How does motor drive work?

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In DC motors, the speed is proportional to the armature voltage and inversely proportional to the field current. And also, the armature current is proportional to the motor torque. These are the two basic principles employed in DC drives to control the speed of the motor.

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Author: https://www.electricaltechnology.org/2015/11/what-are-dc-drives-types-of-electrical-dc-drives.html