EEE 360

Energy Conversion and

Transport
George G. Karady & Keith Holbert

Chapter 8
DC Motors

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 Lecture 24

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 8.1 DC Motor
• The direct current (dc) machine can be used as
a motor or as a generator.
• DC Machine is most often used for a motor.
• The major advantages of dc machines are the
easy speed and torque regulation.
• However, their application is limited to mills,
mines and trains. As examples, trolleys and
underground subway cars may use dc motors.
• In the past, automobiles were equipped with dc
dynamos to charge their batteries.

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 8.1 DC Motor
• Even today the starter is a series dc motor
• However, the recent development of power
electronics has reduced the use of dc motors
and generators.
• The electronically controlled ac drives are
gradually replacing the dc motor drives in
factories.
• Nevertheless, a large number of dc motors are
still used by industry and several thousand are
sold annually.

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 8.1 Construction

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 DC Machine Construction

Figure 8.1 General arrangement of a dc machine

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 DC Machines
• The stator of the dc motor has
poles, which are excited by dc
current to produce magnetic
fields.
• In the neutral zone, in the middle
between the poles, commutating
poles are placed to reduce
sparking of the commutator. The
commutating poles are supplied
by dc current.
• Compensating windings are
mounted on the main poles.
These short-circuited windings
damp rotor oscillations. .

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 DC Machines
• The poles are mounted on an
iron core that provides a
closed magnetic circuit.
• The motor housing supports
the iron core, the brushes and
the bearings.
• The rotor has a ring-shaped
laminated iron core with slots.
• Coils with several turns are
placed in the slots. The
distance between the two legs
of the coil is about 180 electric
degrees.

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 DC Machines
• The coils are connected in series
through the commutator
segments.
• The ends of each coil are
connected to a commutator
segment.
• The commutator consists of
insulated copper segments
mounted on an insulated tube.
• Two brushes are pressed to the
commutator to permit current
flow.
• The brushes are placed in the
neutral zone, where the magnetic
field is close to zero, to reduce
arcing.

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 DC Machines
• The rotor has a ring-shaped
laminated iron core with slots.
• The commutator consists of
insulated copper segments
mounted on an insulated tube.
• Two brushes are pressed to
the commutator to permit
current flow.
• The brushes are placed in the
neutral zone, where the
magnetic field is close to zero,
to reduce arcing.

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 DC Machines
• The commutator switches the
current from one rotor coil to
the adjacent coil,
• The switching requires the
interruption of the coil
current.
• The sudden interruption of an
inductive current generates
high voltages .
• The high voltage produces
flashover and arcing between
the commutator segment and
the brush.

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 DC Machine Construction
Rotation
Ir_dc/2 Ir_dc Ir_dc/2
Brush Pole
winding
Shaft

|
1
2
8

3
N 7
S
6 4
5

Insulation Copper
Rotor Ir_dc segment
Winding

Figure 8.2 Commutator with the rotor coils connections.

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 DC Machine Construction

Figure 8.3 Details of the commutator of a dc motor.

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 DC Machine Construction

Figure 8.4 DC motor stator with poles visible.

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 DC Machine Construction

Figure 8.5 Rotor of a dc motor.

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 DC Machine Construction

Figure 8.6 Cutaway view of a dc motor.

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 8.2.1 DC Motor
Operation

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 DC Motor Operation
• In a dc motor, the stator
poles are supplied by dc Rotation
Ir_dc/2
Ir_dc/2
excitation current, which Brush
Ir_dc Pole
winding
produces a dc magnetic Shaft

field. |

• The rotor is supplied by

1
2
8

dc current through the N 7

6
3
S
brushes, commutator 5
4

and coils.
• The interaction of the Insulation
Rotor Ir_dc
Copper
segment
magnetic field and rotor Winding

current generates a force

that drives the motor

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 8.2.1 DC Motor Operation
• The magnetic field lines v
a
B

enter into the rotor from the 1

S N
north pole (N) and exit 30
2
Vdc
toward the south pole (S).
b
• The poles generate a v
magnetic field that is Ir_dc
perpendicular to the current (a) Rotor current flow from segment 1 to 2 (slot a to b)
carrying conductors.
• The interaction between the B

field and the current a

produces a Lorentz force, S N

2
v 30 v Vdc
• The force is perpendicular to

1
b
both the magnetic field and
conductor Ir_dc

(b) Rotor current flow from segment 2 to 1 (slot b to a)

