Solved Problems

1. A 220 volts, 1500 rpm, 10 Amps separately excited dc motor has an armature
resistance of 10 Ω. It is fed from a single phase fully controlled bridge rectifier with
an ac source voltage of 230 volts, at 50 Hz. Assuming continuous load current,
compute
i. The motor speed at firing angle of 30 degrees and torque of 5 NM
ii. Developed torque at the firing angle of 45 degrees and speed of 1000 RPM

+
Solution:
Ia=10A
V=200 Volts
N = 1500 rpm F
Ia = 10 A 230 V
50 Hz
Ra=10Ω DC
Ra= 10 Ω Supply
Source Voltage Vs=230 volts
FF

-
Under operating Conditions of separately excited DC motor
Va = Eb + I a Ra
Va = K bϕωm + I a Ra
Let K bϕ = K m
∴Va = K mωm + I a Ra
 2π x 1500 
220 = K m   + (10 x10 )
 60 
K m = K bϕ = 0.7639 Volts Seconds/Ra dians
i. For a torque of 5 Nm, motor armature current is
T = Km Ia
T 5
Ia = = = 6.545 A
K m 0.7639
The equation giving the operation of converter motor is
 2Vm
Va = Eb + I a Ra = cos α
π
2Vm
cos α = K mωm + I a Ra
π
2 x 2 x 230
cos α = K mωm + I a Ra
π
2 x 2 x 230
cos 30 o = 0.7639 x ωm + 6.545 x 10
π
179.33 = 0.7639 x ωm + 65.45
ωm = 149.07 rad / sec
149.07 x 60
Motor Speed in RPM = N =
2π
N= 1423.58 rpm
ii. For α = 45 0
2Vm
cos α = K mωm + I a Ra
π
2 x 2 x 230 2π x 1000
cos α = 0.7639 x + (I a x 10 )
π 60
146.4 = 79.99 + 10 I a
Ia=6.641 Amps
Motor developed torque
T = KmIa = 0.7639 x 6.641
T= 5.07 Nm
2. A separately excited DC motor rated at 10KW, 240 V, 1000 rpm is supplied from a
fully controlled two pulse bridge converter. The converter is supplied at 250 V, 50 Hz
supply. An extra inductance is connected in the load circuit to make the conduction
continuous. Determine the speed, power factor and efficiency of operation for thyristors
firing angles of 0 and 60 degrees assuming the armature resistance of 0.4 Ω and an
efficiency of 87% at rated conditions. Assume constant torque load
Solution:
The input current to the motor at rated conditions
10 x10 3
= = 11.494 x10 3 W
0.87

The supply current to the motor is

 11.494 x103
= = 47.89 A
240
Neglecting the field copper loss the armature current = 47.89A
The back EMF at the rated conditions is
= 240 − 47.89 x0.4 = 220.843Volts
At α = 0 , the converter voltage is

2Vm 2 x 2 x 250
Va = cos α = cos 0 0 = 225Volts
π π
As the load torque is constant the armature current is same. Therefore the back EMF is
= 225 − 47.89 x0.4 = 200.844Volts
We know that E b = Kω

1000 x 2π
ω= = 104.719rad / sec
60
Eb 220.844
∴K = = = 2.11Volts. sec/ rad
ω 104.719
At α = 0 0
Eb 200.844
Speed = = = 95.235rad / sec
K 2.108
95.235 x60
N= = 909.43RPM
2π
Displacement factor DF = Cosϕ = cos 0 0 = 1

2x 2 2x 2
Power Factor PF = cos α = cos 0 0 = 0.9
π π
Input = 225 x 47.89 = 10775.25 W

Output varies linearly with speed

909.4
∴ output at 909.4 rpm = 10kw (rated) x = 9.094 KW
1000
O/P 9.094
∴η = = = 84.4%
i / p 10.7752
At α = 60 , the converter voltage is
2V m 2 x 2 x 250
Va = cos α = cos 60 0 = 112.5Volts
π π
As the load torque is constant the armature current is same. Therefore the back EMF is
= 112.5 − 47.89 x0.4 = 93.344Volts
We know that E b = Kω

