BAE 4353

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Electric Motors
Classification / types
DC Motors AC Motors Stepper Motors Linear motors

Function
Power conversion - electrical into mechanical Positional actuation electrical signal to position

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DC Motors
DC Motors
Fundamental characteristics
Basic function

Types and applications

Series Shunt Combination Torque characteristics

Modelling

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Fundamental characteristics of DC Motors

End view Time 0

End view Time 0+

Shifting magnetic field in rotor causes rotor to be forced to turn

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Nature of commutation
Power is applied to armature windings
From V+ Through the +brush Through the commutator contacts Through the armature (rotor) winding Through the brush To V-

Rotation of the armature moves the commutator, switching the armature winding connections Stator may be permanent or electromagnet
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DC motor wiring topologies

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Series Wound DC motors

Armature and field connected in a series circuit. Apply for high torque loads that do not require precise speed regulation. Useful for high breakaway torque loads.
locomotives, hoists, cranes, automobile starters

Starting torque
300% to as high as 800% of full load torque.

Load increase results in both armature and field current increase

Therefore torque increases by the square of a current increase.

Speed regulation
Less precise than in shunt motors Diminished load reduces current in both armature and field resulting in a greater increase in speed than in shunt motors. No load results in a very high speed which may destroy the motor. Small series motors usually have enough internal friction to prevent high-speed breakdown, but larger motors require external safety apparatus.

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Shunt wound DC motors

Field coil in parallel (shunt) with the armature.
Current through field coil is independant of the armature. Result = excellent speed control.

Apply where starting loads are low

fans, blowers, centrifugal pumps, machine tools

Starting torque
125% to 200% full load torque (300 for short periods).

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Compound wound DC motors

Performance is roughly between series-wound and shunt-wound Moderately high starting torque Moderate speed control Inherently controlled no-load speed
safer than a series motor where load may be disconnected e.g. cranes

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Permanent magnet DC motors

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Permanent Magnet DC Motors

Have permanent magnets rather than field windings but with conventional armatures. Power only to armature. Short response time Linear Torque/Speed characteristics similar to shunt wound motors. Field magnetic flux is constant
Current varies linearly with torque.

Self-braking upon disconnection of electrical power

Need to short + to supply, May need resistance to dissipate heat.

Magnets lose strength over time and are sensitive to heating.

Lower than rated torque. Not suitable for continuous duty May have windings built into field magnets to re-magnetize.

Best applications for high torque at low speed intermittent duty.

Servos, power seats, windows, and windshield wipers.
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Modeling DC motors
A linear speed/torque curve can be used to model DC motors. This works well for PM and compound designs and can be used for control models for narrow ranges for the other configurations Model will assume!
Linearity Constant thermal characteristics No armature inductance No friction in motor

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DC Motor modeling
From the circuit

V ! IR  Eb
Motor equations

Eb ! K e[
T ! Kt I
Substituting the above: And no-load speed V [n ! Kt In terms of no-load speed torque/speed equation is:

Power is:

V!

T R  K e[ Kt

R 2 P ! T[ ! T[ n  K K T e t
Max power is:

V T [!  R K t K e Kt

Pmax

For stalled rotor torque

V2 ! 4R

KV Ts ! e R

R [ ! [n  K K T e t

Units:

K e ! [Vs / rad ]
K t ! [ Nm / A]
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Application
Use motor voltage and no-load speed to calculate Kt Kt = Ke in SI units Use stalled rotor torque, V, and Ke to find R
Note, R varies with speed and cannot be measured at rest

See web download for explanation of Kt, Ke:

http://biosystems.okstate.edu/home/mstone/4353/downloads/ Development of Electromotive Force.pdf

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DC motor control H-bridge

Switches control direction
A switches closed for clockwise B switches for counterclockwise

PWM for speed control

As duty cycle for clockwise speed Bs duty cycle for counterclockwise speed

Can be configured to brake

Bottom B and A to brake

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H-Bridge implementation
Elements in box are available as single IC

