ELL332 – Electric Drives Tutorial Problems

Question 1:

A 2-pole separately excited dc motor has the ratings of 220 V, 100 A and 750 rpm. Resistance of
the armature is 0.1 Ω. The motor has two field coils which are normally connected in parallel. It
is used to drive a load whose torque is expressed as 𝑇 = 500 − 0.3𝑁 N-m where 𝑁 is the motor
speed in rpm. Speeds below and above rated are obtained by armature voltage control and by
connecting the two field windings in series respectively.

(i) Calculate the motor armature current and speed when the armature voltage is
reduced to 110 V.
(ii) Calculate the motor speed and current when field coils are connected in series.

Solution:

Rated armature terminal voltage, 𝑉 = 220 𝑉

Rated armature current, 𝐼 = 100 𝐴

Armature resistance, 𝑅 = 0.1 Ω

Rated speed (rpm), 𝑁 = 750 𝑟𝑝𝑚

Load torque, 𝑇 = 500 − 0.3𝑁 (𝑁 − 𝑚)

The relevant motor characteristic values at the rated operating condition are denoted by the
subscript ‘1’.

Back-emf at rated condition, 𝐸 = 𝑉 − 𝐼 𝑅 = 220 − (100 ∗ 0.1) = 210 𝑉 (by KVL)

∗
Rated speed (rad/s), 𝑤 = = = 25π 𝑟𝑎𝑑/𝑠

For a separately-excited dc motor, the back-emf constant (𝐾 ) can be written as:

𝐸 210
𝐾 = = = 2.674 𝑉/(𝑟𝑎𝑑/𝑠)
𝑤 25π

(i) Let the motor armature current and speed be 𝐸 and 𝑤 respectively.
So, 𝐸 = 𝐾 𝑤 = 2.674 ∗ = 0.28𝑁

From the expression for the motor’s terminal voltage, 𝑉 = 𝐸 + 𝐼 𝑅

So, 110 = 0.28𝑁 + 0.1𝐼 (1)

The torque generated by the dc separately-excited motor corresponding to 𝐼 is

given by:
𝑇=𝐾𝐼 = 2.674𝐼

Under equilibrium, the motor torque equals the load torque,

𝑇=𝑇
So, 2.674𝐼 = 500 − 0.3𝑁
So, 500 = 0.3𝑁 + 2.674𝐼 (2)

Solving (1) and (2), we can obtain the solutions for 𝐼 and 𝑁 .

𝐼 = 148.9 𝐴
𝑁 = 339.7 𝑟𝑝𝑚

(ii) When the field coils are connected in series,

2.674
𝐾 = = 1.337
2
 Let the motor armature current and speed be 𝐸 and 𝑤 respectively under this
condition.

So, 𝐸 = 𝐾 𝑤 = 1.337 ∗ = 0.14𝑁

From the expression for the motor’s terminal voltage, 𝑉 = 𝐸 + 𝐼 𝑅

So, 220 = 0.14𝑁 + 0.1𝐼 (1)

The torque generated by the dc separately-excited motor corresponding to 𝐼 is

given by:
𝑇=𝐾𝐼 = 1.337𝐼

Under equilibrium, the motor torque equals the load torque,

𝑇=𝑇
So, 1.337𝐼 = 500 − 0.3𝑁
So, 500 = 0.3𝑁 + 1.337𝐼 (2)

Solving (1) and (2), we can obtain the solutions for 𝐼 and 𝑁 .

𝐼 = 25.48 𝐴
𝑁 = 1553.2 𝑟𝑝𝑚

Question 2:

A 200 V, 875 rpm, 150 A separately excited dc motor has an armature resistance of 0.06 Ω. It is
fed from a single phase fully-controlled rectifier with an ac source voltage of 220 V, 50 Hz.
Assuming continuous conduction, calculate

(i) firing angle for rated motor torque and 750 rpm.
(ii) firing angle for rated motor torque and (-500) rpm.
(iii) motor speed for 𝛼 = 160 and rated torque.

