Electrical Machines I

Week 11-12: DC Motor operation, characteristics and speed control

DC Motor: 1- Theory of Operation:
How dc motor works
N
• Stator field produces flux ф from N pole to S poles.
φ
• Brushes touch the terminal of the rotor coil under the pole. I

• When brushes are connected to an external dc source of potential V, F +

current I enters the rotor coil under the N pole and exits from the
ω

terminal that is under the S pole. V

• Rotor current + stator flux= force F on coil (Lorentz force). This force
will produce torque T that rotates the armature counterclockwise.
. F

• Then the coil carrying current moves away from the brush and is
disconnected from the external source and the next coil moves under
S
the brush and the theory repeats itself.
• The force F is continuously produce and the motor keeps rotating.
• Commutator and brush “switch” the coils mechanically.
Operation of typical
DC machine
DC Motor: 3- Important rules:
Some limitations:
• High maintenance (commutators & brushes)
• Expensive
• Speed limitations
• Sparking

DC Motor: 4- Connections:

DC machine

Separately excited Self excited Permanent magnet

Series Shunt Compound

a- Separately Excited DC motor:
Ra La Lf Rf

ia if

+ + +

vt ea vf
Armature Field
_ circuit _ circuit _

vt  Ra ia  ea vf  Rf if
a- Separately Excited DC motor: Field and armature Ia
 Field is excited from separate DC source, 𝑉𝑓 . Field resistance is high. The field current can be
calculated as: Ra

𝑉𝑓
If

𝐼𝑓 =
𝑅𝑓 Vt

Rf
Vf Ea
 External source is connected to armature 𝑉𝑡 to provide the electric
energy needed to drive the load.

 Relative to the field, the armature carries a much higher current than
Separately excited DC machine
that of the field. The armature resistance 𝑅𝑎 is smaller than 𝑅𝑓 .

 Field current is usually between 1%-10% of rated armature current. The

field and armature voltages are usually the same magnitude.

 The emf 𝐸𝑎 and current 𝐼𝑎 are related as:

𝑉𝑡 − 𝐸𝑎
𝐼𝑎 =
𝑅𝑎
 a- Separately Excited DC motor: Developed Power
 The developed power, 𝑃𝑑 is given by: Ia

Ra

𝑃𝑑 = 𝐸𝑎 𝐼𝑎 = 𝑇𝑑 𝜔 If

Vt

 The developed power 𝑃𝑑 is also equal to the output power consumed by Rf

Vf Ea
the load plus the rotational losses (friction and windage).

 Similarly, the developed torque, 𝑇𝑑 is equal to the load torque plus the
rotational torque.
Separately excited DC machine
 i- Separately Excited DC motor:
Ia

Ra

 Using the torque expression instead of force, and using angular If

speed instead of 𝑣, 𝐸𝑎 and 𝑇𝑑 can be written as: Vt

Rf
𝑛 𝑍 𝐼𝑎 𝑍 Vf
𝐸𝑎 = ф P x 𝑇𝑑 = ф P x
Ea

60 𝑎 2𝜋 𝑎

𝐸𝑎 = 𝑘𝜑𝜔 𝐼𝑎 =
𝑉𝑡 − 𝐸𝑎 Separately excited DC machine

𝑇𝑑 = 𝑘𝜑𝐼𝑎 𝑅𝑎 ia= armature conductor current

E= induced emf in conductor
Ф= flux (proportional to field current)
Speed – torque equation is thus: K= constant dependent on machine (poles,
parallel paths, number of conductors)

𝑉𝑡 − 𝐸𝑎
𝑇𝑑 = 𝑘𝜑
𝑅𝑎
𝐼𝑎
a- Separately Excited DC motor:
Ia

Ra

𝑉𝑡 − 𝐸𝑎 If

𝑇𝑑 = 𝑘𝜑
𝑅𝑎 𝐼𝑎
Vt

Rf
Vf Ea

 By substituting 𝐸𝑎 and re-writing:

𝑉𝑡 − 𝑘𝜑𝜔
𝑇𝑑 = 𝑘𝜑 𝐸𝑎
Separately excited DC machine
𝑅𝑎
ia= armature conductor current
E= induced emf in conductor
 Thus ω can be re written as: Ф= flux (proportional to field current)
𝑉𝑡 𝑅𝑎 K= constant dependent on machine
𝜔= − 2
𝑇𝑑 (poles, parallel paths, number of
𝑘𝜑 𝑘𝜑 conductors)