1000 x 2π
ω= = 104.719rad / sec
60
Eb 220.844
∴K = = = 2.11Volts. sec/ rad
ω 104.719
At α = 60 0
Eb 93.344
Speed = = = 44.28rad / sec
K 2.108
44.28 x60
N= = 422.8 RPM
2π
Displacement factor DF = Cosϕ = cos 60 0 = 0.5

2x 2 2x 2
Power Factor PF = cos α = cos 60 0 = 0.45
π π
Input = 112.5 x 47.89 = 5.387 KW

Output varies linearly with speed

422.8
∴ output at 909.4 rpm = 10kw (rated) x = 4.227 KW
1000
O / P 4.227
∴η = = = 78.46%
i / p 5.387

3. A 200 volts, 875 rpm, 150 A separately excited DC motor has an armature resistance
of 0.06 Ω. It is fed from a single phase fully controlled rectifier with an ac source of
220 Volts, 50Hz. Assuming continuous conduction calculate
i. Firing angle for rated motor torque and 750 rpm
ii. Motor speed for α=160 degrees and rated torque

At rated Conditions
E b1 = V − I a Ra = 200 − 150 x0.06 = 191Volts

N 1 = 875rpm
875 x 2π
ω1 = = 91.629rad / sec
60
We know that
E b1 = Kω1
191
∴K = = 2.08volts. sec/ rad
91.629
I. E b 2 at 750 rpm

750 x 2π
ω2 = = 78.54rad / sec
60
∴ E b 2 = 2.08 x78.54 = 163.37volts

∴ Va = E b 2 + I a Ra = 163.37 + (150 x0.06 ) = 172.7Volts

We know that
2Vm
Va = cos α
π
2 x 2 x 220
172.7 = cos α
π
α = 29.30
II. At α = 160 0 N =? at rated torque
2V m 2 x 2 x 220
Va = cos α = cos 160 0 = −186.12Volts
π π
We know that Va = E b + I a Ra

− 186.12 = E b + (150 x0.06 )

E b = −195.12Volts

− 195.12
∴ω = = −93.81
2.08
− 93.81x60
N= = −895.79rpm
2π
4. A 220 volts, 1500 rpm, 10 Amps separately excited dc motor has an armature
resistance of 0.5 Ω is fed from a three phase fully controlled rectifier. Available AC
source has a line voltage of 400 volts, 50 Hz. A star-delta connected transformer is
used to feed the armature so that motor terminal voltage equals rated voltage when
converter firing angle is zero. Calculate transformer turns ratio. Determine the value
of firing angle when
i. Motor is running at 1200 rpm and rated torque
ii. When motor is running at (-800 rpm) and twice the rated torque. Assume
continuous conduction
For 3 phase controlled rectifier the average output voltage is given by
3Vm
Va = cos α
π
Given that Va =220 Volts
3Vm
∴ 220 = cos 0 o
π
⇒ Vm = 230.4Volts
At 1500 rpm
E b1 = Va − I a Ra = 220 − (10 x0.5) = 215volts
We know that
∴ E b1 = Kω1
1500 x 2π
ω1 = = 157.08
60
215
K= = 1.37volt. sec/ rad
157.08
At 1200 rpm
∴ E b 2 = Kω 2
1200 x 2π
ω2 = = 125.66rad / sec
60
K = 1.37volt. sec/ rad
E b 2 = 1.37 x125.66 = 172.2Volts
Average output voltage is
Va = E b 2 + I a Ra = 172.2 + (10 x0.5) = 177Volts

