Chapter 2: DC Motor Drive
Prob 1: Draw the natural torque-speed curve of a shunt dc [Link] motor has nominal values: V n =
220V, Pn = 6,6kW; nn = 2200 rpm; In = 35A; Ra = 0,26Ω.
Prob 2: Draw the natural torque-speed curve of a shunt dc [Link] motor has nominal values: V n =
220V, Pn = 4,4 kW; nn = 1500 rpm; efficiency = 0.85.
Prob 3: A Permanent magnet DC motor has nominal voltage V n = 6V, Ra = 7, torque constant kT =
1.41x10-2 N.m/A, moment of inertia JM = 1.06x10-6 kg.m2. The no load armature current is I0 = 0.15 A.
Determine the no load speed and viscous coefficience of the motor
Prob 4: A dc separately excited motor has following data: K = 3 (V.s/rad), Vn = 600V, Ra = 2, In = 5A.
Determine:
a) Nominal torque and the corresponding speed
b) Starting torque, starting current
c) With nominal armature voltage, determine the resistance of the starting resistor to limit the starting
current to 10In
d) By using a step-down voltage converter, find the starting voltage to limit the starting current to
15xIn.
Prob 5: The torque-speed characteristics of a DC motor have been determined, as shown in the figure
below. Note that u is the voltage applied to the motor armature, τm and ωm are, respectively, the output
torque and angular velocity of the motor shaft. From this plot,
a) Obtain the motor constant, torque constant, and armature resistance of the motor.
b) When the motor is rotating at 100 rad/s, what is the back emf voltage induced at the armature and
the applied armature voltage?
c) When the motor is producing 2x10-3 Nm of torque, how much power is dissipated as heat at the
motor winding
Prob 6: The DC motor in Prob 5 is now used for driving a single axis robot arm with a gear reducer with the
speed reduction ratio of 3. See the figure below. The inertia of the motor rotor including the shaft and the
pinion gear is Im = 1.0 x 10-4 kgm2 , while the arm inertia about the joint axis including the joint axis and the
large gear is Ia= 1.6 x 10-1 kgm2. Ignore gravity and viscous damping. Obtain the maximum angular
acceleration when the maximum armature voltage is 30 volts.
Prob 7 A separately excited dc motor has nominal values: V n = 100V, nn = 1500 rpm; voltage constant kV =
0.14 V/rpm, armature windind resistant Ra = 0.5 The motor is fed by a single-phase fully-controlled
rectifier which is connected to a 110V, 60Hz AC voltage source. Assume the motor is in continuous current
mode. Determine
a) Minimum delay angle of the rectifier
b) Nominal current and nominal torque
c) Motor speed at 80% nominal load when the firing angle is
d) Delay angle to achieve a regenerative current of two times nominal current when braking at speed
of 1000 rpm.
Prob 8 A dc separately excited motor has nominal values: I n = 500A, nn = 1000 rpm; Ra = 0.02 and kT =
0.8 Nm/A. The motor is fed by a 3-phase halfwave rectifier which is connected to a 415 Vrms, 50Hz 3
phase source. Determine the firing angle to develop a torque of 400Nm at nominal speed.
Prob 9. A permanent magnet dc motor drives a mechanical load requiring a constant torque of 25 Nm. The
motor produces 10 Nm with an armature current of 10 A. The resistance of the armature circuit is 0.2 Ω. A
200 V dc supply is applied to the armature terminals. Determine the speed of the motor.
Prob 10. A dc shunt motor drives an elevator load that requires a constant torque of 300 N.m. The motor
is connected to a 600 V dc supply and the motor rotates at 1500 rpm. The armature resistance is 0.5 Ω.
a) Determine the armature current.
b) If the shunt field flux is reduced by 10%, determine the armature current and the speed of the
motor.
Prob 11. A 500 V dc shunt motor has an armature resistance of R a = 0.25 Ω and field circuit resistance
of Rf = 240 Ω. The motor drives a mechanical load, which requires a torque proportional to speed. When
the motor-load system is connected to a 500 V supply, it takes 100 A and rotates at 1100 rpm. The speed is
to be reduced to 900 rpm by inserting a resistance in series with the armature. The field current is kept the
same. Determine the value of the added series resistance