Module I
DC motor drives
Sanal. C
Assistant professor
Department of Electrical & Electronics
Govt. Model engineering college
Block diagram of an electric drive
DC motor drives
DC drives – in applications requiring -
Adjustable speed, good speed regulation,
frequent starting, braking, and reversing.
Rolling mills, paper mills, mine winders,
machine tools, and traction.
4 Types of DC Motor
DC Motors are generally classified according to their method of
field excitation .
Separately excited DC Motor
Self excited D C Motor
- Series wound Motor
- Shunt wound Motor
- Compound wound Motor
Short shunt & Long shunt
Cumulatively compound & Differentially compound
Steady-state Speed Torque Relations
The steady-state equivalent circuit of the
armature of a dc machine
Steady-state Speed Torque Relations
Basic equations of a DC motor are
(1)
(2)
(3)
Steady-state Speed Torque Relations
From (1), (2) & (3)
(4)
(5)
Equations (1) to (5) are applicable to all three
types of dc motors: separately (or shunt)
excited, series, and compound motors
Steady-state Speed Torque Relations -
separately excited motor
Separately excited motors, if field voltage is constant,
flux is constant as the torque changes.
(6)
From equations (1), (3), and (4) to (6)
(7)
(8)
(9)
(10)
Speed-torque characteristics of dc motors.
Steady-state Speed Torque Relations -
Separately excited motor
Speed torque characteristic of a separately
excited motor is a straight line
Speed decreases as torque increases and
speed regulation depends on the armature
circuit resistance
Steady-state Speed Torque Relations -
Series motors
Series motors - flux is a function of armature
current.
In unsaturated region of the magnetization
characteristic, φ can be assumed to be
proportional to la
(11)
Steady-state Speed Torque Relations -
Series motors
Substituting in equations (1), (4), and (5)
(12)
(13)
(14)
Steady-state Speed Torque Relations
Armature circuit resistance Ra, is now the
sum of the armature and field winding
resistances.
speed varies inversely as the square root of
the torque - speed drops with increase in
torque.
Series motors - applications requiring high
starting torque and heavy torque overloads.
Steady-state Speed Torque Relations -
Cumulative compound motors
The no-load speed depends - strength of
the shunt field, drop-in speed depends on
the strength of the series field.
Cumulative compound motors - used -
drooping characteristic similar to that of a
series motor is required and no load speed
must be limited to a safe value
Typical examples are lifts, hoists
Methods of Speed Control
The speed-torque relation of dc motors,
Speed can be controlled by any of the
following three methods:
1. Armature voltage control.
2. Field flux control.
3. Armature resistance control.
Armature Voltage Control
If the armature voltage is reduced - the
armature current - motor torque will
decrease.
As motor torque less than the load torque -
motor will decelerate, causing speed and
back emf to decrease.
Motor settle at a lower speed at which its
torque equals the load torque.
Armature Voltage Control
If the armature voltage is increased- the
armature current - motor torque will
increase.
Motor will accelerate, causing the motor
speed and back emf to increase
Motor settle at a higher speed at which its
torque equals the load torque.
Armature Voltage Control
Armature voltage can’t be increased beyond
the rated value - used only to get the motor
operation below its natural speed-torque
characteristics.
The variable dc voltage can be obtained by
using:
1. Controlled rectifier (or ac to dc converter).
2. Chopper (dc to dc converter).
Speed-torque curves of Separately Excited
Motors
Speed-torque curves of Series Motors
Field Control
Field of separately or series excited motor
running at a speed is weakened - induced emf
decreases.
Since low Ra - Ia increases by an amount much
larger than the decrease in the field flux.
Torque is increased by large amount -
exceeding load torque.
Surplus torque - motor accelerate and the
back emf rises – motor settles down to a new
speed - motor torque equal to the load torque.
Field Control
When field increased - induced emf increases -
often exceeds the supply voltage
Armature current reduces - often reverses
Motor works as a generator and feeds energy
to the supply system.
Rapid reduction of speed takes place - motor
settles at a new lower speed - motor torque
becomes equal to the load torque
Field Control
Separately excited motor – flux control by
variation voltage across field using a controlled
rectifier or a chopper
Shunt motors - variation of flux - inserting a
variable resistance in field circuit
Series motor - control of flux - connecting a
diverter resistance across the field winding or
taps on the field winding.
Combined Armature Voltage and Field Flux
Control
Wide range of speed control - armature
voltage control is combined with field control
Typical examples - rolling mills, coiler drives,
traction etc.
Combined Armature Voltage and Field
Flux Control – Separately Excited Motor
Speeds from standstill to base speed - by the
armature voltage control - field flux (or field
current) and armature current (Ia) - maintained
constant.
T = KeΦIa - almost constant
Constant – Torque drive method
Combined Armature Voltage and Field
Flux Control – Separately Excited Motor
Speeds above base speed are obtained by
field control - field flux (or field current) is varied
– armature voltage(V) & current (Ia) -
maintained constant.
Flux decreases – speed increases – E almost
constant
Power, P = E Ia - remains constant
Constant – power drive method
Torque and power limitations in combined
armature voltage and field control.
Armature Resistance Control
External resistance Re in series with the
armature - poor efficiency - seldom used with
separately excited motors
Economical for intermittent duty drives
employing series motors.
Speed-torque curves of dc motors with
resistance control.
Operating Modes
Four Quadrants:
• Figure shows the polarities of the supply voltage Va, back emf Eg, and
armature current Ia for a separately excited motor.
Operating Modes
Four Quadrants:
• In forward motoring (quadrant I), Va, Eg, and Ia are
all positive. The torque and speed are also positive.
Operating Modes
Four Quadrants:
• During forward braking (quadrant II) motor -
forward direction and the induced emf Eg positive.
Torque to be negative and the direction of energy
flow to reverse, the armature current must be
negative. The supply voltage Va should be kept
less than Eg.
Operating Modes
Four Quadrants:
• In reverse motoring (quadrant III), Va, Eg,
and Ia are all negative. The torque and
speed - negative. To keep the torque
negative and the energy flow from the
source to the motor, the back emf Eg must
satisfy the condition | Va | > | Eg |. The
polarity of Eg can be reversed by
changing the direction of field current or
by reversing the armature terminals.
Operating Modes
Four Quadrants:
• During reverse braking (quadrant IV), the
motor runs in the reverse direction. Va, and Eg
continue to be negative. For the torque to be
positive and the energy to flow from the motor
to the source, the armature current must be
positive. The induced emf Eg must satisfy the
condition | Va | < | Eg |.
1 – Phase Thyristor Phase – controlled
Converter Circuit
1 – Phase Thyristor Phase – controlled
Converter Circuit
3 – Phase Thyristor Phase – controlled
Converter Circuit
3 – Phase Thyristor Phase – controlled
Converter Circuit
