Electric Drives

part 2
DC Motor Drives

Speed Control of DC
Motors
Department of Electrical Engineering
Power and Machines Program
POWE 531
FALL 2019-2020
1
 Revision

DC motors Drives
• DC motors have several intrinsic properties such
as the ease by which they can be controlled, their
ability to deliver high starting torque and their
near linear performance.

• But the disadvantage can be summarized by the

high maintenance cost , large in shape, they may
not be suitable for high-speed applications. Also
we cant use it in clean environment
 Introduction
DC drive is Limited to:
maintenance (commutator & brushes)
Price (Expensive)
Speed (Speed limitations)
Sparking
Commonly used DC motors
Separately excited
Series (mostly for traction applications)

3
 Speed control of shunt dc motors

1. Adjusting the field resistance RF

2. Adjusting the terminal voltage applied to
the armature
3. Inserting a resistance in series with the
armature circuit - less common method
Shunt or Separately Excited DC Motors equivalent
circuits andI characteristics
L
+ If +
If IL
+ Ra
Ra
DC Supply Rf Rf Vt
+ Vt
- Ea Ea Ia
- -
Separately-Excited Shunt-Excited
Vt I a R a
Electromagnetic torque is m  
K K
Te=Ka f Ia, if I a  K  due to armeture reaction effect
and the conductor emf is Ra
  more inclination
Ea=Vt - RaIa. K
ω
 T 
Km  Vt   e  Ra
 K 
V TR
 m  t  e a 2   0  
K  K  Ia
 Changing field R as an example
1. Increasing RF causes IF to decrease. I F  VT RF 

Decreasing IF,
2. 
decreases 
Decreasing  lowers EA
3. E A  K  
instantaneously.
I A  VT  E A   R A
Decreasing EA causes IA to
4.
increase.
Increasing IA,
5. increases Tind Tind  K  I A 
Note: IA  predominates over  .
Increasing Tind causes Tind > Tload,
6.
hence motor speeds up (). 
7. Since  , EA increases again. E A  K 
I A  VT  E A  RA 
Increasing EA causes IA to
8.
decrease .
Decreasing IA causes Tind to
decrease until
9. Tind  KI A 
Tind = Tload at a higher speed .
 Shunt DC motor
Deviation is due to
For armature voltage control: Ra and If are constant armature reaction

 m  K 1Vt  K 2Te  1 T
For field control: Ra and Vt are constant

Vt Ra
m   2 Te  2 
K f If K f If 
For armature resistance control: Vt and If are constant
Ia
Vt Ra  Radj
m   Te (3) I0 no load
K  K  2
current

The torque vs Ia for ideal case is the doted line

And the exact one is the firm line since no T  KI a
load current is different than zero
 Shunt DC Motors
ω
1- Armature Voltage Control:

Ra and If are kept constant and the

armature terminal voltage is varied to
change the motor speed. T1 T2 T3

 m  K 1Vt  K 2Te
1 1 Vt
K1  ; K2  2 ;d is const .
K ad  K ad 
ω
For constant load torque, such as v1
applied by an elevator or hoist crane
load, the speed will change linearly with v2
Vt. In an actual application, when the v3
speed is changed by varying the T
terminal voltage, the armature current v4
is kept constant. This method can also
be applied to series motor.
 Shunt DC Motors
ωm
2- Field Control:

Ra and Vt are kept constant, field rheostat is

varied to change the field current.
V Ra IF
m  t  2 Te
KfIf 
KfIf 
For no-load condition, Te=0. So, no-load speed
varies inversely with the field current.
ω

Speed control from zero to base speed is usually vf3

obtained by armature voltage control. Speed vf2
control beyond the base speed is obtained by vf1
decreasing the field current. If armature Vf1>vf2>vf3
current is not to exceed its rated value (heating T
limit), speed control beyond the base speed is
restricted to constant power, known as constant
power application.
 Shunt motor torque – power limits
• 1- For the armature voltage control, the flux in the
motor is constant. Therefore, the value of the
maximum torque in the motor will be constant too
regardless the motor speed

 max  K I A,max At rated current IA max

Since the maximum power of the motor is:

Pmax   max . P-ω is a Straight line with slope τmax

The maximum power out of the motor is directly proportional to its speed.

