DC Machines: DC Motor

Characteristics and Speed Control

Speed-current characteristics of DC Compound Motor
𝑉! = 𝐸" + 𝐼" (𝑅" + 𝑅# !

𝐸" = 𝐾" 𝜙𝜔$

= 𝐾" (𝜙#% + 𝜙#& )𝜔$

1
𝜔$ = [𝑉! − 𝐼" (𝑅" + 𝑅# )-
𝐾" (𝜙#% + 𝜙#& )

Speed-current characteristic of cumulative compound motor is below the speed-

current characteristic of dc shunt motor
Torque-current characteristics of DC Compound Motor

𝑇& = 𝐾" 𝜙𝐼"

= 𝐾" (𝜙#% + 𝜙#& )𝐼"

The cumulative compound motor develops a torque higher than dc shunt motor.
Speed-Torque characteristics of DC Compound Motor
𝑇&
𝐼" =
𝐾" (𝜙#% + 𝜙#& )

1 𝑇& (𝑅" +𝑅# )

𝜔$ = 𝑉 −
𝐾" (𝜙#% + 𝜙#& ) ! 𝐾" (𝜙#% + 𝜙#& )

𝑉! 𝑇&
= − (𝑅" + 𝑅# ) '
𝐾" 𝜙#% + 𝜙#& 𝐾" (𝜙#% + 𝜙#& )'

Speed-torque characteristic in a cumulative compound motor is more drooping than in a

dc shunt motor.
N vs Ia, Te vs Ia, N vs Te characteristics at rated load

For Ia below rated current, shunt motor develops the largest torque; but for Ia above
rated current, series motor develops the largest torque. The maximum possible current
at the starting of dc motors is limited to about 1.5 times the rated current. Therefore,
for loads requiring high starting torque such as hoists, cranes and traction type loads,
series motors are the best suited machines.
 Problem 1
A fan has the following speed-power characteristics:
Speed, 700 800 900 1000 1100 1200
rpm
Input kW 4.5 8.5 14.00 21.1 30.0 40.75

This fan is driven by a 4-pole, 230 V dc shunt motor having an armature winding
with two parallel paths and 600 conductors. The flux per pole is 0.01 Wb and the
armature circuit resistance is 0.25 W. The no-load rotational losses are 500 W. Find
the shaft power output, operating speed, armature current and motor efficiency.
Ans. Psh = 22 kW, N = 1012 rpm

Ia = 110.4 A

h = 86.2%
 Speed Control of dc motors
Speed Control: Intentional speed variation
𝑉! − 𝐼" 𝑅"
𝜔$ =
𝐾" 𝜙

The speed can be controlled by varying

• The terminal voltage of the armature Involve change in armature circuit,

hence armature control method
• The external resistance in the armature circuit
• The flux per pole Involve change in magnetic circuit,
hence field control method
 Definition of few terms
Base Speed: speed at which a motor runs at rated armature voltage and rated field
current; rated speed

Speed regulation: Speed change from no-load to full-load expressed as a percentage of

rated speed

Speed range: ratio of the maximum allowable speed to minimum allowable speed of
the motor (at no-load or full load or fractional load)

Constant power drive: the motor shaft power remains constant over a given speed range;
higher torques are available at lower speeds and lower torques at higher speeds; the motor
size is always decided by the highest torque requirement at the lowest speed.

Constant torque drive: motor shaft torque remains constant over a given speed range;
shaft power varies as the speed varies
 Armature Circuit Resistance Control
DC Shunt Motor
𝑉# − 𝐾! 𝜙𝜔$"
In the absence of Rg, 𝐼!" =
𝑅!

