dc Motor Drives

de drives are widely used in applications requiring adjustable speed, good speed regulation
and reversing. Some important applications are rolling milled
frequent starting, braking paper
mills, mine winders, hoists, machine tools, traction, printing presses, textile mills, excava
avators
and cranes. Fractional horsepower dc motors are widely used as servo motors for positioningand

tracking. that ac drives will replace dc drives, howeu

Although, since late sixtees, it is being predicted dc
ever,
drives because of lower eos
even today the variable speed
applications are dominated by cOst,
control.
reliability and simple

5.1 dc MOTORS AND THEIR PERFORMANCE

The commonly used de motors are shown in Fig. 5.1. In a separately explted motor, the field and
Ir'a shunt motor, field and
armature voltages can be controlled independent of each other.
a common source. In case of a series motor, field current is same as
armature are connected to
flux is function of armature current. In a cumulatively
current, and therefore, field
a
armature

A
a

A2 F
A (b) Shunt
(a) Separately excited

A
S S

A2
(C) Series (d) Cumulatively compound
Fig. 5.1 Commonly used de motors
 dc Motor Drives 6

the magneto-mot force of the series field is a function of armature current

c o m p o u n d motor.

direction as mmf of the shunt field.

the same.

nd is in
a n d

of armature
state equivalent circuit
The steady
de machine
of a
is shown in Fig. 5.2. Resistance

the resistance
of
the armature circuit. For
NNww,
R
R,is and shunt motors, it is equal
separately excited E = K,D
resistance of
armature winding and for
to the is the
motors it sumof
compound
series and resistances. Basic
armature
and field winding
to all dc motors are the
Fig. 5.2 Steady state equivalent circuit of
armature
equations applicable
E =KDn (5.1)
V=E+ R,la (5.2)
(5.3
T KD
the
flux pole, Webers; , the armature current, A; Vthe armature voltage V; R,
where i s the per
armature circuit, ohms; n the speed
of armature, rad/sec; T the torque developed
resistance of the
and Ke the motor constant.
by the motor, N-m; intdp
From Eq. (5.1) to (5.3)
Dn V
K,Ø
R
Ka
lenintizn -1; (6.4)
:n-) d
V R hao : *n-2)d (5.5)
K.(K.®)*
5.1.1 Shunt and Separately Excitd Motors
with a constant field current, the flux can be
In case of shunt and separately exited motors,
assumed to be constant. Let

K = K (constant) (5.6)

Then from Eqs. (5.1), (5.3) and (5.4) to (5.6)

T Kl (5.7)
E K@m (5.8)

v (5.9)

(5.10)
K2
he speed-torque and torque-current characteristics of a separately excited motor for rated
line.
Terminal voltage and full field are shown in Fig. 5.3. The speed-torque and fieldstraight
curve is a

voltage excitation.
ne no load speed wno is determined by the values of armature armature circuit resistance
peed decreases as torque increases and speed regulation depends on the
Eq.(5.10). The usual drop in speed from no load to full load, in case of a medium size motor,
 62 Fundamentals of Electrical Drives

Series
Rated Rated
operation operation

Separate
Separate

Compound Compound
Series

(a) Speed-torque curves (b) Torque-current curves

Fig. 5.3 Performance curves of dc motorss

is of the order of 5%. Separately excited motors are employed in applications requiring pood

speed regulation and adjustable speed.

5.1.2 Series Motor

In unsaturated region of magnetizatior
In series motors, theflúx is a function of armature current. Thus,
tion

can be assumed to be proportional .

to
characteristic, d
D= Kla (5.11)
and (5.5) gives
Substituting in Eqs. (5.3), (5.4)
(5.12)
T K,K{l
V Ra (5.13)
m KK,l K,Kf
V Ra (5.14)
KK VT K,K
the of and field winding resistances.
armature
where armature circuit resistance Ra is now sum

characteristics of a series motor at

rated terminal voltage
The speed-torque and torque-current
are suitable for applications
requiring high
and full field are shown in Fig. 5.3. Series motors
the armature curen
Since torque is proportional to
starung torque and heavy torque overloads. to that n a
increase in motor current is less compared
Squarea, for the same increase in torque,
armature current. Thus,
during neavy
Separately excited motor where torque is proportional to Or
O c overloads and starting, power overload on the source
and thermal overloading u
varies sely
Kept limited to reasonable values. According to Eq. (5.14),
as speed inverical
Orare
at light load. Generally, mecnam o t o r
as n e square root of torque, machine runs at a large speed rated series
m
de motor
permit it to operate upto about twice speed. Hence, the dropped
he in possibility of the load torque eing
d e used
to the extent that
those drives where there is a
the speed may exceed twice rated value.
 dc Motor Drives 63