3Vm
Q Va = Cosα
π
Va π 177 xπ
⇒ Cosα = = = 0 .8
3Vm 3 x 230.4
⇒ α = 36.4 0
At -800 rpm, α = ? T = 2 x Irated
− 800x2π
ω= = −83.77rad / sec
60 ∴Va = Eb + I a Ra = −114.77 + (20 x0.5) = −104.77Volts
∴ Eb = 1.37 x − 83.77 = 114.77volts 3Vm
Va = Cosα
Current = 2 xRated = 20 A π
3 x 230.4
− 104.77 = x cos α
π
− 104.67 xπ
Cosα = = −0.475
3 x 230.4
⇒ α = 118.4 0
5. The speed of a separately excited DC motor is controlled by a chopper. The DC
supply voltage is 120 V, armature circuit resistance is 0.5 Ω, armature circuit
inductance is 20 mH, and back emf constant is 0.05 V/RPM. The motor drives a
constant torque load requiring an average current of 20A. Assuming the motor current
to be continuous, determine the range of speed control and the range of duty cycle.
Given Data:
Vs=120 volts, Ra=0.5 ohms, La=20mH, K=0.05 V/RPM. Ia=20A
Constant Load, Separately excited DC motor
Find

The range of Speed Control

The range of duty cycle
Assume Continuous current mode
Solution

Ia=20 A

F
DC
VS=120V CHOPPER Motor DC
Supply
FF

(i) Range of Duty cycle

Average output voltage of the motor
Va = Eb + I a Ra
Q Va = αVs 
αVs = Eb + I a Ra  E = KN 
 b 
αVs = KN + I a Ra
As motor drives a constant load, T is constant and Ia is 20A and minimum possible speed
is ZERO
αx120 = (0.05) x0 + (20 x0.05)
120α = 10
10
α= = 0.08
120
Maximum possible speed corresponds to α = 1 , i.e. when 120 volts is directly applied to
the motor. Therefore the range of duty cycle is
0.08 ≤ α ≤ 1
(ii) The range of Speed
αVs = KN + I a Ra
Minimum speed N=0
Maximum speed at α = 1
1x120 = 0.05 xN + (20 x0.5)
120 = 0.05 N + 10
120 − 10
N= = 2200rpm
0.05
The range of speed control is 0 ≤ N ≤ 2200 RPM
6. A 230 volts, 960 rpm, 200 Amps separately excited DC motor has an armature
resistance of 0.02 Ω. The motor is fed from a dc source of 230 volts through a
chopper. Assuming continuous conduction
a) Calculate the duty ratio of chopper for monitoring operation at rated torque and
350 rpm
b) If maximum duty ratio of chopper is limited to 0.95 and maximum permissible
motor speed obtainable without field weakening
Given Data
Vs=230 volts, N=960 rpm, Ia=200 amps, Ra=0.02 ohms separately excited DC
motor, chopper drive for both motoring and braking operation, Assume continuous
conduction
Find
(i) α = ? at rated Torque and Speed =350rpm.
(ii) If α = 0.95 and current is twice rated calculate speed
Solution
(i) At rated operation
E1 = Va − I a Ra
⇒ 230 − (200 x0.02 ) = 226volts
E at 350 rpm (ie) E 2 = ?
From rated condition
 E1 = Kω1
220 = Kxω1
960 x 2π
ω1 = = 100.53rad / sec
60
226
∴K = = 2.24Volts. sec/ rad
100.53
E 2 at 350 rpm is given by
350 x 2π
ω2 = = 36.651
60
∴ E 2 = 36.65 x 2.24 = 82.1Volts
Motor terminal voltage at 350 rpm is
V350 rpm = 82.1 + (200 x0.02 ) = 86.1Volts
V350 rpm 86.1
α= = = 0.37
V960 rpm 230

