Speed control of DC

motor

October 9, 2024 1
The speed can be controlled by the two methods

• Conventional methods
• Solid state methods

October 9, 2024 2
 The factors affecting the speed of dc motors
• We know that back emf is •P – number of poles of the machine
•ϕ – Flux per pole in Weber.
Eb = (ΦPNZ) / (60A) •Z – Total number of armature conductors.
•N – Speed of armature in revolution per
minute (r.p.m).
•A – number of parallel paths in the
Eb ∝ Φ N armature winding.
The speed equation of dc motor is
• N ∝ Eb/Φ (or) N ∝ V – Ia Ra /Φ
Where V= Eb + Ia Ra
neglecting brush drop
Eb = V – Ia Ra

October 9, 2024 3
 • Here Ra value is very small and Ia Ra is
very small so it is neglected
so the equation is
N ∝ Eb/Φ

The factors affecting the speed of dc

motors are
• The flux
• The voltage across the armature
• The applied voltage
October 9, 2024 4
 Methods to speed control

• By changing the resistance in the

armature by using rheostat control is
called armature control method
• By changing the field flux(Փ) is called
Field or Flux control method
• By varying the applied voltage is called
Armature Voltage control method

October 9, 2024 5
 Speed Control Methods of a DC Motor

Speed Control of Shunt Motors

1. Flux control method
2. Armature or Rheostatic control method
3. Voltage control method
• Multiple voltage control
• Ward Leonard system

October 9, 2024 6
 Speed Control of Series Motors
1. Flux control method
• Field diverter
•Armature diverter
•Trapped field control
2. Variable Resistance in series with motor
3. Armature voltage control method

October 9, 2024 7
 Speed control of DC shunt
motor

October 9, 2024 8
 Speed control of DC shunt
motor
Field (or) Flux Control Method

In this method the speed control of dc shunt

motor is done by varying the flux per pole,
hence the name is field or flux control
method.

October 9, 2024 9
 • In this method a variable resistance (known as shunt
field rheostat) is placed in series with shunt field
winding.

October 9, 2024 10
 • The field rheostat reduces the shunt field current If.
So the flux also gets reduced.
• Adding more resistance in series with the field
winding will increase the speed as it decreases the
flux.

October 9, 2024 11
 • So the motor runs at a speed higher than normal
speed,

• The value of speed increase is depends upon the

value of resistance added through the filed rheostat.

• By using this method we can control the speed above

the rated or normal speed.

October 9, 2024 12
 Advantages:
• Convenient and easy method
• Little power is wasted as heat in shunt field rheostat.
• In this method is independent of load on the motor.
• Economical and efficient method
Disadvantages :
• Only speeds higher than the rated speed can be
obtained.
• There is a maximum limit of speed that can be
obtained with this method.
• Top speeds only obtained at reduced torque

October 9, 2024 13
 Armature control method
• The concept behind this method is that the back emf

and the speed of the motor can be changed by

varying the voltage across armature V.

October 9, 2024 14
 A variable resistance R a is placed in series with the

armature
October 9, 2024 15
 We know that
N ∝ V – Ia ( Ra + R) /Φ

• While adding the variable resistance back emf

value will be decrease.

N ∝ Eb

• Here flux (Φ ) is almost constant , the speed

can be obtained by changing the resistance
inserted in series with the armature.
October 9, 2024 16
 • So speed of motor is decreases By this method, the
speed below normally only can be obtained.

October 9, 2024 17
 Advantages of Armature Controlled DC Shunt Motor
• Very fine speed control over whole range in both
directions
• Uniform acceleration is obtained
• Good speed regulation
• It has regenerative braking capacity

Disadvantages of Armature Controlled DC Shunt Motor

• Costly arrangement is needed, floor space
required is more
• Low efficiency at light loads
• Drive produced more noise.
October 9, 2024 18
 voltage control method
• The armature voltage is varied and the control the
speed is done.
Multiple voltage control method.
• The voltage control is obtained by multiple voltage
control method by adjusting voltage.

