SEPARATELY ECXITED DC MOTOR

Applied Newtonian mechanics to find the differential equations for

mechanical systems.
Using Newtons second law:

Electromagnetic torque developed by separately excited DC motor:


Viscous torque :

Load torque : T
L
dt
d
J J T
e
= o =

J
: equivalent moment
of inertia
a f af e
i i L T =
r m viscous
B T e =
Equivalent circuit for separately excited DC motors

VOLTAGE
SUPPLY
LOAD
r f af a
i L E e =
+
-
e r
T , e
L
T
+
-
a
r
a
i
ar
r
a
L
fr
r
f
i
f
r
f
u
f
L
a
u
axis quadrature
axis direct
armature
field
SEPARATELY EXCITED DC MOTORS
SEPARATELY ECXITED DC MOTOR
( ) ( )
L r m f a af L viscous e
r
T B i i L
J
T T T
J dt
d
= = e
e 1 1
a
a
r f
a
af
a
a
a a
u
L
i
L
L
i
L
r
dt
di 1
+ = e
f
f
f
f
f f
u
L
i
L
r
dt
di
1
+ =
J
T
J
B
i i
J
L
dt
d
L
r
m
f a
af
r
= e
e
From Newtons Second Law, Torsional-Mechanical equation is given as
The nonlinear differential equation for separately excited DC motor which is
found using Kirchhoffs Voltage Law
SEPARATELY ECXITED DC MOTOR
Using Newtons second law :



Dynamics of rotor angular displacement :

The derived three first order differential equations are rewritten in the
s-domain


( ) ( )
L r m f a af L viscous e
r
T B i i L
J
T T T
J dt
d
= = e
e 1 1
r
r
dt
d
e
u
| |
| | ) ( ) ( ) (
1
) ( s u s s i L
r s L
s i
a r f af
a a
a
+
+
= e
| |
| | ) (
1
) ( s u
r s L
s i
f
f f
f
+
=
| |
| |
L f a af
m
r
T s i s i L
B Js
s
+
= ) ( ) (
1
) ( e
SEPARATELY ECXITED DC MOTOR
x
x
a a
r s L +
1
f f
r s L +
1
m
B s J +
1
af
L
af
L
f
u
a
u
a
i
+

+
e
T
L
T
f
i
r
e
SEPARATELY ECXITED DC
GENERATOR
( ) ( )
pm r m f a af pm viscous e
r
T B i i L
J
T T T
J dt
d
+ = + = e
e 1 1
a
a
r f
a
af
a
a
a a
u
L
i
L
L
i
L
r
dt
di 1
+ = e
f
f
f
f
f f
u
L
i
L
r
dt
di
1
+ =
J
T
J
B
i i
J
L
dt
d
L
r
m
f a
af
r
+ = e
e
From Newtons Second Law, Torsional-Mechanical equation is given as
The nonlinear differential equation for separately excited DC generator which is
found using Kirchhoffs Voltage Law
The expression for the voltage at the load terminal must be used.
For the resistive load
L
R
a
u
a L a
i R u =
Analysis of eqn(3) indicates that the angular velocity of the
separately excited motor can be regulated by changing the
applied voltages to the armature and field windings.



The flux is a function of the field current in the stator winding,
and higher angular velocity can be achieved by field
weakening by reducing the stator current [eqn(3)]

However, there exists a mechanical limit imposed on the
maximum angular velocity. The maximum allowed (rated)
armature current is specified as well, one concludes that the
electromagnetic torque is bounded.
a f af e
i i L T =
f
i
f
u
a
u
( )
) 3 (
2
=

=
e
f af
a
f af
a
f af
a a a
r
T
i L
r
i L
u
i L
i r u
e
SEPARATELY ECXITED DC MOTOR
A separately excited, 2 kW DC motor with rated armature
current 20 A and angular velocity 200 rad/s operates at the
constant voltages and . The
motor parameters are: , ,
, and .
Calculate:
The steady state angular velocity at the minimum and
maximum load conditions, Nm and
Nm.
The armature current at the minimum and maximum load
conditions, Nm and Nm.
V u
a
100 =
V u
f
20 =
O = 18 . 0
a
r O = 5 . 3
f
r H = 1 . 0
af
L
rad Nms B
m
/ 007 . 0 =
0
min
=
L
T
0
min
=
L
T
10
max
=
L
T
10
max
=
L
T
Example
Steady state condition
L e
T T =
f
f
f
r
u
i =
( )
) 3 (
2
=

