Module II

DC Motor Drives

1
 Applications of DC drives
• Requiring adjustable speed, good speed
regulation, frequent starting, braking and
reversing
• Rolling mills, paper mills, hoists ,machine tools,
traction,printing press,textile mills, excavators
and cranes

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 Advantages of DC drives
• Lower cost
• Simple control
• Reliability

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 DC MOTORS AND THEIR
PERFORMANCE

Types of DC motors: series motor, shunt motor,

compound motor, universal motor, Permanent magnet
motor, DC servo motors, Moving coil motors ( types :
Shell type & Disc or pancake type) , torque motors etc.
Steady state equivalent circuit
Refer: Fundamentals of Electrical Drives by Gopal K
Dubey

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DC motor equations
E  K em
V  E  I a Ra
T  K eI a
V Ra
m   Ia
K e K e
V Ra
m   T
K e ( K e ) 2

5
Shunt and separately excited Motors
K e  K
V  E  I a Ra
T  KI a
V Ra
m   I a
K K
V Ra
m   2
T
K (K )
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 Series Motor
• Flux is a function of armature current
  K f Ia Ra=armature circuit
resistance

T  Ke K f Ia
2

V Ra
m  
Ke K f Ia Ke K f
V 1 Ra
m  
Ke K f T Ke K f
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STARTING OF DC MOTOR

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• Maximum current that a DC motor can safely carry
during starting is limited by the maximum current that
can be commutated without sparking
• For normally designed machines, twice the rated
current can be allowed to flow
• At standstill, back EMF is zero, the only resistance
opposing the flow of current is the armature circuit
resistance(quite small)
• If a DC motor started with full supply voltage across its
terminals, a very high current will flow, which may
damage the motor due to heavy sparking at
commutator and heating of the winding
• Necessary to limit the current to safe value during
starting
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• When the motor speed is controlled by
armature voltage control, the controller which
controls the speed can be used to limit the
motor current during starting
• Or a variable resistance controller can be used
for starting
• Figure for variable resistance

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ELECTRIC BRAKING

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 Types of electric braking
• Regenerative braking
• Dynamic or rheostatic braking
• Plugging or reverse voltage braking

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 Regenerative Braking
• Motor works as a generator developing a
negative torque which opposes the motion
• Generated energy during braking is supplied to
the source
• For this to happen
– E>V
– Ia negative
• For a fixed rated voltage supply, regenerative
braking is possible by increasing the speed of the
motor beyond rated
• For a variable voltage supply, reduce the supply
voltage to achieve regenerative braking
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Regenerative braking characteristics of
a separately excited DC motor
V Ra
m   2
T
K (K )

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• For series DC motor, regenerative braking is
not possible since E cannot be greater than V
• As we increase the speed ,Ia reduces, flux
reduces, speed reduces
• As we reduce the voltage ,flux reduces, back
EMF reduces.
V Ra
m  
Ke K f I a Ke K f

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 Composite braking
• Combination of regenerative braking and
dynamic braking

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DYNAMIC BRAKING

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 Dynamic braking
• Motor is disconnected from the source and
connected across the resistance RB
• The generated energy is dissipated in RB and
RA

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• Circuit diagram - dubey

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SPEED CONTROL OF DC DRIVE

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 Different methods of speed control
• Armature voltage control
– Preferred method because of high efficiency, good
speed regulation
– It can provide speed up to base speed (rated
speed) because armature voltage cannot be
allowed to exceed rated value
• Field flux control
– For speed control above base speed
• Armature resistance control
– Speed is varied by wasting power in external
resistance connected in series with the armature

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 Armature voltage control
• If the armature voltage of a DC motor running
at a steady state speed is reduced, Ia reduces.
Therefore Motor torque reduces
• Since T<Tl , motor speed reduces , therefore
back EMF reduces
• It may settle to a lower speed where T=Tl

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 Speed torque curve for separately
excited DC Motor-Armature voltage
control

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Speed torque curve for DC Series
Motor --Armature voltage control

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 Field Flux control
• If the field of a separately or self excited motor is
weakened, its induced EMF reduces
• Because of low armature resistance, current
increases by an amount much larger than
reduction in field flux
• Despite of decrease in field flux, Torque
increased considerably, exceeding load torque
• Results in acceleration and therefore increase in
speed,causing back EMF to rise
• Finally motor will settle at a speed where T=Tl

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Speed torque curve for separately
excited DC Motor-Field control

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 Combined armature and field control

• In constant torque mode, maximum torque that the machine

can deliver has a constant value
• In constant power mode, the maximum torque the machine
can deliver is reducing but the power remains constant
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 Speed torque curve for separately
excited DC Motor-armature resistance
control

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Speed –torque curve of armature
resistance control-Series motor

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 Practice Problem
• Refer: Fundamentals of Electrical Drives by
Gopal K Dubey
• Example 5.11
• Example 5.12 – Home work

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35
ARMATURE VOLTAGE CONTROL

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 Methods of Armature voltage control
• Variable armature voltage for speed control,
starting, braking and reversing of dc motors can
be obtained by following methods.
 When the supply is AC
1.Ward Leonard Scheme (conventional method – not
using these days)
2.Transformer with taps and an uncontrolled rectifier
bridge
3. Controlled rectifiers or Static Ward-Leonard Scheme
 When the supply is DC
4. Chopper control

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1(a).Ward-Leonard schemes ( conventional /old
method)

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1(b). Ward-Leonard-Ilgener scheme

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1(c). Diesel Engine driven Ward-
Leonard scheme

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2. Transformer with taps and an
uncontrolled rectifier bridge

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2(b). Transformer with taps and an uncontrolled
rectifier bridge : on load tap changer – used for
high power application

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3. CONTROLLED RECTIFIER FED DC DRIVES
/STATIC WARD-LEONARD DRIVES

Controlled rectifier fed DC drives are also

known as static Ward-Leonard drives

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44
• Controlled rectifier fed DC drives are widely
used in applications requiring a wide range of
speed control and/or frequent starting,
braking, and reversing.
• applications are in rolling mills, paper mills,
printing presses, mine winders, machine tools.

