric braking are used:

i) Rheostatic or Dynamic braking

ii) Plugging or Reverse current or Counter current braking
iii) Regenerative braking

It may be noted that electric braking cannot hold the motor stationary and mechanical braking is
necessary. However, the main advantage of using electric braking is that it reduces the wear and tear of
mechanical brakes and cuts down the stopping time considerably due to high braking retardation.

Comparison between mechanical and electrical braking

Sl.No Mechanical Braking Electrical Braking

Disadvantages: Advantages:

1. Less efficient method High efficient method

2. It requires frequent maintenance due to It requires very little maintenance due to
excessive wear on the brake linings, shoes, absence of mechanical parts/equipments.
adjustment of brakes. They are prone to wear
and tear.
3. Maintenance cost is high Maintenance cost is low
4. Depending upon the condition the braking Braking is very smooth, without mechanical
may not be very smooth. jerking and snatching.
5. Due to frequent operation heat is produced at Heat is produced due to braking operation but
brake linings, shoes/drum, which may lead to no way the produced heat is harmful to
failure of brakes. braking system.
6. The stored energy of rotating parts is wasted The kinetic energy of rotating parts can be
in the form of heat or friction. converted into electrical energy, which can be
either utilized or returned to supply mains.
7. Nose level is high Noise level is low
8. Brake shoes, linings and drum are required. Equipment of higher rating than the motor
rating may be required in certain types of
braking.
Advantages: Disadvantages:

9. This type of braking is applied to hold system It can’t produce holding torque. It requires
at any position. electrical energy to achieve braking operation.

Braking Characteristics of DC Shunt Motors

i) Rheostatic or Dynamic braking of dc shunt motor:

Dynamic braking is used to stop the motor by dissipating its stored kinetic enrgy into a
resistive load or external resistance or braking reistance R b. once the kinetic energy is totally dissipated,
the motor stops rotating if no external torque is exerted.

In this method, the armature of the running motor is disconnected from the supply and is
connected across a variable resistance R. However, the field winding is remains connected to the
supply. The armature, while slowing down, rotates in a strong magnetic field and, therefore, operates as

9
a generator, sending a large current through resistance R. This causes the energy possessed by the
rotating armature to be dissipated quickly as heat in the resistance. As a result, the motor is brought to
standstill quickly.

Fig.(i) shows dynamic braking of a shunt motor. The braking torque can be controlled by
varying the resistance R. If the value of R is decreased as the motor speed decreases, the braking torque
may be maintained at a high value. At a low value of speed, the braking torque becomes small and the
final stopping of the motor is due to friction.

This type of braking is used extensively in connection with the control of elevators and hoists
and in other applications in which motors must be started, stopped and reversed frequently.

Torque Ta
V  Eb  Eb  k b N
Ia    , V = 0, Also, Eb α N
Ra  Rb Ra  Rb Ra  Rb

Developed torque Td = Braking torque Tb

 k t k b 2 N
T b  k t I a  where, kt – torque constant, Rb – braking resistance
Ra  Rb
kb– back emf constant
For a shunt motor,  is constant. Braking torque, Tb α N
Advantages:
1. This method is effective and the motor stops very quickly
2. This method is adopted for non reversing drives where regeneration is not possible.
Disadvantages:
1. Generated energy is wasted in the form of heat loss at resistance.
2. This method is inefficient in case of failure of electric supply.

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ii) Plugging (or) Counter current braking (or) Reverse current braking

In this method, connections to the armature are reversed so that motor tends to rotate in the
opposite direction, thus providing the necessary braking effect. When the motor comes to rest, the
supply must be cut off otherwise the motor will start rotating in the opposite direction.

Due to the reversal of armature connections, both V and Eb start acting in the same direction
around the circuit. In order to limit the armature current to a safe value, it is essential to insert a resistor
in the circuit while reversing the armature connections.

When compared with rheostatic braking, plugging gives better braking torque. This method is
commonly used for printing presses, elevators, rolling mills and machine tools

The speed torque characteristic under plugging condition is given below in figure.