=
e
f af
a
f af
a
f af
a a a
r
T
i L
r
i L
u
i L
i r u
e
Nm T
L
0
min
=
Nm T
L
10
max
=
( )
r r
e e 007 . 0
7 . 5 1 . 0
18 . 0
7 . 5 1 . 0
100
2

=
( )
( )
r r
e e 007 . 0 10
7 . 5 1 . 0
18 . 0
7 . 5 1 . 0
100
2
+

=
Steady state condition
L e
T T =
f af
r m L
f af
e
a
i L
B T
i L
T
i
e +
= =
Nm T
L
0
min
=
Nm T
L
10
max
=
f a af e
i i L T =
7 . 5 1 . 0
007 . 0
min

= =
r
f af
e
a
i L
T
i
e
7 . 5 1 . 0
007 . 0 10
min

+
= =
r
f af
e
a
i L
T
i
e
Example
Plot the torque-speed characteristic curves for a
separately excited, 2-kW DC motor if the
rated (maximum) armature voltage is
and the field voltage is . The
motor parameters are: , ,
, and
The load characteristic if


V u
a
100
max
=
V u
f
20 =
r m L L
B T T e + =
0
O = 18 . 0
a
r
O = 5 . 3
f
r
H = 1 . 0
af
L rad Nms B
m
/ 007 . 0 =
Nm T
L
5
0
=
% parameters of separately-exited motor
ra=0.18; Laf=0.1; Bm=0.007; If=5.7; Tl0=5;
Te=0:1:10;
for ua=11:10:100;
wr=ua/(Laf*If)-(ra/((Laf*If)^2))*Te;
wrl=0:1:200; Tl=Tl0+Bm*wrl;
plot(Te,wr,'-',Tl,wrl,'-');hold on;
axis([0, 10, 0, 160]);
end; disp('End')
SEPARATELY ECXITED DC MOTOR
(cont~)
%transient dynamics of a separately excited dc motor
function yprime=difer(t,y);
ra=0.18; rf=3.5; La=0.0062; Lf=0.0095; Laf=0.1; J=0.04;
Bm=0.007;
T1=0;
%T1=10;
ua=100; uf=20;
yprime=[(-ra*y(1,:)-Laf*y(2,:)*y(3,:)+ua)/La;...
(-rf*y(2,:)+uf)/Lf;...
(Laf*y(1,:)*y(2,:)-Bm*y(3,:)-T1)/J];
SEPARATELY ECXITED DC MOTOR
(cont~)
%transient dynamics of a separately excited dc motor
clc
t0=0; tfinal=0.4; tol=1e-7; trace=1e-7; y0=[0 0 0]';
[t,y]=ode45('CHP5_1mdno',t0,tfinal,y0,tol,trace);
subplot(2,2,1); plot(t,y(:,1),'r-');
xlabel('Time (seconds)'); title('Armature Current ia, [A]');
subplot(2,2,2); plot(t,y(:,2),'g-.');
xlabel('Time (seconds)'); title('Field Current if, [A]');
subplot(2,2,3); plot(t,y(:,3),'b-');
xlabel('Time (seconds)'); title('Angular Velocity wr, [rad/s]');
subplot(2,2,4);plot(t,y(:,1),'r-',t,y(:,2),'g-.',t,y(:,3),'b-')
xlabel('Time (seconds)'); title('LAB 1');
SEPARATELY ECXITED DC MOTOR
(cont~)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
-100
0
100
200
300
X: 0.03529
Y: 270.5
Time (seconds)
Armature Current ia, [A]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
1
2
3
4
5
6
Time (seconds)
Field Current if, [A]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0
50
100
150
200
250
Time (seconds)
Angular Velocity wr, [rad/s]
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
-100
0
100
200
300
Time (seconds)
LAB 1
SEPARATELY ECXITED DC MOTOR
(cont~)
tl and te
field current
combine
armature current
angular velocity
1
0.04s+0.007
Transfer Fcn2
1
0.0095s+3.5
Transfer Fcn1
1
0.0062s+0.18
Transfer Fcn
combine
To Workspace
Step1
Step
Signal
Generator
Product1
Product
1
Gain5
1
Gain4
1
Gain3
1
Gain2
0.1
Gain1
0.1
Gain
SHUNT CONNECTED DC MOTOR
The armature and field windings are connected in parallel
VOLTAGE
SUPPLY
LOAD
r f af a
i L E e =
+
-
e r
T , e
L
T
+
-
a
r
a
i
ar
r
a
L
fr
r
f
i
f
r
f
u
f
L
a
u
axis quadrature
axis direct
armature
field
SHUNT CONNECTED DC MOTOR
( ) ( )
L r m f a af L viscous e
r
T B i i L
J
T T T
J dt
d
= = e
e 1 1
a
a
r f
a
af
a
a
a a
u
L
i
L
L
i
L
r
dt
di 1
+ = e
;
1
f
f
f
f
f f
u
L
i
L
r
dt
di
+ =
J
T
J
B
i i
J
L
dt
d
L
r
m
f a
af
r
= e
e
From Newtons Second Law, Torsional-Mechanical equation is given as
The nonlinear differential equation for separately excited DC motor which is
found using Kirchhoffs Voltage Law
f a
u u =
Steady state condition
f a
u u =
f
a
f
r
u
i =
a
r f af a
a
r
i L u
i
e
=
Substituting the currents equation into torque equation, gives
f a af e
i i L T =
2
1
a
f
r af
f a
af
e
u
r
L
r r
L
T
|
|
.
|

