EET 3454

ELECTRICAL MACHINE DRIVES

Dr. L. O. Mogaka, Ph.D

Email: Lmogaka@must.ac.ke
EEE Department, Meru University of Science & Technology
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Purpose
The aim of this course is to enable the student to show
understanding of the control of electrical Machines
using electronic drives
Learning outcomes
By the end of this course unit the student should be
able to:
I. Describe an electric drive system
II. Design and analyze A.C and D.C electric drives
III. Apply electric drives in electric machines
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Course content
DC Machines Drives: dynamics, performance equations, and systems.
Electronic control of DC drives using rectifier and choppers. Transfer
function of DC machine drive systems. Speed and current feedback control
systems for DC machines drives. Microprocessor control systems for DC
machine drives: Application of DC machine variable speed drives in
traction including railway traction, lifts etc.
AC Machine Drives: AC Machine drive dynamics and performance
equation. AC machine drive systems, induction motor drives.
Synchronous motor drives. Electronic control of AC drives using inverters.
Harmonic distortion and losses. Control of frequency, voltage and power.
Transfer functions of AC machine drive systems with speed, current, flux
feedback. Microprocessor control of AC machine drives. Applications of AC
machine variable speed drives.
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Reference Books
1. Wildi, T. 2002, Electrical Machines, Drives and Power
Systems, Prentice Hall, Upper Saddle River, New Jersey
2. Schwarz, K.K.Design of Industrial Electric Motor
Drives, Newnes, Burlington, USA
3. Peter Vas 1999, Artificial-Intelligence-Based
Electrical Machines and Drives, Oxford University Press,
Oxford, UK
4. Subrahmanyam, V. Thyristor Control of Electric
Drives, BPB Publications, New Delhi
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Electrical Drives
Motion control is required in large number of
industrial and domestic applications like fans,
pumps, robots, washing machines etc
Systems employed for motion control are called
DRIVES
Drives employing electric motors are known as
Electrical Drives
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General Electric Drive System

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Drive System Components
Electrical Motors
 Most commonly used electrical motor for speed control
applications are DC & AC Machines
Power Modulators
✓ Modulates flow of power from the source to the motor in such a
manner that motor is imparted speed-torque characteristics required
by the load
✓ It converts electrical energy of the source in the form suitable to the
motor
✓ Selects the mode of operation of the motor, i.e. Motoring or
Braking.
✓ The power modulators can be any one of the following: Controlled
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rectifiers, Frequency changers etc
Electrical Sources (Input Power)
 Very low power drives are generally fed from single-phase
sources. Bigger size drives are powered from a three-phase
source. Low and medium power motors are fed from a 400V
supply. For higher ratings, motors may be rated at 3.3 kV, 6.6 kV
and 11 kV. Some drives are powered from batteries.
Sensing Unit
 Speed Sensing (From Motor), Torque Sensing, Position Sensing,
Current sensing and voltage sensing from lines or from motor
terminals or from Load, Temperature Sensing
Controller
 Controller for a power modulator matches the motor and power
8 converter to meet the load requirements.
Advantages of Electrical Drives:
 Flexible control characteristic: particularly when
power electronic converters are employed
 Wide range of speed, torque and power
 High efficiency –low no load losses
 Low noise
 Low maintenance requirements, cleaner operation
 Adaptable to most operating conditions
 Available operation in all four torque-speed quadrants
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Disadvantages of Electrical Drive
1. Cannot be used where the power supply is not
accessible
2. The power breakdown totally stops the entire
system
3. The initial price of the system is expensive
4. The dynamic response of this drive is poor
5. The drive output power which is obtained is low
6. By using the drive noise pollution can occur
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Applications of Electrical Drives
1. Electric traction including electric trains, buses,
trolleys &solar-powered vehicles inbuilt with battery
2. Domestic as well as industrial applications which
includes motors, transportation systems, factories,
textile mills, pumps, fans, robots, etc.
3. Main movers for petrol or diesel engines, turbines
like gas/steam, motors like hydraulic & electric.