ExAMPLE 5.1
A 200 V, 10.5 A, 2000 rpm shunt motor has the armature and field resistances of 0.5 and 400 2
respectively. It drives a load whose torque is constant at rated motor torque. Calculate motor
if the source voltage drops to 175 V.
speed
drln],
Solution
If flux at 200 V, is d then flux 175 V
at
n - | Ddpi )
x o, =0.875 o,
wsU},
Since the load torque is constant el
a22 a1 ant- api)
or 2 a 711.4 A
Vi -a1R 200 10.5 x 0.5 195 V
E = =
=

E =
V2 -Ia2R = 175 -

11.4 x 0.5 =169.3 V

Since E o oN

E N
E 2N
or
N E x$2
NE N =195 2000
0.875 2000 =1984.5pm
ExAMPLE 5.2
an armature current of 100 A
A 220 V dc series motor runs at 1000 rpm (clockwise) and takes
armature and field windings are
when driving a load with a constant torque. Resistances of the
and armature current if the motor
0.05 2 each. Find the magnitude and direction of motor speed
is reduced to 80%. Assume
terminal is reversed and the number of turns in field winding
voltage
linear magnetic circuit.

Solution
value of flux for the field (or
When the number of turns is reduced to 80% then the
same

armature) current will also be reduced to 80%.

T = Ke®l,1 = K;!

T2= K02la2 = K, 0.8/2

Since Ti T2
K1 = K 0.8/
 64 Fundamentals of Electrical Drives

a R= - 100 - 111.8 A
or

Armature current has

0.8 V0.8
a negative sign because the supply voltage has been reversed
E = 220 100(0.05 + 0.05) = 210 v

E [220 111.8(0.05 + 0.04)]

= -

= -

209.94 V
Since E KNoN
E =KNlaN

E = Ký O.8/,2 N2

or - 209.94

210 100x O00 1117.7

-1118 OR 1117.7rpm
* =
rpm
5.1.3 Compound Motor
Speed-torque and torque-current characteristics of
in
Fig. 5.3. The no load speed a cumulative
depends on the compound motor are also shown
on the
strength of series field. Cumulative strength of shunt field and slope of the
where droopinga
characteristic similar to thatcompound motors are used in characteristic
those
the no load
speed must be limited to a safe of a series motor is
required and
applications
used in intermittent value; typical at the same time
loads. In these
load examples
applications, where the load varies from are lifts and
winches. It is also
This apart fromapplications a fly-wheel may be mounted on almost no load to
very heavy
equalising load on the supply,
machine is a typical
the motor shaft
for load
The characteristicsexample of this type of
permits the use ofa smaller size equalisation.
known as natural
of Fig. 5.3, application.
which are obtained
motor. Pressing

speed. speed-torque characteristics. Rated at(orrated terminal voltage and

full load) full field are
speed is known as the base
5.1.4 Universal motor
The universal
motor can run both
and ac on dc
some
on differences in
construction; supply. Ittisis
In series
aC.
of the terminal
motor,
which
torque depends on the
are
mainly introduced essentially
to
a dc
series
ies motor, with
voltage product get
reverses both the
Or
armature currentsatisfactory
and field perforr
remains in the same
direction. Therefore, armature current and field flux.
ormance
unidirectional torque. Although the when fed ifrom an flux.
flux Reversal
its peak
value, its fluctuations are
uniform speed.
torque fluctuates
ates at a
ac

