DRIVE SYSTEM AND

POWER ELECTRONICS
ENT 289
Lecture 4:
DC Motors

Contents
Introduction
Principle of Operations
Counter-Electromotive Force (C-EMF)
Mechanical Power (P) and Torque (T)

Speed of Rotation
Speed Control

Types of DC Motors
Stopping a Motor
Summary

Introduction
DC Motors also known as brushed DC
motors
Electrical energy--- mechanical energy
They drive devices such as hoists, fans, pumps.
The torque-speed characteristic of the motor must be
adapted to the type of the load it has to drive.
Several limitations:
Regular Maintenance - commutator susceptible to mech wear
Expensive apart from motor have to consider dc converter
Heavy
Speed limitations
Sparking ionizing sparks from commutator

Classification of Electrical Motors

Principle of Operations
Inducing a force on a conductor
There are 2 conditions which are necessary to produce a force on a conductor
I) The conductor must be carrying a current
II) The conductor must be within a magnetic field

When this conductor exist, a force will be applied to the conductor, which
will attempt to move the conductor in a direction perpendicular to
magnetic field. This is the basic theory by which all DC motor operate

Factors that determine the direction of rotation in a dc motor is a direction

of armature current and direction of magnetic flux in field. This relationship
is best explained by using FLEMINGS LEFT-HAND RULE FOR MOTORS

Left hand rule for motors

CEMF

Motor armature resistance is very low

When switch closed, a large current flows in the armature (20-30
times greater than nominal full load current of motor)
Individual armature conductors, subjected to a force that add up to
produce powerful torque, causing armature to rotate

Counter-Electromotive Force (CEMF)

E0
Es
Direction of battery current

As the loop sides cut the magnetic field, (due to armature rotation) a voltage is induced
in them, the same as it was in the loop sides of the dc generator. This induced voltage
causes current to flow in the loop
In the case of a motor, the induced voltage E0 is called Counter Electromotive Force
(CEMF) because its polarity always acts against the source voltage Es
CEMF can never becomes as large as the applied voltage
If there were no such thing as CEMF, much more current would flow through armature,
and motor would run much faster

The net voltage acting in armature circuit in Fig. A is (ES-E0) Volts

I = (ES-E0)/R
Source voltage

Armature resistance

C-EMF (V)

When the motor at rest, the induced voltage E0 = 0, and so the

starting current is

I = ES /R

Problem 1:
The armature of a permanent-magnet dc motor has a resistance of
1 and generates a voltage of 50 V when the speed is 500 r/min.
If the armature is connected to a source of 150 V, calculate the
following:
a. The starting current
b. The counter-emf when the motor runs at 1000 r/min and also at
1460 r/min
c. The armature current at 1000 r/min and also at 1460 r/min

Problem 2
The armature of a permanent-magnet dc motor has a
resistance of 3.5 and generates a voltage of 50 V when
the speed is 500 r/min. If the armature is connected to a
source of 200 V, calculate the following:

a. The starting current

b. The counter-emf when the motor runs at 1000 r/min and also at
1460 r/min
c. The armature current at 1000 r/min and also at 1460 r/min

Problem 3
The armature of a permanent-magnet dc motor has a
resistance of 3.5 and generates a voltage of 60 V when
the speed is 600 r/min. If the armature is connected to a
source of 200 V, calculate the following:

a. The starting current

b. The counter-emf when the motor runs at 1200 r/min and also at
1500 r/min
c. The armature current at 1200 r/min and also at 1500 r/min

Acceleration of motor
As speed increases, CEMF increases, hence (Es-E0) value diminishes
and current I drops progressively
Motor continue to accelerate until reach maximum speed
At no load, this speed produce E0 slightly less than Es, and hence
(Es-E0) and I would become zero
The driving force would cease and mechanical drag would slow
motor down
As speed decreases net (Es-E0) increases and so does current I
Speed will cease to fall when torque developed by armature current
equal to the load torque

Mechanical power p [W] and torque T [N.m]

The Power and Torque of a dc motor are two of its most
important properties

Mechanical power p [W] and torque T [n.m]

