Machine Drives Lab (EE3272)

2 Credits [0-0-3]

1. Speed control of separately excited DC motor using single phase half

controlled converter
2. Speed control of separately excited DC motor using single phase fully
controlled converter
3. Two quadrant operation of chopper-fed DC motor drive
4. Closed-loop speed control of dc motor using tachometer feedback method
5. To study the dynamic braking and plugging of a dc shunt motor
6. Speed control of three-phase slip ring induction motor using rotor resistance
control
7. Speed control and load test of three-phase permanent magnet synchronous
motor (PMSM) using IGBT based PWM inverter
8. Speed control of brushless DC (BLDC) motor using PWM inverter
 National Institute of Technology, Rourkela
Department of Electrical Engineering

Aim of The Experiment:-

To study the speed control of DC motor using single phase half controlled bridge converter.

Apparatus Required:-
Sl. No. Name of The Equipment Specification Quantity

1. Single Phase Half Controlled Converter ---------- 1

Kit
2. Single phase VARIAC 0-270 V,15A, 4.05 kVA 1
3. DC Motor 220V, 4A, 1500 RPM 1
4. Isolation Transformer 5kVA, 230V, 1:1 1
5. Voltmeter 0-300V, PMMC & MI 1 Each
6. Ammeter 0-5A, PMMC 1
7. Differential Probe & Current Probe 200:1 & 100mV/A 1 Each
8. DSO with probe 2 Channel, 50MHz, 1GSa/s 1

Circuit Diagram:-
(0-5)A

A
PMMC

T1 T2 A

V M
230V AC
(0-300)V Supply
V
PMMC
230V AC (0-300)V Field
Supply AA Supply

D2 D1
Rectifier

Figure 1. Circuit diagram of speed control of DC motor using 1-ph half controlled bridge converter

Theory:-

Speed control of a DC motor can be achieved by controlling the armature voltage supplied to the motor. A single-
phase half-controlled bridge converter (also called a semi-converter) is commonly used for this purpose. It consists of
two thyristors (SCR) and two diodes arranged in a bridge configuration. By varying the firing angle (α) of the
thyristors, the average DC output voltage applied to the motor armature is controlled. For a single-phase half-
controlled bridge converter, the average output voltage is:

𝐕𝐕𝐦𝐦
Vavg= (1+cosα)
𝛑𝛑
where: Vm= peak value of the AC input voltage, α = firing angle of the thyristors
Speed Control Mechanism:-

The speed of a DC motor is given by:

𝐕𝐕𝐕𝐕−𝐈𝐈𝐈𝐈𝐈𝐈𝐈𝐈
N∝
𝚽𝚽
where:

• Va = armature voltage
• Ia = armature current
• Ra = armature resistance
• Φ = flux (constant for a separately excited or shunt motor)

Since the field flux is kept constant, motor speed is directly proportional to armature voltage. Therefore:

• Decreasing the firing angle → increases armature voltage → increases speed

• Increasing the firing angle → decreases armature voltage → decreases speed

Precautions:-
 The VARIAC position must be at zero before switching ON the circuit.
 The firing circuit knob position should be at 180º before start.
 Consult with teacher before switching ON the circuit.
Procedure:-
 Connect the circuit with motor as shown in the circuit diagram.
 Switch ON the power supply and gradually increase the voltage as per the instruction by VARIAC.
 Vary the firing angle by the controller from 0º to 180º in steps as instructed.
 Note down the voltage, current and speed readings.
 Observe & take the voltage and current waveform in DSO.
Observation Table:-

Sl. No. Firing Angle VO IO Speed

(α in º) (in Volts) (in Amps) (in RPM)
1. 0
2. 30
3. 60
4. 90
5. 120
6. 150
7. 180

Result & Discussions:

Discuss the output voltage and current waveforms for different firing angles.

Conclusion:-
To be written by the student.
 National Institute of Technology, Rourkela
Department of Electrical Engineering

Aim of The Experiment:-

To study the speed control of DC motor using single phase fully controlled bridge converter.