• 2- For the field resistance control (If or flux) , the

maximum power out of a DC motor is constant, while
the maximum torque is reciprocal to the motor speed.
 Torque – Power limits
Field control
Ea I a const .
P  Vt I a  const  Ea I a  Te m  Te  
m m

Note:

If If ↙ Ф↙__ E↙__ Ia↗ __ T↗

this is mean that induced torque is
greater than the load torque , the power
speed increases  again 100% T,P
torque
E↗  Ia ↙ to previous value
Tind ↙ to meet the load torque Va control Field control
again at higher speed
100% speed ω
large reduction in If may result
in excessive speed
 Notes

• The field voltage must not exceed the max.

rating value
• Very sensitive to variation in field voltage which
means that the large reduction in field current
may result in excessive speed
• Armature current is inversely prop. To the field
current then any reduce in the field current will
result in increasing with the armature current
• This control should be done with special care to
prevent mechanical and electrical damage
 Shunt DC Motors

3- Armature Resistance Control (small motors only): ωm

Vt and If are kept constant at their rated value, Base speed
armature resistance is varied.
Torque Te*
Vt Ra  Radj
m   Te  K 5  K 6Te
K a d  K a d  2
Ra
The value of Radj can be adjusted to obtain various
speed such that the armature current Ia (hence
torque, Te=KafdIa) remains constant.
ωm
Armature resistance control is simple to implement. Ra = 0
However, this method is less efficient because of loss
in Radj. This resistance should also been designed to
carry armature current. It is therefore more Ra = Max
expensive than the rheostat used in the field control
method. Te

Torque Te*
•Rheostat allows control of EO -> speed control
•Efficiency very poor
 Example
• A 250 volt d.c. shunt motor has armature Ra=
0.25 on load it takes an armature current of 50 A
and runs at 750 r.p.m. If the flux of motor is
reduced by 10% without changing the load
torque, find the new speed of the motor
N 2 E 2 1
  and T1  T2  1 I a 1  2 I a 2
N 1 E1  2
but 2  0.91  1 I a 1  0.91 I a 2
50  0.9 I a 2  I a 2  55.6 A
E1  V  I a 1 Ra  250  50  0.25  237.5V
E 2  V  I a 2 Ra  250  55.6  0.25  231.1V
N 2 E 2 1 N 2 231.1 1
      N 2  811rpm
N 1 E1  2 750 237.5 0.91
 Example
A separately excited generator develops a no-load e.m.f. of 180 V at an armature speed
of 15 rev/s and a flux per pole of 0.20 Wb. Calculate the generated e.m.f. when
(a) the speed increases to 20 rev/s and the flux per pole remaining unchanged,
(b) the speed remains at 15 rev/s and the pole flux is decreased to 0.125 Wb, and
(c) the speed increases to 25 rev/s and the pole flux is decreased to 0.18 Wb

Solution
E1 1n1 180  0.2   15 
(a) Since E  n then   E2=240 v
E2 2n 2 E 2  0.2   20 

E1 1n1 180  0.2   15 

(b)   E2=112.5 v
E2 2n 2 E 2  0.125   15 

180  0.20   15 
(c) 
E 2  0.18   25  E2=270 v
 Example
A 250 V, d.c. shunt motor has shunt resistance
of 250 Ω and Ra=0.25 Ω. For a given load
torque the motor runs at 1500 r.p.m. drawing
an armature current of 20 A. If a resistance of
250 Ω is inserted in series with the field, the
load torque remaining the same, find out the
new speed and armature current. Assume the
magnetization curve to be linear
N 2 E 2 1 
  and T1  T2  1I a1  2 I a 2  1 I a1  I a 2
N1 E1 2 2
I sh1 250 / 250
 I a1  I a 2  I a 2   20  40A
I sh 2 250 / 500
E1  V  I a1R a  250  20  0.25  245V
E 2  V  I a 2 R a  250  40  0.25  240V
N 2 E 2 1 N2 240 1
      N 2  2930rpm
N1 E1 2 1500 245 1 / 2
 Example
A 220 V shunt motor has an armature resistance
of 0.5 Ω and takes a current of 40 A on full-load.
By how much must the main flux be reduced to
raise the speed by 50% if the developed torque
N
is constant E  
2
?  2
and T  T   I   I 
1
I I 1