This is a straight line relation ship Due to loading, speed decreases

as load increases
 a- Separately Excited DC motor:
Ia

𝑉𝑡 𝑅𝑎
Ra
If

𝜔= − 2
𝑇𝑑
𝑘𝜑 𝑘𝜑 Vt

Rf
𝑇𝑑 Vf
 The speed- current equation can be obtained if is replaced Ea
𝑘𝜑
by 𝐼𝑎 :
𝑉𝑡 𝑅𝑎 𝐼𝑎
𝜔= −
𝑘𝜑 𝑘𝜑 Due to
Separately excited DC machine

loading
 At no-load, armature current is equal to zero. Hence the no-
Speed
load speed can be calculated using any of the above ω
due to
equations by setting the no-load current and load torque equal
load
to zero:

No -load
speed 𝑉𝑡 𝑅𝑎
𝜔0 = ∴ ∆𝜔 = 2
𝑇𝑑
𝑘𝜑 𝑘𝜑
a- Separately Excited DC motor:
Ia

Ra
 For large motors, 𝑅𝑎 is very small because the armature carries higher If

current and the cross section of the wire must be large. For these motors, Vt

∆𝜔 is very small. The motors are considered as a constant speed machine Rf

Vf Ea

𝑉𝑡 𝑅𝑎 𝑉𝑡 𝑅𝑎 𝐼𝑎
∵𝜔= − 2
𝑇𝑑 𝜔= −
𝑘𝜑 𝑘𝜑 𝑘𝜑 𝑘𝜑 Separately excited DC
Speed Speed machine
Load Load

ω0 ω0

ω ω
Operating Operating Motor
point point

Current
𝜔 = 𝜔0 − ∆𝜔
Torque
Tm Ia

Torques – speed characteristics Speed- current characteristics

Separately excited Separately excited
b- Shunt DC motor: If Ia

Ra
 Series and shunt field resistances are connected in shunt (parallel) Vt

 Exhibits identical characteristics as that of the separately excited

motor
 The field current is constant regardless of the loading of the Rf Ea

machine.

Shunt DC motor Speed Control: Shunt DC motor

1. Field resistance control

2. Terminal voltage control
3. Series resistance insertion in armature (less common practice due to
the added losses accompanied by the insertion of new resistance)

𝑉𝑡 − 𝑅𝑎 𝐼𝑎 Vt Ra
𝜔=   T
𝑘𝜑 K  K 2 d
b- Shunt DC motor: 1- Field resistance Control If Ia

Ra
 When 𝑅𝑓 field resistance increases, field current 𝐼𝑓 decreases and so Vt

the flux 𝜑𝑓 decreases. Since flux decreases, induced emf 𝐸𝑎 decreases

and thus the armature current 𝐼𝑎 increases Rf Ea

𝑉𝑡 𝑉𝑡 − 𝐸𝑎
𝐼𝑓 = 𝐸𝑎 = 𝑘𝜑𝜔 𝐼𝑎 = Shunt DC motor
𝑅𝑓 𝑅𝑎
Since flux 𝝋𝒇 decreased while the armature current 𝑰𝒂 increased , how will this affect
the developed torque 𝑻𝒅 ???
It is also
𝑇𝑑 = 𝑘𝜑𝐼𝑎 called “field
weakening”
One variable increases and
the other decreases, does
this mean that the torque
will remain constant???
 b- Shunt DC motor: 1- Field resistance If Ia

Control Ra
Vt

 Example: Assume 𝑅𝑎 = 0.25Ω, terminal voltage = 250V, induced emf = 245V.

