DC Machines-II: Principle, Construction, and Classification of DC motor, back emf, power

equation, condition for maximum efficiency, armature torque and shaft torque, losses and
efficiency, power stages, Performance characteristics of DC motors, Starting of DC motors; 3 point
and 4 point starters, Speed control of DC motors; Field control, Armature control and Voltage
control (Ward Leonard method); Efficiency and Testing of DC machines (Hopkinsons and
Swinburnes Test).
 DC motors
An electro-mechanical energy conversion device (electrical machine) that converts DC electrical energy
or power (EI) into mechanical energy or power ( T) is called a DC motor.
Electric motors are used for driving industrial machines, e.g., hammers, presses, drilling machines,
lathes, rollers in paper and steel industry, blowers for furnaces, etc., and domestic appliances, e.g.,
refrigerators, fans, water pumps, toys, mixers, etc.

Block diagram of electromagnetic energy conversion (motor action)

Working Principle of DC Motors
The operation of a DC motor is based on the principle that when a current carrying conductor is placed
in a magnetic field, a mechanical force is experienced by it. The direction of this force is determined by
Fleming’s Left Hand Rule and its magnitude is given by the relation:
F = Bil newton
Alternatively,
Back emf
Since, the armature conductors cut across the magnetic field and an emf is induced in these
conductors. The direction of this induced emf in the armature conductors is determined by Fleming’s Right
Hand Rule
It can be seen that the direction of this induced emf is opposite to the applied voltage (len’z Law)

That is why this induced emf is called back emf (Eb). The magnitude of this induced emf is given by the
relation;
𝜙𝑍𝑁𝑃 𝑍𝑃 Since
𝐸 = 𝐸 = 𝜙𝑁 𝑜𝑟 𝐸 ∝ 𝜙𝑁
60𝐴 60𝐴

Also the sped (N)

Shows that the speed is inversely proportional to magnetic flux (field)

𝐸 < 𝑉 hence current is always taken from the supply

Circuit diagram (Eb < V)

Significance of Back emf
The current flowing through the armature is given by the relation:
The applied voltage V is utilized to counter the back emf and armature voltage drop as:

1. When mechanical load applied on the motor increases, its speed decreases which reduces the value of .
As a result the value (V – 𝐸 ) increases
which consequently increases 𝐼 Hence, motor draws extra current from the mains.
2. When the mechanical load is reduced, motor speed is increased, consequently back emf also increased.
As a result the value (V – 𝐸 ) decreases
which consequently decreases 𝐼 Hence, motor draws reduced current from the mains.
3. When the mechanical load is totally removed, motor speed is further increased, consequently back emf also
increased further.
As a result the value (V – 𝐸 ) decreases further
this consequently makes the motor just to draw a minimum current to meet the frictional losses.
Consclusion : Back emf makes the
motor self regulating
Electro-magnetic Torque Developed in DC Motor
Torque is turning moment of force about an axis and is measured by the product of Force (f) and radius (r) at right angle to
which the force acts
The Torque developed in the armature is given as 𝐹
𝑇 =𝐹𝑋𝑟 𝑁−𝑚
The sum of torques due to all armature conductors is known as
Gross Armature Toque (Ta)
𝑟
Let in a DC motor
𝑟 = average radius of armature in m
𝑙 = effective length of each armature conuuctor in m
𝑍 = Total no of armature conductors
𝐴 = Number of parallel paths
𝑖 = current in each conductor
𝐵 = Average flux density in Wb/m2
𝜙 = Flux per pole in Wb
𝑃 =No of Poles
𝐹𝑜𝑟𝑒𝑐𝑒 𝑜𝑛 𝑒𝑎𝑐ℎ 𝑐𝑜𝑛𝑑𝑢𝑐𝑡𝑜𝑟, 𝐹 = 𝐵i𝑙 Neutons
𝑇𝑜𝑟𝑞𝑢𝑒 𝑑𝑢𝑒 𝑡𝑜 𝑜𝑛𝑒 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑜𝑛𝑑𝑢𝑐𝑡𝑜𝑟, 𝑇 = 𝐹 × 𝑟 =𝐵i𝑙𝑟
𝑇𝑜𝑟𝑞𝑢𝑒 𝑑𝑢𝑒 𝑡𝑜 𝑎𝑙𝑙 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑜𝑛𝑑𝑢𝑐𝑡𝑜𝑟, 𝑇 =𝑍𝐵i𝑙𝑟
Now, current per parallel path and Flux density

Where, a is cross sectional area of flux path per pole at radius r. i.e
Hence,

Since, Z, P ad A are fixed for a machine, hence

Alternatively, Torque equation may also be obtained as

𝜙𝑍𝑁𝑃 𝑃𝜙𝑧 60𝐸

𝐸 = =
60𝐴 𝐴 𝑁

Since, Torque is given as 𝑃𝜙𝑍𝐼 𝑇 = 0.159 N -m

𝑇 = 0.159
𝐴
Shaft torque ( Tsh) We have derived the expression for gross torque (Ta) developed in the armature
Now the armature is rotating.
Due to iron and mechanical losses some of the torque is lost and rest of the torque is available at the shaft of the
motor to drive mechanical load.
Thus the net torque available at the shaft is always less than the gross torque.