N1 E1 2 1 2 1 a1 2 a2
2 a1 a2

1
let  x  Ia 2  x.Ia1
2
E1  V  I a 1 Ra  220  40  0.5  200V
E 2  V  I a 2 Ra  220  40. x  0.5  ( 220  20 x )V
N2 3 N2 E  3 220  20 x
but  ( given)   2 1   .x
N1 2 N1 E1  2 2 220
 x 2  11 x  15  0
1  1
x  9.6 or x  1.6   1.6  2 
2 1 1.6
2  1 1.6  1
   3 / 8  37.5%
1 1.6
 Example
A d.c. shunt motor takes an armature current of
20 A from a 220 V supply. Armature circuit
resistance is 0.5 ohm. For reducing the speed by
50%, calculate the resistance required in the
series, with the armature, if
(a) the load torque is constant
(b) the load
Solution (a): torque is proportional to the square
Eof the speed
1 = V − Ia Ra = 220 − 20 × 0.5 = 210 V
flux remains constant unless there is a change in
terminal voltage or the field-circuit resistance. If
torque is constant, then Ia=constant=20 A
With an external armature-circuit resistor of R
ohms,
RT I=V - E  20 × (R + 0.5) = 220 − E2
The speed required now is 0.5 N1.
 Speed Control in Series DC Motors
1- Armature Voltage Control of series ωm T3
motor: T2
T1>T2>T3
A variable dc voltage can be applied to a series
motor to control its speed. A variable dc voltage T1
can be obtained from a power electronic converter.
  KI a
Vt  E a  I a  R a  R s 
Vt
 Km  I a  R a  R s 
ω rpm
 K  KI a  m  I a  R a  R s 
Vt 900
Ia  2
K m  R a  R s
360v
Torque in a series motor can be expressed as
240v TN
Te  KI a  K 2 I a2 250

K 2 Vt2 RS 350 800

 Ra

K  
Start T
  Ra  Rs 
2 2
m
Vt
Vt Ra  Rs Vt
or, m   
K Te K2 K. Te
 2- Field Control of series motor: Rd

Control of the field in a series motor is achieved by using

a diverter resistance.
RS (field)
 Rd  2
T  K f I a  K 2 I f I a  K 2   I a
 Rs  Rd  Vt
Rd
T  K 2I a2 (   )
Rs  Rd

Before saturation, the torque is prop.

To Ia2 (Parabolic ) after saturation, Φ T
Φ
is approximately constant and the
torque is prop. To Ia
RsR d Ia
Vt  E a  I a ( R a  ) 2
Rs  Rd  Vt 
Te  K 2   
Rated current
 K   R  Ra 
ω
 Km  I a ( R s  R a ) m s

 K  KI a  m    R s  R a .I a
Neglect Ra+ρRs

 K 2m   R s  R a .I a  Vt
Vt  T2
or, I a  2 T T1
K m  R s  R a ρ
3- Armature Resistance Control: Radj

Torque in this case can be expressed as Ra RS

K 2Vt 2
Te 
R
a  Radj  Rs  K 2 m  2
Vt
Radj is an external resistance connected in series with the
armature.
For a given supply voltage and a constant developed
torque, the term (Ra+Rae+Rs+Kwm) should remain
constant. Therefore, an increase in Radj must be
accompanied by a corresponding decrease in wm.

Ra  Radj  Rs  K  m 2
 2

K 2Vt 2
Te
ωm

K2
or , Ra  Radj  Rs  K  m  2
Vt
Te
Vt Ra  Radj  Rs Radj
or ,  m  
2
K Te K2
 Field flux consideration
If the field, of a separately or series excited motor running
at a speed, is weakened, its emf decreases. Because of low
armature resistance, the current increases by an amount
much larger than the decrease in the field flux. As a
result, the torque is increased by a large amount. The
increasing torque thus causes the motor to accelerate and
the back emf to rise.

The motor will finally settle down to a new speed, higher

than the previous one, at which the motor torque with
the weakened field becomes equal to the load torque. Any
attempt to weaken the field by a large amount will cause
a dangerous inrush of current. Care should therefore be
taken to weaken the field only slowly and gradually.
 Example
A series motor having a series field resistance of 0.25
 and an armature resistance of 0.15  is connected
to a 220 V supply and at a particular load runs at 20
rev/s when drawing 20 A from the supply. Calculate
the e.m.f. generated at this load. Determine also the
speed of the motor when the load is changed such
that the current increases to 25 A. Assume the flux
increases by 25%.
E1  V  I a 1 ( Ra  R f )  220  20(0.15  0.25)  212V
when the current is increased to 25A
E 2  V  I a 2 ( Ra  R f )  220  25(0.15  0.25)  210V
E1 1 N 1 212 20  1
 .    N 2  15.85rps
E 2 2 N 2 210 1.251 . N 2
 Example
A series-wound motor is connected to a d.c.
supply and develops full-load torque when the
current is 30 A and speed is 1000 rev/min. If the
flux per pole is proportional to the current
flowing, find the current and speed at half full-
load torque, when connected to the same
 KI a
Tsupply
T1 I 1 T1 I 21 T1 302
   2   2
T2 I 2 T2 I 2 0.5T1 I 2
I 2  21.2 A
1 N 1 1 / I1
Speed ( N )    N 2  1541rpm
I N 2 1 / I2
 Example
A series motor runs at 900 rev/min when the
voltage is 420 V and the current is 40 A. The
armature resistance is 0.3 ohm and the series
field resistance is 0.2 ohm. Calculate the
resistance to be connected in series to reduce
the speed to 720 rev/min with the same current.
At 900 rev/min, e.m.f.

