DC Motor

3ME
ELECTRICAL MACHINES

Eugene H. Embalzado Jr.

ECE
Contents

– Overview of Direct Current Machines

– Construction
– Principle of Operation
– Types of DC Motor
– Power Flow Diagram
– Speed Control
DC motor principles

 DC motors consist of rotor-mounted

windings (armature) and stationary
windings (field poles). In all DC motors,
except permanent magnet motors,
current must be conducted to the
armature windings by passing current
through carbon brushes that slide over
a set of copper surfaces called a
commutator, which is mounted on the
rotor. Parts of an electric motor

 The commutator bars are soldered to armature coils. The brush/commutator

combination makes a sliding switch that energizes particular portions of the
armature, based on the position of the rotor. This process creates north and
south magnetic poles on the rotor that are attracted to or repelled by north
and south poles on the stator, which are formed by passing direct current
through the field windings. It's this magnetic attraction and repulsion that
causes the rotor to rotate.
The Advantages

 The greatest advantage of DC motors may be speed

control. Since speed is directly proportional to armature
voltage and inversely proportional to the magnetic flux
produced by the poles, adjusting the armature voltage
and/or the field current will change the rotor speed.

 Today, adjustable frequency drives can provide precise

speed control for AC motors, but they do so at the
expense of power quality, as the solid-state switching
devices in the drives produce a rich harmonic spectrum.
The DC motor has no adverse effects on power quality.
The drawbacks

 Power supply, initial cost, and maintenance

requirements are the negatives associated with DC
motors
 Rectification must be provided for any DC motors
supplied from the grid. It can also cause power quality
problems.
 The construction of a DC motor is considerably more
complicated and expensive than that of an AC motor,
primarily due to the commutator, brushes, and armature
windings. An induction motor requires no commutator or
brushes, and most use cast squirrel-cage rotor bars
instead of true windings — two huge simplifications.
Major types of dc motors

 Self excited dc motor

– Series dc motor
– Shunt dc motor
– Compound dc motor
 Separately excited dc motor
 Permanent magnet dc motor
Series motors
Ra Rf
 Series motors connect ia
the field windings in
series with the
armature.
M Ea VT (dc
 Series motors lack good supply)
speed regulation, but
are well-suited for high-
torque loads like power
tools and automobile VT  Ea  ia ( Ra  R f )
starters because of their
high torque production note : ia  iL
and compact size.
Ea  K1K 2 I a
Series Motor Power Flow Diagram
Pcf=ia2Rf P

Pin= VTiL Pm Pout

Pca=ia2Ra
 60 P 
   
P is normally given  2 N 
 60 Po 
Pin = Pout + total losses for output / load torque , o   
 2 N 
Where,  60 Pm 
for mechanical torque, m   
Pca =armature copper loss  2 N 
Pcf =field copper loss P 
Efficiency,    out 
P=stray, mech etc  Pin 
Pm= Ea ia
Series Motor (cont)

 Example 1:
A dc machine in Figure 1 is Ra Rf
ia
consumed a 6.5kW when the
12.5 A of armature current is
passing thru the armature and
field resistance of 3.3 and 2.0 M Ea VT (dc
respectively. Assume stray supply)
losses of 1.2kW. Calculate
a) terminal voltage, VT
b) back emf, Ea Figure 1
c) net torque if the speed is at
3560rpm
d) efficiency of the machine
[520V, 453.75V, 12N-m, 68.8%]
Series Motor (cont)
 Example 2:
A 600V 150-hp dc machine in Ra Rf
Figure 2 operates at its full rated ia
load at 600rpm. The armature and
field resistance are 0.12 and
0.04 respectively. The machine
draws 200A at full load. Assume M Ea VT (dc
stray losses 1700W. Determine
supply)
a) the armature back emf at full load,
Ea
b) developed/mechanical power and
developed/mechanical torque Figure 2
c) assume that a change in load
results in the line current dropping
to 150A. Find the new speed in
rpm and new developed torque.
{Hint: Ea=K1K2ia}
[568V, 113.6kW, 1808Nm, 811.27rpm, 1017Nm]
Shunt motors
 Shunt motors use high- ia Ra iL
resistance field windings
connected in parallel with the if
armature.
 Varying the field resistance
changes the motor speed.
Ea Rf VT (dc
 Shunt motors are prone to M
armature reaction, a distortion supply)

and weakening of the flux

generated by the poles that
results in commutation
problems evidenced by sparking
at the brushes.
 Installing additional poles, called
interpoles, on the stator
VT  Ea  ia ( Ra )
between the main poles wired in note : iL  ia  i f
series with the armature
reduces armature reaction. VT  i f R f
Shunt Motor (power flow diagram)
Pcf=if2Rf P
Pin=VTiL Pm Pout

