pw

Chapter 4 Direct Current Motors

Intended Learning Outcomes: At the end of this chapter, the students are expected to:
1. Discuss the operating principle of DC motors
2. Identify the physical features of dc motors
3. Discuss torque and speed equation
4. Discuss the classification and characteristics of dc motors
5. Calculate dc motor losses and efficiency
6. Evaluate dc motor dynamics

4.1 Operating Principle of Direct Current Motors

Direct current motors are similar in construction to dc generators. Any dc generator
will run as dc motor when its field and armature windings are connected to a source
of direct current. On the other hand, DC motors works on Faraday’s principle that
whenever a current-carrying conductor is placed in a magnetic field, a force will act
on the conductor causing it to move as shown in the figure below. The direction of
force is determine according to Fleming’s left hand rule.

From: http://hyperphysics.phy-astr.gsu.edu/hbase/magnetic/imgmag/dcmop.gif

4.2 Induced EMF in the Armature Conductors of DC Motors

Induced emf of a dc motor is similar of concept to the
induced emf of a dc generator. In dc motors, this is
normally called “counter emf” or “back emf” which
cancels an equal amount of line voltage resulting to a
lower applied voltage to the armature resistance,
which in turn keeps the current in armature circuit to
a safe value. As we recall, resistance of the armature
is so low (< 1 Ω) that, without counter emf (Eb), the
armature winding would be destroyed in a short time.
Equivalent circuit of the
armature of dc motor
ɸ
60
 Where: Eb = back emf, in volt (V)
P = number of poles
Z = total number of conductors
Φ = flux per pole (Wb)
N = speed at which the armature is driven (rpm)
a = number of armature current paths
Vs = external supply voltage
Is = armature current

Without back emf (Eb = 0), a dc motor rated 100 V with an armature resistance of 1 Ω
would take a current of = 100 A which is so high that would
destroy the machine in an instant. But if the same machine produces a counter emf
of at least 50 V, the armature will take a current half of that of no back emf which is
much safer.

After the motor is assemble, the number of poles (P), number of armature windings
(Z), and the number of parallel paths (a) will become constant as you cannot change
these parameters without changing the entire assembly.

ɸ
→ !ɸ
60

It means that:
"#
:! $
Therefore,

% % ɸ%
1 21 2
ɸ

Problem 4.1: A 110 V DC motor has a back emf of 102 V when running at 1200 rpm.
Calculate the armature current taken by the motor if it is now running at 1100 rpm
given that it has an armature resistance of 0.15 Ω.
Solution:
We solve for the back emf first when the motor is running at 1050 rpm. And
since it is not stated on the problem we will assume that the flux remain
constant (ɸ ɸ% ).
% % ɸ % 1100 ɸ
& '& ' → & ' & ' → % 93.5
ɸ% 102 1200 ɸ

(Since the supply voltage ‘Vs’ is also not stated, we will

assume that the machine is plug to the rated power supply)
110 93.5
110 0
0.15 /

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4.3 Torque and Power Develop in DC Motor
Torque is a measure of how much force is acting on a rotating object. The torque
develop in the armature of dc machines is a Gross Torque. DC motors are recognized
in its very good torque characteristics.

Power develop in dc motor (PD) is equal to the back emf multiplied by the current
taken by the armature.

Since we have a torque-power relation of,

25 3
6
60

Combining above equations together with the equation for back emf, we get:

4
3
25

Where: T = torque, in Newton-meter (N-M)

PD = power develop in the armature of dc motor, in watts (W)
N = speed at which the armature rotates, in rpm
P = number of poles
Z = number of conductors
Φ = flux per pole, in weber (Wb)
Ia = current taken by the armature, in amperes (A)
a = number of parallel paths

Again, after assembly, P, Z, & a will become constant

3 ! 4→!
25

This leads us to:

3% % ɸ%
1 21 2
3 ɸ

Shaft torque – is the torque available in the shaft for useful work.
Brake Horsepower – is the horsepower obtained using the shaft torque. It is the
mechanical power output of the motor.

