DC Motor Drives

BEF35803
ELECTRIC DRIVES
 4.0 CONTENTS
1. DC motor and performances.
2. Staring.
3. Braking.
4. Transient Analysis.
5. Speed control.
4.0 Introduction
• The important of applications in DC motor drives:
1. Adjustable speed.
2. Good speed regulation.
3. Good frequent starting, braking and reversing.
• E.g.: Rolling mills, paper mills, mine winders, hoists,
machine tools, traction, printing, textile mills,
excavators and cranes.
• Low cost and simple control – DC drives AC drives.
4.1 DC motor and
performances
Common used DC motors:
• Separately excited motor – field and armature voltage
can be controlled independently.
• Shunt motor – field and armature are connected to a
common source.
• Series motor – field flux is a function of armature
current.
• Cumulatively compound motor – magneto-motive
force (mmf) of the series field is a function of
armature current and in the same as mmf of the
shunt field.
4.1 DC motor and
performances
 4.1 DC motor and
performances
• The basic important of expressions for DC motor:
E  K em
V  E  Ra I a
T  K eI a

V Ra V Ra
m   Ia   T
K e K e K e K e 2

Where  is the flux per pole, Webers; Ia is the armature current, A; V is the
source voltage, V; E is the armature voltage, V; Ra is the resistance of the
armature circuit, is the speed of armature , rad/sec; T is the torque developed
by the motor, N-m; and Ke is the motor constant.
4.1 DC motor and
performances
Shunt and Separately excited motors:
• Constant field current, the flux can be assumed
constant.
K e  K constant 

T  KI a
E  K m
V Ra V Ra
m   Ia   2 T
K K K K
4.1 DC motor and
performances
• Separately excited motor – applications that requiring
good speed regulation and adjustable speed.
4.1 DC motor and
performances
Series motors:
• The flux is a function of current.
• In unsaturated region of magnetization characteristic,
flux is proportional to armature current.
  K f Ia
V  E  Ra I a
T  K e K f I a2

