DC MOTOR

By
STUDINT : NAJEB ALI ALMAREMI
supervision

Mr. Othman ben Othman

1.1 Introduction
A DC motor is an electrical machine that converts electrical energy into mechanical
energy. In a DC motor, the input electrical energy is the direct current which is
transformed into the mechanical rotation. In this session, let us know what is a DC
motor, types of DC motor and their applications.

A DC motor is defined as a class of electrical motors that convert direct current

electrical energy into mechanical energy.

From the above definition, we can conclude that any electric motor that is operated
using direct current or DC is called a DC motor. We will understand the DC motor
construction and how a DC motor converts the supplied DC electrical energy into
mechanical energy in the next few sections.

Figure 1 DC Motor Diagram

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 Figure 2 DC Motor block diagram

1.2 Different Parts of a DC Motor

A DC motor is composed of the following main parts:

Armature or Rotor

The armature of a DC motor is a cylinder of magnetic laminations that are insulated

from one another. The armature is perpendicular to the axis of the cylinder. The
armature is a rotating part that rotates on its axis and is separated from the field coil
by an air gap.

Field Coil or Stator

A DC motor field coil is a non-moving part on which winding is wound to produce

a magnetic field. This electro-magnet has a cylindrical cavity between its poles.

Commutator and Brushes

Commutator

The commutator of a DC motor is a cylindrical structure that is made of copper

segments stacked together but insulated from each other using mica. The primary
function of a commutator is to supply electrical current to the armature winding.

Brushes

The brushes of a DC motor are made with graphite and carbon structure. These
brushes conduct electric current from the external circuit to the rotating commutator.

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Hence, we come to understand that the commutator and the brush unit are concerned
with transmitting the power from the static electrical circuit to the mechanically
rotating region or the rotor.

1.3 DC Motor Working

In the previous section, we discussed the various components of a DC motor. Now, using this
knowledge let us understand the working of DC motors.

A magnetic field arises in the air gap when the field coil of the DC motor is energized. The created
magnetic field is in the direction of the radii of the armature. The magnetic field enters the
armature from the North pole side of the field coil and “exits” the armature from the field coil’s
South pole side.

The conductors located on the other pole are subjected to a force of the same intensity
but in the opposite direction. These two opposing forces create a torque that causes
the motor armature to rotate.

 Working principle of DC motor

When kept in a magnetic field, a current-carrying conductor gains torque and

develops a tendency to move. In short, when electric fields and magnetic fields

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interact, a mechanical force arises. This is the principle on which the DC motors
work.

2.1 Applications of DC Motor

The applications of different types of DC motors are listed below:

Shunt DC Motors

Owing to the fairly constant speed and medium starting torque of shunt DC motors,
they are used in the following applications:

1. Centrifugal and reciprocating pumps

2. Lathe machines
3. Blowers and Fans
4. Drilling machines
5. Milling machines
6. Machine tools

Series DC Motors

Owing to the high starting torque and variable speed of series DC motors, they are
used in the following applications:

 Conveyors

 Hoists, Elevators

 Cranes

 Electric Locomotives

Cumulative Compound DC motors

Owing to the high starting torque of cumulative compound DC motors, they are used
in the following applications:

 Shears

 Heavy Planers

 Rolling mills

 Elevators

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Can a DC motor run on AC?

Yes, the DC series motor runs on single-phase AC supply. This is because the torque,
which varies as the product of the armature and field current, is always positive. Thus,
a positive average torque causes the motor to rotate.

What is a Universal motor?

A universal motor is a special type of motor that can run on either DC or single-phase
AC supply.

When is a DC motor preferred over an AC motor?

 When precise control is needed, DC motors offer a wide range of possibilities

concerning speed control. Due to this reason, industrial machinery that
requires high precision works with DC motors.

 DC motors offer excellent response characteristics when starting, stopping and

reversing their spin direction.

 The energy stored in the batteries of electric vehicles is in the form of DC.
Hence, DC motors are compatible with electric vehicles.

When was the DC motor invented?

William Sturgeon invented the first DC motor in 1886.

2.2 DC Motor Construction and Operation

A DC motor is comprised of a wound armature, commutator, brushes and magnets—
all within a totally-enclosed housing.

Rotation occurs when the magnetic field of the motor—created by the permanent
magnets in the housing—interacts with the commutator through graphite or carbon
brushes.

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 Figure 3 DC motor contstruction

2.3 DC Motor Characteristics

 Runs on DC power or AC line voltage with a rectifier

 Operating speeds of 1,000 to 5,000 rpm
 60-75% efficiency rate
 High starting torque
 Low no-load speeds

2.4 DC Motor Advantages & Disadvantages

Advantages Disadvantages
Operates on DC power supply without a High maintenance due to low brush life
control (2,000 hrs max in continuous duty
applications)
Inexpensive controls for speed regulation Cogging at speeds of less than 300 rpm
Generally a low-cost motor option Significant power loss on full wave rectified
voltage
Easily pairs with gear reducers High starting torque can damage reducers

3.1 Modeling of DC Motor

The most common device used as an actuator in mechanical control is the DC motor. For
example, the control of a rotary inverted pendulum requires a DC motor to drive the arm
and the pendulum

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Consider the armature controlled dc motor and assume that the
demagnetizing effect of armature reaction is neglected, magnetic
circuit is assumed linear and field voltage is constant i.e.

if=constant

Let

Ra=Armture resistance

La=Armature self-inductance caused by armature flux

ia=armature current

if=field current

E=Induced emf ∈armature

V=Applied voltage

T=Torque developed by the motor

θ=Angular displacement of the motor shaft

J=Equivalent moment of inertia of motor shaft load referred the

motor

B=Equivalent coefficient of friction of motor load referred the motor

Apply KVL in armature circuit

di
Va=IaRa + La + Eb(3−1)
dt

ϵF =ma→ ϵT =J θ

Using newton law

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 dωm
Tm−Tl−T fric =J
dt
Jωm
Tm=Tl +Bωm + (3−2)
dt
Laplace transform for 1,2
V ( s )=I ( s ) R+ Sl I ( s )+ E ( s )
¿ I ( s ) =( R +sL )+ E ( s )( 3−3 )

And
Tm=T L (s )+ Bωm ( s ) + sJωm ( s )

Tl ( s )+ ωm ( s ) ( B +sJ ) ( 3−4 )
So now
Vs−Eb ( s )
Is=
Rs+ sL ( s )
Tm ( s )−Tl ( s )
ωm=
B ( s ) + sJ ( s )

Figure 4 trasfar function of DC motor

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Figure 5 Differintial DC motor simulink

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