Speed
Motoring

Torque

Braking

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 V 1 T (R  R )
N  b a 2 ex V and Ia are negative
k b Ra  Rex k t k b
Rex – external resistance
Td  Tb  k t  I a

Advantages:
1. In this method quick stoping is achived
2. For reversing the drives requires a short time for reversal

iii) Regenerative braking

In the regenerative braking, the motor is run as a generator. As a result, the kinetic energy of the
motor is converted into electrical energy and returned to the supply. Fig. shows two methods of
regenerative braking for a shunt motor.

Regeneration takes place when Eb becomes greater than V. This happens when the overhauling
load acts as a prime mover and so drives the machine as a generator. Hence, the direction of Ia and
armature torque is reversed and speed falls until Eb becomes less than V.

During slowing down of the motor, power is returned to the line which may be used for
supplying another train on an upgrade motion thereby relieving the power supply house, a part of its
load. As a safety measure, it is essential to have some type of mechanical braking also in order to hold
the load in the event of power failure.

In one method, field winding is disconnected from the supply and field current is increased by
exciting it from another source. As a result, induced e.m.f. E exceeds the supply voltage V and the
machine feeds energy into the supply. Thus braking torque is provided upto the speed at which induced
e.m.f. and supply voltage are equal. As the machine slows down, it is not possible to maintain induced
e.m.f. at a higher value than the supply voltage. Therefore, this method is possible only for a limited
range of speed.

In a second method, the field excitation does not change but the load causes the motor to run
above the normal speed (e.g., descending load on a crane). As a result, the induced e.m.f. E becomes
greater than the supply voltage V. The direction of armature current I, therefore, reverses but the
direction of shunt field current If remains unaltered. Hence the torque is reversed and the speed falls
until E becomes less than V.
This method is used when the load on the motor has overhauling characteristics as m the
lowering of the case of a hoist or downgrade motion of electric train.

From the characteristic curves, it is clear that, higher the armature circuit resistance, the higher
is the speed at which the motor has to run for a given braking torque.

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 T

Speed – Torque characteristics of dc shunt motor during Regenerative braking.

T V  Eb
Tb  k t  I a Ia  Also, I a  Eb > V Ia is –ve
kt Ra

V I R V TR
N  a a N  b a2
k b k b k b k t k b

Advantages:
1. The kinetic energy converted to electrical energy, which can be usefully utilized or returned
to supply mains.
2. Energy efficiency increases.

Disadvantages:
1. Need a set of battery bank to store the regenerated energy.
2. Load forces capable to accelerate the motor which is greater than the no load rated speed.

Braking Characteristics of DC Series Motors

i. Rheostatic braking
In series motor field is proportional to the armature current. At the beginning of dynamic
braking, the field is strong, but gradually weakens because of the reduction of armature current, which
may prolong the braking time. To brake the motor faster the series field can be separated from the
armature circuit and excited by a different voltage source.

The speed-torque characteristics of dc series motor during rheostatic braking is shown in the
following figure (Fig.). Explanations are similar to rheostatic braking method applied to DC shunt
motor.
k t k b 2 N
Tb  Td  
Ra  Rb

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 Dynamic braking operation Motoring operation

R1

R2
R3 R3
R2
R1

-T T
Speed - torque characteristics

ii. Plugging or Counter current braking

In this method of braking, the connections of the armature are reversed and a variable resistance
R is put in series with the armature as shown in Fig. To limit the armature current an external resistance
may be required in the armature circuit compared to dc shunt motor. Braking torque of dc series motor
falls very rapidly with speed.

The speed torque characteristics of a de series motor for plugging condition is shown below
(Fig.). The above characteristics have been constructed in the same manner as that of plugging
conditions applied to DC shunt motor.

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 Motoring Plugging

Speed - torque characteristics

iii. Regenerative braking

In DC series motor, regenerative braking is not possible without necessary modifications,
because reversal of Ia would result in reversal of field and hence of Eb. This method is however used in
traction motors and hoist load with special arrangements.

At no load the speed increases asymptotically, which results decreases in armature current and
field flux. The induced emf cannot be greater than the supply or terminal voltage. Hence regeneration is
not possible in a plain dc series motor, since the field current cannot be made greater than the armature
current.

The regeneration in such a case is achieved by separately exciting the field, now dc series motor
work as dc shunt motor and motor characteristics similar to those of a separately excited shunt motor.

