dc Motor Drives 127

Since motor torque of 20 N-m is higher than the

operating in continuous conduction. Now critical torque T, drive is
20
K 1.9337 =10.34 A

E = V, - 1, R, = 155.3 10.34 × 2= 134.6 V

134.6
Speed = 194.4 x 960 = 664.8 rpm

5.9.3 Three-phase Fully-Controlled Rectifier Control of dc

Separately Excited Motor
Three-phase fully-controlled (6 pulse) rectifier fed separately excited dc motor
drive is shown in Fig. 5.32(a). Thyristors are fired in the sequence of their
numbers with a phase difference of 60° by gate pulses of 120° duration. Each
thyristor conducts for 120°, and two thyristors conduct at a time--one from
upper group (odd numbered thyristors) and the other from lower group (even
numbered thyristors) applying respective line voltage to the notor.
Transfer of current from an outgoing to incoming thyristor can take place
when the respective line voltage is of such a polarity that not only it forward
biases the incoming thyristor, but also leads to the reverse biasing of the
outgoing when incoming turns-on. Thus, firing angle for a thyristor is measured
from the instant when the respective line voltage is zero and increasing. For
example, the transfer of current from thyristor T, to thyristor T, can occur as
long as the line voltage VAC iS positive. Hence, for thyristor T, firing angle a
is measured from the instant VAc = 0and increases as shown in Figs. 5.32(b)
and (c).
If line voltage vAB is taken as the reference voltage, then
VAB = Vm Sin 0t (5.95)
a= 0t - 3 (S.96)
and

where V, is the peak of line voltage. conduction

Motor terminal voltage and current waveforms for continuous
operations
are shown in Figs. 5.32(b) and (c) for motoring and braking
in the figure. The
respectively. Devices under conduction are also shown
discontinuous conduction is neglected here. For the motor terminal voltage
5.32(b) and (c)).
cycle from a+ d3 to a +2/3 (from Figs.
eat2/3 (5.97)
Vm sinot d (o) = 3 V., cos a

From Eqs. (5.7), (5.8), (5.79) and (5.97)

3V, COS a - (5.98)
K2
 ia

1Rai
Va
La' motor
AC SOurce
T6

(a) Drive circuit

T T6 T2

1/3 21

(b) Motoring operation, a = 30°

T
T2
la
2n t
Va
BA C AB
ACE
(c) Braking operation a 140°
Fig. 5.32 Three phase
fully-controlled converter control of separately excited motor
When discontinuous conduction is
are obtained. The V, vs a ignored, speed-torque curves of Fig.3.55
curve has same nature as
single-phase case. Consequently, drive shown in Fig.
operates in quadrants I and5.28(a) Tor
V.
5.9.4 Three-phase
Half-controlled Rectifier Control of de
Separately Excited Motor
For rectifier circuit,
shown in Fig. 5.25(d), under continuous
conduction
V,= 3Vm2n (1+ coS C)
(5.99)
 dc Motor Drives 129

increasing

motoring

braking

-Wm
Fig. 5.33 Speed torque curves of drive of fig. 5.32a neglecting
discontinous conduction
From Eqs. (5.7), (5.8), (5.79) and (5.99)
3Vm (5.100)
2rK (1 + cos a)-ì
@m T

V, vs a curve has same nature as shown in Fig. 5.31(a). Consequently, drive

operates only in quadrant I.
ExAMPLE 5.17
A 220 V, 1500 rpm, 50 A separately excited motor with
armature resistance
Available ac source
of 0.5 S2, is fed from a3-phase fully-controlled rectifier. transformner is used
has a line voltage of 440 V, 50 Hz. A star-delta connected
voltage equals rated voltage when
to feed the armature so that motor terminal
converter firing angle is zero.
ratio.
(i) Calculate transformer turns
angle when: (a) motor is running at
(ii) Determine the value of firing motor is running at - 800 rpm and
1200rpm and rated torque; (b)when
twice the rated torque.
Assume continuous conduction.