Pa

Electrical Power Supplied to the Armature

Pa = IEs
Total current
supplied to the
armature [A]
(armature current)

Es = E0 + IR
Supply
voltage
C-emf induced in
a lap wound armature [V]

Eo = Zn / 60

Pa = I Es
= I (E0+IR)

= E0I + I2R
Heat dissipated in
the armature

Electrical power that is

converted into mechanical power
#Mechanical power of the motor is
exactly equal to the product of the
c-emf multiplied by the armature
current

Value of the Induced Voltage

The voltage induced in a dc generator having a lap winding is given by:

Eo = Zn / 60
Eo = voltage between the brushes [V]
Z = total number of conductors on the armature [1 turn = 2 conductors]
n = speed of rotation [rev/min]
= flux per pole [Wb]

P = E0I
Where:
P = mechanical power developed by the motor [W]
Eo = induced voltage in the armature (cemf) [V]
I = total current supplied to the armature [A]

Turning our attention to torque T, mechanical power P is given by

the expression:

P = nT/9.55

A constant to take care a units

[exact value = 30/]

[N.m]
n is the speed of rotation [r/min]

nT/9.55 = E0I
= ZnI/60
The torque developed
by a lap-wound motor:

Hence, T proportional to .Ia

T = ZI / 6.28

Constant [exact value = 2]

Armature current
Torque [N.m]

Effective flux per pole [Wb]

Number of conductors on the armature (normally fixed value)

Speed of Rotation n [r/min]

Due to armature resistance
IR Drop is always small compared to the supply voltage Es (when motor
drives load between no-load and full load)
This means that c-emf E0 is very nearly equal to Es

Es = Zn / 60
Es = E0 + IR

Replacing E0 by Es

n=

60 Es

[rev/min] Z

Supply
voltage

IR drop

C-emf induced in
a lap wound armature [V]

This important equation shows that the speed of the motor is

directly proportional to the armature supply voltage and inversely
proportional to the flux per pole

n also can be said to be

proportional to E0 /

Types of DC Motors
Externally- excited
DC motor

Series DC motor

Shunt-DC motor

Cumulatively
-compounded

Compounded DC motor

Differentially
-compounded

DC motor connections
The circular symbol represents the armature circuit, and the squares at the side
of the circle represent the brush commutator system. The direction of the
arrows indicates the direction of the magnetic fields.

Figure a shows an externally- excited DC motor. This type of DC

motor is constructed such that the field is not connected to the
armature. This type of DC motor is not normally used.
Figure b shows a shunt DC motor. The motor is called a "shunt" motor
because the field is in parallel to the armature.
Figure c shows a series DC motor. The motor field windings for a
series motor are in series with the armature.
Figures d and e show a compounded DC motor. A compounded DC
motor is constructed so that it contains both a shunt and a series field.
Figure d is called a "cumulatively-compounded" DC motor because the
shunt and series fields are aiding one another. This connection is
known as short shunt.
Figure e is called a "differentially-compounded" DC motor because the
shunt and series field oppose one another. This connection is known as
short shunt.

Shunt Motor
Problem 1.
A shunt motor rotating at 1500r/min is fed by a 120 V
source. The line current is 51 A and the shunt-field resistance
is 120 ohm. If the armature resistance is 0.1ohm, calculate
the following:

a) The current in the armature.

b) The counter-emf
c) The mechanical power developed by the motor.

Shunt Motor
Problem 2
A shunt motor rotating at 1800r/min is fed by a 150 V
source. The line current is 51 A and the shunt-field resistance
is 120 ohm. If the armature resistance is 0.1ohm, calculate
the following:

a) The current in the armature.

b) The counter-emf
c) The mechanical power developed by the motor.