Series motor (Motoring) Modified series motor (Regenerative braking)

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 Speed - torque characteristics

Characteristics of AC Motors
The most common type of ac motor being used throughout the world is the induction motor.
Induction motors are most rugged, requires less maintenance and are less expensive than de machines
of equal kW ratings and speed ratings.

Induction motors are constructed both for single phase and three phase operation. Three phase
induction motors are widely used for all types of industrial applications such as lifts, cranes, pumps,
lathes, machine tools, etc. whereas single phase induction motors are used mainly for domestic
electrical appliances such as fans, refrigerators, washing machines, etc.

Classification ac motors as follows

AC induction motors

Single phase Three phase

Split phase Squirrel cage Slip ring or wound

rotor

Capacitor start Single cage

induction run

Capacitor start Double cage

capacitor run

Shaded pole

Repulsion

Universal

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Three phase induction motor characteristics:
A 3-phase induction motor has a stator and a rotor. The stator carries a 3-phase winding (called
stator winding) while the rotor carries a short-circuited winding (called rotor winding). Only the stator
winding is fed from 3-phase supply. The rotor winding derives its voltage and power from the
externally energized stator winding through electromagnetic induction and hence the name, in which
electrical energy is converted into mechanical energy.

Advantages
1. It has simple and rugged construction.
2. It is relatively cheap.
3. It requires little maintenance.
4. It has high efficiency and reasonably good power factor.
5. It has self starting torque.
Disadvantages
1. It is essentially a constant speed motor and its speed cannot be changed easily.
2. Its starting torque is inferior to d.c. shunt motor.

Three phase induction motors are of two types namely, squirrel cage type and slip ring type.
Almost 90% of the induction motors are squirrel cage type only. The squirrel cage rotor consists of a
cylindrical laminated core with parallel slots for carrying the rotor conductors are heavy bars of copper,
aluminium or alloys. The rotor bars are permanently short circuited on themselves using end rings;
hence it is not possible to add any external resistance in series with the rotor circuit for starting
purposes.

The slip ring rotor is provided with 3 phase, double layer, distributed winding consisting of coils
as used in alternators. The rotor is wound for as many poles as the number of stator poles and is always
wound 3 phase even when the stator is wound 2 phase. The three phases are connected internally. The
other three winding terminals are brought out and connected to three insulated slip rings mounted on
the shaft with brushes resting on them.

These three brushes are further externally connected to a 3 phase star connected rheostat. It’s
makes possible the introduction additional resistance in the rotor circuit during the starting period for
increasing the starting torque of the motor.

When under normal running conditions after starting the slip rings are automatically short
circuited and brushes will be lifted from the slip ring to reduce the frictional losses and the wear and
tear. Hence, under normal running conditions, the slip ring rotor is short circuited on itself and now it
looks like squirrel cage rotor.

Slip (s)
The difference between the synchronous speed Ns and the actual speed N of the rotor is known
as slip.
Ns  N Ns  N
Slip s  or %s   100
Ns Ns
120 f
Synchronuous speed N s  in rpm where, f – Supply frequency, Hz
P
N
Synchronuous speed n s  s in rps P – No.of stator poles
60
Slip speed = Ns – N in rpm T – Torque developed, N-m
120 f
The rotor (or motor) speed N  N s (1  s )  (1  s ) in rpm
P
Rotor current frequency f' = sf

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Power (P)
2 N T 2 N
Out put power P  T    in watts where,   rad/sec
60 60
Starting torque (Tst)
The torque developed by the motor at the instant of starting is called starting torque.