V Ra V 1 Ra
m    
Ke K f Ia KeK f KeK f T Ke K f
4.1 DC motor and
performances
Series motors:
• Series motors – for application requiring high starting
torque and heavy torque overloads.
• Since torque is proportional to the squared armature
current, the increasing of motor current is less for the
same increase of torque compared to the separately
excited motor (torque is proportional to the armature
current).
• As speed varies inversely as the squared root of
torque, machine runs at large speed at light load.
4.1 DC motor and
performances
• Shunt motor.
4.1 DC motor and
performances
Example 1:
A 200 V, 10.5 A, 2000 rpm shunt motor has the armature
and field resistances of 0.5 Ohm and 400 Ohm
respectively. It drives a load whose torque is constant
at rated motor torque. Calculate motor speed if the
source voltage drops to 175 V.
(Ans: 1984.5 rpm)
4.1 DC motor and
performances
Example 2:
A 220 V DC series motor runs at 1000 rpm (clockwise)
and takes an armature current of 100 A when driving
a load with constant torque. Resistances of the
armature and field windings are 0.05 Ohm each. Find
the magnitude and direction of motor speed and
armature current if the motor terminal voltage is
reserved and the number of turns in field winding is
reduced to 80%. Assume linear magnetic circuit.
(Ans: 1117.7 rpm)
4.1 DC motor and
performances
Compound motors:
• No-load speed depends on the strength of shunt field
and slope of the characteristic on the strength of
series field.
• Compound motors – drooping characteristic similar to
the series motor that required and no-load speed
must be limited. E.g. lifts and winches.
• Application varies from almost no-load to very heavy
load.
4.1 DC motor and
performances
• Compound motor.
4.1 Starting
• Maximum current (twice of the current rating) can be
commutated without sparking for safety.
• If full supply voltage across its terminal, a very high
current will flow, which may damage the motor due to
heavy sparking at commutator and heating of the
winding.
• Thus it is necessary to limit the current to a safe value
during starting.
4.1 Starting
• When motor speed is controlled by armature voltage
control, the controller which controls the speed can
also be used for limiting the motor current during
starting to a safe value.
• In a absence of a controller, a variable resistance
controller is used for starting as in Fig. 5.5.
• As motor accelerates and back emf rises, one section
of the motor is cut out at a time, either manually or
automatically with the help of contactors by
maintaining the current within the specified
maximum and minimum values.
4.1 Starting
4.1 Braking
• Braking is required in the electric motor.
• In braking, motor works as a generator and
developing a negative torque which oppose the
motion.
• Three types:
• Regenerative braking.
• Dynamic or rheostatic braking.
• Plugging or reverse voltage braking.
4.1 Braking
Braking> Regenerative braking.
• Generated energy is supplied to the source.
E > V and negative Ia (armature current)
• Field flux cannot be increased substantially beyond
rated value due to saturation.
• For a source of fixed voltage of rated value,
regenerative braking is possible only for speeds
higher than rated value.
• For a variable of voltage source, it is also possible
below rated speeds.
• The speed-torque characteristic is shown in Fig. 5.6
for a separately excited motor.
4.1 Braking
4.1 Braking
Braking> Regenerative braking.
• Series motor, as speed increases, armature current
and flux decreases. Thus regenerative braking cannot
be achieved.
• Regenerative braking should only be used when there
are enough loads to absorbed the regenerated power.
• Alternatively, an arrangement must be made to divert
the excess power to a resistor bank for heat
dissipation.
4.1 Braking
Example 3
A 220 V, 200 A, 800 rpm DC separately excited motor has
an armature resistance of 0.06 Ohm. The motor
armature is fed from a variable voltage source with an
internal resistance of 0.004 Ohm. Calculate internal
voltage of the variable voltage source when the motor
is operating in regenerative braking at 80% of the
rated motor torque and 600 rpm.
(Ans: 140 V)
4.1 Braking
Braking> Dynamic braking.
• Motor armature is disconnected from the source and
then connected across braking resistor Rb and
armature resistor Ra for generated energy/heat
dissipation.
4.1 Braking
Braking> Dynamic braking.
• Speed-torque curves and transition from motoring to
braking modes.
• For fast braking, Rb is consists of a few sections
• Separately excited motor can be converted as a self-
excited generator even when supply fails.
4.1 Braking
Example 3
The series motor in Example 2 is operated under
dynamic braking at twice the rated torque and 800
rpm. Calculate the value of braking current and
resistor. Assume linear magnetic circuit.
(Ans: 141.4 A, 1.58 Ohm)
4.1 Braking
Braking> Plugging .
• Separately excited motor – the supply voltage of is
reversed and it assists the back emf in forcing
armature in reverse direction.
• The Rb is also connected to limit the current.
• Series motor – armature alone is reversed.
 4.1 Braking
Braking> Plugging .
• Fig. 10, motor rotation in
reverse direction arises
when a motor is
connected for forward
motoring.
• Counter-torque braking
– torque direction
remains +ve.
4.1 Braking
Example 4
A 220 V, 970 rpm, 100 A DC separately excited motor has
an armature resistance of 0.05 Ohm. It is braked by
plugging from an initial speed of 1000 rpm. Calculate
(a) Resistance to be placed in armature circuit to limit
braking current to twice the full load value.
(b) Braking torque.
(c) Torque when the speed has fallen to zero.
(Ans: 2.21 Ohm, 423.3 Nm, 210.7 Nm)
4.1 Transient Analysis
• Starting, braking, reversing, speed changing and load
changing are transient operations which commonly
occur in an industrial drive.
• Current, torque and speed of the driving motor change
with time when under transient conditions – how
significant?
• Energy loss during transient condition – how
significant?
• Those information are required in order to select the
appropriate motors to be used for respective loads.
4.1 Speed Control
• Controlling motors speed methods:
• Armature voltage control.
• Field flux control.
• Armature resistance control.
• Speed-torque curves of DC motors for these methods
are shown in Fig. 5.18.
4.1 Speed Control
4.1 Speed Control
• Armature voltage control is preferred – high efficiency,
good transient response and good speed regulation.
• But it can provide speed control below rated value
because the armature voltage cannot be allowed to
exceed rated value.
• In armature voltage control at full field, T  Ia,
consequently the maximum torque that the motor can
deliver has a constant value.
• In the field control at rated armature voltage, Pm  Ia
(E  V = constant). Thus maximum power developed
by the motor has a constant value.
4.1 Speed Control
4.1 Speed Control
• Separately excited motor – flux is controlled by
varying voltage across field winding.
• Series motor - flux is controlled either by varying
number of turns in field winding or by connecting a
diverter resistor across the field winding.
• In armature resistance control, speed is varied by
wasting power in external resistors, connected in
series with armature – inefficient method.
4.1 Speed Control
Example 5
A 220 V, 500 A, 600 rpm separately excited motor has an
armature and field resistances of 0.02 Ohm and 10 Ohm
respectively. The load torque is given by expression TL =
200 – 2N (Nm), where N is the speed in rpm. Speeds
below the rated are obtained by armature voltage control
and speeds above the rated are obtained by field control.
(a) Calculate motor terminal voltage and armature current
when the speed is 450 rpm.
(b) Calculate the field winding voltage and armature current
when the speed is 750 rpm.
(329 A, 164 V, 181.5 A, 181.3 V)
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