Speed Control of DC Motor

We know the equation of back emf is: Eb  ZN  P  V  I a Ra

A
From above equation we A V  I a Ra V  I a Ra E
N K K b
obtain that: PZ   

and N is in rps  N Eb  V  I a Ra
A
where, K  (1)
PZ  
N 2 Eb1 1
 (2) For shunt motor : Ish
N1 Eb2  2
N 2 Eb1 I sh1

N1 Eb 2 I sh 2
For shunt motor : 1   2
N 2 Eb1 For series motor : Ia

N1 Eb2 N 2 Eb1 I a1

N1 Eb 2 I a 2
The speed can be varying (or controlling):
1. Flux/pole,  (Flux Control),
2. Resistance Ra of armature (Rheostatic Control), and
3. Applied voltage V (Voltage control)
 Flux Control Method:
It is seen from above equation that speed is inversely
proportional to flux (i.e. N1/).
By decreasing the flux, the speed can be increased and vice
versa.
Merits
The merits of this method are:
1. Good working efficiency.
2. Compact controlling equipment.
3. Capability of minute speed control.
4. The speed is not effected by load, and speed control can be
performed effectively even at light loads.
5. Relatively inexpensive and simple to accomplish, both
manually and automatically.
6. Within limits, field control does not affect speed regulation.
7. Provides relatively smooth and stepless control of speed.
Demerits
The demerits of this method are:
1. Inability to obtain speeds below the rated speed.
2. Instability at high speed because of armature reaction.
3. Commutation difficulties and possible commutator damage at
high speed.
Flux Control Method for shunt motor
The flux of the DC shunt motor can
be changed by changing current of
shunt field branch, Ish, with the help
of shunt field rheostat as shown in
Fig. 30.1.
Since shunt field current is very small,
power wasted in the controlling
resistance is very small. Therefore,
this method is very efficient.
In non-interpole machine, the ratio of the maximum
to minimum speed can be is 2:1.
Any further weakening of flux () adversely affects
the communication, hence puts a limit to maximum
speed obtainable with the method.
In machines filed with interpoles, a ratio of maximum
to minimum speed of 6:1 is fairly common.
 Flux Control Method for series motor
Variations in the flux of a series motor can be brought about in
any one of the following ways:
(i) Field divertors, (ii) Armature divertors,
(iii) Trapped field Control field, (iv) Paralleling field coils

Field Divertors
The series winding are shunted
by a variable resistance known
as field divertor as shown in Fig.
30.10. Any desired amount of
current can be passed through
the divertor by adjusting its
resistance. Hence the flux can be
decreased and consequently, the
speed of the motor increased.
Armature Divertors
A divertor across the armature can be used for giving speeds
lower than the normal speed as shown in Fig. 30.11.
For a given constant load torque, if Ia is reduced due to
armature divertor, the flux  must increase. (Since Ta).
This results in an increase in current taken from the supply
(which increases the flux and fall in speed(N1/)).
The variation in speed can be controlled by varying the
divertor resistance.
Trapped Field Control Field
In this method a number of tappings from the field winding are
brought outside as shown in the following figure.
A number of series field turns can be shorted according to the
requirement.
When all the field turns are in circuit, the motor runs at lowest
speed and speed increases with cutting out some of the series field
turns.

