ELECTRIC MACHINES

DC Motors
EC5040-20214
FACULTY OF ENGINEERING, UNIVERSITY OF JAFFNA
Learning Outcomes
• Analyse parameters of the equivalent model of DC machines
Types of DC motors
 The DC motors have two windings
1. field winding
2. armature winding
The permanent magnet motor has only armature winding
 Based on field winding and armature winding connection DC motors are categorized
into following groups.
1. The separately excited dc motor
2. The shunt dc motor
3. The permanent magnet motor
4. The series dc motor
5. The compound dc motor
The Equivalent Circuit The separately excited dc motor
1. Field circuit
 Produces the magnetic flux in the machine
 Represented by 𝐿𝐹 and 𝑅𝐹
 𝑅𝑎𝑑𝑗 external variable resistor to control the field
current.
2. Armature circuit
 𝐸𝐴 and 𝑅𝐴 are Thevenin equivalent circuit of the
rotor
 𝑉𝑏𝑟𝑢𝑠ℎ is the bush voltage drop
 𝑉𝑏𝑟𝑢𝑠ℎ is the bush voltage drop is included in
𝑅𝐴
 Variable resistor and internal field resistance
are lumped together.
 The internal generated voltage 𝐸𝐴 =𝐾φ𝜔
 The induced torque 𝜏𝑖𝑛𝑑 =𝐾φ𝐼𝐴
The Magnetization Curve of A DC Machine
 The magnetization curve of a ferromagnetic material
• An induction motor has the same physical stator as a synchronous machine, but
• a different 𝐸𝐴 =𝐾φ𝜔
𝜉 = 𝑁𝐹 𝐼𝐹 rotor construction.
 At a fixed speed
•• There are two different types of induction motor rotors which can be placed
𝐸𝐴 - 𝐼𝐹 characteristic curve can be drawn
inside the stator. They are;
1. A cage rotor :
• Consists of a series of conducting bars laid into slots carved in the face of the rotor and
shorted at either end by large shorting rings.
 Shunt DC Motors
Separately Excited DC Motors  The field circuit is supplied by armature
terminals
 DC motors are supplied by constant-
 The field circuit is supplied by a separate
voltage power supply
constant-voltage power supply
𝑉
 No characteristic different between
 𝐼𝐹 = 𝐹 shunt and separately excited motor
𝑅𝐹
𝑉
 𝑅𝐹 is lumped resistance  𝐼𝐹 = 𝑇
𝑅𝐹
 𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 𝑅𝐴
 𝑅𝐹 is lumped resistance
 𝐼𝐿 = 𝐼𝐴
 𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 𝑅𝐴
 𝐼𝐿 = 𝐼𝐴 + 𝐼𝐹
 Example
• A 50-hp, 250-V, 1200 r/min dc shunt motor with compensating windings
has an armature resistance (including the brushes, compensating
windings, and interpoles) of 0.06Ω. Its field circuit has a total resistance
𝑅𝑎𝑑𝑗 + 𝑅𝐹 of 50Ω, which produces a no-load speed of 1200 r/min. There
are 1200 turns per pole on the shunt field winding.
a. Find the speed of this motor when its input current is 100 A.
b. Find the speed of this motor when its input current is 200 A.
c. Find the speed of this motor when its input current is 300 A.
d. Plot the torque-speed characteristic of this motor.
The Terminal Characteristic of a Shunt DC Motors
• An induction motor has the same physical stator as a synchronous machine, but
 aVariation
different rotor construction.
of output torque with speed
 𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 𝑅𝐴
•  There are
𝜏𝑖𝑛𝑑 =𝐾φ𝐼 𝐴
two different types of induction motor rotors which can be placed
 inside
𝐸𝐴 =𝐾φ𝜔the stator. They are;
𝜏𝑖𝑛𝑑
 1.
𝑉𝑇 A
= 𝐾φ𝜔 +
cage rotor 𝑅
𝐾φ 𝐴 :
𝑉 𝜏
 𝜔 =• 𝑇Consists
− 𝑖𝑛𝑑2 𝑅of a series of conducting bars laid into slots carved in the face of the rotor and
𝐾φ (𝑘𝜑) 𝐴
shorted at either end by large shorting rings.