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 8.2.1 DC Motor Operation
v B
• The generated force turns the rotor a

until the coil reaches the neutral 1

S N
point between the poles. 30
2
Vdc
• At this point, the magnetic field b
becomes practically zero together v
with the force. Ir_dc
• However, inertia drives the motor
(a) Rotor current flow from segment 1 to 2 (slot a to b)
beyond the neutral zone where the
direction of the magnetic field B
reverses. a

• To avoid the reversal of the force

S N

2
direction, the commutator changes v 30 v Vdc

1
the current direction, which b

maintains the counterclockwise

rotation. . Ir_dc

(b) Rotor current flow from segment 2 to 1 (slot b to a)

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 8.2.1 DC Motor Operation
• Before reaching the neutral zone, v
a
B
the current enters in segment 1 and
exits from segment 2, S 1
30
N Vdc
•
2
Therefore, current enters the coil
end at slot a and exits from slot b b

during this stage. v

Ir_dc
• After passing the neutral zone, the
current enters segment 2 and exits (a) Rotor current flow from segment 1 to 2 (slot a to b)

from segment 1, B
• This reverses the current direction a

through the rotor coil, when the coil S N

2
passes the neutral zone. v 30 v Vdc

1
• The result of this current reversal is b

the maintenance of the rotation.

Ir_dc

(b) Rotor current flow from segment 2 to 1 (slot b to a)

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 8.2.2 DC Generator
Operation

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 8.2.2 DC Generator Operation
• The N-S poles produce a v
a
B

dc magnetic field and the S 1

N
rotor coil turns in this 30 Vdc
2

field. b

• A turbine or other v
Ir_dc
machine drives the rotor.
(a) Rotor current flow from segment 1 to 2 (slot a to b)
• The conductors in the
slots cut the magnetic flux B
lines, which induce a

voltage in the rotor coils. S N

2
v 30
v Vdc
• The coil has two sides:

1
b
one is placed in slot a, the
other in slot b. Ir_dc
(b) Rotor current flow from segment 2 to 1 (slot b to a)

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 8.2.2 DC Generator Operation
• In Figure 8.11A, the v
a
B

conductors in slot a are 1

cutting the field lines S 30
N Vdc
2
entering into the rotor
from the north pole, b

v
• The conductors in slot b Ir_dc
are cutting the field lines (a) Rotor current flow from segment 1 to 2 (slot a to b)
exiting from the rotor to
the south pole. B
• The cutting of the field a

lines generates voltage in S N

2
v 30 Vdc
the conductors. v

1
• The voltages generated in b

the two sides of the coil

are added. Ir_dc
(b) Rotor current flow from segment 2 to 1 (slot b to a)

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 8.2.2 DC Generator Operation
• The induced voltage is v
a
B

connected to the generator 1

terminals through the S 30
N Vdc
2
commutator and brushes.
• In Figure 8.11A, the induced
b

v
voltage in b is positive, and in Ir_dc
a is negative. (a) Rotor current flow from segment 1 to 2 (slot a to b)
• The positive terminal is
connected to commutator B
segment 2 and to the a

conductors in slot b. S N

2
v 30
v Vdc
• The negative terminal is

1
connected to segment 1 and b

to the conductors in slot a.

Ir_dc
(b) Rotor current flow from segment 2 to 1 (slot b to a)

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 8.2.2 DC Generator Operation
• When the coil passes the v
a
B

neutral zone: 1
– Conductors in slot a are S 30
N Vdc
2
then moving toward the
south pole and cut flux lines b

exiting from the rotor v

– Conductors in slot b cut the Ir_dc
flux lines entering the in (a) Rotor current flow from segment 1 to 2 (slot a to b)
slot b.
• This changes the polarity B
of the induced voltage in a

the coil. S N

2
v 30
v Vdc
• The voltage induced in a

1
is now positive, and in b is b

negative.
Ir_dc
(b) Rotor current flow from segment 2 to 1 (slot b to a)

