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