There are three types of electric braking:

 Regenerative braking
 Rheostatic braking
 Plugging or reverse current braking

Regenerative braking implies operating the motor as a generator, while it is still

connected to the supply network. Mechanical energy is converted to electrical
energy, a part of which is fed back to the supply and the rest is lost as heat in the
windings and the bearings.normally it does not involve any switching operation,
unless it as required to change the speed at which it becomes effective. Most
electrical machines pass smoothly from motoring to generating mode, when
overdriven by the load.

Rheostatic braking implies operating the motor as a generator, so that the energy
is dissipated as heat in the rheostat connected across the armature.

Plugging involve reconnecting the power supply so that the motor is driven in the
opposite direction. If left to itself the system will stop and then accelerate in the
opposite direction. To stop the motor it has to be disconnected. This is an
inefficient technique , because in addition to electrical energy converted to
mechanical form, being wasted, the electrical energy is drawn from the supply is
also wasted.

Regenerative Braking of D.C. shunt Motor

When a d.c. shunt motor or a separately excited motor used in hoisting

mechanism is switched on for lowering a load, the developed torque & load
torque act in unison to accelerate the motor. With increase in speed , the induced
e.m.f also increases and becomes equal to the supply voltage, when the speed
equals the no load speed. At this moment armature current and thus Tm becomes
zero. The downward motion is only sustained by the gravitational pull on the load
moving downwards. When the speed become greater than the ideal no-load
speed, the armature current becomes negative . the drive then act as a generator
and provides braking torque. The drive attains a steady state speed when the
braking torque developed is equal to load torque. This type of braking is called
regenerative braking, as the power is fed back to the supply. This type of braking
occur, when the speed become greater than ideal no load speed.

Rheostatic Braking of D.C. Shunt Motor

At speed lower than the no load speed, retarding torque can be produced by
rheostatic braking or dynamic braking. The motor is disconnected from the supply
and shunted across a resistance. The motor develops a generating torque and
intensely brakes itself.

𝐸 = −𝐼 ( 𝑅 + 𝑅 ) where Ra is the armature resistance and Rex is the external

resistance.

𝑘∅𝜔 = − 𝐼( 𝑅 + 𝑅 ) 𝑎𝑛𝑑 𝑇 = 𝑘∅𝐼

(𝑅 +𝑅 )
𝜔 = −𝑇
𝑘∅
The speed torque characteristic is a straight line passing through the origin. The
slop of the curve depends on the external resistance.

The basic equations are:

𝑑𝜔
𝑐𝜔 + 𝑖𝑅 = 0 & 𝑐𝑖 = 𝐽 + 𝑇
𝑑𝑡

∴ − = 𝐽 + 𝑇 , where R = Ra + Rex

𝑑𝜔 𝑐 𝜔
𝐽 + 𝑇 + =0
𝑑𝑡 𝑅
𝑑𝜔 𝑐 𝜔
𝐽 =−𝑇 −
𝑑𝑡 𝑅
𝐽𝑅 𝑑𝜔 𝑇𝑅
=− − 𝜔
𝐶 𝑑𝑡 𝑐
 = − ∆𝜔 − 𝜔 ; = ∆𝜔 = speed drop determined from the
dynamic braking speed- torque characteristics at load torque TL

𝑑𝜔 𝜔 ∆𝜔
+ =−
𝑑𝑡 𝑇 𝑇

Solution of this equation is, 𝜔 = − ∆𝜔 + 𝑐 𝑒

At t= 0, 𝜔 = 𝜔 ∴ 𝜔 = − ∆𝜔 + 𝑐 or, 𝑐 = 𝜔 + ∆𝜔

𝜔 = − ∆𝜔 + ( 𝜔 + ∆𝜔 )𝑒 curve 1 of Fig. A
𝑡
−𝑇
If TL = 0, ∆𝜔 = 0 𝜔 = 𝜔𝑜 𝑒 𝑒𝑚 for no load curve 2 of Fig A

In case of dynamic braking without load, the speed torque curve

approaches the x-axis as illustrated in curve 2. When dynamic braking
occurs with load the curve approaches the line - ∆𝜔 in the case the load
torque is active, as for example crane hoist lowering a load. For passive
load the braking ceases as 𝜔 = 0 is reached.

