Electrical Machines Laboratory

Department of Electrical Engineering

University of Moratuwa






Speed control of DC machines







Instructed by :- Mr. M.W. Kumara
Group members:090040D BALASOORIYA B.M.A.N Name : D.U.I PERERA
090041G BANADARA A.G.N Index no : 090370M
090044T BANDARA H.G.I.W Group : G10
090057K BUDDHASIRI K.S Field : Electrical Engineering
090370M PERERA D.U.I Date of per: 29/09/2009
090433K RATHNAYAKA R.M.R.A Date of sub: 13/10/2009



Introduction
In main patterns of motors there are two type of motors they are AC and DC motors. When we talk about
the DC motors .DC motors are configured in many types and sizes, including brushless,servo, stepper DC
, pancake DC and gear motor types. A motor consists of a rotor and a permanent magnetic field stator.
The magnetic field is maintained using either permanent magnets or electromagnetic windings. DC
motors are most commonly used in variable speed and torque applications. DC motors highly used
because there are some advantages of using DC motors specialy in robotics side.
The main advantage of a DC motor over an AC motor is that it can operate directly from a battery .The
speed of a DC motor can be controlled with a less complicated control unit that the unit required for an
AC motor. Only the armature voltage needs to be controlled. With a small motor, that can be done by
inserting a resistor in series.
Brushed DC motors have built-in commutation, meaning that as the motor rotates, mechanical brushes
automatically commutate coils on the rotor. Brushless DC motors use an external power drive to allow
commutation of the coils on the stator. Brush-type motors are used when cost is a priority, while brushless
motors are selected fulfill specific requirements, such as maintenance-free operation, high speeds, and
hazardous environments where sparking could be dangerous.
Motion and controls covers a wide range of components that in some way are used to generate and/or
control motion. Are as within this category include bearings and bushings, clutches and brakes, controls
and drives, drive components, encoders and resolvers, Integrated motion control, limit switches, linear
actuators, linear and rotary motion components, linear position sensing, motors (both AC and DC
motors), orientation position sensing, pneumatics and pneumatic components, positioning stages, slides
and guides, power transmission (mechanical), seals, slip rings, solenoids, springs.
Motors are the devices that provide the actual speed and torque in a drive system. This family includes
AC motor types (single and multiphase motors, universal, servo motors, induction, synchronous, and gear
motor) and DC motors (brushless, servo motor, and gear motor) as well as linear, stepper and air motors,
and motor contactors and starters.

Three point starter
because in three pt starter, there are three point starter which are as follows
1)Line:- L1,L2
2)Field:-F1,F2
3)Armature:-A1,A2
In order to control the speed, a field rheostat is connected in series with the shunt field. One side of the
line is connected to the arm of the starter (represented by an arrow in the diagram). The arm is spring-
loaded so, it will return to the "Off" position when not held at any other position.
*firstly, when full line voltage is applied across the shunt field, set to minimum resistance.
*The starter also connects an electromagnet in series with the shunt field. It will hold the arm in position
when the arm makes contact with the magnet.
*In the mean time the starting resistance limits the current to the armature and that voltage is applied to
the shunt field.
*As the motor picks up speed counter e:m:f is built up; the arm is moved slowly to short.
Procedure:
Part I
Examine the functions of the three point starter
Part I I
speed control using field resistance control
First we make a circuit like a diagram.








Using above circuit we can derive a given below equation
N = [V Ia(Ra + ra)]/[K]
Where ,
N - speed of the armature
Ia Armature current
Ra External resistance in series with armature
V Applied voltage
Rr Field resistance
Ra Armature resistance
Rf External resistance in series with field. Flux per pole in the air gap
To get a observation first we arrange the field resistance into zero and then increase it 50 by 50.
Then get the reading of the tako meter which give the rpm of the motor. When getting the tako meter
reading we must hold on for some seconds to be a stable a motor in to uniform angular speed and we must
derect the tako meter lazer point in to the middle of the motor.
By these data plot a graph Rf Vs speed of the armature.
With out changing the circuit we can do the next part of the practicle also
Part III
speed control using armature resistance control
as we did before first we can keep both field and armature resistance zero.
We have to change the value of the armature resistance 50 to 50 and observe the variation of the RPM
of the motor and record these values on the table.
Using this those data plot a graph Ra Vs speed of armature in rpm.

Part IV
Variation of the terminal voltage with field current.
In that practical we arrange a circuit in fallowing manner










First keep Ra = 0 and Rf = 0
By keeping switch open move starting arm slowly to the speed of 1100rpm.Get voltmeter reading
After the closing switch increase R gradually
Get voltmeter and ammeter readings plot the graph voltage Vs current I.


Part V
Dynamic breaking

Connect the circuit showing below



















-First move the starting arm slowly and run the motor
-stop the motor using switching to position (1) and measure the time using stop watch that taken to stop
the motor.
-Then we switch on the circuit and after motor came to its uniform velocity switch off the circuit using
switching position (2), count the time which get to stop the motor.


