DC Drives Lecture 27 PDF SLIDES

College of Engineering and Technology
Department of Electrical Engineering

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DC motors: Plugging
Plugging of shunt and separately excited dc motors
DC motor drives, Chap.5 B. Alsayid

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 DC motors: Plugging
- Plugging of shunt and separately excited dc motors
For plugging, the supply voltage of
a separately excited motor is
reversed so that it assists the back
emf in forcing armature current in
reverse direction (Fig. 5.9).
A resistance RB is also connected in
series with armature to limit the current.

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For plugging of a series motor armature alone
is reversed. Speed Torque curves can be
calculated by replacing V by -V and are
shown in Fig. 5.10.

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A particular case of plugging for
motor rotation in reverse direction
arises, when a motor connected
for forward motoring, is driven by
an active load in the reverse
direction. Here again back emf
and applied voltage act in the
same direction. However, the
direction of torque remains positive
(Fig. 5.11). This type of situation
arises in crane and hoist applications
and the braking is then called
Counter Torque Braking.

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Plugging gives fast braking due to
high average torque, even with one
section of braking resistance RB.
Since torque is not zero at zero
speed, when used for stopping a
load, the supply must be disconnected
when close to zero speed.
Centrifugal switches are employed to
disconnect the supply.
Plugging is highly inefficient
because in addition to the generated
power, the power supplied by the
source is also wasted in resistances.

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V1 = Ke  1 + RaT1 /(Ke )
I1 = (V1 - E1)/Ra
- V2 = Ke  1+Ra T2 /(Ke )
I2 = ( - V2 - E1)/Ra
I 2  2 I st without Rst

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- Reduction of braking current by adding resistance
 V3  E3
I3 
Ra  Rb

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- Reduction of braking current by reducing armature voltage
 Vb  E3
I3 
Ra

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DC motors: Plugging
example 5.8

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- example 5.8

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- example 5.8

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Transient Analysis of DC motors

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 Transient Analysis of DC motors:

Starting, braking, reversing speed changing and load changing
are the Transient Analysis of DC Motor which commonly occur in
an industrial drive. One is interested in knowing how current,
torque and speed of the driving motor change with time when
under these transient operations. One is also interested in
knowing energy losses, particularly those responsible for heating
of the motor, and time taken for the completion of the Transient
Analysis of DC Motor. This information is needed by the designer
for selecting suitable rating of the motor, nature and type of its
control equipment and its operation schedule, and types of
protective devices and their settings.

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Dynamic equivalent
circuits of dc motors
are shown in Fig. 5.12.
Source voltage v motor
armature current ia
and back emf e are
denoted by lower case
letters to emphasize that these are instantaneous values of time varying
quantities. B and J are respectively the coefficient of viscous friction in
Nm/rad/sec and polar moment of inertia in kg-m2 of the motor load system
referred to the motor shaft.

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Voltage equation of the armature circuit under transient is given by
From the dynamics of motor load system

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Further
The above Transient Analysis of DC Motor are valid for any dc motor.
In case of a separately excited motor when field current is maintained
constant, flux remains constant, and (5.16) and (5.17) are linear differential
equations.
In case of a series motor, due to saturation of the magnetic circuit, flux is a
nonlinear function of the armature current, and therefore, (5.16) and (5.17)
are nonlinear differential equations. Even if magnetic circuit is assumed linear
by neglecting saturation, (5.16) and (5.17) are nonlinear differential equations
due to e being proportional to the product of ia and ωm, and T being
proportional to i2a. Thus, for a series motor these equations can only be solved
numerically using 4th order Rungekutta method or predictor corrector method.
DC motor drives, Chap.5

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 Transient Analysis of Separately Excited Motor with Armature Control:
When field current is kept constant, flux remains constant. Replacing KeΦ by a
constant K in Eqs. (5.16) to (5.18), yields

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Differentiating Eq. (5.20) gives
Substituting in Eq. (5.19) for dia/dt from (5.21) and rearranging terms gives

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Differentiating Eq. (5.19) gives
Substituting in Eq. (5.20) for dωm/dt from Eq. (5.23) and rearranging the
terms yields
where

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Equations (5.22) and (5.24) are second order linear differential equations and
can be solved if the appropriate initial conditions are known. Once ia vs t
relation is obtained from Eq. (5.24), T vs t relation can be calculated.

