2 POWER SYSTEM PROTECTION

Section 2.5b DC Motor Protection

Section 2.5.3 DC Motor Simulation

Define the motor parameters for the systems.

Ia ≔ 8 A rated armature current

La ≔ 0.079 H armature inductance

Ra ≔ 3.5 Ω armature resistance

J ≔ 0.02 kg ⋅ m
2 system rotational inertia

−4 N⋅m
β ≔ 2.57 ⋅ 10 ―― system damping constant
rad
――
s

V
Ki ≔ 0.722 ―― motor torque constant
rad
――
s

State Equation Functions

Performing iterative calculations with Mathcad requires vectorizing the equations. To simplify the notation,
define the state equations as functions.
Ra Ki 1
dia ⎛⎝ia , ω , V⎞⎠ ≔ −―⋅ ia + −―⋅ ω + ―⋅ V (2.5.8)
La La La

Ki β 1
dωm ⎛⎝ia , ω , T⎞⎠ ≔ ―⋅ ia + −― ⋅ω−― ⋅T (2.5.9)
J J J

Define the time step used for the integration of the state equations. The time step should be at least 10
times smaller than the smallest time constant in the system to ensure numerical stability in the algorithm.
Examine the electrical and mechanical time constants in Equations (2.5.8-9) to find a value of h. In this
case select a time step of
h ≔ 1 ms
Define an armature voltage and load torque. Select a constant load torque. This load torque is typical of
conveyor and hoisting loads.
Vt ≔ 125 V TL ≔ 2.1 N ⋅ m
Define the maximum number of iterations used in the Adams-Bashford simulation. The number of
iterations should be high enough for the system to reach steady state. Adjust the integration time step and
the number of iterations to achieve steady-state response with a minimum number of iterations.

Set the maximum number of iterations

jmax ≔ 500

Set the iteration range variable.

j ≔ 2 ‥ jmax

Define the initial conditions of the system prior to the time of interest. Assume the motor starts from rest.

Initial Conditions
rad
ia ≔ 0 A ωm ≔ 0 ―― t ≔0 s
0 0 s 2

ia ≔ 0 A rad
1 ωm ≔ 0 ――
1 s

Define the vectors that hold the state variables.

⎡ ia ⎤ ⎡ ia + ⎛1.5 ⋅ h ⋅ dia ⎛ia , ωm , Vt⎞ − 0.5 ⋅ h ⋅ dia ⎛ia , ωm , Vt⎞⎞ ⎤
j j−1 ⎝ ⎝ j−1 j−1 ⎠ ⎝ j−2 j−2 ⎠⎠ ⎥
⎢ ⎥ ⎢
ω ≔ ω
⎢ mj ⎥ ⎢ mj − 1 + 1.5 ⋅ h ⋅ dω ⎛ i
m aj − 1 , ωmj − 1 , TL ⎞ + −0.5 ⋅ h ⋅ dω ⎛ i
m aj − 2 , ω mj − 2 , TL⎞ ⎥
⎢ ⎥ ⎢ ⎝ ⎠ ⎝ ⎠⎥
⎢⎣ tj ⎥⎦ ⎢⎣ t +h
j−1 ⎥⎦

Plot the response of the motor when the full supply voltage is applied.
Define the range to plot.
j ≔ 0 ‥ jmax

30

27

24

21

18

15
ia (A)
j 12

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
t (s )
j

Fig. 2.5.3 Separately excited DC Motor armature current response

The steady-state armature current is
ia = 3.478 A
jmax

Plot the response of the motor speed for a full voltage start.

165
150
135
120
105
90

⎛ 1 ⎞ 75
ωm ⎜⎝―
60
j s ⎟⎠ 45
30
15
0
-15

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
t (s)
j

Fig. 2.5.4 Separately Excited DC motor speed response

The steady-state motor speed is

rad
ωm = 156.804 ――
jmax s
1
n ≔ ωm rpm = 16.42 ― 2
jmax
s
Section 2.5.4 Linear Torque Model Response

Apply a linear load to the same dc motor and simulate the system response. This simulation adds another
variable to the array since the torque is a function of the motor speed. The modified solution vector
includes the equation for torque.