Discussion
i) When we going to start the DC motor there are several thing to for pay attention, because
when going to start it some times it can be rotate to the opposite direction. So when the power
supply give to the motor we should care ful in addition to that there are some more important
tings in starting method of the DC motor.
The counter-emf aids the armature resistance to limit the current through the armature. When
power is first applied to a motor, the armature does not rotate. At that instant the counter-emf
is zero and the only factor limiting the armature current is the armature resistance. Usually
the armature resistance of a motor is less than 1 ; therefore the current through the armature
would be very large when the power is applied. This current can make an excessive voltage
drop affecting other equipment in the circuit and even trip overload protective devices.
Therefore the need arises for an additional resistance in series with the armature to limit the
current until the motor rotation can build up the counter-emf. As the motor rotation builds up,
the resistance is gradually cut out.

ii) Manual-starting rheostat

When motors using we have to control the speed and torque of this motors as our
wish then we can use them with higher efficiency. In the primary age people use manual
control system s to control these motors. The first DC motor-starters were also completely
manual. Normally it took the operator about ten seconds to slowly advance the rheostat across
the contacts to gradually increase input power up to operating speed. There were two
different classes of these rheostats, one used for starting only, and one for starting and speed
regulation. The starting rheostat was less expensive, but had smaller resistance elements that
would burn out if required to run a motor at a constant reduced speed.
This starter includes a no-voltage magnetic holding feature, which causes the rheostat to
spring to the off position if power is lost, so that the motor does not later attempt to restart in
the full-voltage position. It also has over current protection that trips the lever to the off
position if excessive current over a set amount is detected


Four-point starter

Four point starter is a modified product of the three point starter and the four-point starter
eliminates the drawback of the three-point starter. In this starter another more point in
addition to 3 points of three point starter. The new comer is the other side of the line
L1,fourth point brought to the starter when the arm is moved from the "Off" position. The
coil of the holding magnet is connected across the line. The holding magnet and starting
resistors function identical as in the three-point starter.
The possibility of accidentally opening the field circuit is quite remote. The four-point starter
provides the no-voltage protection to the motor. If the power fails, the motor is disconnected
from the line.

iii)
In the case of speed control, armature voltage (constant torque)control and flux(constant power) control
methods are available. The voltage control can be from a variable voltage source like Ward-Leonard
arrangement or by the use of series armature resistance. Unlike the starting conditions the
series resistance has to be in the circuit throughout in the case of speed control. That means
considerable energy is lost in these resistors. Further these resistors must be adequately
cooled for continuous operation. The variable voltage source on the other hand gives the
motor the voltage just needed by it and the losses in the control gear is a minimum. This
method is commonly used when the speed ratio required is large, as also the power rating.
Field control or flux control is also used for speed control purposes. Normally
field weakening is used. This causes operation at higher speeds than the nominal speed.
Strengthening the field has little scope for speed control as the machines are already in a
state of saturation and large field mmf is needed for small increase in the flux. Even though
flux weakening gives higher speeds of operation it reduces the torque produced by the ma-
chine for a given armature current and hence the power delivered does not increase at any
armature current. The machine is said to be in constant power mode under field weakening
mode of control. Above the nominal speed of operation, constant flux mode with increased
applied voltage can be used; but this is never done as the stress on the commutator insulation
increases.
Thus operation below nominal speed is done by voltage control. Above the
nominal speed field weakening is adopted. For weakening the field, series resistances are used
for shunt as well as compound motors. In the case of series motors however field weakening.
is done by the use of diverters . Diverters are resistances that are connected in parallel to
the series winding to reduce the field current without affecting the armature current.
In addition to that there are another speed control systems using MOSFET transistors.



Using this circuit we can control forward or reverse motion of the motor. When we connect the circuit as
shown in the diagram current will flow vertically up wards through the field coil and motor run forward.
When switch over the relay we can run the motor reverse.
However, when the relays open to reverse the direction, the inductance of the motor generates a very high
voltage which will spark across the relay contact, damaging the relay. Relays which can take very high
currents are also quite expensive. Therefore this is not a very good solution. A better solution is to use
what is termed a full-bridge circuit around either the field winding, or the armature winding. We will put
it around the armature winding and leave the field winding in series.

The full bridge circuit

Using this method we can over come above errors . in this circuit the motor must be turned on at any time
otherwise they can be burn.



iv)
methods of breaking a DC motor.

Dynamic braking
In dynamic braking the motor is disconnected from the supply and connected to a dynamic braking
resistance RDB

Regenerative braking
In regenerative braking as the name suggests the energy recovered from the rotating masses is fed back
into the d.c. power source

Thus this type of braking improves the energy efficiency of the machine. The armature current can be
made to reverse for a constant voltage operation by increase in speed / excitation only. Increase in speed
does not result in braking and the increase in excitation is feasible only over a small range, which may be
of the order of 10 to 15%. Hence the best method for obtaining the regenerative braking is to operate, the
machine on a variable voltage supply

Plugging
Initially the machine is connected to the supply with the switch S in position number 1. If now the switch
is moved to position2 , then a reverse voltage is applied across the armature. The induced armature
voltage E and supply voltage V aid each other and a large reverse current flows through the armature.
This prod uces a large negative torque or braking torque. Hence plugging is also termed as reverse voltage
braking. The machine instantly comes to rest. If the motor is not switched off at this instant the direction
of rotation reverses and the motor starts rotating the reverse direction

This type of braking therefore has two mod es viz. 1) plug to reverse and 2) plug to stop. If we need the
plugging only for bringing the speed to zero, then we have to open the switch S at zero speed. If nothing
isd one it is plug to reverse mode. Plugging is a convenient mod e for quick reversal ofd irection of
rotation in reversibled rives
Just as in starting, during plugging also it is necessary to limit the current and thus the torque, to red uce
the stress on the mechanical system and the commutator. This is done by adding add itional resistance in
series with the armatured uring plugging.



References
A text book of Electrical Technology in S.I. units by B.L. Theraja
http://en.wikipedia.org/wiki/Brushed_DC_electric_motor