This method is often

employed in electric
traction.
Paralleling Field Coils
In this method, used for fan
motors, several speeds can be
obtained by regrouping the field
coils as shown in Fig. 30.13.
It is seen that for a 4-pole motor,
three speeds can be obtained
easily.
Armature or Rheostatic Control Method:
This method consists of obtaining reduced speeds by the
inserting of external series resistance in the armature.
This method is used when speeds below the no-load is required.
Advantages:
The ability to achieve speeds below the rated speed.
Simplicity and ease of connection
The possibility of combining the functions of motor starting with
speed control.
Disadvantages:
The relatively high cost of large continuously rated, variable
resistors capable of dissipating large amounts of power.
Poor speed regulation foe any given no-load speed setting
Low efficiency resulting in high operating cost.
Difficulty in obtaining stepless control of speed in higher power
ratings.
Rheostatic Control Method For Shunt Motor
In armature or rheostatic control method of speed of the voltage
across the armature is varied by inserting a variable rheostat or
resistance, called controlled resistance, in series with the armature
circuit [as shown in Fig. 30.4(a)].
As the controller resistance is increased, the potential difference
across the armature is decreased thereby decreasing the speed.
For a load of constant torque, speed is proportional to the
potential difference across the armature.
From the speed/armature current characteristics [as
shown in Fig. 30.4(b)] it is seen that greater the resistance
in armature, greater is the fall in speed.
There is a particular load current for which the speed
would be zero. This is the maximum current and is known
as “stalling current”.
This method is very wastful, expensive and unsuitable for
rapidly changing load, because for a given value of Rt the
speed will change with load.
A more stable operation can be obtained using a diverter
across the armature [as shown in Fig. 30.4(c)] in addition
to armature control resistance.
Now the changes in armature current due to the changes
in load torque will not be so effective in changing the
potential difference across the armature and hence the
speed of the armature.
Rheostatic Control Method For Series Motor
Armature resistance control method is most common method
employed for dc series motor as shown in Fig. 30.14.
By increasing the resistance in series with the armature the
voltage applied across the armature terminals can be
decreased. With the reduced voltage across the armature, the
speed is reduced.
Since full motor current passes through the resistance, the
loss of power is considerable.
Voltage Control Method:
When the speed is controlled by regulating the motor
terminal voltage while maintaining constant field
current, it is called voltage control.
With the voltage control the change in speed is almost
proportional to the change in voltage.
The output varies directly with the speed and the torque
remains constant.
Since the voltage has to be regulated without affecting the
field, the application of voltage control is limited to
separately excited motors.
For a DC motor of fractional and relatively low
power rating, the variable DC voltage source may be a
semi-conductor (silicon-controlled-rectifier) amplifier
operating from a three-phase or single-phase AC supply.
Motors of moderate rating up to 75 kW may be controlled by
magnetic amplifiers as the adjustable DC voltage source.
Large DC motors are controlled by means of rotary amplifier
such as the amplidyne or the Ward-Leaonard control
system.

Advantages:
1. Speed control over a wide range is possible.
2. This method eliminates the need for series armature starting
resistance.
3. Uniform acceleration can be obtained.
4. Speed regulation is good.

Disadvantages:
1. Arrangement is costly as two extra machines are required.
2. The overall efficiency of the system is low, especially at light
loads.
Multiple Voltage Control
In this method, the shunt field of the motor is connected
permanently to a fixed exciting voltage, but the armature is
supplied with different voltages by connecting it across one of the
several voltages by means of suitable switchgear.
The armature speed will be approximately proportional to these
different voltages. The intermediate speeds can be obtained by
adjusting the shunt field regulator.
This method is not much used, however.
Ward-Leonard System
This system is used where an unusually wide (10:1) and very
sensitive speed control is required as for elevators and the main
drive of steel mills and paper mills. The arrangement is illustrated
in Fig. 30.9.
M1 is the main motor whose speed control is required. The field of
this motor is permanently connected across the DC supply lines.
By applying a variable voltage across its armature, any desired
speed can be obtained.
The motor M2 runs at an approximately constant speed.
The output voltage of G is directly fed to the main motor M1.
The voltage of the generator can be varied from zero up to its
maximum value by means of its field regulator.
By reversing the direction of the field current of G by means of the
reversing switch R.S., generated voltage can be reversed and hence
the direction of rotation of M1.
It should be remembered that motor generator set always runs in
the same direction.
A modification of the Ward-Leonard system is known as Ward-
Leonard-Ilgner system which uses a smaller motor-generator set
with the additional of a flywheel whose function is to reduce
fluctuation in the power demand from the supply circuit.
When main motor M1 becomes suddenly over-loaded, the driving
motor M2 of the motor generator set slows down, thus allowing
the inertial of the flywheel to supply a part of the overload.
However, when the load is suddenly thrown off the main motor
M1, then M2 speeds up, thereby again storing energy in the
flywheel.
When the Ilgner system is driven by means of an AC
motor (whether induction of synchronous) another
refinement in the form of a “slip regulator” can be
usually employed, thus giving an additional control.
Advantages of Ward-Leonard System
1. A wide range of speed from standstill to high speeds in
either direction.
2. Rapid and instant reversal without excessively high
armature currents.
3. Starting without the necessity of series armature
resistance.
4. Stepless control from standstill to maximum speed in
either direction.
5. Prevent motor runway since the motor is always excited.
6. Extremely good speed regulation at any speed.

Disadvantages of Ward-Leonard System

1. High initial cost.
2. The efficiency of this method is not as high as rheostat
speed control or the field control method.