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Brushless designs
Commutation is done electronically
Encoder activated switching Hall effect activated switching Back EMF driven switching

PM armature Wound/switched fields Application

Few wearing parts (bearings) Capable of high speed Fractional HP
Servos Low EMC

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Stepper Motors
Description
Generally a two phase motor permanent magnet rotor and wound fields Rotor normally has many poles
200 poles = 1.8 degrees per step

Used primarily for position or velocity control Typically no position feedback

Torques are managed so that an intended step is always achieved
Accelerations, decelerations and loads must be managed intelligently

Two general types of windings

Unipolar Bi-polar

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Winding configurations
Bi-polar design
6 wire

Unipolar design
4 wire

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AC Motors
AC Motors
Fundamental characteristics Types
Fractional horsepower (single phase) Integral
Single phase (Cap start Induction run) Three phase

NEMA Torque characteristics Modelling

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Fractional horsepower designs

Shaded Pole (low starting torque, simple, cheap)
uses a short circuited coil embedded in face of field to cause one side of field to be magnetized before the other

Split phase (low starting torque)

Two windings (2-phase), one with high resistance hence different RL and phase Centrifugal switch on starting winding

Capacitor Start Induction Run (medium starting torque)

Two windings (2-phases) Capacitor used on second winding to create leading phase Centrifugal switch on starting winding

Universal? (intermittent use, brushes!)

DC motor with inductance managed to allow AC operation

Synchronous (clocks, synchronization)

Permanent magnet rotor always in phase with AC
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AC motor model
See Siemens AC motor info for modeling info.

Im !

E 2T f Lm

*}

E f

T ! k*I w

2 2 Is ! Im  Iw

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AC Motors
Relationship between number of poles and motor synchronous speed Poles Synchronous 120 f Speed Ns ! (RPM) P 2 4 6 3600 1800 1200

Squirrel cage motors must operate with some slip .5 to 8% to allow the rotor to be magnetized.
Actual speed is synchronous speed reduced by the slip.

N ! Ns

(100  %slip ) 100

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Squirrel Cage Rotor

Seimens AG, 2002

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Inducing magnetism in the rotor

Difference between angular velocity of rotor and angular velocity of the field magnetism causes squirrel cage bars to cut the field magnetic field inducing current into squirrel cage bars. This current in turn magnetizes the rotor

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Torque/speed curve

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Typical starting current

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Motor characteristics
Enclosure / frame Voltage / frequency 3 or 1 phase Poles / speed Service factor
60 Hz 115 200 230 460 575 50 Hz 380 400 425 220/380

Fraction of rated HP that motor can be operated at

Insulation class/ Temp rise

(operating temperature compatible)

NEMA Design A,B,C,D, etc. (Torque curve type)

See next page

Efficiency
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NEMA Torque characteristics summarized

BREAKNEMA STARTING STARTING DOWN DESIGN TORQUE CURRENT TORQUE A B C D Normal Normal High Very high High Normal Normal Low High Normal Low -------

FULL LOAD SLIP Low

TYPICAL APPLICATIONS Mach. Tools, Fans Loaded compressor Loaded conveyor High Punch Press

Normal Same as Design "A" Normal High

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NEMA Motor Characteristics

Design Locked Rotor Torque % FL 70-275 Pull-up Torque % FL Breakdown Torque % FL Locked Rotor Current % FL NA Slip % Efficiency

65-190

175-300

0.5-5

Med-High

B (most common) C

70-275

65-190

175-300

600-700

0.5-5

Med-High

200-285

140-195

190-225

600-700

1-5

Med

275

NA

275

600-700

5-8

Low

74-190

60-140

160-200

800-1000

0.5-3

High

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PWM Variable Frequency Drives

Variable frequency drives use AC to DC converter then a DC to AC converter (inverter)
Inverter frequency and voltage output can be varied to allow motor speed to be varied. Very efficient and cost effective variable speed for 1 HP and up

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