E1  V  I  R a  R se  = 420 – (40)(0.3+0.2) = 400 V

At 720 rev/min, since I is unchanged,  is unchanged


E1 n
 1
400 900
  E2 
 400   720  = 320 V
E2 n 2 E2 720  900 

E 2  V  I  R a  R se  R   320 = 420 – 40(0.3 + 0.2 + R)

R=2
 Example
A 320 V series motor takes 80 A and runs at 1080
rev/min at full load. The armature resistance is
0.2  and the series winding resistance is 0.05 .
Assuming the flux is proportional to the field
current, calculate the speed when developing
full-load torque, but with a 0.15  diverter in
parallel with the field winding
 Example
without diverter
E1  V  I a 1 ( Ra  R f )  320  80(0.2  0.05)  300V
0.15  0.05
with 0.15ohm  R   0.0375ohm
0.15  0.05
0.15
If  I  0.75I
0.15  0.05
T  KI  K1 I A1  K2 I A 2 and  is proportion to I f
1I A1 and 2I f 2  2I A 2  80  80  I A 2  0.75I A 2
 I A 2  92.3 A
E 2  V  I A 2 ( Ra  R f )  320  92.3(0.2  0.0375)  298V
1080
E1 1 N 1 300 80 
 .   60  N 2  20.65rps
E 2 2 N 2 298 0.75( 92.3). N 2
 Example
4-pole, series-wound fan motor runs normally at
600 r.p.m. on a 250 V d.c. supply taking 20 A.
The field coils are connected at in series.
Estimate the speed and current taken by the
motor if the coils are reconnected in two
parallel groups of two in series. The load torque
increases as the square of the speed. Assume
that the flux is directly proportional to the
current and ignore losses.
 Starting of electric motors

At the moment of starting speed=0. Thus Eb =

0. The armature current is limited only by the
armature resistance and I=V/R which is very
high (20 times rated current). The study of this
phase is important due to two reasons:

1- The large amount of energy consumed during

this phase specially when the system is
subjected to successive running and stopping
process ( High currents can burn the machine
armature or damage commutator and brushes.
Thus there is a need to limit the starting current
of DC motors )
2- heating effects on power supply and motor
 Starting of electric motors

Two methods are widely used to limit the

starting current of DC motors:

a. Insert an external resistance in the armature

circuit. (increased losses but only during the
starting period)
The armature current at starting is given by Ia= V/
(Ra + Rext) As the motor accelerates, the
external resistance is gradually removed
from the armature circuit

b. Apply a reduced voltage at starting. (requires

a variable voltage supply) This is possible through
the use of solid-state devices.
 Starting of DC electric motors
In order for DC motors to function properly, they must have some special
control and protection equipment associated with them. The purposes of
this equipment are:

1. To protect the motor against damage (damaging the

commutator and brushes, due to heavy sparking) due to
short circuits in the equipment;
2. To protect the motor against damage from long-term
overloads; (damaging the driven equipment because of
the sudden mechanical shock)
3. To protect the motor against damage from excessive
starting currents;
4. To provide a convenient manner in which to control the
operating speed of the motor.
 DC motor starting
One way is to connect a rheostat in series with the
armature. The resistance is gradually reduced as the
motor accelerates and is eventually eliminated entirely
when the machine has attained full speed. A manual
face-plate starter for a shunt motor is: Cooper contacts
are connected to current-limited resistors (R1, R2, etc.)
 DC motor starting
In practice, a starting resistor is made up of a series of resistors that can be
successively removed from the circuit as the motor speeds up.

A shunt motor with an extra

starting resistor that can be cut out
of the circuit in segments by closing
the 1A, 2A, and 3A contacts.

Therefore, two considerations are

needed to be taken into account:
Select the values and the number of
resistor segments needed to limit the
starting current to desired
ranges; Design a control circuit shutting the resistor bypass contacts at the proper
time to remove particular parts of the resistor from the circuit.
 Example
Example M: A 100 hp, 250 V 350 A shunt DC motor with an armature resistance of
0.05  needs a starter circuit that will limit the max starting current to twice its rated
value and which will switch out sections of resistor once the armature current decreases
to its rated value.

