MTS 231 Actuating System

Dr. Basharat Ullah

Week 12

Department of Mechatronics
College of Electrical and Mechanical
Engineering
Nonlinear Analysis of a Shunt DC Motor
❑ The flux  and the internal generated voltage 𝐸𝐴 of a DC machine are nonlinear functions
of its mmf and must be determined based on the magnetization curve.
❑ Two main contributors to the mmf are its field current and the armature reaction (if
present).
❑ Since the magnetization curve is a plot of the generated voltage vs. field current, the
effect of changing the field current can be determined directly from the magnetization
curve.
❑ If a machine has armature reaction, its flux will reduce with increase in load. The total
mmf in this case will be
𝔉𝑛𝑒𝑡 = 𝑁𝐹 𝐼𝐹 − 𝔉𝐴𝑅
❑ It is customary to define an equivalent field current that would produce the same output
voltage as the net (total) mmf in the machine; 𝔉𝐴𝑅
∗
𝐼𝐹 = 𝐼𝐹 −
𝑁𝐹
Nonlinear Analysis of a Shunt DC Motor
❑ Conducting a nonlinear analysis to determine the internal generated voltage in a DC
motor, we may need to account for the fact that a motor can be running at a speed other
than the rated one.
𝐸𝐴 𝑛
=
𝐸𝐴0 𝑛0

❑ Where 𝐸𝐴0 and 𝑛0 represent the reference (rated) values of voltage and speed,
respectively. Therefore, if the reference conditions are known from the magnetization
curve and the actual 𝐸𝐴 is computed, the actual speed can be determined.
Example 8-2
❑ A 50-hp, 250-V, 1200 r/min dc shunt motor without compensating windings has an
armature resistance (including the brushes and interpoles) of 0.06 Ω. Its field circuit has
a total resistance Radj + RF of 50 , which produces a no-load speed of 1200 r/min. There
are 1200 turns per pole on the shunt field winding, and the armature reaction produces
a demagnetizing magnetomotive force of 840 A• turns at a load current of 200 A. The
magnetization curve of this machine is shown in Figure.

a) Find the motor speed when its input current is

200 A.
b) How does the motor speed compare to the
speed of the motor from Example 8.1 (same
motor but with compensating windings) with an
input current of 200 A?
c) Plot the motor torque-speed characteristic.
Speed Control of Shunt DC Motors
❑ There are two methods to control the speed of a shunt DC motor:
o Adjusting the field resistance 𝑅𝐹 (and thus the field flux)
o Adjusting the terminal voltage applied to the armature

❑ Adjusting the field resistance

❑ Increasing field resistance RF decreases the field current (IF = VT/RF);
❑ Decreasing field current IF decreases the flux ;
❑ Decreasing flux decreases the internal generated voltage (EA = K);
❑ Decreasing EA increases the armature current (IA = (VT – EA)/RA);
❑ Changes in armature current dominate over changes in flux; therefore, increasing
IA increases the induced torque (ind = KIA);
Speed Control of Shunt DC Motors
❑ Adjusting the field resistance
❑ Increased induced torque is now larger than the load torque load and, therefore,
the speed  increases;
❑ Increasing speed increases the internal generated voltage EA;
❑ Increasing EA decreases the armature current IA
❑ Decreasing IA decreases the induced torque until ind = load at a higher speed .
Speed Control of Shunt DC Motors
❑ Example:
A shunt dc motor given in the figure with an internal resistance of 0.25 Ω. It is
currently operating with a terminal voltage of 250 V and an internal generated
voltage of 245 V. What happens in this motor if there is a 1 percent decrease in flux?
Speed Control of Shunt DC Motors
❑ The effect of increasing the field resistance
within a normal load range: from no load to
full load.
❑ Increase in the field resistance increases the
motor speed. Observe also that the slope of
the speed-torque curve becomes steeper
when field resistance increases.
Speed Control of Shunt DC Motors
❑ The effect of increasing the field resistance over
an entire load range: from no-load to stall.
❑ At very slow speeds (overloaded motor), an
increase in the field resistance decreases the
speed. In this region, the increase in armature
current is no longer large enough to compensate
for the decrease in flux.
❑ Some small DC motors used in control circuits
may operate at speeds close to stall conditions.
❑ For such motors, an increase in field resistance may have no effect (or opposite to
the expected effect) on the motor speed. The result of speed control by field
resistance is not predictable and, thus, this type of control is not very common.
Questions?
Lecture 22
Speed Control of Shunt DC Motors
❑ Changing the armature voltage
❑ This method implies changing the voltage
applied to the armature of the motor
without changing the voltage applied to its
field.
❑ Therefore, the motor must be separately
excited to use armature voltage control.
✓ Increasing the armature voltage VA increases the armature current (IA = (VA - EA)/RA);
✓ Increasing armature current IA increases the induced torque ind (ind = KIA);
✓ Increased induced torque ind is now larger than the load torque load and, therefore,
the speed ;
✓ Increasing speed increases the internal generated voltage (EA = K);
Speed Control of Shunt DC Motors
❑ Changing the armature voltage
✓Increasing EA decreases the armature current IA
✓Decreasing IA decreases the induced torque until ind = load at a higher speed .
❑ Increasing the armature voltage of a separately excited DC motor does not
change the slope of its torque-speed characteristic.
Speed Control of Shunt DC Motors
❑ If a motor is operated at its rated terminal voltage, power, and field current, it will
be running at the rated speed also called a base speed.
❑ Field resistance control can be used for speeds above the base speed but not
below it. Trying to achieve speeds slower than the base speed by the field circuit
control, requires large field currents that may damage the field winding.
❑ Since the armature voltage is limited to its rated value, no speeds exceeding the
base speed can be achieved safely while using the armature voltage control.
❑ Therefore, armature voltage control can be used to achieve speeds below the
base speed, while the field resistance control can be used to achieve speeds
above the base speed.
❑ Shunt and separately excited DC motors have excellent speed control
characteristic.
Speed Control of Shunt DC Motors
❑ For the armature voltage control, the flux in the motor is constant. Therefore, the
maximum torque in the motor will be constant too regardless the motor speed:

❑ Since the maximum power of the motor is

❑ The maximum power out of the motor is directly proportional to its speed.
❑ For the field resistance control, the maximum power out of a DC motor is
constant, while the maximum torque is reciprocal to the motor speed.
Speed Control of Shunt DC Motors
❑ Torque and power limits as functions of motor speed for a shunt (or separately
excited) DC motor.
Example 8.3
❑ A 100 hp, 250 V, 1200 rpm DC shunt motor with an armature resistance of 0.03 
and a field resistance of 41.67 . The motor has compensating windings, so
armature reactance can be ignored. Mechanical and core losses may be ignored
also. The motor is driving a load with a line current of 126 A and an initial speed
of 1103 rpm. Assuming that the armature current is constant.
For the magnetization curve shown in figure, what is the
motor speed if the field resistance is increased to 50 ?
Example 8.4
❑ Assuming that the motor next is connected as a separately excited and is initially
running with 𝑉𝐴 = 250 𝑉,𝐼𝐴 = 120 𝐴 and at 𝑛 = 1103 𝑟𝑝𝑚 while supplying a
constant-torque load, estimate the motor speed if VA is reduced to 200 V.
The series DC motor
❑ A series DC motor is a DC motor whose field windings consists of a relatively few
turns connected in series with armature circuit.
❑ The terminal characteristic of a series DC motor is quite different from that of the
shunt motor since the flux is directly proportional to the armature current
(assuming no saturation). An increase in motor flux causes a decrease in its
speed; therefore, a series motor has a dropping torque-speed characteristic.
❑ The induced torque in a series machine is
𝜏𝑖𝑛𝑑 = 𝐾𝜙𝐼𝐴
❑ Since the flux is proportional to the
armature current: 𝜙 = 𝑐𝐼𝐴
❑ where c is a proportionality constant.
The series DC motor
❑ Therefore, the torque is 𝜏𝑖𝑛𝑑 = 𝐾𝑐𝐼𝐴2
❑ Torque in the motor is proportional to the square of its armature current. Series
motors supply the highest torque among the DC motors. Therefore, they are used
as car starter motors, elevator motors etc.
❑ Assuming first that the magnetization curve is linear and no saturation occurs,
flux is proportional to the armature current: 𝜙 = 𝑐𝐼𝐴
𝜏𝑖𝑛𝑑
❑ Since the armature current is: 𝐼𝐴 = and the armature voltage: 𝐸𝐴 = 𝐾𝜙𝜔
𝐾𝑐

❑ The Kirchhoff’s voltage law would be

𝜏𝑖𝑛𝑑
𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 (𝑅𝐴 + 𝑅𝑆 ) = 𝐾𝜙𝜔 + 𝑅 + 𝑅𝑆
𝐾𝑐 𝐴
The series DC motor
𝐾 2
❑ Since Torque: 𝜏𝑖𝑛𝑑 = 𝐾𝑐𝐼𝐴2 = 𝜙
𝑐 𝑐
❑ Therefore, the flux in the motor is 𝜙= 𝜏𝑖𝑛𝑑
𝐾
❑ The voltage equation then becomes
𝑐 𝜏𝑖𝑛𝑑
𝑉𝑇 = 𝐾 𝜏𝑖𝑛𝑑 𝜔 + 𝑅𝐴 + 𝑅𝑆
𝐾 𝐾𝑐
❑ which can be solved for the speed:
𝑉𝑇1 𝑅𝐴 + 𝑅𝑆
𝜔= −
𝐾𝑐 𝜏𝑖𝑛𝑑 𝐾𝑐