Solution:

Rated armature terminal voltage, 𝑉 = 200 𝑉

Rated armature current, 𝐼 = 150 𝐴

Armature resistance, 𝑅 = 0.06 Ω

Rated speed (rpm), 𝑁 = 875 𝑟𝑝𝑚

Back-emf at rated condition, 𝐸 = 𝑉 − 𝐼 𝑅 = 200 − (150 ∗ 0.06) = 191 𝑉 (by KVL)

The relevant motor characteristic values at the rated operating condition are denoted by the
subscript ‘1’.

(i) For a separately-excited dc motor,

𝐸 𝑁
=
𝐸 𝑁
𝐸 denotes the back-emf of the motor at 𝑁 = 750 𝑟𝑝𝑚.

So, 𝐸 = ∗ 191 = 163.7 𝑉

From the expression for the motor’s terminal voltage,

𝑉 = 𝐸 + 𝐼 𝑅 = 163.7 + (150 ∗ 0.06) = 172.7 𝑉

The motor is being fed from a single-phase fully controlled rectifier. Therefore,
2𝑉
𝑉= cos 𝛼
π

∗
Therefore, 172.7 =
√
cos 𝛼

cos 𝛼 = 0.872 and 𝛼 = 29.3

(ii) At -500 rpm,

−500
𝐸 = ∗ 191 = −109 𝑉
875

From the expression for the motor’s terminal voltage,

𝑉 = 𝐸 + 𝐼 𝑅 = −109 + (150 ∗ 0.06) = −100 𝑉

 The motor is being fed from a single-phase fully controlled rectifier. Therefore,
2𝑉
𝑉= cos 𝛼
π

∗
Therefore, −100 =
√
cos 𝛼

cos 𝛼 = −0.5 and 𝛼 = 120

(iii) At 𝛼 = 160 , the output voltage obtained from the single-phase full controlled
rectifier is given by:
2𝑉 2 ∗ 220√2
𝑉= cos 𝛼 = cos 160 = −186 𝑉
π π

From the expression for the motor’s terminal voltage,

𝐸 = 𝑉 − 𝐼 𝑅 = −186 − (150 ∗ 0.06) = −195 𝑉

Using the relation between the motor back-emf and the motor speed,

𝐸 𝑁
=
𝐸 𝑁

So, 𝑁 = − ∗ 875 = −893.2 𝑟𝑝𝑚

Question 3:

A 220 V, 1500 rpm, 50 A separately excited motor with armature resistance of 0.5 Ω, is fed from
a 3-phase fully-controlled rectifier. Available ac source has a line voltage of 440 V, 50 Hz. A star-
delta connected transformer is used to feed the armature so that motor terminal voltage equals
rated voltage when converter firing angle is zero.

(i) Calculate transformer turns ratio.

(ii) Determine the value of firing angle when: (a) motor is running at 1200 rpm and rated
torque; (b) when motor is running at -800 rpm and twice the rated torque.
Solution:

Rated armature terminal voltage, 𝑉 = 220 𝑉

Rated armature current, 𝐼 = 50 𝐴

Armature resistance, 𝑅 = 0.5 Ω

Rated speed (rpm), 𝑁 = 1500 𝑟𝑝𝑚

(i) The motor is being fed from a three-phase fully controlled rectifier. If 𝑉 denotes
the peak of the ac supply line voltage at the rectifier input,
3𝑉
𝑉= cos 𝛼
π

Given that motor terminal voltage equals rated voltage when converter firing angle is
zero. Therefore,
3𝑉
220 = cos 0
π
Solving, 𝑉 = 230.4 𝑉

If 𝑉 denotes the rms value of the ac supply line voltage at the rectifier input,
𝑉 230.4
𝑉 = = = 162.9 𝑉
√2 √2