E 22 R2 E 22 R2 3 E 22 R2
Tst   k 
R22  X 22 R22  X 22 2  n s R22  X 22

Where, E2 - rotor emf per phase at standstill

R2 - rotor resistance per phase
X2 - rotor reactance per phase
k – constant
ns – synchronous speed in rps

Running torque (T)

The torque developed by the motor during running can be expressed by
sE 22 R2 3
T k 2 where k 
R2  ( sX 2 ) 2
2  ns

Maximum torque (Tm)

The expression for maximum torque is obtained by substituting s = R2 / X2 in the equation for
torque under running condition.
E2
Tm  k 2
2X 2
It can be proved that starting torque is maximum when rotor resistance equals rotor reactance
i.e., R2 = X2. The torque under running condition is maximum at the value of the slip s which makes
rotor reactance per phase equal to rotor resistance per phase.
R
The slip corresponding to maximum torque is s m  2
X2
From the above expression, it is clear that,
1. Maximum torque is independent of rotor resistance.
2. However, the speed or slip at which maximum torque occurs is determined by the rotor
resistance. Hence, by varying rotor resistance (possible only with slip ring motors), maximum
torque can be made to occur at any desired slip (or motor speed).
3. Maximum torque varies inversely as standstill reactance. Hence, it should be kept as small as
possible.
4. Maximum torque varies directly as the square of the applied voltage

Effect of Change of Supply Voltage (V)

Torque at any speed is proportional to the square of the applied voltage. The slip at maximum
torque is independent of supply voltage, variation of supply voltage does not alter the synchronous
speed also. Changes in supply voltage not only affect the starting torque, but also the torque under
running conditions. From the curve, it is clear that, if V decreases then amplitude of curve also
decreases.
E2 R E2 R V2 R
Tst  2 2 2 2  k 2 2 2 2 , Since supply voltage V ≈ E2, Tst  k 2 2 2  k1 V 2
R2  X 2 R2  X 2 R2  X 2

E 22
Tm  k i.e. Tm  V 2
2X 2

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 Ratio of various torque
2
Tst 2 sm Tf 2 sm s f Tst s m2  s 2f Tst I 
 ,  ,  ,  x 2  sc 
Tm 1  s m2 Tm s m2  s 2f Tf s f (1  s m2 ) T  I st 

Where, Tst – starting torque Ist – starting current

Tm – maximum torque Isc – DOL starting or short circuit current
Tf – full load torque x – fraction of normal voltage
T – running torque sf – slip at full load
sm – slip at maximum torque

Speed torque characteristics of three phase induction motor

Max. torque Tm
C

B Tf
Tst
D
A Ns
s=0 sm
Slip
Speed - Torque Characteristics

Slip - Torque Characteristics

The following points may be noted carefully:

(i) At s = 0, T = 0 so that torque-slip curve starts from the origin.
(ii) At normal speed, slip is small so that s X 2 is negligible as compared to R2.

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 T  s / R2 X2 << R2
Ts as R2 is constant
Hence torque slip curve is a straight line from zero slip to a slip that corresponds to full-load.
(iii) As slip increases beyond full-load slip, the torque increases and becomes maximum at
s = R2 / X2. This maximum torque in an induction motor is called pull-out torque or break-
down torque. Its value is at least twice the full-load value when the motor is operated at
rated voltage and frequency.
(iv) To maximum torque, the term s2 X22 increases very rapidly so that R22 may be neglected as
compared s2 X22

T  s / s2 X22
T1/s as X2 is constant

Thus the torque is now inversely proportional to slip. Hence torque-slip curve is a
rectangular hyperbola.
(v) The maximum torque remains the same and is independent of the value of rotor resistance.
Therefore, the addition of resistance to the rotor circuit does not change the value of
maximum torque but it only changes the value of slip at which maximum torque occurs .

Complete Speed Torque Chracteristics of 3 Induction motor

The speed-torque characteristics can be drawn by considering three modes of operation of 3

induction motor.
1. Motoring mode: 0 < s < 1
2. Generating mode: s < 0
3. Braking mode: s > 1

1. Motoring mode: 0 < s < 1

For this range of slip, mechanical power is given as output (or) torque developed is in the
direction in which the rotor rotates.

2. Generating mode: s < 0

Negative slip refers to the motor running at super synchronous speed i.e. N > Ns· For this mode,
mechanical power is input and electrical power is given as output at the machine terminals.

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3. Braking mode: s > 1
The motor runs in opposite direction to the rotating field i.e., N is negative. Braking effect takes
place and the motor stops at the instant

Effect of change in supply frequency on torque and speed

Smooth stepless speed control is obtained by smooth variation of supply frequency. If supply
frequency is varied by keeping the supply voltage constant, then the magnetic flux will change. But, it
is desirable that an induction motor is operated with its magnetic flux maintained constant.