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CLASSIFICATION OF ELECTRIC DRIVES:
 The various types of electric drives used in industry
may be divided into three types. They are
1. Group drive
2. Individual drive
3. Multi-motor drive

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CLASSIFICATION OF ELECTRIC DRIVES:
Additionally, these drives are further categorized based on the
different parameters which are discussed below.
1. Based on supply namely AC drives & DC drives.
2. Based on running speed namely Constant speed drives &
changeable speed drives
3. Based on a number of motors namely Single motor drives
& multi-motor drives
4. Based on control parameter namely stable torque drives &
stable power drives.
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1. Group Drive:
• This is a drive in which a single electric motor
drives the group of working machines
• It comprises of a single lengthy shaft. To the shaft
the different working machines are attached by
means of pulleys and conveyor belts
• It is often used in industries where successive
operations are required like car manufacturing
industries
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Advantages:
1. One machine with high capacity is required for the control of the
group of machines. i.e. here the cost of the one machine with high
capacity is less than the number of machines.
2. Different speeds can be obtained by providing pulleys of different
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diameters
Disadvantages:
1. Speed control of individual machine is difficult using stepped
pulleys, belts etc
2. Owing to the use of line shafting pulleys and belts group drive does
not give good appearance and is also less safe to operate
3. The possibility of installation of additional machines to the existing
system in group drive is limited
4. If at a certain instance all the machines are not in operation, then
the motor will operate at low capacity and therefore operation
efficiency will be low
5. If a fault occurs in the main machine then all the operations will be
affected
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2.Individual drive:
A single electric motor is used to drive one
individual machine. i.e each working machine has
an individual main machine
Example: drilling machines

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Advantages of individual drives
1. Installation of individual drive is easy.
2. If a fault occurs in one main machine then
the whole operations are not effected because
it has individual main machines.
3. Each main machine can be effectively
utilized at rated capacity.
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4. Full control and desired operation of each machine
is obtained because different machines are driven
with their respective individual drive
5. Machines can be located at convenient places
Disadvantages:
1. Cost is high because in this type of drive the number
of machines required is high.
2. More space is required because of each working
machine has its individual main machine.
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3.Multimotor drive:
• Here, there are several individual drives, each
of which serves to operate one of the many
working machines or mechanism in the same
production unit
• Examples: complicated metal cutting machine
tools, paper making industries, rolling
machines, building cranes, aircrafts, etc
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 DC MACHINE DRIVES
Are electric drives that use dc motors as prime movers
There are two methods used to control the speed of
DC motors:
a. Armature voltage control method
b. Field-flux control method
Armature voltage control method: Speeds below base
speed are controlled.
Field-flux control method: Speeds above base speed
21are obtained
Dynamics of Motor Load System
 A motor generally drives a load (Machines) through some
transmission system.
 Load speed may be different from that of motor, and if the
load has many parts, their speed may be different and while
some parts rotate others may go through a translational
motion. Equivalent rotational system of motor and load is
shown in the figure.

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Multi quadrant Operation
A motor operates in two modes – Motoring and
braking for both forward and reverse directions
• Power developed by a motor is
given by the product of speed
and torque.
• For motoring operations
Power developed is positive
and for braking operations
power developed is negative.

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Basic performance equation of Separately –excited DC motor
• Under steady state conditions load torque T oppose the motor
L

torque Te.

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(1) Armature voltage control :
❖Armature voltage (Vt) is varied to obtain the
speed below base speed.
❖The armature current and field flux (Φ) are
kept constant at their rated values.
❖From equation (5), it is seen that when Ia and
Φ are constant the torque remains constant at
its rated value to meet the required demand.
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❖So this armature voltage control method
is known as constant-torque drive method.
❖The armature voltage (Vt) is varied from
its zero voltage to rated voltage,
The power P= Vt .
❖Ia increases from its zero value to rated
power.
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(2) Field-flux (Φ) control:
This method of speed control is employed
for the speeds above base speed.
From equation (4) it is seen that speed and
field flux are inversely proportional.
During flux control method, armature
voltage and armature current are kept
constant at rated values.
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So power remains constant and this
method of control is termed as constant
power drive method.
Field flux is decreased to increase the
speed above base speed
The torque is directly proportion to flux
so torque decreases with decrease in flux
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 Assignment 1

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CONTROLLED RECTIFIER DC DRIVES
❑ Controlled Rectifier Fed DC Drives are
used to get variable dc voltage from an ac
source of fixed voltage

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The single-phase or multi-phase a.c. is
converted to d.c. by a controlled rectifier or
converter to give a variable d.c. source, by
varying the triggering angle of the thyristor
or any other power semiconductor device,
that could be supplied to a d.c. motor and
thus the speed of the motor can be controlled.
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Single phase semi controlled converters connected to
DC series motors
 Single Phase Semi Converter is also known as a half-
controlled converter.
 A single-phase half controlled or semi converter
utilizes SCRs (thyristor) and diodes to convert AC
power to DC power.
 Due to the utilization of diodes and thyristors, it
provides limited control over the level of DC output
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voltages.
The free-wheeling diode (FD) finds its application in partially
recovering the energy stored in the inductor back to the load such
that no energy is fed back to the source.
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Single phase semi controlled converters connected to DC
series motors