(ii) Maximum available

Va = αVs
= 0.95x230 = 218.5 Volts
∴ E = Va + I a Ra = 218.5 + (200 x0.02 ) = 222.5Volts
Speed at 222.5 volts Eb is
Eb = K ω
222.5
ω= = 99.330rad / sec
2.24
99.330 x60
N= = 948.53rpm
2π
7. A DC series motor is fed from a 600 volts source through a chopper. The DC motor
has the following parameters armature resistance is equal to 0.04 Ω, field resistance is
equal to 0.06 Ω, constant k = 4 x 10 -3 Nm / Amp 2 . The average armature current of 300
Amps is ripple free. For a chopper duty cycle of 60% determine
i. Input power drawn from the source.
ii. Motor speed and
iii. Motor torque.
Given Data
Vs=600 volts, Ia=300 amps, Ra=0.04 ohms, Rf=0.06 ohms, K= 4 x10 −3 Nm / amp 2 δ = 0.6
DC SERIES motor.
Solution
a. Power input to the motor = P = Va I a

Va = δVs = 0.6 x600 = 360Volts

∴ P = 360 x300 = 108 KW
b. For a DC series motor
Ea = K aφωm
= KI aωm [Qφ = I a ]
= 4 x10 -3 x300 xωm
∴Va = E + I a (Ra + Rs ) = KI aωm + I a (Ra + Rs )
⇒ 0.6 x600 = 4 x10 −3 x300 xωm + 300(0.04 + 0.06 )
360 − 30
ωm = = 27.5rad / sec(or )2626rpm
1 .2
Motor Torque T = KaφI a = KI a
2

= 4x10 -3 x300 2
= 360 N - M
8. A 230 V, 1100 rpm, 220 Amps separately excited DC motor has an armature
resistance of 0.02 Ω. The motor is fed from a chopper, which provides both motoring
and braking operations. Calculate
i. The duty ratio of chopper for motoring operation at rated torque and 400 rpm
ii. The maximum permissible motor speed obtainable without field weakening, if
the maximum duty ratio of the chopper is limited to 0.9 and the maximum
permissible motor current is twice the rated current.
Given Data
Vs=230 volts, N=1100 rpm, Ia=220 amps, Ra=0.02 ohms separately excited DC
motor, chopper drive for both motoring and braking operation, Assume continuous
conduction
Find
(i) α = ? at rated Torque and Speed =400rpm.
(ii) If α = 0.9 and current is twice rated calculate speed

Solution
(i) At rated operation
 E1 = Va − I a Ra
⇒ 230 − (220 x0.02 ) = 225.6volts
E at 400 rpm (ie) E 2 = ?
From rated condition
E1 = Kω1
1110 x 2π
ω1 = = 115.192rad / sec
60
225.6
∴K = = 1.95Volts. sec/ rad
115.192
E 2 at 400 rpm is given by
400 x 2π
ω2 = = 41.887 rad / sec
60
∴ E2 = 41.887 x1.95 = 81.68Volts
Motor terminal voltage at 400 rpm is
V400 rpm = 81.68 + (220 x0.02 ) = 86.1Volts
V400 rpm 86.1
α= = = 0.37
V1100 rpm 230

(ii) Maximum available

Va = αVs
= 0.9x230 = 207 Volts
∴ E = Va + I a Ra = 207 + (2 x 220 x0.02 ) = 215.8Volts
Speed at 222.5 volts Eb is
Eb = K ω
215.8
ω= = 110.667 rad / sec
1.95
110.667 x60
N= = 1056.78rpm
2π
9. A DC chopper is used to control the speed of a separately excited dc motor. The DC
voltage is 220 V, Ra= 0.2 Ω and motor constant Ke φ =0.08 V/rpm. The motor drives a
constant load requiring an average armature current of 25 A. Determine
iv. The range of speed control
v. The range of duty cycle. Assume continuous conduction
Given Data:
Vs=220 volts, Ra=0.2 ohms, La=20mH, K=0.08 V/RPM. Ia=25A
Constant Load, Separately excited DC motor
 Find

