Principle of DC Motor Operation

Typical DC Motor Cutaway View

Principle of DC Motor Operation
• Some Basic Equations
a. The magnetic flux Φf is generated by the field winding
current If, and Φf is proportional to this field current.
⇒ Φ f = KfIf (Kf constant)

b. If the magnetic flux Φf is generated by permanent

magnet, Φf can generally be expressed as a constant.

c. When the rotor is rotated, the flux linking those rotor

windings will be changed during the rotation. The rate
of flux linkage changes will be proportional to the motor
speed W m.
Principle of DC Motor Operation
• Some Basic Equations

d. The winding induced voltage can be expressed as：

Ea = KΦ fW m = KKfIfW m = KsIfW m
e. Neglecting the losses the output power is：
Pout = Ea ⋅ Ia = KsIfW mIa
f. Hence the torque output of DC motor is ：
Pout KsIfW m Ia
Tout = = = KsIfIa
Wm Wm
Principle of DC Motor Operation
•Equivalent Circuit
The machine winding
Ra
( armature ) can be
＋
Φf represented by an
Rf Ia
＋
Vs
equivalent voltage source
Ea
in series with the winding
If －
＋ Vf
resistance Ra.
－ －

The field circuit can be represented

by a winding that generates the
required magnetic flux in series with
an equivalent resistance Rf
Principle of DC Motor Operation
•Equivalent Circuit Equations
＋
Φf
Rf Ia
＋
Ea Vs
If －
＋ Vf － －
Hence, Vf = RfIf ⇒ Φ f = KfIf = Kf Vf
Rf
Vs = RaIa + Ea
= RaIa + KsIfW m
Vf
= RaIa + Ks Wm
Rf
Vf
Tout = KsIfIa = Ks Ia
Rf
Principle of DC Motor Operation
• Motor Speed Characteristics Tout
Vf
Since Vs = RaIa + Ks Wm
Rf
1 Vf
⇒ Ia = [Vs − Ks W m]
Ra Rf Wm
∴ T out = K s I f I a
Vf 1 Vf
= K s( )[ (V s − K s W m )]
Rf Ra Rf
Ks K s2
= V fV s − V 2
f W m
R fR a R aR f 2
1-2 Field Excitations of DC Motors
zType of DC Motors
• Separately Excited Motor
• Self Excited Motor
-- Permanent magnet motor
-- Shunt excited motor
-- Series excited motor
-- Compound excited motor
 Field Excitations of DC Motors
• Separately Excited Motor
-- The motor armature and field windings are supplied by different
voltage sources.
-- Both the armature and field winding currents can be adjusted
conveniently.
-- The motor speed can be easily controlled .
＋
Φf
Rf Ia
＋
Ea Vs
If －
＋ Vf － －
 Field Excitations of DC Motors
• Self Excited Motor
1.Permanent Magnet Motor
-- The armature is supplied by an adjustable DC voltage source.
-- The constant magnetic flux is generated by permanent magnet.
-- Motor speed can be controlled by adjusting the armature current.

Ra
＋

Ia
Fixed Φf
Vs

－
 Field Excitations of DC Motors
• Self Excited Motor
2.Shunt Excited Motor
-- The armature and field windings are connected in parallel.
-- Speed control objective can be achieved by adjusting the field and
armature currents separately.
-- Normally operated in constant speed condition.

+
If Ra
Φf • Ia

Vs
Rf

-
 Field Excitations of DC Motors
• Self Excited Motor
3.Series Excited Motor
-- The armature and field windings are connected in series.
-- Magnetic flux is very small at motor starting, the field winding
should be avoided from open circuit.
-- This motor will have high starting torque.

Ra If
Rf +

Ia
Φf Vs

-
 Field Excitations of DC Motors
• Self Excited Motor
4.Compound Excited Motor
-- The motor is equipped with two field windings, one
connected in parallel；the other in series with the
armature.
-- The magnetic flux is mainly supplied by the shunt field
winding, while the series winding provides an
additional load-dependent excitation to reduce voltage
drop at heavy load condition.
 Field Excitations of DC Motors
• Self Excited Motor
4.Compound Excited Motor
-- Depending on whether the magnetic flux direction of
series field is aligned with that of the shunt field or not,
four types of compound DC motors can be classified.
a. Cumulative long compound.
b. Cumulative short compound.
c. Differential long compound.
d. Differential short compound.
 Field Excitations of DC Motors
• Self Excited Motor
4.Compound Excited Motor