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 Transient Analysis of Starting of Separately Excited Motor with

Armature Control:
Transient analysis of starting process will be considered here to demonstrate
how the above derived equations are utilized. It will be assumed that the
motor is started with a constant voltage V impressed across its terminals
against a constant load torque TL and with a fixed resistance Ra in its
armature circuit.
It is customary to assume that the motor starts only after its developed torque
exceeds load torque. For this motor current should reach the value IL given by

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Armature Control:
When motor is connected to the supply, initial value of current is zero and due
to armature circuit inductance it takes some time to reach the value IL. During
whole of this period, which will be termed as first interval of the transient
response, motor remains at standstill and so its back emf remains zero. Motor
behaves like a simple Ra – La load. Hence its current is given by

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Armature Control:
Second interval of transient response starts after current reaches the value IL.
Since V and TL are constants, dv/dt and dTL/dt will be zero. Substituting these
values in Eqs. (5.22) and (5.24) gives
Where

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Armature Control:
K1 and K2 represent the steady state values of speed and current receptively
with load torque equal to TL.
Initial conditions needed for the solution of Eqs. (5.30) and (5.31) are
Since at the beginning of this interval, motor torque is equal to load torque,
from Eq. (5.17)
Further from Eq. (5.16)

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Armature Control:
Solutions of Eqs. (5.30) and (5.31) with the initial conditions given by (5.33) to
(5.35), will have the form:
where α1 and α2 are roots of characteristic equation and are given by

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Armature Control:
Note that the above equations have
been derived by measuring time from
the beginning of the second interval.
For motors less than 1000 kW, roots
α1 and α2 are usually real. For larger
and also for small and medium size
motors with an external inductance connected in the armature circuit, as in the
case of some chopper and rectifier fed Transient Analysis of DC Motor, roots
can be complex. The nature of ωm vs t and ia vs t curves for starting transients,
when roots are real, are shown in Fig. 5.13(a).

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Armature Control:
In small size motors, τa is very small due to a large armature winding
resistance. It can, therefore, be neglected. Substituting τa = 0 in Eqs. (5.30)
and (5.31) gives
Since τa = 0, current jumps to the value V/Ra in zero time. Thus, initial
conditions are
Solutions of Eqs. (5.39) and (5.40) yield

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Armature Control:
Nature of ωm versus t and ia versus t curves based on these equations are

shown in Fig. 5.13(b).

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 Transient Analysis of Dynamic Braking of Separately Excited Motor:

It is assumed that a constant active load torque TL is acting on the motor shaft. Transient speed
and current equations can be obtained by substituting new value for armature circuit resistance
and V = 0 in Eqs. (5.30) and (5.31). This gives
Here also — K3 and K4 represent the steady state values of speed and current, respectively. This
steady state running will occur when active load torque TL is allowed to drive the motor in reverse
direction. Initial conditions needed for the solution of these equations are obtained as:
It is assumed that at the initiation of braking the motor was running in steady state with load
torque TL. Then from Eq. (5.30)

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For a general case K1 is to be taken as the initial speed.

Braking can be applied with or without opening the armature circuit. When it is
not opened, during transition from motoring to braking, the armature current
continuity will be maintained and then initial value of current, from Eq. (5.31),
will be K2. However, if it is opened then the initial value of current will be zero.
Here it is assumed that it is opened during transition. Therefore
Now from Eqs. (5.19) and (5.20), by substituting v = 0, ia = 0 and ωm = K1.

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Solutions of Eqs. (5.43) and (5.44) with the initial conditions of (5.46) to (5.49) will
have the form:
where α1 and α2 are given by Eq. (5.38).

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The nature of transient response under dynamic braking for the case of real
α1 and α2 is shown in Fig. 5.14.

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The transient equations for the plugging operation are obtained from (5.19),
(5.20), (5.22) and (5.24) by substituting – v for v.

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 Energy Losses During Transient Operations:

Energy losses in motor and in resistors in motor armature circuit, if there are any, during
transient period of operation, are required for selecting suitable ratings of motor and
resistors. They are also needed to calculate the efficiency and effectiveness of the transient
process.
Multiplying both sides of Eq. (5.16) by ia gives
Considering the viscous friction torque to be a part of the load torque TL, we have from Eq.
(5.17)
Substituting from Eqs. (5.18) and (5.53) into (5.52) and integrating both sides of the
resulting equation against time yield

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This equation states that out of the total energy supplied by the source during a
transient process, one portion is wasted in armature circuit resistance, second portion is
stored in armature circuit inductance, third portion is stored in inertia of mechanical
parts and the rest is consumed by the load. Energy stored in the armature circuit
inductance is usually small compared to other energy terms, and therefore, will be
neglected in subsequent analysis.
Starting of the motor with a constant applied voltage V and a load torque TL is
considered now.
Since

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where ωm0 is the ideal no load speed. From Eqs. (5.54) and (5.55)
Equation (5.56) gives an expression for energy loss in the armature circuit
resistance of the machine. When started on no load the final (steady state)
speed will be ωm0. Hence, energy loss under no load condition E0 is

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It is interesting to note that the energy loss in motor armature circuit during
starting without load is equal to the kinetic energy stored in rotating parts of
the motor at steady state speed. Further, it is independent of the duration of
starting process, nature of speed-torque and speed-current characteristics of
the motor, number of steps in starting resistance and the value of reistance in
each step.