25 3
78 → ;<; 3 <
44760

Problem 4.2: A 4 pole, 250 V dc series motor has an armature resistance of 0.3 ohm
and series field of 0.25 ohm. The armature is lap wound and has 672 conductors. If
the flux is 25 mWb per pole and developed armature torque is 348 N-m, calculate
the armature current.

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 Solution:
4 25 3
3 →
25 4
2511214213482
130.15 0
416722125?10 @ 2

Problem 4.3: A simplex lap wound armature has 580 conductors and carries a current
of 125 amperes per armature current path. If the flux per pole is 20 mWb. Calculate
the electromagnetic torque developed in the armature?
Solution:
4 15802120?10 @ 211252
3 230.77 <
25 251121 2

Problem 4.4: A six pole lap wound shunt motor takes 300 A of current when running
at 500 rpm. The flux per pole is 0.06 Wb and the armature has 870 conductors.
Neglecting the shunt field current, calculate the brake horsepower of the motor while
assuming a constant loss of 5%.
Solution:
ɸ 1621870210.06215002
435
60 60112162
1 ;
6 43513002 130,500 B CCD ? 174.93 ;
746 B CCD
78 174.9310.952
→ DEFG GHFDC FC IHDD C ! F J KH C HLC;LC ;H HK <HCH .
78 166.18 ;

4.3 Power Losses in DC Motors and Efficiency

DC motors power losses are basically similar to a dc generator

CHC I IHDD D GH;; IHDD M DC N ;H IHDD

Where: stray power loss = core loss + friction and windage loss
stray power loss is sometimes called as constant loss

4.3.1 Measurement of Stray Power Loss

Stray power loss of electrical machines (either motor or generator) is
measured using the open circuit test. During this test, the machine is run light
(or without load) at rated speed. By measuring the voltage and current taken
by or out the machine, the stray power loss can be solve by subtracting the
core loss to the power it takes or consumed.
%
OP Q 1RS2 1RS2 1OTO U2

Where: Vs = supply voltage, in volts (V)

Ia(NL) = armature current at no load, in amperes (A)
Ra(total) = total resistance in the armature circuit, in ohm (Ω)

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 Problem 4.5: If the dc motor in problem 4.2 running at rated speed at no-load takes
an armature current of 10 A from a 220 V dc source, how much is the constant loss
of the machine?
Solution:
%
OP Q 1RS2 1RS2 1OTO U2 220152 152% 10.3 M 0.252
OP Q 1086.25 B CCD

4.3.2 Power Flow in DC Motors

Figure below shows the flow of power through DC motors

Input Power from Power Developed Output Power

Supply (VsIs) in Armature (EbIa) (BHP)

Copper Losses Iron (core) + Friction + Stray

(Pcu = Ia2Ra + Ish2Rsh + Ise2Rse) Losses (Pco + Pfw + Pstray)

4.3.3 Efficiency of DC motors

Electrical Efficiency (VW 2 – is the ratio of the power developed in the armature
to the input power from the supply.

VW

Mechanical Efficiency (VX 2 – is the ratio of the power output of the motor to
the power developed in the armature.

T]O 78 ? 746
VX

Overall Efficiency (VY ) – is the ratio of output power to the input power.

T]O T]O
VY → UT W `] M OP Q
^_ T]O M UT W

Maximum efficiency – attained when the variable losses (copper loss) are

T]O1X a2
V1X a2
T]O1X a2 M2 1`T_ O _O UT W 2

equal to the constant losses

Problem 4.6: A 250 V, lap wound dc motor operates at a flux of 25 mWb per pole
taking 60 A from the supply. The motor has 2 poles carrying a total of 360 conductors
and running at a speed of 1500 rpm. Neglecting the current taken by the field, what
is the electrical efficiency of the motor?
Solution:
ɸ 12213602125?10 @ 2115002
225
60 60112122
Z %%[1$ 2
VW 0.90 H 90%
Z %[ 1$ 2

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4.4 Types of DC Motor
4.4.1. Permanent Magnet DC Motor
The permanent magnet motor uses a
permanent magnet to create field
flux. Since permanent magnets are
not as thick as field coils, this motor
has a smaller diameter than other
types of DC motor.
This type of DC motor provides great
starting torque and has good speed
regulation, but torque is limited so
they are typically found on low
horsepower applications. Also, it can
endure vibration and many adverse
situation better than a motor with Image from: https://www.electrical4u.com
wound field coils. /images/PMDC-motor-construction.gif

