Unit Seven

Starting, Braking and Reversing of AC Motors Methods

The process of starting, stopping and reversing the direction of rotation is

carried out by two methods, the manual method and the automatic method, as
previously explained.

AC Motors Starting Methods

There are two modes of starting:

1- Direct starting: where motor stator windings are connected directly with the
source without intermediary means. This method is used in drives of low power
motors. And when the source power is too large in relation to the motor's power
(Unlimited Power Supply).

2- Indirect starting: where motor stator windings are connected with the source
by intermediate means, in order to reduce the starting currents. This method is
used in medium and high capacity motors, where the starting current is high,
and when the source power is close to the power of the motor (Limited Power
Supply).

The indirect starting is carried out in two ways: -

A - The effect on the stator circuit in all types of AC motors, Stator side methods.
B- The effect on the rotor side methods only in induction motors with slip rings,
and we will explain each of these methods in detail in the following.
A - Indirect starting by affecting the stator circuit.
This process takes place in several ways, namely: -
1- Starting by adding resistance in series with stator circuit as shown in Figure
(7-1), and in this case the voltage of the stator decreases due to the voltage drop
on the resistance, which leads to a reduction of starting current.

V1n , f1n

R1add

V1 , f1n

Figure (7-1) Ac motor starting by adding resistance

1
Among the disadvantages of this method is the presence of large electrical
(thermal) losses on the resistance, but what is justified to work in this way is that
working on it is for a short period, as well as ease of use and low costs.

2- Starting by adding inductance in series with the stator windings

Figure (7-2) shows the motor circuit with inductance added in series with the
stator, and this inductance is supposed to be pure, meaning that the value of the
resistance is very small (it may reach zero). The goal of using inductance is to
reduce the speed of current increase (delay Current increase during starting).

V1n , f1n
R S T

X 1add

V1 , f1n

Figure (7-2) Ac motor starting by adding resistance

From the following equations: -

R2
S cr 2
R 12 X1 X 2/

3V12PH
Tmax
2
2 R1 R 12 X1 X 2/

We find that adding resistance or inductance in the stator circuit reduces the
values of critical slip and maximum torque. Figure (7-3) shows the starting static
characteristics of an asynchronous motor when adding resistance or inductance
in series with the stator.

Due to the property of the inductance the starting current is less than in the case
of resistance. Thus, the starting torque in the case of the coil is less than the
starting torque in the case of the resistance because it depends on the value of the
current.

2
 X 1add 0
R1add 0
N /C
S cr 2 Scr1
Scr

0 TS .c 2 TS .c1 TS .c T

Figure (7-3) Static starting characteristics of asynchronous motor

Calculation of the added resistance and inductance in series with the stator
windings

The added resistance and inductance are calculated from the starting current
value required to be obtained when starting the motor, i.e. how many times we
wish to reduce the starting current.

The total impedance of the short circuit on natural characteristic:

V1ph
Z S.C N / C
I S .C N / C

Where :

I S .C N / C : Starting current on the natural characteristic.

The total impedance of the short circuit on starting characteristic:

V1ph
Z S .C 1 Where :
I S .C 1

I S .C 1 : Starting current when adding resistance or inductance.

By dividing the two relationships together, we obtain the starting current

reduction factor:

Z S .C N/C I S .C 1
1
Z S .C 1 I S .C N/C

3
The total impedance is equal to:

Z S .C 1 R S2 .C 1 X S2 .C 1

We find the short circuit total resistance:

RS .C 1 Z S2.C 1 X S2.C 1

By substituting natural characteristic values, we find that: -

2
Z S .C N/C
R S .C N/C R 1add XS2 .C N/C

X S .C ( 1 ) X S.C( N / C) . Because no inductance was added in this case.

Then the value of the added physical resistance is equal to: -

2
Z S .C N/C
R 1add X S2 .C N/C R S .C N/C

In the same way, we find the value of added inductance:

2
Z S .C N/C
X1add R S2 .C( N / C ) X S .C N/C

Asynchronous Motor Stator Phase Voltage Variation with Fixed Frequency

with V1 Var , f1 f1n >
A) The process of reducing the stator voltage is performed by using an AC
voltage controller, and it will be explained later.
B) Using an Auto Transformer
Figure (7-4-A) shows the circuit of a squirrel cage induction motor fed from an
autotransformer.
Where the autotransformer is considered to be a variable voltage source and
constant frequency.
Figure (7-4-B) shows the mechanical characteristics at different stator voltage
values.

