Tatyasaheb Kore Institute of Engineering and

Technology, Waranagar
Department of Electronics & Telecommunication
Engineering

CHAPTER-I
DC MOTOR

Presented By
Mr.K. G. Pise
Assistant Professor
Operating Principle of DC Motor:

 “When a current carrying conductor is placed

in a magnetic field it experience a force".
Construction of DC Motor:
Construction of DC Motor:
Function of each part of DC Motor:
Yoke:
• It is outer cover of dc motor also called as frame.

• It provides protection to the rotating and other part of the

machine from moisture, dust etc.

• Yoke is an iron body which provides the path for the flux to
complete the magnetic circuit.

• It provides the mechanical support for the poles.

• Material Used: low reluctance material such as cast iron,

silicon steel, rolled steel, cast steel etc.
Poles, and pole core:
• Poles are electromagnet, the field
winding is wound over it.
• It produces the magnetic flux when the
field winding is excited.

• The construction of pole is done using the lamination of

particular shape to reduce the power loss due to eddy current.
pole shoe:
• Pole shoe is an extended part of a pole. Due to its typical shape,
it enlarges the area of the pole, so that more flux can pass
through the air gap to armature.

• Material Used: low reluctance magnetic material such as cast

steel or cast iron is used for construction of pole and pole shoe.
Field winding:

• The coil wound on the pole core are called field coils.

• Field coils are connected in series to form field winding.

• Current is passed through the field winding in a specific

direction, to magnetize the poles and pole shoes. Thus
magnetic flux is produce in the air gap between the pole
shoe and armature.

• Field winding is also called as Exciting winding.

• Material Used for copper conductor is copper.

• Due to the current flowing through the field winding

alternate N and S poles are produced.
Armature core:
• Armature core is a cylindrical drum mounted on the
shaft.
• It is provided with large number of slots all over its
periphery and it is parallel to the shaft axis.

• Armature conductors are placed in these slots.

• Armature core provides low reluctance path to the flux

produced by the field winding.

• Material used: high permeability, low reluctance cast

steel or cast iron material is used.

• Laminated construction of iron core is used to minimize

the eddy current losses.

Armature winding:
• Armature conductor is placed in a armature slots
present on the periphery of armature core.

• Armature conductor are interconnected to form the

armature winding.

• When the armature winding is rotated using a prime

mover, it cuts the magnetic flux lines and voltage gets
induced in it.

• Armature winding is connected to the external circuit

(load) through the commutator and brushes.

• Material Used: Armature winding is suppose to carry the

entire load current hence it should be made up of
conducting material such as copper.
Commutator:
• It is a cylindrical drum mounted on the shaft
along with the armature core.
• It is made up of large number of wedge shaped
segments of hard-drawn copper.
• The segments are insulated from each other
by thin layer of mica.

• Armature winding are tapped at various points and these tapping are
successively connected to various segments of the commutator.

• Function of commutator:
• It converts the dc to unidirectional ac
• It helps to produce unidirectional torque.

Material Used: it is made up of copper and insulating material

between the segments is mica.
Brushes:
• Current are conducted from the armature to the external
load by the carbon brushes which are held against the
surface of the commutator by springs.

• Function of brushes: To collect the current from the Field

and apply it to commutator in motor, and vice versa in
motor.

• Material Used:
Brushes are made of carbon and they are rectangular in

shape.
Significance of Back EMF:
• When the armature winding of dc motor is start rotating in the magnetic
flux produced by the field winding, it cuts the lines of magnetic flux and
induces the emf in the armature winding.

• According to Lenz’s law (The law that whenever there is an induced

electromotive force (emf) in a conductor, it is always in such a direction
that the current it would produce would oppose the change which causes
the induced emf. ), this induced emf acts in the opposite direction to the
armature supply voltage. Hence this emf is called as back emfs.