We know that N ∝ V – Ia Ra /Φ
• From the above equation, one of the possibility to
vary the speed is by (adjusting) varying the voltage

October 9, 2024 19
 • The shunt field of the motor is permanently connected
to a fixed voltage supply,
• While the armature is supplied with various voltages
by means of suitable switch gear arrangements
October 9, 2024 20
 • The speed is approximately proportional to the
voltage across the armature.

• This method is used to obtained the variable speed

by using multiple voltage method.
• We can obtain two different speeds by adjusting the
switch positons 1 and 2.
• If switch is in 1, speed is minimum
( since only 250 v)
• If switch is in 2. Speed is maximum
( since voltage 500 V)

October 9, 2024 21
 Advantages

• To obtain any range of speed

• Speed control can be obtained in both directions

• Smooth operations
Disadvantages

• More expensive construction

• Low efficiency

October 9, 2024 22
 Speed Control of Series Motors

October 9, 2024 23
 Speed Control of Series Motors

1. Flux control method

• Field diverter

•Armature diverter

•Tapped field control

2. Variable Resistance in series with motor

3. Armature voltage control method

October 9, 2024 24
 Flux control method

Armature diverted method

• This method is used for the motor which require

constant load torque.

• In this method, a variable resistor is called diverter is

connected across the armature winding

October 9, 2024 25
October 9, 2024 26
 • Any amount of armature current can be diverted
through the diverter. Due to this armature current
reduces
• But as T  Փ ia and load torque is constant., The flux is
to be increased
• So motor reacts by drawing more current from the
supply.
• So current through filed winding increases, so flux
increases and speed of the motor reduces.
• The speed below the normal speed can be achieved
through this method.

October 9, 2024 27
 Filed diverted method

• This method uses a diverter.

a variable resistance called diverter is inserted in
parallel with the series field winding .

October 9, 2024 28
 • Here the field flux can be reduced by shunting
a portion of motor current around the series
field.
• Lesser the diverter resistance less is the field
current, less flux therefore more speed.
N ∝ 1 /Փ

• This method gives speed above normal and

the method is used in electric drives in which
speed should rise sharply as soon as load is
decreased

October 9, 2024 29
 Tapped Field Control

October 9, 2024 30
 • This is another method of increasing the speed by
reducing the flux and it is done by lowering number
of turns of field winding through which current flows.

• In this method a number of tapping from field

winding are brought outside. This method is
employed in electric traction.

October 9, 2024 31
 Armature Resistance Control of DC Motor

• By varying the armature circuit resistance, the current

and flux both are affected.

October 9, 2024 32
 • The voltage drop in the variable resistance reduces
the applied voltage to the armature, and as a result,
the speed of the motor is reduced
• Here a external resistance Re is connected in the
armature circuit of a dc series motor.
• when the value of the external resistance is
increased it will cause the voltage drop .
• Hence the effective voltage across the armature
circuit will be reduced.
• Speed will also reduced. So the speed of the motor
can be controlled by varying the resistance. As the
value of Re is increased then motor will run at lower
speed

October 9, 2024 33
Armature Voltage Control of DC Motor

• In armature voltage control method the speed control is achieved by

varying the applied voltage in the armature winding of the motor.

• This speed control method is also known as Ward Leonard Method

October 9, 2024 34
 Ward Leonard Method
What is Ward Leonard Method?

• The Ward Leonard method of speed control or

armature voltage control is basically used in the
place wherever highly sensitive speed is being
controlled.

• It is used in elevators, paper machines, electric

excavators, diesel-locomotives, cranes, colliery
winders, etc.
October 9, 2024 35
 • The Ward Leonard Method of speed control system
consists of the main motor (M1), DC generator (G),
and controlled DC motor (M2).

October 9, 2024 36
October 9, 2024 37
 • The power supply is fed to the armature terminal of the

dc machine as well as the shunt field point.

• The generator G is driven by the motor M2. The motor

M2 is a constant speed motor and supplied from the DC

supply.