Apparatus Required:-
Sl. No. Name of The Equipment Specification Quantity

1. Single Phase Full Controlled Converter Kit ---------- 1

2. Single phase VARIAC 0-270V,15A, 4.05 kVA 1
3. DC Motor 220V, 4A, 1500RPM 1
4. Isolation Transformer 5kVA, 230V, 1:1 1
5. Voltmeter 0-300V, PMMC & MI 1 Each
6. Ammeter 0-5A, PMMC 1
7. Differential Probe & Current Probe 200:1 & 100mV/A 1 Each
8. DSO 2 Channel, 50MHz, 1GSa/s 1

Circuit Diagram:-
(0-5)A

A
PMMC

T1 T3 A

V
V (0-300)V
M 230V AC
PMMC Supply
230V AC (0-300)V Field
Supply AA Supply

T4 T2
Rectifier

Figure 1. Circuit diagram of speed control of DC motor using 1-ph fully controlled bridge converter

Theory:-
Speed control of a DC motor is commonly achieved by controlling the armature voltage. A single-phase fully
controlled bridge converter is an effective power electronic circuit used for this purpose. A single-phase fully
controlled bridge converter consists of four thyristors (SCRs) connected in a bridge configuration. By controlling the
firing angle (α) of the SCRs, the average DC output voltage applied to the armature of the DC motor is varied.
The average output voltage of a single-phase fully controlled bridge converter is given by:
𝟐𝟐𝟐𝟐𝐦𝐦
Vavg= cosα
𝛑𝛑
where:

• Vm = peak value of the AC supply voltage

• α = firing angle of the thyristors

Speed Control Mechanism:-

The speed of a DC motor is given by:

𝐕𝐕𝐕𝐕−𝐈𝐈𝐈𝐈𝐈𝐈𝐈𝐈
N∝
𝚽𝚽
where:

• Va = armature voltage
• Ia = armature current
• Ra = armature resistance
• Φ = flux (constant for a separately excited or shunt motor)

Since the field flux is kept constant, motor speed is directly proportional to armature voltage. Therefore:

• Smaller firing angle → higher average armature voltage → higher speed

• Larger firing angle → lower average armature voltage → lower speed

Precautions:-

 The VARIAC position must be at zero before switching ON the circuit.

 The firing circuit knob position should be at 180º before start.
 Consult with teacher before switching ON the circuit.
Procedure:-
 Connect the circuit with DC motor as shown in the circuit diagram.
 Switch ON the power supply and gradually increase the voltage as per the instruction by VARIAC.
 Vary the firing angle by the controller from 0º to 180º in steps as instructed.
 Note down the voltage, current and speed readings.
 Observe & take the voltage and current waveform in DSO at different fire angles.

Observation Table:-
Sl. No. Firing Angle VO IO Speed
(α in º) (in Volts) (in Amps) (in RPM)
1. 0
2. 30
3. 60
4. 90
5. 120
6. 150
7. 180

Result & Discussions:

Discuss the output voltage and current waveforms for different firing angles.

Conclusion:-
To be written by the student.
 National Institute of Technology, Rourkela
Department of Electrical Engineering

Aim of The Experiment:-

Two quadrant operation of chopper-fed DC motor drive.

Apparatus Required:-
Sl. No. Name of The Equipment Specification Quantity
1. IGBT based PWM Chopper kit ---------- 1
2. DC Motor 0.5HP, 2.2A, 220V 1
3. Single phase Variac 0-270V,15A, 1
4.05KVA
4. Isolation Transformer 230:230V, 10.87A, 1
2.5kVA
5. DSO with probe ---------- 1
6. Tachometer Digital 1
7. Voltmeter 0-300V, PMMC 1
8. Ammeter 0-1A, PMMC 1
9. Rheostat 0-100Ω 1
Circuit Diagram:-

+ C C
S1 S3
G G
Single phase auto- E E
transformer

C C
S2 S4
R
G G

E E
Isolation -
Transformer
Rectifier Unit
V

DC Motor
A AA

F FF
Field
Supply

Figure 1. Circuit diagram of two quadrant operation of DC motor

Theory:-

A chopper-fed DC motor drive uses a DC–DC converter (chopper) to control the armature voltage of a
DC motor, thereby controlling its speed and torque. In two-quadrant (1st & 3rd) operation, the drive
allows two combinations of voltage and current, enabling forward and reverse motoring.