smoothened out by frequency of 100

source, the series
mot
to
torque
motor produces
Consequently,
A simple dc
series motor does not
motor
inertia and Hz between zero and the
occur in field operate well
poles and yoke reduce motor motor runss at a
flux produces
large induced efficiency and and Hysteresis
commutation. This causes currents in the coils that increase ther
thermal eddy current losses
dy
poor due to large
excessive sparking at the
inductance of field and
are
short loading. The losseses that
circuited
armature. Univer
Universalnutator.
by brushes ing alternatins
motorMotor
is power during
specially factor is very
constructed to
 Drives
68 Fundamentals of Electrical
When motor speed is controlled by armature voltage control (Secs. 5.6 to 5.201
e
which controls the speed can also be used for limiting motor current
during starting controller
such a controller, a variable resistance controller is used for safe
value. In absence of
shown in 5.5(a). As motor accelerates
Fig.
and back emf rises, one section of the rea ng as
out at a time, either manually or automatically with the help of contactors, such that h cut
maximum and minimum values (Fig. 5.5(b)).
is kept within specified

S S2 S3 S

Armature
Field

(a)
a min la max
(b)

Starting of a de shunt motor

Fig. 5.5

5.3 BRAKING
In braking, the motor works as a
explained in Sec. 3.1.
The need for electric braking
was

which opposes the motion. It is of three types: Regenerative

a negative torque
generator developing or r e v e r s e voltage braking.
rheostatic braking; and Plugging
braking; Dynamic or

5.3.1 Regenerative Braking For this to happen (Fig. 5.2),

to the source.
energy is supplied
In regenerative braking, generated
satisfied:
condition should be
following
E> V and negative I (5.15) Natural Ohno
Field flux cannot be increased substantially
beyond rated because of saturation. Therefore,
for a source
according to Eqs. (5.1) and (5.15),
of fixed voltage of rated value regenerative
Motoring
braking is possible only for speeds higher than Braking
rated and with a variable voltage source it is
also possible below rated speeds. The speed-
torque characteristics can be calculated from
Increasing V
Eqs. (5.1) to (5.5) and are shown in Fig. 5.6 for
a separately excited motor. In series motor as
T
speed increases, armature current, and therefore, o
flux decreases. Consequently, condition of Eq. ot
characteristics
(5.15) cannot be achieved. Thus regenerative Fig. 5.6 Regenerative braking
separately excited motor
braking is not possible.
 de Motor Drives 69

when the machine regenerates its terminal voltage rises. Consequently

In actual supply system and the source is relieved
into the loads connected to the supply
power flows
regenerated
the The regenerative braking is therefore possible
fram supplying
this much amount of power.
to the line and they are in need
of power more are equal
are loads connected
anly when there than the regenerated power,
the capacity of the loads is less
power. When
to the regenerated loads. The remaining power will be
power will not be absorbed by the
all the regenerated in line and the line voltage will rise to
capacitances)
capacitors (including stray
Hence, regenerative braking should only be
Supplied to
values leading to insulation breakdown.
dangerous
loads to absorb the regenerated power. Alternatively
an arrangement

used when there are enough as heat. Such a

excess power to a
resistance bank where it is dissipated
to divert the
is made is a combinationof regenerative braking and
braking is known
as composite braking because it the
is battery, the regenerated energy can be stored in
When the source a
dynamic braking.
battery.

ExAMPLE 5.3
resistance of 0.06 2. The
800 dc separately excited motor has an armature
A 220 V, 200 A, rpm 0.04 2.
an internal resistance of
motor armature is fed
from a variable voltage source with
variable voltage source when the motor is operating regenerative
in
Calculate internal voltage of the
braking 80% of the rated motor torque and 600 rpm.
at

Solution
to the armature current, motor armature
current when regenerating
Since torque is proportional
a2 = 0.8 x 200 r60 A

E = 220- 200 x 0.06 = 208 V

E E, x = 208 156 V
Internal voltage of the variable voltage source = 156- 160(0.06 + 0.04) = 140 V.

5.3.2 Dynamic Braking

In dynamic braking, motor atmature is disconnected from the source and connected across
a resistance Rg. The genertated energy is dissipated in Rß and R. For motoring connec-
tions of Figs. 5.1(a) and (c), the braking connections are shown in Fig. 5.7(a) and (b). Since
Series machine works as a self-excited generator, the field connection is reversed so that field

assiststhe residual 5.8(a) and (b) show speed-torque curves and transition
magnetism. Figures
motoring
V= 0. When
to braking. These characteristics are obtained from
Eqs. (5.10) and (5.14) tor
fast braking is
desired, Rg 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.