𝑇 =𝑇 −𝑇

𝑇 − 𝑇 = 9.55 X

It is the shaft torque that produces the useful mechanical power output. If the speed of the motor is N rpm then,

2 𝜋 𝑁𝑇
Output in Watts =
60

N-m
/

N-m
Brake Horse Power ( BHP)
The power developed in motor when measured in terms of horse power, it is known as BHP
If the motor is running at N rpm and the shaft torque is Tsh N-m, then,

𝑊𝑜𝑟𝑘𝑑𝑜𝑛𝑒
= 𝐹𝑜𝑟𝑐𝑒 𝑋 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑚𝑜𝑣𝑒𝑑 𝑖𝑛 𝑜𝑛𝑒 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛
𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛
𝑊𝑜𝑟𝑘𝑑𝑜𝑛𝑒
= 𝐹 × 2𝜋 𝑟 = 2𝜋𝑇 Joules
𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛

𝑊𝑜𝑟𝑘𝑑𝑜𝑛𝑒
= 2𝜋 𝑁 𝑇 Joules J/sec or Watts
𝑚𝑖𝑛𝑢𝑡𝑒
Ex.1
Calculate the value of torque developed by the armature of a 4 pole motor having 774 conductors, two paths in
parallel, 24 m/Wb flux per pole, when the total armature current is 50 A.

Sol Put the given values of parameters in the eq.

𝑃𝜙𝑍𝐼
𝑇 = 0.159 𝑁−𝑚 = 295 𝑁 − 𝑚
𝐴
Ex.2
A dc motor takes an armature current of 110A at 480 V. The armature circuit resistance is 0.2ohm. The machine has 6
poles and the armature is lap-connected with 864 conductors. The flux per pole is 0.05 Wb. Calculate
i) the speed and ii) Gross torque developed by the motor.

Sol i) the speed

𝐸 =𝑉−𝐼 𝑅 𝐸 = 480 − 110 𝑋0.2 = 458 𝑣𝑜𝑙𝑡𝑠

𝛷𝑍𝑁𝑃 6𝑋 0.05𝑋 864𝑋𝑁 𝑁 = 636 𝑅𝑃𝑀

𝐸 = 458 =
60𝐴 60𝑋6

ii) Gross torque developed by the motor

𝑃𝜙𝑍𝐼
𝑇 = 0.159 𝑁−𝑚 = 756 𝑁 − 𝑚
𝐴
 Assignment 3M-1

Prob.3 A 100 HP, 500 Volt, shunt motor has 4 poles and a 2 circuit wave winding with 492 armature conductors. The
flux is 50 mWb per pole and the full load efficiency is 92%. The armature and commutating field windings have a
total resistance of 0.1 ohm. The shunt field resistance is 250 ohm. Calculate for full load i) the speed ii) useful Torque.

Prob.4 A 220 V, dc shunt motor runs at 500 rpm when the armature current is 50 A. Calculate the speed if the
torque is doubled. The armature resistance of the motor is 0.2 ohm.

Prob.5 A 240 V, 4 pole shunt motor running at 1000rpm, gives 15 hp with an armature current of 50 A and field
current of 1 A. The armature winding is wave connected and has 540 conductors. The armature resistace is 0.1 ohm
and the drop at each brush is 1 V. Find i) the useful torque ii) the total torque. Iii) useful flux per pole iv) iron and
frictional losses.

Prob 6 A 4 pole series motor has 944 wave connected armature onductors. At a certain load the flux per pole is
34.6 mWb and the total mechanical torque developed is 209 N-m. Calculate the line current taken by the motor and
the speed at which it will run. The applied voltage is 500V and total motor resistance is 3 ohm.
Speed of a DC Motor 𝜙𝑍𝑁𝑃
𝐸 =
60𝐴
𝐸 =V−𝐼 𝑅

𝜙𝑍𝑁𝑃
=V−𝐼 𝑅
60𝐴

𝑉−𝐼 𝑅 60𝐴 𝑉−𝐼 𝑅

𝑁= ⋅ 𝑁=K 𝐵𝑢𝑡, 𝐸 = V−𝐼 𝑅
𝜙 𝑃𝑍 𝜙

𝐸 𝐸 Therefore, in a dc motor speed is directly proportional

𝑁=K 𝑁∝
𝜙 𝜙 to back emf and inversely proportional to flux per pole.