𝑉# − 𝐾! 𝜙𝜔$"
In the presence of Rg, %
𝐼!" =
𝑅! + 𝑅&

Field flux is constant so with the decrease in Ia, torque

decreases from KafIa1 to KafIa1’ . Since torque has become
less than the constant load torque, the speed decreases,
back emf also decreases, hence Ia increases till it becomes
equal to its initial value Ia1 so that the initial electromagnetic
torque is developed again.
𝑉# − 𝐼!" 𝑅! 𝐸'" 𝑉# − 𝐼!" (𝑅 ! + 𝑅& 3 𝐸'(
𝜔$" = = ; 𝜔$( = =
𝐾! 𝜙 𝐾! 𝜙 𝐾! 𝜙 𝐾! 𝜙

𝜔$( 𝐸'( 𝑉# − 𝐼!" (𝑅 ! + 𝑅& 3

= = ; 𝜔$( < 𝜔$"
𝜔$" 𝐸'" 𝑉# − 𝐼!" 𝑅!
 Armature Circuit Resistance Control (Contd…)
Takeaways
• The armature current drawn from the supply remains constant and the power
delivered to the motor from the supply mains also remains constant at P1=VtIa1,
whether Rg is in the circuit or not.
• Power delivered to load is P2=Eb2Ia1=[Vt-Ia1(Ra+Rg)]Ia1 or P2= constant load torque X
speed. Thus, the power delivered to load decreases in proportion to the decrease in
speed.
• The efficiency of this method is given by
𝑃( 8𝑉# − 𝐼!" (𝑅 ! + 𝑅& )]𝐼!" (𝑅 + 𝑅& 3
𝜂= = = 1− ! 𝐼!"
𝑃" 𝑉# 𝐼!" 𝑉#

• With increase in Rg to obtain lower operating speeds, the motor

efficiency is lowered.
 Armature Circuit Resistance Control (Contd…)
DC Series Motor
In the absence of Rg, 𝑉# = 𝐾! 𝜙𝜔$" + 𝐼!" (𝑅! +𝑅) )

Neglecting saturation, 𝑉# = [𝐾! 𝐶𝜔$" + (𝑅 ! + 𝑅) )]𝐼!"

= [𝐾𝜔$" + (𝑅 ! + 𝑅) )]𝐼!"

In the presence of Rg, 𝑉# = [𝐾! 𝜔$( + (𝑅 ! + 𝑅) + 𝑅& )]𝐼!(

For constant load torque

𝐾! 𝜙" 𝐼!" = 𝐾! 𝜙( 𝐼!( ; ( (
⟹ 𝐾! 𝐶𝐼!" = 𝐾! 𝐶𝐼!( ⟹ 𝐼!" = 𝐼!(

𝑉# − 𝐼!" (𝑅 ! + 𝑅) 3 𝐸'" 𝑉# − 𝐼!" (𝑅 ! + 𝑅) + 𝑅& 3 𝐸'(

∴ 𝜔$" = = ; 𝜔$( = = ;
𝐾! 𝐼!" 𝐾! 𝐼!" 𝐾! 𝐼!" 𝐾! 𝐼!"

𝜔$( 𝑉# − 𝐼!" (𝑅 ! + 𝑅) + 𝑅& 3 𝐸'(

= = ; 𝜔$( < 𝜔$"
𝜔$" 𝑉# − 𝐼!" (𝑅 ! + 𝑅) 3 𝐸'"
 Armature Circuit Resistance Control (Contd…)
Takeaways

• This method is employed chiefly in series motors driving cranes, hoists,

trains etc.

• To fully utilize the motor capacity at all speeds, the armature current is equal
to the rated value.

• Since the field flux is constant in both shunt and series motors, armature
circuit resistance control is called constant torque drive method [(constant
field flux)(rated armature current)].
 Field Flux Control in dc shunt motor
Under steady running conditions, if Rf ↑, If ↓, ⌀f ↓,
Eb ↓, Ia ↑

The percentage increase in Ia is much more than

the percentage decrease in ⌀f . Therefore, Te ↑.
Now Te >TL, so N ↑, Eb ↑, Ia ↓until Te =TL .