To maintain the magnetic flux constant, it is therefore necessary to control the supply frequency
and voltage in such a way that V/f remains constant.

A family of torque-speed curves for an induction motor obtained by supply frequency variation
with V/f = constant.

Speed-Torque Characteristics

Slip-Ring Motors Versus Squirrel Cage Motors

The slip-ring induction motors have the following advantages over the squirrel cage motors:
(i) High starting torque with low starting current.
(ii) Smooth acceleration under heavy loads.
(iii) No abnormal heating during starting.
(iv) Good running characteristics after external rotor resistances are cut out.
(v) Adjustable speed.
The disadvantages of slip-ring motors are:
(i) The initial and maintenance costs are greater than those of squirrel cage motors.
(ii) The speed regulation is poor when run with resistance in the rotor circuit

Speed – Torque characteristics of Single phase induction motors:

Single phase motors are manufactured in fractional kilowatt range to be operated on single
phase supply and for use in numerous applications like ceiling fans, refrigerators, food mixers, hair
driers, portable drills, vacuum cleaners, washing machines, sewing machines, electric shavers, office
machinery, etc.

Single phase motors are manufactured in different types to meet the requirements of various
applications. Single phase motors are classified on the basis of their construction and starting methods
employed. The main types of single phase motors are listed below.

1. Single-phase induction motors

i) Split-phase ii) Capacitor start induction run iii) Capacitor start capacitor run
iv) Shaded-pole type

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 2. A.C. series motor or universal motor

3. Repulsion motors
(i) Repulsion-start induction-run motor
(ii) Repulsion-induction motor

4. Synchronous motors
(i) Reluctance motor (ii) Hysteresis motor

Making single phase motor self starting

In order to make a single phase induction motor self starting, it is temporarily converted into a
two phase motor during starting period. To achieve this, the stator is provided with an extra winding,
known as starting winding in addition to the main winding.

The starting winding is otherwise called as auxiliary winding and main winding is otherwise
called as running winding. These two windings are arranged such that, the phase difference between the
currents in the two stator windings is very large i.e. the maximum angle is 90°. These two currents
produce revolving flux and hence make the motor self starting. There are many methods by which the
necessary phase difference between the two currents can be created.

The double-field revolving theory is proposed to explain this dilemma of no torque at start and
yet torque once rotated. This theory is based on the fact that an alternating sinusoidal flux ( = m cos
t) can be represented by two revolving fluxes, each equal to one-half of the maximum value of
alternating flux (i.e., m /2) and each rotating at synchronous speed (Ns = 120f / P,  = 2f) in opposite
directions.

The above statement will now be proved. The instantaneous value of flux due to the stator
current of a single-phase induction motor is given by;
 = m cos t

Consider two rotating magnetic fluxes 1 and 2 each of magnitude m/2 and rotating in
opposite directions with angular velocity .

Let the two fluxes start rotating from OX axis at t = 0. After time t seconds, the angle through
which the flux vectors have rotated is at. Resolving the flux vectors along-X-axis and Y-axis, we have,

22
 Speed - Torque Characteristics

Thus the resultant flux vector is  = m cos t along X-axis. Therefore, an alternating field can
be replaced by two relating fields of half its amplitude rotating in opposite directions at synchronous
speed. Note that the resultant vector of two revolving flux vectors is a stationary vector that oscillates in
length with time along X-axis. When the rotating flux vectors are in phase (fig(i)), the resultant vector
is  = m ; when out of phase by 180° (Fig.(ii)), the resultant vector  = 0.

Split phase resistance start induction motor:indings, a main winding (also referred to as
The stator of a split-phase induction motor is provided with an auxiliary or starting winding S in
addition to the main or running winding M. The starting winding is located 90° electrical from the main
winding.

The starting winding has fewer turns and is wound of smaller diameter copper wire than the
running winding. Therefore, the starting winding has low reactance and high resistance. The running or
main winding has a low resistance and high reactance.

The current Is drawn by the starting winding lags behind applied voltage by a small angle
whereas current Im taken by the main winding large behind V by a very large angle. The phase angle
between Is and Im is made as large as possible, because, the starting torque of a split phase motor is
proportional to sinα.