45
Line diagram of a controlled rectifier fed
DC drive

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• The maximum dc output voltage of the rectifier under
continuous conduction should be equal to the rated
armature voltage of the motor.
• If the ac source voltage magnitude is such that this
requirement is satisfied, then some rectifiers can be
directly connected to the ac source; otherwise a
transformer with a suitable turns ratio is inserted
between the ac source and the rectifier.
• A filter inductor is sometimes connected between the
rectifier and the motor armature to reduce ripple in the
motor current. This improves the motor performance.
• Usually, the field is supplied through a transformer and a
diode bridge from the same ac source which supplies the
armature. The transformer turns ratio is chosen to make
the field voltage equal to the rated value. If field control is
also required, the diode bridge is replaced by a controlled
rectifier.
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 Single phase Half wave controlled DC
motor
• DC motor is equivalent to RLE load
• Therefore analysis shall be done for Single
Phase Half wave rectifier with RLE load
• for Single Phase Half wave rectifier with RLE
load is not in the syllabus

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SINGLE PHASE FULL WAVE
RECTIFIER FED DC DRIVE

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SINGLE PHASE FULL WAVE RECTIFIER
– Mid-point converter
– Bridge converter
• Fully-controlled converter
• Half-controlled converter ( semi-converter)

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SINGLE PHASE FULL WAVE FULLY
CONTROLLED RECTIFIER FED
SEPARATELY EXCITED DC MOTOR

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DRIVE CIRCUIT

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 Discontinuous conduction
Modes of operation
• Duty interval ----- (  t   )
• Zero current interval---- (  t     )

53
 Duty interval
dia
va  Ra ia  La  E  Vm sin t
dt
t
Vm  E
a
ia (t )  sin(t   )  K1e 
Z Ra
Z Ra  (La ) 2
2
Transient
La component
  tan 1 ( )
Ra
La
a 
Ra
Constant K1 can be evaluated by Subjecting above
equation to initial condition ia(α)=0 , then
Vm E
ia (t )  [sin(t   )  sin(   )e  (t  ) cot 
] [1  e (t  ) cot  ]
Z Ra 54
Zero current interval

va  E, ia  0

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 Armature voltage
  
1 Vm(cos  cos  )  (     ) E
Va  ( Vm sin tdt   Edt ) 
   

56
 Motor speed
T  kI a
E  km
Va  I a Ra  E

Vm(cos  cos  )  (     ) E
Va 


Vm (cos  cos  ) Ra

m   2 T
K (   ) K (   )

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Continuous conduction
 
1 2Vm (cos )
Va  (  Vm sin tdt ) 
  
2Vm Ra
m  cos  2 T
K K

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 Torque speed characteristics of
single phase fully controlled rectifier
fed dc separately excited motor

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 Vm 
 m0  ,0   
K 2
V sin  
 m ,  
K 2

Vm (cos  cos  ) R
m   2 a T Discontinuous
K (   ) K (   ) conduction
2Vm Ra
m  cos  2 T continuous conduction
K K 60
• In continuous conduction,
– the speed-torque characteristics are parallel
straight lines
– Average terminal voltage almost remains constant
• In discontinuous conduction
– speed regulation poor
– Increase in torque and accompanied increase in
current causes β to increase which reduces the
armature voltage
– So speed drops by a large amount

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QUADRANT OPERATION

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Fully controlled rectifier-Two quadrant
operation
• When Speed reversed, and ꙍm

α >90,
– back EMF reversed
T
– Va reversed,
– rectifier is in inversion -ꙍm
mode
– power is fed from motor to
source

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64
Rectifier in inversion mode

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Problems

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68
69
70
SINGLE PHASE HALF CONTROLLED
RECTIFIER CONTROL OF DC SEPARATELY
EXCITED MOTOR
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Drive circuit

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 Discontinuous conduction
Modes of operation
• Duty interval ----- (  t   )
• Freewheeling interval---- (  t   )
• Zero current interval--- (  t     )

73
 Duty interval
dia
v a  R a i a  La  E  Vm sin t
dt

Freewheeling interval
dia
v a  Ra ia  La E0
dt

Zero current interval

va  E, ia  0
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 Armature voltage
  
1 Vm (1  cos )  (     ) E
Va  (  Vm sin tdt   Edt ) 
   

Motor speed
Vm (1  cos ) Ra
m   2 T
K (   ) K (   )

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 Continuous conduction

• Derive Va
• Expression for speed

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TORQUE SPEED CHARACTERISTICS

77
 No load speed

Vm 
m 0  ,0   
K 2
V sin  
 m ,  
K 2

Vm (1  cos ) R (discontinuous
m   2 a T
K (   ) K (   ) conduction)

Vm R (continuous
m  (1  cos )  a2 T
K K conduction)

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QUADRANT OPERATION

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Half controlled rectifier-One quadrant
operation
ꙍm

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 Assignment 1 - Questions
• Refer : Gopal K Dubey , Fundamentals of
Electrical Drives , Second Edition
• Module 1 : Problems
1) Example 2.2
• Module 2 : Problems
2) Examples 5.12, 5.16, 5.17

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