a. How many stages of starting

resistance will be required to limit
the current to the specified range?
b. What must the value of each
segment of the resistor to be? At
what voltage should each stage of
the starting resistance be cut out?
 Solution
a. The starting resistor must be selected such that the current flow at the start equals
twice the rated current. As the motor speeds up, an internal voltage EA (which
opposes the terminal voltage of the motor and, therefore, limits the current) is
generated. When the current falls to the rated value, a section of the starting resistor
needs to be taken out to increase the current twice. This process (of taking out
sections of the starting resistor) repeats until the entire starting resistance is removed.
At this point, the motor’s armature resistance will limit the current to safe values by
itself.
The original resistance in the starting circuit is
VT
Rtot  R1  R2  ...  RA 
I max
After the stages 1 through i are shorted out, the total resistance left in the starting
circuit is
Rtot ,i  Ri 1  ...  RA
 Solution
The resistance R1 must be switched out of the circuit when the armature current falls to
VT  E A,1
I A,min   I min  350 A
Rtot
After the resistance R1 is out of the circuit, the armature current must increase to
VT  E A,2
I A,max   I max  700 A
Rtot ,1
Since EA = K, the quantity VT – EA must be constant when the resistance is switched
out. Therefore
I min Rtot  VT  E A  I max Rtot ,1
The resistance left in the circuit is
n
I min  I min 
Rtot ,1  Rtot Rtot ,n    Rtot
I max  I max 
 Solution
The starting process is completed when Rtot,n is not greater than the internal armature
resistance RA. At the boundary:
n
 I min 
RA  Rtot ,n   Rtot
 I max 
log  RA Rtot 
Solving for n: n
log  I min I max 
Notice that the number of stages n must be rounded up to the next integer.
VT 250
Rtot    0.357
I max 700
log  RA Rtot  log  0.05 0.357 
n   2.84  3
log  I min I max  log  350 700 
 Solution
b. The armature circuit will contain the armature resistance RA and three starting
resistors. At first, EA = 0, IA = 700 A, and the total resistance is 0.357 . The total
resistance will be in the circuit until the current drops to 350 A. This occurs when
E A,1  VT  I A,min Rtot  250  350  0.357  125V
At this time, the starting resistor R1 will be taken out making
VT  E A,1 250  125
Rtot ,1  RA  R2  R3    0.1786
I max 700
This (new) total resistance will be in the circuit until the current drops again to 350 A. This
occurs when
E A,2  VT  I A,min Rtot ,1  250  350  0.1786  187.5V
At this time, the starting resistor R2 will be taken out leaving

VT  E A,2 250  187.5

Rtot ,2  RA  R3    0.0893
I max 700
 Solution
This total resistance will be in the circuit until the current drops again to 350 A. This
occurs when
E A,3  VT  I A,min Rtot ,2  250  350  0.0893  218.75V
At this time, the starting resistor R3 will be taken out leaving only RA in the circuit. The
motor’s current at that moment will increase to
VT  E A,3 250  218.75
I A,3    625 A
RA 0.05
which is less than the allowed value. Therefore, the resistances are
R3  Rtot ,3  RA  0.0893  0.05  0.0393
R2  Rtot ,2  R3  RA  0.1786  0.0393  0.05  0.0893
R1  Rtot ,1  R2  R3  RA  0.357  0.1786  0.0393  0.05  0.1786
The resistors R1, R2, and R3 are cut out when EA reaches 125 V, 187.5 V, and 218.75 V,
respectively.
 DC motor starting circuits
Several different schemes can be used to short contacts and cut out the sections of a
starting resistor. Some devices commonly used in motor-control circuits are
Spring-type push button switches
Fuses: Relay: a
protects main coil and
against short a number of
circuits contacts

Time delay Overload: a

relay similar to heater coil
ordinary relay and normally
except for closed
having contacts
adjustable time
delay.
 DC motor starting circuits
Another type of motor starter:

A series of relays sense the value of armature voltage

EA and cut out the starting resistors as it riches
certain values.

This starter type is more robust to different loads.

FL is the field loss relay: if the field is lost for any

reason, power to the M relay will be turned off.

Armature
current in a
DC motor
during
starting.
 DC motor starting circuits
A common DC motor starting circuit:

A series of time delay relays shut contacts

removing each section of the starting resistor at
approximately correct times.

Notice that the relay 1TD is energized at the same

time as the motor starts – contacts of 1TD will shut
a part of the starting resistor after some time. At
the same instance, relay 2TD is energized and so
on…

Observe also 4 fuses protecting different parts of

the circuit and the overload in series with the
armature winding.
 Braking
A motor and its load may be brought to rest quickly by
using either (i) Friction Braking or (ii) Electric Braking.
Mechanical brake has one drawback: it is difficult to achieve a
smooth stop because it depends on the condition of the braking
surface. There are three methods of braking a dc motor

