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DC Motors Speed Control
DC Motors Speed Control
MTE 320
Spring 2006
E.F. EL-Saadany
Vt I a Ra
.
K a
Up to the rated (base) speed (the speed corresponding to rated operation condition, rated armature
voltage, rated armature current, and rated field current), the armature and the field currents are kept
constant to maintain the torque at its rated value. The speed control within this range is carried out by
varying the armature voltage. Beyond the base speed, the speed control the achieved by varying the
field current. Within this range, the motor power is maintained constant and the torque is reduced with
the increase in the rotational speed as shown in Fig. 1. For series motor, the speed control beyond the
base speed is carried out using the armature current variation (since the armature and the field current
are the same in series motors) as shown in Fig. 2.
MTE 320
Spring 2006
E.F. EL-Saadany
MTE 320
Spring 2006
E.F. EL-Saadany
Va =
2 Vm
cos ( a )
for 0 a
where Va is the average value of the armature voltage, Vm is the maximum value of the
supply voltage, and a is the armature converters thyristor firing (delay) angle.
MTE 320
Spring 2006
E.F. EL-Saadany
2 Vm
( )
cos f
for 0 f
where Vf is the average value of the field voltage, and f is the field converters thyristor
firing (delay) angle.
Vm
(1 + cos ( a ))
for 0 a
Vm
(1 + cos ( f ))
for 0 f
2.2 DC Choppers
In these configurations, the armature and / or the field winding voltage can be varied using DC-to-DC
converters as shown in Fig. 6-a. The input DC voltage can be generated using uncontrolled rectifier
MTE 320
Spring 2006
E.F. EL-Saadany
circuits. This is a first-quadrant converter as shown in Fig. 6-b. The associated waveforms are given in
Fig. 6-c. The average value of the armature and / or field voltage (and hence the rotational speed) can
be varied and controlled by varying the duty cycle of power semi-conductor device used. The equation
relating the armature and the field voltage with the supply voltage and the firing angle can be
expressed as follows,
Fig. 6 DC motor speed control using first quadrant DC-to-DC converters [1]
where Va is the average value of the armature voltage, Vs is the DC supply voltage (could the
average value of the output voltage of a DC-to-DC converter), and k is the choppers duty
cycle.
where Pi is the supplied (input) power to the DC motor, Ia is the average value of the armature
current.
Assuming losseless power converter, the input power to the DC motor is the output power,
Po = Pi
MTE 320
Spring 2006
E.F. EL-Saadany
Vs
V
= s
Is k Ia
3. Numerical Examples
Example 1: A separately excited DC motor is controlled using single-phase AC-to-DC semi-
converters connected to its armature and field terminals as shown in Fig 7. The AC
supply connected to the armature and field semi-converters is a single-phase, 208 V,
60 Hz, AC source. The armature and field resistances are 0.25 and 147 ,
respectively. The motor voltage constant is 0.7032 V/A rad/s. The field current is set
to its maximum possible value. The armature and the fields current are assumed
continuous and ripple free. If the load torque is 45 N.m. at 1000 rpm, calculate
1. The field current,
2. The armature current,
and
Given:
Solution:
For separately excited DC motor is controlled using single-phase AC-to-DC semiconverters shown in Fig. 7.
Vm
(1 + cos ( f ))
MTE 320
If =
Vf
Rf
Spring 2006
E.F. EL-Saadany
( ))
V f 1 + cos f
Rf
V f , max =
208 2
V , and
V f , max
Rf
187.27
= 1.274
147
N .m.
Td
45
=
= 50.23
Kv I f
0.7032 x 1.274
Q E a = V a I a Ra
2
x 1000 = 93.82 V
60
MTE 320
Spring 2006
E.F. EL-Saadany
However, the average value of the armature voltage is related to the delay angle of
the armatures converter by,
Va =
Vm
(1 + cos ( a ))
cos ( a ) =
Va
Vm
1 =
x 106.38
1 = 0.136
208 2
a = 82.18
in Fig 8. The DC supply used is a 600 V source. The armature resistance is 0.05 .
The constant for the back emf is 1.527 V/A rad/s. The armature current is set to
250 A and is continuous and ripple free. The field current is set to 2.5 A. If the
operating duty cycle of the DC-to-Dc converter is 60 %. Calculate
1. The input power from the DC supply,
2. The motor speed,
3. The developed torque, and
4. The input equivalent resistance as seen by the DC supply.
Given:
Solution:
MTE 320
Spring 2006
E.F. EL-Saadany
Fig. 8 DC motor speed control using first quadrant DC-to-DC converters [1]
The motor rotational speed can be determined using the following relation,
E g = K a m = K v I f m
m =
Eg
Kv I f
347.5
= 91.028 rad / s
1.527 x 2.5
N .m.
Vs
V
600
= s =
=4
I s k I a 0.6 x 250
References
[1] Muhammad H. Rashid, Power Electronics, Third Edition, Pearson Prentice Hall, NJ, USA, 2004.
[2] Theodore Wildi, "Electrical Machines Drives, and Power Systems," Prentice Hall, Ohio, 2006.