𝐸𝑏=(𝑁∅𝑍P)/60𝐴 Volts

𝑁= speed in rpm
∅= flux per pole
𝑍= no of conductors
𝑃= no of pole pairs
𝐴= area of cross section of conductor
𝐸𝑏= back emf
 Voltage and Power equation of DC Motor:

𝑉=𝐸𝑏 + 𝐼𝑎𝑅𝑎
If we multiply the above equation by 𝐼𝑎, we will get
𝑉𝐼𝑎=𝐸𝑏𝐼𝑎 + 𝐼𝑎2𝑅𝑎
𝑉𝐼𝑎 = 𝑒𝑙𝑒𝑐𝑡𝑟𝑖𝑐𝑎𝑙 𝑝𝑜𝑤𝑒𝑟 𝑠𝑢𝑝𝑝𝑙𝑖𝑒𝑑 𝑡𝑜 𝑡o the 𝑚𝑜𝑡𝑜𝑟
𝐸𝑏𝐼𝑎 = 𝑒𝑙𝑒𝑐𝑡𝑟𝑖𝑐𝑎𝑙 𝑒𝑞𝑢𝑖𝑣𝑎𝑙𝑒𝑛𝑡 𝑜𝑓 the mechanical 𝑝𝑜𝑤𝑒𝑟 𝑝𝑟𝑜𝑑𝑢𝑐𝑒𝑑 𝑏𝑦
the 𝑚𝑜𝑡𝑜𝑟
𝐼𝑎2𝑅𝑎 = 𝑝𝑜𝑤𝑒𝑟 𝑙𝑜𝑠𝑠 𝑡𝑎𝑘𝑖𝑛𝑔 𝑝𝑙𝑎𝑐𝑒 𝑖𝑛 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
Thus,
𝐸𝑏𝐼𝑎 = 𝑉𝐼𝑎−𝐼𝑎2𝑅𝑎
= input power-power loss
thus, 𝐸𝑏𝐼𝑎= Gross mechanical power produce by the motor = Pm
Torque equation of DC Motor

Mechanical 𝑝𝑜𝑤𝑒𝑟 𝑟𝑒𝑞𝑢𝑖𝑟𝑒𝑑 𝑡𝑜 𝑟𝑜𝑡𝑎𝑡𝑒 𝑡h𝑒 shaft 𝑜𝑛

mechanical 𝑠𝑖𝑑𝑒=𝑇𝜔……………………………………………… (1)
T =Torque in Newton-meter
𝜔= angular velocity in radian /second
𝑔𝑟𝑜𝑠𝑠 𝑚𝑒𝑐h𝑎𝑛𝑖𝑐𝑎𝑙 𝑝𝑜𝑤𝑒𝑟 𝑝𝑟𝑜𝑑𝑢𝑐𝑒 𝑏𝑦 the 𝑚𝑜𝑡𝑜𝑟 𝑜𝑛
𝑒𝑙𝑒𝑐𝑡𝑟𝑖𝑐𝑎𝑙 𝑠𝑖𝑑𝑒=𝐸𝑏𝐼𝑎………………………………………………… (2)
Eb=back emf in volts
Ia=armature current in ampere
equating equation 1 and 2 , we get
𝐸𝑏𝐼𝑎 = 𝑇𝜔…………………………………………………… ....... (3)
Torque equation of DC Motor

𝜔=2𝜋𝑁/60 ………………………………
2𝜋𝑁/60 = Speed in rpm
And 𝐸𝑏=𝑁∅𝑍𝑃/𝐴60
Thus, equation (3) become
(𝑁∅𝑍𝑃/𝐴60)𝐼𝑎 = 𝑇(2𝜋𝑁/60 )
𝑇= 𝑃∅𝑍𝐼𝑎/2𝜋𝐴 =(0.159𝑃∅𝑍𝐼𝑎)/ 𝐴 =(0.159𝑃𝑍𝐴∅)/𝐼𝑎
𝑃,𝑍 𝑎𝑛𝑑 𝐴 are constant , hence we can say
𝑇 ∝ ∅ 𝐼𝑎
Thus torque produce by the DC Motor is proportional to
the main field flux ∅ and armature current 𝐼𝑎
Types of DC Motor:

• Classification of the d.c. motor depends on the way of

connecting the armature and field winding of a d.c.
motor:
1. DC Shunt Motor
2. DC Series Motor
3. DC Compound Motor
1.DC Shunt Motor:
• In dc shunt motor the armature and
field winding are connected in parallel
across the supply voltage

• The resistance of the shunt

winding Rsh is always higher than the
armature winding Ra.
Since V and Rsh both remains constant
the Ish remains essentially constant,as
field current is responsible for generation of
flux. thus ∅ ∝ Ish

• So shunt motor is also called as constant flux motor.