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 8.2.2 DC Generator Operation
• The simultaneously the v
a
B

commutator reverses its S 1

N
terminals, which assures 30 Vdc
2

that the output voltage b

(Vdc) polarity is v
unchanged. Ir_dc

• In Figure 8.11B (a) Rotor current flow from segment 1 to 2 (slot a to b)

– the positive terminal is B

connected to commutator a

segment 1 and to the

S N

2
conductors in slot a. v 30
v Vdc

1
– The negative terminal is
b
connected to segment 2 and
to the conductors in slot b. Ir_dc
(b) Rotor current flow from segment 2 to 1 (slot b to a)

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 8.2.3 DC Machine
Equivalent Circuit

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 Generator

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 8.2.3 DC Generator Equivalent
circuit
• The magnetic field produced by the stator poles induces a
voltage in the rotor (or armature) coils when the
generator is rotated.
• This induced voltage is represented by a voltage source.
• The stator coil has resistance, which is connected in
series.
• The pole flux is produced by the DC excitation/field
current, which is magnetically coupled to the rotor
• The field circuit has resistance and a source
• The voltage drop on the brushes represented by a battery
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 8.2.3 DC Generator Equivalent
circuit
Vbrush
Rf Ra Load
max
Iag
Vf If Eag Vdc

Mechanical Electrical
power in power out

• Figure 8.12Equivalent circuit of a separately excited dc

generator.

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 8.2.3 DC Generator Equivalent
circuit
• The magnetic field produced by the stator poles
induces a voltage in the rotor (or armature) coils
when the generator is rotated.
• The dc field current of the poles generates a
magnetic flux
• The flux is proportional with the field current if
the iron core is not saturated:
 ag  K 1 I f

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 8.2.3 DC Generator Equivalent
circuit
• The rotor conductors cut the field lines that
generate voltage in the coils.
E ag  2 N r B  g v
• The motor speed and flux equations are :

Dg
v   ag  B  g D g
2

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 8.2.3 DC Generator Equivalent
circuit
• The combination of the three equation
results the induced voltage equation:

 Dg 
Eag  2 N r B  g v  2 N r B  g    N r B  g Dg   N r  ag 
 2 

• The equation is simplified.

E ag  N r  ag   N r K1 I f   K m I f 

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 8.2.3 DC Generator Equivalent
circuit
• When the generator is loaded, the load current produces
a voltage drop on the rotor winding resistance.
• In addition, there is a more or less constant 1–3 V voltage
drop on the brushes.
• These two voltage drops reduce the terminal voltage of
the generator. The terminal voltage is;

E ag  Vdc  I ag Ra  Vbrush

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 Motor

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 8.2.3 DC Motor Equivalent circuit
Vbrush Electrical
Rf Ra power in
max
DC Power
Vf If Iam Vdc
Eam supply

Mechanical
power out

• Figure 8.13 Equivalent circuit of a separately excited dc motor

• Equivalent circuit is similar to the generator only the current
directions are different

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 8.2.3 DC Motor Equivalent circuit
• The operation equations are:
• Armature voltage equation

Vdc  Eam  I am Ra  Vbrush

The induced voltage and motor speed vs angular

frequency

E am  K m I f    2  nm

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 8.2.3 DC Motor Equivalent circuit
• The operation equations are:
• The combination of the equations results in

K m I f   E am  Vdc  I am Rm
The current is calculated from this equation. The output
power and torque are:

Pout
Pout  Eam I am T  K m I am I f


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 8.2.4 DC Machine
Excitation Methods

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 DC Motor Operation

• There are four different methods for

supplying the dc current to the motor or
generator poles:
– Separate excitation;
– Shunt connection
– Series connection
– Compound

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 8.2.3 DC Motor Equivalent circuit
Vbrush
Ra

Iam Im DC Power
supply
Eam max Rf
Vdc

If
Pout

• Figure 8.14 Equivalent circuit of a shunt dc motor

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 8.2.3 DC Motor Equivalent circuit
Vbrush Ra

Im DC Power
Rf supply
Eam
Vdc
max

Pout

• Figure 8.15 Equivalent circuit of a series dc motor

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 8.2.3 DC Motor Equivalent circuit
Vbrush
Ra

Iam Im DC Power
Rfs supply
Eam
max Vdc
Rfp Ifp
Pout

• Figure 8.16 Equivalent circuit of a compound dc motor

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