Electrical equivalent circuit Phasor diagram

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 Speed – Torque Characteristics
Operation
(i) When the two stator windings are energized from a single-phase supply, the main winding
carries current Im while the starting winding carries current Is.
(ii) Since main winding is made highly inductive while the starting winding highly resistive, the
currents Im and Is have a reasonable phase angle a (25° to 30°) between them as shown in Fig.
Consequently, a weak revolving field approximating to that of a 2-phase machine is produced which
starts the motor. The starting torque is given by;
Ts = kIm Is sinα
where k is a constant whose magnitude depends upon the design of the motor.
(iii) When the motor reaches about 75% of synchronous speed, the centrifugal switch opens the
circuit of the starting winding. The motor then operates as a single-phase induction motor and continues
to accelerate till it reaches the normal speed. The normal speed of the motor is below the synchronous
speed and depends upon the load on the motor.

Characteristics
(i) The sinning torque is 15 to 2 times the full-loud torque mid (lie starting current is 6 to 8 times the
full-load current.
(ii) Due to their low cost, split-phase induction motors are most popular single phase motors in the
market.
(iii) Since the starting winding is made of fine wire, the current density is high and the winding heats up
quickly. If the starting period exceeds 5 seconds, the winding may burn out unless the motor is
protected by built-in-thermal relay. This motor is, therefore, suitable where starting periods are not
frequent.
(iv) An important characteristic of these motors is that they are essentially constant-speed motors. The
speed variation is 2-5% from no-load to full load.
(v) These motors are suitable where a moderate starting torque is required and where starting periods
are infrequent e.g., to drive:
(a) fans (b) washing machines (c) oil burners (d) small machine tools (e) blowers etc.
The power rating of such motors generally lies between 60 W and 250 W.

Capacitor-Start Motor
The capacitor-start motor is identical to a split-phase motor except that the starting winding has
as many turns as the main winding. Moreover, a capacitor C is connected in series with the starting
winding as shown in Fig. (i). The value of capacitor is so chosen that Is leads I m by about 80° (i.e., α ≈
80°) which is considerably greater than 25° found in split-phase motor [See Fig. (ii). Consequently,
starting torque (Ts = k Im Is sinα) is much more than that of a split-phase motor Again, the starting
winding is opened by the centrifugal switch when the motor attains about 75% of synchronous speed.
The motor then operates as a single-phase induction motor and continues to accelerate till it reaches the
normal speed.

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 Electrical equivalent circuit Phasor diagram

Characteristics
(i) Although starting characteristics of a capacitor-start motor are better than those of a split-phase
motor, both machines possess the same running characteristics because the main windings are
identical.
(ii) The phase angle between the two currents is about 80° compared to about 25° in a split-phase
motor.
Consequently, for the same starting torque, the current in the starting winding is only about half that
in a split-phase motor. Therefore, the starting winding of a capacitor start motor heats up less
quickly and is well suited to applications involving either frequent or prolonged starting periods.

Speed – Torque Characteristics

Applications: Due to its higher starting torque, the capacitor start split phase motors are used in pumps,
compressors, air .conditioners, large washing I!1achines and refrigeration units.

Capacitor-Start Capacitor-Run Motor or Permanent split capacitor start induction motor

This motor is identical to a capacitor-start motor except that starting winding is not opened after
starting so that both the windings remain connected to the supply when running as well as at starting
two designs are generally used.

(i) Single value capacitor motor, a single capacitor C is used for both starting and running as shown in

25
 Fig.(i). This design eliminates the need of a centrifugal switch and at the same time improves the
power factor and efficiency of the motor.

Normally, capacitors of 2 to 20 µF capacitors are employed. Since capacitors are permanently

connected, they are designed for continuous duty and they are made of oil filled type. Since a single
value capacitor is used for both starting and running, a compromise has to be struck between best
running performance and best starting performance. As a result, neither optimum starting nor optimum
running performance is obtained. Since, both starting and running windings are identical, It is very easy
to reverse the direction of rotation or rotor by having one reversing switch outside the motor (Fig.).
The only one drawback of this type of motor is, it has low starting torque: The speed torque curve is
shown below (Fig.).

