University of Mosul

college of engineering
mechatronics department

1 second stage /2021

autumn semester

Myasar Salim alattar

18-Apr-21
2

18-Apr-21
DC MACHINES
3

OBJECTIVES: make the students learn about:

1. The constructional of DC machines and different types of winding employed in
DC machines
2. DC motor operation principles
3.Various types of losses in DC machines , calculating efficiency
4. Methods for speed control of DC motors
5. Characteristic of dc motor
6. Testing of DC motors
7. DC generator operation principles
8. Voltage creation and simple generator
9. Characteristic of dc generator

18-Apr-21
4 Reference and text books

 Electric Machinery ,Sixth Edition .”A. E. Fitzgerald”2003

 ELECTRIC MACHINERYFUNDAMENTALS,FOURTH EDITION . “Stephen J.
Chapman” ,BAE SYSTEMS Australia.2005
 Electrical technology ,volume II . By B.L theraja 2009

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 First
PRINCIPLES OF ELECTROMECHANICAL ENERGY CONVERSION lecture
5

Transducers (for
measurement and control)
in energy conversion between electrical and
These devices transform the
mechanical forms, electromechanical devices
signals of different forms.
are developed.
Examples are microphones,
, electromechanical energy conversion
pickups, and speakers.
devices can be divided into three categories:

Continuous energy conversion Force producing devices

equipment These devices operate in (linear motion devices)
rotating mode. A device would be known These type of devices
as a generator if it convert mechanical produce forces mostly for
energy into electrical energy, or as a linear motion drives, such as
motor if it does the other way around relays, solenoids (linear
(from electrical to mechanical).. actuators), and
electromagnets.. 18-Apr-21
6 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

As examples, mills,
trolleys and mines
underground and
where we use dc motor?? subway trains

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7 Why we use dc motor ????
Good speed control
High torque
DC motors offer highly controllable
A DC motor also offers a high
speed. By changing the armature or
starting torque, which makes it
field voltage it’s possible to achieve
perfect for use in applications
wide speed variation and with this
that are designed to move
level of controllability, DC motors
heavier loads, such as wiper
offer the precision required by a
systems and in industrial
wide range of industry applications.
automation applications, such as
conveyor systems or materials
Free from harmonics
handling equipment. The
In any electric power system, a harmonic is a
consistent drive power that DC
voltage or current at a multiple of the
motors deliver means they’re
fundamental frequency of the system, typically
ideal for maintaining a constant
produced by the action of non-linear loads such
torque whilst an application is in
as rectifiers or saturated magnetic devices.
use, making them an excellent
Harmonic frequencies in the power grid can be
choice for a geared motor
the cause of power quality problems and
solution.
harmonics in some AC motors can cause torque
pulsations, resulting in a decrease in torque. DC 18-Apr-21

motors are free from issues associated with

8
DC machine Construction

 Stator:
Stationary part of the
machine. The stator
carries a field winding
that is used to
 Rotor:
produce the required
magnetic field by DC The rotor is the rotating
excitation. Often know part of the machine.
The rotor carries a
as the field. distributed winding,
and is the winding
where the emf is
induced. Also known as
the armature

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 reduce sparking of the commutator
9

Commutator consists of insulated copper

produce magnetic fields segments mounted on an insulated

are pressed to the commutator to

permit current flow.

mounted on the main poles. These short-

circuited windings damp rotor oscillations
mounted on an iron core that provides a closed 18-Apr-21

magnetic circuit
10 Fleming Left Hand Rule

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 How does Dc motor operate
11

In a dc motor, the stator poles

are supplied by dc excitation
current, which produces a dc
magnetic field

The rotor is supplied by dc

current through the brushes,
commutator and coils

The interaction of the magnetic

field and rotor current generates
a force that drives the motor

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 12

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

Before reaching the neutral zone, the current After passing the neutral zone, the current enters
enters in segment 1 and exits from segment 2, segment 2and exits from segment 1,
•Therefore, current enters the coil end at slot a •This reverses the current direction through the rotor
and exits from slot b during this stage. coil, when the coil passes the neutral zone