During braking, separately excited motor can be converted as a seft-excited generator. This
permits braking when fails.
even supply
 70 Fundamentals of Electrical Drives

A F

Rp
Rp

A2
Az F2
(b) Series motor
(a) Separately excited motor

Dynamic braking of dc
motors
Fig. 5.7

-
Motoring
KB1
Rg2 RBI RB2> Rg3 >0
Motoring
With few sec-
Rp3 tions of R

Braking Braking Motoring Stepless varia-

tion of RgB
T T
T
(c) Separately excited motor with
(b) Series motor
(a) Separately excited motor
variable armature resistance

Fig. 5.8 Dynamic braking speed-torque curves

ExAMPLE 5.4
under dynamic braking at twice the rated torque and
The series motor of Example 5.2 is operated circuit.
current and resistor. Assume linear magnetic
800 rpm. Calculate the value of braking

Solution
Since T=K T, =
K{l2
a2 al NT2/T =
100 V2 141.4 A
E =
Kla1N: E2 =
Ka2N2

E xxE = x (220- 100 x 0.1) =237.55 v

0.1) or 237.55 = 141.4 (Rg +0.1) or RB =
1.58 2
Now E =l2(Rg +

EXAMPLE 5.5 0
motor has the armature resistance of 0.04 2 and the field winding resistance or
S2. ac
A shuntis coupled to an overhauling load with a torque of 400 N-m. Following magnetisatto
Motor
curve was measured at 600 rpm:
 de Motor Drives 71

Field curent, A 2.5 5 7.5 10 12.5 15 17.5 20 22.5 25

25 50 73.5 90 102.5 110 I16 121 125 129
Backemf,V
self-excited dynamic braking with a braking resistance of 1 Q. At what
Motor is braked by
motor will hold the load?
speed

Solution is shown in Fig.

equivalent circuit when working under self-excited dynamic braking
Motor
E.5.5. R

, I B= = 11/, (E.1)
R
E (E.2)
K.0 m 600x 27/60 207
Fig. E.5.5
T K.ol (E.3)
obtained:
From magnetisation characteristics and Eqs. (E.1)-(E.3) following relationships are

25 22.5 20 17.5
2.053 1.99 1.926 1.846
Ko
T 564.6 492.4 423.7 355.4

From K0 and T vs Ir plots, for a braking torque of 400 N-m, l = 19.13 A and K^o = 1.898.

Now for I = 19.13 A.

= 1ll= 11 x 19.13 = 210.43

E=V+1R, =lR¢ +1R

= 19.13 x 10 +210.43 x 0.04 199.72 V

rpm =x 1.898
x=1005rpm
ExAMPLE 5.6
Calculate the value of Rp when motor of Example 5.5 is required to hold overhauling load at
1200 rpm.

Solution
ror a given , E « speed. Hence the magnetization characteristic at 1200 rpm will be:

, A 2.5 17.5 20 22.5 25

7.5 10 12.5 15
,V 50 100 147 180 205 220 232 242 250 258

Power deveoped P = Tx wm = 400 1200 X2T =160007 watts

60
Also
Pa=El or 1,=
 72 Fundamentals of Electrical Drives

Pa 16000 x 0.04 =E 2010.6

V=E -

1, R, =
E -

E
=
E
E E (E.4)
Also V= Rslt = 10/
(E.5)
From Eq. E.4), and E vs I relation at 1200 rpm (as given above). V vs I relation is obtained .
25 22.5 20
250.2 241.96 233.7
(E.6)
The value V must simultaneously satisfy this relationship and Eq. (E.5). The intersection of
v s curves based on Eq. (E.5) and relation (E.6) gives
V 250V and I= 25 A for which E =258 V

Now , = =258 250 =200 A

0.04

=25 A
IR =
Ia- k = 200 -

25 = 175 A

Rg = 1 7 1.429 2
ExAMPLE 5.7
The magnetisation characteristic of a dc series motor when running at 500 rpm is given by

