Electrical Drives (DC Machine)

1 Anshul Awasthi, Electrical Engineering, UEC, Ujjain 16-09-2019

 Introduction to DC Motor drives

DC DRIVES: Electric drives that use DC motors as the

prime movers
 DC motor: industry workhorse for decades
 Dominates variable speed applications before PE
converters were introduced

 Will AC drive replaces DC drive ?

 Predicted 30 years ago
 DC strong presence – easy control – huge numbers
 AC will eventually replace DC – at a slow rate
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 Purpose of an “DC Motor”

Electrical Mechanical
Energy Energy

The purpose of a DC Motor is to

Convert Electrical Energy into Mechanical Energy

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 Typical DC Motors

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 DC MOTOR CONSTRUCTION
Commutator & Brush
Assembly

Armature Assembly

Field Poles Assemblies

NOTE: The
Armature & Field
Circuits are
mechanically fixed at
Distinct Armature & Field Circuits 90° at all times

are mechanically separated

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 MAIN CONSTRUCTIONAL FEATURES
Bearing Brush Body / Yoke
Pulley End Housing

Shaft

Armature
Commutator
Brush Field Core
holder Field Winding

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 MAIN CONSTRUCTIONAL FEATURES

YOKE
ARMATURE

+
SHAFT

FIELD POLE
BRUSH & COIL
- COMMUTATOR
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 Introduction to DC Motor drives

DC Motors

 Advantage: Precise torque and speed control without

sophisticated electronics

 Several limitations:
 Regular Maintenance  Expensive
 Heavy  Speed limitations
 Sparking
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DC MACHINES

YOKE FIELD
. S + WINDING
. +

BRUSH ARMATURE
AXIS + _
+ +
BRUSH + + ARMATURE
. + + CONDUCTORS
FIELD .
POLES
N +

MAIN FIELD AXIS

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DC MOTOR

S


A  B
S N _
+ 
 Te 
DC   
SUPPLY v TL

N 

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 The field windings are shown as excited from external source. The
polarity of electro-magnetic field will depend upon the direction of field
current as shown in the fig. of slide no.7.
 The armature carries conductors in side the slots. Two brushes are placed
at the right angle to the main field axis. The brushes are stationary
whereas armature is free to rotate.
 The armature is connected across a supply voltage „V‟ and the field
windings are excited from the same supply or from any external dc
source. The magnetic polarities due to the current in armature winding
will be as shown in fig. of slide no. 8.
 The electro-magnetic torque Te will be developed in the anti-clockwise
direction as opposite poles of armature field and main field will attract
each other. The armature will rotate in anti-clockwise direction due to Te

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 To reverse the direction of rotation of armature, either the direction of
current in the field winding or armature winding will have to be
reversed. If the direction of currents in both the windings are reversed,
direction of rotation of armature will be unchanged.

 As the mechanical load on the armature i.e. rotor shaft represented by

load torque TL is increased, more and more electro-magnetic torque
will be developed by the armature to balance the mechanical torque
requirements for which the armature will draw more current from the
supply mains.

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 DC Motors - 2 pole
Rotor

Stator

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DC Motors - 2 pole
Armature reaction
Armature mmf produces flux
which distorts main flux
produce by field
X
X

 Mechanical commutator to maintain armature current direction

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 Armature reaction

Flux at one side of the pole may saturate

Zero flux region shifted

Flux saturation, effective flux per pole decreases

• Armature mmf distorts field flux
 Large machine employs compensation windings and interpoles

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 Type of DC Motors
Depending upon the type if excitation to the field
winding , The dc machine can be classified into three
categories:
 Machines with permanent field,
Dc motors with permanent magnetic field, are manufactured for small rating
applications such as toys, cassette tape recorders etc. Large rating DC Motors are
constructed with electro-magnetic field i.e field winding is placed on the field core and
this winding is supplied with dc current called excitation. Depending upon the type of
connections to the field winding for excitation , the dc motors can be classified into
two categories ;
 Separately excited DC Motors
 Self excited DC Motors

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 SEPARATELY EXCITED DC MOTORS

+
+ Ia
Rf A
F FF

If M E V
Supply
Ra

VDC _ _ AA
+
_
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 SEPARATELY EXCITED DC MOTORS

 The field winding is excited from a supply which is not connected to the
armature winding.

 It may be noted that current flowing through the field winding is independent
of load and is equal to V / Rf , where Rf is the field circuit resistance.

 The flux produced is proportional to the field current i.e. Ø  If

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 SELF EXCITED DC MOTORS

Classified into three types:

 SHUNT MOTORS

 SERIES MOTORS

 COMPUND MOTORS

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 SHUNT MOTORS
+
If Ia IL
F A

V
M E SUPPLY

Ra
F AA
F _
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In this type of excitation , armature and field windings are connected across a
constant source of supply. The field current If is drawn from the same source as
that of armature current.
Anshul Awasthi,Electrical Engineering,UEC, Ujjain
 SERIES MOTORS
YY Y
+
+ I
A ISE IL
a

M E V
SUPPLY
Ra
AA_
_
The field winding is connected in series with the armature so that If = Ia = IL . Therefore
field winding is made up of thick winding wire of less no. of turns as compared to that
of shunt field winding so that armature current can flow through it without overheating.
In case of dc series machine , Ø  If  Ia .