Ra +
Ra +

I fp Rs I fs I fp Rs I fs
Φfp Ia Φfp Ia
Φfs Vs Φfs Vs
Rp Rp
- -

Cumulative long compound Differential long compound

Ra Ra
+ +

I fp Rs I fs I fp Rs I fs
Φfp Ia Φfp Ia
Φfs Vs Φfs Vs
Rp Rp
- -

Cumulative short compound Differential short compound

 Numerical Examples of DC Motors
1. A 10KW, 250V, shunt DC motor has an armature
winding resistance of Ra=0.25Ω, and a field
winding of Rf=150Ω. At no-load and rated
terminal voltage condition, the motor receives a
current of 8A and runs at 1000 rpm.
a. Draw the equivalent circuit.
b. Calculate the relative motor constant.
c. Calculate the speed and torque characteristics
when the motor is operated at full load
condition.
Numerical Examples of DC Motors
1. Answer
a. Equivalent Circuit
8A
+
0 .25 Ω
If Φf +
Ia
Ea 250V
150Ω -
-
250
b. If = = 1.67(A)
150
Ia = 8 ⋅ If = 6.33(A)
Ea = KsIfW m = 250 − Ia ⋅ Ra = 248.42(V)
1000
W m = 2π ⋅ = 104.72(rad/s)
60
248.42
⇒ Ks = = 1.42
1.67 ⋅104.72
 Numerical Examples of DC Motors
1. Answer
10000
c. at full load condition, the motor current is = 40(A)
250
⇒ Ia = 40 − 1.67 = 38.33(A)
Ea = 250 − 38.33 ⋅ 0.25 = 240.42(V)
Ea 240.42
Wm = = = 101.383(ra d/s)
KsIf (1.42)(1.67)
60 ⋅ W m
nm = = 968.13(rpm ) Tout
2π
Tout = KsIfIa = 1.42 ⋅ 38.33 ⋅ 1.67 = 90.9(N − m)
90.9

101.383 Wm
 Numerical Examples of DC Motors
2. A 20 Hp, 300V, cumulative long compound DC motor has
an armature resistance of Ra=0.2Ω ,a series field winding
resistance of Rfs=0.1Ω and a shunt field winding resistance
of Rfp=150Ω. The voltage drop at motor brush can be
neglected . At no load and rated voltage condition , the motor
current is 10 A and the speed is 1500rpm . On the other
hand , when the motor is operated at some loading condition
with rated terminal voltage , its speed drops to 1450 rpm and
receiving 12 A from the voltage source .
a. Draw the equivalent circuit.
b. Calculate the motor speed and output torque at full load .
 Numerical Examples of DC Motors

2. Answer
a. Equivalent Circuit
Ra I in
+
I fs
Φfp
+
I fp Ia
-
Ea Φfs Rfs Vs
Rfp
-

b. Let Ea = (KspIfp + KssIfs)W m

300
If = = 2(A)
150
1500
no load(1500r pm) : W m = 2π = 157.08 rad/s
60
1450
load (1400rpm) : W m = 2π = 151.84 rad/s
60
 Numerical Examples of DC Motors

2. Answer
no load ： Ifs=Ia=10–Ifp=10-2=8 (A)
⇒ Ea(no load)=300-(Ifs．Rfs+Ia．Ra)
=300-(8．0.1+8．0.2)
=297.6 (V)
∴297.6=(Ksp．2+Kss．8)．157.08………1
load：Ifs=Ia =12-Ifp=12-2=10 (A)
⇒ Ea(load)=300-(10．0.1+10．0.2)
=297 (V)
∴297=(Ksp．2+Kss．10)．151.84… … …2
 Numerical Examples of DC Motors

