Chapter 6: Speed Control of Conventional and Brushless Direct Current Motors

Chapter 6:
Speed Control of Conventional and Brushless Direct Current

Motors
Problem 6.1:
A 220V, 1500 rpm, 11.6A (armature current) separately excited motor is
controlled by a single-phase, full wave SCR converter. The armature resistance of
the motor is 2 Ω. The ac source voltage is 230 V (rms) 60 Hz. Enough filtering
inductance is added to ensure continuous conduction for any torque greater than
25% of the rated value. You may ignore the rotational losses. What should be the
value of the firing angle (triggering angle) to drive a mechanical load of rated
torque at 1000 rpm?
Solution:
I a = 11.6 A
Vt = 220 V
ω = 1500 rpm = 157.1 rad/sec
Ra = 2 Ω
Vt = Ea + I a Ra
Ea1 = 196.8 V
Ea1
kϕ = = 1.253 Vs
ω1
At rated torque and ω = 1000 rpm = 104.72 rad/sec , the current is continuous.
γ = π and from Eq. 6.23,
2Vmax
cos α = kφω + Ra I ave
π
2 2 220
cos α = 1.253*104.72 + 2 *11.6
π
α = 41.79 O
Problem 6.2:
A 600 V, dc shunt motor has armature and field resistances of l.5 Ω and 600 Ω,
respectively. When the motor runs unloaded, the line current is 3 A, and the speed
is 1000 rpm.
a. Calculate motor speed when the load draws an armature current of 30 A.
b. If the load is constant-torque type, what is the motor speed when 3 Ω resistance
is added to the armature circuit?
c. Calculate the motor speed if the field is reduced by 10%.
6-1
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Solution:
V
If = =1 A
Rf
At no load,
Ia = I L − I f = 3 −1= 2 A
ω = 1000 rpm = 104.72 rad/sec
Vt = Ea + I a Ra
Ea = 600 − 2*1.5 = 597 V
Ea
kϕ = = 5.7 Vs
ω
a. At Ia = 30 A
Ea = 600 − 30*1.5 = 555 V
Ea
ω= = 97.37 rad/sec = 928.9 rpm
kϕ
b. When a resistance is added to the armature circuit, the armature current is
unchanged
Vt = E a + I a ( Ra + Radd )
Ea = 600 − 30*(1.5 + 3) = 465 V
E
ω = a = 81.58 rad/sec = 779.02 rpm
kϕ
c. Field is reduced by 10%
kϕnew = 0.9*5.7 Vs = 5.13 Vs
Load is of constant torque type.
T kϕ I a I
Ia = = = a = 33.33 A
kϕnew (kϕ ) new 0.9
Ea = 600 − 33.33(1.5) = 550 V
E
ωnew = a = 107.21 rad/sec = 1023.8 rpm
kϕ
Problem 6.3:
A dc shunt motor drives a centrifugal pump at a speed of l000 rpm when the
terminal voltage and line currents are 200 V and 50 A, respectively. The armature
and field resistances are 0.1 Ω and 100 Ω, respectively.
a. Design a starting resistance for a maximum starting current of 120 A in the
armature circuit.
b. What resistance should be added to the armature circuit to reduce the speed to
800 rpm?
c. If the terminal voltage is reduced by 25%, what is the speed of the motor?
6-2
Solution:
Given:
Vt = 200 V
Ra = 0.1 Ω
R f = 100 Ω
At,
1000
ω = 2π = 104.72 rad/sec
60
I L = 50 A
But,
200
If = =2A
100
I a = 48 A
a. Starting resistance:
( Ra + R f ) I aSt = Vt
Rst = 1.567 Ω
b. The load is a centrifugal pump so that load torque (motor torque, neglecting
rotational losses) is,
Td = K1ω 2
where K1 is a constant. At ω1 = 1000 rpm,
Vt = 200 V
Ra = 0.1 Ω
R f = 100 Ω
But,
Ea = kϕω
⇒ kϕ = 1.864 Vs
∴T1000 rpm = kϕ I a = 89.47 Nm
2
 800 
∴T800 rpm = T1000 rpm .   = 57.26 Nm
 1000 
T
⇒ I a⋅800 rpm = = 30.72 A
kϕ
At 800 rpm, the armature circuit equation with an additional resistance Radd is,
Vt = Ea + ( Ra + Radd ) I a = kϕω800 rpm + I a ( Ra + Radd )
Radd = 1.33 Ω
6-3
c. If Vt is reduced by 25%, the field is also reduced by 25%:
Vt 2 = 0.75* 200 = 150 V
Kϕ2 = 0.75*1.864 = 1.398 Vs
Where T2 is the new torque and ω2 is the new speed to be found.
T =
kφ
Vt −
(kφ ) ω 2
Ra Ra
2
ω 
T2 = T1  2  = 0.00816 ω 22
 ω1 
kφ
T2 = 2 Vt 2 −
(kφ2 ) ω = 1.398 150 − (1.398) ω
2 2
2 2
Ra Ra 1 1
Solving this quadratic equation, we get,
ω1 = 80 rad/sec = 754.39 rpm
Problem 6.4:
A dc, separately excited motor has an armature resistance of 1 Ω. When a dc
supply of 100 V is applied to the motor, the armature current is 4 A and the motor
speed is 300 rpm. A half-wave SCR converter is designed to control the motor
speed. The supply voltage is 120 V (rms), and the triggering angle of the
converter is adjusted to 60o. When the motor is loaded with a constant-load torque
of 10 Nm, the conduction angle is 175o. Assume that the field current is constant.
a. Calculate the average speed of the motor.
b. If the triggering angle is 35o and the average speed is 300 rpm, what is the
conduction period of the motor?
c. A full-wave SCR converter is designed for the same motor. If the triggering
angle is 50o and the conduction period is l20o, what is the speed of the motor?
d. A sufficiently large inductance is added in series with the armature circuit of
the motor described in (c). Calculate the minimum triggering angle of the SCR in
order to run the motor at a speed of 100 rpm with continuous armature current.
Solution:
See Figure 5.3 for a separately excited motor.
When
Vt = 100 V
Ia = 4 A
n = 300 rpm; ω = 31.416 rad/sec
Ra = 1 Ω
6-4
Ea = Vt − I a Ra = 96 V
Ea = kϕω
⇒ kϕ = 3.056 Vs
With a half-wave converter,