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Example:

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Single phase fully controlled converters
connected to DC separately excited motors
Single-Phase Full Converter converts the AC signal
to DC signal and utilizes thyristor only.
The utilization of thyristor only for the conversion
process makes it fully controllable and provides
wider control over the level of DC output voltage.

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Continuous & Discontinuous conduction
 In a cycle of source voltage, thyristors T1 and T3 are
given gate signals from α to π, and thyristors T2 and
T4 are given gate signals from (π + α) to 2π.
 When armature current does not flow continuously,
the motor is said to operate in discontinuous
conduction.
 When current flows continuously, the conduction is
said to be continuous.
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 Example

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Exercise

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Rectifier Fed DC Drives Problems
1. Controlled rectifier introduces harmonics to supply
currents and voltages. Solution-eliminate most dominant
harmonics by:
i. install LC filters at input of converters –tuned to absorb most
dominant harmonics (i.e. 5th and 7th harmonics)
ii. Use 12-pulse converter –consists of two 6-pulse controlled
rectifiers connected in parallel
iii. Selective switching of supply input using self-commutating
devices (eg. GTOs, IGBTs) in the converter

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Rectifier Fed DC Drives Problems
2. Low supply power factor especially during low
speed operations. Solution: Employ pulse-width
modulated (PWM) rectifiers using GTOs, IGBTs
3. Ripple in motor current –harmonics
present causes torque ripple, heating and
derating of motor, solution: extra inductance
added in series with La
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THREE-PHASE DC CONVERTER DRIVES
❖3ϕ converters are commonly used in
adjustable speed drives from about 15
kW up to several thousand KW ratings
❖The output voltage of a 3ϕ converter
has less ripple contents than the 1ϕ
converter, and therefore, the armature
current will be smoother and mostly
continuous.
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Example
A 220 V, 1500 rpm, 50 A, separately excited motor with armature
resistance of 0.5 Ω is fed from three phase fully controlled
rectifier. Available ac source has line voltage of 440 V, 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.
(i) Calculate transformer turns ratio.
(ii) Determine the value of firing angle when:
(a) Motor is running at 1200 rpm and rated torque;
(b) when motor is running at (-800) rpm and twice the rated
torque
Also comment on the energy utilization of this drive
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ELECTRONIC CONTROL OF DC MACHINE DRIVES
USING CHOPPERS
Chopper is basically a static power electronics
device which converts fixed DC voltage/power
to variable DC voltage or power.
It is a high speed switch which connects and
disconnects the load from source at a high rate
to get variable or chopped voltage at the
output.
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 TON → It is the interval in
which chopper is in ON
state.
TOFF → It is the interval in
which chopper is in OFF
state.

VS → Source or input voltage.

Vo → Output or load voltage.
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T → Chopping period = TON + TOFF
Basic DC chopper classification:
1.According to the level of input/output
voltages:
• Step down choppers
• Step up choppers
2.According to quadrants of operation:
One quadrant chopper:
Two quadrant chopper:
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Advantages of DC choppers over controlled
rectifiers
✓Operation at high frequency improves motor
performance by reducing current ripple, reduce
machine losses, eliminate discontinuous
conductance hence improves speed regulation
✓High efficiency and flexibility in control
✓Light weight, small size and quick response
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Example: The chopper used for on-off control of
a DC separately-excited motor has supply voltage
of 230V DC, an on-time of 10msec and off-time
of 15msec. Neglecting armature inductance and
assuming continuous conduction of motor
current, calculate the average load current when
the motor speed is 1500 rpm and has a voltage
constant of Km =0.5 V/rad per sec. The armature
resistance is 3Ω.
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 Example: A DC chopper is used to control the speed of
a separately-excited DC motor. The DC supply voltage
is 220 V, armature resistance Ra =0.2Ω and motor
constant Ka×ϕ=0.08V/rpm. This motor drives a
constant torque load requiring an average armature
current of 25A. Determine
(a) the range of speed control
(b) the range of duty cycle D. Assumed the motor
current to be continuous.
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Example
A dc chopper in figure has a resistive load of R = 10W and input
voltage of V = 200 V. When chopper is ON, its voltage drop is 2 V
and the chopping frequency is 1 kHz. If the duty cycle is 60%,
determine
i. Average output voltage
ii. RMS value of output voltage
iii. Effective input resistance of chopper
iv. Chopper efficiency

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Advantages of D.C. drives
i. Adjustable speed
ii. Good speed regulation
iii. Frequent starting, braking and reversing.