4
 V1n , f1n
S R T

V1 , f in
V max Vmin

A) Stator voltage variation using an autotransformer

V12 V11 V1n

V1n
V11
Scr V12

0 TS .c 2 TS.c1 T
S .c
T
B) Mechanical characteristics at different stator voltages

Figure (7-4) Asynchronous Motor starting using an Autotransformer

C) Asynchronous Motor Starting by Star/ Delta Stator Windings Connection

The motor is started on the star-connected stator windings characteristic where

the stator phase voltage is equal to (230V) and then the stator windings are
connected in delta configuration where the stator phase voltage becomes equal to
(400V), as shown in Figure (7-5-A). Starting current reduced in 3 times.

Figure (7-5-B) shows the mechanical characteristics of star/delta starting

method.

5
 Vn , f1n Vn , f1n

A) Star/Delta stator windings connection

Scr

0
TS .c1 TS .c T

B) Mechanical characteristics

Figure (7-5) Star/Delta Starting method

Slip Ring Asynchronous Motor Indirect Starting by Adding Resistance in

Series with Rotor Windings

The most widely used method for starting a slip ring asynchronous motor is
adding starting rheostat in series with the rotor windings through the slip rings
as shown in Figure (7-6-A).
Figure (7-6-B) shows the mechanical characteristics of slip ring motor starting
by adding starting rheostat with rotor windings.
V1n , f1n

R2 add

A) The slip ring motor circuit

6
 R2add 0

Scr
R2add 0

0 TS .c T

B) Mechanical properties

Figure (7-6) Mechanical characteristics of slip ring motor

AC motors Reversing

The direction of rotation is reversed in induction motors, either manually or

automatically, where two phases are reversed, one in place of the other, as shown
in Figure (7-7-A), and Figure (7-7-B) shows the mechanical characteristics in the
case of reversing the direction of rotation.

A V1n , f1n V1n , f1n

(FW) R S T
R S T

B T
T
L
0 TL

(BW)

A) Two-phase reversal of the stator windings B) Mechanical characteristics

Figure (7-7) Reversing of Asynchronous Motor

AC Motors Braking

1) Mechanical Braking

The stator windings are disconnected from the source and then the mechanical
brake is inserted. The static braking characteristic in this case is the load
characteristic, meaning that the braking is under the influence of the load as the
speed will decrease and eventually reach a value of zero, as shown in Figure (7-
8).

7
The kinetic energy stored in the rotating parts is eliminated as frictional energy.
The value of kinetic energy is: -

2
L
Wk
2

L L A

‫مع بريك‬ 0
t TL T
tstop2
‫بدون بريك‬ tstop1

B) Dynamic characteristics A) Static characteristic

Figure (7-8) Mechanical braking characteristics

The braking time is calculated based on the motion equation:

d
T TL J
dt
t stopping J
T TL
When the mechanical brake is not used:
T 0, L
Braking time without brake:
L
t stopping J
TL
Braking time with the brake:

t stopping J L
TBr TL

Where :
TB : Mechanical brake torque
Note that the mechanical stopping time with the brake is less than without the
brake.

8
AC Motors Electrical Braking Methods

The electromagnetic braking torque is generated in the motor in several ways: -

A- Reversing mode or Plugging braking:

where two phases of the stator are reversed, so the motor reverses the direction
of its rotation, and tends to work on a motor characteristic in the third quadrant
through the second quadrant, and when the speed reaches zero in point (B),
stator windings are disconnected.

Part A-B represents the plugging braking , as shown in Figure (7-7). The
stopping in this case is faster than the mechanical one, as the motor torque
changes and becomes negative, and the stopping time is:

L L
t stopping J J
T TL T TL

Notice that the denominator increases and this means that the t stoppin g value
decreases, meaning the plugging braking is faster.

B- Regenerative Braking:

This type of stopping can be illustrated when using a two-speed induction motor
where the motor has two windings:

-1 High speed windings (HS) .

2- Low speed windings (LS).

The motor always starts "on the high speed windings and continues to work at
point (A) where A , T TL . When switching to work on the low speed
windings , the motor goes from point (A) to point (C) through point (B) that is on
the second quadrant, as shown in Figure (7-9), the transition from (A) to (C)
takes place in a dynamic state, and the transition from (A) to (B) we consider it
instantaneous by neglecting the electromagnetic time constant E 0 .
The difference in kinetic energy between points (A) and (C) is equal to:
2 2
A C
WK
2

The difference in kinetic energy is regenerated to the grid in this braking type.

