DC Drives (H.Rashid): Direct current (dc) motors have variable characteristics and are used extensively in variablespeed drives.

ed drives. DC motors can provide a high starting torque and it is also possible to obtain speed control over a wide range. The methods of speed control are normally simpler and less expensive than those of AC drives. DC motors play a significant role in modern industrial drives. Both series and separately excited DC motors are normally used in variable-speed drives, but series motors are traditionally employed for traction applications. Due to commutators, DC motors are not suitable for very high speed applications and require more maintenance than do AC motors. With the recent advancements in power conversions, control techniques, and microcomputers, the ac motor drives are becoming increasingly competitive with DC motor drives. Although the future trend is toward AC drives, DC drives are currently used in many industries. It might be a few decades before the DC drives are completely replaced by AC drives. Controlled rectifiers provide a variable dc output voltage from a fixed ac voltage, whereas a dc-dc converter can provide a variable dc voltage from a fixed dc voltage. Due to their ability to supply a continuously variable dc voltage, controlled rectifiers and dc-dc converters made a revolution in modern industrial control equipment and variable-speed drives, with power levels ranging from fractional horsepower to several megawatts. Controlled rectifiers are generally used for the speed control of dc motors. The alternative form would be a diode rectifier followed by dc-dc converter. DC drives can be classified, in general, into three types: 1. Single-phase drives 2. Three-phase drives 3. DC-DC converter drives (Choppers)

(Figure 10-1 Equivalent circuit of separately excited dc motors). When a separately excited motor is excited by field current i f and an armature current of i a flows in the armature circuit, the motor develops a back emf and a torque to balance the load torque at a particular speed. The field current i f of a separately excited motor is independent of the armature current i a and any change in the armature current has no effect in the field current. The field current i f is normally much less than the armature current. The equations describing the characteristics of a separately excited motor can be determined by figure 10 1; The instantaneous field current is described as; V f= R f i f + L
f

- - - - - - - - (A)

The instantaneous armature current is given by; V a = R a. i a + L

a

+ e g - - - - (B)

The motor back emf (e g), which is also called as speed voltage is given by; E g = K v. . i f - - - - - - - - - - - - - (C) The torque developed by the motor is expressed as; T d = K t. i a. i f - - - - - - - - - - - - - (D) The developed torque must be equal to the load torque, which is given by; Td=j

+ B + T L - - - - - - - (E)

Where;

= Motor speed in rad/s B = Viscous friction constant in N-m / rad/s K v = Voltage constant, V/A-rad/s K t = K v= Torque constant L a = Armature circuit inductance, H. L f = Field circuit inductance, H. R a = Armature circuit Resistance, . R f = Field circuit Resistance, . T L = Load torque, N-m.

The under steady stat conditions, the time derivatives in these equations are zero and the steady-stat average quantities are; V f = R f I f - - - - - - - - - - - - - (10-1) E g = K v. . I f - - - - - - - - - - (10-2) V a= R a I a + E
g

V a = R a I a + K v. . I f - - - - - (10-3) The torque developed by the motor is; T d = K t. I a. I f - - - - - - - - - - - (10-4) The developed torque must be equal to the load torque, so that it can be obtained as; T d = B + T L - - - - - - - - - - - (10-5) The developed Power is given by; P d = + T d. - - - - - - - - - - - - (10-6) The relationship between the field current I f and the back emf E g is non linear due to the magnetic saturation. Figure 10-2 shows the magnetization characteristics of motor. The speed of the separately excited motor can be obtained with the help of equation 10-3 as; V a = R a I a + K v. . I f - - - - - (10-3) => => => => K v. . I f = V a R a I
a

= (V a R a I a) / (K v. I f) = (V a R a I a) / (K v. I f) =

- - - - - - - - - - (10-7)

Equation 10-7 shows that the motor speed can be varied by; controlling the armature voltage Va, (known as voltage control); controlling the field current If, (known as field control); or torque demand Td , (Which corresponds to an armature current Ia, for a fixed field current If).

The speed, which corresponds to the; (i). (ii). (iii). Rated armature voltage, Rated field current Rated armature current, & is known as the rated (or base) speed.

In practice, for a speed less than the base speed; The armature current and field currents are maintained constant to meet the torque demand, and the armature voltage Va is varied to control the speed. For speed higher than the base speed; The armature voltage is maintained at the rated value and the field current is varied to control the speed. However, the power developed by the motor (= torque X speed) remains constant. Figure below shows the characteristics of Torque, Power, Armature current, and Field current against the speed.

(Figure 10-3 Characteristics of separately excited dc motors).

Basic Characteristics of Series DC Motors The field of a dc motor may be connected in series with the armature circuit (shown in fig: 10-4), and this type of motor is called a series motor. The field circuit is designed to carry the armature current.

The steady stat average quantities; E g = K v. . I a - - - - - - - - - - (10-8) V a= R a I a + E

g

- - - - - - - - (10-9)

V a = R a I a + K v. . I a - - - - (10-10) The torque developed by the motor is; T d = K t. I a. I a - - - - - - - - - (10-11) The developed torque must be equal to the load torque, so that it can be obtained as; Td=B+T
L

The speed of a series motor can be obtained with the help of equation 10-9 as; V a= R a I a + E
g

- - - - - - - (10-9)
a

V a = R a I a + K v. . I => => => K v. . I a = V a R a I

=>

= (V a R a I a) / (K v. I a)

= (V a R a I a) / (K v. I a) =

- - - - - - - - - (10-12)

Hence; The equation 10-12 shows that the dc series motor speed can be varied by; Armature voltage Va, (known as voltage control); Armature current Ia, (which is the measure of Torque demand).