𝑐𝑖 = 𝐽 + 𝑇 𝑎𝑛𝑑 𝑖= + 𝐼 , where = load current

Now, 𝜔 = − ∆𝜔 + 𝑐 𝑒 ∴ = − 𝑒

𝐽 𝑐1 − 𝑇 𝑡
∴ 𝑖= − 𝑒 𝑒𝑚 + 𝐼
𝑐 𝑇𝑒𝑚

At t = 0 i = - Iin ∴ − I = − + 𝐼 ∴ −(I + 𝐼 ) =−
𝑡
( ) −
𝑒 𝑇𝑒𝑚 + 𝐼𝐿

If the load torque is active we get curve 1 as shown is Fig. C . if load torque = 0, IL
𝑡
−
= 0, 𝑒 𝑇𝑒𝑚 , where

[ 𝑉 = 𝐸 + 𝐼 𝑅; 𝑎𝑠 𝑉 = 0, 𝐸 = −𝐼 𝑅 ∴ 𝐼 = − = ]

If the time taken to brake the motor from 𝜔 to any speed 𝜔 is t, then
𝑡
−𝑇
𝜔 = −∆𝜔𝐿 + ( 𝜔𝑖𝑛 + ∆𝜔𝐿 )𝑒 𝑒𝑚 ∴ 𝜔 + ∆𝜔 = ( 𝜔 + ∆𝜔 )𝑒
(𝜔 + ∆𝜔𝐿 ) 𝑡
−
𝑇
= 𝑒 𝑒𝑚
( 𝜔𝑖𝑛 + ∆𝜔𝐿 )

(𝜔𝑖𝑛 + ∆𝜔 )
∴𝑡= 𝑇 ln
( 𝜔 + ∆𝜔 )
Counter Current Braking or Plugging

Plugging of d.c. motor involves reconnecting the motor to the line with reversed
polarity; the motor now produces a torque in opposite direction. The rotor speed
decreases until it becomes zero and then the motor accelerates in the reverse
direction. So, plugging gives a quicker reversal or a rapid stop.

Fig. A shows a schematic diagram. The polarity is reversed by change over switch
Sw. the latter also introduces a resistance Rb in the circuit to limit the current. Fig.
B illustrates the transition from motoring to counter current braking operating
condition. If the motor is not disconnected at ‘O1’ the torque developed will
greater than the load torque and the motor accelerates in the opposite direction
and speed 𝜔 will be reached, this is motor reversal.

During counter current braking

𝑉 𝑅
− 𝑉 = 𝑐𝜔 + 𝑖𝑅 𝑜𝑟 − = 𝜔+𝑖
𝑐 𝑐
𝑑𝜔 𝐽 𝑑𝜔 𝑇
𝑇 = 𝑐𝑖 = 𝐽 + 𝑇 𝑜𝑟, 𝑖= +
𝑑𝑡 𝑐 𝑑𝑡 𝑐
 𝑉 𝑅 𝐽 𝑑𝜔 𝑇 𝑉 𝐽𝑅 𝑑𝜔 𝑇 𝑅
− = 𝜔+ + 𝑜𝑟, − = 𝜔+ +
𝑐 𝑐 𝑐 𝑑𝑡 𝑐 𝑐 𝑐 𝑑𝑡 𝑐

− − 𝜔− = 𝑇

𝑑𝜔 𝑇𝐿 𝑅
𝑇 = − 𝜔 + 2 −𝜔
𝑑𝑡 𝑐
𝑑𝜔
𝑇 = −(𝜔 + ∆𝜔𝐿 ) − 𝜔
𝑑𝑡

𝜔 = −(𝜔 + ∆𝜔𝐿 ) + 𝐶 𝑒
At t =0 𝜔 = 𝜔 = 𝜔 ∴ 𝜔 = −(𝜔 + ∆𝜔𝐿 ) + 𝐶

𝐶 = 𝜔 + (𝜔 + ∆𝜔𝐿 )

𝜔 = −(𝜔 + ∆𝜔) + 𝜔 + (𝜔 + ∆𝜔𝐿 ) 𝑒

If the motor is running with an active load torque, i.e. the torque TL
does not change sign, the motor speed after reversal will exceed 𝜔 by
an amount ∆𝜔 and we get curve 1.