Solution
fully-controlled rectifier from Eq. (5.,97)
For 3-phase
CoS a

rated motor terminal voltage a = 0°

For
220 = 230.4 V
Vn coS 0°
1629 y
voltage between lines = 230.4/2 =
rms converter input connection, ratio of turns between phase windings
of
For star-delta transformer
440/\3 = 1.559.
= 162.9
primary and secondary
 Fundamentals of Electrical Drives
(11) (a) At 1500 rpm E = 220 - 0.5 x 50 = 195 V
At 1200 rpm 1200 x 195 = 156 V
E=
1S00

V, = E + I,R, = 156 + 50 x 0.5 = 181 V

Since V,= Vm cos a (i)

181 = 08227
cos= = x230.4 m

or a=34.65°

(b) At - 800 rpm E= - 800 X 195 =- 104 V

1500

V, = E+ I,R, = - 104 + 100 x 0.5 =- 54 V

From Eg. (i) COS O = - 54 = - 0.2454
230.4
or a= 104.20°

5.9.5 Dual-converter Control of de Separately Excited Motor

When four or tw0-quadrant operation consisting of forward motoring and
regenerative braking is required, a dual converter fed dc separately excited
motor drive of Fig. 5.34 is employed. A dual-converter consists of two fully
controlled rectifiers connected in anti-parallel across the armature. For power
ratings upto around 10 kW,single-phase fully-controlled rectifiers can be used.
For higher ratings, three-phase fully-controlled rectifiers are employed. As
explained in Sec. 5.9.1, rectifier A, which provides positive motor current and
voltage in either direction, allows motor control in quadrants I and IV, Rectifier
B provides motor control in quadrants II and II, because it gives negative
motor current and voltage in either direction.

L1
AC
supply,
VA

A B

L2

Fig.5.34 Dual converter control of de separately excited motor.

A and B are fully controlled rectifiers. Inductors L
and L, are usedonly with simultaneous control
 dc Motor Drives 131
There are two methods of control for the dual
converter: (a) In simultaneous
control both the rectifiers are controlled together. In
erent between rectifiers, they are operated to order to avoid dc circulating
produce same dc voltage across
the motor terminals. Thus
Va + Va = 0 (5.101)
Substituting from Eq. (5.83)or (5.97), yields
CoS aAt cos aR = 0
a + =180° (5.102)
Although,control of firing angle according to relation (5.102) prevents de
circulating current, ac current does circulate due to difference between
instantaneous output voltages of the two rectifiers. Inductors L, and y are added
toreduce ac circulating current. Because of the flow of ac circulating current,
simultaneous control is also known as circulating current control. In a three
phase dual converter, inductors are chosen to allow a circulating current of
30% of full load current. This completely eliminates discontinuous conduc
tion, and therefore, gives good speed regulation in the complete range of the
drive.
rectifier
(b) In non-simultaneous or non-circulating current control method, one
and inductors
is controlled at a time. Consequently, no circulating current flows
associated with circulating
L, and y are not required. This eliminates losses
then discontinuous
current and weight and volume associated with inductors. But
conduction occurs at light load. and control is rather complex.
required, the field is controlled
When speed control above base speed is also
by feeding it from a controlled rectifier.

ExAMPLE 5.18
circulating current dual converter with
Motor of Example 5.17 is fed from a angles for the
165 V. Determine converter firing
ac source voltage (line) =
following operating points:
rated motor torque and 1000 rpm.
(i) Motoring operation at
Braking operation at rated motor torque and 1000 rpm.
(ii) motor torque and (-1000) rpm.
(iii) Motoring operation at rated
Braking operation at rated motor torque and (-1000) rpm.
(iv)

Solution
rpm, E = 195 V
From Example 5.17 at 1500
1000 x 195 = 130 V
(i) At 1000 rpm E=
1500
V
V, = E + 1,R, = 130 + 50 x 0.5 = 155
(i)
Now V, = -Vm cos aA
132 Fundamentals of Electrical Drives
155
COS A= X
Vm 165 V2 3