9
 HS
B A A

B/
C
C LS

0 TL T

Figure (7-9) Regenerative braking torque-speed characteristic

C- Dynamic braking

The dynamic braking is accomplished by disconnecting the stator windings from

the source and connecting the direct current source with two phases as shown in
Figure (7-10). This is done either manually or automatically, as the resistance
R stop is a variable resistance and controls the amount of current passing
through the dynamic braking circuit.

V1n , f1n
R S T

+
V_ S

R stop

Figure (7-10) Dynamic braking circuit of a squirrel cage three-phase motor

The physical explanation for the dynamic braking process is: When the stator
windings are disconnected from the alternating current source while the motor is
rotating and connected with the direct current source, a static magnetic flux is
generated in the stator windings. And since the rotor was in a state of rotation,
this generated flux formed a magnetic field induced in the rotor windings an
electric impulse that in turn causes the flow of a current into the rotor.

10
As a result of the mutual influence between the rotor current and the magnetic
field of the motor, an electromagnetic stopping torque is formed that stops the
electric motor.

The motor in this case operates in a generator state, where the kinetic energy of
the rotor parts is converted into electrical energy that is consumed in the form of
thermal energy in the rotor windings.

Figure (7-11) shows the possible methods for connecting the stator windings
with a direct current source.

+
+ +
IS IS IS
1 2 3

_ _
_

+ +
IS
IS
4 5
_ _

Figure (7-11) Methods for connecting the stator windings with direct current

Principle of operation of Dynamic Braking

The dc current IS passing through the windings leads to the formation of a

magnetic motive force proportional to the value of the dc current IS , as
shown in Figure (7-12).

The magnetic motive force resulting from the coil (A) is equal to:
FA Is W A
The magnetic momentum resulting from the coil (B) is equal to:
F B Is W B
Since the motor is equivalent in phase, that is, the number of its windings is
equal for each phase, then:
WB WA W
FA FB Is W F

11
 +

FA IS VS
_
FA
F

FB FB

Figure (7-12) Dynamic braking method for connecting the stator windings

Resultant of the magnetic motive force:

F 3 F_ 3 IS W

whereas:

W: number of turns in each winding.

F : The resultant of the magnetic motive force, noting that the phase angle
(shift) between the windings is 120 .

When the motor is disconnected from the alternating current source, the
frequency f 1 0 , as well as 0 . The slip value S , because the
slip is equal to:

S (1 )

In order to study the dynamic braking state, we tend to use the per-phase
equivalent of the motor as shown in Figure (7-13), which is fed from an
alternating current source, which has equivalent (RMS) current and its internal
resistance is very large ,so R1 0 , X1 0 . In the case of dynamic braking we
consider the slip value (S) as follows:

r
S

Where :
r : The rotor angular speed
: Stator field rotational speed

12
 x 2\

I eq Im
xm r2\
‫مصدر تيار‬
‫متردد‬ S

Figure (7-13) Dynamic braking per-phase equivalent circuit fed from ac source

To derive the mathematical relationships of the mechanical characteristics in the

case of dynamic braking, the following condition must be fulfilled:
That is, the magnetic motive force FAC resulting from the alternating current
in the equivalent circuit must equal the sum of the magnetic motive force FDC
resulting from direct current in the windings of the stator.
FAC FDC

From this relationship a Per-phase equivalent circuit current I e q is defined.

In general, in asynchronous motors the value of the instantaneous magnetic

motive force is:

3
FAC FmaxSin( t )
2
Where :

Fmax : The maximum value of the magnetic motive force resulting from the
equivalent current Ie q .

Therefore:

3 3 3
Fm ax ( 2I e q W ) I e qW FAC
2 2 2

In the case of connecting two phases of the stator in series, the magnetic motive
force resulting from the direct current IS is equal to:

FDC 3I S W

13
To fulfill the condition: FAC FDC

3
I e qW 3 IS W
2

Equivalent value of alternating current is:

2
Ie q IS 0.82 I S
3

In the same way, it is possible to calculate I e q for different configurations of

stator windings connection with direct current as in Figure (7-11). Below is a
table of I e q and FDC values for each of these configurations.

