DC Motor

DC Motor Characteristics
• As in the case of dc generators depending on the type of
excitation there are three types of dc motors– shunt motor,
series motor and compound motor.
• Self-excitation has no meaning for a dc motor.
• Three important characteristics of DC motor:
1. Speed-armature current characteristic.
2. Torque-armature current characteristic.
3. Speed-torque characteristic.
 DC Shunt motor
• Current equations
I=Ia+Ish
• Voltage equations
Armature-winding voltage
V=E+ IaRa
Field winding voltage V=IshRsh
• Power equations
Power input=mechanical power+ losses in
armature+ losses in field
VI=Pm+Ia2Ra+Ish2Rsh
VI=Pm+Ia2Ra+VIsh
Pm=VI-VIsh-Ia2Ra=V(I-Ish)-Ia2Ra=VIa-Ia2Ra=(V-IaRa) Ia
Pm=EIa
Characteristics of DC shunt motor:
1. Speed-armature current characteristics
• In a shunt motor, Ish=V/Rsh. If V is constant Ish will also be constant. Hence flux
is constant at no load. The flux decrease slightly due to armature reaction.
• If the effect of armature reaction is neglected, the flux will remain constant
The motor speed is given by
Nα(V-IaRa)/Ø
If Ø is constant
Nα(V-IaRa)
Speed of the motor decrease linearly with
the increase in armature current.
• Since IaRa at full load is very small
compared to V, the drop in speed from no
load to full load is very small. The decrease in N
Partially neutralized by reduction in Ø due to
Armature reaction.
• Hence for all practical purpose the shunt motor may be taken as a constant-
speed motor.
Torque/armature current characteristics
𝜏𝑔 𝛼 ΦIa
If the effect armature reaction is neglected, Ø is nearly constant
𝜏𝑔 𝛼Ia
• If the effect of armature reaction is taken into consideration, the value of
flux decrease slightly with the increase in armature current.
• Hence at higher values of Ia the gross or total torque, 𝜏𝑔 decrease slightly.
• The relation between various torques is given by,
𝜏𝑛 = 𝜏𝑔 − (𝜏𝑓 + 𝜏ω )
𝜏𝑛 -net torque or useful torque or torque at the
output shaft
𝜏𝑔 -gross or total torque
𝜏𝑓 -frictional torque
𝜏ω -windage torque
 Series motor
• Current equation
I=Ise=Ia
• Voltage equations
V=E+I(Ra+Rse)
• Power equations
VI=EI+I2(Ra+Rse)------(1)
Power input=mechanical power +losses in the armature+ losses in field
VI=Pm+I2Ra+I2Rse-----(2)
Comparison of eq. (1) and (2) shows,
Pm=EI
• Speed/Armature current characteristic in series motor
The motor speed is given by
Nα[V-Ia(Ra+Rse)]/Ø
At low values of Ia, the voltage drop Ia(Ra+Rse) is negligibly small in
comparison with V, therefore
N α V/Ø
Since V is constant
N α 1/Ø
• In series motor, the flux is produced by the armature current
flowing in the field winding so that Ø α Ia. Hence, the series
motors are variable flux machines.
N α 1/Ia
Thus for the series motor, the speed is inversely proportional to the
armature (load) current .
• Characteristic shows that when load current is small the speed will
be vary large. Therefore at no load there is possibility of
dangerously high speed.
• Hence a series motor must never run unloaded.
• Torque/armature current characteristic
from equation 𝜏𝑔 𝛼 ΦIa
Before saturation ØαIa and hence at light loads
𝜏𝑔 𝛼 Ia 2
This equation shows that torque armature
current characteristic curve will be parabolic.
• When iron become magnetically saturated, Ø
become almost constant, so that at heavy load
𝜏𝑔 𝛼 Ia
• Hence, the torque/current characteristic of DC
motor is initially parabolic and finally become
linear when the load current becomes large.
• The characteristic Relating to the net torque or
useful torque 𝜏𝑛 , is parallel to 𝜏𝑔 /Ia
characteristic, but it is slightly below it. The
difference between the two curves is due to
friction and windage losses.
Speed/torque characteristic
• The speed/torque characteristic of a DC series motor can be
derived from its speed-armature current (N/Ia) and torque-
armature current (𝜏 /Ia) characteristics as follows:
• For a given value of Ia find 𝜏 from 𝜏 /Ia and N from N/Ia curve.
• This gives one point (𝜏,N) on speed-torque curve.
• Now repeat this procedure for number of values Ia and find
corresponding speed and torque points.
• This characteristic shows that DC motor has a high torque at a low
speed and low torque at high speed.
• Hence speed of DC series motor changes considerably with
increasing load.
• It is very useful for traction purpose, hoists and lifts where at low
speed a high starting torque is required to accelerate large masses.
 Characteristics of Compound motors
A differentially compound motor is rarely used in practice. Therefore,
performance characteristics of cumulative compound motor are mainly
described here.
Speed current characteristic