 Armature reaction weaken the flux

𝑉 𝜏
 𝜔 = 𝑇 − 𝑖𝑛𝑑2 𝑅𝐴
𝐾φ (𝑘𝜑)
Speed control of shunt DC motor
 Speed control of shunt DC motor
Adjusting the Field Resistance - Issue
 Field resistance control does not help near stall condition
 Bigger torque and lower speed
 Increasing 𝑅𝐹 may spin down the motor instead of spin up

Adjusting the Terminal Voltage

 Increasing 𝑉𝑇 increases 𝐼𝐴
 Increasing 𝐼𝐴 increases 𝜏𝑖𝑛𝑑
 Increasing 𝜏𝑖𝑛𝑑 increases ω
 Increasing ω increases 𝐸𝐴
 Increasing 𝐸𝐴 decreases 𝐼𝐴
 Decreasing 𝐼𝐴 decreases 𝜏𝑖𝑛𝑑
until 𝜏𝑖𝑛𝑑 = 𝜏𝑙𝑜𝑎𝑑
 So motor settle at higher
speed
 Speed control of shunt DC motor
Inserting a Resister in Series with the Armature Circuit

𝑉𝑇 𝜏𝑖𝑛𝑑
 𝜔= − 𝑅
𝐾φ 𝑘𝜑 2 𝐴
 Changing 𝑅𝐴 changes the characteristic curves’ slope

Speed Control and Safe Conditions

 In field resistance control,

 Lower the field current in a shunt machine, the faster it turns
 Higher the field current in a shunt machine, the slower it returns
 In the armature voltage control,
 Lower the armature voltage on a shunt machine, the slower it turns.
 Higher the armature voltage on a shunt machine, the faster it turns.
 A motor is running at base speed it is operating at its rated terminal voltage, power
and field current.
The Permanent Magnet DC (PMDC) Motor
 Poles are made up of permanent magnets
 Armature is same as shunt DC machine
 No field windings in needed
• field resistance control is not available
 Advantages of PMDC motors are
• smaller in size
• high efficiency
• cheaper
• simpler
 Disadvantage of PMDC motors are
• Magnetic flux is weaker so 𝜏𝑖𝑛𝑑 per ampere of 𝐼𝐴 is smaller than shunt DC
machines
• Demagnetize caused by armature reaction
 PMDC are analyzed as shunt DC machine
 The Series DC Motor
The Series DC Motor
 𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 (𝑅𝐴 +𝑅𝑠 )
 𝜏𝑖𝑛𝑑 = 𝑘𝜑𝐼𝐴
 𝜑 = 𝑐𝐼𝐴
 𝜏𝑖𝑛𝑑 = 𝑘𝑐𝐼𝐴 2

The Terminal Characteristic of a Series DC Motors

𝜏𝑖𝑛𝑑
 𝐼𝐴 = 𝑘𝑐
 𝜑 = 𝑐𝐼𝐴 valid for unsaturated condition
𝑐
 𝜑= 𝜏
𝑘 𝑖𝑛𝑑
𝜏𝑖𝑛𝑑
 𝑉𝑇 = 𝑘𝑐𝜏𝑖𝑛𝑑 𝜔 + 𝑅𝐴 + 𝑅𝑆
𝑘𝑐
𝑉𝑇 1 𝑅𝐴 +𝑅𝑆
 𝜔= −
𝑘𝑐 𝜏𝑖𝑛𝑑 𝑘𝑐

 Speed Control - Adjusting 𝑉𝑇 is the efficient way

- Inserting resister into is an inefficient
 The Compounded DC Motor
Combination of shunt and series motor to achieve best
features of both

𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 𝑅𝐴 + 𝑅𝑆

𝐼𝐴 = 𝐼𝐿 − 𝐼𝐹

𝑉𝑇
𝐼𝐹 =
𝑅𝐹
The Torque-Speed Characteristic of a Cumulative Compounded
DC Motor

 There are two flux components

• One is constant ( from shunt)
• Other is proportional to 𝐼𝐴 (from series)
 At lower load it behaves as shunt DC motor
• No load speed is not infinite
 At load it behaves as series DC motor
Solid State Speed Controllers – Two Quadrant & Four Quadrant