F=electromagnetic force =B I L sin (theta)

B=phi=flux/A(meter*meter)
I=current
L=length of conductor(meter) 18-Apr-21
 T=F*r

13 Armature Torque of a DC Motor

Torque is the turning moment of a force about an axis and is
measured by the product of force (F) and radius (r) at right angle
to which the force acts
In dc motor, each conductor is acted upon by circumferential
force, F at a distance r.

For in each conductor (F = B*i*L)

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Armature torque Armature current
14 Back or Counter EMF(Eb)
When the armature of a d.c. motor rotates under the influence of the driving torque, the
armature conductors move through the magnetic field and hence an e.m.f. is induced in them.
The induced e.m.f. acts in opposite direction to the applied voltage V(Lenz’s law) and is known
as back or counter e.m.f. Eb.

The presence of back e.m.f. makes the d.c. motor a self-regulating machine i.e., it makes the motor to
draw as much armature current as is just sufficient to develop the torque required by the load.
Back e.m.f. in a d.c. motor regulates the flow of armature current i.e., it automatically changes the
armature current to meet the load requirement

18-Apr-21
 General
15 Speed equation of dc
motor
equqtion

P = no. of poles pair‫عدد ازواج االقطاب‬

Z=no.of conductors ‫عدد الموصالت‬
A=no. parallel path ‫عدد المسارات‬
‫المتوازية‬

Speed
equqtion N= motor speed (rpm)‫السرعة‬

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16 Speed
relations

Condition for
maximum
power

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 The commutatorconsists of insulated
copper segments mounted on an insulated
tube
17 to reduce sparking of the commutator

provides a closed magnetic circuit

pressed to the commutatorto permit current flow

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These short-circuited windings damp rotor oscillations
 Self excitation
Types of dc motor V=Eb+IaRa
18 Eb=V-IaRa
Ia=IL-Ish
IL=load current
Shunt type motor Ish= shunt resistance current
V>Eb
IL>Ia>Ish
In shunt wound motor the field
(Ia=V/Ra=Ea/Ra ‫خطا‬
winding is connected in parallel
‫)فادح تستحق الصفر عليه‬
with armature. The current
Ia=(V-Eb)/Ra
through the shunt field winding is
V=Vsh=(Ish*Rsh)
not the same as the armature
current. Shunt field windings are
designed to produce the
necessary m.m.f. by means of a
relatively large number of turns
of wire having high resistance.
Therefore, shunt field current is Eb
relatively small compared with
the armature current

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 Rs
19 Series type motor
In series wound motor the field V=Eb+IaRa+IaRse
winding is connected in series with V>Eb>IaRa>IaRse
the armature. Therefore, series field IL=Ia=Ise
winding carries the Ia=Ise
armature current. Since the current V=Eb+(Ra+Rse)*Ise
passing through a series field winding Ise=(V-Eb)/(Ra+Rse)=Ia=IL
is the same as the armature current,
series field windings must be
designed with much fewer turns than
shunt field windings for the same
mmf. Therefore, a series field
winding has a relatively small
number of turns of thick wire and,
therefore, will possess a low
resistance

18-Apr-21
 Compound Wound Motor
20
long type

Itotal=IL=Ish+Isc
Compound wound motor has Isc=Ia
two field windings; one Ish=(E=V)/Rsh
connected in parallel with the E=V=Eb+IseRse+IaRa+V
armature and the other in series br
with it. There are two types of Vbr=brush voltage drop
compound motor connections
1) Short-shunt connection
short type
2) Long shunt connection
When the shunt field winding is
directly connected Itotal=IL=Isc
across the armature terminals it Isc=Ia+Ish
is called short-shunt V=E=Rse*Itotal+Rsh*Ish
connection V=E=Itotal*Rse+Ia*Ra+Eb
+Vbr