If the motor is reversed without load 𝜔 = 𝜔 and ∆𝜔 = 0, then

𝜔 = −𝜔 + 2𝑒 ; represented by curve 2.

If the motor reversal occurs with passive load , after reaching x-axis it
brakes and approaches as an asymptote to steady state speed −𝜔 ;
shown in curve ‘3’

𝑐𝑖 = 𝐽 + 𝑇 𝑎𝑛𝑑 𝑖= + 𝐼 , where = load current

𝑡 𝑡
−𝑇 𝑑𝜔 𝑐 −𝑇
Now, 𝜔 = −(𝜔𝑜 + ∆𝜔 ) + 𝐶1 𝑒 𝑒𝑚 ∴ = −𝑇1 𝑒 𝑒𝑚
𝑑𝑡 𝑒𝑚

𝐽 𝑐1 − 𝑇 𝑡
∴ 𝑖= − 𝑒 𝑒𝑚 + 𝐼
𝑐 𝑇𝑒𝑚

At t = 0 i = - Iin ∴ − I = − + 𝐼 ∴ −(I + 𝐼 ) =−
𝑡
( ) −
𝑒 𝑇𝑒𝑚 + 𝐼𝐿
Curve ‘1’ shows current for active load torque.
𝑡
−
Curve ‘2’ is for TL =0 if load torque = 0, IL = 0, 𝑒 𝑇𝑒𝑚 , where
( )
𝐼 = =− = 𝐼
( )
[ 𝑉 = 𝐸 + 𝐼 𝑅; 𝑎𝑠 𝑉 = −𝑉, 𝐸 = −𝐼 𝑅 ∴ 𝐼 = ]

Curve ‘3’ is for passive load torque.

Energy involved in Transient Process of Shunt Wound DC motor:

Power drawn by the motor from supply consists of:

 Load torque
 Kinetic energy of rotating part 𝑃 = 𝐽𝜔
 Losses of the motor

If we club the fixed losses with load the losses consists of I2R and power
required for field excitation (normally small compared to I2R; is
neglected)

The energy loss with the armature circuit during transient period of
operation is of importance because it influences the power capacity for
which the motor must be selected and the size of the requisite
resistance as well.

Energy loss in the armature circuit during starting:

∆𝑊 = 𝑖 𝑅𝑑𝑡

𝑉𝑖 = 𝐸𝑖 + 𝑖 𝑅
 𝑇 𝑇 𝑉 𝐸
𝑖 𝑅 = 𝑉𝑖 − 𝐸𝑖 = 𝑉 −𝐸 =𝑇 − = 𝑇(𝜔 − 𝜔)
𝑐 𝑐 𝑐 𝑐
𝑑𝜔 𝑑𝜔
𝑇=𝐽 ; ∴ 𝑑𝑡 = 𝐽
𝑑𝑡 𝑇
𝑑𝜔
∴ ∆𝑊 = 𝑇(𝜔 − 𝜔)𝐽
𝑇

= 𝐽(𝜔 − 𝜔)𝑑𝜔

For starting at no load 𝜔 = 0 and 𝜔 = 𝜔 ∴ ∆𝑊 =

Braking of DC Series Motor:

If the speed of the D.C. series motor increases, current and flux
decreases. Therefore it is not possible to get an e.m.f greater than the
terminal voltage. Since, there is no ways of making the field current
greater than the armature current , regeneration is not possible. In
electric traction , where regeneration is used, the motors are actually
reconnected as separately excited machine.

Rheosatic braking is possible, but care should be taken to interconnect

the armature winding and the field winding in such a way so as to
ensure that the direction of the current in the field remains the same.
Then only, self excitation will take place. External resistance should be
such that the total resistance is less than the critical resistance. Due to
the influence of the residual flux an e.m.f is induced, under its
influence, current, flux and e.m.f. increases until 𝐸 = 𝐼 𝑅 + 𝑅 + 𝑅

Rheostatic braking is also possible by reconnecting the machine as

separately excited machine.
Counter Current Braking:
When Sw is changed to bottom position, the motor, running with speed
𝜔 and current 𝐼 , will change over to counter current braking mode.