The range of Speed Control

The range of duty cycle
Assume Continuous current mode
Solution
(i) Range of Duty cycle
Average output voltage of the motor
Va = Eb + I a Ra
Q Va = αVs 
αVs = Eb + I a Ra  E = KN 
 b 
αVs = KN + I a Ra
As motor drives a constant load, T is constant and Ia is 25A and minimum possible speed
is ZERO
αx 220 = (0.08) x0 + (25 x0.2)
220α = 10
10
α= = 0.04
220
Maximum possible speed corresponds to α = 1 , i.e. when 120 volts is directly applied to
the motor. Therefore the range of duty cycle is
0.04 ≤ α ≤ 1
(ii) The range of Speed
αVs = KN + I a Ra
Minimum speed N=0
Maximum speed at α = 1
1x 220 = 0.08 xN + (25 x0.2 )
220 = 0.08 N + 5
220 − 5
N= = 2687.5rpm
0.08
The range of speed control is 0 ≤ N ≤ 2687.5 RPM
 TUTORAIL OF DC MOTOR CONTROL
1. A single-phase full converter is used to control the speed of small separately excited
d.c. motor rated at 5 hp, 110V, 1200 rpm as shown in Fig.1. The converter is connected
to a single – phase 120 V, 50 Hz supply. The armature resistance is Ra = 0.40 ohm and
the armature circuit inductance is La = 5 mH. The motor voltage constant is Ke Φ = 0.09
V/rpm.

With the converter operates as a rectifier , the d.c. motor runs at 1000 rpm and carries an
armature current of 30 A . Assume that the motor current is continuous, determine:

(a) The firing angle α.

(b) The power delivered to the motor.
(c) The supply power factor.
Fig.1

2. A single-phase semiconverter , shown in Fig.2 , is used to control the speed of small

separately excited d.c. motor rated at 4.5 kW, 220V, 1500 rpm. The converter is
connected to a single – phase 230 V, 50 Hz supply. The armature resistance is Ra =
0.50 ohm and the armature circuit inductance is La = 10 mH. The motor voltage constant
is Ke Φ = 0.1 V/rpm.
With the converter operates as a rectifier , the d.c. motor runs at 1200 rpm and carries an
armature current of 16 A . Assume that the motor current is continuous and ripple-free,
determine:

1
 (d) The firing angle α.
(e) The power delivered to the motor.
(f) The supply power factor.

Fig.2

3. A d.c. permanent magnet motor has the following parameters:

Ra = 3 Ω , Ke = 0.52 V/rpm.wb , Φ (flux per pole) = 150 mWb.

The motor speed is controlled by a full wave bridge rectifier. The firing angle α is set at
45°, and the average speed is 1450 rpm. The applied a.c. voltage to the bridge is
vs=330sinωt volts. Assuming the motor current is continuous; calculate the armature
current drawn by the motor and the steady-state torque for the cases of:

(a) Fully controlled brdge

(b) Half-controlled (semiconverter) bridge.

Note : Ea = Ke Φ n , T= KT Φ Ia , KT = 9.55 Ke , n = speed in rpm.

[ Ans : (a) Ia= 11.8 A, T = 8.79 N.m , (b) Ia=22A,T=16.38 m]

4. A 100 hp , 1750 rpm , d.c. shunt motor has an armature inductance of 1.1 mH, a
resistance of 0.0144 Ω and an armature voltage constant of 1.27 volt –sec /rad. The
motor is operated from a 3 – phase half-wave controlled – rectifier at rated armature
current of 340 A. Find the firing angle α, assuming that the supply voltage is 480 V and
the motor speed is 1750 rpm. Consider the thyristors to have a forward voltage drop of 1
Volt and assume continuous conduction. [α = 42.6° ]

2
5. The speed of 10 hp, 230V 1200 rpm separately excited d.c. motor is controlled by
single-phase fully controlled full-wave rectifier bridge. The rated armature current is
38A, Ra = 0.3 ohm ,the ac supply voltage = 260V.The motor voltage constant is Ke Φ =
0.182 V/rpm .Assume sufficient inductance is present in the armature circuit to make Ia
continuous and ripple-free:

(a) For α = 30° and rated motor current calculate,

(i) motor torque (ii) motor speed (iii) supply power factor

(b) the polarity of the armature emf is reversed say by reversing the field excitation
,calculate :
(i) the firing angle to keep the motor current at its rated value .