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21 Types of dc motor

Seperately excited ‫نوع منفصل االثارة‬

Ia=IL
IL=Itotal Ia=(V-Eb)/Ra
Ia
Rf
V=E
V=Eb+Ia*Ra+Vbr

If=Vf/Rf
Vf

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22

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 Power Equation
23

 If Eq. V = Eb + IaRa +Vbrush multiplied by Ia throughout,

we get,
 V*Ia = Eb*Ia + Ia 2 Ra known as power equation of the d.c. motor.
 V*Ia = electric power supplied to armature (armature input)
 Eb*Ia = power developed by armature (armature output)
 Ia2* R = electric power wasted in armature (armature Cu loss)

 HW : derive the relation ship for maximum power

 Eb=V/2
 Developed power EbIa

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 Efficiency of a D.C. Motor
24

the efficiency of a d.c. motor is the ratio of output power to the input power
Efficieny =output power/input power = output/(out put +losses)
(Input power –losses )/input power

Losses in dc motor

• Armature Copper Loss = Ia2 *Ra These losses are about 30% of the total full load losses.

Field Winding Copper Loss = If2Rf These losses are about 25% theoretically,
but practically it is constant
Brush Contact Resistance Loss in DC Machine = V brush*Ia

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25

• Core Losses or Iron Losses

As iron core of the armature is rotating in magnetic field, some losses occurs
in the core which is called core losses. Normally, machines are operated with
constant speed, so these losses are almost constant. These losses are
categorized in two form; Hysteresis loss and Eddy current loss.
• Mechanical Losses
The losses associated with mechanical friction of the machine are called
mechanical losses. These losses occur due to friction in the moving parts of
the machine like bearing, brushes etc, and windage losses occurs due to the
air inside the rotating coil of the machine. These losses are usually very small
about 15% of full load loss 18-Apr-21
 • Stray Load Losses ‫المفاقيد الشاردة‬
26
These miscellaneous losses are due to the short-circuit current in the coil
undergoing commutation, distortion of flux due to armature and many more
losses which are difficult to find. These losses are difficult to determine.
However, they are taken as 1% of the whole load power output

Pd-fixed=Po=Pshaft
Developed power=Pd
V*IL Electromechanical
Pin-variable power

Cupper lossses brush lossses Friction

,windage

18-Apr-21

Power flow diagram

27

 Pin=V*IL
 Pd=Ea*Ia=Eb*Ia=Pin-variable losses developed power =electromachanical
power
 Pd-fixed losses= Po=Pshaft
 Varibale=I*I*R OR (Ia*Vbrush)

18-Apr-21
 28 PROBLEMS
 A six-pole DC machine has a flux per pole of 30 mWb. The
armature has 536 conductors connected as a lap winding. The DC
machine runs at 1050 rpm and it delivers a rated armature current of
225 A to a load connected to its terminals, calculate:

 A) Machine constant, Km
 B) Generated voltage, EG
 C) Conductor current
 D) Electromagnetic torque.
 E) Power delivered by the machine.

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29
BENIFIT

Speed Regulation

 Speed regulation is the percentage change

 in speed from no-load to full-load as a
 function of the full load speed.

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  A 240 V, shunt DC
30 motor takes an
armature current
of 20 A when
running at 960
rpm. The armature
resistance is 0.2 Ω.
Determine the no
load speed if the
no load armature
current is 1 A.

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 IL=Ish+Ia
V=Eb+IaRa
31

A 120 V shunt motor has the

following parameters: Ra = 0.4 Ω,
RF=Rsh = 120 Ωand rotational (core,
mechanical and stray) losses are 240
W. On full load, the line current is
19.5 A and the motor runs at 1200 Pshaft
rpm, find:
•The developed power
•The output power, and
•The output torque.
TX=Px/w W=2*pi*N/60 18-Apr-21
 If=Ish∞Phi
32 Ra=0.4
If=Iseries=IL=Ia∞Phi

A DC series motor is operated at full load from a

240 V supply at a speed of 600 rpm. The Ea is
found to be 217.2 V at a line current of 38 A, find:
 a)The armature resistance assuming the
series field resistance is 0.2 Ω.
 b)Find the no-load speed given that the
no-load current is 1 A.