T = 10 Nm
T
I ave = = 3.27 A
kϕ
α = 60°, γ = 175°
β = γ + α = 235°
Vmax = 120 2 V
a. Eq. 6.19 gives:
β −α 
( cos α − cos β ) = 
120 2
 kϕω + I aAve Ra
2π  2π 
ω = 17.31 rad/sec; n = 165.33 rpm
b. α = 35°, ω = 31.416 rad/sec

β −α
( cos(35°) − cos β ) =  
120 2
 (3.056)(31.416) + (3.27)(1)
2π  2π 
An iterative solution gives,
β = 200.5°
γ = 165.5°
c. With full-wave converter, the current is the same since the torque and field are
unchanged
α = 50°, γ = 120° ⇒ β = 170°
( cos(50°) − cos170 ) =   (3.056)ω + (3.27)(1)

120 2 120
2π  360 
ω = 41.56 rad/sec; n = 396.87 rpm
d. n = 1000 rpm; ω = 10.47 rad/sec
Ea = kϕω = 32 V
Ia remains the same
2 Vmax
cos α = Ea + I a Ra = 35.27 V (Using Eq. 6.23 for continuous conduction).
π
α = 70.95°
6-5
Problem 6.5:
A dc shunt motor is driving a constant-torque load at the rated speed and rated
terminal voltage. The motor has the following rated data:
Terminal voltage = 115 V
Speed = 312 rpm
Field constant (Kφ) = 3 Vs
If the terminal voltage of the motor is reduced by 10%, what is the motor speed?
Assume that the field voltage is also reduced by the same ratio.
Solution:
See Figure 5.8 for a dc shunt motor.
Rated conditions:
Vt = 115 V
2π
ω= 312 rpm = 32.6276 rad/sec
60
kϕ = 3 Vs
New conditions:
Vt1 = 0.9Vt = 103.5 V
(kϕ )1 = 0.9(kϕ ) = 2.7 Vs
The load torque is constant. Therefore, we have,
V I R
ω= t − a a (1)
kφ kφ
V I R
ω = t1 − a a (2)
(kφ )1 (kφ )1
From (1),
Td Ra = 50.496
Using this value in (2),
ω1 = 31.345 rad/sec = 299.32 rpm
Problem 6.6:
A dc, separately excited motor is connected to a fan-type load. The armature
circuit of the motor is connected to a full-wave, ac/dc SCR converter. The input
voltage to the converter is 200 V (rms). The triggering angle of the converter is
adjusted for a motor speed of 500 rpm. The armature current in this case is 16 A.
The armature resistance of the motor is 0.5 Ω , and the field constant (K φ ) is 2.5
Vs. Assume that the armature current is always continuous.
a. Calculate the triggering angle to run the motor at 500 rpm.
b. If the motor speed is to be reduces to 100 rpm, what is the triggering angle?
6-6
Solution:
See Figure 5.3 for a separately excited motor.

