9.

Braking of dc Motors
Regenerative
 Fm Fm



F
F Fl
Fl
Speed
mg
mg

3
2
1

T(downhill) T(
T(uphill)
Torque
 Review of Basic Equations
Ra
Vt  Ea  Ra I a  K   Tl
K

Vt Ra R
a
I

  T
2 l
K ( K  ) Ia V
t
If Ea
R
f
Vt  Ea Tl
Ia  
Ra K

 Vt
2 
K
Vt Ra
3   Tdown Vt Ea 2 Tl 2
K ( K ) 2
Ia2   0
Ra K
Vt Ea 3 Tdown Vt  Ea 2 Vt Ra
I a3   1   T
Ra K 2 up
K ( K  )
Vt  Ea 3 Vt  Ea1 Tup
I a1  
Ra K
Vt  E1
 Speed

3


2 o

1 Ea = V

Motor Generator Ea
Operation Operation
 Speed

3
2
1

T(down) T(up)
Torque

Operating Load Terminal Armature Speed Field Ea Comments

point Torque Voltage current

1 Motor
1 < o Ea1 < Vt

2 No Load
0 0 2 = o Ea2 = Vt

3 Generator
3 > o Ea3 > Vt
 Example
• A 440 V dc motor has a rated armature
current of 76 A at a speed of 1000 rev/min.
The armature resistance of the motor is
0.377  and the rotational losses is 1 kW.
The load of the motor is bi-directional.
a. Calculate the no load speed of the motor.
b. If the armature current is 60 A during a regenerative
braking, calculate the motor speed
c. Calculate the load torque during regenerative braking
d. Calculate the speed during regenerative braking
e. Calculate the power delivered by the source under normal
motor operation.
f. Calculate the generated power during regenerative braking.
 Solution
Speed
n3
3
no
1
1000

n1

T(braking) T(motor) Torque

 Speed
n3
3
no
1
1000

n1

T(braking) T(motor) Torque

Ea  Vt  Ra I a  440  0.377 76  411 .35

Ea Ea
K    3.93
 2 n
60
 Speed
n3
3
no
1
1000

n1

T(braking) T(motor) Torque

Vt 440
o    111 .96
K 3.93

Vt Ra Vt  Ra I a 3 440  0.377 60

3   Tl 3    117 .72
K ( K ) 2
K 3.93
 Speed
n3
3
no
1
1000

n1

T(braking) T(motor) Torque

Tl 3  K I a 3  3.93  (60)   235.8

E a3  K  3 3.93  117 .72  462.64

 Speed
n3
3
no
1
1000

n1

T(braking) T(motor) Torque

P1  I a1 Vt  76  440  33.4 kW

Pg  Ea 3 I a 3  462.64  60  27.76
Regenerative Braking during
Speed Reduction
Speed

V1
2 o1
3 1

V2

o3
4

Torque
T1
Dynamic Braking
 A

B
Ra

Rb
Vf If Ea


 Ra
Ib
Rb
Vf If Ea


Ea k 2
Ea 2
( K )
Ib    Pb  
Ra Rb Ra Rb Ra Rb Ra Rb
 Speed
Rb2

Rb1 Rb3 A

Ib1 Ib2 Ib3 Ia

Current

Ea k
Ib   
Ra Rb Ra Rb
Dynamic Braking of Unidirectional Load
Speed

Tb Tl Torque

C
 Speed

Constant B

Torque
Tb Tl
Torque

Operating Motor Terminal Armature Speed Field Ea Comments

point Torque Voltage current

A Motor
A EaA < Vt

B Generator
0 B = A EaA = EaA

Origin No Load
0 0 0 0 0
 Example
• A 440 V dc Separately Excited motor has a rated
armature current of 76 A at a speed of 1000
rev/min. The armature resistance of the motor is
0.377. Assume that the load torque is
gravitational. A dynamic braking technique
employing a braking resistance of 2  is used.
Calculate the new steady state speed.
 Solution A

B
Ra

Rb
Compute K If
Vf Ea



Ea  Vt  Ra I a  440  0.377 76  411 .35

Ea Ea
K    3.93
 2 n
60
 Solution
k C
IC   Speed

Ra Rb
A

3.93C
76  
(0.3772)
Tb Tl Torque

nC   439
Counter Current Braking
 Counter Current Braking

• Plugging
• Terminal voltage reversl
Counter Current Braking: Plugging
Fm Fm

Fl Fl

Motion Motion
 Fm Fm

Fl Fl

Motion Motion

Speed

V1
2 o1
3 1

V2 4

Torque
o3 Tsc
5

T1
 V1 Ra
1   T
2 1
K ( K )
Speed

V1
2 o1
3 1

V2 4

Torque
o3 Tsc
5

T1
V Ra V2 Ra
V 4  2  T 0 5   T 0
2 1
 o3  2 K ( K  ) 2 sc
K ( K )
K
KV2
Tsc 
Ra
 Speed

V1
2 o1
3 1

V2 4

Torque
o3 Tsc
5

T1

Operating Motor Terminal Armature Speed Field Ea Comments

point Torque Voltage current

1 Motor
1

2 Generator
2 = 1

3 No Load
0 0 3

4 Holding
 0

5 Generator
5
Counter Current Braking: Terminal
Voltage Reversal (TVR)
 speed a

Torque

b
Ia
Ea Ea

Ia
Ra Ra

b a
 Speed
2 1

3 Torque
4 Current (I)
Tl
Tl
 Speed
2 1

3 Torque
4 Current (I)
Tl
Tl

I 2  2 I st without Rst
 Speed
2 1

3 Torque
4 Current (I)
Tl
T4
 Speed
2 1

3 Torque
4 Current (I)
Tl
Tl
Operating Motor Terminal Armature Speed Field Ea Comments
point Torque Voltage current

1 Motor
1

2 Generator
2 = 1

3 Holding
 0

4 Motor
5
B Rb
S

Ea

Ra
 Reduction of Braking Current by Adding
Resistance
Rb > 0 Speed
2 1 Normal
3 operation

4 Torque
Rb = 0 Current (I)
Tl
Tl

 V3  Ea 3
I3 
Ra  Rb
 Example 9.5
• A dc motor has an armature resistance of 1
, and K = 3 Vsec. When the motor’s
terminal voltage is adjusted to 320 V, the
motor speed is 1000 r/min. A TVR braking
is applied, calculate the value of the braking
resistance that would reduce the maximum
braking current to twice the rated current.
 Solution

V1  Ea1
I a1  6
Ra

I 3  I b  2 I a  12
2
 320  3 1000
 V2  E a1  V2  K  1 60
Ib     12
Ra  Rb Ra  Rb 1  Rb

Rb  51.8
Reduction of Braking Current by Reducing
Armature Voltage
V3 < V2 Speed
2 Normal
3 1 operation, V1

4 Torque
V2 Current (I)
Tl
Tl

 Vb  Ea 3
I3 
Ra
 Speed

2 1

3 Torque
4
5

T
Operating Motor Terminal Armature Speed Field Ea Comments
point Torque Voltage current

1 Motor
1

2 Generator
2 = 1

3 Holding
 0

4 No Load
0 0 o

5 Generator
5