 Shunt magneto motive force and series magneto motive force subtract each other.
 Flux decreases when 𝐼𝐴 increases
 The nonlinear analysis of compounded DC motor
 Example
A 100hp, 250V compounded dc motor with compensating windings has an internal resistance, including
the series winding, of 0.04Ω. There are 1000 turns per pole on the shunt field and 3 turns per pole on the
series winding. The machine is shown in Figure 1, and its magnetization curve is shown in Figure 2. At
no load, the field resistor has been adjusted to make the motor run at 1200 r/min. The core, mechanical,
and stray losses may be neglected.
a. What is the shunt field current in this machine at no load?
b. If the motor is cumulatively compounded, find its speed
when 𝐼𝐴 = 200 A.
c. If the motor is differentially compounded, find its speed
when 𝐼𝐴 = 200 A.
Speed Control in the Cumulatively Compounded DC Motor

Same three method as in shunt DC motor

1. Change the field resistance
2. Change the armature voltage
3. Change the armature resistance

Starting DC Motors
 Starting current is huge and may
damage the machine.
 Insert a large resister at beginning
and reduce it gradually
Solid State Speed Controllers – Two Quadrant, Four Quadrant
 DC Generators

The Separately Excited DC Generator

 Field current is supplied by a separate
external DC voltage source.
 𝐼𝐿 = 𝐼𝐴
 𝑉𝑇 = 𝐸𝐴 − 𝐼𝐴 𝑅𝐴
𝑉
 𝐼𝐹 = 𝑅𝐹
𝐹
 𝑅𝐹 is lumped resistance
The Terminal Characteristic of a Separately Excited DC Generator

Behavior of the output quantities

• Plot of voltage versus current
𝑉𝑇 = 𝐸𝐴 − 𝐼𝐴 𝑅𝐴
𝐸𝐴 ↓= 𝐾 φ ↓ 𝜔

Control of Terminal Voltage

• Change the speed of the motor
𝐸𝐴 = 𝐾 φ𝜔 ↑↓
• Change the field current
 DC Generators
The Shunt DC Generator
 𝐼𝐿 = 𝐼𝐴 + 𝐼𝐹
 𝑉𝑇 = 𝐸𝐴 − 𝐼𝐴 𝑅𝐴
𝑉
 𝐼𝐹 = 𝑇
𝑅𝐹
 𝑅𝐹 is lumped
resistance
Voltage Build-up in a Shunt DC Generator
 𝐸𝐴 = 𝐾𝜑𝑟𝑒𝑠 𝜔
 Possible failures
1. No residual magnetic flux
• Flashing the field - Connect
an external source
2. Rotational direction is opposite
• Build-up flux cancel out the
residual flux
3. The field resistance is higher
than the critical resistance.
 The Terminal Characteristic of a Shunt DC Generator

 𝑉𝑇 ↓↓ = 𝐸𝐴 ↓ − 𝐼𝐴 ↑𝑅𝐴
𝑉 ↓
 𝐼𝐹 ↓ = 𝑅𝑇
𝐹
 Control of Terminal Voltage
• Change the speed of the motor
𝐸𝐴 = 𝐾φ𝜔 ↑↓
• Change the field current
𝐸𝐴 = 𝐾 φ ↑↓ 𝜔

The Series DC Generator

 𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 (𝑅𝐴 + 𝑅𝑆 )
 𝐼𝐴 = 𝐼𝑆 = 𝐼𝐿
The Terminal Characteristic of a Series DC Generator

 Residual flux helps to build-up the voltage

 Series DC motor are used only in a few special application
• Arc welding
o High voltage when electrodes have a gap
o Very low voltage when electrodes touch the metals
 Voltage control is not needed

The Cumulative Compounded DC Generator

 Reference
• A. (1994). Electric Machinery Fundamentals 5th (fifth) Edition
by Chapman, Stephen published by McGraw-Hill
Science/Engineering/Math (2011) (56019th ed.). McGraw-Hill
Science/Engineering/Math.