Armature Field

+ Ra
IaS M S
DC φ
Vs R
SupplyL
Rf
N
- Is= Ia Permanent
Eb
Magnet

Equivalent Circuit Diagram

Where: Ra = armature winding resistance, in ohms (Ω)

Ia = armature current, in amperes (A)
Is = current drawn from the supply, in amperes (A)
Eb = back emf in the armature, in volts (V)
Vs = supply voltage or terminal voltage, in volts (V)

Problem 4.7: At what speed does a permanent magnet dc motor run when it is
connected to three 1.5 V battery connected in series and takes 80 mA of current? The
motor has an equivalent armature resistance of 0.05 Ω, duplex wave wound, 2 pole,
has a magnetic flux of 3 mWb per pole, and has 120 total number of conductors.
Solution:
1.5132 80?10 @ 10.052 4.496
ɸ 60
→
60 ɸ
60 6012?2214.4962
1498.67 ;<
ɸ 21120213?10 @ 2

4.4.2. Shunt Motor

It has identical connection with shunt generator where the armature and the
field coils are connected in parallel. These motors deal great speed regulation
due to the fact that the shunt field can be excited separately from the
armature windings, which also offers simplified reversing controls.

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 Armature
+ Field
Ra
DC Ia
VS Rsh
Supply
- Is Ish Eb

Equivalent Circuit Diagram

M e ; e ;
e

Where: Ish = shunt field current, in amperes (A)

Rsh = shunt field winding resistance, in ohms (Ω)

RULE OF THUMB: In shunt motor, the flux is assumed constant at any loading,
if not specified to vary

Problem 4.8: (EE Board Exam April 2003). A dc motor develops 15 hp at 120 V. The
effective armature resistance is 0.061 ohm. What is the armature current?
Solution:
6 1 21 2
%
6
1517462 120 1 2 1 % 210.0612
%
1967.2131 M 183442.623 0
*Using quadratic formula we get:
1869.066 0 | % 98.147 0
*We use the smaller result as it is get when the curve is still rising
98.147 0

Problem 4.9: A 10 hp, 230 V, shunt motor takes an armature current of 6 A from the
230 V line at no load and runs 1200 rpm. The armature resistance is 0.25 ohms.
Determine the torque when the armature takes 36 A with the same flux.
Solution:
*At no load:
6 1 2 c230 610.252d162 1,371 B
25 3 44760 6
6 →3
44760 25
4476011,3712
3 10.91 <
25112002
*At 36 A with the same flux (φ1 = φ2)
3% % ɸ% % ɸ%
& ' & ' → 3% 3 & ' & '
3 ɸ ɸ
36 ɸ%
3% 10.91 & ' & ' 65.46 <
6 ɸ%

Problem 4.11: A dc shunt motor has an armature and shunt field resistances of 1 ohm
and 100 ohms respectively. The motor draws a line current of 10 A when connected
from a 100 V supply. If the total mechanical loss is 90 W, calculate the efficiency of
the motor.

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 Solution:
^_ UT W ^_ `TffWP XW`e _^` U
VY
^_ ^_
%
% 1 e
e2
%1 2
`TffWP e M & ' 1 e2 M1 e2
%1 2
e
100 % 100 %
`TffWP & ' 11002 M &10 ' 112 181 B
100 100
^_ `TffWP XW`e _^` U 1011002 181 90
VY
^_ 1011002
VY 0.729 H 72.9%

4.4.3. Series Motor

In a series DC motor, the field is wound with a few turns of a large wire carrying
the full armature current. Typically, series DC motors create a large amount of
starting torque as the current demand in the armature at instant of starting (0
rpm) is very high which also flows through the series field. But it cannot
regulate speed and can even be damaged by running with no load. These
limitations mean that they are not a good option for variable speed drive
applications.
Armature
Rse
+ Field Ia Ra
VS DC
Supply IS Eb
-

Equivalent Circuit Diagram

; 1 M W2

Where: Rse = series field winding resistance, in ohms (Ω)

RULE OF THUMB: In series motors, flux is proportional to the armature

current.