Quadrant I (Forward Motoring):

• Armature voltage: Positive

• Armature current: Positive
• Motor runs in the forward direction and converts electrical energy into mechanical energy.
• Speed is controlled by varying the chopper duty cycle.

Quadrant III (Reverse Motoring):

• Armature voltage: Negative

• Armature current: Negative
• This causes the motor to rotate in the reverse direction while still operating in motoring mode.
Electrical energy is again converted into mechanical energy, but the torque and speed are
negative (reverse).
• This operation is obtained using appropriate chopper configuration or switching strategy.

Precautions:-
 The VARIAC position must be at zero before switching ON the circuit.
 Keep distance from the moving part of the DC motor.
 Gradually increase the speed of the motor.
 The output of the drive should not be short circuited.

Procedure:-
 Connect as per the circuit diagram.
 Apply 150 Volts AC supply by varying the single phase VARIAC.
 Select DC-DC chopper and open loop method.
 Vary the duty cycle from 0.5 to 0.9 to enable forward motoring and from 0.5 to 0.1 to get reverse
motoring.
 Note down the armature voltage, armature current and speed of the motor in the tabulation.
 Take the waveform of armature voltage and armature current from DSO.
Observation Table:-
Sl. No. Duty Armature Armature Speed Rotation
Cycle Voltage (VA) Current (IA) (in R.P.M) Direction
(In Volt) (In Amps) (CW/CCW)
1.
2.
3.
4.
5. 0.5
6.
7.
8.
9.

Result & Discussions:

Discuss the output voltage and current waveforms for different duty cycle.

Conclusion:-
To be written by the student.
 National Institute of Technology, Rourkela
Department of Electrical Engineering

Aim of The Experiment:-

To study the closed loop speed control of a DC motor by tachometer feedback
method.
Apparatus Required:-

Sl. Name of The Equipment Specification Quantit

No. y
1. DC Motor 0.75kW,220V,3.4A,1500 rpm 1
2. Closed loop DC Motor control unit ---------- 1
3. Single phase VARIAC 0-270 V,15 A,4.05 kVA 1
4. Tachometer Digital 1
5. DSO 2 Channel, 50MHz, 1GSa/s 1
6. Differential Probe & Current Probe 200:1 & 100mV/A 1 Each

Circui Diagram:-
230V AC Ia
Vs

T1 T2
A

Va M
Switch
AA

D3 D4

Bridge Rectifier

+ Field of Motor -

Firing Angle Signal +

+
Controller Controller
Vs Vf Tacho IN
-
-
Figure 1. Circuit diagram of closed loop speed control of DC motor
Theory:-
The purpose of a motor speed controller is to take a signal representing the demanded
speed and to drive a motor at that speed. The controller may or may not actually measure the
speed of the motor, if it does, it is called feedback speed controller or closed loop speed
controller else open loop controller.
A closed loop system utilizes feedback to measure the actual system operating parameter
being controlled such as temperature, pressure, flow, level or speed. This feedback signal is
sent back to the controller where it is compared with desired system set point. It developed an
error that initiate corrective action and drives the final output device to the desired value. In
the DC motor drive, the tachometer provides the feedback voltage which is proportional to
the actual motor speed.
Tachometer is an instrument that measure speed of the motor based on concept of back EMF
induced in motor when it is running. The EMF voltage appears on the commutator segments
caused by rotation in the magnetic field by some external force.
The magnitude of the EMF is given by
EMF=KbɸN
Where Kb= a constant based on motor construction
ɸ= Magnetic flux
N= Speed of motor in rpm
The actual relationship between motor speed and EMF is as follows and is derived from the
equation
N= EMF/Kbɸ
Thus the motor speed is directly proportional to the EMF voltage and inversely proportional
to the flux. For permanent magnet DC motor, when the EMF measured is increases, the speed
of the motor is also increases with the gain. So, the speed of motor can be measured by
measuring the back EMF using tachometer.
The armature voltage is controlled by controlling firing angle and thus a semi-converter
circuit is used. When triggering angle is α; T1, D4 conduct during α to π.
The average output voltage,
𝟏𝟏 𝝅𝝅 𝑽𝑽𝑽𝑽
V0= ∫𝜶𝜶 𝑽𝑽𝑽𝑽 𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔 𝒅𝒅(𝝎𝝎𝝎𝝎) = � � (𝟏𝟏 + 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄)
𝝅𝝅 𝝅𝝅
Also, V0= Ra Ia+ Eb
Or V0= Ra Ia+ kmωm km=emf constant
𝑉𝑉𝑉𝑉− Ra Ia
Now ωm= ωm= motor speed
Km
𝑉𝑉𝑉𝑉
( 𝜋𝜋 )(1+cos 𝛼𝛼)−Ra Ia
Substituting V0, ωm=
𝐾𝐾𝐾𝐾

