1520), the controller og toting (08 Safe ped for starting 3s {pate resistor is cut jah tat the curen L hee fe @ ojor works as a ype: Regenerative hing. lobappen (Fig. 5.2), eg — |e | Motoring = | 4 Shoracteristcs of a de Motor Drives 69 es : rectal supply system when dhe machine regenerate its terminal voltage iss, Consequently 1 tate power lows it the fds consested tothe spply andthe sure is relieved th raerEyng this mich amount of power The regenerative braking Is therefore posible Ft Ph hee ae loads connected tothe line and they’ are in need of power more ae equal only wlagenerated power, When the capacity ofthe loads i less than the regenerated power, tah agencrated power wll not be absorb by the Toads, The remaining power will be aed to capatrs(ncing say capacitances) in fine and the line voltage wil He fo savas leading 1 insulation breakdown, Hence, regenerative braking should ony be danger tee are enough loads ( absorb the regenested power. Aleratively an acangement ts eto divert the excess power {0a resistance bank where iis dsipated as heat, Such @ is Ming is known as composite braking because itis a combination of regenerative braking nd vane braking. When the source is a battery, the regenerated energy can be stored Inthe battery. Bxamrts 5.3 ‘A220 V, 200 A, 800 rpm jnotor atmature is fed from a variable voltage source with an internal re Calculate intemal voltage of the variable voltage source when the motor is oper braking at 80% of the rated motor torque and 600 rpm. de separately excited motor has an armature resistance of 0.06 @. The tance of 0.04 2. ig in regenerative Solution Since torque is proportional to the armature current, motor armature current when regenerating Jy = 0.8 X 200 = 160 A E, = 220 ~ 200 x 0.06 = 208 V 56V 140 V. Internal voltage of the variable voltage source = 156- 160(0.06 + 0.04 53.2 Dynamte Braking In dynamic braking, motor armature is disconnected from the source and connected across f resistance Rp. ‘The gonertated energy is dissipated in Ry and R, For motoring connec- tions of Figs. 5.1(a) and (c), the braking connections are shown in Fig, $.7(a) and (b). Since series machine works as a self-excited generator, the field connection is reversed so that field assists the residual magnetism. Figures 5.8(a) and (b) show speed-torque curves and transition from motoring to braking. These characteristics are obtained from Eqs. (5.10) and (5.14) for V-=0. When fast braking is desired, Ry consists of a few sections. As the speed falls, sections are cut-out to maintain a high average torque, as-shown in Fig. 5.8(¢) for a separately excited motor. Daring braking, separately excited motor can be converted as a seft-excited generator. This permits braking even when supply fails.20_Findamenals of Electeel Drives | (@) Separately excited motor (b) Series motor Fig. 5.7 Dynamic braking of de motors | Roy>Rea> Ry >0 | + — With few see. tions of Ry | "= Stepless varia. | tion of Ry 7 —. (@) Separately excited motor (b) Series motor (© Separately excited motor with Variable armature resistance Fig. 58 Dynamic braking speed-torque curves { Exams 5.4 ‘The series motor of Example 5.2 is operated under dynamic brakin; iB al twice the rated torque and 800 rpm. Calculate the value of braking current and resistor, Assume linear magnetic circuit Solution Since T= Kelis Te = Kl, haa= la VET = 100-V2 = 14.4. A Br = RelaNys By = Kila, 800 ooo 220- 100 x 0.1) = 237.55 V Now = 141.4 (Rg +01) or Rg = 158.Q EXAMPLE 5.5 Ae shunt motor has the armature resistance of 0.04 @ and the field winding resistance of 10 A 2. Motor is coupled to an overhauling load with a torque of 400 Nem Following magnetisation curve was measured at 600 rpm:74 Fundamentals of Blectvical Drives (@) Separately excited () Series Fig. $10 Plugging speed-torque curves Oy Motoring Plugging Plugging (4) Separately excited (b) Series ig. .11 Counterstorque braking Plugging gives fast braking due to high average torque, even with one section of braking resistance Ry. Since torque is not zero at zero speed, when used for stopping a load, the supply must be disconnected when close to zero speed. Centrifugal switches are employed to disconnect the supply. Plugging is highly inefficient because in addition to the generated power, the power supplied by the source is also wasted in resistances. Examrts 5.8 A 220 V, 970 rpm, 100A de separately excited motor has an armature resistance of 0.05 .Q. It is braked by plugging from an initial speed of 1000 rpm, Calculate (a) resistance to be placed in armature eircuit to limit braking current to twice the full load value (®) braking torque, atid (©) torque when the speed has fallen to zero. Solution ‘At 970 rpm = 220 - 0.05 x 100 = 215 V At 1000 r (@ For ) au AST « ly 54 TR Starting, 1 which con and speed also intere and time ¢ designer fi its operat Dynami armature ¢ astantanet viscous fri referred to” (8) Separate Voltage From the dction of braking Toad, the supply ed to disconnect ower, the power 9F 0.05 Q. tis ee the full load de Motor Drives 75 eee 1000 915 = ‘ax 10001 62 108 «215 = 22165 (@) For plugaing operation = BAY. _ 221.65 + 220 _ RyRy 54220 - 2210 Ry = 2.21 ~0.05 = 1.16 ohms Exl, _ 22165200 _ © Te Om 7 1000 x 2760 = 4233 Nem (@) Atzero speed B= 0 vy _ 20 Fe = Far PSSA T= 423.3 x 9955 = 210.7 N-m As Po ly 50 5.4, TRANSIENT ANALYSIS - Starting, braking, reversing, speed changing and load changing are the transient operations which commonly occur in an industrial drive. One is interested in knowing how current, torque and speed of the driving motor change with time when under these transient operations. One is also interested in knowing energy losses, particularly those responsible for heating of the motor, ‘and time taken for the completion of the transient process. This information is needed by the designer for selecting suitable rating of the motor, nature and (ype of its control equipment and its operation schedule, and types of protective devices and their settings Dynamic equivalent circuits of de motors are shown in Fig. 5.12. Source voltage v motor armature current i, and back emf e are denoted by lower ease leters to emphasize that these are instantaneous values of time varying quantities. B and J are respectively the coefficient of viscous friction in Nm/rad/sec and polar moment of inertia in kg-m? of the motor load system referred to the motor shaft, Rob i i be OR oy 4 e Load (1, 8, 7.) ( Separately excited de motor () Series motor Fig. 5.12 Dynamic equivalent circuits of de motors Voltage equation of the armature circuit under transient is given by diy Y= Rig t Ly GP + Koby 6.16) From the dynamics of motor load system