Chapter 5: Speed-Torque Characteristics
of Electric Motors
Direct Current Machines
e B l B l
fBl I
Brush
Rotor
Armature
windings
F
S
Separately Excited Motors
Ia
If
Ra
Vt
Vf
Rf
Ea
Ia
If
Ra
Vt
Vf
If =
Rf
Vf
Rf
Ea
Vt Ea I a Ra
DC Machine
Ia
e B l B l
+
If
f B l Ia
Ra
+
Vf
Ea K
Td K I a
Vt
Rf
Pd Ea I a Td
Ea
Ia
+
If
Ra
+
Vf
Vt
Rf
Ea
Ea K
Vt Ra I a K
Vt
Ra I a
K
K
Ia
+
If
Ra
+
Vf
Vt
Rf
Td K I a
Ea
T
Vt Ea
Td K
Ra
Vt K
Td K
Ra
Vt
Ra
Td
2
K (K )
Speed-Torque CC of DC Motor
Vt
Ra
Td
2
K (K )
Speed
Load
Motor
Operating
Point
Tm
Torque
Starting of DC motor
At Starting, = 0, then Ea = 0
Vt Ea
Ia
Ra
Vt
I st
Ra
Vt Ea
Td K
Ra
Vt K
Td K
Ra
Vt
Tst K
Ra
Example
A dc separately excited motor has the following
data:
K = 3.0 Vs (Volt second)
Vt = 600.0 V
Ra = 2.0
Ia = 5.0 A (armature current at full load)
Calculate the rated torque, starting torque and
starting current at full voltage.
Solution
Starting of DC motor (voltage reduction)
Vt
Ra I a
K
K
Vt1
Ist1
Vt2
Ist2
Ia
Vt
I st
Ra
Starting of DC motor (starting resistance)
Vt
Ra I a
K
K
Ra
Ra + R
Ist1
Ist2
Vt
I st
Ra Rst
Vt
Rst
Ra
I st
Ia
Example
Limit the starting current to 6 times the rated
current
Solution
Method 1: Reduce the starting voltage
Vst I st Ra 6 (5.0) (2.0) 60.0 V
Method 2: Increase the starting resistance
Vt
R Ra
I st
Vt
600.0
R
- Ra
- 2.0 18
I st
30.0
Shunt Motor
I
Ra
If
Vt
Rf
Ea
Ia
I Ia I f
Series Motors
Vt - Ea
Ia =
Ra R f
Ra R f
Vt
Td
K
(K)2
Ia
Ra
Ea
Rf
Vt
Operating Series Motors in ac Circuits
Assumption:
small inductance
Ea
Vt
K K
When Vt is reversed, Ia is reversed
Ia
Ra
Ea
Rf
When Ia is reversed, is reversed
is maintained in the same direction
Vt
Induction Motor
Stator
ib
Rotor ring
ia
Stator Windings
Rotor
Rotor Windings
ic
El-Sharkawi@University of Washington
26
Rotation of Induction Motor (IM)
n ns n
stator
rotor
n n
s
n ns n
s
ns
ns
El-Sharkawi@University of Washington
27
Number of Poles
60 f
f
ns
120
pp
p
rev / min
What is the Speed of the motor?
n ns n f ( Tload )
The speed of the motor depends on the magnitude of the load torque
Slip
n ns n s
s
ns
s
ns
s
n
2
60
Equivalent Circuit
X
R
eq
I1
Im
eq
I2
R'2
( 1 s )
s
Xm
Rm
'
Req R1 R2
X eq X 1
'
X2
N1
'
R2 R2
N2
N1
N2
X '2 X 2
'
I 2 I 2
N2
N1
Torque Characteristics
Xeq
I1
Im
V
I '2
R1
' 2
R2
Rm
Req
I2
R'2
( 1 s )
s
Xm
X2
eq
Pd
3 ' 2 R2'
Td
(I2 )
(1 s )
3 V 2 R2'
s s
R
R1
s
'
2
X
2
eq
Pd
Td
s
0
n
n
' 2
R2
s s R1
2
X eq
ns n s
s
ns
s
s max
3 V 2 R'2
Tst
T
max
Torque
Small Slip
Maximum Torque
s max
Large Slip
st
max
Torque
Large slip approximation
(during starting)
Pd
Td
'
R
R1 2
s s
'
3 V R2
' 2
R2
R1
2
X eq
2
2
X eq
2 '
3 V R2
Td
2
s s X eq
Small slip approximation
(For steady state, full load)
Pd
Td
R1
'
R2
s s
'
3 V R2
' 2
R2
R1
2
X eq
X eq
Td
3V s
'
s R2
Maximum Torque
Set
Pd
Td
Td
0
s
R'2
smax
2
R12 X eq
Tmax
3 V 2 R'2
' 2
R2
s s R1
3V
2
X eq
2
2
2 s R1 R1 X eq
Summary
Large slip: Starting
region
Td
2 '
3 V R2
2
s s X eq
Small slip: Steady state
region
3 V 2s
Td
s R'2
Maximum Torque region
Tmax
3V
2
2 s R1 R12 X eq
'
R2
smax
2
2
R1 X eq
Starting of Induction Motor
Xeq
I1
Im
V
Rm
'
I 2st
Req
I2
R'2
( 1 s )
s
Xm
' 2
2
R1 R2 X eq
Starting by Reducing Voltage
I '2st
n
V2 < V1
ns
V1
Tmax
s max
' 2
R1 R2
2
X eq
3V2
2
2 s R1 R12 X eq
3 V 2 R2'
Tst
s X eq2
Tst 2
Tst 1
max
Torque
smax
R'2
2
R12 X eq
Starting by Adding Rotor Resistance
n
Radd3 > Radd2 > Radd1
Radd3
ns
I '2st
Radd2
Radd1
smax
s max
Tmax
Tst1
Tst2
Tst3=Tmax
' 2
R1 R2
2
X eq
R'2
2
R12 X eq
3V2
2
2 s R1 R12 X eq
3 V 2 R'2
Torque Tst
2
s s X eq
Example
An induction motor has a stator resistance
of 3 and the rotor resistance referred to
the stator is 2 . The equivalent inductive
reactance is 10 . Calculate the change in
the starting torque if the voltage is reduced
by 10%. Also, compute the resistance that
should be added to the rotor circuit to
achieve the maximum torque at starting.
Solution
Tst
3 V 2 R'2
2
s X eq
TA V
TB 0.9 V
TB 0.81 TA
smax 1
'
Radd
R'2 R'add
2
R12 X eq
R12 X eq2 R2' 32 100 2 8.44
Synchronous Motor
f
ns 120
rev / min
p
Ib
N
Ia
Fs
f1
f2
Ic
f3
Torque
Starting of Synchronous Motor
Shorted Turns