Chapter 6: Speed Control of Direct

Current Motors

Speed Control Variables

Vt
Ra

T
2
K K

Resistance in armature circuit: When a resistance is

inserted in the armature circuit, the speed drop ()
increases and the motor speed decreases.
Terminal voltage (armature voltage): Reducing the
armature voltage of the motor reduces the motor speed.
Field flux (or field voltage): Reducing the field voltage
reduces the flux. The motor speed then increases.

Attributes of good speed controller

Soft transition
Sufficient speed damping
Over-voltage must not exceed the tolerable limit
of the system components.
The magnitude of the inrush current should be
kept under control
Natural electromechanical oscillations should be
avoided.

Concept of Speed Control by Adding

Resistance
Radd

If

Vf

Rf

Ea

Ia
Vt

Ra

Vt
Ra
1

T o 1
2
K ( K )

Speed
Radd1<R add2<R add3

Ra
1
2

Ra + R add3

Ra + R add1

3
Ra + R add2
4
Torque

Vt
Ra Radd
2

T o 2
K
( K )2

Example 6.1
A 150 V, dc shunt motor drives a constanttorque load at a speed of 1200 rev/min. The
armature and field resistances are 1 and 150
respectively. The motor draws a line current
of 10 A at the given load.
a. Calculate the resistance that should be added to
the armature circuit to reduce the speed by 50%.
b. Calculate the resistance that must be added to
the armature circuit to operate the motor at
holding condition.

Solution: Part a

Speed
Radd1<Radd2<Radd3

Ra
1

I a1 I1 I f 10

150
9 A
150

Ra + Radd1

Ra + Radd3

Ra + Radd2

E a1 K 1 V I a1 Ra

4
Torque

E a 2 K 2 V I a 2 ( Ra Radd 1 )
Td
Ia
K

I a1 I a 2

Ea1 1 n1
V I a Ra

Ea 2 2 n2 V I a ( Ra Radd 1 )
1200
150 9 1

0.5 1200 150 9 ( 1 Radd 1 )

Ra
If

Vt

Rf
Ea

Radd 1 7.83

Ia

Speed

Solution: Part b

Radd1<Radd2<Radd3

Ra
1
2

Ra + Radd3

Ra + Radd1

3
Ra + Radd2
4

K V I a ( Ra Radd ) 0
Radd

V
150
Ra
1 15.67
Ia
9

Torque

Concept of Speed Control by Adjusting

Armature Voltage
1f
1a
Ea
Vf

Vt

Rf

Ra


V1>V2>V3>V4
V1
o1

1
V2

o2

o3

V3

V4
o4

4
Torque
Ttot

Vt
Ra

T
K ( K )2

Concept of Speed Control by Adjusting

Field Voltage
If

Ia
Ea

Vf

Vt

Rf

Ra


o3

Vf3
Vf1>Vf2>Vf3
Vf2

o2

3
2

Vf1
o1

Ttot

Vt
Ra

T
K ( K )2

Torque

Example 6.3
A 150 V, dc shunt motor drives a constanttorque load at a speed of 1200 rev/min.
The armature and field resistances are 2
and 150 respectively. The motor draws a
line current of 10 A.
Assume that a
resistance is added in the field circuit to
reduce the field current by 20%. Calculate
the armature current, motor speed, the
value of the added resistance, and the
extra field losses.

Solution
I
150
I a1 I I f 1 10
9A
150

Ra
If

Vt

Rf
Ea

Ia

Solution

o2

Vf1

I a 2 1 I a1
2
I a2

If2

I a1

E a 2 K 2 2 V I a 2 Ra

o1

1
9 11 .25 A
0.8

Ea1 K1 1 V I a1 Ra

Vf1>Vf2
2

Td K1 I a1 K 2 I a 2

If1

Vf2

Td

1
2

Torque

n1 V I a1 Ra

n2 V I a 2 Ra

1 1200
150 9 2

0 .8 n 2
150 11 .25 2

n2 1448.86 rpm

Solid-State Control

Converter

Motor

Rectifier
& Filter

Field

Single-Phase, Half-Wave Drives

VAK

Ra
VS

Vt

La
Ea

vt vs (u u ) Ea [1 (u u )]
vt (Vmax sin t ) (u u ) Ea [1 (u u )]

200.00

150.00

100.00

Ea

50.00

0.00

-50.00

vt

Ea+i Ra

vt
90

180

270

360

450

540

100.00

150.00

vs

200.00
Angle

vt vs (u u ) Ea [1 (u u )]
vt (Vmax sin t ) (u u ) Ea [1 (u u )]