Precautions:-

 The VARIAC must be at zero position before switching ON the circuit.

 Keep distance from the rotating part of the motor.
 Gradually increase or decrease the load.
Procedure:-
 Connect armature, field & tachometer points in the DC motor set to the respective
terminal provided in the DC motor control unit.
 Then connect 220V AC mains supply to the 220V AC input points provided in the
DC motor control unit.
 Select tachometer feedback by pressing the feedback switches & switch on MCB.
 Press RUN switch, vary the speed potentiometer, set the speed of the motor to some
value between 200-1000 rpm for closed loop operation as per instruction.
 Note down the load & armature voltage Va, then gradually apply load.
 Adjust load such that armature current should not increase above rated current 3.4A.
 Apply load & note down the tachometer reading. The speed will be reduced
considerably and again come back to the set speed, note down voltage reading & enter
them in tabular column.
 Now release the load & note down the tachometer & voltage reading. Now speed
increases considerably and come to set speed. Here feedback voltage is negative.
 Repeat the same for different values of speed & enter the reading in the tabular
column.

Observation Table:-

Motor Load Armature Speed Variation in

Current voltage (Va) N speed
Apply N.L.
Load 25% F.L.
50% F.L.
75% F.L.
F.L.
Released F.L.
Load 75% F.L.
50% F.L.
25% F.L.
N.L.

Result & Discussions:

Discuss the output voltage and current waveforms for loads.

Conclusion:-
To be written by the student.
 National Institute of Technology, Rourkela
Department of Electrical Engineering

Aim of The Experiment:-

To study dynamic braking and plugging of a dc shunt motor

Apparatus Required:-

Sl.
Name of the apparatus Specification Type Quantity
No.
1 Dc motor 1.1 kW, 220V, 6.3A, 3000 rpm Shunt 1
2 DPDT switch 1
3 Rheostat 38Ω, 8.5A 1
4 Rheostat 50Ω, 5A 1
5 Rheostat 280Ω, 2.8A 1
6 Voltmeter 0-300 V MC 1
7 Ammeter 0-5A MC 1
8 Ammeter 0-10A MC 1

Circuit Diagram:-

Rheostatic braking

Figure 1. Circuit diagram of rheostatic braking of DC shunt motor

Plugging

Figure 2. Circuit diagram of plugging of DC shunt motor

Theory:-
Electric Braking Of DC Shunt Motors

(a) Rheostatic or Dynamic Braking

In this method, the armature of the shunt motor is disconnected from the supply and is
connected across a variable resistance. The field winding is, however, left connected across the
supply undisturbed. The braking effect is controlled by varying the series resistance.
Obviously, this method makes use of generator action in a motor to bring it to rest.
(b) Plugging or Reverse current braking
In this method connection to the armature terminals are reversed so that motor tends to run in
the opposite direction. Due to the reversal of armature connections, applied voltage V and Eb
start acting in the same direction around the circuit. In order to limit the armature current to a
reasonable value, it is necessary to insert a resistance in the circuit while reversing armature
connections.