Define the iteration counter.

jmax ≔ 700

j ≔ 2 ‥ jmax h ≔ 0.0025 s

Initialize the state variables.

rad
ia ≔ 0 A ωm ≔ 0 ――
2 2 s

TLL ≔ 0 N ⋅ m t ≔0 s
2 2

Define the torque load function.

TL1 (a , ω) ≔ a ⋅ ω

Set the linear torque constant.

N⋅m
b ≔ 0.035 ――
rad
――
s

The state equations for the system

are

⎡ ia ⎤ ⎡ ia + ⎛1.5 ⋅ h ⋅ dia ⎛ia , ωm , Vt⎞ − 0.5 ⋅ h ⋅ dia ⎛ia , ωm , Vt⎞⎞ ⎤

j j−1 ⎝ ⎝ j−1 j−1 ⎠ ⎝ j−2 j−2 ⎠⎠
⎢ ⎥ ⎢ ⎥
⎢ ωmj ⎥ ⎢ ωmj − 1 + ⎛1.5 ⋅ h ⋅ dωm ⎛iaj − 1 , ωmj − 1 , TLLj − 1⎞ − 0.5 ⋅ h ⋅ dωm ⎛iaj − 2 , ωmj − 2 , TLLj − 2⎞⎞ ⎥
⎢ ⎥≔⎢ ⎝ ⎝ ⎠ ⎝ ⎠⎠ ⎥
⎢ TLLj ⎥ ⎢ TL1 b , ωm
⎛ ⎞
j − 1⎠ ⎥
⎝
⎢ ⎥ ⎢ ⎥
⎢⎣ tj ⎥⎦ ⎢⎣ t +h
j−1 ⎥⎦
Plot the speed-torque trajectory of the linear load torque. Also plot the armature current and motor speed
response for this classification of load.

Define the plot range.

j ≔ 0 ‥ jmax

150

135

120

105

90

75
⎛ 1 ⎞ 60
ωm ⎜⎝―
j s ⎟⎠ 45
30

15

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

⎛ kg ⋅ m 2 ⎞
TLL ⎜――― 2 ⎟
j
⎝ s ⎠
Fig. 2.5.5 Speed-torque response of motor-load system

30

27

24

21

18

15
ia (A)
j 12

0 0.15 0.3 0.45 0.6 0.75 0.9 1.05 1.2 1.35 1.5 1.65 1.8
t (s)
j

Fig. 2.5.6 Armature current response (linear torque load)

Steady-state values of armature current, motor speed and load torque are

ia = 6.836 A TLL = 4.9 N ⋅ m

jmax jmax

rad 1
ωm = 139.991 ―― ωm ⋅ rpm = 14.66 ― 2
jmax s jmax
s
Section 2.5.5 DC Motor Starter Design

The previous simulations show that starting this dc motor using full armature voltage causes excessive
armature current. The rated armature current was 8 amps. The transient armature was 3.5 times the rated
value. In practice, additional starting resistance limits the armature inrush to values of no greater than 1-2
times the rated value of the motor. Figure 2.5.7 shows a typical starting scheme. Centripetal switches short
the starting resistors, R1 to R3, as the speed of the motor increases. The larger total resistance limits the
inrush when the speed and back emf is low.

Fig. 2.5.7 DC motor starter schematic

Define the values of the starting resistance.