Rf Ea

250−245
𝐼𝑎 = = 20 A
0.25
Shunt DC motor
𝜑 decreased by 1% 𝐸𝑎 decreased by 1% = So what happens
0.99 *245= 242.55V if the flux
decreased by 1%?
⇓
⇑ 𝑑𝑇 = 𝑘𝜑𝐼𝑎⇑
250−242.55
The torque will increase. ⇑𝐼𝑎 = 0.25
= 29.8 A
Since 𝑇𝑑 > 𝑇𝐿 motor speeds up
Armature current
increased by 49% for a
𝜔 increases, 𝐸𝑎 increases, 𝐼𝑎 decreases, 𝑇𝑑 decrease in flux by 1%
decreases till 𝑇𝑑 = 𝑇𝐿 at a higher speed
 b- Shunt DC motor: 1- Field resistance If Ia

Control 𝑉 𝑅
Ra

𝑡 𝑎 V

𝒚 = 𝑪 + 𝒎𝒙 ⇑𝜔 = − 𝑇
2 𝑑
𝑘𝜑 𝑘𝜑
⇓ ⇓⇓ Rf Ea
No load speed= C intercept Slope of a st. line= m


Shunt DC motor

1 1> 2
2 As the field resistance increase, the flux

decreases, and the no-load speed of the

Vt
motor increases, while the slope of the
K
Ra torque speed curve becomes steeper
slope 
K 2

T
b- Shunt DC motor: 2- Terminal voltage If Ia

control 𝑉𝑡 𝑅𝑎
Ra
Vt

𝜔= − 𝑇
2 𝑑
𝑘𝜑 𝑘𝜑
Rf Ea
No load speed= CHANGES Slope = UNCHANGES

 Shunt DC motor
Va
K

Va↓

Te
b- Shunt DC motor: 3- Armature resistance If Ia

control 𝑉 𝑅
Ra

𝑡 𝑎 Vt

𝜔= − 𝑇
2 𝑑
𝑘𝜑 𝑘𝜑
Rf Ea

Simple control
Losses in external resistor

Va R
 Rarely used. Shunt DC motor
slope  a
K K 2

Ra ↑

Te
b- Shunt DC motor: Is the choice REALLY that simple?
Can I either choose field control or
armature control or is there a
hidden secret

Field control: The lower the field, the faster

the machine turns and vice versa. Therefore
at minimum value for speed, the field
current is maximum. For very very low
values of speed, the field winding might be
damaged due to the high field current

Armature control: The lower the terminal voltage, the slower

the machine is and vise versa. The maximum achievable speed
is related to the maximum terminal voltage the machine can
withstand. For very very high values of speed, the armature
winding might be damaged due to the high terminal voltage.
b- Shunt DC motor:
Field control (field Armature control (terminal
weakening control): used voltage control): used for
for operation above the operation below the base
base speed speed

Combining two together it is possible to control the machine in a good

operating range. Separately excited and shunt DC motor have an
excellent speed control range
c- Series DC motor: Ia

 Series and shunt field resistances are connected in series Ra

φ

 Series field resistance is composed of a small number of

turns as compared to that of the shunt field resistance
Ea Vt
 Current in the series winding is equal to that of the
armature current. Hence the series field resistance carries
much larger current than that of the shunt field. Rf If

Saturation Curve
 The series machine has field current varying with the
loading of the motor- the heavier the load, the stronger
Series DC motor
the field. At light or no load conditions, the field of the
series motor is very small.

 The effect of high field current must be taken into

consideration when operating with series motor as to
avoid saturation due to high field current
 Ia

c- Series DC motor: Ra

𝐸𝑎 = 𝑘𝜑𝜔
𝑇𝑑 = 𝑘𝜑𝐼𝑎 Ea Vt

𝑉𝑡 − 𝐸𝑎 𝑉𝑡 − 𝑘𝜑𝜔
𝐼𝑎 = 𝑇𝑑 = 𝑘𝜑
𝑅𝑎 + 𝑅𝑓 𝑅𝑎 + 𝑅𝑓 Rf

𝑉𝑡 𝑅𝑎 + 𝑅𝑓
𝜔= − 2
𝑇𝑑 Series DC motor
𝑘𝜑 𝑘𝜑 Modify the separately φ

 If we assume that the motor operates in the linear region of the saturation
curve.