The equation 10-10 shows that; A dc series motor provides a high torque, especially at starting and due to this reason series motors are commonly used in traction applications.

For a speed upto the base speed;The armature voltage is varied and the torque is maintained constant. Once the rated armature voltage Va is applied, the speed-torque relationship follows the natural characterstics of the motor and the power (= torque X speed) remains constant. As the torque demand is reduced, the speed increases. At a very light load, the speed could be very high and it is not advisable to run a dc series motor without a load. Figure 10-5, shows the characteristics of a dc series motors.

(Figure 10-5 Characteristics of dc series motors).

Example 10-1(H.Rashid):

A 15 h.p, 220 v, 2000 rpm separately excited dc motor controls a load requiring a torque of T L = 45 N-m at a speed of 1200 rpm. The field circuit resistance is R f = 147 , the armature circuit resistance is R a = 0.25 and the voltage constant of the motor is K v = 0.7032 V/A rad/s. The field voltage is V f = 220 v. the viscous friction and no-load losses are negligible. The armature current may be assumed continuous and ripple free. Determine the; (a). (b). (c). back emf = ?, E g =? required armature voltage V a =? rated armature current of the motor I rated =? From the given data;

Solution:

R f = 147 R a = 0.25 K v = K t = 0.7032 V/A rad/s. V f = 220 v T d = T L = 45 N-m = 1200 x (/30) = 125.66 rad/s. I f = (V f / R f) (a). => (220 / 147) => I f = 1.497 Amps.

Now according to equation 10-4 T d = T L = K f .I f .I a - - - - - - - - - - - - (10-4)

I a = T d / K f .I f .

=>

(45/0.7032 x 1.497)

=>

I a = 42.75 Amps.

Similarly according to equation 10-2 E g = K v . .I f - - - - - - - - - - - - (10-2) => (b). (0.7032 x 125.66 x 1.497) Now according to equation 10-3 V a = R a I a + K v . .I f - - - - - (10-3) => (c).
(0.25 x 42.75) + (0.7032 x 125.66 x 1.497)

=>

E g = 132.28 v.

=>

V a = 142.97 v.

since 1 h.p = 746 watts, hence; I

rated

= (15 x 746)/ 220

=>

rated

= 50.87 Amps. 7

Example 10-2 (H.Rashid):

The speed of a separately excited motor is controlled by a single phase semi-converter (Fig: 10-8 a). The field current, which is also controlled by a semi-converter, is set to the maximum possible value. The ac supply voltage to the armature and field converter is one phase, 208v, 60 Hz. The armature resistance is R a = 0.25 , the field resistance is R f = 147 and the motor voltage constant is K v = 0.7032 V/A rad/s. The load torque is T L = 45 N-m at 1000 rpm. The viscous friction and no-load losses are negligible. The inductances of the armature and field circuits are sufficient enough to make the armature and field currents continuous & ripple free. Determine; (a). Field current I f = ? (b). Delay angle of the converter in the armature circuit, ? (c). Input power factor of the armature circuit converter, P.F =? Solution: From the given data;

V s = 208 v Vm= xVs R f = 147 R a = 0.25 K v = 0.7032 V/A rad/s. T d = T L = 45 N-m = 1000 x (/30) (a).

=>

x 208 v

=>

Vm=

=>

=104.72 rad/s.

Now according to equation 10-16 V f= ( ) for 0 - - - - - - - - - - (10-16) = 0, so that;

The maximum field voltage (and current) is obtained for a delay angle of V f= ( ) => (2 x 294.16) / => Vf=

In this way the field current can be obtained as; I f= V f / R f (b). => (187.27) / 147 => If=

Now according to equation 10-4 T d = T L = K f .I f .I a - - - - - - - - - - (10-4)

I a = T L / K f .I f .

=>

(45/0.7032 x 1.274)

=>

Ia=

Similarly according to equation 10-2 E g = K v . .I f - - - - - - - - - - - - - - - (10-2) => (0.7032 x 104.72 x 1.274) => Eg= 8

(b).

The armature voltage can be obtained with the help of equation 10-3 V a = R a I a + K v . .I f - - - - - (10-3)

=>

(0.25 x 50.23) + (0.7032 x 104.72 x 1.274) =>

(12.56) + (93.82)

=>

V a = 106.38 v.

For obtaining delay angle V a= ( ) )

, we use equation 10-5 for 0 => => - - - - - - - - - - (10-15) 1.1363 = = Cos

1

106.38 = ( => (c). 0.1363 =

(0.1363)

=>

if the armature current is constant & ripple free, the output power is obtained as; Po=VaIa

=>

P o = (106.38 x 50.23)

=>

P o = 5343.5 Watts

Similarly if the losses in the armature converters are neglected, the power from the supply can be obtained as; Pa=Po=VaIa => P a = (106.38 x 50.23) =>

P a = 5343.5 Watts

The rms input currentof the armature converter (Fig: 10-8 c), is obtained as;
I sa = ( ) => => I
sa

} ) / }

= I a {( -

50.23 {(180 82.2) / 180}

=>

I s a = 37.03 Amps.

Similarly the input volt-ampere rating obtained as; V I = V S I sa =>

(208 x 37.03)

=>

V I = 7702.24

Finally the input power factor is obtained as; P.F = P 0 / V I =>

(5343.5)/ (7702.24)

=>

P.F = 0.694 (Lagging).