a = 45.9°
ap = 180° - a, = 180° - 45.9 = 134.1°
(ii) V, =E - I,R, = 130 50 x 0.5 = 105 V
From Eq. (i) cos aA = 105
3 165V2 3
Or
a = 61.9°, g = 180° - 61.9° = 118.10
(1) For negative speeds, a¡ <90° and aa > 90°
Hence from part (i), aA = 134.1°, p =45.9°
(iv) Here also the two controlled rectifiers will interchange their operations
compared to (ii). Thus
a =118.1°, ap = 61.9°
59.6 Comparison of Conventional and Static Ward-Leonard Schemes
The conventional Ward-Leonard scheme suffers from following
compared to Static Ward-Leonard scheme: (i)) Higher initial costdisadvantages
due to use of
two additional machines of same rating as the main motor, (ii)
Larger
and size, (ii) Needs more floor space and proper foundation, (iv) weight
more frequent maintenance, (v) Higher noise, and (vi) Lower Requires
higher losses. efficiency due to
The static Ward-Leonard scheme, in
comparison with conventional, has
following disadvantages: (i) There is no provision for load equalisation.
when used in intermittent load applications, load Therefore,
fluctuations cause
fluctuations of supply current and voltage, which adversely effects quality heavy
supply and stability of generating plant. (ii) It generates of
of harmonics, which again adversally affect considerable amount
of generating plant. (iii) Operates at a lowquality of supply and performance
power factor particularly at low
speeds. For large power drives with low line capacity, low power factor and
large harmonics cause great concern.
On the whole, static
Ward-Leonard drive is preferred over
Ward-Leonard drive in most applications. The conventional driveconventional
preferred for large size intermittent load applications where is however
forms a significant part of source capacity. It may, drive capacity
when the source of power is non-electrical, as in dieselhowever, be noted that
ship propulsion, conventional electric locomotive or
Ward-Leonard drive can only be used.
5.9.7 Rectifier Control of de Series Motor
Single-phase controlled rectifier fed dc series motors are employed in
Asingle-phase half-controlled
rectifier-fed dc series motor is shown in Fig. traction.
Eauivalent circuit of motor is also shown. Since back emf decreases5.35(a). with
armature current, discontinuous Conduction occurs only in a
narrow range of
 dc Motor
Drives 133
SerieS
motor Va
Ra
Va La

e-t(ialwm 2rr wt

Dy, D
(a) Drive circuit (b) Waveforms
Fig. 5.35 Single-phase half-controlled rectifier fed series motor
oneration. Hence, it willbe neglected here. The waveforms of v,, ,and instan
taneous back emf e for continuous conduction are shown in Fig. 5.35(b). Although,
in steady state, fluctuations in speed are negligible, e is not constant but fluctuates
with i,. For a given speed, e is related to i, through magnetization curve of
motor. which is nonlinear owing to saturation. Thus
e=f(i) Om (5.103)
freewheeling
Motor operation is described by following equations for duty and
intervals respectively,
di, for as wts n (5.104)
Vm sin wt = R,ia + La dt +f a) @m
(5.105)
di, +f(() @m for nS otS (1+ a)
0 = Rg'a + La dt
nonlinear
presence of term f(i,), Eqs. (5.104) and (5.105) are of
Because of the numerically. A simple method
only be solved
differential equations and can replaced by its average value E, such that
analysis is obtained when e is (5.106)
E, =K,a
(5.107)
K, = fU)
where of armatue
inductance L, due to de component
the
Since the drop across
current I, is zero
V, = E, + 1,R,
(5.108)

or K,
(5.109)
T= K,
and
and fully-controlled single
conduction,V, for half-controlled
respectively.
For continuous by Eqs. (5.93) and (5.83)speed-torque characteristic
Phase rectifiers isgËven are usedto
steps
calculate
Following sequence of
134 Fundamentals of Electrical Drives
1Or agiven a taking into account non-linearity of the magnetic circuit: A Valde
1S chosen for I,. Corresponding value of K, is obtained from the magnetization
Characteristic of the motor. For the known value of a. V, is calculated trom E4
(D.93)or (5.83), depending on the rectifier circuit used. Now o, and Tare obtained
Trom Eqs. (5.108) and (5.109) respectively. Nature of speed-torque characteristics
for the drive of Fig. 5.35(a) is shown in Fig. 5.36.