Flux proportional to
armature current 𝜑 = 𝐶𝐼𝑎
𝑇𝑑 = 𝑘𝜑𝐼𝑎 = 𝑘𝐶𝐼𝑎2 Saturation Curve
If
 Ia

c- Series DC motor: 𝑇𝑑 = 𝑘𝜑𝐼𝑎 = 𝑘𝐶𝐼𝑎2 Ra

𝑘𝜑= 𝑘𝐶𝐼𝑎
𝑉𝑡 𝑅𝑎 + 𝑅𝑓
𝜔= − 2
𝑇𝑑 Ea Vt

𝑘𝜑 𝑘𝜑 𝜑 = 𝐶𝐼𝑎
Rf

Speed at no load (or 𝑉𝑡 𝑅𝑎 + 𝑅𝑓

light load) is ∵𝜔= −
excessively high. For 𝑘𝐶𝐼𝑎 𝑘𝐶 Series DC motor
this reason, series
motors must always 𝑉𝑡 𝑅𝑎 + 𝑅𝑓 𝑘𝜑𝐼𝑎 = 𝑘𝐶𝐼𝑎2
be connected to a ∴𝜔= − 𝑘𝜑= 𝑘𝐶𝐼𝑎
mechanical load. 𝑘𝐶𝑇𝑑 𝑘𝐶
1ൗ = 𝑘𝐶ൗ
𝑉𝑡 𝑅𝑎 𝐼 𝑎 𝑘𝜑
𝜔= − 𝑇𝑑 Separately
𝑘𝜑 𝑘𝜑 2
𝑘𝜑 𝑘𝜑 2 excited and 𝑇𝑑 =𝑘𝜑 =
shunt 𝑘𝐶 𝑘𝐶
𝑘𝜑= 𝑘𝐶𝑇𝑑
c- Series DC motor: Methods of Speed
Ia

control Ra

 Unlike the shunt machine, there is only one way which is changing the
armature voltage (terminal voltage change). Ea Vt

 Increasing the terminal voltage 𝑉𝑡 , will increase the first term of the equation
and will result in higher speed for any given torque ω
Rf

𝑉𝑡 𝑅𝑎 + 𝑅𝑓
∴𝜔= − Series DC motor
𝑘𝐶𝑇𝑑 𝑘𝐶
Torque
Terminal voltage change
Torques – speed characteristics series motor

 Inserting another resistance can be used in speed control but will account for additional losses
 Until the last 40 years, there was no convenient way to change 𝑉𝑡 , so the only method was through the resistance
change. Everything changes today with the introduction of solid state control circuits
 d- Compound DC motor:
Is

If Ia

 The compound excitation characteristic in a dc motor can be obtained by Ra

Vt
combining the operational characteristic of both the shunt and series excited
motor. The compound wound self excited dc motor or simply compound
wound dc motor essentially contains the field winding connected both in
Rfsh Ea
series and in parallel to the armature winding.
 When the shunt field flux assists the main field flux, produced by the main
field connected in series to the armature winding then its called
cumulative compound dc motor. Rf

𝜑𝑡𝑜𝑡𝑎𝑙𝒄𝒖𝒎 = 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡

Compound DC motor
 In case of a differentially compounded self excited dc motor i.e.
differential compound dc motor, the arrangement of shunt and series
winding is such that the field flux produced by the shunt field winding
diminishes the effect of flux by the main series field winding. The net flux Series
produced in this case is lesser than the original flux and hence does not field
find much of a practical application.
Shunt
field
𝜑𝑡𝑜𝑡𝑎𝑙𝒅𝒊𝒇𝒇 = 𝜑𝑠ℎ𝑢𝑛𝑡 − 𝜑𝑠𝑒𝑟𝑖𝑒𝑠
 Is

d- Compound DC motor: Cumulative Compound

If Ia

Ra

Cumulative Compound DC motor Vt

𝑉𝑡 = 𝐸𝑎 + 𝐼𝑎 𝑅𝑎 + 𝑅𝑓 𝐼𝑎 = 𝐼𝑠 − 𝐼𝑓 Rfsh Ea

𝑉𝑓
𝐼𝑓 = Rf

𝑅𝑓𝑠ℎ
Cumulative
In cumulative compound DC motor there is a component of flux which is Compound DC motor
constant (not dependent on load) and another component which depends on
load (armature current)

𝜑𝑡𝑜𝑡𝑎𝑙𝒄𝒖𝒎 = 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡

Load Load
dependent
independent
 Is

d- Compound DC motor: Cumulative Compound If Ia

𝑉𝑡 − 𝑅𝑎 𝐼𝑎
Ra

Original separately excited Vt

equation 𝜔=
𝑘𝜑 Rfsh Ea
Compound (cumulative)