This separately excited DC motor has its field voltage and current constant. The
motor drives a fan-type load, hence
Td ∝ ω 2
For a full wave rectifier, the output is connected to the armature.
Let subscript 1 denote the first case:
ω1 = 500 rpm = 52.36 rad/sec
I a1 = 16 A
Ra = 0.5 Ω
kϕ = 2.5 V
Vsource = 200 V(rms)
a. Triggering Angle Calculation:
2Vmax
cos α = Ea1 + Ra I a1 = kϕω1 + I a1 Ave Ra = 138.89 V
π
α = 39.52°
b. Triggering Angle:
ω 2 = 100 rpm = 10.47 rad/sec
T2 ω22 1
= 2 =
T1 ω1 25
T1 = kϕ I a = 16* 2.5 = 40 Nm
T2 = 1.6 Nm
But,
T2 = kϕ I a 2
I a 2 = 0.64 A
VtAve 2 = kϕω2 + I a 2 Ave Ra = 26.5 V
 (26.5)(π ) 
∴α 2 = cos −1   = 81.32°
 (2)(200)( 2) 
6-7
Problem 6.7:
A 220 V, 1500 rpm, 11.6 A (armature current), separately excited motor is
controlled by a single-phase, full-wave SCR converter. The armature resistance of
the motor is 2 Ω. The ac source voltage is 230 V (rms) 60 Hz. Enough inductance
is added to ensure continuous conduction for any torque greater than 25% of rated
value. (Ignore the the rotational losses.)
a. Calculate the triggering angle for a speed of 1000 rpm at rated torque.
b. Assuming that the torque is a fan-type, calculate the triggering angle for a
motor speed of 900 rpm.
c. Sketch the speed-torque characteristics showing the operating points of cases
(a) and (b).
Solution:
a. Use Eq. 6.23 for continuous current. kφ is constant (separately excited).
Ea = Vt − Ra I a = 220 − 2 * 11.6 = 196.8 V
Ea 196.8
kϕ = = = 1.252 Vs
ω 2π
1500
60
2VMax cos α
= kφω + I rated Ra
π
∴α = 41.786°
b. For ω = 900 rpm ,
The load is of fan-type.
∴T1 = K1ω 2
Trated is at 1000 rpm (for Irated).
Therefore, I at 900 rpm will be
2
 900 
∴ I 900 rpm = I1000 rpm .   = 9.396 A
 1000 
Again using Eq. 6.23,
∴α = 48.62°
Refer to the speed-torque characteristics in Figure 6.21.
6-8
Problem 6.8:
A dc, separately excited motor is used to drive a constant-torque load. The field
circuit is excited by a full-wave, ac/dc SCR converter. The armature circuit of the
motor is connected to a constant dc voltage source of 160 V. The inductance of
the field circuit is large, and the field current is always continuous. The ac voltage
(input to the converter) is 120 V (rms), and the field resistance is 100 Ω. The
armature resistance is 2 Ω. When the triggering angle of the SCRs is adjusted to
zero, the motor speed is 1200 rpm, and the armature current is 10 A.
a. Calculate the average current and dc power of the field circuit when the
triggering angle is equal to 20o.
b. Calculate the rms voltage across the field windings for the condition given in
(a). Explain how the rms voltage is dependent on the triggering angle.
c. Calculate the no-load speed of the motor. Ignore the friction and windage
losses.
d. Calculate the triggering angle to operate the motor at a speed of 1400 rpm.
e. Can you use the field converter to reduce the motor speed to 1000 rpm? How?
Solution:
a. For α = 20°
2VMax cos α
= R f I f = 101.52 V
π
I f = 1.0152 A
dc power = ( I f )
2
R f = 103.07 W
b. Since the conduction is continuous, the rms field voltage = source field voltage
= 120o for all triggering angles. Thus, the rms voltage is independent of the
triggering angle.
c. Assume that the subscript 1 denotes the case when α = 0°, and subscript 2 is for
the case when α = 20°
First compute the field constant at α = 0°:
Ea1 = Vt − I a1 Ra = Kφ1ω1 = 140 V