• The main motor is coupled directly to the dc generator

so that the power is directly fed to the controlled dc

motor.
October 9, 2024 38
 • To control the voltage to the dc generator,
the field regulator is used, so by
regulating the value from zero to
maximum, the dc voltage gets regulated
at a stature point.

• The regulated dc voltage is being fed to

the controlled dc motor.
October 9, 2024 39
 • If we want to reverse the action of the dc motor, we
have to just reverse the field current of the dc
generator.

• In the case, if we reverse the field current of the dc

generator, the motor rotation gets reversed
automatically.

October 9, 2024 40
 • The reverse direction is being achieved by using the
switch RS, the RS is nothing but reverse switch.
• Ward Leonard Control system is combined with two
control strategies they are: armature voltage control
and field control.
• The armature voltage control is being achieved by
varying the field of the dc generator.
• The flux control method is achieved by varying the
field of the controlled DC motor.
October 9, 2024 41
 Torque and power characteristics

October 9, 2024 42
 • The Ward Leonard control system provides two
constant values they are constant horsepower and
constant torque.

• The X-axis is a speed that is divided into two parts

i.e from 0 to 100% and above 100%.
• The speed from 0 to 100% is named as base speed
(armature voltage control)

• Above 100% is named as above base speed(field

control)
October 9, 2024 43
 Case1-Torque Vs Speed
• When speed increases from 0 to 100%, then the torque

will be maintained as constant and

• when we move speed from 100 to above base speed, in

that case, the torque is linearly decreased in armature

voltage control.

• When we vary the field of the controlled dc motor, the

torque value will be linearly decreased in-field control.

October 9, 2024 44
 Case2-Horse Power Vs Speed

• In 0 to 100%, the horsepower linearly increases as we

increase the value of the base speed and

• after base speed, the horsepower maintains constant

if we increase the speed of the machine

October 9, 2024 45
 Applications
• Mine hoists, Elevators
• Steel rolling mills, Paper machines
• Diesel locomotives Cranes
Advantages
• Power wastage is less because no starting rheostat is used
• Wide range, accurate, and bidirectional speeds are obtained easily
• The speed regulation is good
Disadvantages
• It requires large flour area
• Costly foundation
• Lower efficiency, Losses are high

October 9, 2024
• Large in size and weight 46
 conventional speed control of induction
motor

October 9, 2024 47
 • Three phase induction motor is basically a constant
speed motor so it’s somewhat difficult to control its
speed.

• The speed control of induction motor is done at the

cost of decrease in efficiency and low electrical power
factor.

October 9, 2024 48
 • Before discussing the methods to control the speed
of three phase induction motor one should know the
basic formulas of speed and torque of three phase
induction motor as the methods of speed control
depends upon these formulas.
Synchronous Speed

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 • The speed of induction motor is given by,
Nr = NS ( 1- s )

Where,

N = speed of the rotor of an induction motor,

Ns = synchronous speed,
S = is the slip.

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 • The torque produced by three phase induction motor
is given by

• When the rotor is at standstill slip, s is one.

So the equation of torque is,

Where,
E2 is the rotor emf
Ns is the synchronous speed
R2 is the rotor resistance
X2 is the rotor inductive reactance

October 9, 2024 51
 speed control of induction motor
The speed control of three phase induction motor from
stator side are further classified as
• By changing the supply voltage
• By changing the supply frequency or V / f control
• By changing the number of stator poles.
• By adding rheostat in the stator circuit from stator
side

October 9, 2024 52
 The speed controls of three phase induction motor
from
rotor side are further classified as:
• Adding external resistance on rotor side.
• Cascade control method.
• Injecting slip frequency emf into rotor side.

October 9, 2024 53
 Stator voltage control

• In that, an induction motor speed can be controlled

by varying the stator voltage.
• Hence it is well known as stator voltage control. In
this supply frequency is kept constant
• The torque produced by running three phase
induction motor is given by

October 9, 2024 54
 • In low slip region (sX)2 is very very small as compared to
R2. So, it can be neglected.so torque becomes

• Since rotor resistance, R2 is constant so the equation of

torque further reduces to

• We know that rotor induced emf

E2 ∝ V. So, T∝ sV2.

