Electrical Machines - I

Prof. Tapas Kumar Bhattacharya

Department of Electrical Engineering
Indian Institute of Technology, Kharagpur

Lecture – 85
Introduction to Series Motor

(Refer Slide Time: 00:42)

Ah. So, we have been discussing about electrical braking on DC shunt or separately excited
motor. In DC dynamic braking what is done? Is armature only disconnected, it is running
as a motor initially. Then only armature is disconnected from the supply.
(Refer Slide Time: 00:45)

Armature is only disconnected from the supply, with this switch and connected across that
resistance. Then eventually I know what would be the factor. The direction of the armature
current then will reverse armature current will flow this way. Electromagnetic torque
developed will be opposite to the earlier electromagnetic torque. So, it is like you are
braking the motor.

You must apply an opposing torque in the direction opposite to the direction of rotation
for executing braking. And I told you how to calculate the braking torque at 𝑡 = 0 +. In
case of dynamic DC dynamic braking highest braking torque will be at 𝑡 = 0 +. Then
speed eventually falls back emf decreases the braking torque is in itself is a function of
time it gradually collapses to zero. But in this case flux is maintained ok.
(Refer Slide Time: 02:01)

An improvement if you want to bring the machine much faster than the DC dynamic
braking then what you do? You make an arrangement right hand side arrangement is
almost similar to that. Except that along with this 𝑅, you connect a source say same supply
voltage you bring it here. And the polarity of this source should be properly with respect
to this 𝐸𝑏 it must be properly connected.

So, that 𝐸𝑏 and 𝑉 together acts in the same direction so, at 𝑡 = 0 +. Here the current at
𝐾𝜑𝑛0
𝑡 = 0 + will be much higher than simply larger braking torque will be developed.
𝑅+𝑟𝑎

Because there are machines with large inertia you want to bring it to stop quickly such a
method should be then adopted. And in this case also field you have to maintain. If you
also disconnect the field it will not work because flux will collapse 𝐸𝑏 will collapse. Of
course, got the point 𝜑𝐼𝑎 is the torque.
(Refer Slide Time: 03:26)

So, the another method is there that is called regenerative braking ok. Here the idea is
interesting. In a previous cases, what we did that initial that kinetic energy stored is
dissipated in 𝑅, is not? Ultimately eventually it is dissipated in 𝑅. So, it is like this in
regenerative braking what happens is this that, braking will take place but really not for
bringing the machine to come to a stop. Let me tell you one thing for example, you see
that there is a track here ok. And you have a loco here and the motor drives this wheels so,
that it moves in this direction. And here is the supply lines and the negative is connected
to the rails and the power is collected by a say pantograph or whatever it is supply. So,
here is their DC motor you imagine it is driving this and it is moving smoothly on a smooth
railway track ok.

Now suppose. So, it is running as a motor, giving I mean moving this vehicle or loco from
left to right a DC motor is driving the wheel. Now so, in normal case when it is on the flat
track it will run as a motor fine. Now, you imagine that this track is has got a slope like
this ok. This is the supply lines v and your vehicle comes here.

There is a downhill in the track and your this thing this is the wire this will be the scenario,
when it negotiates. This downhill and it will still moving in this direction. Now, when it
was moving on the flat track, then the electromagnetic torque developed by the motor is
also equal to the opposing load torque present on the machine. And let us imagine it is a
shunt motor but the moment it comes to this portion of the track which is having a ramp
down here.

Then gravity 𝑚𝑔 whatever it is its weight there is a additional force will come, which will
accelerate the rotor apart from the electromagnetic torque whatever is acting. But there
appears an torque force or torque because of the component of the gravity present. For
example, forget about any supply connected, if you just keep a vehicle like this it will just
accelerate in this direction.

Forget about your supply is not there a vehicle put on wheels you put it here it will on its
own come down is not mechanical thing. Now, in such a situation what happens? Suppose
when it was in position 1 this is suppose position 2 vehicle has reached. Initially we know
that they that the machine is having a finite no load speed is not this is speed and speed
varies like this.

So, when it was here, it was drawing an armature current 𝐼𝑎1 shunt motor. This is the speed
versus armature current characteristics, it was running at this speed and running as a motor
it was drawing an armature current. I am not showing the motor armature field here just to
give you the idea it was drawing an armature current here and it was running at this speed;
delivering mechanical power to move this vehicle or attraction.

Now, when it comes to position two what will happen is this, the speed of the rotor of the
machines which are coupled to this wheel that will go on increasing accelerating, is not?
Speed will go up, that is operating point will move here got the point it will move here
speed will increase. A time will come when speed this is the no load speed.