Vt − I a1 Ra
140
Kφ1 = = = 1.114 Vs
ω1 2π
1200
60
The no-load current of the motor at α = 20° is zero. We need to compute Kφ2
6-9
2Vmax cos(α1 )
= Rf I f 1
π
2 2 × 120
= 100 × I f 1
π
I f 1 = 1.08 A
From part a, we have: I f 2 = 1.0152 A
Hence,
Kφ1 I f 1 1.114 × 1.0152
= ⇒ K φ2 = = 1.047 Vs
K φ2 I f 2 1.08
Vt = Ea = Kφ2ω0 = 160 V
160
ω0 = = 152.8 rad/sec
1.047
n0 = 1459.3 rpm
d. Find α for ω = 1400 rpm = 146.61 rad/sec
Use subscript 3 to denote this case. The torque is constant, therefore kφ 3 I a 3 is
constant. Now, let the angle to be found be α.
kϕ3 I a 3 = 11.14 Nm (1)
Also,
Vt = kφ 3 ω3 + I a 3 Ra (2)
Solving (1) and (2), yields,
kφ 3 = 0.9272 or 0.1638 of which the first number is feasible.
Hence I a 3 = 12.01 A ,
and
kϕ3 I f 3
=
kϕ1 I f 1
0.9272
I f 3 = 1.0152 = 0.84496 A
1.114
2VMax cos α 3
= I f 3 Rf
π
α 3 = 33.63°
e. We can only reduce the field current using the full-wave rectifier. The motor
speed for the given constant load is 1200 rpm at the minimum triggering angle
( α = 0° ), which corresponds to the maximum flux. Thus, the same converter
cannot be used to reduce the speed to 1000 rpm for the given load unless the
voltage applied to the converter is increased. (This will result in over fluxing of
the machine, so care should be taken to avoid saturation.)
6-10
Problem 6.9:
A dc, separately excited motor is driving a hoist. The motor has an armature
resistance of 1.5 Ω, and a field constant (Kφ) equals to 3.5 Vs. The terminals of
the armature circuit are connected directly across a 240 V, dc source. The field
circuit is connected to an ac/dc, full-wave, solid-state converter. The control
circuit of the converter is designed to maintain the speed of the motor constant.
At full load, when the field current is at its rated value, the motor speed is 600
rpm. One day while the motor was operating at full-load conditions, a failure in
the dc source caused the armature voltage to change suddenly. The control circuit
of the field converter acted rapidly to maintain the motor speed at 600 rpm. Due
to the action of the control circuit, the field flux was reduced by 25%. What was
the percentage change in the armature voltage? Indicate whether the change was a
voltage increase or decrease.
Solution:
V − (T / kϕ ) ra
ω= = constant
(kϕ )  V − 3.8 * .75 * 600 * 2π 

2
T2 = 3.5 * 0.75 *  60  = 1.75(V − 164.933)
 1 .5 
 
 
Equating w1 = w2 and using the above equation, we get a quadratic

equation in V2. Solving this gives us,
V2 = 164.932 V
Therefore, V2 is reduced by 31.28%.
Problem 6.10:
A dc, separately excited motor drives a constant-torque load.
a. If a resistance is added in series with the armature circuit, does the armature
current change? Explain why?
b. How does the speed changes in case (a)?
Solution:
a. Separately excited motor means that flux ( kφ ) remains constant. Now, since
the load is constant-torque, the armature current remains constant.
b. From the equation below, adding an Ra will reduce the speed.
V T (R + R )
ω = t − d a 2 add
kφ (kφ )
6-11
Problem 6.11:
A separately excited, dc motor has the following name plate ratings:
Terminal voltage = 400 V
Speed = 1250 rpm
Developed torque at full load = 90 Nm
Full-load armature current = 30 A
A single-phase, full-wave, ac/dc converter is connected between a 480 V (rms) ac
source and the armature terminals. A fan-type load is connected to the motor.
When the triggering angle is adjusted to 40o, the motor speed is 1050 rpm.
Calculate the triggering angle required to operate the motor at 1200 rpm. Assume
that the armature current is always continuous.
Solution:
Vt = 400 V
I aFL = 30 A
ωFL = 1250 rpm = 130.9C / sec
TdFL = 90 Nm
Td
∴ kϕ =
Ia
∴ EaFL = kϕω = 392.7 V
V − Ea
∴ Ra = t = 0.24 Ω
Ia
a. With a full-wave converter and continuous conduction
α1 = 40°,Vmax = 480 2 V, ω1 = 1050 rpm = 109.95 rad/sec
2VMax cos α
= Ea + I rated Ra
π
⇒ I a1 = 4.989 A
⇒ T1 = kϕ I a1 = 14.968 Nm
b. At ω2 = 1200 rpm = 125.66 rad/sec
T2 = kφI a 2
The load is fan-type,
⇒ T ∝ ω2
 ω2 
∴T2 =  22  T1 = 19.55 Nm
 ω1 
T
⇒ I a 2 = 2 = 6.5167 A
kϕ
Since the armature current is continuous, Eq. 6.23 can be used.
6-12
2VMax cos α
= Ea + I rated Ra
π
⇒ α 2 = 28.24°
Problem 6.12:
A robot manipulator with a dc, separately excited motor on the driving end has
ratings similar to these given in Problem 6.11. The motor is running at full load
and is used to drill holes in solid material. If the field current is decreased to 80%
of the rated value by using a solid-state converter in the field circuit, what is the
percentage change in its speed?
Solution:
Since the load is a drilling machine,
1
T∝
ω
∴ T2ω 2 = T1ω1
At full load and rated speed,
Vt = 400 V
Ra = 0.24 Ω
ω1 = 1250 rpm = 130.9C / sec
T1 = 90 Nm
(kϕ )1 = 3 Vs
When flux is reduced to 80% of the rated value:
(kϕ ) 2 = 2.4 Vs
11781
T2 =
ω2
T2 11781
⇒ I2 = =
kϕ2 2.4ω2
We also have,
Vt I R 400 11781 * 0.24
ω1 = − 2 a = −
(kφ ) 2 kφ 2 2 .4 2 .4 * 2 .4 * ω 2
Solving the quadratic equation and ignoring the very small value of speed,
ω2 = 164.67 rad/sec = 1562.91 rpm