Since this indicates the voltage at the delta side (secondary side) of the given
transformer,
𝑉 = 162.9 𝑉

The ratio of turns between the phase windings of primary and secondary is thus
given as:
𝑉 ( ) 162.9
= = 1.559
𝑉 ( ) 440
√3

(ii) (a)
𝐸 denotes the back-emf of the motor at 𝑁 = 1500 𝑟𝑝𝑚.
From the expression for the motor’s terminal voltage,

𝐸 = 𝑉 − 𝐼 𝑅 = 220 − (50 ∗ 0.5) = 195 𝑉

𝐸 denotes the back-emf of the motor at 𝑁 = 1200 𝑟𝑝𝑚.

Using the relation between the motor back-emf and the motor speed,
𝐸 𝑁
=
𝐸 𝑁

So, 𝐸 = ∗ 195 = 156 𝑉

Since the motor is specified to be operating at the rated torque, 𝐼 = 𝐼 . From the
expression for the motor’s terminal voltage,

𝑉 = 𝐸 + 𝐼 𝑅 = 156 + (50 ∗ 0.5) = 181 𝑉

Since 𝑉 = cos 𝛼,

π 𝑉 π 181
cos 𝛼 = ∗ = ∗ = 0.8227
3 𝑉 3 230.4

So, 𝛼 = 34.65

(b)
𝐸 denotes the back-emf of the motor at 𝑁 = −800 𝑟𝑝𝑚.

Using the relation between the motor back-emf and the motor speed,
𝐸 𝑁
=
𝐸 𝑁

So, 𝐸 = − ∗ 195 = −104 𝑉

Since the motor is specified to be operating at twice the rated torque,

𝐼 = 2𝐼 = 2 ∗ 50 = 100 𝐴.

From the expression for the motor’s terminal voltage,

𝑉 = 𝐸 + 𝐼 𝑅 = −104 + (100 ∗ 0.5) = −54 𝑉

 Since 𝑉 = cos 𝛼,

π 𝑉 π −54
cos 𝛼 = ∗ = ∗ = 0.2454
3 𝑉 3 230.4

So, 𝛼 = 104.20

Question 4:

Motor of Example 5.17 is fed from a circulating current dual converter with ac source voltage
(line) = 165 V. Determine converter firing angles for the following operating points:

(i) Motoring operation at rated motor torque and 1000 rpm.

(ii) Braking at rated motor torque and 1000 rpm.
(iii) Motoring operation at rated motor torque and (-1000) rpm.
(iv) Braking operation at rated motor torque and (-1000) rpm.

Solution:

(i) 𝐸 denotes the back-emf of the motor at 𝑁 = 1000 𝑟𝑝𝑚.

Using the relation between the motor back-emf and the motor speed,
𝐸 𝑁
=
𝐸 𝑁
 So, 𝐸 = ∗ 195 = 130 𝑉

Since the motor is specified to be operating at the rated torque, 𝐼 = 𝐼 . From the
expression for the motor’s terminal voltage,

𝑉 = 𝐸 + 𝐼 𝑅 = 130 + (50 ∗ 0.5) = 155 𝑉

The motor is being fed from a circulating current dual converter.

3𝑉
𝑉 = cos 𝛼
π

So, cos 𝛼 = ∗ = ∗
√

Solving, 𝛼 = 45.9

𝛼 = 180 − 𝛼 = 180 − 45.9 = 134.1

(ii) Since the motor is specified to be operating at the rated torque, 𝐼 = 𝐼 . However,
the motor is in braking mode of operation. Therefore, the expression for the motor’s
terminal voltage is given as,
𝑉 = 𝐸 − 𝐼 𝑅 = 130 − (50 ∗ 0.5) = 105 𝑉

The motor is being fed from a circulating current dual converter.