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Since ωm0 will not be very much different
from the steady state speed with load TL on
the motor shaft, first term on R.H.S. of
Eq. (5.56) approximately represents the
copper loss during starting under no load
and what has been said about E0 is also
applicable to this term. Second term
depends on load-torque, motor speed-torque
characteristics and the value of starting resistance. This term is represented by
the shaded area of Fig. 5.15.

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As stated above first term on right side of (5.56) remains unchanged with the
change of starting resistance. It can however be lowered by reduced voltage
method of starting. Let us consider the case in which source voltage is applied
in a number of equal steps. First part of the copper loss on mth step will be
Since this part of the copper loss will be the same on all the n steps, total no
load copper loss during starting becomes

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Comparison of this with Eq. (5.57) shows that the no load copper loss has been
reduced by a factor of n.
Let us next examine the loss during rheostatic braking. Substituting V = 0,
neglecting La and assuming load torque to be constant and equal to TL, the
following equation can be derived from (5.52) and (5.53)
It has been assumed that prior to braking, motor was operating in steady state
against a passive load torque TL at a speed ωmL. On integration Eq. (5.60)
yields

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This equation indicates that the load absorbs a part of stored kinetic energy and
the rest is dissipated as copper loss.
For plugging, on substitution of —V for V and La = 0, in Eqs. (5.52) and (5.53) the
following equation is obtained for the copper loss
From Eqs. (5.61) and (5.62) the no load copper losses under dynamic braking and
plugging will be 1/2 Jω20 and 3/2 Jω20 respectively. Thus, loss during plugging
will be three times that during dynamic braking. Since during plugging energy
obtained from the kinetic energy of rotating parts is only 1/2 Jω2m0, remainder
Jω2m0 is drawn from the supply.

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 Transient Analysis of Separately Excited Motor with Field Control:

Let the armature voltage be maintained constant. Now
Here Φ is a nonlinear function of if. If saturation is neglected and Φ is assumed to

be proportional to if then (5.64) and (5.65) can be written as
where K′ = KeKΦ.

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Because of the terms K′ifωm and K′ifia, which involve product of two variables,
(5.66) and (5.67) are nonlinear equations, even though the saturation has been
neglected. Thus, this analysis can be carried out using numerical methods of
solving non-linear differential equations such as 4th order Runge-Kutta and
Predictor-Corrector Methods.
A special case with the field control arises when the armature current is
maintained constant. Then the dynamics of motor load system is described by
Eq. (5.63) along with the following equation:

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where Ka = KeKΦIa and Ia is the armature current.

From Eq. (5.68) expression of if and dif/dt can be obtained. Substituting these in
Eq. (5.63) and rearranging the’ terms gives
Where
The motor can be analysed for its transient response using Eq. (5.69) provided the
initial conditions are known. The initial value of ωm will be known from the steady
state operating point immediately before the transients and the initial value of
dωm/dt is calculated from Eq. (5.68).

DC Drives Lecture 27 PDF SLIDES

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College of Engineering and Technology

Department of Electrical Engineering

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

DC motor drives, Chap.5 B. Alsayid

Transient Analysis of DC motors

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of DC motors:

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of DC motors:

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of DC motors:

Voltage equation of the armature circuit under transient is given by

From the dynamics of motor load system

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of DC motors:

DC motor drives, Chap.5

 Transient Analysis of Separately Excited Motor with Armature Control:

DC motor drives, Chap.5

 Transient Analysis of Separately Excited Motor with Armature Control:

Differentiating Eq. (5.20) gives

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Separately Excited Motor with Armature Control:

Differentiating Eq. (5.19) gives

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Separately Excited Motor with Armature Control:

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Starting of Separately Excited Motor with

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Starting of Separately Excited Motor with

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Starting of Separately Excited Motor with

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Starting of Separately Excited Motor with

Further from Eq. (5.16)

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Starting of Separately Excited Motor with

where α1 and α2 are roots of characteristic equation and are given by

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Starting of Separately Excited Motor with

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Starting of Separately Excited Motor with

Solutions of Eqs. (5.39) and (5.40) yield

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Starting of Separately Excited Motor with

Nature of ωm versus t and ia versus t curves based on these equations are

DC motor drives, Chap.5 B. Alsayid

 Transient Analysis of Dynamic Braking of Separately Excited Motor:

DC motor drives, Chap.5

 Transient Analysis of Dynamic Braking of Separately Excited Motor:

For a general case K1 is to be taken as the initial speed.

Now from Eqs. (5.19) and (5.20), by substituting v = 0, ia = 0 and ωm = K1.

DC motor drives, Chap.5 B. Alsayid