Pca=ia2Ra
 60 P 
   
P is normally given  2 N 
 60 Po 
Pin = Pout + total losses for output / load torque , o   
 2 N 
Where,  60 Pm 
for mechanical torque, m   
Pca =armature copper loss  2 N 
Pcf =field copper loss P 
Efficiency,    out 
P=stray, mech etc  Pin 
Pm= Ea ia
Shunt Motor

 Example :
– A voltage of 230V is applied to armature of a
machines results in a full load armature currents
of 205A. Assume that armature resistance is
0.2. Find the back emf, net power and torque by
assuming the rotational losses are 1445W at full
load speed of 1750rpm.

[189V, 37.3kW, 203.5Nm]

Compound motors

 the concept of the

series and shunt
designs are ia Ra Rf2 iL
combined.
if

VT  Ea  ia ( Ra  R f 2 ) M Ea Rf1 VT (dc
supply)

note : iL  ia  i f
VT  i f R f 1
Compound motor (power flow diagram)

Pca=ia2Ra Pcf2=ia2Rf2 P

Pin=VTiL Pm Pout

Pcf1=if2Rf1
 60 P 
   
P is normally given  2 N 
 60 Po 
Pin = Pout + total losses for output / load torque , o   
 2 N 
Where,  60 Pm 
for mechanical torque, m   
Pca =armature copper loss  2 N 
Pcf =field copper loss P 
Efficiency,    out 
P=stray, mech etc  Pin 
Pm= Ea ia
Separately Excited Motor

 There is no direct connection between the

armature and field winding resistance

 DC field current is supplied by an

independent source
– (such as battery or another generator or prime
mover called an exciter)
Separately Excited Motor (Cont)
Circuit analysis:
Rf Ra La
2 pnZ If ia

Ea   K f if n  K f n
60C
Vf Lf M Ea VT

Where p= no of pole pair

n= speed (rpm)
Z=no of conductor
=Flux per pole (Wb)
C= no of current/parallel path KVL:
=2p (lap winding) Vf  if Rf
=2 (wave winding)

VT  Ea  ia Ra
note : ia  iL
Permanent Magnet motors

 PMDC is a dc motor whose poles are made of

permanent magnets.
 Do not require external field circuit, no copper losses
 No field winding, size smaller than other types dc
motors
 Disadvantage: cannot produce high flux density,
lower induce voltage
Speed Control for shunt motor and
separately excited dc motor

 Torque –speed characteristic for shunt and separately

excited dc motor
m  VK f I f 
E I  c   
Developed torque,   a a 
    2Ra 
E I 
   a a  Starting
 2n  torque
 K f 2 I f 2n 
 V  Ea  Ea  slope   
     2Ra 
 Ra  2n    
same as separately excited,
 VK f I f   K f I f n 
2 2

    
 2Ra   2Ra 
=0
n=0 n nNL n
Speed Control for shunt motor and
separately excited dc motor

 By referring to the Torque –speed characteristic for shunt and

separately excited dc motor
 VK f I f   K f I f n 
2 2

    
 2Ra   2Ra 
 note that, there are three variables that can influence the speed of
the motor, V
If Variables
Ra
 Thus, there are three methods of controlling the speed of the
shunt and separately excited dc motor,
i. Armature terminal – voltage speed control
ii. Field speed control
iii. Armature resistance speed control
Speed Control for shunt motor and
separately excited dc motor

i. Armature resistance speed control

- Speed may be controlled by changing Ra
- The total resistance of armature may be varied by means of a
rheostat in series with the armature
- The armature speed control rheostat also serves as a starting
resistor.
- From -n characteristic,
 VK f I f 
 start  c   
 2Ra 
 K f 2 I f 2n  Will be changed
slope   
 2Ra 
 
Speed Control for shunt motor and
separately excited dc motor

 Torque –speed characteristic

m

Ra1
Ra1 < Ra2 < Ra3
Ra2

Ra3


n3 n2 n1 nNL n
Speed Control for shunt motor and
separately excited dc motor

 Advantages armature resistance speed control:

i. Starting and speed control functions may be combined in one
rheostat
ii. The speed range begins at zero speed
iii. The cost is much less than other system that permit control
down to zero speed
iv. Simple method

 Disadvantages armature resistance speed control :

i. Introduce more power loss in rheostat
ii. Speed regulation is poor (S.R difference nLoaded & nno loaded)
iii. Low efficiency due to rheostat
Speed Control for shunt motor and
separately excited dc motor

ii. Field Speed Control

- Rheostat in series with field winding (shunt or separately ect.)
- If field current, If is varied, hence flux is also varied
- Not suitable for series field
- Refer to -n characteristic,
- Slope and nNL will be changed
Speed Control for shunt motor and
separately excited dc motor