3𝑉
𝑉 = cos 𝛼
π

So, cos 𝛼 = ∗ = ∗
√

Solving, 𝛼 = 61.9

𝛼 = 180 − 𝛼 = 180 − 61.9 = 118.1

(iii) For negative speeds, the two controlled rectifiers will interchange their operations.
Therefore, 𝛼 > 90 and 𝛼 < 90
Hence from part (i), 𝛼 = 134.1 and 𝛼 = 45.9 .
 (iv) Similarly, from part (ii), 𝛼 = 118.1 and 𝛼 = 61.9 .

Question 5:

A separately excited dc motor has the following ratings and constants:

2.625 hp., 120 V, 1313 rpm, 𝑅𝑎=0.8 Ω, 𝑅𝑓=100 Ω, 𝐾𝑏=0.764 V.s/rad, 𝐿𝑎=0.003 H, 𝐿𝑓=2.2 H
The dc supply voltage is variable from 0 to 120 V both to the field and armature, independently.
Draw the torque-speed characteristics of the dc motor if the armature and field currents are not
allowed to exceed their rated values. The rated flux is obtained when the field voltage is 120 V.
Assume that the field voltage can be safely taken to a minimum of 12 V only.

Solution:

(i) Calculation of rated values:

×
Rated speed, 𝜔 = = = 137.56 rad/sec
. × .
Rated torque, 𝑇 = = = 14.23 N − m
.

.
Rated armature current, 𝐼 = = = 18.63 𝐴
.

Rated field current, 𝐼 = = = 1.2 𝐴

 (ii) Calculation of torque – speed characteristics:

Case (a) Constant – flux/ torque region

𝑒 =𝑉 − 𝐼 𝑅 = 120 − 18.63 × 0.8 = 105.1

.
𝜔 = = = 137.5 rad/sec.
.

.
𝜔 = = = 1 p.u.
.

Hence, constant rated torque is available from 0 to 1 p.u. speed.

Case (b) Field – weakening region:

For 1 p.u. armature current, the maximum induced emf is

𝑒 105.1
𝑒 = = = 1.0 p. u.
𝑒 105.1

To maintain this induced emf in the field-weakening region,

.
𝜑 = = p.u.

If the range of field current corresponds to rated field flux and hence 0.12 A corresponds to 0.1𝜑 ,
and hence

0.1 𝑝. 𝑢. < 𝜑 < 1 p. u.

1
𝜔 = = 10 p. u.
0.1
For various speeds between 1 and 10 p.u. the field flux is evaluated from the equation as
1
𝜑 = in p. u.
𝜔
𝑇 =𝜑 for 𝐼 = 1 p. u.
 Fig. 1: Continuous rating of the dc motor

Example 3.2
Consider the dc motor given in Example 3.1. and draw the intermittent characteristics if the
armature current is allowed to be 300% of the rated value.

Solution:

(i) Constant-flux/ torque region:

𝐼 = 3𝐼
𝑇 = maximum torque = 𝐾 𝐼 = 0.764 × 3 × 18.63 = 42.7 N. m.

𝑇 42.7
𝑇 = = = 3 p. u.
𝑇 14.25

The maximum induced emf is

𝑒 =𝑉 −𝐼 𝑅 = 120 − (3 × 18.63) × 0.8 = 75.29 V

Speed corresponding to this induced emf is

𝑒 75.29
𝜔 = = = 98.54 rad/sec
𝐾 0.764
 98.54
𝜔 = = 0.716 p. u.
137.56
Beyond this speed, field weakening is performed.

(ii) Field – weakening region:

𝐼 = 3𝐼
𝑒 = 75.29 V
𝑒 75.29
𝑒 = = = 0.716 p. u.
105.1 105.1
𝑒 0.716
𝜔 = = p. u.
𝜑 𝜑

The range of the normalized field flux is

0.1 p. u. < 𝜑 < 1 p. u.

. .
The maximum normalized speed is 𝜔 = = = 7.16 p. u.
[ ] .

Fig. 2: Normalized motor characteristics for 3 p.u. armature current