Wm

Increasing

Fig.5.36 Speed torque curves of series motor

fed from a controlled rectifier

5.9.8 Power Factor, Supply Harmonics and Ripple in Motor Current

Rectifier-fed de drives have the following drawbacks:
() Low power factor: Supply power factor is very low when motor is
operating at low speeds (i.e. at low armature voltages). In high power drives
it may be necessary to installa static VAR compensator for improving power
factor.
(ii) Distortion of supply: Line current has harmonics. In a weak source,
with high internal impedance, line current harmonics cause fluctuations in
source voltage. Furthermore, temporary short circuit of the lines during
commutation of thyristors, causes sharp current pulses, which further distort
the line voltage. Line voltage and line current distortions adversely affect
other load connected to line and produce radio frequency interference in commu
nication equipment.
(i) Ripple inmotor current: Motor current has an ac ripple superimposed
on dc component. The ripple increases losses, adversely affects motor
commutation and derates motor. Italso causes discontinuous conduction, which
adversely affects speed regulation.
5.10 CONTROL OF FRACTIONAL hp MOTORS
Because of low cost single-phase half-wave controlled rectifier of Fig. 5.37(a),
employing a single thyristor, 1S Commonly used for the controlof fractional bp
universal, dc series and permanent-magnet de motors. Such drives are emploved
in hand tools and small domestic appliances. Motor terminal voltage and
armature
wveforms for universal motor are shown in Fig. 5.37(b). The drive
Current
current interval and
onerates is discontinuous conducion with a large zero
 deMotor Drives 135

(a) (b)

Fig. 5.37 Control of universal motor by a single thyristor

large current ripple. Consequently, efficiency is poor, speed regulation is large
and speed may fluctuate around its average value when the inertia is low.
Sometimes a freewheeling diode is added to reduce the duration of zero current
interval. Universal motors may also be controlled by a triac ac voltage controller
the machine
as shown in Fig. 5.38(a). The triac is fired at aand (7 + a). Nowduration of zero
armature carries ac current (Fig. 5.38(b). Because of reduced
lower speed
current interval, the drive has negligible speed fluctuations and
regulation.
Va
ia Ia

Vs Va
(b)
(a)
voltage controller
Fig.5.38 Controlof universal motor by an ac
CHOPPER-CONTROLLED de DRIVES
5.11 voltage.
voltage from a dc source of fixed
Choppers are used to get variable dc
Excited de Motors
5.11.1 Control of Separately
Motoring Control preferred over thyristor because they can be
Generally ransistor choppers are w!
frequency (2.5 to 10 kHz) than thyristors (up
operated at amuch higher voltage and current ratings of transistors, use ot
kHz). But because of lower kW. For higher ralings, thyristor choppers are
ransistor is restricted to 200
controlled separalely excited moto dnve is shown
used. A ransistor chopper chopper is obtained when transistor is replaved by
thyristor
in Fig. 5.39(a). A forced commutalion circuit.
a thyristor with a
periodically with period T and remains on for a
Transistor T, is operaled operate al a trequency which is high
choppers
duration on: Present day conduction. Waveforms of motor terninal voltage
enough toensure continuous continuous conduction are shown in Fig. 5.39(b).
U, and armature current i, for SIs Log the motor terminal voltage
is V.
During on-period of the transistor, 0
 136 Fundamentals of Electrical Drives

Ra imotor
Va
V
E

(a)
Va Va

iaz ia
T wt
ton
(b)
excited motor
Fig. 5.39 Chopper controlof separately

The operation is described by

(5.110)
Rai, + La ala
dt
+ E=V, 0SiS lon

from i,l to ia2. Since motor is

In this interval, armature current increases
called duty interval.
connected to the source during this interval, it is
freewheels through diode DE and
At t=tons T, is turned-off. Motor current during
StsT.Motor operation
motor terminal voltage is zero duringinterval on described by
this interval, known as freewheeling interval, is

Raia t La di, + E= 0, Lon S t ST (S.111)

dt

Motor current decreases from ia2 to i¡ during this interval.

or duty
Ratio of duty interval ton to chopper period T, is called duty ratio
cycle (). Thus
Duty interval lon (5.112)
S=

From Fig. 5.39(b)