5 7 3 2 1
3 I SW 2 I SW 3 3 I SW FDC
I SW I SW
2 2
0.407 I S 0.47 I S 0.94 I S 0.707 I S 0.82 I S I eq

The relationship of the electromagnetic torque of the three-phase induction

motor is:

2Tm ax
T
S cr S
S S cr

Slip value in dynamic braking case is:

r
S

Critical slip value and as a result of neglecting R1 , X 1 equals:

r2\
S CR
xm x 2\
The value of the maximum (critical) torque is:

3V12
Tmax
2 x m x 2\

14
The equivalent current source is transformed into an equivalent voltage source,
and substituting a value V1 E1 I e q x m into the maximum torque
relationship results in:

3(I eq x m ) 2
Tmax
2 x m x 2\

The following relationship V1 E1 I e q x m changes according to the

change of the hysteresis characteristic of the motor, as x m it changes with the
change of the current of the magnetic circuit, as shown in Figure (7-14).

Note that as a I e q value increases, the I m value increases, and thus the
value decreases x m .

E1 , xm
E1

xm
Im
I mn
Figure (7-14) Hysteresis characteristic of an induction motor

After our knowledge of S C r Tmax the previously mentioned relationships,

the mechanical characteristics of the dynamic braking can be drawn as in Figure
(7-15).

15
 I eq1
3
I eq 2
2 I eq1
S cr 3
1 A
/
B // B B
S cr 2
Scr1

T
Tmax 2 Tmax 1 0 TL

Figure (7-15) Asynchronous motor mechanical characteristics at different

dynamic braking cases

Case (1) represents dynamic braking at I e q1 .

Case (2) represents the dynamic braking at I e q2 , where I e q2 I e q1 .

Case (3) represents the dynamic braking by the adding resistances in the rotor
circuit of slip ring motor, where we notice that Tm ax it did not change, but
S cr increased in this case.

From the curves we note that:

The motor is running at point (A) in a motoring mode. And when disconnecting
the stator windings and connecting two phases with a direct current source,
dynamic braking torque is formed against the motor's torque, so that the motor
is switched on in the second quadrant. Under the influence of the dynamic
braking torque and the load torque, the motor speed decreases until the it
reaches zero.

The dynamic braking slip value is equal to zero at origin point and increases
when rotor speed increases, which is in contrast to the motor mode.

When increasing I e q , i.e. I e q2 I e q1 the value of the maximum torque

increases, but with increasing I e q it increases I m and thus xm value

decreases and this leads to an increase in slip S cr 2 S cr1 , as shown in
Figure (7-15).

16
 Synchronous Motor Dynamic Braking

The dynamic braking operation of the synchronous motor is performed by

disconnecting the stator windings from the ac source and connecting them with
the star- connected resistances. Keeping the dc source of the field windings
connected as shown in Figure (7-16).

Figure 7-16 Dynamic braking circuit of synchronous motor

And the dynamic braking process is controlled by varying the dc voltage, so we

get the characteristics (1) and (2) as in Figure (7-17), where Vf 2 Vf 1 ,that is
Tmax2 Tmax1 .

Vf1
3
Vf 2 Vf1
2 1 A

T
Tmax 2 Tmax 1 0 TL

Figure (7-17) Dynamic braking mechanical characteristics of Synchronous motor

17
And when the values of the resistance change R 1add , we get the characteristic
(3), where Tmax const . , Vf 1 const . and the S cr value is increased.

To calculate the dynamic braking time we use the following relationship:

A A
t stop J J J
T T TL Tav TL

t stop J A
Tav TL
Where:

Tav : The average dynamic braking torque on the mechanical braking

characteristic.

Consequently, the greater the average torque, the smaller the dynamic braking
time, and it is noticeable that the braking time decreases with the presence of
load, meaning that the braking is faster.

The dynamic braking time can be controlled by changing the values of:

1- The average dynamic braking torque Tav , which is achieved by controlling

the direct current value I S , so that the dynamic braking time is inversely
proportional to the direct current value I S .

2- The synchronous motor dc field voltage Vf Var .

3- The added resistances R 1add .

Solved Problems

Example 1:
A three-phase asynchronous motor has the following parameters:
P2 n 17.5KW , nn 945 rpm , Vin ph 230V , f in 50 HZ
I1n 43 A , R1 0.34 , X1 0.43 , R2/ 0.89
Tmax
X 2/ 1.8 , 2.5 , P 6
Tn
Required:
Draw the natural electromechanical and mechanical characteristics of the
asynchronous motor.