(ii) the power fed back to the supply.

[ Ans: (a) (i) 66.12 N.m ,(ii) 1051.8 rpm,(iii) p.f=0.78, (b) (i) α = 140°,(ii) 6840 W]

6. The speed of a 125 hp, 600 V, 1800 rpm, separately excited d.c. motor is controlled by
a three-phase fully controlled full- converter (6-pulse converter). The converter is
operating from a 3 – phase 480, 60 Hz supply. The rated armature current of the motor is
165 A. The motor parameters are:

Ra = 0.0874Ω La = 6.5 mH , Ke Φ = 0.33 V/rpm

(a) Find no – load speeds at firing angles α = 0° and α = 30° .Assume that ,at no load,
the armature current is 10% of the rated current and is continuous .

(b) Find the firing angle to obtain the rated speed of 1800 rpm at rated motor current.

[Ans: (a) 1959 rpm, 1696 rpm, (b) α = 20.1°]

3
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Example 1: A separately excited DC motor has the following parameters:

Ra = 3 Ω , Ke = 0.52 V/rpm.Wb , Φ (flux per pole) = 150 mWb.

The motor speed is controlled by a full wave bridge rectifier. The firing
angle α is set at 60°, and the average speed is 1250 rpm. The applied
a.c. voltage to the bridge is 230 V at 50 Hz . Assuming the motor current
is continuous; calculate the armature current drawn by the motor and the
steady-state torque for the cases of:
(a) Fully- controlled bridge

(b) Half-controlled (semiconverter) bridge.

Solution :

(a) For fully- controlled bridge with continuous current operating mode:

2 Vm
Vdc  cos 

Vm=√2 x 230 =325.2V
2 x325.2
Vdc  cos 60


Vdc  104.4V

Eb = Ke φ n =0.52x150x10-3x1250

= 97.5V

VT =Vdc = Ea + Ia Ra

Or

Since Td = KT Ia φ

KT = Torque constant = 9.55 Ke = 9.55 x 0.52 = 4.96

Td = 4.96 x 23 x 150 x 10-3 =17.1 N

(b) For half-controlled (semiconverter) bridge.

Eb = Ke φ n =0.52x150x10-3x1250

= 97.5V

VT =Vdc = Ea + Ia Ra

Td = 4.96 x 192.8 x150 x 10-3 = 146.4 N

------------------------------------------------------------------------------------------------------
Example 2 : A three-phase full converter , shown in Figure below , is
used to control the speed of a separately excited d.c. motor rated at
100 kW, 600V, 2000 rpm. The converter is connected to a 3 – phase
400 V, 50 Hz supply. The armature resistance is Ra = 0.051 ohm and
the armature circuit inductance is La = 10 mH. The motor voltage
constant is Ke Φ = 0.25 V/rpm. The rated armature current is 100A and
the no load current is 10A.
With the converter operates as a rectifier, and assuming that the motor
current is continuous and ripple-free, determine:
(a) The no load speed when the firing angles: α= 0⁰ and α= 60⁰.
(b) The firing angle to obtain the rated speed of 2000 rpm at rated
motor current.
The converter output voltage=Vdc = armature voltage VT

3 3
Vdc  VT  Vm cos 


3 3
VT  x325.22 cos 

VT = 538 cosα

For α= 0⁰ VT = 538 V

EA= VT - IARA = 538 – 10x0.051=537.5 V

No load speed :

since EA = Ke φ n

Hence

For α= 60⁰

VT = 538 cos 60⁰ =269 V

EA= VT - IARA = 269 – 10x0.051=268.4 V

(b) At full load condition

EA = Ke φ n =0.25 x 2000 = 500V

VT = EA + IARA= 500 + 100 x 0.051

= 505 V

505 = 538 cosα

Hence α =20.14⁰