clon
Vdt = 8V (5.113)
o

Equation (5.2) and (5.7) are also applicable due to reasons cxplained in
Sec. 5.9.1.
Now
SV- E
I, = (5.114)
R¡
 dc Motor
Drives 137
(5.7), (5.8) and (5.114)
FromEqs.
SV R,
K (5.115)
of speed torque characteristics is shown in Fig. 5.41.
The nature
RegenerativeBraking
regenerative braking operation is shown in Fig. 5.40(a). Transistor
Chopper for periodically with a period Tand on-period of on Waveforns of
operatedI
T,is terminal voltage U, and armature current i, for continuous conduction
motor increase
shown in Fig. 5.40(b). Usually an external inductance is added to
are
of L,. When T, is on, 4, increases from i¡ to i,2. The mechanical energy
the value the motor, now working as a generator, partly
converted into clectrical by circuit inductance and rernainder
magnetic energy in armature
inereases the stored arnature
armature resIstance and transistor. When T, is turned off,
isissipated in source V, and reduces from i,, to i,l. The
diode D and
Curent flows through energy supplied by machine is fed to the
energy and
stored electromagnetic noW
and interval
called energy storage interval of duty
0Sts ton iS the ratio
source. The interval interval. If Sis again defined as
called the duty
Lo Z1S T
interval to period T, then
Duty interval T- lon (5.116)

From Fig. 5.40(b)

(5.117)
Vdt = SV
lon

D .9
motor
la
Ra
C

(a)

Va
Va

la
iat
ton
(b) choppercontrol
'separatelyexcited motor by
Fig. 5.40 Regenerative braking of
 138 Fundamentals of Electrical Drives
and from Fig. 5.40(a)
E- SV (5.118)
I,=
R,
Since 7, has reversed
(5.119)
T= - KI,
From Eqs. (5.8), (5. 118) and (5.119)
SV (5.120,
Wm = KK?
The nature of speed torque characteristic is shown in Fig. 5.41.

Wm 4 6jncreasing

regenerative
braking motoring

T T
Fig.5.41 Speed torque curves of chopper controlled separately excited motor

Dynamic Braking
Dynamic braking circuit and its waveforms are shown in Fig. 5.42. During
the interval 0 < ts ton ia increases from la to ia2. A part of generated energy
is stored in inductance and rest is dissipated in R, and I. During interval
Lon S IS T, i, decreases from i2 to ial. The energies generated and stored in
motor
Va
W

Re Tr Vai $ Ra iat lo

ton wt
(a) (b)

Fig. 5.42 Dynamic braking of separately excited motor by chopper control

inductance are dissipated in braking resistance Ry,R, and diode D. Transistor
T, controls the magnitude of energy dissipated in Rg, and therefore, controls
its effective value. If i, is assumed to be rippleless dc, then energy consumed
EN, by R_ during a cycle of chopper operation is
 dc Motor Drives 139

EN = 1;Rg (T - Ion)
Average power consumed by Rp
EN
P== 1} R¡ (l - 6) (5.121)

Effective value of R

RBE =P=Rp(l - 8) (5.122)

a

lon (5.123)
where

resistor can be
Equation (5.122) shows that the effective value of braking
to 0. As the speed
changed steplessly from 0 to Rp as is controlled from l constant maximum
falls, can be increased steplessly to brake the motor at a
line.
torque as shown in Fig. 5.8 by chain-dotted
EXAMPLE 5.19
separately excited dc motor has an armature
A 230 V, 960 rpm and 200 A which provides both
a chopper
resistance of 0.02 S2. The motor is fed from
has a voltage of 230 V. Assuming
motoring and braking operations. The source
continuous conduction.
torque
Calculate duty ratio of chopper for motoring operation at rated
(i)
and 350rpm. torque
Calculate duty ratio of chopper for braking operation at rated
(ii)
and 350 rpm.
ratio of chopper is limited to 0.95 and maximum
(iii) If maximum duty maximum
twice the rated, calculate
permissible motor current is
speed obtainable without fieldweakening and power
permissible motor
fed to the source.
controlled in (iii), calculate field current as a
(iv) If motor field is also
speed of 1200 rpm.
fraction of its rated value for a

Solution
At rated operation
0.02) = 226 V
E =230 - (200 ×

350 226 = 82.4 V

(i) E at 350 rpm = 960
=E+ ,R, = 82.4 + (200 x 0.02) = 86.4 V
Motor terminal voltage V,
86.4 = 0.376
Duty ratio S = 230
(200 x 0.02) = 78.4 V
(ii) V, = E- 4R, = 82.4 -
 140 Fundamentals of Electrical Drives