With increase in Ia, Øse increase; as consequence, denominator of above

given equation increase and its numerator also decrease. Thus with increase
in Ia speed drop at faster rate in cumulative compound motor than shunt
motor.
Torque-current characteristic
• The generated torque Tg=KØIa
Tg=K(Øsh+Øse)Ia-------------------(1)
• At no load, Ia=0, Øse=0 and
therefore Tg=0
• A the armature current Ia rises with
load, shunt field Øsh remains
almost constant but series field Øse
rises. As a result torque also rises.
• Shunt motor produces torque=K
Øsh.Ia, this shows that cumulative
compound motor develops a
torque higher than the torque
developed in a DC shunt motor.
Speed-torque characteristic

• Armature current

• With increase in motor torque armature current rises, with this series
field flux (Øse) rises.
• From the equation of speed it can be observed that speed drop in
cumulative compound motor is more than DC shunt motor.
 Speed control of DC motor
• Speed of DC motor is given by
N=(V-IaRa)/kØ
• This equation shows that the speed is dependent upon the supply
voltage V, the armature circuit resistance Ra, and the field flux Ø
(which is produced by the field current).
• In practice variation of these three factors is used for speed control.
• Thus, there are three methods of speed control of DC motor:
1. Variation of resistance in the armature. This method is called
armature resistance control.
2. Variation in field flux Ø. This method is called field flux control.
3. Variation in applied voltage. This method is called Armature
voltage control.
Armature Resistance Control

• In case of shunt motor a variable series resistance (Re) is connected in

the armature circuit.
• In this method, the field is directly connected across the supply and
therefore the flux Ø is not affected by the variation of Re.
• It can be observed from the graph that motor runs at lower speed as
the value of Re is increased.
• In case of series motor external resistance (Re) is connected in series with Rse and
Ra.
• In this case current and hence flux are affected by the variation of the armature
circuit resistance.
• The voltage drop in Re reduces the voltage applied to the armature and therefore
speed is reduced.
• It can be observed from the graph that motor runs at lower speed as the value of
Re is increased.
• The Re must be designed to carry full armature current.
Disadvantages
1. Large amount of power wasted in the Re.
2. Control is limited to give speed below normal and increase of speed
cannot be obtained.
3. For a given value of Re the speed reduction is not constant but varies
with the motor load.
This method is only used for small motor.
Variation of field flux (Field flux control)
• Since the flux is produced by the field current, control of speed by this
method is obtained by control of the field current.
• In shunt motor this is done by connecting a variable resistor Rc in series
with the shunt field winding. This resistor is called shunt field regulator.
• Shunt field current is given by Ish=V/(Rsh+Rc)
• the connection of Rc in field reduces field current and hence the flux also
reduced. The reduction in flux will result in an increase in speed.
• Therefore, motor runs at higher speed than the normal.
• For this reason, this method is used to give motor speed above normal or
to correct for a fall in speed due to load.
• Variation of field current in series motor is done following methods shown
below:
• A variable resistance Rd is connected in parallel with series field winding.
The parallel resistance is called diverter. A portion of the main current is
diverted through Rd.
• Thus the diverter reduces current flowing through the field winding. This
reduces the flux and increase the speed.
Advantage
• Since shunt field current Ish is very small, the power loss in the
resistance is small.
Series parallel field control:
• In this method, the series field windings are divided into two equal halves.
• When these two are in series, then for an armature current of current Ia,
total field mmf and counter emf equations are,
• When two halves are of field winding are connected in parallel, then for
same Ia, each parallel path share Ia/2 and total field mmf Fp is,