\
|
=
e
It shows that
The electromagnetic torque is a linear function of the angular velocity
The electromagnetic torque varies as the square of the armature voltage applied
SHUNT CONNECTED DC
MOTOR (Example)
A shunt connected motor, drives a fan.
Given
When one applies the angular
velocity is 150rad/s. For steady state operating
condition and assuming the viscous friction is
negligibly small, find the developed
electromagnetic torque and the currents in the
armature and field windings
, 12 . 0 , 23 , 0 , 15 . 0 O = O = = = H =
a f fr ar af
r r r r L
V u
a
100 =
SHUNT CONNECTED DC
MOTOR (cont~)
2
1
a
f
r af
f a
af
e
u
r
L
r r
L
T
|
|
.
|

\
|
=
e
m N T
e
. 8 . 11 100
23
150 15 . 0
1
23 12 . 0
15 . 0
2
=
|
.
|

\
|

=
A
r
u
i
f
f
f
35 . 4
23
100
= = =
A
i L
T
i
f af
e
a
1 . 18
35 . 4 15 . 0
8 . 11
=

= =
f a af e
i i L T =
SERIES CONNECTED DC MOTOR
The armature and field windings are connected in series

VOLTAGE
SUPPLY
LOAD
r f af a
i L E e =
+
-
e r
T , e
L
T
+
-
a
r
f a
i i =
ar
r
a
L
f
r
f
L
a
u
axis quadrature
axis direct
armature
field
Steady state condition
0 =
dt
di
a
( ) ( )
dt
di
L L i r r i L u
a
f a a f a r a af a
+ + + = e
Then, currents equation
2
a af e
i L T =
2
1
a
f
r af
f a
af
e
u
r
L
r r
L
T
|
|
.
|

\
|
=
e
It shows that
The developed electromagnetic torque is proportional to the square of the current
Saturation effect should be taken into account
The nonlinear differential equation for series connected DC motor which is
found using Kirchhoffs Voltage Law
f a r af
a
a
r r L
u
i
+ +
=
e
Substituting the currents equation into torque equation, gives
SERIES CONNECTED DC
MOTOR
( ) ( )
L r m f a af L viscous e
r
T B i i L
J
T T T
J dt
d
= = e
e 1 1
a
f a
r a
f a
af
a
f a
f a
a
u
L L
i
L L
L
i
L L
r r
dt
di
+
+
+

+
+
=
1
e
J
T
J
B
i
J
L
dt
d
L
r
m
a
af
r
= e
e
2
From Newtons Second Law, Torsional-Mechanical equation is given as
The nonlinear differential equation for series connected DC motor which is
found using Kirchhoffs Voltage Law