Unit-IV

Speed control of DC shunt motor

Flux control method

Fig. Flux control method

• As indicated by the speed equation, the speed is inversely proportional to the flux.

• By varying the flux, the motor speed can be varied.

• The flux of a dc motor can be changed by changing the field current ( ).

• It is obtained by a variable resistance is connected in series with shunt field winding .

Armature voltage control method

Fig. Armature voltage control method

• A variable resistance R is connected in series with armature circuit.

• Here, the input voltage V is constant.

• The speed of the motor can be controlled by varying the resistor R.

( )
• the speed equation is

• By increasing the controller resistance R, the potential drop across the armature is decreased.
Therefore the motor speed also decreases.
Speed control of DC series motor
Field divertor method

Fig. Field divertor method

• In this method the series field winding is shunted by a variable resistance known as field
divertor.

• By varying the resistance, the current flow through the series field changes. Due to decrease in
field current, the flux can be decreased and consequently, the motor speed also increases.

• By this method the speed of the motor can be controlled above rated value.

Armature divertor method

Fig. Armature divertor method

• An armature of the motor is shunted with external variable resistance .

• For a given constant load torque, if is reduced due to armature divertor, then ɸ must
increase. Consequently motor speed fall( ).

• The DC series motor speed can be controlled by varying the armature divertor resistance.
 Tapped field control

Fig. Tapped field control

• In this method a number of tappings from the field winding are brought outside.

• When all field turns are in circuit, the motor runs at lowest speed and speed increases with
cutting out some of the series field turns.

• This method is often employed in electric traction.

Series-Parallel connection of field

• In this method, the field coil is divided into various parts. These parts can then be connected in
series or parallel as per the requirement.

• Fig (a) & (b) shown in the field coil connected in series and parallel.

• If the field coil is arranged in series or parallel m.m.f produced by the coils changes, hence the
flux produced also changes. Hence speed can be controlled.
 Ward-Leonard control system

Fig. Ward-Leonard control system

• It consists of three dc machine i.e., two dc motor and one dc generator.

• is the main motor is directly coupled to the dc generator G.

• DC supply is given to the main motor armature terminal as well as shunt field winding. The
set runs at constant speed.

• The voltage of the generator can be varied from zero to maximum value by means of its field
regulator.

• The generated dc voltage is fed to the controlled dc motor( ).

• The controlled dc motor rotation can be changed by reversing the direction of the field
current of generator G. It is done by using reversing switch S and the generated voltage can be
reversed and the motor rotates reverse direction.

• In this method of speed control combined by armature control and flux control.

• The armature voltage control can be achieved by varying the field of dc generator.

• The flux control method can be achieved by varying the field of the controlled dc motor.

• In the constant torque operating mode, the field flux of the controlled dc motor is kept constant
and the armature voltage is controlled. In the constant horse power operating mode, the
armature voltage is kept constant and the field current is controlled.
 Fig . Typical torque-speed and power-speed characteristics of dc shunt motor

Classification Of Choppers
Choppers are classified as

Class A Chopper
Class B Chopper
Class C Chopper
Class D Chopper
Class E Chopper

Class A Chopper

Fig. Class A Chopper

• When chopper is ON, supply voltage V is connected across the load.

• When chopper is OFF, Vo = 0 and the load current continues to flow in the same direction
through the FWD.

• The average values of output voltage and current are always positive
 Class B Chopper

Fig. Class B Chopper

• When chopper is ON, E drives a current through L and R opposite to that shown in figure.

• During the ON period of the chopper, the inductance L stores energy.

• When Chopper is OFF, diode D conducts, and part of the energy stored in inductor L is returned
to the supply.

Class C Chopper

Fig. Class C Chopper

• When CH1 is ON, the output voltage is equal to supply voltage & the load receives power from
the source. During the ON period of the chopper, the inductance L stores energy.

• When CH1 is turned OFF, energy stored in inductance L is returned to the supply through the
diode D2.

• When CH2 is triggered, the voltage E forces current to flow in opposite direction through L and
CH2 .The output voltage is zero.

• On turning OFF CH2 , the energy stored in the inductance drives current through diode D1 and
the supply
 Class D Chopper

Fig. Class D Chopper

• When both CH1 and CH2 are triggered simultaneously, the output voltage Vo = V and output
current flows through the load.

• When CH1 and CH2 are turned OFF, the energy stored in the inductor L is returned to the supply
through D1 and D2 .