Shunt Motor
For all DC motors,
T proportional to .Ia
For shunt connection, is assumed constant since Ish is assumed constant.
Hence, T proportional to Ia (shown in graph T vs Ia)
n proportional to (Es-IaRa)/
For shunt connection,
n proportional to Es-IaRa (shown in graph n vs Ia)

Since T proportional to Ia, Ia =kT

n proportional to Es kTRa (shown in graph T vs n)

Shunt Motor
Even though there is slight drop of speed as load increased, armature
reaction will weaken the field as armature current increased: This field
weakening will increase the motor speed and thus compensate for speed
decrease due to voltage drop.
The characteristics of a shunt-wound motor give it very good speed
regulation, and it is classified as a constant speed motor.
Shunt motors are used in industrial and automotive applications such as to
drive centrifugal and reciprocating pumps, light machine tools and drilling
machines.
Shunt motors are used where constant speed is required at low starting
torque.

Series Motor
PROBLEM 1
A 15hp, 240V, 1780 r/min DC series motor
Has a full-load rated current of 54A. Its
Operating characteristics are given by the
Per-unit curves.
Calculate:
1. The current and speed when the load torque is 24Nm.
2. The efficiency under these conditions.

Series Motor
PROBLEM 2
A 15hp, 240V, 1878 r/min DC series motor
Has a full-load rated current of 55A. Its
Operating characteristics are given by the
Per-unit curves.
Calculate:
1. The current and speed when the load torque is :
30Nm.
40Nm
50Nm

2. Explain your observation based on question 1

Series Motor
For all DC motors,T proportional to .Ia
DC series motor are used where high starting torque is required.
Since for series connection an increase in Ia will also increase series field
current Ise by the same amount and hence, increasing .
For series motor T proportional to Ia2 up to saturation point where
afterwards T will be proportional to Ia (graph T vs Ia)
On light loads, flux will be very small so motor will be operating at high
speeds (graph T vs n)
As load increases, flux will also increase and the speed of motor will
decrease.

Series Motor

Series motor should never be started without mechanical load because the
tendency to run away at no load.
The advantage of a series-wound motor is that it develops a large torque when
operated at low speed which make it suitable for starting heavy loads
It is often used for industrial cranes and winches where very heavy loads must be
moved slowly and lighter loads moved more rapidly. Other suitable use is for
traction in electric trains.

Compounded motor

A compound motor has both series field and shunt field compound motors
are of two types.
If the series field flux and shunt field add each other, it is called cumulative
compounding.
If the series field flux opposes the shunt field flux, it is called differential
compounding.
The motor is used in applications where intermittent high starting torque is
required. Loads such as presses, punch shears, and rolling mills are often
driven by compounded motors.

Speed Control of Motor

Ward-Leonard speed control system (type of armature speed
control)

If flux per pole is kept constant, speed depends only on Es

Motor field current is constant. If Generator field current is
varied by us, ES varies; by connecting the motor
armature M to a separately excited variable voltage DC
generator G ; hence speed of motor varies. This is the
speed control.
Motor speed can be varied from zero to maximum in either
direction.
Used in steel mills, paper mills, mines and high rise
elevators.

Speed control using an armature rheostat

(Armature Speed Control)
Place a rheostat in series with the
armature

Field Current is constant; so, is constant

If resistance in Arm Rheostat increased,

MOTOR

Fixed value of Es is reduced by voltage

drop in rheostat and hence n is reduced

(1) Enables to reduce speed below nominal speed

(2) Recommended for small motors
(3) Lot of power wasted in the rheostat such that efficiency is low
(4) Poor speed regulation : IR drop (loss) is high as I increase which causes
substantial drop in speed with increasing mechanical load (not robust).

Speed control using a field rheostat

(Field Speed Control)

EO = Z n / 60
if IX changes, changes
reduces if resistance of Rheostat
increases.
Then n increases.
(1) Better for speed control of higher level speed
(2) Field loss is much less; IX is usually small ( 1-2 amps)

(3) Efficiency is better than that of armature speed control.

(4) Too much of reduction of field flux current increases the speed to
dangerously high level.