The disadvantage of D.C. drives is the

presence of a mechanical commutator
which limits the maximum power rating
and the speed.
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Applications of DC drives:
 Traction systems, Electric locomotives.
 Paper mills
 Lathes, milling machines, boring
machines
 Hoists and Cranes
 Spindles and feeds of machine tools
 Roller mills
 Rubber mixers
 Motor braking systems
 Position control mechnisms

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Assignment
1. A series d.c. motor is to be controlled by a single-phase, half-
controlled, full-wave rectifier bridge as shown in the figure
below. The a.c. input voltage has an rms value of 240V at
50Hz.The combined armature and field resistance is 2.5Ω and
Kaf = 300 mH. If the load torque is 30 Nm and damping is
neglected, calculate the average current and the speed for α =
60˚.

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AC DRIVES
❑ A drive operates and controls the speed,
torque and direction of moving objects.
❑ Variable speed drives used to control AC
motors are called as AC drives.
❑ In industrial terms, AC drive is also known as
variable frequency drive (VFD), variable
speed drive (VSD), or adjustable speed
drive (ASD).
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Construction and Parts of a Typical AC Drive
• Rectifier section
converts the AC
power into DC
power with
negligible ripples
• The filter section
then removes
ripples and
produces the fixed
DC from pulsating
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DC
The inverter takes the DC power
from the rectifier section and then
converts back to the AC power of variable
voltage and variable frequency
Depending on the turn ON of the
power electronic components, the output
and eventually the speed of the motor is
determined.
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The controller is a microprocessor or
microcontroller that takes the input
from sensor and speed reference from
the user and accordingly triggers the
power electronic components in order
to vary the frequency of the supply.

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Principle of Operation
❑ The speed of an induction motor is
proportional to the frequency of the
supply (N = 120f/p)
❑ By varying the frequency we can
obtain the variable speed.
❑ When the frequency is decreased, the
torque increases and thereby motor
draw a heavy current.
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❑ This in turn increases the flux in the
motor.
❑ Also the magnetic field may reach to
the saturation level, if the voltage of the
supply is not reduced.
❑ Therefore, both the voltage and
frequency have to be changed in a
constant ratio in order to maintain
the flux within the working range.
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• In the figure, voltage and frequency
are changed at a constant ratio up
to the base speed.
• Thus the flux and thereby torque
remain almost constant up to the
base speed.
• This region is called constant torque
region.
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• If the frequency increases beyond
the base speed, the magnetic flux in
the motor decreases and thereby
torque begins falling off.
• This is called flux weakening or
constant power region.

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Induction motor drives
❖A three phase induction motor is basically a
constant speed motor
❖In the past, it was not possible to control the speed
of the induction motors according to one’s needs.
❖As the field of drives have improved due to the
availability of thyristors, power transistors etc.,
the variable speed induction motor drives have
been invented
❖The speed control of induction motor is done at the
cost of decrease in efficiency and low electrical
power
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factor. 10
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Methods of Speed Control of Induction
motors
❖ Stator voltage Control
❖ Stator Frequency Control
❖ Stator Current Control
❖ V/F Control
❖ Static rotor resistance control

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Stator Voltage Control
 Speed of induction motor can be varied in a narrow
range by varying the voltage applied to the stator
winding.
 Torque developed by 3 phase induction motor is
directly proportional to the square of the stator voltage
as given by the equation,

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❖Rotor resistance R2 is constant and if
slip s is small then sX2 is so small that it
can be neglected.
❖Therefore, T ∝ sE22 where E2 is rotor
induced emf and E2 ∝ V