50 60 70 80
Current, A 20 30 40
437 485 519 550
emf, V 215 310 381
connected for dynamic
Total resistance of the and field windings is 0.5 ohm. When
armature
maintained at 600 rpm.
load of 500 N-m, motor speed is to be
braking against an overhauling
the motor terminals?
What resistance must be connected a c r o s s

Solution

K.o= and T= Keola

eP m
characteristics:
From these relations and the data of the magnetization
80
60 70
a 20 30 40 50 10.505
9.913
7.277 8.347 9.264
Ko 4.1 5.92 693.9 840.4

T 82.1 177.63 291 417.3 555.8

30A
torque of 500
N-m, la =
*
hese KeD and T vs I relations are plotted in Fig. E.5.7. For a

Ko = 8.9. For a speed of 600 rpm

 dc Motor Drives 73

10

800
T
6
500 N-m
600 E

4 400

200

20 40 60 80 100
A
Fig. E.5.7

E =Ke oawm = 8.9 x x 27= 559.2 V

Now (R,+Rg) == = 9.986 and R =

9.986 -0.5 9.486 2

5.3.3 Plugging
For plugging, the supply voltage of a separately excited motor is reversed so that it assists the
back emf in forcing armature current in reverse direction (Fig. 5.9). A resistance Rg is also
connected in series with armature to limit the current. For plugging of a series motor armature
alone is reversed. Speed-torque curves can be calculated from Eqs. (5.10) and (5.14) by replacing
Vby Vand are shown in Fig. 5.10. A particular case of plugging for motor rotation in reverse
-

direction arises, when a motor connected for forward motoring, is driven by an active load in the
reverse direction. Here again back emf and applied voltage act in the same direction. However,
the direction of torque remains positive (Fig. 5.11). This type of situation arises in crane and
hoist applications and the braking is then called counter-1orque braking.

A F1 S
www
R

www
Re
Az Fa
(a) Separately excited (b) Series

Fig. 5.9 Plugging operation of dc motors

 Electrical Drives
74 Fundamentals of

Plugging
Motoring8

Plugging
Motoring

0
(a) Separately excited (b) Series
Fig. 5.10 Plugging speed-torque curves

Motoring Motoring

0 T 0 T

Plugging
Plugging
(a) Separately excited b) Series
Fig. 5.11 Counter-torque braking

even with one section of braking

Plugging gives fast braking due to high average torque,
resistance Rg. Since torque is not zero at zero speed,
when used for stopping a load, the supply
switches are employed to disconnect
must be disconnected when close to zero speed. Centrifugal
to the generated power, the power
the supply. Plugging is highly inefficient because in addition
supplied by the source is also wasted in resistances.

ExAMPLE 5.8 S2. It 3

armature resistance of 0.05
A 20 V, 970 rpm, 100 A de separately excited motor has an
braked by plugging from an initial speed of 1000 rpm. Calculate
full i0ad
circuit to limit braking current to twice the
(a) resistance to be placed in armature
value
b) braking torque, and
(c) torque when the speed has fallen to zero.

Solution
At 970 rpm E 220-0.05 x 100 215 V
 dc Motor Drives 75

At 1000 rpm
1000
E 910 215 221.65 V
For plugging
operation
(a)
Ra+ R,= E+V - 221.65+ 220 = 2.21 S2
200
R 2.21 0.05 1.16 ohms
-

T= Exa 221.65 X 200 423.3 - N-m

(b) m 1000x 27t/600
speed E = 0
(c) At zero

V
221 99.55 A
=

R+R
T= 423.3 x = 210.7 N-m
As T a 200

5.4 TRANSIENT ANALYSIS

and load changing are the transient operations

Starting, braking, reversing, speed changing
occur in an industrial drive. One
is interested in knowing how current, torque
which commonly is
with time when under these transient operations. One
and speed of the driving motor change
those responsible for heating of the motor,
also interested in knowing energy losses, particularly needed by the
the transient process. This information is
and time taken for the completion of and
of the motor, nature and type of its control equipment
designer for selecting suitable rating
its operation schedule, and types of protective devices and their settings.
are shown in Fig. 5.12. Source voltage
v motor
Dynamic equivalent circuits of de motors these
armature current i, and back emf e are denoted by
lower case letters to emphasize that 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.