2. Answer
From 1 & d Ksp =0.8245 , Kss=0.0307
at full load condition , the motor current is
20 × 746
Iin= =49.73(A)
300
Ia=Ifs=Iin-Ifp=49.73-2=47.73(A)
⇒ Ea=300-47.73(Ra-Rfs)=300-47.73•0.3
=285.68(V)
=(0.8245•2+0.0307•47.73)Wm
∴Wm=91.73(rad/s)=875.97(rpm)
Tout=(KspIfp+KssIfs)Ia=3.1143-47.73=148.65(N•m)
 1-3 Principle of Alternative Current Motor
Operation
Structure of AC Motor
Air gap
Stator
Rotor
*By energy the stator windings
with proper AC currents, a
rotating magnetic field will be
generated in the air gap.
*The stator is constructed by
laminated iron core with slots,
and the coils are placed in the
slots to form a single or multi
phase windings.
*Depending on the AC motor
types, various rotor structures
can be constructed,either with
current in the associate windings
or not.
 Principle of AC Motor Operation
•Rotating Magnetic Field

Ia

Ia Ia
Stator θ
Rotor θ
2π 3π π π
Ia 2 2

Simplified representation
for one set of stator winding Associate winding current positions
 Principle of AC Motor Operation
• Rotating Magnetic Field
By applying Ampere’s Law and Gauss’s Law, the
magnetic flux density can be expressed graphically as
Ampere’s Law： ∫ H ⋅ d l = ∫s J ⋅ d s
Gauss’s Law： ∫ B ⋅ds = 0
s

B (θ )
µIa
2g
θ π
2π 3π π
2 2 − µIa
2g
 Principle of AC Motor Operation
• Rotating Magnetic Field
Similarly, if there are more than one set of stator winding
distributed in the stator slots, the relative winding
positions and magnetic flux density distributions can be
Depicted as below：
B (θ )
3µ 0 Ia
g
2µ 0 Ia
g
µ 0 Ia
g

θ 3π π
2π π − µ 0 Ia
2 2 g
− 2µ 0 Ia
g
− 3µ 0 Ia
g
 Principle of AC Motor Operation
• Rotating Magnetic Field
In general, the stator windings are distributed sinusoidally
In the stator slots, hence the windings and magnetic flux
density distributions can now be approximated as：
Total winding turns=Ns
B (θ )
µ 0 KNs Ia
g
µ 0 KNsIa
B (θ) = cosθ
g
θ
2π 3π π π
2 2

− µ 0 KNs Ia
g
 Principle of AC Motor Operation
• Rotating Magnetic Field
If a second set of stator winding, say b-phase winding, are also
constructed in the motor stator slots with their centrl parts displaced
To the a-phase winding by π 2 , we can get

B (θ )
Ba(θ ) = KsIa cosθ
Bb(θ ) = − KsIb sin θ
µKNs
K= θ
Ia Ib Ia Ib
g 2π 3π π π
2 2
 Principle of AC Motor Operation
• Rotating Magnetic Field
By applying balanced 2-phase currents,Ia=Imcosω et, ,Ib=Imsinω et,
can devise the total air-gap magnetic flux density as：

B (θ) = Ba (θ) + Bb (θ)

= Ks Im cos ωet cosθ− Ks Im sin ωet

= Ks Im cos(θ+ ωet )

A clockwise rotating magnetic field!

 Principle of AC Motor Operation
• Rotating Magnetic Field

Ks Im cos(θ+ ωet )

ω
 Principle of AC Motor Operation
• The rotor of AC motor is generally constructed
by materials with high permeability .
• If there are certain current conducting paths
implemented in the rotor, interactions among the
air-gap rotating magnetic field and the rotor
currents ( either applied or induced ) will
produce a force ( torque )on the rotor .
• The rotor will then rotate to the same direction
as the air-gap magnetic field.
 Principle of AC Motor Operation
• Classification of Common AC Motors
* Induction Motor
* Synchronous Motor
* Switched-reluctance Motor
 Induction Motors
• Widely used as the Workhorse of industry.
• Both single-and three-phase motors are
commonly used.
• Depending on rotor construction, two
types of induction motors can generally be
classified, namely the squirrel-cage and
the wound-rotor motors.
 Induction Motors
• Squirrel-Cage Induction Motor
─ The rotor is equipped with a ring-shape laminated iron
core , with slots bolted to the shaft .
─ Conductor bars are placed in the slots and short
circuited at both ends .
Short circuit ring Conductor bars

