Permanent-Magnet Direct

Current - PMDC

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 PMDC MOTOR - In DC motors, the stationary
element consists of salient
“poles,” which are constructed of
- In a DC motor, an armature laminated assemblies with coils
rotates inside a magnetic field. wound round them to produce a
Basic working principle of DC motor magnetic field.
is based on the fact that whenever
a current carrying conductor is
placed inside a magnetic field,
there will be mechanical force
experienced by that conductor.

- The magnet can by any types i.e.

it may be electromagnet or it can
be permanent magnet. When
permanent magnet is used to
create magnetic field in a DC
motor, the motor is referred as
permanent magnet DC motor or
PMDC motor.

https://www.youtube.com/watch?v=7bb7vQI3wpQ
 Permanent Magnet DC Motors (PMDM)
- Permanent magnet DC motors are
constructed out of a number of
components
- The exact design and materials vary
with each type of motor and depend
on the application and constraints, but
several elements are common to most.
- The construction generally consists of :
Stator, rotor and commutatator.

Permanent Magnet Brushed DC Motor

Construction, Components and Nomenclature

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 Permanent Magnet DC Motors (PMDM)
- In terms of generating torque, the
critical elements of the motor are the
stator and the armature, which are the
sources of the two interacting magnetic
fields.
- The stator is commonly shaped like a
thick-walled tube, and the rotor and
armature fit in the hollow space in the
middle of the stator.
- The lines of magnetic flux established
by the stator run from one side of the
stator to the other.
- The armature contains a large number
of wire loops, or coils, identical to the
single one shown, arranged in a radial Permanent Magnet DC Motor Stator and
pattern around the rotor so that Armature Detail
continuous torque is generated as the
rotor rotates. Also, the additional loops
contribute additional resulting forces,
and hence more motor torque.
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 Permanent Magnet DC Motors (PMDM)
- The commutator and brushes
together perform the
switching of the current in the
coils of the armature required
by this approach.
- The commutator-to-brush
contact is the point where
current is introduced into the
coils.
- The commutator is shaped like
a smooth annular ring with
strips of conductive material
alternating with strips of Electrical connections and layout of armature
insulating material. Each of the coils, commutator and brushes.
coils of the armature is
connected across two adjacent
conducting segments of the
commutator.

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 Electrical Model
- Electrically, permanent magnet DC motors
can be modeled as a series of three basic
electrical components: a resistor, an
inductor, and a source of electro-motive
force (EMF), or voltage.
- This voltage source is commonly called the
“back-EMF” or “counter EMF.” The origins
of the resistive and inductive components
are easy to see.
- The resistor in the model is a result of the
finite resistance per unit length of wire used
to construct the coils in the armature.
- The inductor is a result of coils of wire that
make up the armature windings. All coils of
wire act as inductors.

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 Characteristic Constants for Permanent Magnet Brushed DC Motors

The value of Ke is determined by the construction, geometry, and materials properties

of the motor. Quantities like the motor’s physical dimensions, the number of turns in
the coil windings, and the magnetic flux density of the stator all contribute to the value
of Ke.

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 Characteristic Constants for Permanent Magnet Brushed DC Motors
Because of friction, the torque generated by the motor may be treated as being made
up of two terms: frictional torque and usable torque (or torque that is available at the
motor’s output shaft and may be used to drive a load):

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For now, we assume Tf ≈0. For most motors this is a reasonable first approximation.
If the losses are negligible, then the mechanical power into the generator, Tω, will
equal the electrical power out, EI.
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We can combine Eq.1 with Eq. 3 to yield:

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Which can be simplified to:

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Or:
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Example 1

A motor with KT = 0.0416 N.m/A and a coil resistance of 1.76Ω is driven with a supply
voltage of 12V. If the motor’s friction torque is 0.0085 N.m, what is the maximum torque
available for driving a load? How much current is flowing under these conditions?

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 Characteristic Equations for Constant Voltage

To more fully understand the torque and speed characteristics of a motor we can
start by examining what goes on when we place the motor into a circuit with a
driving voltage.

We can use Kirchoff’s laws to write a loop

equation to describe the steady-state current
flow in this circuit.

The voltage drop across the motor’s coils has an I⋅R term, as you would normally expect,
plus the effects of the back-EMF generated by spinning the motor, expressed in the term
Ke⋅ω. 10
 Characteristic Equations for Constant Voltage
Some implications of equations Eq. 1, Eq. 6 and Eq. 7 are:
- The higher the rotational speed of the motor, the lower the current flow and
therefore the lower the torque. This occurs because of the back-EMF.
- Maximum speed corresponds to 0 current flow and therefore 0 torque (we
obviously can’t achieve this with a real motor).
- When ω = 0 (a condition referred to as “stall”) V = IR and current and torque will
both be at a maximum.