❖And hence T ∝ V2, thus if supplied

voltage is decreased, torque decreases
and hence the speed decreases.
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62 6
2
❖A large change in supply voltage is
required for relatively small change
in speed.
❖Large change in supply voltage will
result in large change in flux
density, hence disturbing the
magnetic conditions of the motor.
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62 6
2
❖From equation 2, it is clear that any
reduction in supply voltage will reduce
the motor speed.
❖But from equation 3, it is seen that
any reduction in supply voltage will
reduce the torque also.
❖So in this method of speed control,
torque reduces when supply voltage
reduces.
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❖Hence this method is used in
applications where torque demand
reduces with reduction in voltage.
❖In this method of speed control,
the slip increases at low speeds.
Hence the efficiency of the drive
reduces.
❖Examples: Fans and pump drives.
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Frequency Control
❖ Synchronous speed of induction motor Ns = 120f
P
❖From the above equation, it is clear that changing the
supply frequency will change the synchronous speed and
hence the rotor speed. Emf equation in ac machines is given
by,

❖The above equation, the flux φ will be constant if V1 and f

are kept constant.
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• If frequency is reduced with constant V1,
then the flux φ increases. Hence the core
gets saturated.
• This will increase the magnetizing current
of the motor.
• Hence power losses increases and
efficiency decreases.
• If the frequency is increased by keeping
the V1 constant, then flux decreases.
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• This will reduce the maximum
torque produced by the motor
• With constant voltage, if the
frequency is increased, the air-
gap flux reduced.
• This control is also called as field
weakening mode of speed control.
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Constant V/F Control Of Induction Motor
• If the supply frequency is reduced keeping
the rated supply voltage constant, the air
gap flux will tend to saturate.
• This will cause excessive stator current and
distortion of the stator flux wave.
• Therefore, the stator voltage should also
be reduced in proportional to the frequency
so as to maintain the air-gap flux constant.
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Constant V/F Control of Induction Motor
• Also, by keeping V/F constant, the
developed torque remains approximately
constant.
• This method gives higher run-time
efficiency. Therefore, majority of AC
speed drives employ constant V/F
method for the speed control.
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Example

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 Induction motor control using dc link
inverter drive
Inverter drives are of two types:
1. Voltage source inverter drives (VSI)
2. Current source inverter drives (CSI)

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 Voltage Source Inverter Drives (VSI)
❑ It is the variable voltage variable
frequency control.
❑ It consists of a 3Φ controlled rectifier,
filter and inverter.
❑ The 3Φ controlled rectifier converts the
three phase ac supply to variable dc
voltage.
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• This voltage is fed to the filter circuit.
Hence the inductor L acts as the filter
• The inverter produces a variable
voltage and variable frequency.
• The output of the inverter is used
to control the input of the motor.

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Harmonics in VSI fed induction motor drive
❖The motor receives square wave voltages. These
voltage has harmonic components. The harmonics of
the stator current cause additional losses and heating.
❖These harmonics are also responsible for torque
pulsations.
❖For a given induction motor fed from a square wave
inverter the harmonic content in the current tends to
remain constant independent of input frequency, with
the range of operating frequencies of the inverter.

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CSI Fed AC Drives
❑ In VSI, the output voltage is
controlled by the input voltage
❑ In CSI, the input current is kept constant
and the output current depends upon the
nature of the load
❑ A large value of inductance is
connected in series with voltage source,
it acts as a constant current source
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The 3Φ ac voltage is converted into
variable dc using the 3Φ rectifier
The inverter frequency is controlled
by varying the frequency of the
inverter circuit SCRs.

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The output of the inverter, VVVF, is used
to control the speed of the induction
motor.
The controller circuit is used to vary
the firing angle of the controlled
rectifier
Adv: Forced commutation is not
required
Disad: poor pf at low load
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 SYNCHRONOUS MOTOR DRIVES
Synchronous motors rotates at synchronous
speed.
If the synchronous motors are designed to run
only at rated synchronous speeds, then what is
the use of introducing drives to them?
The answer is pretty simple, synchronous motor
drives makes the starting, pull in and braking
process smooth and without any problems.
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Variable Frequency Control
 We know that, the synchronous speed is given by,

Ns =(120*f)
p
 From the above equation, it is clear that the speed of a
synchronous motor can be controlled by varying the
frequency of the supply.
 As in the case of induction motors, the stator flux is
maintained constant by keeping the (v/f) ratio constant in
this motor also. This ensures that the maximum torque at
all frequencies is same.
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Variable frequency control methods in SM
1.True synchronous mode (or) separate controlled
mode.
2. Self synchronous mode (or) self controlled mode.

