Braking of DC Motors

Braking of DC MOTORS
A separately excited DC machine, motoring at steady state is shown in Fig. 01 a).

em= L, em>0 & >0. It is required to brake the motor.
IA
IS
Vdc
RA
em,
Vt=Vdc
E
L
Fig. 1: Motoring Vt>E

IA
Vdc
RA
Rext
Vt
IA
Vdc
HOW?
If em < 0 em opposes and applies a higher
decelerating torque (em+L) on the shaft Results in small
time for braking.
This is possible if IA is reversed.
Magnitude of em depends on the magnitude of IA. If IA is
controlled smooth braking can be achieved.
IA can be reversed in 3 ways which result in 3 methods of

electrical braking.
RA
Vt=-Vdc
E
em+ L
Fig. 3: Plugging
IA
IS
RA
Vdc
Vt=Vdc< E
em+ L
Fig. 4: Regenerative
Braking (Vt<E)
Speed
Plugging
Dynamic or Regenerative
Free Deceleration
Time
Fig. 5: Comparison of
Braking Methods
In some applications it is required to

stop the motor in almost no time; i.e. break the
motor at a higher rate
control the braking operation smoothly
em+ L
Fig. 2: Dynamic Braking
IS
Mechanical Braking
Armature supply voltage is cutoff.
After a transient period IA=0 em=kIA=0.
em<L Decelerating torque applied on the shaft.
Speed starts to drop. E = k
Armature inductance (LA) limits the rate of decaying IA.
Shaft inertia (J) limits the rate of decaying .
Usually, Rate of IA << Rate of because of High J.
Shaft comes to rest by free deceleration.
The time for braking is high
Electrical Braking
1. Dynamic Braking (Fig.2) - Cutoff supply to the
armature and connect an external resistance Rext to
the armature terminals. Can change Rext to control IA.
Drawbacks: Stored energy in inertia is wasted in Rext
IA control is mechanical
2. Plugging (Fig.3) Reverse the supply voltage. Can
achieve very high braking rate.
Drawbacks:
Reverse current is very high IA=(Vdc+E)/RA.
DC Source supply power for braking.
When speed drops to zero, supply should be
cutoff Otherwise motor will start rotating in
other direction.
3. Regenerative Braking (Fig.4) Reduce the terminal
supply voltage. When Vt<E, the DC machine will act
as a generator. IA can be controlled if Vt(=Vdc) is
controllable.
Advantage: Is is reversed. Stored kinetic energy
in inertia is supplied to the source without waste.
Vt can be easily controlled with the use of chopper
Circuits, where Transistor switches are controlled
Using PWM at frequencies ranging from10 to 100kHz.
The single quadrant chopper circuit shown in Fig. 6
can reduce Vt but there is no
possibility of
reversing IA or the DC source current Is. To
facilitate this Two Quadrant Chopper shown in Fig.
7 is used. Both transistors should not be turned
ON at the same time!!
Four Quadrant Operation of a DC Motor

em IA
em ,IA > 0
,E,Vt<0
The 4 quadrants of operation possible for a

DC Motor are shown in Fig. 8.
o Single Quadrant Chopper: Only in 1
Can be used in applications with only
forward running requirement
em ,IA > 0
,E,Vt>0
|Vt|<|E|
Vt>E
Braking a motor
running in Reverse Dirn
Motoring in
Forward Dirn
em
em ,IA < 0
,E,Vt < 0
em
2
|Vt|>|E|
em ,IA < 0
,E,Vt>0
For applications with the requirement of

Forward, Reverse and Regenerative Braking
(i.e. Operate in all 4 quadrants), above two
choppers cannot be used.
Vt<E
Braking a motor
running in Forward Dirn
Motoring in
Reverse Dirn
em
em
2 - Quadrant Chopper: Only in 1 & 4

Can be used in applications with only
forward running and regenerative
braking requirement
Fig. 8: Four Quadrants of Operation of a

DC Motor
iS
iB1
Q1
iQ1
+
Vdc
iD1
D1
iB3
iA
RA
LA
vL
iB4
Q4
D4
vt = vAB
iQ4
iQ3
M
,
iB2
Q2
iQ2
iD4
iD3
Q3
D3
B
D2
iD2
Fig. 9: H-Bridge Power Converter for Four Quadrant Operation of a DC Motor

The H-bridge power converter topology shown in Fig. 9 enables the motor to be operated in all four quadrants.
Operation with unipolar source current
When B is grounded (-) Two quadrant with Forward rotation (Vt>0 and IA>0)
o Q1 & Q4 Switched while keeping Q2-ON & Q3-OFF (Waveforms Fig. 10)
o Vt = d.Vdc (d is defined with respect to Q1)
When A is grounded (-) Two quadrant with Reverse rotation (Vt<0 and IA<0)
o Q3 & Q2 Switched while keeping Q4-ON & Q1-OFF
o Vt = -d.Vdc (d is defined with respect to Q2)
Operation with bipolar source current
Upper transistor in one leg and lower transistor of the other leg are switched with the same signal sequence.
I.e. (Q1 & Q2) and (Q3 & Q4) are switched as a pair with complementary signals.
When (Q1 & Q2) are ON vt = +Vdc
When (Q3 & Q4) are ON vt = -Vdc
Vt = (2d-1).Vdc; (d = duty ratio = ton/T defined with respect to Q1 & Q2)
Waveforms for Forward Rotation Fig. 11(a); Reverse Rotation Fig. 11(b) in both cases average source
current IS>0. I.e. Power is given by the source.
In both above cases,
Vdc Vt -Vdc possible.
IA0 and IA0 possible.
Can operate in all four quadrants.
Some Useful ICs in DC Motor Control:

H-Bridge L297, A3959SB
PWM Chips TL494, SG3524, SG3525
High and Low side Drivers IR2104, IR2111,
IR2110, IR2113

Braking of DC Motors

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Braking of DC Motors

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Braking of DC MOTORS

A separately excited DC machine, motoring at steady state is shown in Fig. 01 a).

Fig. 1: Motoring Vt>E

IA can be reversed in 3 ways which result in 3 methods of

In some applications it is required to

Four Quadrant Operation of a DC Motor

The 4 quadrants of operation possible for a

For applications with the requirement of

2 - Quadrant Chopper: Only in 1 & 4

Fig. 8: Four Quadrants of Operation of a

Fig. 9: H-Bridge Power Converter for Four Quadrant Operation of a DC Motor

Some Useful ICs in DC Motor Control:

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