Rotor

Structure of the Squirrel Cage Rotor

 Induction Motors
• Wound-rotor Induction Motor
─ Three-phase windings, either, are placed in the rotor
slots.
─ Ends of each phase windings is connected to a slip
ring through brushes.
─ These rotor windings can be loaded by variable
resistances or supplied by an Three-phase windings

outside power supply. Slip rings

Structure of the Wound-rotor

 Induction Motors
• Summary of Operation Principle
1. Single or multi-phase voltages are supplied to
the motor stator windings to produce a rotating
magnetic field(rotates at synchronous speed) in
the air gap .
2. From Faraday’s Law, due to the rotating
magnetic field, it is clear that voltages will be
induced in the short-circuited rotor conductors .
3. Large currents will be generated in these
short circuited conductor bars.
 Induction Motors
• Summary of Operation Principle
4. Interaction between rotor current and air-gap
v v
magnetic field will produce a force ( F = il × B ) that
drives the motor .
5. The magnitude of rotor induced voltage is
dependent on the speed difference between the
rotating magnetic field and the rotor .
6. In the entire motor speed operation range ,the
above speed difference will be reduced as the rotor
speed goes up. Consequently the rotor induced
voltage, current, and frequency will be reduced
accordingly .
 Induction Motors
• Numerical Examples
A three-phase, 25hp, 380V, 60Hz, four-pole, wye
connected induction motor delivers 18kw at a slip of 4% ,
calculate:
a.Speed of air-gap rotating magnetic field.
b.Rotor speed.
c.Frequency of the induced rotor current.
380V 3φ
Line to line Induction
Motor
60Hz
 Induction Motors
• Numerical Example
Answer：
2 2
a. ns = ⋅ 60 ⋅ fs = ⋅ 60 ⋅ 60 = 1800(rpm)
p 4
b. nr = (1 − slip )ns = (1 − 0.04) ⋅1800 = 1728(rpm)
c. fr = ( slip ) ⋅ fs = 0.04 ⋅ 60 = 2.4(rpm)
 Induction Motors
• Equivalent Circuit and Equations
– The stator and rotor windings are magnetically
coupled, just like the transformer .
– Voltages and currents induced in the rotor windings
are proportional to the speed difference (slip) between
magnetic field and rotor.
– Stator applied phase voltage is equal to the
summation of a. induced voltage (Ea1)； b. voltage
drop due to winding resistance (R1I1)；and c. voltage
drop due to winding leakage reactance (jXl1I1) .
 Induction Motors
• Equivalent Circuit and Equations
– The stator induced voltage is contributed form the
air-gap rotating magnetic field, hence it is proportional
to the number of stator winding turns and the
synchronous frequency .
– On the other hand, the rotor induced voltage, Ea2, is
also contributed from interaction between the rotor and
the air-gap rotating magnetic field.
– If the stator winding has Ns equivalent turns, and Nr
for that of the rotor, we can write

Ea1 Nsfs Ns
= =
Ea2 Nr ⋅ s ⋅ fs Nrs (s：slip)
 Induction Motors
• Equivalent Circuit and Equations
– The rotor induced voltage, which being applied to the
short-circuited rotor coils, is equal to the voltage drops
contributed from rotor coil resistance and leakage
reactance .
– The rotor voltage equation (per phase) can be
depicted as ：
Ea2=R2I2+jwrLl2I2=(R2j2πfrLl2)I2
=(R2+j2πsfsLl2)I2
=(R2+jsXl 2)I2
Nr
⇒ S( )Ea1 = (R2 + jsXl 2)I2
Ns
 Induction Motors
• Equivalent Circuit and Equations
 Ns 1 Ns 
⇒ Ea1 = ( ) R2 + j( )Xl2 I2
 Nr S Nr 
 Ns 1 Ns  Ns Nr
= ( ) R2 + j( )Xl 2( )( )I2
 Nr S Nr  Nr Ns
Nr
Let I2′ = ( )I2
Ns
 1 Ns Ns 
⇒ Ea1 =  ( )2 R2 + j( )2 Xl 2I2′
 S Nr Nr 
Ns 2 Ns 2
Let R = ( ) R , Xl = ( ) Xl 2
2
′
2 2
′

Nr Nr
R2 ′
⇒ Ea1 = ( + jXl2 ′ )I2 ′
S
 Induction Motors
• Equivalent Circuit and Equations
– To produce the “induced voltage”, either Ea1or Ea2, and
convey energy to the motor rotating part, magnetizing
current path is required. This path can be represented by to
components connected in parallel：
a. A resistance Rc represents the hysteresis and eddy
current losses.
b. A reactance Xm represents the magnetizing current that
generates the air-gap magnetizing flux.