Torque and Speed equation of DC Shunt Motor:

As we have seen for dc motor

𝑇 ∝ ∅ Ia

But for dc shunt motor : ∅ ∝ Ish and

Ish is constant , thus ∅ is also constant
So torque in dc shunt motor is

𝑇 ∝ Ia
For dc motor
𝐸𝑏=𝑁∅𝑍𝑃/𝐴60
𝑍, 𝑃, 𝐴,∅ 𝑎𝑛𝑑 60 are constants

Thus, 𝑁 ∝𝐸𝑏 ∝ (𝑉−𝐼𝑎𝑅𝑎)

Characteristics of DC Shunt Motor:
To study the performance of the DC shunt Motor various
types of characteristics are to be studied.

1. Torque Vs Armature current characteristics.

2. Speed Vs Armature current characteristics.

3. Speed Vs Torque characteristics.

Torque Vs Armature current characteristics
This characteristic gives us information that, how torque
of machine will vary with armature current, which
depends upon load on the motor.
𝑇 ∝ Ia
𝐼𝑎
 Speed Vs Armature current characteristics
The back emf of dc motor is 𝐸𝑏=𝑁∅𝑍P/𝐴60 = 𝑉−𝐼𝑎𝑅𝑎

• Therefore shunt motor is considered as constant speed motor.

 Speed Vs Torque characteristics

• From the above two characteristics of dc shunt

motor, the torque developed and speed at various
armature currents of dc shunt motor may be
noted.
• If these values are plotted, the graph
representing the variation of speed with torque
developed is obtained.
• This curve resembles the speed Vs current
characteristics as the torque is directly
proportional to the armature current.
Applications of DC shunt Motor:
These motors are constant speed motors, hence used in
applications requiring constant speed.
Like:

1) Lathe machine
2) Drilling machine
3) Blowers
4) Fans
5) Machine tools
2.DC Series Motor:
• In this type of DC motor the armature and field windings
are connected in series.
• The resistance of the series field
winding Rs is much smaller than
the armature resistance Ra
• The flux produced is proportional
to the field current but in this
I𝑓=𝐼𝑎 thus ∅∝𝐼𝑎
• Thus flux can never become constant in dc series motor as
load changes If and Ia also gets changed
• Thus dc series motor is not a constant flux motor.
Torque and Speed equation of DC Series Motor:

As we have seen for dc motor

𝑇 ∝ ∅ 𝐼𝑎
But for dc series motor as 𝐼𝑓=𝐼𝑎 𝑡h𝑢𝑠 ∅∝𝐼𝑎
So torque in dc series motor is
𝑇 ∝ 𝐼𝑎2
For dc motor
𝐸𝑏=𝑁∅𝑍𝑃/𝐴60
𝑍 ,𝑃, 𝐴 𝑎𝑛𝑑 60 are constants
Thus,𝑁∝𝐸𝑏/∅ ∝ {(𝑉−𝐼𝑎𝑅𝑎)−(𝐼𝑠𝑅𝑠)}/∅
={𝑉−𝐼𝑎(𝑅𝑎+𝑅𝑠)}/∅....... as
𝐼𝑎=𝐼𝑠 for dc series motor
Characteristics of DC Series Motor:

To study the performance of the DC series Motor various

types of characteristics are to be studied.

1. Torque Vs Armature current characteristics.

2. Speed Vs Armature current characteristics.

3. Speed Vs Torque characteristics

Torque Vs Armature current characteristics

•Torque developed in any dc motor is

𝑇∝∅𝐼𝑎
•In case of a D.C. series motor, as field current is equal to
armature current, and for small value of 𝐼𝑎
∅∝𝐼𝑎
•Therefore the torque in the dc series motor for small value of 𝐼𝑎
𝑇∝𝐼𝑎2
•When 𝐼𝑎 is large the ∅ remains the constant due to saturation,
thus torque is directly proportional to armature current for
large value of 𝐼𝑎
𝑇∝𝐼𝑎
• Thus Torque Vs Armature current characteristics begin to
raise parabolically at low value of armature current and
when saturation is reached it become a straight line as
shown below.
Speed Vs Armature current characteristics

Consider the following equation:

𝑁={𝐾(𝑉−𝐼𝑎𝑅𝑎)}/∅
When supply voltage V is kept constant, speed of the
motor will be inversely proportional to flux. In dc series
motor field exciting current is equal to armature current
which is nothing but a load current. Therefore at light
load when saturation is not attained, flux will be
proportional to the armature current and hence speed will
be inversely proportional to armature current. Hence
speed and armature current characteristics is hyperbolic
curve up to saturation.
• As the load increases the armature current increases and
field gets saturated, once the field gets saturated flux will
become constant irrespective of increases in the armature
current. Therefore at heavy load the speed of the dc series
motor remains constant.
• This type of dc series motor has high starting torque
Speed Vs Torque characteristics