 Torque –speed characteristic

m

If1 < If2 < If3

1 < 2 < 3

n1 n 2 n3 nNL2 nNL3 n
Base speed
nNL1
Speed Control for shunt motor and
separately excited dc motor

 Advantages field speed control:

i. Allows for controlling at or above the base speed
ii. The cost of the rheostat is cheaper because If is small value

 Disadvantages field speed control :

i. Speed regulation is poor (S.R difference nLoaded & nno loaded)
ii. At high speed, flux is small, thus causes the speed of the
machines becomes unstable
iii. At high speed also, the machines is unstable mechanically,
thus there is an upper speed limit
Speed Control for shunt motor and
separately excited dc motor

iii. Armature terminal – voltage speed control

- Use power electronics controller
- AC supply rectifier
- DC supply chopper
- Supply voltage to the armature is controlled
- Constant speed regulation
- From -n characteristic,
- C and nNL will be change
- Slope constant
Speed Control for shunt motor and
separately excited dc motor

 Torque –speed characteristic

m

V3 < V2 < V1

n3 n2 n1 nNL2 nNL1 n
nNL3
Speed Control for shunt motor and
separately excited dc motor

 Advantages armature terminal voltage speed control:

i. Does not change the speed regulation
ii. Speed is easily controlled from zero to maximum safe speed

 Disadvantages armature terminal voltage speed

control :
i. Cost is higher because of using power electronic controller
FACTORS AFFECTING THE
PERFORMANCE OF DC MACHINE

 There are two factors affecting the

performance of dc machine
1. Armature reaction
2. Armature inductance
Armature Reaction

 Definition of armature reaction:

1. It is the term used to describe the effects of the armature
mmf on the operation of a dc machine as a "generator" no
matter whether it is a generator or motor.
2. It effects both the flux distribution and the flux magnitude in
the machine.
3. The distortion of the flux in a machine is called armature
reaction
 Two effects of armature reaction:
1. Neutral Plane Shift
2. Flux Weakening
Armature Reaction

 Effect on flux distribution:

Neutral plane shift

– When current is flowing in

the field winding, hence a
flux is produced across the
machine which flows from
the North pole to the South
pole.
– Initially the pole flux is
uniformly distributed and
the magnetic neutral plane
is vertical
Armature Reaction

 Effect on flux distribution:

Neutral plane shift

– effect by the air gap on the

flux field causes the
distribution of flux is no longer
uniform across the rotor.
– There are two points on the
periphery of the rotor where
B= 0.
 Armature Reaction

 Effect on flux distribution: Neutral

plane shift
– when a load connected to the
machines a resulting magnetic
field produced in the armature
– If the armature is rotated at a
speed  by an external torque
each armature coil experiences
a change in flux t as it
rotates.
– A voltage is generated across
the terminals of each winding
according to the equation e =
t
Armature Reaction

 Effect on flux distribution:

Neutral plane shift
– Both rotor and pole fluxes (flux
produced by the field winding
and the flux produced by the
armature winding) are added
and subtracted together
accordingly
– The fields interact to produce a
different flux distribution in the
rotor.
– Thus, the flux on the middle
line, between the two field
poles, is no longer zero.
Armature Reaction
 Effect on flux distribution: Neutral plane
shift

 The combined flux in the machine has

the effect of strengthening or weakening
the flux in the pole. Neutral axis is
therefore shifted in the direction of
motion.
 The result is current flow circulating
between the shorted segments and large
sparks at the brushes. The ending result
is arcing and sparking at the brushes.

 Solution to this problem:

– placing an additional poles on the
neutral axis or mid-point that will
produce flux density component,
which counter-acts that produced by
the armature.
Armature Reaction
 Effect on flux magnitude: Flux
Weakening

 Most machine operate at saturation

point
 When the armature reaction happen,
at location pole surface:
– The add of rotor mmf to pole mmf
only make a small increase in flux
– The subtract of rotor mmf from
pole mmf make a large decrease
in flux.
– The result is the total average flux
under entire pole face is
decreased.
– This is called Flux Weakening

d –flux decrease under subtracting section of poles

Armature Inductance

 When rotor turns, thus we have inductance value, e1

= L(di/dt). Let say current ia1.
 That means, we have ability to store energy
 If the machine is turn ‘off’, thus, e1 will decreased.
This will affect the current as well. Say ia2.
 When the machine is turn ‘on’ again, it will produce
e2 while e1 is still inside. The current now is reversed
direction from previous (decreasing) current.
 Thus, it will cause sparking  resulting the same
aching problem caused by neutral plane shift.