∆ω
Therefore, the change in speed = = 25.03%
ω1
6-13
Problem 6.13:
A dc, separately excited motor has the following ratings:
Armature voltage = 200 V
Field Constant (Kφ) = 3 Vs
Armature resistance = 1 Ω
The motor is used in a drilling operation. When the armature voltage of the loaded
motor is 200 V, the motor speed is 500 rpm. Calculate the following:
a. Armature current when the motor speed is 500 rpm
b. Load torque when the motor speed is 500 rpm
c. Motor speed when the armature voltage is reduced by 10%
d. Armature current at the condition described in (c)
Solution:
Ra = 1 Ω
(kϕ ) rated = 3 Vs
Vtrated = 200 V (rms)
1
For a drilling operation, τ ∝
ω
For
ω1 = 500 rpm = 52.36 rad/sec
Vt1 = 200 V
a. Since
E = Vt − I a R a
⇒ I a = 42.92 A
b. Load torque:
T1 = kϕ I a = 128.76 Nm
c.
Vt 2 = 0.9*Vt1 = 180 V
T2 = 3I a 2
T2 I a 2 ω1
= =
T1 I a1 ω2
∴ I a 2ω 2 = I a1ω 1 = 2247.29 (1)
Vt 2 = E a 2 + Ra I a 2 = kφω 2 + I a 2 Ra
⇒ I a 2 + 3ω 2 = 180
Using (1) and (2), we get,
ω2 = 42.28 rad/sec = 403.78 rpm
d.
From above, Ia2 = 53.15 A
6-14
Problem 6.14:
A dc, separately excited motor has the following data:
Rated field voltage = 300 V
Field constant (Kφ) = 3 Vs
Armature resistance = 2 Ω
Field resistance = 150 Ω
The motor is used to drive an assembly line consisting of a conveyor belt moving
horizontally. The load on the belt varies depending on the amount of goods being
moved. The load torque seen by the motor varies from a maximum of 24 Nm to a
minimum of 3 Nm. At all loading conditions, the speed of the motor must be
maintained constant and equal to 200 rpm.
a. To achieve the required operation, the armature voltage of the motor is adjusted
by a single-phase, full-wave, ac/dc converter. The input to the converter is 240 V
(rms). Calculate the range of the triggering angle (minimum and maximum)
required to maintain the motor speed at the specified value at all loading
conditions. Assume that the armature current is always continuous.
b. Another method to achieve the desired operation is to adjust the field voltage.
In this case, the armature voltage can be kept constant at some value. Calculate
the range of the field voltage (minimum and maximum). Hints: Assume that the
maximum value of the field voltage is equal to its rated value (i.e., 300 V). Also
assume that the field constant (Kφ) is linearly proportional to the field voltage.
Solution:
V frated = 300 V
(kϕ ) rated = 3 V
ω = 200 rpm = 20.944C / sec
Ra = 2 Ω
Tmax = 24 Nm
Tmin = 3 Nm
Ta
a. Since current is continuous, use Eq. 6.23 with Ia substituted by .
kφ
2VMax cosα
∴ = kφω + I rated Ra (kφω = E a )
π
When T = Tmax ,α = α min and vice-versa.
∴α min = 68.6°
and
∴α max = 72.54°
Therefore, the range of triggering angle is from α min to α max .
6-15
b. Field Control:
When T = Tmax , kφ = (kφ ) rated = 3VS corresponding to Vs = 300 V.
Therefore, at this condition,
Tmax
VArmature = (kϕ )rated ω + Ra = 78.83 V
(kϕ ) rated
The armature voltage is kept constant at this value. When T = Tmin = 3 Nm and
kφ = (kφ ) min (say), then, using the same equation as above, we have,
T
VArmature = (kϕ )min ω + min Ra = 78.83 V
(kϕ ) min
Solving the resulting quadratic for (kφ ) min gives,
(kφ ) min = 0.0777
and the corresponding field voltage will be,
(kϕ )min
V f min = .V frated = 7.77 V
(kϕ ) rated
Although this is a valid solution mathematically, it is physically impossible since
the motor will not be able to operate at such a low flux level and will draw
excessive armature current. Ia in this case will be
T
I a = min = 38.57 A
(kϕ ) min
Problem 6.15:
A 1000 V, 50 hp, dc series motor is used as a hoist. The motor runs at a speed of
750 rpm at full load. The armature and field resistances are 0.5  and 2.0 ,
respectively.
a. Calculate the motor speed and line current when the load torque is reduced by
50%.
b. For the load condition in part (a), assume a resistance of 5  is added in series
with the field windings. Calculate the motor speed and line current.
Solution:
50* 746
T1 = Full load torque = = 474.92 Nm
ω1
T2 = 0.5T1 = 237.46 Nm
Vtave = 100 V
(kϕ ) = 3 Vs
T = 12 Nm
12
∴ Ia = =4A
3
6-16
Tmax
VArmature = (kϕ )rated ω + Ra = 78.83 V
(kϕ ) rated
Problem 6.16:
A dc series motor drives a fan-type load. At rated current, the motor speed is 600
rpm. If a resistance equal to 0.25 of the field resistance shunts the field winding,
what is the approximate motor speed?
Solution:
This problem is under specified; significant additional data is required to solve the
problem correctly. We can solve the problem by making some simplifying
assumptions. (Full credit is given in the grading for any reasonable work done.)
Let the current for the case where there is no resistance in parallel with the field
be Ia1 and let the new current be Ia2. Since the current is fan-type,
T2 ω 22
= (1)
T1 ω12
Eq. 6.35 gives
Vt Ra + AR R f
ω= − (6.35)
KcAR I a KcAR
Vt Ra + R f
ω1 = − (2)
KCI a1 KC
Vt R a + 0 .2 R f
ω2 = − (3)
( KC )(0.2)( I a 2 ) (0.2) KC
This is so
Radd Rf / 4
∵ AR = = = 0 .2
R f + Radd R f + R f / 4
If we neglect the second term in (2) and (3) (this is the simplifying assumption
required to solve the problem), we get,
0 .2 I a 2 ω 1
= (4)
I a1 ω2
Also from (1), we get,
T2 KCI a 2 I f 2 ω 22
= = 2
T1 KCI 12 ω1
But If2 = 0.2Ia2 (= ARIa2).
0.2 I 2 a 2 ω 22
= 2 (5)
I 2 a1 ω1
6-17
Using (4) and (5),
Ia1 = 0.299Ia2
0.2 I a 2 ω1 1
∴ = =
I a1 ω2 1.495
⇒ ω2 = 897.21 rpm
Problem 6.17:
A dc series motor runs a constant-torque load. The terminal voltage of the motor
is 200 V, the speed is 500 rpm, the armature current is 25 A, the armature
resistance is 0.2 Ω, and the field resistance is 0.6 Ω. If the armature is shunted by
a 10 Ω resistance, what is the speed of the motor?
Solution:
V
I= = 25 A ⇒ c = 0.1375 Vs = 0.0144 V/rpm
Ra + Rf + cω
Now, after the shunt resistance is added.
Ia 10
=
If 0.2 + cω
V = ( I a + I sh ).r f + I sh .rsh
Using the equations above, and the fact that
T2 = kϕω = constant = T1 = 180 Nm
we get,
Ia = 11.33 A
N = 1103.26 rad/sec
Problem 6.18:
A dc, separately excited motor has an armature resistance of 1 Ω and an inductive
reactance of 2 Ω. The motor is powered by an ac/dc converter. The average torque
of the motor is 12 Nm. The field constant Kφ is 3 Vs, and the average terminal
voltage is 100 V. Calculate the motor speed.
6-18
Solution:
Vtave = 100 V
(kϕ ) = 3 Vs
T = 12 Nm
12
∴ Ia = =4A
3
VtAve = kϕω + I a Ra
⇒ ω = 32 rad/sec = 305.6 rpm
Problem 6.19:
Explain the basic methods for the speed control of a dc shunt motor. Use circuit
diagrams and motor characteristics in your answer. Comment on the following
issues:
a. Suitability of the method for speed increase or speed reduction relative to the
no-load speed.
b. Effect of the method on the overall efficiency of the system.
Solution:
Technique Suitability for speed regulation Efficiency
Armature a. Varying Armature Voltage Suitable for speeds below no- Efficient
Control load speed
b. Varying External Armature Suitable for speeds below no- Low Efficiency
Resistance load speed
Field Control c. Varying Field Voltage Suitable for speeds above no- Efficient
load speed
d. Varying External Field Suitable for speeds above no- Better than b, worse
Resistance load speed than c and d
Problem 6.20:
A dc, separately excited motor is used to hoist a constant-weight load. The motor
is driven by a full-wave, ac/dc converter. The voltage on the ac side is 110 V
(rms). The field constant of the motor Kφ is 3 Vs, and the armature resistance is 1
Ω. The armature current is continuous under loaded conditions. When the
triggering angle is 30o, the motor speed is 60 rpm. Calculate the following:
a. Load torque
b. Load power
c. Armature current when the triggering angle is adjusted to 45°
d. Motor speed when the triggering angle is reduced to 30° and the field current
is reduced by 10%
6-19
Solution:
2Vmax
Vavg = cos α = 85.77 V
π
85.77 − 2π *3
⇒ Ia = = 66.92 A
1
a. TLoad = 3*66.92 = 200.75 Nm.
b. P = T.w = 1261.36 Nm
c. Since torque is constant, Ia still remains 66.92 A
d. If2 = 0.9If1 and V2 = 97.53 V
V − I a Ra
ω= = 11.337 rad/s = 108.26 rpm
(kϕ ) 2
Problem 6.21:
A dc, separately excited motor is driving a load torque composed of two
components as given in the equation.
T = 25 + 0.1 ω 2
The armature circuit of the motor is connected to a full-wave, ac/dc SCR
converter. The input voltage to the converter is 300 V (rms). The armature
resistance of the motor is 0.5 Ω, and the field constant (Kφ) is 2.5 Vs. Assume
that the armature current is always continuous. Calculate the range of the
triggering angle to operate the motor at a speed range of 0 to 600 rpm.
Solution:
Ra = 0.5 Ω
kϕ = 2.5 Vs
Vs = 300 V
T = 25 + 0.1*w2
a. At zero speed, T = 25 = kφ Ia
Ia = 10 A
2VMax cos α
= kφω + I a Ra
π
=> α = 88.94°
b. Max speed = 600 rpm = 62.83 rad/sec.