October 9, 2024 55
 • The equation above clears that if we decrease supply
voltage torque will also decrease.
• But for supplying the same load, the torque must
remain the same, and it is only possible if we increase
the slip and
• if the slip increases the motor will run at a reduced
speed.
• This method of speed control is rarely used because a
small change in speed requires a large reduction in
voltage, and hence the current drawn by motor
increases, which cause overheating of the induction
motor.

October 9, 2024 56
 Variable frequency control
• The induction motor speed can be
controlled by varying the supply
frequency.
• This method is applied to the squirrel cage
induction motor

October 9, 2024 57
 V / f Control or Frequency Control

• The speed control of three phase induction motor

mostly prefers this control method.
• In that the increase in the supply frequency increases
the motor speed also reduces the maximum torque
of the motor
• But the increase in voltage results in an increases in
the maximum torque of the motor
• f increase : N increase : Tmax decreases
• V increases : Tmax increases

October 9, 2024 58
• By combining the above two features to achieve the control design by
which the speed increases and the torque is kept the same. This is
known as voltage/ frequency control ( V/f)
• Whenever three phase supply is given to three phase induction motor
rotating magnetic field is produced which rotates at synchronous
speed given by Ns.
• In three phase induction motor emf is induced by induction similar to
that of transformer which is given by

October 9, 2024 59
 • Where, K is the winding constant, T is the number of
turns per phase and f is frequency.

• Now if we increase frequency, flux will decrease so

synchronous speed will increase.

• In case if decrease frequency flux will increase and

synchronous speed will decrease.

• So, it’s important to maintain flux, φ constant and it

is only possible if we change voltage.
October 9, 2024 60
 • If we decrease frequency flux increases but at the
same time if we decrease voltage flux decreases so
there no change in flux and hence it remains
constant.

• So, here we are keeping the ratio of V/f as constant.

Hence its name is V/ f method.

October 9, 2024 61
Speed torque characteristics for V/f
control method

October 9, 2024 62
 Rotor Resistance control
• Three phase variable resistor is added in rotor circuit of slip ring
induction motor

• By changing the rotor circuit resistance the motor torque can be

controlled

October 9, 2024 63
October 9, 2024 64
 Speed torque curve for rotor resistance control is

This resistance control is applicable to only slip ring

induction motor because in this motor only external
resistance can be included in the rotor circuit

October 9, 2024 65
 Torque equation of the induction motor is

at low value of slip S,

• R2 >> (SX2)2 so (SX2)2 can be neglected, so

T 
• Now if we increase rotor resistance, R2 torque
decreases but to supply the same load torque must
remain constant.

October 9, 2024 66
 • So, we increase slip, which will further result in the
decrease in rotor speed. Thus by adding additional
resistance in the rotor circuit, we can decrease the
speed of the three-phase induction motor

October 9, 2024 67
 Advantage:
By addition of external resistance starting torque increases
Disadvantages :

• The speed above the normal value is not possible.

• Large speed change requires a large value of resistance, and if

such large value of resistance is added in the circuit, it will

cause large copper loss and hence reduction in efficiency.

• Presence of resistance causes more losses.

• This method cannot be used for squirrel cage induction motor

October 9, 2024 68
 Braking of electrical motors

October 9, 2024 69
 • A motor and its load may be brought to rest quickly
or suddenly by using either friction braking
( mechanical) or electric braking at any critical
situation in a particular operation
• To avoid danger or the worker or damage to the
products manufactured , quick stopping of motor is
required. Braking does it.
Types :
• Mechanical braking
• Electrical braking

October 9, 2024 70
 Mechanical braking

• In mechanical braking , the frictional force between the

rotating parts and brake drums provide the required
brake.

