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Speed Regulation
Don Ely Joseph A. Hojilla
Jonas D. Tadefa
Selwyn P. Sanducal
Bachelor of Science in Electrical Engineering, University of Antique Main Campus
EE327: Electrical Machines 2
Engr. Rene Ray A. Andicoy
February 5, 2025
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1.7 SPEED REGULATION
Specific Learning Outcomes
Explain the nature of speed regulation.
Trace the history of speed regulation.
Solve problems that involves speed regulations of different AC motors.
Motivation
Define speed regulation.
Definition
Speed regulation (SR) is a measure of the ability of a motor to keep a
constant shaft speed as load varies. It is defined by the equation:
nnl −n fl
SR= ×100 %
n fl
or
ω nl − ωfl
SR= ×100 %
ω fl
It is a rough measure of the shape of a motor's torque-speed characteristic positive
speed regulation means that a motor's speed drops with increasing load, and a
negative speed regulation means a motor's speed increases with increasing load.
The magnitude of the speed regulation tells approximately how steep the slope of
the torque-speed curve is.
Speed of Induction Motors
A three-phase set of voltages has been applied to the stator, and a three
phase set of stator currents is flowing. These currents produce a magnetic field Bs,
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which is rotating in a counterclockwise direction. The speed of the magnetic field's
rotation is given by
NS = 120 × f s / P
where fs is the system frequency in hertz, and P is the number of poles in the
machine. This rotating magnetic field Bs passes over the rotor bars and induces a
voltage in them.
The Concept of Rotor Slip TIle voltage induced in a rotor bar of an induction
motor depends on the speed of the rotor relative to the magnetic fields. Since the
behavior of an induction motor depends on the rotor's voltage and current, it is often
more logical to talk about this relative speed. The term use to describe the relative
motion is slip, which is the relative speed expressed on a per-unit or a percentage
basis. That is, slip is defined as
S = (N s - Nr / Ns) × 100%
In synchronous motors on the other hand, are used for constant-speed loads
and are typically connected to large power systems, which act as infinite buses. This
ensures a constant terminal voltage and frequency regardless of the motor's power
draw. The motor’s speed is fixed to the electrical frequency and remains steady from
no load to the maximum torque it can provide (pull-out torque), resulting in 0% speed
regulation.
Examples
1. A Computer Numerical Control (CNC) machine uses a high-speed AC spindle
motor to rotate cutting tools at a precise speed of 10,000 RPM under normal
operating conditions. When the machine encounters hard material (increased cutting
resistance), the motor's speed decreases slightly to 9,950 RPM.
Solution:
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Given: nnl = 10,000 rpm
nfl = 9,950 rpm
nnl −n fl
SR= ×100 %
n fl
10,000 −9,950
SR= ×100=0.5%
9,950
2. A conveyor belt system uses a 3-phase, 6-pole, 50Hz induction motor. Under no-load
conditions, the motor runs at 980 RPM. When carrying its rated load, the speed drops to
950 RPM. Calculate the speed regulation.
Solution:
Given: Nnl = 980 rpm
Nfl = 950 rpm
SR= (Nnl - Nfl / Nfl) × 100% = (980 - 950 / 950) × 100% = 3.16%
3. A three-phase induction motor operates at a supply frequency of 50hz and has a 4 pole
stator. If the motor runs at 1440 rpm determine:
a. The synchronous speed.
b. The slip of the motor.
Solution:
Given: fs = 50hz
P = 4 poles
Nr = 1440 rpm
a. NS = 120 × fs / P = 120 × 50 / 4 = 1500 rpm
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b. S = (Ns - Nr / Ns) × 100% = (1500 - 1440 / 1500) × 100% = 4%
4. For a three-phase induction motor, the no-load speed of the motor is 900 RPM and its
full-load speed is 880 RPM. Find the speed regulation of the motor.
Solution:
Given: Nnl = 900 rpm
Nfl = 880 rpm
SR= (Nnl - Nfl / Nfl) × 100% = (900 - 880 / 880) × 100% = 2.27%
5. A 6 pole induction motor is supplied by a variable - frequency drive (VFD). If the desired
operation speed is 1500 rpm, what frequency should the drive supply? Assume negligible
slip.
Solution:
Given: P = 6 poles
Nr = 1500 rpm
Assume Ns ≈ Nr
NS = 120 × fs / P
fs = NS × P / 120 = 1500 × 6 / 120 = 75 hz
History
Ever since the electric motor was invented, speed regulation in electric motors
has undergone significant change. Mechanical governors were the primary means of
speed control for early motors in the 19th century. Although induction motors, which
Nikola Tesla developed in the late 1880s, were more efficient, load-dependent speed
fluctuation remained a problem. Speed regulation was completely transformed when
variable frequency drives (VFDs) were introduced in the middle of the 20th century.
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VFDs allowed for dynamic control over motor speed. Motor speed control was further
improved over time by digital controllers and sophisticated electronics, providing
accurate regulation in a range of industrial applications.
Assessment
1. A small pump is driven by a single-phase capacitor-start induction motor. The
motor's no-load speed is measured at 1720 RPM, and its full-load speed is 1680
RPM. What is the speed regulation of this motor? (Ans. 2.38%)
2. A fan is powered by a 4-pole, 50Hz induction motor. At no load, the motor runs at
1470 RPM. When the fan is fully operational (maximum load), the motor speed is
1400 RPM. Calculate the percentage speed regulation. (Ans. 5%)
3. A wound rotor induction motor has a slip of 6% at full load. If additional rotor
resistance is inserted, the slip increases to 10%. What is the new rotor speed if the
synchronous speed is 1200 RPM? (Ans. 1080 rpm)
4. An induction motor runs at 1600 rpm under no load and 1680 rpm at no load. Find
the speed regulation. (Ans. 5%)
5. A three-phase induction motor runs at 1450 RPM at no-load and 1400 RPM at full-
load. What is its speed regulation? (Ans. 3.57%)
6. A DC shunt motor has a speed of 1200 RPM when loaded and 1260 RPM at no
load. Determine its speed regulation. (Ans. 5%)
7. A motor's full-load speed is 1100 RPM, and its speed regulation is 4%. What is its
no-load speed? (Ans. 1144 rpm)
8. Motor A has a speed regulation of 2%, and Motor B has a speed regulation of 8%.
Which motor exhibits better speed regulation? (Ans. Motor A)
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9. A servo motor has a no-load speed of 2000 RPM and a speed regulation of 1%.
Find its full-load speed. (Ans. 1980 rpm)
10. A wound-rotor induction motor is operated with different rotor resistances. With a
low rotor resistance, the motor runs at 1720 RPM at no-load and 1680 RPM at full-
load. When a higher rotor resistance is added, the no-load speed remains
approximately the same, but the full-load speed drops to 1500 RPM. Calculate the
speed regulation for both cases (low and high rotor resistance). (Ans.
2.38%,14.67%)
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REFERENCES
Hughes, A. (2013). Electric motors and drives: Fundamentals, types, andapplications
(4thed.).Newnes. [Link]
Chapman, S. J. (2005). Electrical machinery fundamentals (4th ed.). McGraw-Hill.
[Link]
[Link]
Bose, B. K. (2002). Modern power electronics and AC drives. Pearson Education
India.
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