True synchronous mode (or) separate controlled

mode
In this mode of speed control, the stator supply
frequency is controlled from outside by using a
separate oscillator.
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The frequency is changed from one value to the
other gradually so that the difference between
synchronous speed and rotor speed is small during
any speed change.
This gradual change in frequency helps the rotor to
follow the stator speed properly at all operating
points.
When the desired speed is reached, the rotor gets
locked with the stator flux speed (rotor pulls into
step) after hunting oscillations
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Self control mode of synchronous motor drive
 The stator supply frequency is changed proportional to the
rotor speed.
 Hence the stator rotates at the same speed as the rotor
speed.
 This ensures that the rotor moves in synchronism with
stator at all operating points.
 Consequently a self controlled motor will never come out of
synchronism or step.
 It does not suffer from hunting oscillations.

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 The block diagram of a self controlled motor fed from a 3 phase inverter
is shown in Fig.
 The inverter may be a CSI or VSI. Depending on the type of inverter, the
input dc source may be a controllable current source or controllable
voltage source.

 Application of CSI fed synchronous motor drive is in gas turbine starting

pumped hydro turbine starting, pump and blower drives, etc
 VSI synchronous motor drives might impose fewer problems both on
machine as well as on the system design. A normal VSI with 180°
conduction of thyristors required forced commutation and load
commutation is not possible.

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Applications and advantages of synchronous motor drives

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❖ For the same rating, ac drives are lighter in weight as compared to dc
drive.
❖ AC drive require low maintenance.
❖ AC drives are less expensive.
❖ Provides the most efficient means of motor speed control.
❖ Reduces the thermal and mechanical stresses on the motor.
❖ Provides low speed motor starting facility.
❖Saves more energy
Disadvantages
❖ Power converters for the control of ac motors are more complex.
❖ Power converter for ac drives are more expensive.
❖ Power converters for ac drives generate harmonics in the supply system and load
circuit.
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Main Assignment (To be submitted 1 week before exams)
1. A dc chopper below has a resistive load of R = 15 ohm and input voltage of V =
250V. When chopper is ON, its voltage drop is 3 V and the chopping frequency is 1.5
kHz. If the duty cycle is 70%, determine
(i) Average output voltage
(ii) RMS value of output voltage
(iii) Effective input resistance of chopper
(iv) Chopper output power.
2. An inverter supplies a 4-pole, three phase induction motor rated at 220 V, 50 Hz.
Determine the approximate output require of the inverter for motor speeds of (i)
950, (ii) 1250, (iii) 1550, (iv) 1850 rpm

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 3. The speed of 15 hp, 250 V, 1300 rpm separately-excited d.c. motor is controlled by
single-phase fully-controlled full-wave rectifier bridge. The rated armature current
is 40 A, Ra = 0.4 Ω, the a.c. supply voltage is 270V. The motor voltage constant is
KeΦ = 0.192V/rpm. Assume sufficient inductance is present in the armature circuit
to make Ia continuous and ripple-free:
i. For α = 40° and rated motor current calculate the Motor torque, Motor speed
and Supply power factor
ii. The polarity of the armature emf is reversed say by reversing the field
excitation, calculate the firing angle to keep the motor current at its rated value
and the power fed back to the supply

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4. A separately excited DC motor with an armature resistance of 0.02Ω works on a DC
supply of 230 V. It draws an armature current of 150A and its rated speed is 1500
RPM. It is fed from a chopper controller for its motoring and braking operations.
Assuming continuous conduction, calculate the duty ratio of chopper at rated torque
with a speed of 550 RPM during
i. motoring
ii. Braking
5. A variable speed d.c. drive has rated power of 15 kW, rated speed of 1800 rpm drives a load that
comprises a constant load of TL = 40 Nm. The inertia of the drive system is 0.20 kg.m2. Calculate
the time taken to accelerate the load from zero to 900 rpm, assuming the drive develops rated
torque during the acceleration phase.

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6. A series d.c. motor is to be controlled by a single-phase, half-controlled, full-wave
rectifier bridge as shown below. The a.c. input voltage has an rms value of 230V at
50Hz. The combined armature and field resistance is 3.5Ω and Inductance= 350
mH. If the load torque is 40 Nm and damping is neglected, calculate the average
current and the speed for α = 50˚

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7. Two three-phase induction motors are to be speed control by cumulative cascade
arrangement as shown in Figure below. The main motor has four poles whereas the auxiliary
motor has six poles. The supply voltage is 450 V, 50 Hz for the main motor while the
frequency in the rotor of the auxiliary motor is 1.5 Hz. Calculate the slip of each motor and
the combined speed of the whole set

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 END
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