1. Dynamic braking or rheostatic braking

2. Regenerative braking.
3. Plugging or reverse voltage braking
Electric Braking of Shunt Motors:
1- Rheostatic or Dynamic Braking: In this method,
the armature of the shunt motor is disconnected
from the supply and is connected across a variable
resistance R. The field winding is left connected
across the supply. The braking effect is controlled
by varying the series resistance R. Obviously, this
method makes use of generator action
E= -I(Ra + in
R) a motor
to bring it to rest ω = -T (Ra + R) / K2Φ2
Speed
Ra + R2

Ra + R1
R2 > R1
T
 Electric Braking of Shunt Motors:
2- Regenerative Braking: This method is used
when the load on the motor has over-hauling
characteristic as in the lowering of the cage of a
hoist or the downgrade motion of an electric
train. Regeneration takes place when Eb becomes
grater than V. This happens when the overhauling
load acts as a prime mover and so drives the
machines as a generator. Consequently, direction
of Ia and hence of armature torque is reversed
and speed falls until E becomes lower than V. It is
obvious that during the slowing down of the
motor, power is returned to the line whichSpeed
may be
used for supplying another train on an upgrade,
thereby relieving the powerhouse of part of its
load
Torque
 Electric Braking of Shunt Motors:
3- Plugging or Reverse Current Braking: it is
commonly used in controlling elevators,
rolling mills, printing presses and machine
tools etc. In this method, connections to the
armature terminals are reversed so that motor
tends to run in the opposite direction. Due to
the reversal of armature connections, applied
voltage V and E start acting in the same
direction around the circuit. In order to limit
the armature current to a reasonable value, it
Speed
is necessary to insert a resistor in the circuit
while reversing armature connections.

Torque
 Electric Braking of Series Motor

1- Rheostatic (or dynamic) Braking:

The motor is disconnected from the supply, the field
connections are reversed and the motor is
connected in series with a variable resistance R.
Obviously, now, the machine is running as a
generator. The field connections are reversed to
make sure that current through field winding flows
in the same direction as before (i.e., from M to N ) in
order to assist residual magnetism. In practice, the
variable resistance employed for starting purpose is
itself used for braking purposes
 Electric Braking of Series Motor
2- Plugging or Reverse Current Braking: As in
the case of shunt motors, in this case also the
connections of the armature are reversed and
a variable resistance R is put in series with the
Speed
armature.

Torque

3- Regenerative Braking: This type of braking of

a series motor is not possible without
modification because reversal of Ia would also
mean reversal of the field and hence of Eb.
However, this method is sometimes used with
 Example
A DC motor with the following information (Assume the motor is
connected as shunt motor):
RA
Prated = 15hp
I rated = 55A
Radj IL
Vt = 240 V IA
n rated = 1200 r/min
RA = 0.4 Ohm EAA Vt
RS = 0.04 Ohm
IF
Rf = 100 Ohm
R (adj) = varies Lf
between 100 and 400 Ohms
NF = 2700 Turns/pole
NSE = 27 Turns/pole
Rotational losses = 1800W at full load. And the Magnetizing curve is as shown.
1. If the adj. resistance is calibrated at 175 Ohm, what is the rotational speed at no load
condition.
2. What is the speed and speed-regulation at full load (no armature reaction)
3. What is the max. and min. possible speeds at no load according to the variation of Radj
 Solution
1- At no load E = Vt = 240v

Vt 240
If    0.87 A
Radj  R f 275
from the Mag. curve this currentwould produce E A0  271V but at speed n 0  1200r / min
EA n 240
then the speed n at E A  240V can be calculated as  n  1200  1063r / min
E A0 n0 271

2- At full load (55A) IA = IL – If = 55 – (V / (Rf + Radj )) = 55 – 0.87 = 54.13A

EA = V – IA RA = 240 – 54.13x0.4 = 218.3V
No armature reaction and same filed current means same EA0 (271V) at
n0 = 1200 r/min and
EA n 218.3
 n  1200  967r / min and the speed requlation is given by
E A0 n0 271
n nl  n fl 1063  967
SR    10%
n fl 967
 3- the min. speed will occur at Radj = 100 Ohm. And the max. occurs at 400 Ohm

Vt 240
At R adj  100 Ohm I f    1.2 A
Radj  R f 200
from the Mag. curve this current would produce E A0  287V but at speed n 0  1200r / min
EA n 240
then the speed n at E A  240V can be calculated as  n  1200  1004r / min
E A0 n0 287