VAK

vt Ea v L i Ra
Vt ave Ea VL ave I ave Ra

Vt ave Ea I ave Ra

Ra
VS

1
vt dt Ea Ra I ave

2 0

La
Ea

1
vt dt vt dt Ea Ra I ave
2

1
vs dt
2

Vt

dt Ea Ra I ave

1
vs dt 2 Ea Ea Ra I ave
2

VAK

Ra

1
vs dt 2 Ea Ea Ra I ave
2

1
vs dt 2 Ea Ea Ra I ave
2

Vmax

[cos cos ]
Ea Ra I ave
2
2
Vmax

[cos cos ]
K Ra I ave
2
2

VS

Vt

La
Ea

Vmax

[cos cos ]
K Ra I ave
2
2

Let

~
K
K
2
and
~ Vmax
Vt
[cos cos ]
2
Then

~
Ra I a
Vt
~ ~
K
K

Vt
R I
a a
K
K

Example 6.3
A 1-hp dc shunt motor is loaded by a
constant torque of 10 NM. The
armature resistance of the motor is 5 ,
and the field constant K = 2.5 V sec.
The motor is driven by a half wave SCR
converter. The power source is 120 V,
60 Hz. The triggering angle of the
converter is 60o, and the conduction
period is 150o. Calculate the motor
speed and the developed power.

Solution
I ave

T
10

4 A
K 2.5

Vmax

[cos cos ]
K Ra I ave
2
2
2 120
150
cos( 60 ) cos( 60 150 )
2.5 5 4
2
360

16.22 rad / sec

n 154.88 rpm

Pd Ea I ave k I ave 2.5 16.22 4 162 W

Single-Phase, Full-Wave Drives

i1

S4

S1

Ra

La

VS

Ea
Vt
S3

i2

S2

200.00
150.00

100.00

vt

50.00

vt

Ea

i2

i1

0.00
-50.00 0

30

60

90

120 150 180 210 240 270 300 330 360

-100.00
-150.00

v2

v1

-200.00
Angle

Vt ave Ea I ave Ra

2
vt dt Ea Ra I ave

2 0
1
vs dt

E dt
a

Ea Ra I ave

Vmax

cos( ) cos( ) Ea Ra I ave

Vmax

cos( ) cos( ) K Ra I ave

Continuous Armature Current

i
Load3

Load2

Load1

180o

Angle

Vmax
cos( ) cos( 180 ) Ea Ra I ave

2Vmax
cos( ) Ea Ra I ave K Ra I ave

Vmax
cos( ) cos( ) K Ra I ave

2Vmax
cos( ) K Ra I ave

Continuous Current

Discontinuous
Current
1

2
3

Torque

Example 6.4
For the motor in Example 6.3,
assume that the converter is a fullwave type. The triggering angle of
the converter is 60o, and the
conduction period is 150o.
Calculate the motor speed and the
developed power.

Solution
I ave

T
10

4 A
K 2.5

2 120
150
cos(60) cos(60 150) 2.5 5 4

180

25.82 rad / sec

n 246.56 rpm

Example 6.5
A dc separately excited motor has a
constant torque load of 60 NM. The
motor is driven by a full-wave
converter through a 120 V ac supply.
The field constant of the motor K =
2.5 and the armature resistance is 2 .
Calculate the triggering angle for
the motor to operate at 200 rev/min.
The motor current is continuous.

Solution
2Vmax
cos( ) K Ra I ave

Ra I ave K
cos
2Vmax

T
1
Ra
cos
K
K

2Vmax
1

200
60
o
cos
2.5 2
2
21.7
60
2 2 120 2.5
1

Waveform: Load
Motor
(Continuous
Current)

i1

S2

S1

Ra
VS

Ea
Vt
D2

D1

i2

vt

vs

La

Ea

Freewheeling
M.A. El-Sharkawi, University of Washington

35

Vtave Ea I ave Ra

2
vt dt Ea Ra I ave

2 0
Because of the freewheeling diodes

1
vs dt Ea Ra I ave

Vmax
cos( ) cos( ) Ea Ra I ave

Vmax
cos( ) cos( ) K Ra I ave

M.A. El-Sharkawi, University of Washington

36

Vmax
cos( ) cos( ) K Ra I ave

Vmax
cos( ) cos( ) K Ra I ave

Vmax
cos( ) 1 K Ra I ave

M.A. El-Sharkawi, University of Washington

37

Waveform:
Unloaded Motor
(Disontinuous
Current)

i1

S2

S1

La

Ra
VS

Ea
Vt
D2

vt

vs
Vs

Vt

D1

i2

Ia

100

Ea
0

Freewheeling
-100

0.25

0.255

0.26

0.265

0.27

T i m e (s)

M.A. El-Sharkawi, University of Washington

38