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 COMPUND MOTORS
ISh YY Y
+
I IL
Z A ISE
a

Rsh M E
SUPPLY
V
Ra
ZZ AA
_
There are two field windings , namely a shunt field winding and a series field winding. The
shunt field winding is connected in parallel with the armature and series field winding is
connected in series with the combination . Series field winding will carry a large armature
current Ia or IL and therefore it is made of wire of large cross section and has a few turns
only. The resistance of series field winding is very small. 16-09-2019 22
Anshul Awasthi,Electrical Engineering,UEC, Ujjain
The shunt field winding is made up of wires of small cross section and has
high resistance. Since the resistance of shunt field winding is high , the
current flowing through it is very small as compared to that of series field
winding or armature current Ia . The main magnetic field flux is produced by
the shunt field current / winding but it is modified by the field of series
winding. A compound machine therefore combines the best features of dc
shunt machines and dc series machines.

Depending up on the connections of shunt field winding in the combination

of armature and series field winding, dc compound generators can be named
as
i) Short shunt compound generators.
ii) Long shunt compound generators.

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 SHORT SHUNT DC COMPOUND MOTORS
In this case the shunt field winding is connected across the
armature winding only.
Ise = IL = Ia + Ish

V = E + Ia Ra+ Ise Rse

= E + Ia Ra+ ( Ia + Ish ) Rse

LONG SHUNT DC COMPOUND MOTORS

In this case the shunt field winding is connected across the
combination of armature and series field winding
Ise = Ia and IL= Ia + Ish
V = E + Ia Ra+ Ise Rse
= Ish Rsh
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Voltage and Torque developed in a
DC Machine
•Induced EMF, Ea = Kam (volts)

•Developed Torque, Tdev = KaIa (Newton-meter

or Nm)

where m is the speed of the armature in rad/sec.,

 is the flux per pole in weber (Wb)
Ia is the Armature current
Ka is the machine constant

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Interaction of Prime-mover DC Generator
and Load

Tdev Ia
+
+
Prime-mover m DC Generator Ea VL

Load
(Turbine) -
Tpm -

Ea is Generated voltage
VL is Load voltage
Tpm is the Torque generated by Prime Mover
Tdev is the opposing generator torque

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 Interaction of the DC Motor
and Mechanical Load

Ia Tload
+
+ Mechanical
VT Ea DC Motor m Load
(Pump,
- - - Tdev Compressor)

Ea is Back EMF
VT is Applied voltage
Tdev is the Torque developed by DC Motor
Tload is the opposing load torque

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Power Developed in a DC Machine
Neglecting Losses,
•Input mechanical power to dc generator

= Tdev m= KaIam =Ea Ia

= Output electric power to load

•Input electrical power to dc motor

= Ea Ia= Ka m Ia = Tdev m

= Output mechanical power to load

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 Separately Excited DC Motor
Ra
If Rf

+
+
Vf +
Ea Armature Vt
- Field Coil -
- Ia

Field equation: Vf=RfIf Armature equation: Ea=Vt-IaRa

Ea=Kam

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 Separately Excited DC Motor
Torque-speed Characteristics
RA
+
+ Armature
Vf - Mechanical Load
-

Field Coil

Vt Ra
m   T
m K a ( K a ) 2

T
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Separately excited DC Motor-Example I

A dc motor has Ra =2 , Ia=5 A, Ea = 220V, Nm = 1200 rpm.

Determine i) voltage applied to the armature, developed torque,
developed power . ii) Repeat with Nm = 1500 rpm. Assume same
I a.

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Speed Control of Separately Excited
DC Motor(2)
•By Controlling Terminal Voltage Vt and keeping If or 
constant at rated value .This method of speed control is applicable
for speeds below rated or base speed.
T1<T2< T3 V1<V2<V3
m
T1 T2 T3

Vt Ra
m   T
K a ( K a ) 2

V1 V2 V3 VT

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 Speed Control of Separately Excited
DC Motor
•By Controlling(reducing) Field Current If or  and keeping
Vt at rated value. This method of speed control is applicable
for speeds above rated speed.

T1<T2< T3  1>  2 >  3

m

1 Vt Ra
T1 m   T
K a ( K a ) 2

2 T2
T3
3

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Regions of operation of a Separately
Excited DC Motor

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 Separately excited dc motor –Example 2

A separately excited dc motor with negligible armature resistance

operates at 1800 rpm under no-load with Vt =240V(rated voltage).
The rated speed of the motor is 1750 rpm.
i) Determine Vt if the motor has to operate at 1200 rpm under no-load.
ii) Determine (flux/pole) if the motor has to operate at 2400 rpm
under no-load; given that K = 400/.
iii) Determine the rated flux per pole of the machine.

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 Series Excited DC Motor
Torque-Speed Characteristics
Ra Rsr Rae

+
Armature

Series Field Coil -

T Vt R  Rsr  Rae
m   a
K sr T K sr

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
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 Losses in dc machines

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