18
The solution:

60f 60 50
Stator field rotational speed value: n 1000 rpm
P2 3

n 1000
Stator field angular speed value: 104.8 rad / S
9.55 9.55

Short circuit inductance value: XS.C X1 X2/ 0.43 1.8 2.23

2 nn 2 945
Nominal angular speed value: n 99 rad / S
60 60

n 104.8 99
Nominal slip value: Sn 0.07
104.8

P2n 17.5 10 3
Nominal torque value: Tn 177 N.m
n 99

Maximum torque value: Tmax Tn 2.5 177 442 N.m

R 2/ 0.89
Critical slip value: S cr 0.4
R 12 XS2 .C 0.34 2 2.23 2

The value of the parameter (a) to calculate the mechanical characteristic is:

R1 0.34
a 0.38
R 2/ 0.89

Short circuit current is:

V1 ph 230
I 2/ S .C I 2/ st 91.06 A
/ 2 2
R1 R 2 X 2
S .C
0.34 0.89 2.23 2

V1 ph 220
And Lim I 2/ 102.87 A
2 2 2 2
S R1 X S .C 0.34 2.23

The electromechanical characteristic relationship is calculated according to the

following relationship:

19
 V1 ph 230
I 2/
2 2
R2/ 0.89
R1 X 2 0.34 2.23 2
S
S .C
S

The mechanical characteristic is calculated according to the following

relationship:

2Tm ax(1 aS cr ) 2 442(1 0.38 0.4)

T
S S cr S 0.4
2aS cr 2 0.38 0.4
S cr S 0.4 S
1019
T
S 0.4
0.3
0.4 S

By substituting different values of slip (S) in the electromechanical and

mechanical characteristics relationships, we get the following table:

S - 0 0.070 0.7 1 1.5

Rad/S 107.8 99 62.9 0 -52.7

I 2/ A 0 17.35 70.78 91.06 95.97

T N.m 0 177 277 316 237

From the previous table we plot mechanical and electromechanical

characteristics.

20
 S

104.8 0
99
0.2

0.4

0.6

0.8

442
TN .m
0
100 200 300 400 500
1 Tn
1.2
1.4
1.6

Natural mechanical characteristic

104.8 0

99
0.2

0.4

0.6

0.8

0
40 80
I 2/
20 60
/
I 2n
LimtI2/
S

Natural electromechanical characteristic

Example 2:

A three-phase asynchronous motor has the following parameters:

P2 n 15KW , nn 1465 rpm , V1n ph 230 V , f1n 50 Hz

Tmax
I1n 29.3 A , 2.3 ,P 4
Tn
Calculate:

The natural torque-speed characteristic of the asynchronous motor.

21
The solution:

60f 60 50
Stator field rotational speed value: n 1500 rpm
P2 2

n 1500
Stator field angular speed value: 157 rad / S
9.55 9.55

2 nn 2 1465
Nominal speed value: n 153 rad / S
60 60

n 157 153
Nominal slip value: Sn 0.025
157

P2n 15 10 3
Nominal torque value: Tn 98 N.m
n 153

The maximum torque value: Tmax Tn 2.3 98 225 N.m

We calculate the value of the critical slip according to the following relationship:

2
S cr Sn ( 1) 0.025(2.3 2.3 2 1) 0.11

Motor torque relationship considering that a 0 :

2Tm ax 2 225
T
S S cr S 0.11
S cr S 0.11 S
Mechanical characteristic relationship:
450
T
S 0.11
0.11 S
The natural mechanical characteristic is calculated by substituting different
values of slip (S) into the mechanical characteristic relationship as shown in the
following table:

S - 0 0.015 0.11 0.2 0.7 0.6 0.8 1

Rad/S 157 153 151 126 97. 62.8 31.7 0

2

T N.m 0 98 225 190 115 9.87 60.7 8.97

22
Example 3:

For the data of a three-phase asynchronous motor (Example 2), calculate the
value of the added resistors and the added inductance in the stator circuit, to
reduce the starting current by twice. If it is known that the starting current on
the natural characteristic is equal to I S .C ( N / C ) 7 I1n .
The power factor of natural characteristic is: COS N/C 0.4
The solution:
The added resistance is calculated according to the following relationship:

2
Z S .C N/C
R 1add XS2 .C N / C R S .C N/C

We find from the known values:

V1ph V1ph 220

Z S .C N/C 1.08
I S .C N/C 7 Iin 7 29.3

R S .C ( N / C ) Z S .C( N / C) COS ( N / C)

1.08 0.4 0.43

X S .C N / C Z S2 .C N / C R S2 .C N / C

1.08 2 0.4 2 1
To reduce the starting current by two times the value of :
0.5
Calculation of added inductive impedance:
2
108
R 1add 12 0.43 1.5
0.5

2
Z S .C N / C
X1add R S2 .C( N / C X S .C N / C

2
1.08
X1add 0.43 2 1 1.12
0.5

-------------------------------------------------------------------------------------------------------
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23