By substituting Eq. 7 into Eq. 6, we can develop an expression relating torque to speed.

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 Characteristic Equations for Constant Voltage

Eq. 8 shows that, for a given voltage V, torque and speed for a motor are linearly related.
Often, this is graphically represented with a plot showing a family of lines relating T vs. ω
for several constant values of voltage, V.

Typical Torque vs. ω Curves for a Permanent Magnet DC Motor

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 Characteristic Equations for Constant Voltage
From the Figure, y-intercept of each line is the maximum speed that the motor can achieve
for a given voltage, which occurs for the idealized case where there is no torque generated.
This is called the “no-load speed,” written as ωNL, and is the:

The slope of the line given by Eq. 8 is the multiplier on T, which is R/ KT Ke . The slope
term is also given it own symbol, RM, and is called the “speed regulation constant”:

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By substituting ωNL and RM into Eq. 8 we get an expression that is more easily identified as
that of a straight line:

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 Characteristic Equations for Constant Voltage
The x-intercept of the constant-voltage line represents the case where ω = 0, which occurs
when the motor is stalled. This is the point at which torque, and therefore current, are
maximized. This is called the “stall torque,” and given the symbol TSTALL or TS. The
corresponding “stall current” is given the symbol ISTALL or IS. If we set ω = 0 in Eq. 11, we can
also express TSTALL as:

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 Characteristic Equations for Constant Voltage

Stall occurs whenever the motor is attempting to spin or move against a force that
exceeds the amount of torque it can generate internally, and any time the motor is
started from a resting position, and any time the motor reverses direction. This is an
important point: stall torque (and stall current) occurs any time the motor starts from a
stop or reverses direction. This is a critical point to consider when designing circuits to
drive DC motors.

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Example 2
A PMDC motor will be used to spin a cooling fan installed in a toy that would otherwise
overheat and deform. The application requires a motor that can supply at least 225 mNm
of torque at 2000 rpm. Will a motor with a no-load speed of 9,550 rpm and a coil
resistance of 2.32Ω, powered by a 24V battery pack, be adequate for the task?

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 Power Characteristics

Mechanical power is defined as P = Tω. Recall from Eq. 2 that overall motor torque is
made up of a friction torque term and a usable torque term, so the full expression for
motor power output becomes:

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 Power Characteristics

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Taking the derivative of Eq. 16 with respect to torque and setting the results equal to 0 yields
the point of maximum power. The results of that exercise are that maximum power output for
a permanent magnet brushed DC motor occurs when T = ½ TSTALL

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Characteristic Equations for Constant Voltage

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Example 3

A motor with a terminal resistance of 0.316Ω and KT = 30.2 mNm/A is powered by a 12V
supply. Measurements show that the operating rotational speed is 3616 rpm with a
current flow of 1.79A. How much power does the motor generate under these
conditions? What percentage of the maximum possible power is this for the motor
operating at 12V?

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 Power flow and losses in DC machines

Unfortunately, not all electrical power is converted to mechanical power by a motor

and not all mechanical power is converted to electrical power by a generator…

The efficiency of a DC machine is:

or
 The losses in DC machines
There are five categories of losses occurring in DC machines.

1. Electrical or copper losses – the resistive losses in the armature and field
windings of the machine.

Armature loss: PA  I A2 RA
Field loss:

Where IA and IF are armature and field currents and RA and RF are armature and
field (winding) resistances usually measured at normal operating temperature.
 The losses in DC machines

2. Brush (drop) losses – the power lost across the contact potential at the
brushes of the machine.

Where IA is the armature current and VBD is the brush voltage drop. The voltage
drop across the set of brushes is approximately constant over a large range of
armature currents and it is usually assumed to be about 2 V.

Other losses are exactly the same as in AC machines…

 The losses in DC machines

3. Core losses – hysteresis losses and eddy current losses. They vary as B2
(square of flux density) and as n1.5 (speed of rotation of the magnetic field).

4. Mechanical losses – losses associated with mechanical effects: friction

(friction of the bearings) and windage (friction between the moving parts of the
machine and the air inside the casing). These losses vary as the cube of rotation
speed n3.

5. Stray losses – losses that cannot be classified in any of the previous

categories. They are usually due to inaccuracies in modeling. For many machines,
stray losses are assumed as 1% of full load.
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Example 4
A separately excited DC motor has Ra=1.3Ω and V= 220 V. For an output power of 3hp,
Nm=950 rpm and Ia=12.2 A. The field current remains constant for all parts of this
problem.
A) Find the developed power, developed torque, power loss in RA and rotational losses
(1hp=746w).
B) Find the no load current for this rotor.

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