3 ! 4 → JLC, 4 ∝ !
C KH , 3 ! %

Problem 4.11: A 4-pole, 220 V dc series motor has a wave wound armature with 960
conductors. The flux per ple is 20 mWb, when taking 50 A. The resistance of armature
and series field are 0.2 ohm each. Calculate the motor speed.
Solution:
1 M W2 220 5010.2 M 0.22 200
60 6012 ? 1212002
312.5 ;<
ɸ 419602120 ? 10 @ 2

Problem 4.12: A series motor takes 45 A at 210 V and runs at 750 rpm. The horsepower
output is 10, the series field resistance is 0.2 Ω, armature resistance is 0.3 Ω.
Determine the iron and fricion losses.

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 Solution:
*Since there are no other losses mentioned in the problem, it is safe to
assume that the copper losses and iron and friction losses are the only loss.
OTO U UT `TffWP UT M ^PT_ _h iP^`O^T_
T]Of]O ^_f]O OTO U UT ^_f]O 1 `TffWP UT M ^PT_ _h iP^`O^T_ 2
% 10.2
1017462 4512102 j15 M 0.32 M ^PT_ _h iP^`O^T_ k
^PT_ _h iP^`O^T_ 977.5 B CCD

Problem 4.13: A 250 V series motor in which the total armature and field resistance is
0.15 ohm is working with unsaturated field taking 120 A and running at 750 rpm.
Calculate at what speed the motor run when developing half torque?
Solution:
Let: N1 = speed at condition 1 = 750 rpm
N2 = speed at condition 2
Eb1 = back emf at condition 1
Eb2 = back emf at condition 2
Ia1 = armature current at condition 1
Ia2 = armature current at condition 2
At condition 2: T2 = 0.5 T1
%
3% %
3 ! %→
3 %
%
0.5 3 %
→ % 84.85 0
3 11202%
250 12010.152 232
% 250 84.8510.152 237.272
ɸ
60
*Since after assembly, P, Z, & a will become constant, therefore:
% ɸ% %
!ɸ →
ɸ
*Remember, 4 ∝ ! , and now therefore:
% % % % 237.2721120217502
→ %
% 232184.852
% 1084.8 ;<

4.4.4. Compound DC Motor

Compound DC motors is basically formed by joining up a shunt wound dc
motor and series wound dc motor to achieve a better off properties of these
both types. Compound DC motors have good starting torque and efficient
speed regulation characteristics, but may experience control problems in
variable speed drive applications. Typical applications of compounded dc
motors include: freight elevators, stamping presses, rolling mills, mixers,
reciprocating machines, etc.

There are two major types of compound dc motors which depends on how the
shunt field winding is connected with the series field winding. The two types
are: (1) Long Shunt Compound; (2) Short Shunt Compound. We will further
discuss these types in the next topics.

Classification of DC compounded motors can be further subdivided into two

types depending upon the connection of armature coil, series field coil, and

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 shunt coil. The two subtypes are: (1) Cumulative Compound Motor; (2)
Differential Compound Motor.

If the flux produced by shunt field winding and series field winding adds up to
provide more flux (aiding), then the motor is said to be cumulatively
compound. When the flux produced by shunt field winding and series field
winding tries to cancel out each other (opposing), then the motor is
differentially compounded.

4.4.5. DC Long-shunt Compound Motor

Series
Field Rse
Armature

+ Ra

VS DC Rsh
Supply
Ia
- IS Ish Shunt Eb
Field

Equivalent Circuit Diagram

m
m M e ; e ; 1 M W2
e

Problem 4.14: A long shunt compound motor takes a 24 A at 400 V supply. The
armature, series field, and shunt field resistances are 0.6 ohm, 0.4 ohm, and 100 ohms
respectively. The iron losses of the motor is 500 Watts. Calculate the motor overall
efficiency.
Solution:
T]O ^_ `TffWP UT ^PT_ UT
VY
^_ ^_
%
`TffWP UT l %
e M e
%
1 M W2
400
e 40
e 100
e 24 4 20 0
%1
`TffWP UT
%
e e M M W 2 4% 11002 M 20% 10.6 M 0.42
`TffWP UT 2000 B CCD
^_ 2414002 9600 B CCD
^_ `TffWP UT ^PT_ UT 9600 2000 500
VY 73.96%
^_ 9600