78.4
S= = 034
230

(ii) Maximum available V, = 0.95 x 230 = 218.5 V

E = V, + I,R, = 218.5 + (200 × 2 x 0.02) = 226.5 V
226.5
Maximum permissible motor specd = 226 x 960 = 962 rpm
Assuming lossless chopper, power fed into the source
Val, = 218.5'x 400 = 87.4 kW
(iv) As in(iii) E= 226.5 V
for which at rated field current speed = 960 rpm.
Assuming linear magnetic circuit, E will be inversely proportional to
field current. Field current as a ratio of its rated value = 960/1200 = 0.8.
EXAMPLE 5.20
Motor of Example 5.19 is now operated in dynamic braking with chopper
control with a braking resistance of 2 .
(i) Calculate duty ratio of chopper for a motor speed of 600 rpm
and
braking torque of twice the rated value.
(ii) What will be the motor speed for a duty ratio of 0.6 and
motor torque
equal to twice its rated torque?
Solution
(i)) E at 600 rpm = 600 x 226 = 141.25 V
960

Rgg = (1 - 8)Ry =f-R,

141.25
or (1 - 8) x 2 = 0.02 or 8= 0.83
400
(iü) E = I,[(1 - )Rp + R] =400[(1
0.6) × 2 + 0.02] = 328 V
Speed = 328
226 x 960 = 1393.3 rpm

5.11.2 Chopper Control of Series

Motor
Motoring
Chopper circuit and v, and i, waveforms will be
V, is given by Eq.
(5.113). same as shown in Fig. 5.39.
to saturation of However, e is not constant but varies with i. Due
magnetic circuit, relationship
The approximation in Sec. 5.9.7 by between
e and i, is
described
applicable. Consequently, motor performance can Egs. (5.106) throughnon-linear.
(5.109) is
be calculated
following the
 dc Motor Drives 141

sequence of steps described in Sec. 5.9.7. The nature of speed torque curves
is shown in Fig. 5.43.

increasing
increasing
brakin9, motoring

Fig. 5.43 Motoring and regenerative braking characteristics of

chopper controlled series motor
Regenerative Braking
With chopper control, regenerative braking of series motor can also be obtained.
Power circuit of Fig. 5.40(a) is employed. During regenerative braking, series
motor functions as aself-excited series generator. For self-excitation,current
flowing through field winding should assist residual magnetism. Therefore,
when changing from motoring to braking connection, while direction of armature
current should reverse, field current should flow in the same direction. This is
achieved by reversing the field with respect to armature when changing from
motoring to braking operation. Waveforms of v, and i, will be same as those
of Fig. 5.40(b). Approximation of Eqs. (5.106) and (5.107) is applicable and
V, is given by (5.117). From Fig. 5.40(a) and Eqs. (5.106) and (5.117)
SV+ 1, R,
(5.124)
K¡
and
T=- Kala (5.125)
For a chosen value of l, K, is obtained from magnetization characteristic. Then
T and am are obtained from Eqs. (5.125)and (5.124) respectively. The nature
of speed-torque characteristics is shown in Fig. 5.43. Such characteristics give
unstable operation with most loads. Consequently, regenerative braking of the
series motor is difficult.

Dynamic Braking.
Chopper circuit of Fig. 5.42(a) is used. Since motor works as a self-excited
generator, when changing from motoring to braking, field should be reversed.
EXAMPLE 5.21
A 220 V, 70 Adc series motor has combined
resistance of armature and field
 of 0.12 Q. Running on no load with the field winding connected
Source it gave following magnetization characteristic at 600 10 a
Field current, A 10 20 30 40 50 60
rpm: separale
70
Terminal voltage, V 64 118 150 170 184 194 202 80
210
Motor is controlled by a chopper with asource voltage = 220 V.
(1) motor speed for a duty ratio of 0.6 and motor current of 60A
(i1) torque for a speed of 400 rpm and duty ratio of 0.65.
Calculate
Solution
(i) V, = 8V =0.6 x 220= 132 V

Ej = Va - I,R, = 132 - 60 x 0.1 = 124.8

From magnetization characteristic, for a speed of 600 rpm
60 A, E = 194 V andL.