Permanent split phase capacitor start motor Speed – Torque Characteristics

or Single value capacitor motor

Applications: Due to noiseless operation, this type of motors are desirable for use in offices and
laboratories.
These motors are used where the starting torque is low such as fans, blowers, voltage
regulators, furnace controls; valve controls, arc welding controls, etc etc.

(ii)Two value capacitor motor

This is otherwise called as capacitor start and run motor. This motor is similar to the split phase
capacitor start induction motor except that the starting winding and capacitor are permanently
connected in the circuit at all times. There is no need of centrifugal switch. Since the capacitor is
permanently connected, this motor possesses the following merits,
1. Higher power factor at full load,
2. Improvement of overload capacity,
3. Higher efficiency,
4. Noiseless operation

Permanent split phase capacitor start motor Speed – Torque Characteristics

or Two value capacitor motor

In the other design, two capacitors C1 and C2 are used in the starting winding as shown in
Fig.(ii)). The smaller capacitor C1 required for optimum running conditions is permanently connected in

26
series with the starting winding. The much larger capacitor C 2 is connected in parallel with C1 for
optimum starting and remains in the circuit during starting. The starting capacitor C1 is disconnected
when the motor approaches about 75% of synchronous speed. The motor then runs as a single-phase
induction motor.

Characteristics
(i) The starting winding and the capacitor can be designed for perfect 2-phase operation at any load.
The motor then produces a constant torque and not a pulsating torque as in other single-phase
motors.
(ii) Because of constant torque, the motor is vibration free
Applications:
(a) hospitals (b) studios and (c) other places where silence is important. (c) smaller home air
conditioning

Shaded-Pole Motor
The shaded-pole motor is very popular for ratings below 0.05 H.P (~ 40W) because of its
extremely simple construction. It has salient poles on the stator excited by single-phase supply and a
squirrel cage rotor as shown in Fig. A portion of each pole is surrounded by a short-circuited turn of
copper strip called shading coil.

Shaded pole induction motor Speed – Torque Characteristics

These motors have salient poles on the stator and a squirrel cage rotor. The necessary phase
splitting is produced by induction principle. The 1/3rd part of the pole is shaded portion and the other as
unshaded portion. When the exciting winding is connected to an AC supply, the magnetic axis will shift
from the unshaded portion of the pole to the shaded portion of the pole. This shift in magnetic axis is
equivalent to physical motion of the pole. As a result, the squirrel cage rotor will rotate in a direction
from the unshaded portion to the shaded portion. Its direction of motion is fixed.

Shaded de motors are simple in construction, almost reliable rugged and cheaper.

These motors has low starting torque, low efficiency and very little overload capacity

Applications: Due to its low starting torque, the shaded pole motors are generally used for small hand
fans, toys, hair driers, electric clocks, advertising displays, motion picture projectors, etc.

Braking characteristics of 3 induction motor:

1. Rheostatic or Dynamic braking

The dynamic or rheostatic braking is employed to brake a non-reversing drive, stator is

disconnected from the three phase ac mains and a d.c. current is fed into the stator via two of its

27
terminals. The d.c. supply is usually obtained from a rectifier fed via a low-voltage high-current
transformer.

The speed of rotation of the air-gap field is directly proportional to the supply frequency, so it
should be clear that since d.c. is effectively zero frequency, the air-gap field will be stationary. The
rotor always tries to run at the same speed as the field. So, if the field is stationary, and the rotor is not,
a braking torque will be exerted, so that the braking (negative) torque falls to zero as the rotor comes to
rest. Since there will be induced currents in the rotor (and hence torque) only when the rotor is ‘cutting’
the flux. As with plugging, injection (or dynamic) braking is a dissipative process, all the kinetic energy
being turned into heat inside the motor.