Problem 4.15: A 230 V, long shunt mahine has the following parameters: Ra = 2.0 Ω,
Rsh = 460 Ω and Rse = 0.25 Ω. When the machine is run at no-load, normal speed, and
at rated voltage, the armature draws 0.6 A. Determine the armature current drawn if
the machine delivers an ouput of 5 BHP.
Solution:
*Remember that the power consume by a motor running at no-load is
equivalent to the stray power loss
%
OP Q 1RS2 1RS2 1OTO U2 23010.62 10.62% 12 M 0.252
OP Q 137.19 B

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 *At loaded condition:
T]O 517462 3730 B
230
e 0.5 0
e 460
e
%
e e 10.52% 14602 115 B
M e M 0.5
^_ T]O M UT W T]O M M W M e M OP Q
1 2 T]O M
%
M %
W M e M OP Q
2301 M 0.52 3730 M 2 M 0.25 % M 115 M 137.19
%
%
102.22 M 1718.75 0
*Using quadratic formula we get:
81 0 | % 21.22 0
*Again, we use the smaller value as it is get when the curve is still rising
21.22 0

4.4.6. DC Short-shunt Compound Motor

Series
Rse Field
Armature

+ Ra
+
VS DC Vsh Rsh
Supply - Ia
IS Shunt Ish Eb
-
Field

Equivalent Circuit Diagram

e
M e ; e ; e W ; W
e

Problem 4.16: A 220 V, short shunt compound motor has an armature resistance of
0.4 Ω, a shunt field resistance of 175 Ω, and a series field resistance of 0.4 Ω. Calculate
the horsepower developed in the armature if the armature is drawing 30 A of current.
Solution:
*Since the given is from the armature, we will also solve it from the armature
e M M 3010.42 M 12 → nF. 1
*We also have from the equation:
e W 1 M e2 W
e
e & M ' W → nF. 2
e
*Substitute eqn.1 to 2:
M 12
M 12 & M ' W
e
M 12
M 12 220 &30 M ' 10.42
175
195.53
195.531302
ef 7.863 8;
746 746

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4.5 DC Motor Starting
At the instant of starting a dc motor, its armature draws a large amount of current
due to the back emf of the motor. Recall that the back emf (Eb) is not present or zero
at the instant of starting.

To solve this problem of high current in the armature, a starting resistance (rheostat)
is inserted in series with the armature windings to control the armature starting
current to a safe value. As the motor develops speed, the resistance will be slowly
reduced to zero.

Rheostat R
Armature

+ Ia(start) Ra

VS DC Rsh
Supply Eb= 0
- IS Ish Shunt
Field

Equivalent Circuit Diagram

1 O PO2 →
M 1 O PO2

Problem 4.17: A 230 V, 10 hp dc motor has an armature resistance of 0.5 ohm. If the
full load armature current of the motor is 40 A and it is desired to limit the starting
current to 150% of this value, find the starting resistance that must be added in series
with the armature.
Solution:
230
0.5 3.333 /
1 O PO2 4011.502

Problem 4.18: A 10 hp, 220 V DC shunt motor has an armature and field resistance of
0.25 Ω and 100 Ω respectively. Determine the required starting resistance in order to
limit the starting current will not exceed 200 percent of full-load armature current.
The full load efficiency is 83%.
Solution:
T]O 1017462
^_ 8987.952 B
V 0.83
^_ 8987.952
X 40.854 0
220
220
e 2.2 0
e 100
X e 40.854 2.2 38.654 0
220
0.25
1 O PO2 38.654122
2.596 /

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4.6 Prony Brake Test of a Motor
Named after the French engineer-mathematician,
and physicist, Baron de Gaspard Francols Marie Richie
Prony. It is used to determine the output horsepower
of a motor.