0.2

Ra=?
217.2 240

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33  HOME WORK

WHAT ARE THE APPLICATIONS FOR EACH TYPE OF DC MOTOR ????

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 Speed control of dc motor (Shunt, Series, and compound)
34

 Speed control of a DC motor is either done manually by the operator or by means

of an automatic control device. This is different to speed regulation – where the
speed is trying to be maintained (or ‘regulated’) against the natural change in
speed due to a change in the load on the shaft.

The speed of a DC motor (N) is equal to:

Therefore speed of the 3 types of DC motors – shunt, series and compound – can be controlled by
changing the quantities on the right-hand side of the equation above.

The terminal voltage of the armature, V.

The external resistance in armature circuit, Ra.

The flux per pole, φ.

18-Apr-21
35
shunt motors.
 (i) 1. Flux control method:
Variation of Flux or Flux Control Method: By
decreasing the flux, the speed can be
increased and vice versa. The flux of a dc
motor can be changed by changing Ish with
help of a shunt field rheostat. Since Ish is
relatively small, shunt field rheostat has to
carry only a small current, which means I 2 Rsh
V=Ea+IaRa
loss is small, so that rheostat is small in size.
IL=Ia+Ish
Ish=V/Rsh
E= K*phi*N At zero variable resistance
Ish =constant
Any increase in variable resistane
Ish=V/(Rsh+variable resistance)
variable resistance (RV=Rr)

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36
Advantages
(i) This is an easy and convenient method.
(ii) It is an inexpensive method since very little power is wasted in the
shunt field rheostat due to relatively small value of Ish.
(iii) The speed control exercised by this method is independent of load
on the machine.

Disadvantages
(i) Only speeds higher than the normal speed can be obtained since
the total field circuit resistance cannot be reduced below Rsh—the
shunt field winding resistance.
(ii) There is a limit to the maximum speed obtainable by this method. It
is because if the flux is too much weakened, commutation
becomes poorer.

18-Apr-21
  Armature control method
37
 This method is based on the fact that by varying the voltage available
across the armature, the back e.m.f and hence the speed of the motor
can be changed. This mywbut.com 2 is done by inserting a variable
resistance RC (known as controller resistance) in series with the armature

Due to voltage drop in the controller resistance, the back e.m.f.

(Eb) is decreased. Since N  Eb, the speed of the motor is reduced.
The highest speed obtainable is lhat corresponding to RC = 0 i.e.,
normal speed. Hence, this method can only provide speeds below
the normal speed

V-Ia(*Rt+Rtotal)+Eb

V=Eb1+(Ia1*Ra) at normal state

E1=K*(phi)1*N1
without add resistance
N1=E1/K(phi1)
Eb=V/(Ia1*Ra)
N1=(V-Ia1*Ra)/(K*(phi1)) ------(1)
V=Eb2+Ia2*(Ra+Rc)
N2=(V-Ia2*(Ra+Rc)/(K(phi2))------(2)
Rc= added resistance to
Wequation 2/1
armature
N2/N1=(V-Ia2*(Ra+Rc))/(V-Ia1*Ra)
Where (phi) is constant 18-Apr-21
 Disadvantages
38 (i) A large amount of power is wasted in the controller resistance since it
carries full armature current Ia.
(ii) The speed varies widely with load since the speed depends upon the
voltage drop in the controller resistance and hence on the armature current
demanded by the load.
(iii) The output and efficiency of the motor are reduced.
(iv) This method results in poor speed regulation.
Due to above disadvantages, this method is seldom used to control tie speed of
shunt motors.
Note. The armature control method is a very common method for the speed
control of d.c. series motors. The disadvantage of poor speed regulation is not
important in a series motor which is used only where varying speed service is
required.