• This shows that parallel connection of field coils results in higher

operating speed of the series motor.
Speed control by varying the armature terminal
voltage
• Reference to the eq.
ω=(Vt-IaRa)/KØ
Shows that if the armature terminal voltage Vt is varied, counter
emf (Vt-IaRa) changes almost proportionally and for a constant
flux motor (DC shunt motor) the speed changes approximately
in the same proportion as Vt. DC motor speed control by the
armature terminal voltage is obtained by,
(a) Ward-Leonard system
(b) Controlled rectifier
Ward-Leonard speed control
• Speed control of dc motor can also be obtained by varying the
applied voltage to the armature. Ward-Leonard speed control is
based on this principle.
• It is combined armature and field control and is therefore,
operationally the most efficient method of speed control with a
wide range.
• The dc motor armature is fed from a variable voltage and adjustable
polarity supply whose current rating must be somewhat higher than
that of the motor.
• The field (shunt) of the motor is separately excited from an
independent dc source (low current rating).
• In this setup M is the main dc motor whose speed is to be
controlled, and G is a separately excited dc generator, which is
driven by 3-ph induction or synchronous motor.
• By changing the generator field current, the generator voltage is
changed. This voltage when applied direct to the armature of main
motor M changes its speed.
• The motor field current Ifm is kept constant so that motor field flux Ø
also remain constant.
• The motor armature current Ia is kept equal to its rated value during
the speed control.
• The generated field current is varied such that the armature voltage Vt
changes from zero to its rated value. The speed will change from zero
to the base speed.
• Since speed control is carried out with rated current Ia and with
constant motor field flux, a constant torque (αØIa) upto base (rated)
speed is obtained. Since the power P(=torque*speed) is proportional
to speed, it increases with speed.
• Hence with armature voltage control method constant torque and
variable power drive is obtained from speed below the base speed.
• For speed flux control above base speed field flux control is used.
• In this mode of operation the armature current Ia is maintained
constant at its rated value and the generator voltage Vt is kept
constant.
• The motor field current is decreased and therefore the motor field
flux Ø is decreased. That is the field is weakened to obtain higher
speed.
• Since VtIa or EIa remains constant, the electromagnetic torque (αØIa)
is decreased.
• Thus in the field control mode constant power and variable torque
is obtained for speed above base speed as shown in graph.
Explanation through Fundamental Relationships
Fundamental relationships are reproduced below:
• Electromagnetic power
P = Ea Ia = Tω (i)
• Electromagnetic torque
T = KaFIa (ii)
• Back emf
Ea = Ka F ω (iii)
• Armature circuit equation
Ea = Vt – Ia Ra (iv)
• Constant torque operation
F = F(max) ; If max, all regulating resistance cut out
T = constant (max)
From Eq. (ii)
Ia = Ia (rated) = constant
• As Vt is increased, Ea increases. It follows from Eq. (iii) ω increases, P
increases almost linearly (IaRa drop ignored). At Vt = Vt (rated), n =
nbase where maximum (rated) power is reached.
• Constant power operation
Vt = Vt (rated) held constant
Ia = Ia (rated)
• From Eq. (iv), Ea is constant and so P is constant. As If is reduced, F
reduces. So from Eq. (iii) speed ω increases and from Eq. (ii) T
reduces but P remains constant.
Advantages
1. Smooth speed control of DC motor over a wide range in both
directions is possible.
2. It has inherent regenerative braking capacity.
3. By using an overexcited synchronous motor as the drive for dc
generator, the lagging ractive voltamperes of the plant are
compensated. Therefore the overall power factor of the plant
improves.
Drawbacks
1. Higher initial cost due to use of two additional machines of the
same rating as the main DC motor.
2. Lower efficiency due to higher losses.
3. Require more floor area and costly foundation.
 Solid State Control

• Rotating motor-generator sets have been replaced by solid-state

converters to control the speed of DC motors.
• The converters used are controlled rectifiers or choppers.
• In case of ac supply, controlled rectifiers are used to converter
fixed ac supply voltage into a variable ac supply voltage.
• When supply is dc choppers are used to obtain variable dc voltage
from the fixed-voltage dc supply.
 Starting DC motor
• At the time of starting, the motor speed is zero, therefore counter
emf Ea (=KØω) is also zero.
• Therefore for the armature circuit, the voltage equation is
Vt=0+IaRa for shunt motor
And Vt=0+Ia(Ra+Rsh) for both series and compound motors.
• With rated applied voltage the starting armature current is,
Vt/Ra for shunt motor and Vt/(Ra+Rsh) for both series and
compound motors.
• Since the resistances Ra and (Ra+Rsh) are much smaller, the motor
draw large starting current from the supply mains.
Such heavy inrush of starting current taken by the motor may
result in