𝑉
How much is its value? = 𝑛0 we have seen that ok. I will draw it straightly and nicely.
𝐾𝜑

So, I am now telling its speed increases beyond 𝑛0 because of some external as if sort of
prime mover is present. What was the circuit here? When it was on the flat track, it was
like this 𝑟𝑎 back emf and your supply 𝑉 and it was drawing a current 𝐼𝑎 .

And let us imagine separately excited machine or whatever is shunt motor also no problem
field is always connected like this is position 1. And not this is not 𝐼𝑎 it was drawing this
current and your 𝐼𝑎 was this motoring mode. Electromagnetic torque in this direction of
protection was in this direction this is position 1.
Now, in position 2; position 2 what will be the scenario? Scenario will be this is the field,
this is the armature, supply voltage is still 𝑉 here. And here is 𝑟𝑎 and here is your back emf
in series those things remaining intact. But this back emf was proportional to

𝐸𝑏1 = 𝐾𝜑𝑛1

Speed here 𝑛1 like that that was the back emf. And the it was less than supply voltage that
𝑉−𝐸𝑏
is why current was flowing in this one .
𝑟𝑎

Now, I have a situation where in this zone maybe this speed has gone up to higher value,
such that this back emf 𝐸𝑏2 . This speed has become greater than 𝑛0 . So, 𝐸𝑏2 it has become
such that speed has become 𝐾𝜑𝑛2 speed is higher at this point 𝑛2 . And which is greater
than 𝑉; then what will happen field current will remain in the same direction nothing like
𝑉
that 𝑅 , but your armature current will reverse, is not?
𝑓

𝐸𝑏2 −𝑉
Because this is the new armature current 𝐸𝑏2 is greater than supply voltage it may
𝑟𝑎

so, happen. Because it was accelerating like this and your 𝐼𝑎2 reverses. And as I told you
the moment 𝐼𝑎2 reverses it was moving in this direction electromagnetic torque developed
by the machine must reverse because 𝐼𝑎2 has become like this.

So, operating point has become so, it is −𝐼𝑎2 . And therefore, an opposing torque comes in
and your machine will then experience a opposite torque with respect to 𝑛. Therefore,
braking takes place ok, but it will not bring the machine to stop what it will do? It will find
a another operating point doing like this, but it will do one very important thing.

It will not make this vehicle uncontrolled I mean like a free fall 𝑚𝑔 sin 𝜃 will accelerate it
down. It soon will find a final velocity I have done the initial no load velocity no doubt,
but it will stabilize the thing. So, regenerative braking will put free acceleration not
possible I mean will not make this free acceleration possible it will but none the less the it
is braking got the point.

So, this is called regenerative braking why regenerative? Because in this case one
interesting thing happens that the this current this power will be fed back to the supply 𝐼𝑎2
will come and (𝐼𝑎2 − 𝐼𝑓 ) whatever it is here if we apply KCL that will flow to the positive
terminal of the supply. So, power will be fed back to the supply. So, kinetic energy
whatever will be lost or gained there is no loss of power no external resistance connected.

Therefore, regenerative braking means that the machine speed when it becomes greater
than the no load speed of the machine. A natural reversal of current in the armature will
take place. And it will produce torque in a direction opposite to the direction of rotation of
the machine. And thereby some braking torque will be produced.

Now, once again I am telling it will not bring the machine to a stop. So, regenerative
braking are very interesting method of temporary braking which will not allow the rotor
to accelerate freely just like that. And at the same time the power will be fed back to the
supplying clear. So, there are interesting problems on this you can try solving.

Therefore, these are the three methods, which I have not gone much detail into it for
obvious reasons, but you get the idea what it will be. Just use very basic principles of motor
generators see the direction of the torque develop and in this case also field flux is held
fixed here nothing like that.

So, there are interesting problems in the book of parker smith will point them out in our
handouts you try to solve them ok. Now, today I will give you after discussing about the
electrical basics of electrical breakings. I will tell you about another kind of motors which
are called series motor, DC series motor ok..

(Refer Slide Time: 18:11)

Now, there is a kind of motor, where this was the armature is not in our basic structure is
same these are the poles., this is A1, A2 armature. Now, this field coil will be very few
number of turns, but thicker wire ok. First let us see the construction this is the field coil
on each pole it will be connected like this.

So, these are called and these two will be connected in series. These are connected inside
the machine and these two terminals are marked as Se1 and Se2. So, fewer turns thick
wires. In case of shunt machine there were large number of turns thin wires and these two
are as usual the armature terminals.