18-Apr-21
39
Voltage control method In this method, the voltage source supplying the field
current is different from that which supplies the armature. This method avoids
the disadvantages of poor speed regulation and low efficiency as in armature
control method. However, it mywbut.com 3 is quite expensive. Therefore, this
method of speed control is employed for large size motors where efficiency is
of great importance.
(i) Multiple voltage control. In this method, the shunt field of the motor is
connected permanently across a-fixed voltage source. The armature can be
connected across several different voltages through a suitable switchgear. In
this way, voltage applied across the armature can be changed. The speed
will be approximately proportional to the voltage applied across the armature.
Intermediate speeds can be obtained by means of a shunt field regulator

18-Apr-21
 Id=Ia*(Rs)/(Rs+Rd)
Speed Control of Series Motors
40 Rd
Iser Id
 1. Flux Control Method: Variations in the flux of a series
motor can be brought about in any one of the following IL=Ia
ways Rs IL=Ia
 Field Diverters: The series winding are shunted by a
variable resistance known as field diverter. Any desired
amount of current can be passed through the diverter
by adjusting its resistance. Hence the flux can be
decreased and consequently, the speed of the motor
increased.
 Armature Diverter: A diverter across the armature can
be used for giving speeds lower than the normal speed.
For a given constant load torque, if Ia is reduced due to
armature diverter, the Φ must increase (∵Ta Φ Ia ) This Id1 Ia IL+Is
results in an increase in current taken from the supply
(which increases the flux and a fall in speed (N I/ Φ )).
The variation in speed can be controlled by varying the
diverter resistance

18-Apr-21
 41

 Trapped Field Control Field: This method is often

used in electric traction. The number of series filed
turns in the circuit can be changed. With full field,
the motor runs at its minimum speed which can be
raised in steps by cutting out some of the series
turns.
 Paralleling Field coils: this method used for fan
motors, several speeds can be obtained by
regrouping the field coils. It is seen that for a 4-
pole motor, three speeds can be obtained easily
 Variable Resistance in Series with Motor: By
increasing the resistance in series with the
armature the voltage applied across the armature
terminals can be decreased. With reduced
voltage across the armature, the speed is
reduced. However, it will be noted that since full
motor current passes through this resistance, there
is a considerable loss of power in it.

18-Apr-21
 Examples E1=K * phi 1*N1
10A
T=Kg * phi *Ia
42 Q1 Constant
A 220 V shunt motor has armature
and field resistance of 0.2 Ω and 220
Ω respectively. The motor is driving
a constant load torque and running at
1000 rpm drawing 10 A current from
the supply. Calculate the new speed
N1 E1/phiand armature current if an external
armature resistance of value 5 Ω is
inserted in the armature circuit.
Neglect armature reaction and
saturation
E2/E1=
N2/N1

Ra+Radd

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43
Q2

???

solution

18-Apr-21
 Q3: Initially a d.c shunt motor having ra = 0.5 Ω and Rf = 220 Ω is running at 1000 rpm drawing
44 20 A from 220 V supply. If the field resistance is increased by 5%, calculate the new steady
state armature current and speed of the motor. Assume the load torque to be constant

18-Apr-21
 A 220 V d.c series motor has armature and field resistances of 0.15 Ω and 0.10 Ω respectively. It takes a current
45 of 30 A from the supply while running at 1000 rpm. If an external resistance of 1 Ω is inserted in series with the
motor, calculate the new steady state armature current and the speed. Assume the load torque remains constant.
T= K*phi*Ia Phi If
T= K*If*Ia
If=Ia=Iseries

T=K*Ia*Ia

T=power/w
W=2*pi*n/60 18-Apr-21
46

18-Apr-21