• Here it is not possible to achieve a smooth stop and

also linings, levers and mechanical arrangement is
necessary. it also depends on the skill of the operator

October 9, 2024 71
 Advantages of electrical braking over mechanical braking:
• Electrical braking is fast and effective than mechanical braking

• Electrical braking doesn’t involve high maintenance cost,

unlike mechanical braking. In mechanical braking, we need to

replace brake shoes periodically which involves high

maintenance cost.
• Amount of heat generated in electrical braking is very much
less than that of heat produced due to mechanical braking.
This heat produced in mechanical braking at brake shoes leads
to failure of brakes.
October 9, 2024 72
 • In electrical braking, a part of the electrical energy is
returned to supply which helps in reducing the
running cost.

• Using electric braking the capacity of the system like

higher speeds, heavy loads can be increased which
cannot be obtained through mechanical braking.

October 9, 2024 73
 Electrical braking

• In electric braking, the motor kinetic energy is

transformed into electrical energy which is
degenerate in a resistance as heat or alternatively, it
is returned to the supply source.
• The main advantage of electric braking is that
decreases the wear and tear of mechanical brakes
and reduces the stoppage timing extensively due to
high braking retardation.
• It is very easy, reliable which brings motor to rest
very quickly.

October 9, 2024 74
 Types of electric braking

• Rheostatic or dynamic braking

• Plugging or reverse current braking

• Regenerative braking

October 9, 2024 75
 Electric braking of dc shunt motor

October 9, 2024 76
 Rheostatic or dynamic braking

• In rheostatic braking resistance R is used for stopping

the motor.
• That is by disconnecting the armature from supply
and is connected in series with a variable external
resistance or braking resistance.
• However field winding is remain connected across
the supply.

October 9, 2024 77
October 9, 2024 78
 • During normal motoring condition armature and filed
connected across the supply voltage.
• At the time of braking the armature disconnected
from the source and connected with variable
external or braking resistance.
• Hence the braking effect is controlled by varying the
R resistance in series with armature obviously.
• Because of this motor while acting as a generator
feeds current to the resistor dissipating heat at the
rate of I2R.

October 9, 2024 79
 • By varying the adjustable resistance R the braking
torque can be controlled.

• When the motor speed is low, the braking torque

becomes low and the motor attains to stop because
of friction.

October 9, 2024 80
• Generally this dynamic braking type is used widely in connection with
the control of hoists and elevators.

• Also this type is used where the motor should be stopped, started
and reversed repeatedly.

October 9, 2024 81
 Plugging or reverse current braking

• This is also called counter current method.

• It is simple method of braking , in this method, the

connection of the supply to the armature are
reversed so that the motor tends to rotate in the
opposite direction. And in doing so, It comes to rest.

October 9, 2024 82
• At the end of the braking period the supply to the motor is
automatically cut off. At that time mechanical may also be applied.

• The method of braking can be applied to both ac and dc motors.

October 9, 2024 83
 Operation
• In this method the armature terminals are normally
connected with dc supply as A1,A2 with + and -.

October 9, 2024 84
 • During the braking or to obtain the braking by changing the
armature polarity as ‘-’ with A1 and ‘+’ with A2
• Due to the reversal of armature connection applied voltage
and Eb starts acting in the same direction in the motor.

• By interchanging supply , the braking torque is produced,

so that the direction of rotation of the rotating magnetic

field is reversed with respect to the rotation of the motor.

• so braking actions and bring the motor to a quick stop

October 9, 2024 85
• To reduce the armature current flow we introduce the

variable resistance R in series with armature winding

• This plugging gives more braking torque than

rheostatic braking.

October 9, 2024 86
 Regenerative braking

• When a dc motor runs at a speed higher than the ideal

no load speed corresponding to the filed current or field
flux then the back emf exceeds the applied voltage V (Eb
>V) .

• The machine or motor then now operates as a

generator in parallel to the supply.

October 9, 2024 87
October 9, 2024 88
 • The current gets reversed and power will be
supplied to the line tending to prevent any
further increase in the speed.

• Due to reversal of direction of armature

current as Eb >v, armature torque is reversed

and speed falls until Eb becomes less than v.

