DC Motors

DC Motors
• A DC motor is a motor that is driven by a DC electric supply
• The speed of a DC motor is relatively easy to control
• variable speed and strong torque
• Implemented widely in the field of adjustable speed drive
• The armature mmf and field mmf are independent of each other, so
that controlling one mmf while keeping the other constant can be
easily accomplished

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Main Parts of DC motor
• Rotor
• Rotating part
• Stator
• Stationary part
• Commutator
• DC machines

• Windings
• Armature winding
• Field winding

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DC Motor Parts

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DC Motor
• The magnetic fields of the armature and the field of DC motors
interact with each other, causing the motor to rotate
• Based on the generation and interaction of the armature and field
winding, DC motors are classified as follows:
• Series motor
• Shunt motor
• Compound motor
• Separately excited motor

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Armature and Field Winding Connections
• The methods used for connecting the field and armature windings
into the following groups:

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DC Motor (or DC Generator Model)

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Example
• The armature of a d.c. machine has a resistance of 0.1 Ω and is
connected to a 250 V supply. Calculate the generated e.m.f. when it
is running
• (a) as a generator giving 80 A;
• (b) as a motor taking 60 A.

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Speed of a Motor
• The relationship between the generated e.m.f., speed, flux, etc. is
represented by:

• Z is the total number of armature conductors, and c the number of

parallel paths through winding between positive and negative
brushes (2 for a wave winding, and 2p for a lap winding)
• Φ is the useful flux per pole, in webers, entering or leaving the
armature, p the number of pairs of poles and Nr the speed in
revolutions per minute

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Speed of a Motor

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Example
• A four-pole motor is fed at 440 V and takes an armature current of
50 A. The resistance of the armature circuit is 0.28 Ω. The armature
winding is wave-connected with 888 conductors and the useful flux
per pole is 0.023 Wb. Calculate the speed.

• Generated e.m.f. = 440 − 14 = 426 V

• Nr = 626 r/min

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Example
• A motor runs at 900 r/min off a 460 V supply. Calculate the
approximate speed when the machine is connected across a 200 V
supply. Assume the new flux to be 0.7 of the original flux.

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Torque of Motor

• VIa = EIa + I2aRa

• VIa: Total electrical power supplied to the armature
• I2aRa: the loss due to the resistance of the armature circuit
• The difference between these two quantities (EIa): the mechanical power
developed by the armature
• All of this mechanical power is not available externally
• since some of it is absorbed as friction loss at the bearings and at the
brushes and some is wasted as hysteresis loss and in circulating eddy
currents in the ferromagnetic core

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Torque
• If M is the torque, in newton metres, exerted on the armature to develop the mechanical power,
and Nr is the speed in revolutions per minute, then from expression

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Example
• A d.c. motor takes an armature current of 110 A at 480 V. The
resistance of the armature circuit is 0.2 Ω. The machine has six poles
and the armature is lap-connected with 864 conductors. The flux
per pole is 0.05 Wb. Calculate
• (a) the speed;
• (b) the gross torque developed by the armature.

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Example

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Example

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Example
• The torque required to drive a d.c. generator at 15 r/s is 2 kN m. The
core, friction and windage losses in the machine are 8.0 kW.
Calculate the power generated in the armature winding.

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Speed Characteristics
• The speed characteristic of a motor usually represents the variation of
speed with input current or input power, and its shape can be easily
derived from expression
𝑉−𝐼𝑎 𝑅𝑎
• 𝑁𝑟 =
𝑘𝜑

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Series Motor
• In a series motor, the field is generated
by the full electrical current from the
source
• The torque varies as the square of the
armature current
• Series motor is suitable for applications
that require a large torque generation
with a small incremental current
• On the other hand, the speed varies
greatly, and this motor is not suitable for
applications where the load may change
drastically
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Shunt Motor
• In a shunt motor, the field is
generated by a fraction of the
electrical current
• The speed is nearly constant within
its operation range
• The torque varies linearly with
respect to the armature current and
hence the load
• this motor is suitable for applications
that require continuous operations at
a constant speed

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Compound Motor
• The characteristics of series
motors and shunt motors are
combined in compound motors
• The speed changes with the
load, but not as sharply as in a
series motor
• This motor is capable of starting
heavy load like series motors,
with safe operations at low
torque like shunt motors

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Speed Characteristics

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Shunt Motor
• In shunt motors, the flux Ф is only slightly affected by the armature
current and the value of IaRa at full load rarely exceeds 5 per cent of
V
• therefore the variation of speed with input current may be
represented by curve A
• Hence shunt motors are suitable where the speed has to remain
approximately constant over a wide range of load.

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Series Motor
• In series motors, the flux increases at first in proportion to the current
and then less rapidly owing to magnetic saturation
• Also Ra now includes the resistance of the field winding.
• Hence the speed is roughly inversely proportional to the current, as
indicated by curve B
• It will be seen that if the load falls to a very small value, the speed
may become dangerously high.
• A series motor should therefore not be employed when there is any
such risk

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Compound Motor
• Since the compound motor has a combination of shunt and series
excitations, its characteristic (curve C) is intermediate between those
of the shunt and series motors
• the exact shape depending upon the values of the shunt and series
ampere-turns.