Motor speed N, = E x 600 = 124.8 x 600 = 386 rpm

194
(ii) SV =E+ 1,R,
0.65 × 220 = E + 0.121,
or
0.121, = 143-E
)
Equation (i) being nonlinear can be solved by trial and
l, = 70 A. error. Let us try
From magnetization characteristic for l, = 70
A
E =134.667.
Substitution of these values of , andandE inspeed
(i)
of 400rpm
balances the
equation. Hence I = 70 A is the solution of Eq. (i)
Now T= El 134.667 x 70
=225 N-m
m 400 × 2n/60

EXAMPLE 5.22
Motor of Example 5.21 is now
with a source voltage of 220 V.controlled in regenerative
braking by a chopper
(i) Calculate
motor
equal to the ratedspeed for a duty ratio
motor of0.5 and motor braking
(ii) Calculate torque. torquo
current of maximum
70 A and allowable motor speed for a
maximum
(iii) What resistance must maximum
be permissible duty permissibl
ratio of 0.95.
at
1000 rpm without inserted in armature circuit for the drive to
(iv)
duty ratio of
To what chopper exceeding armature
has a range from current beyond 70 A?
ru
The
extent the 0.05 to 0.95.
to run the
motor at number
1000
of turns in
rpm field winding should
reducedbe
beyond 70 A. without exceeding the armaturc Current
 motortorque, ,= 70 A. Now
rated
I¡, R, =0.5 x<220 + 70 x 002
|4 V
magnetization characteristic, for , 70,
Aand N
From
E =202V

118.4 x
Required motor
speed N, = 202 600 = 351.7 rpun

70Aand nas = 0.95

At
(ü) 0.95 x 220 + 770 x 0.12 = 217.4 V

For , = 70 Aand|N= 600 rpm, E = 202 V(from the magnctiaun

curve)
217.4
=xN= x 600 = 645.7 rpm
Requiredspeed N, 202

70 A and speed N = 1000 rpm

(üi) For , =
1000
Ez = 600 x 202 = 336.67 V
336.67 - 0.95 x 220
R+ 0.12= 70

= 1.7 Q.
which gives the resistance to be inserted, R
(iv) It is assumed that even after changing field turns
R, = 0.12 2
E4 = (0.95 x 220) + (70x 0.12) = 217.4 V
At 600 rpm
Ihis is the back emf developed by machine at 1000 rpm.
600
E'= x217.4 = 130.44
1000
are reduced
Fraction to which the number of turns in the ficld
E' 130.44 =0.646
202

bXAMPLE 5.23 braking. Available clppe

Movides Exampl
a e 5.21 is now Controlled in
variation in duty
0) Calculate braking sofrom
ratio
resistor
dynamc
0.1to 09.buskinp spced at theaatn
that Imaximum

) CurAlsorent of 70 A will be B0 rpm

calculbrakiate ntheg resistance
Tpm with maximum avaúlable mites
a%
144 Fundamentals of Electrical Drives
Solution
() From magnctization curve, motor back emf at 800 rpm and I, = 70 A
800
x 202 = 269.33 V
600

Effective value of braking resistance

E - R, = 269.33 -0.12 = 3.73 2
70

For agiven value of R¡. maximum value of Rpr is obtained at minimum

value of duty ratio ,min: Thus
(1- Gmin) Rp = RE
(1 -0.1) Rp = 3.73 which gives Rg = 4.14 2
(ii) For agiven speed, torque willbe maximum when duty ratio is maximum.
Total armature circuit resistance at maximum duty ratio max
R = R (1 -Smas) + R, = 4.14(1 - 0.9) + 0.12 = 0.534 2
Now E =RI, (i)
Equation (i) must be satisfied for a speed of 87 rpm. Trying various
values of I, and the value of corresponding E (at 87 rpmn = 26.68 V
obtained from magnetization characteristic, gave a approximate solution
of I, = 50 A.
At 50 A, 184
= 2.928
600 x 2r/60

T=Ke¢l, =2.928x 50= 146.4 N-m

5.11.3 Source Current Harmonics
Source current of a chopper fed dc drive consists of harmonics. Usually an
LCinput filter is provided to prevent them from affecting other loads on the
line.

PROBLEMS

de Motor Characteristics

5.1 A dc motor is to be selected for driving a load having a large

torque of short
duration followed by a long no-load period. A flywheel of suitable inertia is
already mounted on the load sh¡ft. Suggest the most suitable de motor for this
application and explain your choice.
5.2 Explain why a dc series motor is more suited to deal
with torque over loads
than other dc motors.
5.3 A dc separately excited motor is running at 800 rpm
driving a load whose
torque is constant. Motor armature current is 500 A. The
armature resistance