October 9, 2024 89
 Electric braking of dc series motor

October 9, 2024 90
 Rheostatic or dynamic braking

• In rheostatic braking the motor is disconnected the

armature from the supply remains the same

October 9, 2024 91
 • The direction of the current through the
armature reverses while braking. The
motor runs as generator

• Here the direction of current through field

does not change

October 9, 2024 92
 Plugging ( counter current braking)

• Plugging method is obtained just by changing

the supply voltage terminal to the motor.

• So it produce the opposite torque , hence

braking occurred

• Here resistance R added can be controlled to

control the magnitude of the braking torque.

October 9, 2024 93
October 9, 2024 94
 Regenerative braking
• In this motor , increase in excitation results
decrease in speed. As such it is not possible to
get emf more than voltage. It is not possible to
make filed current more than the armature
current

• Hence regenerative braking is not possible with

this motor.
October 9, 2024 95
 Electric braking of induction motor

October 9, 2024 96
 Types
• Dynamic braking or Rheostatic braking
• AC dynamic breaking
• DC dynamic braking
• Self excited braking using capacitors
• Zero Sequence braking

• Plugging Braking
• Regenerative braking

October 9, 2024 97
 Dynamic braking or
Rheostatic braking

October 9, 2024 98
 AC Dynamic Braking

• This type of induction motor braking is obtained when

the motor is made to run on a single phase supply by
disconnecting any one of the three phase from the
source, and it is either left open or it is connected
with another phase.

October 9, 2024 99
October 9, 2024 100
 • When the disconnected phase is left open, it is called
two lead connection and
• when the disconnected phase is connected to
another machine phase it is known as three load
connection.
• When the motor is running on 1-phase supply, the
motor is fed by positive and negative sequence, net
torque produced by the machine at that point of
time is sum of torques due to positive and negative
sequence voltage.
• At high resistance the net torque is found to be
negative and braking occurs. and the braking
operation is obtained

October 9, 2024 101

 DC Dynamic Braking
• To obtain this type of braking the stator of a running
induction motor is connected to a DC supply.

• Two and three load connections are the two common

type of connections for star and delta connected
stators

October 9, 2024 102

October 9, 2024 103
 Two Loads DC Dynamic Braking Operation

October 9, 2024 104

 • Now coming to the method of operation, the moment
when AC supply is disconnected and DC supply is
introduced across the terminals of the induction
motor,
• So there is a stationery magnetic field generated due
to the DC current flow and
• As the rotor of the motor rotates in that field, there is
a field induces in the rotor winding, and as a result the
machine works as a generator and
• The generated energy dissipates in the rotor circuit
resistance and dynamic braking of induction motor
occurs.

October 9, 2024 105

 Plugging or reverse current braking

• When the phase sequence of supply of the motor running

at speed is reversed by interchanging the connection of
any two phases of the stator on the supply terminal
• Due to this the direction of rotating magnetic filed gets
reversed suddenly
• This produces a torque in the reverse direction and the
motor tries to rotate in opposite direction.
• Effectively the brakes are applied to motor. Thus during
the plugging the motor acts as a brake

October 9, 2024 106

 • The speed torque characteristics of the motor

• However the direction of torque developed is reversed and

the motor begins to slow down till its speed becomes zero.
October 9, 2024 107
 Regenerative braking
• The input power of the induction motor drive is given by
the formula shown below

• Where φs is the phase angle between stator phase voltage

and the stator phase current Is. For motoring operation,
the phase angle is always less than the 900.
• If the rotor speed becomes greater than synchronous
speed, ( Nr >Ns ) then the relative speed between the rotor
conductor and air gap rotating field reverse.

October 9, 2024 108

 • Under regenerative braking mode, the machine act as
induction generator.

• So it generates electric power and this power fed back

to the supply.

• When the φs is greater than the 90º , then the power

flow to reverse and gives the regenerative braking.

• So slip and torque developed becomes negative.

• Here, the maximum regenerative braking torque is

higher than the maximum motor torque.
October 9, 2024 109
 The speed torque characteristics of the motor

October 9, 2024 110