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Torque Characteristics

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Shunt Motor
• Torque ∝ armature current × flux per pole
M ∝ Ia x Ф
• Since the flux in a shunt motor is practically independent of the
armature current
• Torque of a shunt motor ∝ armature current
M ∝ Ia
• and is represented by the straight line A

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Series Motor
• In a series motor the flux is approximately
proportional to the current up to full load,
so that
• Torque of a series motor ∝ (armature
current)2
M ∝ I2a
• Above full load, magnetic saturation
becomes more marked and the torque
does not increase so rapidly.
• For a given current below the full-load
value the shunt motor exerts the largest
torque
• but for a given current above that value the series motor is the most
the series motor exerts the largest suitable machine for large starting torque
torque.

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Separately Excited Motor
• Permanent-magnet (PM) motors,
which are typical constructions of
separately excited motors, only
have one winding, that is the
armature winding
• The magnetic field is generated
using a permanent magnet
• The brushless DC motor is a type of
PM motors

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Model of DC Motor

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Speed Control

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Speed Characteristics
• The speed characteristic of a motor usually represents the variation of
speed with input current
𝑉−𝐼𝑎 𝑅𝑎
• 𝑁𝑟 =
𝑘𝜑

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DC Motor Control
• The control of a DC motor constitutes the control of its speed and
torque.
• The control of torque can be accomplished by solely controlling the
current
• The control of speed can be achieved through a variety of approaches
as follows:
• 1. Armature voltage control (controlling Va)
• 2. Field flux control (controlling kφ)
• 3. Armature resistance control (controlling Ra)

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Armature voltage control (controlling Va)
• This method is preferred for speed
control below the base speed,
which is the maximum speed a
motor can run while still delivering
the rated torque
• increasing armature voltage for
increasing the speed of the motor,
and vice versa
Armature-resistance control

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Field flux control (controlling kφ)
• This method is preferred for speed
control above the base speed. If the
speed builds up above the base
speed, the insulation can fail and this
will in turn burn the motor
• increasing magnetic field for
decreasing the speed of the motor,
and vice versa
Shunt-field control

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Field Regulator
• A variable resistor or field regulator is employed in series with the
shunt winding
– only applicable to shunt and compound motors
• When the resistance is increased, the field current, the flux and the
generated e.m.f. are reduced.
• With this method it is possible to increase the speed to three or four
times that at full excitation, but it is not possible to reduce the speed
below that value.
• Also, with any given setting of the regulator, the speed remains
approximately constant between no load and full load.

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Controller
• A resistor, called a controller, in series with the armature.
• For a given armature current, the larger the controller resistance in
circuit, the smaller is the potential difference across the armature and
the lower, in consequence, is the speed.
• The principal advantage of the system is that speeds from zero
upwards are easily obtainable
• The method is chiefly used for controlling the speed of cranes, trains,
etc. where the motors are frequently started and stopped and where
efficiency is of secondary importance.

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Controller
• This system has several disadvantages:
(a) the relatively high cost of the controller
(b) much of the input energy may be dissipated in the controller and the
overall efficiency of the motor considerably reduced
(c) the speed may vary greatly with variation of load due to the change in the
p.d. across the controller causing a corresponding change in the p.d. across the
motor
• If the supply voltage is 250 V, and if the current decreases so that the
p.d. across the controller falls from, 100 to 40 V, then the p.d. across
the motor increases from 150 V to 210 V.

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Thyristors-Based Controller
• When an a.c. supply is available the voltage applied to the armature
can be controlled by thyristors
• The thyristor is a solid-state rectifier which is normally non-
conducting in the forward and reverse directions.
• It is provided with an extra terminal, termed the gate, so arranged
that when a pulse of current is introduced into the gate circuit, the
thyristor is ‘fired’, i.e. it conducts in the forward direction.
• Once it is fired, the thyristor continues to conduct until the current
falls below the holding value.

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Thyristors-Based Controller

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DC Motor Control from a Single-Phase Supply
• Field winding F is separately excited via bridge connected rectifiers
• Armature A is supplied via thyristors T.
• Gate G of the thyristor is connected to a firing circuit which supplies a
current pulse once every cycle.
• The arrangement of the firing circuit.
• R and L represent the resistance and inductance respectively of the
armature winding and an external inductor that may be inserted to
increase the inductance of the circuit.
• A diode D is connected across the armature and the inductor.

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Thyristors-Based Controller
• The later the instant of firing the thyristor, the smaller is the average
voltage applied to the armature, and the lower the speed
• in order that the motor may take the same average current from the
supply to enable it to maintain the same load torque
• Thus the speed of the motor can be controlled over a wide range.
• An increase of motor load causes the speed to fall, thereby allowing a
larger current pulse to flow during the conducting period.
• The fluctuation of current can be reduced by the following:
• Using two thyristors to give full-wave rectification when the supply is single-
phase.
• Using three or six thyristors when the supply is three-phase.
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Chopper Speed Control of Series Motor
• An important application of the thyristor is the speed control of series
motors in battery-driven vehicles.
• The principle of operation is that pulses of the battery voltage are
applied to the motor, and the average value of the voltage across the
motor is controlled by varying the ratio of the ON and OFF durations
of the pulses.
• Thus, if the ON period is t1 and the OFF period is t2,
𝑡1
Average motor voltage = Battery Voltage x
𝑡1 +𝑡2

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Chopper Speed Control of Series Motor
• The series motor M is connected
in series with thyristor T across
the battery.
• A free-wheeling diode D is
connected in parallel with the
motor
• A switch S is used to short-circuit
the thyristor at the end of each
ON period.

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Chopper Speed Control

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Motor Classification based on Excitation
Current
DC Excitation AC Excitation
• Series • Synchronous
• Shunt • Squirrel-cage
• Compound • Wound-rotor
• Brushless

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