• The Speed Vs Torque characteristics of dc series motor will

be similar to the Speed Vs Armature current characteristics
it will be rectangular hyperbola, as shown in the fig.
Applications of DC series Motor-

These motors are useful in applications where starting

torque required is high and quick acceleration. Like:
1) Traction
2) Hoists and Lifts
3) Crane
4) Rolling mills
5) Conveyors
• Torque Vs Armature current and Speed Vs Armature
current characteristics of dc compound motors

 Speed Vs Torque characteristics dc compound

motors are compared with that of shunt motor.
Applications of DC Cumulative Compound Motor:

• These motors have high starting torque.

• They can be operated even at no loads as they run at a

moderately high speed at no load.

• Hence cumulative compound motors are used for the

following applications.
1. Elevators
2. Rolling mills
3. Floor Mills
4. Conveyors
Speed Control of DC Motor:
•The speed equation of dc motor is
𝑁 ∝ 𝐸𝑏/∅ ∝ (𝑉−𝐼𝑎𝑅𝑎)/∅
•But the resistance of armature winding or series field winding in dc
series motor are small.
•Therefore the voltage drop 𝐼𝑎𝑅𝑎 or 𝐼𝑎(𝑅𝑎+𝑅𝑠) across them will be
negligible as compare to the external supply voltage V in above
equation.
•Therefore 𝑁∝𝑉/∅ , since V>>>> 𝐼𝑎𝑅𝑎
•Thus we can say
1. Speed is inversely proportional to flux ∅.
2. Speed is directly proportional to armature voltage.
3. Speed is directly proportional to applied voltage V.
So by varying one of these parameters, it is possible to change the
speed of a dc motor
I. Flux control method:
• speed equation of DC motor is
𝑁 ∝ K 𝐸𝑏/∅
• The speed of a dc motor is inversely
proportional to the flux per pole.
• Thus by decreasing the flux,
Speed can be increased and vice versa.
• To control the flux, a rheostat is added in series with the field
winding, as shown in the circuit diagram.
• Adding more resistance in series with the field winding will
increase the speed as it decreases the flux.
• In shunt motors, as field current is relatively very small, I sh2R
loss is small.
Flux control method:

• Therefore, this method is

quite efficient. Though speed
can be increased above the
rated value by reducing flux
with this method,
• It puts a limit to maximum
speed as weakening of field flux
beyond a limit will adversely
affect the commutation.
II. Armature control method:

• Speed of a dc motor is directly

proportional to the back emf Eb
and Eb = V - IaRa.
• That means, when supply voltage V
and the armature resistance
Ra are kept constant, then the
speed is directly proportional to armature current Ia.
• Thus, if we add resistance in series with the armature,
Ia decreases and, hence, the speed also decreases.
• Greater the resistance in series with the armature, greater the
decrease in speed.
Speed Control of Series Motor
I. Flux Control Method
a. Field diverter:
• A variable resistance is connected parallel to the series field as
shown in fig (a).
• This variable resistor is called as a diverter, as the desired
amount of current can be diverted through this resistor and,
hence, current through field coil can be decreased.
• Thus, flux can be decreased to the desired amount and speed
can be increased.
b. Armature diverter:
• Diverter is connected across the armature as shown in fig (b).
• For a given constant load torque, if armature current is
reduced then the flux must increase, as Ta ∝ ØIa
• This will result in an increase in current taken from the
supply and hence flux Ø will increase and subsequently speed
of the motor will decrease.
c. Tapped field control:
• As shown in fig (c) field coil is tapped dividing number of
turns.
• Thus we can select different value of Ø by selecting different
number of turns.
d. Paralleling field coils:
• In this method, several speeds can be obtained by regrouping
coils as shown in fig (d).
 Speed Control of Series Motor
II. Armature Control Method
• In this method, a variable resistance
is directly connected in series with
the supply.
• This reduces the voltage available
across the armature and hence the
speed falls.
• By changing the value of variable
resistance, any speed below the normal speed can be
obtained.
• This is the most common method employed to control the
speed of d.c. series motors.
Reversal Rotation of DC Motor:
• The direction of the magnetic flux in the air gap depends on
the direction of the field current.

• And the direction of the force exerted on the armature

winding depends on the direction of flux and the direction
of armature current.

• Thus in order to reverse the direction of dc motor, we

have to reverse the direction of force.

• This can be achieved either by changing the terminals of

the armature or the terminals of the field winding.