Schematic diagram of dynamic braking

Speed – Torque Characteristics

2. Plugging or Counter current or reverse current braking

Plugging method gives more amount of braking than, dynamic braking method. In 3 induction
motor, the direction of rotating magnetic field depends on the phase sequence of the 3 supply fed to
the stator winding. The direction of torque developed in the rotor is in the same direction as that of the

28
rotating magnetic field. Therefore, in order to develop braking torque in a direction opposite to the
movement of the shaft. It is just enough if we change the order of phase sequence of the 3 supply fed
to stator. The circuit connection for this method of braking is shown below

Motoring Plugging

Schematic diagram of dynamic braking

Speed – Torque Characteristics

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3. Regenerative braking

This is the most economical method of braking. During regenerative braking, the induction
motor is made to operate as an induction generator, converting the acquired mechanical energy into
electrical energy and feeding it back to the supply mains. It is worthwhile to mention that, when rotor
of induction motor is made to rotate at a speed greater than synchronous speed i.e., super synchronous
speed, induction motor will now behave as induction generator.

3
AC Supply

Load Induction
Motor

Schematic diagram of regenerative braking

Speed – Torque Characteristics

Three phase power equation P  3 V L I L cos  where  - angle between VL and IL

o
 < 90 induction machine act as Motor
o
 > 90 induction machine act as Generator

When rotor of an induction motor runs faster than the stator field (synchronous speed) speed,
then slip becomes negative, now machine act as generator. Overhauling load, hoist load and crane or
downhill motion has tendency to run the rotor above the synchronous speed. Regenerative braking is
 120 f 
also possible with a pole changing method and by varying the supply frequency  N s  .
 P 

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 PART-A ( 2 MARKS)

1. Why motor characteristics are important?

2. Why DC series motor should never be started on no-load?
3. Why a fly-wheel setup is used in DC series motor?
4. Why differential compound motors are not used in practical?
5. What is the main reason of fitting fly-wheel along with the motor?
6. Draw the mechanical (or) speed –torque characteristics of all types of DC Motors.
7. State the condition at which the starting toque developed in a slip-ring induction motor is
maximum.
8. State the different modes of operation of three phase induction machines.
9. What is a mechanical characteristic of a motor?
10. Give the application where DC Shunt, DC Series and DC Compound motors are used.
11. Draw the torque-slip characteristics of a three phase squirrel cage induction motor.
12. What is meant by braking?
13. Mention the Classifications of Braking.
14. What are the advantages and disadvantages of Electrical Braking?
15. Explain the plugging method of braking.
16. Why regenerative braking is not possible ion DC Series motor without modification?
17. Give the types of braking used for DC Motors.
18. What is meant by Regenerative braking in DC Motor?
19. Mention the demerits of mechanical braking.
20. Give the advantage of dynamic braking.
21. What is meant by rheostat (or) dynamic braking?
22. What is meant by Plugging in DC Motor?
23. Draw the speed-torque characteristics of various types of loads.
24. What are the conditions for the stable operations of the motors?
25. List the electrical braking for DC Compound Motor.
26. Differentiate Mechanical and Electrical Braking.
27. Draw the speed-torque characteristics of three phase induction motor.
28. Write short notes about the different types of loads.

PART-B

1. (i) List out the advantages and disadvantages of electrical braking over mechanical braking. (8)
(ii) Discuss any one method of electrical braking of DC Machines. (8)

2. Explain the Speed-Torque characteristics of three phase induction motor with neat diagrams.
(16)

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 3. Explain about the speed-torque characteristics of a DC Shunt Motor with suitable graph and
equations. (16)
4. Explain how an induction motor is brought to stop by (i) Plugging and (ii) dynamic braking.(16)
5. Explain the various methods of braking of induction motors. (16)
6. Draw and explain various load characteristics of DC Shunt Motor. (16)
9. Explain Rheostat braking in DC Series Motor and Plugging in DC Shunt Motor. (16)
10. Explain various methods of braking of DC Shunt Motors with neat diagrams. (16)
11. Explain Various methods of braking of DC Series Motors with neat diagrams. (16)
12. (i) Explain the speed – torque curve of single phase induction motors in detail. (8)
(ii) Explain the method of regenerative braking employed in DC Motors. (8)

13. Explain about the speed-torque characteristics of a DC Compound Motor with suitable graph and
equations. (16)

14. A 220V shunt Motor has an armature resistance of 0.062Ω and with full field has an emf of
215V at a speed of 960 rpm, the motor is driving an overhauling load with a torque of 172
Nm. Calculate the minimum speed at which the motor can hold the load by means of regenerative
braking. (16)

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