Speed Relations If initially a dc motor has speed, flux per pole and back emf as 𝑁 , 𝜙 𝑎𝑛𝑑 𝐸 𝑟𝑒𝑠𝑝𝑒𝑐𝑡𝑖𝑣𝑒𝑙𝑦.
And the corresponding final values are 𝑁 , 𝜙 𝑎𝑛𝑑 𝐸 𝑟𝑒𝑠𝑝𝑒𝑐𝑡𝑖𝑣𝑒𝑙𝑦.
𝐸 𝑁 𝐸 𝜙
and 𝑁 ∝ = ×
𝜙 𝑁 𝐸 𝜙

i) For shunt motors : flux is practically constant i.e 𝜙 = 𝜙 i) For series motors : 𝜙 ∝ 𝐼
𝑁 𝐸 𝑁 𝐸 𝐼
= = ×
𝑁 𝐸 𝑁 𝐸 𝐼
 Speed Regulation
The speed regulation of a motor is the change in speed from full load to no-load and is
expressed as a percentage of the speed at full load i.e.

𝑁𝑜 𝐿𝑜𝑎𝑑 𝑆𝑝𝑒𝑒𝑑 − 𝐹𝑢𝑙𝑙 𝐿𝑜𝑎𝑑 𝑆𝑝𝑒𝑒𝑑

% speed Regulation = × 100
No 𝐿𝑜𝑎𝑑 𝑆𝑝𝑒𝑒𝑑

𝑁 −𝑁
= × 100
𝑁

Example A 6 pole Lap wound dc shunt motor has 500 conductors. The armature and shunt field resistances are 0.05 ohm
and 25 ohm respectively. Find the speed of the motor if it takes 120 A from dc source of 100 V. Flux per pole is 20 mWb.
Sol.
100
𝐼 = = 4𝐴 𝐼 =𝐼 −𝐼 = 120 − 4 = 116𝐴 𝐸 = V − 𝐼 𝑅 = 100 − 116 𝑋0.05 = 94.2 𝑉
25

𝜙𝑍𝑁𝑃 ⋅ × ×
𝐸 = = 565rpm
60𝐴 × × ×
Types of DC Motors
On the basis of the connections of armature and their field winding, DC motors can be classified as;

1. Separately excited DC motors: In these motors the field winding is excited for external (auxiliary) source.
This exciting source is separate form the dc supply which feeds the armature winding

2. Self excited DC motors: : In these motors the field winding and armature winding are supplied form the
same supply. Further, self excited motors may some different types of connections as;
i) DC Shunt motors: In these motors field winding is connected in parallel (shunt) with armature winding.
ii) DC Series motors: In these motors field winding is connected in series with armature winding.

ii) DC Compound Wound motors: In these motors field winding is splitted in two parts and one part
is connected in series while other part is connected in series with field winding, hence may have two
types as:

a) Short Shunt Compound wound DC motors

a) Long Shunt Compound wound DC motors

1. Separately excited DC motors:

𝑉 = 𝐸 + 𝐼 𝑅 − 2𝑉

𝑉𝐼 = 𝐸 𝐼 + 𝐼 𝑅 + 2𝑉 𝐼

2. Self excited DC motors:

a) Self excited DC shunt motor:

𝑉
𝐼 = 𝐼 =𝐼 −𝐼
𝑅

𝑉 = 𝐸 + 𝐼 𝑅 + 2𝑉

𝑉𝐼 = 𝐸 𝐼 + 𝐼 𝑅 + 2𝑉 𝐼
 a) Self excited DC shunt motor: 𝑅

𝐼 =𝐼 =𝐼

𝑉 =𝐸 +𝐼 𝑅 +𝑅 +2𝑉

3. Compound Wound DC motors:

𝑉
𝐼 = 𝐼 =𝐼 −𝐼
𝑅
𝑉 =𝐸 +𝐼 𝑅 +𝑅 +2𝑉
(a) Cumulative compound motors: In these motors, the flux produced
by both the windings is in the same direction, i.e.,
𝜙 =𝜙 +𝛷
(b) Differential compound motors: In these motors, the flux produced
by the series field winding is opposite to the flux produced by the shunt
field winding, i.e.,
𝜙 =𝜙 −𝛷
Example 7
The armature resistance of a DC shunt motor is 0.5 ohm, it draws 20 A from 220 V mains and is running at a speed of
80 radian per second. Determine (i) Induced emf (ii) Electromagnetic torque (iii) Speed in rpm.

Example 8
The armature and series field winding resistance of a 220 V, four-pole DC series motor is 0.75 ohm. It has 782 wave wound
armature conductors. If it draws 40 A from the supply mains and has a flux of 25 mWb, determine its speed and gross
torque developed.