❑ The speed of unsaturated series motor inversely proportional to the square root
of its torque.
The series DC motor
❑ One serious disadvantage of a series motor is that its speed goes to infinity for a
zero torque.
❑ In practice, however, torque never goes to zero because of the mechanical, core,
and stray losses. Still, if no other loads are attached, the motor will be running
fast enough to cause damage.
❑ Steps must be taken to ensure that a
series motor always has a load!
❑ Therefore, it is not a good idea to
connect such motors to loads by a belt
or other mechanism that could break.
Example 8.5
❑ A 250 V series DC motor with compensating windings has a total series resistance
RA + RS of 0.08 . The series field consists of 25 turns per pole and the
magnetization curve is shown in figure.

❑ Find the speed and induced torque of this

motor when its armature current is 50 A.
❑ Calculate and plot its torque-speed
characteristic.
Speed Control of Series DC Motor
❑ The only way to control speed of a series DC motor is by changing its terminal
voltage, since the motor speed is directly proportional to its terminal voltage for
any given torque.
Compounded DC Motor
❑ A compounded DC motor is a motor with both a shunt and a series field.
❑ Current flowing into a dotted end of a
coil (shunt or series) produces a
positive mmf.
❑ If current flows into the dotted ends of Long-shunt
connection
both coils, the resulting mmfs add to
produce a larger total mmf –
cumulative compounding.
❑ If current flows into the dotted end of
one coil and out of the dotted end of
another coil, the resulting mmfs Short-shunt
subtract – differential compounding. connection
Compounded DC Motor
❑ The Kirchhoff’s voltage law equation for a compounded DC motor is
𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 𝑅𝐴 + 𝑅𝑆
❑ The currents in a compounded DC motor are 𝐼𝐴 = 𝐼𝐿 − 𝐼𝐹
𝑉𝑇
𝐼𝐹 =
𝑅𝐹
Cumulatively compounded

❑ The mmf of a compounded DC motor: 𝔉𝑛𝑒𝑡 = 𝔉𝐹 ± 𝔉𝑆𝐸 − 𝔉𝐴𝑅

Differentially compounded

❑ The effective shunt field current in a compounded DC motor:

∗
𝑁𝑆𝐸 𝔉𝐴𝑅
𝐼𝐹 = 𝐼𝐹 + 𝐼𝐴 −
𝑁𝐹 𝑁𝐹
Number of turns
Cumulatively Compounded Motors: Torque-Speed Characteristic

❑ In a cumulatively compounded motor, there is a constant component of flux and

a component proportional to the armature current (and thus to the load).
❑ These motors have a higher starting torque than shunt motors (whose flux is
constant) but lower than series motors (whose flux is proportional to the
armature current).
❑ The series field has a small effect at light loads – the motor behaves as a shunt
motor. The series flux becomes quite large at large loads – the motor acts like a
series motor.
Differentially Compounded Motors: Torque-Speed Characteristic

❑ Since the shunt mmf and series mmf subtract from each other in a differentially
compounded motor, increasing load increases the armature current 𝐼𝐴 and
decreases the flux.
❑ When flux decreases, the motor speed increases further increasing the load. This
results in an instability (much worse than one of a shunt motor) making
differentially compounded motors unusable for any applications.
❑ In addition to that, these motors are not easy to
start. The motor typically remains still or turns
very slowly consuming enormously high
armature current.
❑ Stability problems and huge starting armature
current lead to these motors being never used
intentionally.
Example 8.6
❑ A 100 hp, 250 V compounded DC motor with compensating windings has an
internal resistance, including the series winding of 0.04 . There are 1000 turns
per pole on the shunt field and 3 turns per pole on the series windings. The
magnetization curve is shown below. The field resistor has been adjusted for the
motor speed of 1200 rpm. The mechanical, core, and stray losses may be
neglected.
❑ Find the no-load shunt field current.
❑ If the motor is cumulatively compounded, find
its speed when 𝐼𝐴 = 200 𝐴.
❑ If the motor is differentially compounded, find
its speed when 𝐼𝐴 = 200 𝐴.
The Permanent Magnet DC Motor
❑ A permanent magnet DC (PMDC) motor is a motor whose poles are made out of
permanent magnets.
❑ Advantages
o Since no external field circuit is needed, there are no field circuit copper losses;
o Since no field windings are needed, these motors can be considerable smaller.
❑ Disadvantages
o Since permanent magnets produces weaker flux densities then externally supported
shunt fields, such motors have lower induced torque.
o There is always a risk of demagnetization from extensive heating or from armature
reaction effects (via armature mmf).
Questions?