Ra La iL R Ra La ia
wo000
KO= S,)
e = KDw
e= K,D0n
Load (J, B, TL) Load (,
Load B. TL)
(J. B, 7L)

(a) Separately excited de motor (b) Series motor

Fig. 5.12 Dynamic equivalent circuits of dc motors

Voltag equation of the mature circuit under transient is given by

di (5.16)
U =
Ri + L dt +K. d0m
rom the
dynamics of motor
load system
 Drives
Electrical

F u n d a m e n t a l s
of
76
dom = T - TL - Bom
(5.17)

Further T KDi (5.18)

excited
motor. In case of a separately motor
are valid
for any de
equations constant,
and (5.16) and (5.17) are linear
transient flux remains

The above maintained

constant,
saturation of the magnetic circuit flux s
current is due to
when field series motor,
and (5.17) are nonline
In c a s e of a therefore, (5.16)
differential equations.
the armature
current, and
neglecting saturation. (5 i
function of assumed linear by
circuit is
a
nonlinear
Even if magnetic proportional to
the product ofi, and
differential equations. due to e being
differential equations can only be solved
nonlinear motor these equations
and (5.17) are for a series
Thus,
proportioanl to i. corrector
method.
mand Tbeing method or predictor
4th order Rungekutta
using
numerically Armature Control
with
Excited Motor K in
Replacing Ke® by
Separately a constant
Analysis of
Transient remains constant.
5.4.1
constant, flux
When field
current is kept
to (5.18), yields
Eqs. (5.16) (5.19)
+L Ka0m
U
=Rai
(5.20)
dom Ki,-B@n-

Differentiating Eq. (5.20) gives

(5.21)

terms gives
and rearranging
Eq. (5.19) for di,ldt from (5.21)
Substituting in
(5.22)

1 Tml

Differentiating Eq. (5.19) gives

(5.23)

-- terms yieias
and rearranging the
Substituting in Eq. (5.20) for do,ldt from Eq. (5.23)
(5.24)

where
(5.25)
armature circuit time constant
 Drives
134 Fundamentals of Electrical

Braking Operation
features ol various braking methods of de motors.
5.0 State and explain the important excited de motlor has an armature resistance of Qo5 o..
5.10 A 230 V,
870 rpm, 100 A separately
overhauling load
witlh a torque of 400
N-m. Determine the speed at which motor can hold coupled
l0ad
by regenerative braking.
excited motor has an armature resistance of a
960 pm and 200 A
dc separately .02 . It is
S.1U A 230 V, from zero to rated motor torque. Field
load whose torque may vary flux
driving an overhauling which mot
the rated flux. Calculate speed range in which
field saturates at 1.2 times motor can
changed and
twice the rated motor current. hold
the load by regenerative
braking without exceeding
to hold the rated load torque by dynamic braking at 136e
Problem 5.11 is now requircd
5.12 Motor of Calculate the value of external resistance to be connected acroee rpm
5.13 without emf exceeding 230 V.
A 220 V, 100 A, de series motor has armature and field resistances of 0.04 and 0.06 O reeare ely
load as a separately excited generator at 1000 rpm gave following ren
it
on test on no
Running results:
25 50 5 100 125 150
Field current, A 175
66.5 124 158.5 181 198.5 211
Terminal voltage, V 221.5
Machine is connected for dynamic braking with a braking resistances of 1.5 2. Calculate motor Current
and torque for a speed of 800 rpm.
5.14 Calculate the speed when dc series motor of Example 5.13 is holding an overhauling load que of
1 2.
250 N-m with a bracking resistance of
characteristic for dynamic braking operation of dc series motor. Why tora
5.15 Draw the speed torque que
becomes zero at finite speed?
5.16 dc shunt motor of Example 5.5 is braked by self-excited dynamic braking.
Calculate braking torque for a speed of 1200 rpm and braking resistance Rg = 0.5 2.
5.17 A dc shunt motor has an amature resistance of O.2 S2 and field winding resistance of 120 2. Followine
Ing
magnetization characteristic was measured at 1000 pm:

Field current, A 0.2 0.3 0.4 0.5 0.75 1 1.5 2.0

Back emf, V 80 120 150 170 200 220 245 263

Motor is holding an overhauling load of 50 N-m by self-excited dynamic braking with a braking
resistance of 10 2. Calculate the motor speed.
5.18 Calculate value of Rg. when motor of Problem 5.17 is required to hold overhauling load at 900 pm.