• Output voltage Vo = - V .

Class E Chopper

Fig. Class E Chopper

When and are triggered, the load voltage is equal to supply voltage i.e., and
load current begins to flow. During the ON period of the chopper and , the
inductance L stores energy. When is turned off, the energy stored in inductor L
freewheeling through , .

• Forward braking mode

Here is operated and , and are kept off. When on, the voltage E forces
current to flow in opposite direction through L, . During the on time of the
inductor L stores energy. When is turned off, the energy stored in inductor L is fed back to
source through diodes and .

• Reverse motoring mode

Here, is kept on and is operated. Polarity of load emf E must be reversed for this
quadrant operation. When and on, load gets connected to source . During the ON
period of the chopper and , the inductance L stores energy. When is turned off,
negative current freewheels through and .

• Reverse braking mode

Here is operated and other devices are kept off. Load emf E must have its polarity
reversed. When on, the voltage E forces current to flow , and L. During the on time
of , inductor L stores energy. When is turned off, the energy stored in inductor L is fed
back to source through diodes and .

Single Phase Half Wave Converter Drives

Fig. Single Phase Half Wave Converter Drives

• During the positive half cycle( ) SCR T is forward biased. At , SCR T is

• During the negative half cycle( ), SCR T is off state, Energy stored in the
inductance freewheeling through diode. The freewheeling diode conducts up to . During
the period, , current is positive but output voltage is zero. Here by varying the firing
or delay angle , the output voltage can be varied. This variable voltage fed to the motor, then
the motor speed can be changed.

• This type of converters are used upto about 2 kW DC motors.

• For single phase half wave controlled rectifier, average output voltage of converter equal to
terminal voltage

∫ ( )

∫ ( )

[ ]

[ ]
 [ ]

Single Phase Semi-converter Drives

Fig. Single Phase Semi-converter Drives

• During the positive half cycle ( ), SCR , and diode is forward biased. At , SCR
, is triggered. Then SCR , and diode , comes to the on state. During the period ,
inductance store energy. In this period, we can get positive output voltage and positive current.
At , SCR and is turned off.

• During the negative half cycle( ),energy stored in the inductance freewheeling
through diode. In this period, current flow through FD and motor i.e., closed circuit. Here we can
get positive output current and zero output voltage.
• At , SCR is triggered. Then SCR and diode comes to the on state. During the
period ( ), SCR and diode is on state. During the period ,
inductance store energy. Now we can get, positive output voltage and positive output current.
This voltage is fed to the DC motor.

• Average output voltage ∫ ( )

∫ ( )

[ ]

[ ] ( )

[ ]

Single Phase Fully Controlled Rectifier Drives

Fig. Single Phase Fully Controlled Rectifier Drives

Fig .3 Discontinuous conduction waveforms of single phase fully controlled rectifier

• During the positive half cycle ( ) SCR and are forward biased. At , SCR and
are simultaneously triggered and comes to the on state. These two SCRs conducts upto
 . During the period( ) , SCR and are ON state. The motor is connected to the
input supply through the SCR and .During the period inductance L store energy.

• During the negative half cycle (π to 2π) SCR and are forward biased. At , SCR
and are triggered and comes to the on state. The motor is connected to the input supply
through the SCR and .During the period inductance L store energy. Immediately the supply
voltage appears across the thyristors and as a reverse bias voltage and turns them off. This
is called natural or line commutation. Now SCR and conducts upto .

• During to , energy flows from the input supply to the motor .

• However, during to , energy stored in the inductance is fed back to the input supply.

• In discontinuous conduction modes, the current starts flowing with the turn-on thyristors
at . Motor gets connected to the source and its terminal voltage equals ‘ ’.At
some angle known as extinction angle, load current decays to zero. Here . As
are reverse biased after , this pair commutated at when . From ,
no SCR conducts, the motor terminal voltage jumps from to E as shown in figure 3.

Rectification mode

• If , the power flows from ac side to dc side and the converter operates as a rectifier .i.e.
power flows from source to load.

Inversion mode

• If , the power flows from dc side to ac side and the converter operates as a line
commutated inverter. In this mode power flows from load to source.

• Average output voltage

∫ ( )

∫ ( )

[ ]

[ ( ) ]

( )

[ ( ) ]

[ (( ) ) ]

[ ]
For firing angle ,