So, this machine in the simplified diagram can be drawn like this. This is your armature
two terminals; A1, A2 and there is the two terminals Se1 and Se2 and while connecting
this machine this armature is connected in series with the field. And here supply will be
connected to run it as a motor got the point. So, in this case there is no shunt field coil
there is only one coil with very few turns because everything comes in series with the
armature must have very low resistance ok. And here I will connect the supply that is the
thing.

So, I can make a motor like this and I will connect it to the supply so, but because of these
will the all the derivations that we have done back emf torque will change no not at all.
Here what is important is this is the flux per pole, this is the armature current these two
will decide everything. Flux per pole whether it is created by a series field coil or shunt
field coil armature does not care about that.

If it is running it will develop a generated voltage 𝐾𝜑𝑛 that remains. It will be able to
produce an electromagnetic torque, that is proportional to 𝐾𝑇 𝜑𝐼𝑎 that is all. So, so far as
the basic equations are concerned flux per pole is now merely created by some coil which
is conditioned like that their connections etcetera. And also note that, in this case the
armature and field current they are same this series field.

Armature and field current are same. So, no point in distinguishing between 𝐼𝑎 and 𝐼𝑓 they
almost become same ok. So, I will be connecting here. So, there will be a series field
resistance 𝑟𝑠𝑒 and here is the motor armature flux per pole will be created as usual flux per
pole. And this armature circuit will then look like and 𝑟𝑎 with some back emf.
And here is some 𝑟𝑠𝑒 in the electrical equivalent circuit I am telling. And there may be
brush drop as usual this is the supply. And this is the current drawn by the machine and
this is your back emf. Let us try to understand it from the very beginning. Suppose you
have a switch here this I will tell verbally by this time I hope you understand what I am
telling suppose machine was at rest.

And I have closed the switch at 𝑡 = 0 + how much will be the current drawn machine was
at rest there was no back emf. Back emf is 𝐾𝜑𝑛 in this case flux per pole is also
proportional to 𝐼; that I know it is equal to

𝐸𝑏 = 𝐾𝜑𝑛 = 𝐾 ′ 𝐼𝑛

because 𝜑 is proportional to 𝐼. So, when you close the switch at 𝑡 = 0 +, machine has not
started yet rotating the equivalent circuit will be 𝑟𝑎 , 𝑟𝑠𝑒 and your supply.

So, current drawn

𝑉
𝐼(0+ ) =
𝑟𝑎 + 𝑟𝑠𝑒

This much will be the current, but machine has not started yet. So, no back emf is there.
So, equivalent circuit at 𝑡 = 0 + is just like this. So, a finite current which may be very
large because armature resistance 𝑟𝑎 is small 𝑟𝑠𝑒 is also small will be drawn in from the
supply.

And will there be electromagnetic torque developed? Yes. Because electromagnetic torque
is equal to

̅̅̅̅
𝑇𝑒 = 𝐾𝑇 𝜑𝐼 = 𝐾 𝑇𝐼
2

So, electromagnetic torque will be developed and machine will accelerate it is there. Now,
as machine accelerates that is the 𝑛 increases 𝐸𝑏 increases back emf will appear.

Now after machine starts accelerating. So, this is the circuit I have to refer to get the
current. So,

𝑉 − 𝐸𝑏
𝐼𝑎 =
𝑟𝑎 + 𝑟𝑠𝑒
This will be the current as machine picks up speed.

𝐸𝑏 depends on 𝐼𝑎 this is to be noted. As machine picks up speed 𝐸𝑏 increases, but 𝐼𝑎 also

decreases is not. Now the question is what will be the final steady operating point?
Machine speed will go on increasing and it will try to settle down steadily at some point,
where the load torque will be equal to the electromagnetic torque developed by the
machines.

Suppose there is opposing torque present. So,

𝑇𝐿 = 𝑇𝑒 = 𝐾𝑇 𝐼 2

Electromagnetic torque is this one suppose my machine finally, settles down to this. So, at
the final steady state operating point it will draw some armature current. And what is your
𝐼? 𝐼 will be at that time is equal to

𝑉 − 𝐸𝑏 𝑉 − 𝐾𝐼𝑛
𝐼= =
𝑟𝑎 + 𝑟𝑠𝑒 𝑟𝑎 + 𝑟𝑠𝑒

This will be these two equations, then because flux is proportional to 𝐼 neglect saturation.
So, this is the thing now there are two or three observations I must tell at this point, imagine
a shunt motor. In case of shunt motor and suppose in shunt motor the torque in shunt, shunt
motor these are interesting points you must note that is one is electromagnetic torque in
shunt motor is 𝑇𝑒 = 𝐾𝐼𝑓 𝐼𝑎 is not electromagnetic torque development.