T = 419.8 Nm
Ia = 167.9 A
Similarly, α = 26.83°
6-20
Problem 6.22:
A dc, separately excited motor is driven by a full-wave, ac/dc SCR converter. The
voltage on the ac side is 240 V (rms). The armature resistance of the motor is 5 Ω.
The armature current is continuous when a full-load torque of 400 Nm is applied.
The motor speed under full-load torque is 100 rad/s, the motor efficiency is 95%,
and the rotational losses are 105 W. Ignore the field losses. Calculate the
following:
a. Output power of the motor
b. rms voltage across the motor terminals
c. Input power to the motor
d. Losses in the armature resistance
e. rms armature current
Solution:
a. Poutput = T.w = 40 kW
b.
T = kϕ I a = 400 Nm
40000
Efficiency = = 0.95 ⇒ I a = 20 V
40000 + 105 + I a2 * Ra
⇒ kϕ = 20 Vs
∴V = 20*100 + 20*5 = 2100 V
Use :
2Vmax
Vavg = cos α = 2100 V
π
cos α = 9.719
Assume ac voltage is 2400 V.
cos α = 0.9719 and α = 13.62°
Now, this is more realistic.
β
1 Vmax 2  sin α − sin β 
Vrms = ∫ V dθ =  β −α +  = 2620.5 V
2
π α
2π  2 
c.
Now,
Pinput = 105 + 40000 + 20* 20*5 = 42.105 kW
6-21
d. Loss in armature resistance = I2R = 2 kW
e. Ia = 20A
Problem 6.23:
A dc series motor is driving a fan-type load. The armature and field resistances of
the motor are 2 Ω and 3 Ω, respectively. When the terminal voltage of the motor
is 200 V, the motor speed is 250 rpm and the armature current is 10 A. Assume
that the motor operates at the linear region of the field-current characteristic.
Calculate the terminal voltage needed to reduce the motor speed to 100 rpm. Also
sketch the speed-torque characteristics and show all operating conditions.
Solution:
a.
V = I a ( Ra + R f ) + k1 I a ω ⇒ k1 = 0.06
T = k1 I a2
2 2
T 1  n1   I1 
=  =   ⇒ I2=4 A
T 2  n2   I2 
∴V = 44 V
b.
For torque-speed characteristics of this motor, plot Eq, 5.22 for the
parameters of this problem.
Problem 6.24:
A dc, separately excited motor drives a conveyor belt (constant torque). The
terminal voltage of the motor is 120 V. When the conveyor belt is fully loaded,
the armature current of the motor is 15 A and the speed of the motor is 180 rpm.
The armature resistance of the motor is 2 Ω.
a. Calculate the steady-state speed of the motor if the field voltage is reversed.
b. Calculate the motor speed if after the field voltage is reversed, the field voltage
is reduced by 10%.
c. Sketch the speed-torque characteristics and show all operating points.
Hint: Assume that the field MMF is linearly proportional to the field voltage.
Solution:
Torque is constant If*Ia = constant.
6-22
a.
V − I a ra
(kϕ ) = = 0.5 V/rpm
ω
Since the torque is in the same direction but the field current direction has
reversed, the armature current also reverses. The speed is then:
N = (15*2 + 120)/(0.5) = 300 rpm.