Procedure:-

Rheostatic braking

1. Connect the circuit as per the circuit diagram.

2. Keep the resistance used for braking at maximum position.
3. Ensure rheostat in armature circuit at maximum value and DPDT switch is closed on armature
side (1) at the time of starting the motor.
4. Change the position of the DPDT switch from position(I) to OFF and note the corresponding
time to stop the motor.
5. Again start the motor and change the position of the DPDT switch from position (I) to (II) and
note corresponding time to stop the motor.
6. The procedure is repeated by varying the value of braking resistance (Rb) and note down the
value of Rb and time required to stop the motor.
7. Draw the graph of braking resistance versus time required to stop the motor.
Plugging

1. Connect the circuit as per the circuit diagram.

2. Keep the resistance used for braking at maximum position.
3. Ensure rheostat in armature circuit at maximum value and DPDT switch is closed on armature
side (1) at the time of starting the motor.
4. Change the position of the DPDT switch from position (I) to OFF and note the corresponding
time to stop the motor.
5. Again start the motor and change the position of the DPDT switch from position (I) to (II) and
note corresponding time to stop the motor.
6. The procedure is repeated by varying the value of braking resistance (Rb) and note down the
value of Rb and time required to stop the motor.
7. Draw the graph of braking resistance versus time required to stop the motor.

Observation Table:-

Rheostatic Braking

Time taken by motor to stop without braking=__________________

Table (With braking Resistance)

[Link]. Braking resistance Time required to stop the

Current(I)
motor

Plugging

Time taken by motor to stop without braking=__________________

Table (With braking resistance)

Sl. No. Braking resistance (Ω) Time required to stop the

Current (A)
motor (s)
Sample Graph:

Rheostatic Braking

Figure 3: Plot of braking resistance versus time for rheostatic braking

Plugging

Figure 4: Plot of braking resistance versus time for plugging

Result & Discussions:

Discuss the observations

Conclusion:-
To be written by the student.
 National Institute of Technology, Rourkela
Department of Electrical Engineering

Aim of The Experiment:-

To Control the speed control of 3 phase slip ring induction motor (SRIM) by rotor resistance control at
variable load condition.

Apparatus Required:-

NAME OF
[Link] TYPE RANGE QUANTITY
APPARATUS/MACHINE
1 3-ph SRIM- DC generator set 1
2 Ammeter MI 0-5A 1
3 Ammeter MC 0-10A 1
4 Ammeter MC 0-500mA 1
5 Voltmeter MI 0-600V 1
6 Voltmeter MC 0-300V 1
7 Auto transformer 3 phase 0-470V 1
8 Rheostat - 300Ω/1.7A 1

Circuit Diagram:-

Figure 1. Circuit diagram of rotor resistance control of slip ring induction motor
Theory:-
Rotor resistance control:

In this method, which is applicable to slip ring induction motors alone, the motor speed is reduced by
introducing an external resistance in the rotor circuit. This method is in fact similar to the armature
resistance control method of dc shunt motors.

PRECAUTION:

The motor input current should not exceed its rated value.

Procedure:-
No load operation

1) Connections are given as per the circuit diagram.

2) Keep the external rotor resistance at maximum resistance position.
3) Switch on the supply & increase the input voltage to stator winding up to its rated value.
4) Measure the speed.
5) Now decrease the rotor resistance in steps & note the corresponding values of speed.
6) Draw the graph of rotor resistance versus speed.

Load operation

1) Follow the above steps of NO LOAD operation to start the slip ring induction motor.
2) Now the field of DC generator was energised so as to get the output voltage of 220V.
3) Now switch ON the external load on the generator.
4) This causes the generator to get loaded & this indirectly loads the induction motor.
7) Then decrease the rotor resistance in steps & note the corresponding values of speed.
8) Draw the graph of rotor resistance versus speed.

Observation Table:-

No load operation

[Link]. Vac Iac Idc Vdc EXTERNAL ROTOR SPEED (RPM)

RESISTANCE IN
OHMS

Load operation

[Link]. Vac Iac Idc Vdc EXTERNAL ROTOR SPEED (RPM)

RESISTANCE IN
OHMS

Result & Discussions:

Discuss the observations.

