DC Motors 26.

How does a DC Motor work? Cross-

Cross-section of DC motor
Soft Iron Core (Rotor)
Magnetic field vector, B

Wire length vector, dL

N X N
S
Force vector, df

Permanent Magnet (Stator)

Current, i

Cross-
Cross-section of DC motor Cross-
Cross-section of DC motor
Rotor supported on bearings (free to rotate)
Rotation past 90 degrees

N X N
S N N
S
X

Generating ___________ torque Now generating _____ torque!

Cross-
Cross-section of DC motor 2 Commutator Bars
Switch direction of current flow after 90 degrees DC
(the current switching process is called _______________) Two segment X

commutation
X N N
S
on rotor
N N
S
%Torque vs. 100
Torque

Angular 50

Now generating ______ torque! Position 0

0 90 180 270 360
Angular Position
 DC Motors 26.2

4 Commutator Bars 24 Commutator Bars

DC DC

Four segment Sixteen segment

commutation on N N
S commutation on N N
S
rotor rotor
100
Torque 100

Torque
%Torque vs. 50 %Torque vs.
50
Angular 0 Angular 0
Position 0 90 180 270 360 Position 0 90 180 270 360
Angular Position
Angular Position

How does a DC Generator work? DC Motors & Generator

► Note that a DC motor always begins to act
Magnetic field vector, B
like a generator once the rotor wires start to
Wire length vector, dL move through the magnetic field
Assuming B, v, and
the induced “back EMF” is proportional to
dL are mutually Velocity vector, v ____________________________
perpendicular,

“back EMF” generates a ___________________
Induced EMF, dV (voltage)
which opposes the applied current,

_________________ the force (torque) output
Note that an induced EMF always gives rise to a current whose magnetic field
of the motor
opposes the original change in magnetic flux - Lenz’s Law

ME 372 Circuit Model for ME 360 Circuit Model for

Permanent Magnet DC Motor Permanent Magnet DC Motor
ia
+ +
ia
Ra La + +
Va Vb Ra
Va Vb
- -
- -
Va= applied armature voltage Vb= back EMF
Va= applied armature voltage Vb= back EMF
Ra= armature resistance ia= armature current
Ra= armature resistance ia= armature current
La= armature inductance
 DC Motors 26.3

PMDC Motor Steady-

Steady-State PMDC Motor Steady-
Steady-State
Equations Equations
1 ► For a given motor, Ra, Ka, and Kb are
ia = ( ) from circuit
_________________
Ra
► Armature voltage Va, speed ω, and output
Vb = from dV= B v dL and v = rω torque τ are related by the 3 equations
► If we know 2 of these, can solve for 3rd one
τ= from df = ia dL X B and τ = rf

In-
In-Class Exercise #1 Plot for In-
In-Class Exercise #1
10
A small DC motor V a = 48 volts 9
has these
parameter
Ka = 0.17 N-m/amp 8
7
constants Kb = 0.17 volt/rad/s
Torque, N-m
6
Ra = 0.9 ohms 5
4
Determine the output torque, τa, for the speed 3
assigned to your group 2
1) find back-EMF, Vb for your speed 1
2) find current, ia for your speed 0
3) find torque, τa for your speed 0 500 1000 1500 2000 2500 3000
Speed, RPM

Manufacturer’s Data 2nd In-

In-Class Exercise
A small DC motor V a = ? volts
has these
parameter
Ka = 3.60 oz-in/amp
constants Kb = 2.67 volt/KRPM
Ra = 50 ohms
On a single graph, we will plot the torque vs.
speed relationship for different input voltages -
24, 18, 12, 6 VDC
 DC Motors 26.4

In-
In-Class Exercise #2 DC Tachometer Equations
2.00
1.80 Mechanical construction of a DC tachometer is
1.60 essentially identical to DC motor
1.40 1
ia = (Va − Vb ) = 0 High impedance load,
Torque, oz-in