R1 ≔ 10 Ω first stage of the starter

R2 ≔ 10 Ω second stage of the starter

R3 ≔ 10 Ω third stage of the starter

Ra ≔ 3.5 Ω armature resistance

When starting from rest, the armature resistance is

RT1 ≔ R1 + R2 + R3 + Ra = 33.5 Ω

Define the settings of the speed switches.

rad rad rad
S1 ≔ 30 ⋅ ―― S2 ≔ 60 ⋅ ―― S3 ≔ 100 ⋅ ――
s s s
Starter Resistance Function

Define a function that describes armature resistance as a function of motor speed. The unit-step (Heaviside)
function, (x), creates the step resistance function that simulates the motor starter operation.
RT (ω) ≔ RT1 ⋅ Φ (ω) − R1 ⋅ Φ ⎛⎝ω − S1⎞⎠ − R2 ⋅ Φ ⎛⎝ω − S2⎞⎠ − R3 ⋅ Φ ⎛⎝ω − S3⎞⎠ (2.5.10)
Plot the armature resistance as a function of speed. Let n vary from
rad rad rad
n ≔ 0 ⋅ ―― , 1 ⋅ ―― ‥ 200 ⋅ ――
s s s

33.5

30.5

27.5

24.5

21.5

18.5

RT (n) (Ω) 15.5

12.5

9.5

6.5

3.5

0 20 40 60 80 100 120 140 160 180 200

⎛1⎞
n ⎜―
⎝ s ⎟⎠
Fig. 2.5.8 Motor starter resistance characteristics

Modified State Equation

Modify the original state equation for di/dt to include the starting resistance function.
RT (ω) Ki 1
dia (i , ω , V) ≔ −―― ⋅ i + −―⋅ ω + ―⋅ V (2.5.11)
La La La
Re-define the iteration index.
j ≔ 2 ‥ jmax h ≔ 0.002 ⋅ s
Initialize the state variables and the time index of the system.
rad
ia ≔ 0 ⋅ A ωm ≔ 0 ⋅ ―― t ≔0⋅s
1 1 s 1

Compute the values for the system.

⎡ ia ⎤ ⎡ ⎛ia + 1.5 ⋅ h ⋅ dia ⎛ia , ωm , Vt⎞⎞ − 0.5 ⋅ h ⋅ dia ⎛ia , ωm , Vt⎞ ⎤
j ⎝ j−1 ⎝ j−1 j−1 ⎠ ⎠ ⎝ j−2 j−2 ⎠
⎢ ⎥ ⎢ ⎥
⎢ ωmj ⎥ ⎢ ⎛ωmj − 1 + 1.5 ⋅ h ⋅ dωm ⎛iaj − 1 , ωmj − 1 , TLLj − 1⎞⎞ − 0.5 ⋅ h ⋅ dωm ⎛iaj − 2 , ωmj − 2 , TLLj − 2⎞ ⎥
⎢ ⎥≔⎢⎝ ⎝ ⎠⎠ ⎝ ⎠⎥
T
⎢ LLj ⎥ ⎢ T L1 ⎛ b , ω m ⎞ ⎥
⎝ j − 1⎠
⎢ ⎥ ⎢ ⎥
⎢⎣ tj ⎥⎦ ⎢⎣ t +h
j−1 ⎥⎦
Plot the response of the system including the motor starter reaction.

Define the plot range.

j ≔ 0 ‥ jmax

5.4

4.8

4.2

3.6

3
ia (A)
j 2.4

1.8

1.2

0.6

0 0.15 0.3 0.45 0.6 0.75 0.9 1.05 1.2 1.35 1.5
t (s)
j

Fig. 2.5.9 Starter current response

8.1

7.2

6.3

5.4

⎛1⎞ 4.5
ωm ⋅ rpm ⎜―2 ⎟
j 3.6
⎝s ⎠
2.7

1.8

0.9

0 0.15 0.3 0.45 0.6 0.75 0.9 1.05 1.2 1.35 1.5
t (s)
j

Fig. 2.5.10 Motor starter speed response

Final values of speed, torque, and armature current for the system using a step-resistance starter are

ia = 4.693 A TLL = 2.991 N ⋅ m

jmax jmax

1
ωm ⋅ rpm = 8.953 ― 2
jmax
s
Section 2.5.6 References

1. Chua, Leon O. and Lin, Pen-Min, Computer Aided Analysis

of Electric Circuits: Algorithms and Computational
Techniques, Prentice-Hall, Inc., 1975.