Vt 240
At R adj  400 Ohm I f    0.48 A
Radj  R f 500
from the Mag. curve this current would produce E A0  200V but at speed n 0  1200r / min
EA n 240
then the speed n at E A  240V can be calculated as  n  1200  1447r / min
E A0 n0 200
 Power Division in DC Machines
Arm. copper loss
Ia2Ra+brush contact
loss
Input from Elec- Arm. terminal Output power
DC Generator
prime- magnetic power = Vta Ia = Vt IL
mover Power =EaIa
No-load rotational loss Series field loss IL2Rs
(friction +shunt field loss If2Rf
+windage+core)+stray load
loss
Arm. copper loss
Ia2Ra+brush contact
loss
Input power Arm. terminal Elec- Output
DC Motor
from mains =Vt power = Vta Ia magnetic available at the
IL Power =EaIa shaft
Series field loss IL2Rs No-load rotational loss
+shunt field loss If2Rf (friction
+windage+core)+stray load
loss
 Efficiency

Power Output

Power Input
Power Input  Losses

Power Input
Losses
 1
Power Input

The losses are made up of rotational losses (3-15%), armature circuit copper
losses (3-6%), and shunt field copper loss (1-5%). The voltage drop between
the brush and commutator is 2V and the brush contact loss is therefore
calculated as 2Ia.
Braking of dc Motors
 Revision
Review of Basic Equations

Ra
Vt  Ea  Ra I a  K   Tl
K

Vt Ra
  T
2 l
K  ( K ) Ra I

Vt  Ea
Ia
Tl If
V
t
Ia  
Ea
R
f
Ra K


 Braking
A motor and its load may be brought to rest quickly by
using either (i) Friction Braking or (ii) Electric Braking.
Mechanical brake has one drawback: it is difficult to achieve a
smooth stop because it depends on the condition of the braking
surface. There are three methods of braking a dc motor

1. Regenerative braking.
2. Dynamic braking or rheostatic braking
3. Plugging or reverse voltage braking
 1- Regenerative Braking Revision

Fm Fm

w
w
F
F Fl
Speed
Fl

mg
mg

3
2
1

Torque
T(downhill) T(uphill)
1- Regenerative Braking of Shunt
Motors:
1- Regenerative Braking: This method is used
when the load on the motor has over-hauling
characteristic as in the lowering of the cage of a
hoist or the downgrade motion of an electric
train. Regeneration takes place when Eb becomes
grater than V. This happens when the overhauling
load acts as a prime mover and so drives the
machines as a generator. Consequently, direction
of Ia and hence of armature torque is reversed
and speed falls until E becomes lower than V. It is
Speed
obvious that during the slowing down of the
motor, power is returned to the line which may be
used for supplying another train on an upgrade,
thereby relieving the powerhouse of part of its
Torque
load
 Vt Ra
3   Tdown V Vt Ra
K ( K  ) 2
2  t 1   T
2 up
K K ( K  )
Vt Ea 3 Tdown V E T Vt  Ea1 Tup
I a3   Ia2  t a2  l 2  0 I a1  
Ra K Ra K Ra K
Vt  Ea 3 Vt  Ea 2 Vt  E1

Speed

Speed

3
3
2
1 
2 o

1 Ea = V
Torque
T(downhill) T(uphill) Motor Generator Ea
Operation Operation
 Example
• A 440 V dc motor has a rated armature current of 76 A at a speed of 1000 rev/min. The
armature resistance of the motor is 0.377 W, and the rotational losses is 1 kW. The load of the
motor is bi-directional.
a. Calculate the no load speed of the motor.
b. If the armature current is 60 A during a regenerative braking, calculate the motor speed
c. Calculate the load torque during regenerative braking
d. Calculate the emf during regenerative braking
e. Calculate the power delivered by the source under normal motor operation.
f. Calculate the generated power during regenerative braking.

Solution Speed
n3
a 3
no
Ea  Vt  Ra I a  411.35 1
1000

Ea Ea
K    3.93 n1
 2 n
60
V 440
o  t   111 .96 T(braking) T(motor) Torque
K 3.93
 b-
Vt  R a I a 3
3 
K
440  0.377 60
  117.72r / s
3.93
c-
Tl 3  K I a 3  3.93  ( 60 )   235.8 Nm
d-
Ea3  K 3 3.93 117.72  462.64V
e-
P1  I a1 Vt  76  440  33.4 kW
f-
Pg  Ea 3 I a 3  462.64  60  27.76kW
Regenerative Braking during Speed Reduction due to sudden change in
voltage

Speed

V1
2 wo1
3 1

V2

wo3
4

Torque
T1
• the motor running at position 1. Suddenly va is reduced (below eg).
The current ia will reverse direction. Operating point is shifted to 2.

• Since ia is negative, torque Te is negative.

• Power is also negative, which implies power is “generated” back to

the supply.

• In other words, during the deceleration phase, kinetic energy from the
motor and load inertia is returned to the supply.

• This is known as regenerative braking-an efficient way to brake a motor.