1.20 Ra No current
1.00
0.80
0.60 Vb = k bω = Va Output voltage proportional to
0.40 angular velocity, ω
0.20
0.00 τ = k aia = 0 No current
0 1000 2000 3000 4000 5000 6000 7000 8000 9000
Speed, RPM

Unit Conversions PMDC Motor Equation Part #2

N ⋅m Va = R a i a + Vb Vb = k bω τ = k a ia
1V = 1 →1 =
A⋅ s

Substitute into units for the back-EMF constant, kb, Va = R a i a + k bω k b = k a →τ = k bia

V N ⋅m Multiply both sides by ia
kb : = ⋅
rad / s rad V ⋅ A ⋅ s

Conclusion: __________________________

Electrical Power = Power Dissipated + Mechanical Power

(Input) (as heat) (useful output)

PMDC Motor Equation Part #2 PMDC Motor Equation Part #2b

Va = R a i a + Vb Vb = k bω τ = k a ia
Va ia = R a ia2 + τω
Electrical Power = Power Dissipated + Mechanical Power
Va = R a i a + k bω k b = k a →τ = k bia (Input) (as heat) (useful output)
Multiply both sides by ia

Power Out
Efficiency =
Power In
Electrical Power = Power Dissipated + Mechanical Power
(Input) (as heat) (useful output)
 DC Motors 26.5

Circuit Model for Permanent

PMDC Generator Equations
Magnet DC Generator
Vgen + R a ia = Vb Vb = k bω τ = k a ia
DC Motor/Generator
ia
+
R externalia + R a ia = k bω k b = k a →τ = k bia
+
Ra Multiply both sides by ia
Vgen Vb
Rexternal
- -

Vgen= generated armature voltage Vb= back EMF

Electrical Power + Power Dissipated = Mechanical Power
Ra= armature resistance ia= armature current (useful output) (as heat) (Input)

PMDC Motor Equation Part #3

τ stall Va
ω =0 Va = R a i a,stall → τ stall = k a
Ra

Torque, τ
constant Va

Speed, ω

At any point on load curve, ωNL=“no-load” speed (ia=0)

V − k bω
Ra = a Va = k bω NL
ia

DC Motor Commutation
► DC motors require periodic switching of
currents to maintain rotation
(“commutation”)

conventional DC motors use ______________
to provide commutation, but

"brushless" DC motors which use
________________________ commutation
have been developed.
 DC Motors
DC Brushed Motor Advantages
► _________________________________,
_________________________________,
requiring only a voltage source, power op-
op-
amp, and analog control input for variable
speed operation.
► __________________________________
through design variations
► __________________________________
without additional power input
DC Brushless Motor
► The magnetic field in the rotor is provided
by permanent magnets on the ___________
► Hall effect sensors (or resolver output) are
used to signal a motor driver when to switch
the current in the ___________ windings
► Motor driver depends on the controller to
set desired torque output
DC Brushless Motor Advantages
► _________________________________________
and hence the heat conducted to the shaft is
minimized.
► Due to the lack of brushes, motors can be
operated at high torque and zero rpm indefinitely
as long as the winding temperature does not
exceed the limit.
► ________________________________________
or contaminate the surroundings
26.6
DC Brushed Motor Disadvantages
► ____________________________,
____________________________, the wear
producing small particles which can affect the
cleanliness of surrounding operations.
► High current through the brushes can cause them
to burn out rapidly
► _________________________________________
which is primarily conducted away through the
rotor shaft
► _______________________ are generated at the
brush/rotor interface
DC Brushless Motor
Permanent Magnet Rotor
Wound Wire Stator
DC Brushless Motor
Disadvantages
► Torque ripple ____________________________
by design
► Motor operation requires the purchase of an
_______________________________________
► Rotor magnets can become demagnetized in high
current or temperature environments
► Most motor drivers brake DC brushless motors by
applying reverse current, in which almost as much
power is expended to stop the motor as was
required to start it moving