Let armature current is Ia1 for flux ⌀1 and armature

current is Ia2 for flux ⌀2

𝑇* (= 𝑇+ ) 𝑉# − 𝐼!" 𝑅!
𝐼!" = ; 𝜔$" = ;
𝐾! 𝜙" 𝐾! 𝜙"

𝑇* (= 𝑇+ ) 𝑉# − 𝐼!( 𝑅!
𝐼!( = ; 𝜔$( = ;
𝐾! 𝜙( 𝐾! 𝜙(
 Field Flux Control in dc shunt motor (Contd…)
A 200 V dc shunt motor, with an armature resistance of 0.1 ohm, is running at 1000
rpm and takes an armature current of 50 A. if the field flux is suddenly reduced by 10%,
obtain (a) the maximum value of current at this instant and the corresponding torque,
and (b) ultimate speed and armature current after the transients are over. Assume
constant load torque and negligible armature inductance.
Solution:
Imax =4.9Iinitial ;

Tcorresp =4.41Tinitial ;

Ia2 =55.6 A;

N2 =1108 rpm

To avoid objectionable armature current surges, Rf should be increased in small steps.

 Field Flux Control in dc shunt motor (Contd…)
For constant load torque, power input before change in field flux is 10 kW, power input after
change in field flux is 11.12 kW. Power output before change in field flux is 9.75 kW, power
output after change in field flux is 10.81 kW. Efficiency before change in field flux is 97.5%,
efficiency after change in field flux is 97.2%. Thus, motor efficiency remains substantially
constant. Therefore, it is most economical method and gives smooth speed control.

(a)Armature may get overheated at high speeds, because the increased armature
current causes increased ohmic losses.
(b)If the field flux is weakened considerably, the speed becomes very high and
due to these changes, the motor operation may become unstable.
 Field Flux Control in dc series motor

Speed control by diverter Speed control by tapped field control Series parallel field control

𝑁) 𝑁)
When the two halves of field winding in series, 𝐹) = 𝐼! + = 𝐼! 𝑁)
2 2
𝐸') = 𝑉# − 𝐼! (𝑅! + 𝑅) )
𝐼! 𝑁)
When the two halves of field winding in parallel, 𝐹, = (𝐼! ⁄2)( 𝑁) E2)2 =
2
𝑅)
𝐸', = 𝑉# − 𝐼! + 𝑅!
For no magnetic saturation, 4

𝐸', 𝑛( (𝐼! 𝑁) ⁄2) 𝐸', Parallel connection of field coils results in higher
= ; 𝑛( = 2𝑛"
𝐸') 𝑛" (𝐼! 𝑁) ) 𝐸') operating speeds.
 Field Flux Control in dc series motor (Contd…)
For constant load torque, if ⌀f ↓, Ia ↑, N ↑. Thus, power input
VtIa and power output (=constant load torque X speed) ↑, thus
keeping efficiency almost constant.
For both shunt and series motor, the counter emf Eb remains
substantially constant, because a decrease in field flux is
compensated by a corresponding increase in speed. If the
armature current Ia is kept equal to the motor rated current for
its full utility, the power output IaEb remains approximately
constant and therefore, field flux control method may be called
constant power drive method.

Since EbIa remains approximately constant, the maximum torque is obtained when the dc
motor runs at the lowest speed. Thus, field flux control method is suitable to drives
requiring large torques at low speeds. In case the load requires constant torque over the
entire speed range, then the motor size is decided by the highest possible speed.
 Armature Voltage Control
The motor speed control is obtained merely
by changing the generator field current.

For better utility of motor M, its current Ia is

maintained equal to its rated value during
speed control.

To achieve a wider speed control range,

Ward-Leonard System of speed control
speeds below base speed are obtained by
voltage control and above base speed by field
flux control.
 Armature Voltage Control (Contd…)

Speeds from the lowest possible speed up to base speed are obtained by
increasing the generator output voltage, with constant motor field flux. Since
the speed control is carried out with rated Ia and with constant field flux ⌀f , a
constant torque up to base speed is obtained and power increases in proportion
to speed. Thus, constant torque and variable power drive is obtained up to base
speed, with armature terminal voltage control method.
 Armature Voltage Control (Contd…)

Speeds above base speed are obtained by decreasing the field flux ⌀f with
constant generator voltage. The armature current Ia is kept at rated value. Under
these conditions, VtIa or EaIa remains constant and the Te decreases as the field
flux ⌀f is decreased. Thus, weakening of the motor field flux results in constant
power and variable torque drive above base speed.
 Armature Voltage Control (Contd…)

DC Shunt motor DC Series motor