Starting a shunt motor

Since at starting, CEMF = 0, hence if rated normal voltage applied to
armature terminals, the starting current would be dangerously high.
High starting current produces high mechanical stress and heating
that would damage the winding.
Large voltage drop at the supply line due to this would affect other
machines working in the same supply line.
Reduced voltage should be applied to the motor at the time of
starting to limit the starting current to safe value.
After the motor picks up speed and sufficient CEMF developed, then
normal rated voltage could be applied.
This method is achievable using starters:
Three point starter
Four point starter

Stopping a motor
Not simple to stop a large DC motor when a large DC motor coupled to a heavy
inertia load.
Must apply a braking torque to ensure a rapid stop.
One way to brake the motor is by simple mechanical friction, in the same way
we stop a car (car brake). Another way is through natural deceleration method
by removing power supply from the motor. This method is called coassting.

Or by more elegant method:

Consists of circulating reverse current in the armature, so as to brake the motor
electrically
Electromechanical brake:
(1) Dynamic braking
(2) Plugging

Dynamic Braking

2
1 Normal condition
Neglecting the armature IR drop, Eo = Es
The direction of the armature current I1 and the polarity of the cemf Eo are as shown
2 Open the switch
Motor continues to run, but its speed will gradually drop due to friction and windage
losses
Shunt field still excited, induced voltage Eo continues to exist, falling at the same
rate as the speed.
The motor is now a generator whose armature is on open circuit

3 Connect to external resistor

Voltage Eo will immediately produce an armature current I2
However, this current flows in the opposite direction to the original current I1,
reverse torque is developed
It follows that a reverse torque is developed whose magnitude depends upon I2
The reverse torque brings the machine to a rapid, but very smooth stop
Resistor R is chosen so that the initial braking current is about twice the rated
motor current. The initial braking torque is then twice the normal torque of the
motor

Plugging

Reversing circuit

Resistor

We can stop the motor even more rapidly by using a method called plugging
It consists of suddenly reversing the armature current by reversing the terminals of
the source
The net voltage acting on armature circuit becomes (Es + Eo) not (Es Eo). The
cemf become adds to the supply voltage Es
This net voltage would produce reverse current, perhaps greater than full
load armature current. Can destroy segments and brushes
To prevent - limit the reverse current by introducing a resistor in series with
reversing circuit
As soon as the motor stops, we must immediately open the armature circuit,
otherwise it will begin to run in reverse

Speed versus time for various braking method

Comparison to permanent
magnet motors
Field motors requires coil and field current to produce flux
Energy consumed, heat produced, and relatively large space taken
up by field poles are disadvantages to dc motor
If permanent magnets are used, these disadvantages can be
overcome
Another advantage is effective air gap is increased many times. Thus,
armature reaction is reduced, improving commutation and overload
capacity of motor
Long air gap reduces inductance of armature, hence responds
quickly to changes in armature current
PM motors are particularly advantageous in capacities below 5hp
Drawbacks of PM motors is relatively high cost of magnets and
inability to obtain higher speeds by field weakening

DC Motor Theory Summary

There are two conditions necessary to produce a force on a conductor
- The conductor must be carrying current.
- The conductor must be within a magnetic field.
The function of torque in a DC motor is to provide the mechanical output to drive the
piece of equipment that the DC motor is attached to.
Torque is developed in a DC motor by the armature (current-carrying conductor) being
present in the motor field (magnetic field).
CEMF is developed in a DC motor by the armature (conductor) rotating (relative motion) in
the field of the motor (magnetic field).
The function of the voltage that is developed in a DC motor (CEMF) opposes the applied
voltage and results in the lowering of armature current.
The speed of a DC motor may be changed by using resistors to vary the field current and,
therefore, the field strength.

 In a shunt-wound motor, the field is in parallel, or "shunts" the armature.

In a series-wound motor, the field is in series with the armature.
A compounded DC motor is constructed so that it contains both a shunt and a series field.
A shunt-wound DC motor has a decreasing torque as speed increases.
The characteristics of a shunt-wound motor give it very good speed regulation, and it is
classified as a constant speed motor, even though the speed does slightly decrease as load is
increased.
A series-wound motor has a rapidly increasing torque when speed decreases. As load is
removed from a series-wound motor, the speed will increase sharply.
The advantages of a series-wound motor are that it develops a large torque and can be
operated at low speed. It is a motor that is well-suited for starting heavy loads.

THE END!!!!!!!!!!!!