1. Sparking at the commutator.

2. Damage to the armature winding and deterioration of the insulation
due to overheating.
3. High starting torque and quick acceleration-which may damage the
rotating part of the motor and the load.
4. Large dip in the supply voltage.
• Since the starting current is vary large, at the time of starting if all DC
motors an extra resistance must be connected in series with the armature.
• This would limit the initial current to a safe value until the motor has build
up the stable speed and back emf.
• This resistance is divided into sections, which are cut out one by one as
the speed of the motor rises upto its rated value. At this point series
resistance completely cut out.
 Three Point Starter
• The primary function of a starter is to limit the starting current in the
armature circuit during starting and accelerating time of the motor.
• The three point starter as shown in Figure is connected to the supply
mains and DC shunt motor. Since only three terminals (L-line, A-armature
terminal, F-shunt field terminal) are available from the starter, it is called
a three point starter.
• When the motor is at rest starter handle H is kept at the off position by a
strong spiral spring. One stud marked OFF indicates that motor is
disconnected from the supply .
• The starting resistance is connected between contact studs 1,2,3,4,5,6.
• For starting the motor the handle is rotated to come in contact with studs
1.
• As soon as handle H touches stud 1, the shunt field and holding coil (HC)
get connected in series across the supply, whereas the armature gets
connected in series with the entire starting resistance.
• Since current begin to flow in both shunt and armature winding the
motor start rotating.
• After armature has picked up sufficient speed, the handle moved to
stud 2, thereby cutting out resistance. Movement of handle is continue
till the soft iron keeper touches holding coil (HC) or no-volt release
(NVR) coil.
• During the waiting period on each stud armature current falls and
speed rises exponentially.
• The field current flowing through HC, produces force of attraction
greater than the spring pull. In view of this H is held in ON position
and entire starting resistance is cut out.
• The overload release (OR) is provided in series with the armature
circuit. It is a small electromagnet.
• In case the armature current exceeds a preset value due to overload,
OR become more strong and attracts the movable soft iron M, which is
pivoted at one end.
• As the soft iron M is attracted, two terminals a, b of HC gets short
circuited and it gets demagnetized. Therefore the starter arm H is
pulled back to OFF position by the spring and motor is disconnected
from the mains in case of overload.
Disadvantages:
• In case of three point starter field circuit and the HC are in series. If
speed above normal are to be obtained, the field current must be
reduced.
• At a certain value of reduced field current, the electromagnetic pull
of the holding coil may become less than the spring force. In such
case starter handle return to the OFF position and motor stops.
• Thus the three point starter can’t be used where wide range of
speed control, by shunt field control is required.
 Four Point Starter
• As the name suggests, four terminals (L, L, F, A)are available form
starter.
• The basic difference in the circuit of 4-point starter as compered to
3-point starter is that, the holding coil is removed from the shunt
field circuit and is connected directly across the line with a current
limiting resistance in series.
• Such an arrangement forms three parallel circuits:
1. Armature, starting resistance and overload release.
2. A variable resistance and shunt field winding.
3. Holding coil and current limiting resistance.
• In this arrangement, a change in field current for variation of
speed of the motor, does not affect the current through the
holding coil, because the two circuits are independent of each
other.
 Series motor starter
No volt release type
• In series motor also, a starting resistance is inserted in series with the
armature, for limiting the starting current to a safe value. As usual, this
starting resistance is cut out and gradually as the motor accelerate.
• Holding coil in series with the resistance R act as no-volt release.
No-load release type
• In this type, the load current passes
through the series field, armature and
holding coil.
• The holding coil consists of a few turns
which is capable of carrying the load
current.
• In case removal of load or reduction of load
below a safe value, the line current flowing
through the holding coil is reduced.
• This reduced value of line current decrease
the strength of holding magnet and the
spring pull bring the starter handle to OFF
position.
• This type of starter therefore referred to as
the no-load release type of starter
• .