𝑉𝑡 − (𝑅𝑎 +𝑅𝑓 )𝐼𝑎

𝜔=
𝑘 𝜑𝑡𝑜𝑡𝑎𝑙
Rf

𝑉𝑡 (𝑅𝑎 +𝑅𝑓 )𝐼𝑎 Cumulative

𝜔= − Compound DC motor
𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡 𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡
Assuming that the terminal voltage, 𝑉𝑡 is constant as well as the 𝜑𝑠ℎ𝑢𝑛𝑡 are constant:

∵ 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 = 𝐶𝐼𝑎
𝑉𝑡 (𝑅𝑎 +𝑅𝑓 )𝐼𝑎
∴𝜔= −
𝑘𝐶𝐼𝑎 + 𝑘𝜑𝑠ℎ𝑢𝑛𝑡 𝑘𝐶𝐼𝑎 + 𝑘𝜑𝑠ℎ𝑢𝑛𝑡
 Is

d- Compound DC motor: Cumulative Compound

If Ia

Ra

𝑉𝑡 (𝑅𝑎 +𝑅𝑓 )𝐼𝑎

Vt

∵𝜔= −
𝑘𝐶𝐼𝑎 + 𝑘𝜑𝑠ℎ𝑢𝑛𝑡 𝑘𝐶𝐼𝑎 + 𝑘𝜑𝑠ℎ𝑢𝑛𝑡 Rfsh Ea

∵ 𝑇𝑑 = 𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡 𝐼𝑎
𝑇𝑑
Rf

∴ 𝐼𝑎 =
𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡 Cumulative
Compound DC
Previously we concluded
motor
𝑉𝑡 (𝑅𝑎 +𝑅𝑓 )𝐼𝑎
𝜔= −
𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡 𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡

𝑉𝑡 (𝑅𝑎 +𝑅𝑓 )𝑇𝑑

∴𝜔= − 2
𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡 𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡
d- Compound DC motor: Cumulative Compound
𝑉𝑡 (𝑅𝑎 +𝑅𝑓 )𝑇𝑑
𝜔= − 2
𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡 𝑘 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡
At no-load when 𝑇𝑑 =0, armature current is zero, and 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 =0

𝜑𝑡𝑜𝑡𝑎𝑙 = 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡 𝜑𝑡𝑜𝑡𝑎𝑙 = 𝜑𝑠ℎ𝑢𝑛𝑡

 No load speed using
=0 cumulative compound…
𝑉𝑡 “same as shunt”
∴ 𝜔0 =  Also, the speed drop is
𝑘 𝜑𝑠ℎ𝑢𝑛𝑡 avoided which occurs in
series motor connection

Series shunt
𝑉𝑡 𝑅𝑎 + 𝑅𝑓 Motor Motor
𝑉𝑡 𝑅𝑎
𝜔= − 2
𝑇𝑑 𝜔= − 𝑇𝑑
𝑘𝜑 𝑘𝜑 Bigger
speed drop
smaller
speed drop 𝑘𝜑 𝑘𝜑 2
d- Compound DC motor: Cumulative versus Differential
Compound 𝜔=
𝑉𝑡 − (𝑅𝑎 +𝑅𝑓 )𝐼𝑎
𝑘 𝜑𝑡𝑜𝑡𝑎𝑙
𝜑𝑡𝑜𝑡𝑎𝑙 = 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 + 𝜑𝑠ℎ𝑢𝑛𝑡 Cumulative compound

Load increase, armature

current increase, series field
Load Load increases, total flux increases,
dependent independent speed decreases

𝜑𝑡𝑜𝑡𝑎𝑙 = 𝜑𝑠ℎ𝑢𝑛𝑡 − 𝜑𝑠𝑒𝑟𝑖𝑒𝑠 Differential compound

Load increase, armature

current increase, series
Load Load field increases, total flux
independent dependent decreases, speed increases
Questions
Explain how DC motor works
Explain the methods of speed control for:
• Shunt and separate dc motor
• Series dc motor
• Compound dc motor
How does a compound dc motor combines the features of a series and shunt dc
motor
Draw the torque speed characteristics of separately, shunt and series dc motor.
Indicate how to plot these characteristics