Widely employ in electric vehicle and electric trains. If we wish the motor
to operate continuously at position 2, the machine have to be driven by
mechanical source.
 2- Dynamic Braking (through R)
Ea k Ea2 ( K )2
Ib    Pb  
Ra  Rb Ra Rb Ra Rb Ra Rb
A

B
Ra

Rb
Vf If Ea


 Dynamic Braking
2- Rheostatic or Dynamic Braking: In this method,
the armature of the shunt motor is disconnected
from the supply and is connected across a variable
resistance R. The field winding is left connected
across the supply. The braking effect is controlled
by varying the series resistance R. Obviously, this
method makes use of generator action
E= -I(Ra + in
R) a motor
to bring it to rest ω = -T (Ra + R) / K2Φ2
Speed
Ra + R2

Ra + R1
R2 > R1
T
 2- Dynamic Braking (through R)
Speed

Rb2

Rb1 Rb3 A

Current

Ib1 Ib3 Ia
Ib2

Ea k
Ib   
Ra Rb Ra Rb
Dynamic Braking of Unidirectional Load
Speed

Tb Tl Torque

C
 Example
A 440 V dc Separately Excited motor has a rated armature current of 76 A at a
speed of 1000 rev/min. The armature resistance of the motor is 0.377.
Assume that the load torque is gravitational. A dynamic braking technique
employing a braking resistance of 2  is used. Calculate the new steady state
speed.

Solution Speed

Ea  Vt  Ra I a  411.35 A

E Ea
K  a   3.93SI B
 2 n
60
k C
IC   Tb Tl Torque
Ra  Rb

3.93C
C

76   nC   439rpm
(0.3772)
 3- Counter Current Braking
• Plugging
• Terminal voltage reversal
 Plugging of Shunt Motors:
3- Plugging or Reverse Current Braking: it is
commonly used in controlling elevators,
rolling mills, printing presses and machine
tools etc. In this method, connections to the
armature terminals are reversed (or
decreasing V) so that motor tends to run in
the opposite direction. Due to the reversal of
armature connections, applied voltage V and E
start acting in the same direction around the
circuit. In order to limit the armature current
Speed
to a reasonable value, it is necessary to insert
a resistor in the circuit while reversing
armature connections.
Torque
 Plugging
Fm Fm

Fl Fl

Speed Motion Motion

V
2 w 1
3 o1 1

V 4
2

Torque
w T
o3 sc 5

T
1
 V1 Ra
1   T
2 1
K ( K )
Speed

V1
2 wo1
3 1

V2 4

Torque
wo3 Tsc
5

T1
V Ra V2 Ra
V 4  2  T 0 5   T 0
2 1
 o3  2 K  ( K ) 2 sc
K  ( K )
K
KV2
Tsc 
Ra
Terminal Voltage Reversal (TVR)

Ia
Ea Ea

Ia
Ra Ra

b a
speed a

Torque

b
 Speed
2 1

V1 = K  1 + Ra T1 /(K )
3 Torque
4 Current (I)
I1 = (V1 - Ea1)/Ra Tl
Tl
- V2 = K  1 + Ra T2 /(K )
V1 = K  1 + Ra T1 /(K )
I2 = ( - V2 - Ea1)/Ra
I1 = (V1 - Ea1)/Ra

- V2 = K  1 + Ra T2 /(K )
I 2  2 I st without Rst
I2 = ( - V2 - Ea1)/Ra
 Speed
2 1

3 Torque
4 Current (I)
Tl
- V2 = Ra T3 /(K ) T4
I3 = - V1 /Ra

- V2 = - K  4 - Ra T4 /(K )

I4 = (- V2 - Ea4)/Ra, Ea4 is negative

Reduction of Braking Current by Adding Resistance
B Rb
S

 V3  Ea 3 A

I3  Ea

Ra  Rb Ra

Rb > 0 Speed
2 1 Normal
3 operation

4 Torque
Rb = 0 Current (I)
Tl
Tl
 Example
• A dc motor has an armature resistance of 1 , and K = 3 Vsec. When the
motor’s terminal voltage is adjusted to 320 V, the motor speed is 1000 r/min. A
TVR braking is applied, calculate the value of the braking resistance that would
reduce the maximum braking current to twice the rated current.
Rb > 0 Speed
2 3 1 Normal
operation
V1  Ea1
I a1  6 4
Ra Torque or
Rb = 0 Current
Tl
I 3  I b  2 I a  12 -Tl

2
 320  3 1000
 V2  Ea1  V2  K  1 60
Ib     12
Ra  Rb Ra  Rb 1  Rb

Rb  51.8ohm
Reduction of Braking Current by Reducing
Armature Voltage
V3 < V2 Speed
2 Normal
3 1 operation, V1

4 Torque
V2 Current (I)
Tl
Tl

 Vb  Ea 3
I3 
Ra