The energy losses during starting of a series motor drive for the same
values of inertia and static load torque and the same limits of speed
change, may be greater, equal or less than those of a shunt wound
motor drive.

When the average current during a transient operating conditions,

turns out to be smaller than the motor rated current and the motor
torque is therefore less than the rated torque, the losses in the series
wound motor will be greater than the shunt wound motor due to
longer duration of transient process. If the average armature current is
higher than the rated current, because of shorter duration of transient
period, the series wound motor losses will be lower than the shunt
wound motor losses. If the average current in the transient process is
equal, the energy loss will be same.

For accurate calculation of the losses, it is necessary to plot current as

function of time.

Problems:

1. A 220V DC shunt motor has an armature resistance of 0.062 ohm and

with full field, has an emf of 215 V at a speed of 960 rpm. The motor is
driving an overhauling load withtorque of 172 Nm. Calculate the
minimum speed at which the motor can hold the load by means of
regenerative braking.
At the speed at which the load is balanced, the armature current is
given by
𝑁
𝑇𝜔 𝑇 2𝜋
𝐼 = = 60 = 2𝜋𝑇𝑁 = 2𝜋 × 172 × 960 80.42 𝐴
𝐸 𝐸 60𝐸 60 × 215

Emf induced during regenerative braking

𝐸 = 𝑉 + 𝐼 𝑅 = 220 + 80.42 × .062 = 225𝑉

×
Flux remaining constant 𝐸 ∝ 𝜔 ∴ 𝜔 = = 1004.65 𝑟𝑝𝑚

2. A DC series motor is subjected to rheostatic braking against a load

torque of 318.3 Nm. Determine the value of the resistance to be
connected in the motor circuit to limit the speed to 480 rpm. The total
resistance of the armature and the field is 0.24 ohm and the
magnetization curve corresponding to 900 rpm is given by:

If 20 40 60 80 100
Eb 261 540 738 882 945
Neglect rotational losses.
× × .
Input power at 𝑃 = = = 16000𝑊

Rotational losses are neglected so, P must correspond to E b.Ia . at 480

rpm we have :

If 20 40 60 80 100
Eb 139.2 288 393.6 870.4 504
EbIa 2784 11520 23616 37632 50400
From Eb.Iavs.Ia curve P=16000W corresponds to Ia=48 A and Eb = 333.3
V

Total resistance = = 6.94 𝑜ℎ𝑚 ∴ 𝑅 = 6.94 − 0.24 = 6.7 𝑜ℎ𝑚

3. A 220V 20 kW Dc shunt motor running at its rated speed of 1200

rpm, is to be braked by reverse current braking. The armature
resistance is 0.1 ohm and the rated efficiency is 88%. Calculate

1. The resistance to be connected to the armature, to limit the initial

braking current to be twice the rated current.
2. The initial braking torque
3. The torque when the speed of the motor falls to 400 rpm.

Rated current = 𝐼 = = 103.3 𝐴

. ×
×
Rated torque = 𝑇 = = 159.15 𝑁𝑚
×

𝐸 = 𝑉 − 𝐼 𝑅 = 220 − 103.3 × 0.1 = 209.67 𝑉

1. At the moment of braking the voltage across the armature = V + E b

= 220V + 209.67V = 429.67 V

Initial braking current 2Ia = 2x103.3 A = 206.6 A

.
Total resistance in the circuit = 𝑜ℎ𝑚 = 2.08 𝑜ℎ𝑚
.

External resistance = = 2.08 𝑜ℎ𝑚 − 0.1 𝑜ℎ𝑚 = 1.98 𝑜ℎ𝑚

2. Flux is constant, so T ∝ 𝐼

Initial braking torque = 2x159.15 nm = 318.3 Nm

.
3. Eb at 900 rpm = × 400 = 69.89 𝑉
.
Braking current at 400 rpm = = 139.37 𝐴
.
.
Braking torque = × 139.37 = 214.72 𝑁𝑚
.