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