DC machine with permanent magnets

BRUSH COVER
BRUSH

ARMATURE WINDING
HOUSING

COMUTATOR

PERMANENT MAGNET
SHAFT

Recomended video:
https://youtu.be/LAtPHANEfQo

Simplified motor construction

 Electrical equivalent circuit of DC machine

- Armature supply voltage [V]

- Armature current [A]
- Equivalent resistance [Ω]
- Inductance of the armature
winding [H]
- Induced voltage / counter
Electromotive Force (back –
EMF) [V]

𝑇e = 𝑐Φ𝑖𝑎 𝑇e = Ψ𝑖𝑎
d𝜔
𝐽 = 𝑇e − 𝑇L 𝐸a = 𝑐Φ𝜔 𝐸a = Ψ𝜔
d𝑡
where:
Φ - magnetic flux per pole [Wb]
𝑇e - Electromagnetic torque [Nm] Ψ - linkage flux [Wb]
- machine constant
𝑇L - Load torque [Nm] - angular velocity [rad/s]
- moment of inertia [kg m2]
 Electrical equivalent circuit of DC machine

- Armature supply voltage [V]

- Armature current [A]
- Equivalent resistance [Ω]
- Inductance of the armature
winding [H]
- Induced voltage / counter
Electromotive Force (back –
EMF) [V]

𝑇e = 𝑐Φ𝑖𝑎 𝑇e = Ψ𝑖𝑎
d𝜔
(𝐽𝑚 + 𝐽𝐿 ) = 𝑇e −𝑐𝑓 𝜔 − 𝑇L 𝐸a = 𝑐Φ𝜔 𝐸a = Ψ𝜔
d𝑡
where:
𝑇e - Electromagnetic torque [Nm]
Φ - flux per pole [Wb]
𝑇L - Load torque [Nm] Ψ - linkage flux [Wb]
- machine constant
- moment of inertia [kg m2] - angular velocity [rad/s]
𝑐f - viscosity friction coeficient
What influance rotational speed and
armature current at steady state ?

d𝜔
𝐽 = 𝑇e − 𝑇L
d𝑡

𝑇L
𝐼a =
Ψ
𝑇L
𝑈a − 𝑅a
𝜔= Ψ
Ψ
Motor startup
• no load
• nominal voltage

Pn = 2.2 kW
Un = 280 V
In = 10.4 A
Ra = 4.6 Ω
La = 16.5 mH
187 rad/s n = 1500 rpm
ωn = 157 rad/s
Motor operation under step load
• step of nominal
load
• constant nominal
voltage

Pn = 2.2 kW
Un = 280 V
In = 10.4 A
Ra = 4.6 Ω
157 rad/s La = 16.5 mH
n = 1500 rpm
ωn = 157 rad/s
Converters for DC drives
IfN

AC DC
C mo

DC DC

IfN

DC
mo

DC
Converters for DC drives
IfN

AC DC
C mo

DC DC

?
Step-down down converter
Step-up converter
 Pulse Width Modulation (PWM)

1
utri

uctr

0
uctr
+ s
s
utri snot
snot

1
utri

uctr

-1
s

snot
 Half bridge converter

Tbuck Dboost ui > uo

s 𝑈𝑐𝑜𝑛𝑣 = 𝑢𝑐𝑡𝑟 ⋅ 𝑈𝑖
L il
ui

Tboost Dbuck
uconv
snot
C uo R
Uconv = Uo
1
𝑈𝑜 𝑢
uster
𝑐𝑡𝑟
𝐼𝑙 = 𝑐𝑜𝑛𝑠𝑡 ⇒ 𝑈𝑐𝑜𝑛𝑣 = 𝑈𝑜 ⇔ 𝑢𝑐𝑡𝑟 =
𝑈𝑖
utri
𝑈𝑜 0
𝐼𝑙 ↑ var ⇒ 𝑈𝑐𝑜𝑛𝑣 > 𝑈𝑜 ⇔ 𝑢𝑐𝑡𝑟 >
𝑈𝑖 s

𝑈𝑜 snot
𝐼𝑙 ↓ var ⇒ 𝑈𝑐𝑜𝑛𝑣 < 𝑈𝑜 ⇔ 𝑢𝑐𝑡𝑟 <
𝑈𝑖 ui
uconv
0
il
 States of operation

Tbuck Dboost Tbuck Dboost

s s
L il L il
ui ui

Tboost Dbuck Tboost Dbuck

uconv uconv
snot snot
C uo R C uo R

Tbuck Dboost Tbuck Dboost

s s
L il L il
ui ui

Tboost Dbuck Tboost Dbuck

uconv uconv
snot snot
C uo R C uo R
 H-bridge converter – bipolar modulation

T1 D1 T2 D2
𝑈𝑐𝑜𝑛𝑣 = 𝑢𝑐𝑡𝑟 ⋅ 𝑈𝑖
s snot
L il
𝑢𝑐𝑡𝑟 =1 ⇒ 𝑑 = 1 ⇒ 𝑈𝑜 = 𝑈𝑖
ui 𝑢𝑐𝑡𝑟 = 0,5 ⇒ 𝑑 = 0,75 ⇒ 𝑈𝑜 = 0,5𝑈𝑖
uconv C uo R 𝑢𝑐𝑡𝑟 =0 ⇒ 𝑑 = 0,5 ⇒ 𝑈𝑜 = 0
𝑢𝑐𝑡𝑟 = −0,5 ⇒ 𝑑 = 0,25 ⇒ 𝑈𝑜 = −0,5𝑈𝑖
T3 D3 T4 D4 𝑢𝑐𝑡𝑟 = −1 ⇒ 𝑑 = 0 ⇒ 𝑈𝑜 = −𝑈𝑖
snot s

1 tON tOFF
utri
s
0
uctr TPWM
-1
il
s
ui
ui
uconv
0 uconv
- ui -ui
 States of operation for bipolar modulation
il > 0 s = 1 il > 0 s = 0
T1 D1 T2 D2 T1 D1 T2 D2
s snot s snot
L il L il

ui ui
ui R ui R

T3 D3 T4 D4 T3 D3 T4 D4
snot s snot s

il < 0 s = 0 il < 0 s = 1
T1 D1 T2 D2 T1 D1 T2 D2
s snot s snot
L il L il

ui ui
ui R ui R

T3 D3 T4 D4 T3 D3 T4 D4
snot s snot s
Open loop control of rotational speed
Open loop control of the rotational speed

average armature votlage

calculated related to
switching cycle

Case B:
step of nominal load

Case A:
no load

In = 10.4 A