𝑉
𝐼𝑓 = 𝑅 it is no way connected with 𝐼𝑎 . What is the value of at the point of shunt motor at
𝑓

the point of starting; the point of starting what is the armature current? Armature current
𝑉 𝑉
will be 𝐼𝑎 = 𝑟 . So, armature current is large 𝑟 into 𝐼𝑓 gives you the starting torque. So,
𝑎 𝑎

𝑇𝑠𝑡𝑎𝑟𝑡𝑖𝑛𝑔 = 𝐾𝑇 𝐼𝑓 𝐼𝑎

Come to series motor; during series motor the starting torque is

𝑇𝑠𝑡𝑎𝑟𝑡𝑖𝑛𝑔 = 𝐾𝑇 𝐼𝑎 2

What is this starting current in series motor

 𝑉
𝐼(0+ ) =
𝑟𝑎 + 𝑟𝑠𝑒

𝑟𝑠𝑒 is of the same order of 𝑟𝑎 . Therefore, armature current is very large in both the cases
𝑉 𝑉
they are comparable it was there it is . But the point I want to make it is that in
𝑟𝑎 𝑟𝑎 +𝑟𝑠𝑒

case of series motor, this starting torque is proportional to 𝐼𝑎 2 .

Therefore, the magnitude of the starting torque is many fold higher than the starting torque
of a shunt motor. Very large starting torque you can get how I am telling that because of
the fact armature resistance and series field resistance are comparable. So, 𝐼𝑠𝑡𝑎𝑟𝑡𝑖𝑛𝑔 in case
𝑉 𝑉
of series motor back emf is not there 𝑟 . And in case of shunt motor it will be 𝑟 starting
𝑎 +𝑟𝑠𝑒 𝑎

current.

Torque is proportional to 𝐼𝑓 𝐼𝑎 , 𝐼𝑓 is finite which is small in case of shunt motor. So, a large
quantity 𝐼𝑎 into a small number here. In case of series motor 𝑇𝑠𝑡𝑎𝑟𝑡𝑖𝑛𝑔 = 𝐾𝑇 𝐼𝑎 2 and this 𝐼
is same as this 𝐼𝑠𝑡𝑎𝑟𝑡𝑖𝑛𝑔 . Therefore, a series motor can produce a very large starting torque
unlike a shunt motor ok, which is there are uses of this particular thing.

For example, I will today only tell this point and then next class we will continue. You
suppose you imagine that, you have to crush some nuts hard nuts you have to crash with a
say what it is called crusher something, at the time of starting their hard the nuts are. So,
you will be requiring very large torque at that time ok. But after the nuts break becomes
fine particles then you do not require large torque.

We will see that there are loads which require very large starting torque. For example, in
traction a heavily loaded say wagon it is to be started. At the time when you want to start
that locomotive which is fully loaded; that means, the opposite torque is very large already
present on the shaft. But to make it start you must develop enough starting torque.

For shunt motor if you use it may not reached at one because 𝐼𝑓 by design is small 𝐼𝑎 may
𝑉
be large 𝑟 , but 𝐼𝑓 is small finite. But if you use a series motor, then large starting torque
𝑎

𝑉
can be created torque is proportional to 𝐼𝑎 2. And it is indeed necessary when you
𝑟𝑎 +𝑟𝑠𝑒

want to start that locomotive which is heavily loaded fully loaded at the time of starting.
But as it accelerates and that and some finite speed do you require that much of torque?
Certainly not in torque required to overcome the inertia is gone. Now, therefore, you will
be requiring less amount of torque to run the locomotive at some constant speed. We will
come to this point in a much more detailed way in our next lecture. But only thing I want
to tell you that no matter whether it is a shunt and series motor do not forget those two
basic equations.

Back emf equations (𝑉 − 𝐼𝑎 𝑟𝑎 ) in case of series motor which is [𝑉 − 𝐼𝑎 (𝑟𝑎 + 𝑟𝑠𝑒 )] minus
maybe brass drop and that is equal to back emf. So, there may be different situations. So,
when the applied voltage is this, torque is this. So, what is the current run etcetera. So, I
will write down in each cases the back emf equation and what else the torque equation for
steady operations;

𝑇𝑒1 = 𝑇𝐿1

𝑇𝑒2 = 𝑇𝐿2

And we will also see another interesting thing in the next class that a series motor should
not be started with any mechanical load present on the shaft that is also another interesting
thing. In case of shunt motor even if there is no opposing torque or load torque present at
the time of starting you have a finite speed machine will go to that speed and will run.

But a series motor without any mechanical opposing torque load torque present. If you
want to start the motor, we will say there is no finite speed machine is racing to a very
large value creating problems. Those are interesting things we will discuss in my next
class.

Thank you.