Note: The scale reading is a unit of force

3 1DG I oEFp o o Ep C21I FpC HK <)

25 3
8 → ;<; 3 <
44,760
25 3
8 → ;<; 3 IJ KC
33,000

Where: Dead Weight = the weight of the arm which is included in the
reading. Sometimes called tare weight
T = Torque exerted by the motor during the test
N = speed of the motor shaft during the test (rpm)
HP = output horsepower of the motor

Problem 4.19: The measured speed of a dc motor is 1100 rpm. The net force registered
on the scale used with prony brake is 16 lbs. If the brake arm measured 28 inches and
weight at about 1.2 lbs, what is the horsepower output of the motor?
Solution:
3 1DG I oEFp o o Ep C21I FpC HK <)
1 KC
3 116 1.22 &28 EFG D ? ' 34.533 IJ KC
12 EFG D
25 3 25111002134.5332
8
33,000 33,000
8 7.23 ;

Problem 4.20: The ammeter and voltmeter read 32 A and 230 V respectively while
measuring the input during prony brake test of a crane dc shunt motor. The speed of
the motor is found to be 910 rpm and the scale on a 2 ft brake arm read 27.2 lbs. The
tare weight of the arm is 2.2 lbs. Determine the efficiency of the motor at this load.
Solution:
3 1DG I oEFp o o Ep C21I FpC HK <)
3 127.2 2.22122 50 IJ KC
25 3 25191021502
8 T]Of]O 8.66 ;
33,000 33,000
X 2301322
8 ^_f]O 9.866 ;
746 746
T]O 8.66
V 0.8781 H 87.81%
^_ 9.866

4.7 Controlling DC motors

4.7.1. Speed Reversion of Self-Excited DC motor
The direction of rotation of a self-excited DC motor can be reversed by any of the
following:

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 A. Interchanging the armature terminals
B. Interchanging the field terminals

The direction of rotation will not change if both the armature and field terminals are
interchanged.

4.7.2. Speed Control of Self-Excited DC motor

The speed of a self-excited DC motor can be controlled by any of the
following methods:
A. Insert a rheostat in the armature circuit
B. Insert a rheostat in the field circuit
C. Varying the supply voltage applied to the motor terminals

4.7.3. Braking Methods for DC motors

The braking preferred to stop a DC Motor is Electrical Braking and not
Mechanical Braking. In other words, the motor is stopped by the voltage and
current action in the circuit rather than the mechanical friction brakes on the
rotor.

The following are the three basic types of electrical braking:

A. Regenerative Braking
It is a form of braking in which the kinetic energy of the motor is
returned to the power supply system. This type of braking is possible
when the driven load forces the motor to run at a speed higher than
its no-load speed with a constant excitation.

The motor back emf, Eb is greater than the supply voltage V, which
reverses the direction of the motor armature current. The motor
begins to operate as an electric generator.

It is very interesting to note that regenerative braking cannot be used

to stop a motor but to control its speed above the no-load speed of the
motor driving the descending loads.

B. Dynamic Braking
It is also known as Rheostatic braking. In this type of braking, the DC
motor is disconnected from the supply and a braking resistor Rb is
immediately connected across the armature. The motor will now work
as a generator and produces the braking torque.

During electric braking when the motor works as a generator, the

kinetic energy stored in the rotating parts of the motor and a
connected load is converted into electrical energy. It is dissipated as
heat in the braking resistance Rb and armature circuit resistance Ra.

Dynamic Braking is an inefficient method of braking as all the

generated energy is dissipated as heat in resistances.

C. Plugging
It is also known as reverse current braking. The armature terminals or
supply polarity of a separately excited DC motor or shunt DC motor
when running are reversed. Therefore, the supply voltage V and the

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 induced voltage Eb i.e. back emf will act in the same direction. The
effective voltage across the armature will be V + Eb which is almost
twice the supply voltage.

Thus, the armature current is reversed and a high braking torque is

produced. Plugging is a highly inefficient method of braking because,
in addition to the power supplied by the load, the power supplied by
the source is wasted in resistances.

This type of braking is commonly used in elevators, printing press etc.

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