Conclusion:-
To be written by the student.
 National Institute of Technology, Rourkela
Department of Electrical Engineering

Aim of The Experiment:-

Speed control and load test of three-phase permanent magnet synchronous motor (PMSM) using IGBT
based PWM inverter

Apparatus Required:-

Sl. Name of the

Specification Type Quantity
No. apparatus
1 PMSM 2.2 kW, 415 V, 4 A, 1500rpm 1
2 PMSG 1500 rpm,180 V,4 pole, 3kW 1
3 Voltmeter 0-300V MI 3
4 Ammeter 0-5A MI 2
3.3 kW, 0.8-5A, 400V, 3-Ph,
5 Load 1
star connected
6 TPST switch 1
3 phase auto
7 0-240V, 8A 1
transformer
Input-3 phase, 6.3A, 240V,
8 VFD 1
Output-3 phase, 5A, 240V

Circuit Diagram:-

Figure 1. Circuit diagram for speed control of PMSM

Theory:-
The core operating principle of Permanent Magnet Synchronous Motors lies in the interaction
between the stator's rotating magnetic field and the rotor's permanent-magnet field. When a three-
phase current energizes the stator, it creates a rotating magnetic field. The rotor magnets align with
this field, and once synchronized, the rotor rotates at the same speed as the stator field.
Torque is generated by the angular separation, known as the torque angle, between the stator field
and the rotor field. Maintaining this torque angle within a controlled range is essential for smooth
operation, high efficiency, and stable performance.
Procedure:-
Run-1

Speed control of PMSM

1. Connect the circuit as per the circuit diagram

2. Connect the three phase variac to the input side of variable frequency drive (VFD) and
gradually increase the variac voltage up to rated voltage of VFD
3. Press RUN button on VFD and gradually increase voltage and frequency of PMSM
4. Note the meter reading
5. Observe the waveforms
Run-2

Load test of PMSM

1. Follow the above step of no load operation to start the PMSM

2. Now set the frequency of PMSM at 50Hz
3. Now switch on the external load on the PMSG
4. This cause the PMSG to get loaded and this indirectly load the PMSM
5. By varying load note all corresponding meter reading
6. Observe the waveforms

Observation Table:-

Run-1

Speed control of PMSM

VFD
𝑉𝑉
[Link]. Frequenc Speed IM
Vin Vout 𝐹𝐹
y
Run-2

Load test of PMSM

VFD
𝑉𝑉
[Link]. Frequenc Speed IM IG VG
Vin Vout 𝐹𝐹
y

Result & Discussions:

Discuss the observations

Conclusion:-
To be written by the student
 National Institute of Technology, Rourkela
Department of Electrical Engineering

Aim of The Experiment:-

Speed control of BLDC Motor using PWM voltage source inverter

Apparatus Required:-

Sl. Name of the

Specification Type Quantity
No. apparatus
Vrated = 48 V, Irated= 25 A,
1 BLDC Motor 1
Po= 1 kW, Nrated= 3000 rpm
2 Voltmeter 0-60V MC 1
3 Ammeter 0-10A MC 1
BLDC Motor
4 48V,40A,1000W 1
controller
70MHz,1GS/s,
5 Digital oscilloscope 1
Make-Tektronix
6 DPST switch 1
Non-Contact
7 2-99,999RPM 1
Tachometer

Circuit Diagram:-

Figure 1: Circuit diagram of VSI fed BLDC motor drive

Figure 2: VSI fed star connected BLDC motor

 Figure 3: BLDC drive controller wiring diagram
Theory:-

BLDC motor is a trapezoidal PMAC motor. The armature of a BLDC motor is fed with current pulses
that cause the stator and rotor fields to remain stationary and in quadrature with one another. As a
result, similar to a DC motor, torque production is proportional to armature current, and voltage
produced is proportional to speed. Consequently, speed and torque can be managed separately.

Procedure:-
1. Connect the circuit as per the circuit diagram
2. Power supply from DC power supply which is set to 48 V and maximum current of 25 A is given
to the BLDC drive controller through its power supply wires as indicated in Figure 3.
3. Phase wires from drive controller is given to BLDC motor as input
4. Hall wires of the controller is also connected to the BLDC motor hall sensor wires.
5. Throttle wire and power lock wire are connected to throttle and switch respectively to race the
motor speed (i.e., indirectly PWM pulses to the inverter) and turn on the VSI fed BLDC drive.
6. As the throttle is raced, BLDC motor pick up the speed
7. Note the meter readings
8. Observe the waveforms

Observation Table:-

Table

[Link]. I Speed
V
Result & Discussions:
Discuss the observations.

Conclusion:-
To be written by the student.