Transient Operation
5.19 Dynamic braking is applied to bring a de separately excited motor to rest from its initial speed of
1600 rpm and a load torque which is proportional to speed and equal to 20% of the rated motor torquea
1500 rpm. Motor has following rating and parameters:
220 V, 1500 rpm, 50 A. R, = 0.5 , L, = 50 mH and J = 2 kg-m*
te
(a) Determine braking resistance, so as to limit armature current to twice the rated value, neglecting
effect of inductance.
(b) Derive expressions of motor speed and armature current including the effect of armatureinductun
with motor field flux at the rated value.
(C) Calculate time taken by the braking operation.
5.20 Solve Problem 5.19 for a constant load torque equal to 20% of rated motor torque.
5.21 Motor of Problem 5.19 is braked to stop by plugging from its initial speed of 1500 rpm and a loau o
which is proportional to speed and equal to 25% of rated motor torque at 1500 rpm.
cting
(a) Determine braking resistance so as to limit armature current to 3 times the rated value, nege
effect of inductance.
 386 Fundamentals of Electrical Drives

5.4 500 rpm, 244 A

5.5 723.95 rpm
5.6 500 pm, 112.5 A direction
89.44 A in the opposite
direction,
.9/1.8 pm in the
same

5.8 71.64 V. 13.33 A

5.10 920.64 rpm
5.11 825.96 N S 2022 rpm
5.12 0.916 2
N-m (approx.)
5.13 84 A (approx.), 134.36
5.14 710.6 rpm
5.16 988 N-m
5.17 794.45 rpm
5.18 12.7 2
5.19 (a) 1.58 S2; rad/sec,
167.562 e0413- 0.812 e*l3
(b) wn =

[e-0.413t-e-41.29311 A:
101.76
i -

(c) 7.25 sec

5.20 (a) 1.58 2
1.532e41.297- 16.759 rad/sec,
(b) =
185.84 e03757 10A
111.9 e03757- 101 e1.2971
i = -

(c) 6.44 sec

5.21 (a) 2.2667 2
309.31 e0.32941 1.71 e3.0o- 150.52 rad/sec,
(b) =

i- 139.6 e03295 + 151.5 e3.06 1 1.9 A

(c) 2.186 sec
5.22 (a) 2.2667 2
(b) = 307.56 eS48 - 150.476 rad/sec,
161.9 e0.328 11.9 A
i =

(c) 2.18 sec

5.24 Yes
5.25 (i) I: twice, wm: Same; (i) Ia: twice, on: half
(iii) I: half, n: half; (iv) 12: twice, :
same;

(v) : one-fourth, om: half

5.30 (i) 119.48 V, 149.6 A; (ii) 51.3%
5.32 66.7%
5.33 (a) 200 A, 100 A; (b) 800 A, 1600 A
5.34 (a) 772.8 V; (b) 196.3 rpm
5.35 (a) 1074.5 rpm; (b) 1592.2 rpm
5.36 (a) 68.270; (b) 123.2°
5.37 (a) 2439.52 rpm, 603 rpm, 14.7 N-m (approx.);
(b) 2112.6 rpm, -944.6 rpm, 14.3 N-m
5.38 (1) discontinuous, 27.5 N-m (approx.);
i) discontinuous, 3.729 N-m (approx.)
5.39 (a) continuous, 619 rpm; (b) discontinuous, 1963 rpm (approx.)
5.40 (a) a= 45°: 1515.9 785 14.1 N-m;
rpm, rpm,
a =
90°: 1515.9 rpm. 446 rpm, 13.37 N-m
a= 135°: 1072 rpm, 127.6 rpm, 5.04
5.41
N-m
(a) continuous, 383 rpm; (b) continuous, 79.95 rpm
.42 (a) continuous, 3547 N-m; (b) discontinuous, 61.2 N-m
5.43 (a) a, 40.3°,
= a 17.28°; (b) a, 16.61°, a 76.4 = = =
5.44 (a) armature
transformer: 1.5594, field transformer: 1.8,
(b): (i) 47°, (ii) 126.2°