b.
Since
If*Ia = constant
Ia2 = Ia1/0.9 = 16.667 A
N = 340.74 rpm
c.
Plot Eq. 5.9 to get the speed torque characteristics.
Problem 6.25:
A 300 V, dc separately excited motor drives a conveyor belt (constant torque).
The armature resistance of the motor is 1 Ω. When the conveyor belt is loaded at
150 Nm, the motor speed is 800 rpm. The field constant Kφ of the motor is
always greater than 2 Vs. The motor is controlled by a full-wave, ac/dc converter,
where the voltage on the ac side is 480 V (rms). At 150 Nm, the triggering angle
is adjusted so that the speed of the motor is 400 rpm. The armature current of the
motor is continuous. Calculate the triggering angle and the average terminal
voltage of the motor.
Solution:
Assume that subscript 1 denotes the case when n = 800 rpm, and subscript 2
denotes the case when n = 400 rpm.
AC Source: Vrms = 480 V

I ave = 50.336 A
Kϕ > 2 Vs
n1 = 800 rpm ⇒ ω1 = 83.775 rad/sec
n2 = 400 rpm ⇒ ω2 = 41.888 rad/sec
Then,
Td 150 N ⋅ m
I ave = =
Kϕ Kϕ
Kϕ = 2.98 Vs
6-23
Because the motor is controlled by adjusting the triggering angle and it is a
separately excited motor drives, KФ is a constant.
Because the current is continuous, we can use Eq. 6.23:

2V
Vt = max cos(α ) = Ea + Ra I a
π
2Vmax Td
Vt = cos(α1 ) = Kϕω1 + Ra ( )
π Kϕ
150
Vt = (2.98) ⋅ (83.775) + (1) ⋅ ( )
2.98
(2) ⋅ (678.82)
Vt = cos(α1 ) = 300 V
π
α1 = 46.036°
and
2Vmax Td
Vt 2 = cos(α 2 ) = Kϕω2 + Ra ( )
π Kϕ
2 ⋅ 2 ⋅ 678.82 150
Vt 2 = cos(α 2 ) = (2.98) ⋅ (41.888) + (1) ⋅ ( )
π 2.98
α 2 = 73.345°
Vt 2 = 175.16 V
300 + 175.16
Vt − average = = 237.58 V
2
Problem 6.26:
A dc, separately excited motor drives a conveyor belt (constant torque). The
terminal voltage of the motor is controlled by a full-wave, ac/dc converter. When
the conveyor belt is fully loaded, the triggering angle is adjusted so that the
average armature voltage is 150 V, the average armature current is 15 A, and the
speed of the motor is 400 rpm. The armature resistance of the motor is 1 Ω. The
armature current of the motor is continuous. Calculate the following:
a. Load torque
b. Triggering angle if the voltage on the ac side is 240 V (rms)
c. Steady-state speed of the motor if the triggering angle is changed to 60°
Solution:
V − I a ra
(kϕ ) = = 0.3375 V/rpm = 3.223 Vs
ω
a. T = 3.223*15 = 48.343 Nm.
6-24
b. If Vac = 240 V,
2Vmax
Vavg = cos α ⇒ α = 46.04°
π
c. If firing angle is 60o, Vdc = 108.04 V

n = 275.67 rpm.
Problem 6.27:
A BLDC motor draws an armature current of 20 A when the torque is 50 Nm. The
motor is driven from a dc source of 200 V. The armature resistance of the motor
is 0.5 V. Compute the speed of the motor at a modulation factor of 100%.
Solution:
Problem 6.28:
For the motor in the previous problem, compute the armature current and the
speed of the motor if the torque is increased to 70 Nm and the modulation factor
is still 100%.
Solution:
Problem 6.29:
For the motor in the previous problem, compute the modulation factor that drives
the motor at 10 rad/s.
6-25
Solution:
6-26

Chapter 6: Speed Control of Conventional and Brushless Direct Current Motors

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Chapter 6: Speed Control of Conventional and Brushless Direct Current Motors

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Chapter 6:

Speed Control of Conventional and Brushless Direct Current

See Figure 5.3 for a separately excited motor.

With a half-wave converter,

b. α = 35°, ω = 31.416 rad/sec

( cos(50°) − cos170 ) =   (3.056)ω + (3.27)(1)

See Figure 5.8 for a dc shunt motor.

See Figure 5.3 for a separately excited motor.

Ea1 = Vt − I a1 Ra = Kφ1ω1 = 140 V

Equating w1 = w2 and using the above equation, we get a quadratic

Therefore, V2 is reduced by 31.28%.

ω2 = 164.67 rad/sec = 1562.91 rpm

Now, after the shunt resistance is added.

Using the equations above, and the fact that

T2 = kϕω = constant = T1 = 180 Nm

Technique Suitability for speed regulation Efficiency

b. Max speed = 600 rpm = 62.83 rad/sec.

Torque is constant If*Ia = constant.

N = (15*2 + 120)/(0.5) = 300 rpm.

AC Source: Vrms = 480 V

Because the current is continuous, we can use Eq. 6.23:

a. T = 3.223*15 = 48.343 Nm.

c. If firing angle is 60o, Vdc = 108.04 V

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