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Lecture 5: DC motors
Instructor:
Dr. Gleb V. Tcheslavski
Contact:
gleb@ee.lamar.edu
Office Hours:
TBD; Room 2030
Class web site:
http://ee.lamar.edu/gleb/
Index.htm
Spring 2008
Preliminary notes
DC power systems are not very common in the contemporary engineering
practice. However, DC motors still have many practical applications, such
automobile, aircraft, and portable electronics, in speed control
applications
An advantage of DC motors is that it is easy to control their speed in a
wide diapason.
DC generators are quite rare.
Most DC machines are similar to AC machines: i.e. they have AC voltages
and current within them. DC machines have DC outputs just because they
have a mechanism converting AC voltages to DC voltages at their
terminals. This mechanism is called a commutator; therefore, DC
machines are also called commutating machines.
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eind = ( v B ) l
(5.5.1)
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(5.6.1)
(5.6.2)
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(5.7.1)
(5.7.2)
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v = r
(5.8.1)
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(5.8.3)
= Ap B
(5.9.1)
2
etot =
0
(5.9.2)
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F = i (l B)
(5.12.1)
= rF sin
(5.12.2)
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Fab = i ( l B ) = ilB
(5.13.1)
(5.13.2)
Fab = i ( l B ) = 0
(5.13.3)
ab = rF sin = 0
(5.13.4)
Fab = i ( l B ) = ilB
(5.13.5)
(5.13.6)
Fab = i ( l B ) = 0
(5.13.7)
ab = rF sin = 0
(5.13.8)
1.Segment ab:
2.Segment bc:
3.Segment cd:
4.Segment da:
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ind = ab + bc + cd + da
2rilB
0
ind =
Since Ap rl and
= Ap B
ind
2
i
=
0
(5.14.2)
(5.14.3)
(5.14.1)
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(5.14.4)
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Loop 1 stretches
between
commutator
segments a and
b, loop 2
stretches
between
segments b and
c
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eind = ( v B ) l = vBl
(5.16.1)
(5.16.2)
If the induced voltage on any side of a loop is (5.16.1), the total voltage at the
brushes of the DC machine is
E = 4e
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at t = 0
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(5.16.3)
17
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E = 2e
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at t = 45
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(5.18.1)
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E = 4e
at t = 90
(5.16.3)
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21
Example of a commutator
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23
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25
The commutator must short out the commutator segments right at the
moment when the voltage across them is zero. The neutral-plane shift may
cause the brushes short out commutator segments with a non-zero voltage
across them. This leads to arcing and sparkling at the brushes!
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27
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400
di
=
266 667 A / s
dt 0.0015
Therefore, even with a small
inductance in the loop, a very large
inductive voltage kick L di/dt will be
induced in the shorted commutator
segment.
This voltage causes sparkling at the
brushes.
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31
However, the interpole flux increases too producing a larger voltage in the
conductors that opposes the voltage due to neutral-plane shift. Therefore,
both voltages cancel each other over a wide range of loads. This approach
works for both DC motors and generators.
The interpoles must be of the same polarity as the next upcoming main
pole in a generator;
The interpoles must be of the same polarity as the previous main pole in a
motor.
The use of interpoles is very common because they correct the sparkling
problems of DC machines at a low cost. However, since interpoles do
nothing with the flux distribution under the pole faces, flux-weakening
problem is still present.
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33
Pole
flux
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35
pole
interpole
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Pout
100%
Pin
(5.36.1)
Pin Ploss
100%
Pin
(5.36.2)
=
or
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1. Electrical or copper losses the resistive losses in the armature and field
windings of the machine.
Armature loss:
PA = I A2 RA
(5.37.1)
Field loss:
PF = I F2 RF
(5.37.2)
Where IA and IF are armature and field currents and RA and RF are armature and
field (winding) resistances usually measured at normal operating temperature.
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PBD = VBD I A
(5.38.1)
Where IA is the armature current and VBD is the brush voltage drop. The voltage
drop across the set of brushes is approximately constant over a large range of
armature currents and it is usually assumed to be about 2 V.
Other losses are exactly the same as in AC machines
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Electrical power is input to the machine, and the electrical and brush losses must be
subtracted. The remaining power is ideally converted from electrical to mechanical
form at the point labeled as Pconv.
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Pconv = E A I A
(5.41.1)
Pconv = ind m
(5.41.2)
After the power is converted to mechanical form, the stray losses, mechanical
losses, and core losses are subtracted, and the remaining mechanical power is
output to the load.
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E A = K
(5.43.1)
ind = K I A
(5.43.2)
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Shunt DC motor:
a field circuit gets its power from the
armature terminals of the motor.
VT = E A + I A RA
ELEN 3441 Fundamentals of Power Engineering
(5.45.1)
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VT
RA
ind
K ( K )2
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(5.46.1)
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49
The internal generated voltage of a DC machine (with its speed expressed in rpm):
E A = K
Since the field current is constant (both field resistance and VT are constant) and
since there are no armature reaction (due to compensating windings), we
conclude that the flux in the motor is constant. The speed and the internal
generated voltages at different loads are related as
E A2 K2 n2
=
=
E A1 K1 n1
n2 =
Therefore:
E A2
n1
E A1
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I A = IL IF = IL
Therefore:
VT
250
= 100
= 95 A
RF
50
n2 =
E A2
244.3
n1 =
1200 = 1173 rpm
E A1
250
b) Similar computations for the input current of 200 A lead to n2 = 1144 rpm.
c) Similar computations for the input current of 300 A lead to n2 = 1115 rpm.
d) To plot the output characteristic of the motor, we need to find the torque
corresponding to each speed. At no load, the torque is zero.
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51
Since the induced torque at any load is related to the power converted in a DC
motor:
Pconv = E A I A = ind
ind =
EA I A
ind =
2443 95
= 190 N - m
2 1173 / 60
ind =
2383 195
= 388 N - m
2 1144 / 60
ind =
2323 295
= 587 N - m
2 1115 / 60
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53
Fnet = N F I F FAR
(5.53.1)
It is customary to define an equivalent field current that would produce the same
output voltage as the net (total) mmf in the machine:
I F* = I F
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FAR
NF
(5.53.2)
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E A = K
(5.54.1)
For a given effective field current, the flux in the machine is constant and the
internal generated voltage is directly proportional to speed:
EA
n
=
E A0 n0
(5.54.2)
Where EA0 and n0 represent the reference (rated) values of voltage and speed,
respectively. Therefore, if the reference conditions are known from the magnetization
curve and the actual EA is computed, the actual speed can be determined.
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Example 5.2: A 50 hp, 250 V, 1200 rpm DC shunt motor without compensating
windings has an armature resistance (including the brushes and interpoles) of 0.06
. Its field circuit has a total resistance Radj + RF of 50 , which produces a no-load
speed of 1200 rpm. The shunt field winding has 1200 turns per pole. The armature
reaction produces a demagnetizing mmf of 840 A-turns at a load current of 200A.
The magnetization curve is shown.
a) Find the motor speed when its input
current is 200 A.
b) How does the motor speed compare to
the speed of the motor from Example 5.1
(same motor but with compensating
windings) with an input current of 200 A?
c) Plot the motor torque-speed
characteristic.
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I A = IL IF = IL
Therefore:
VT
250
= 200
= 195 A
RF
50
At the given current, the demagnetizing mmf due to armature reaction is 840 Aturns, so the effective shunt field current of the motor is
I F* = I F
FAR
840
= 5
= 4.3 A
1200
NF
From the magnetization curve, this effective field current will produce an internal
voltage of EA0 = 233 V at a speed of 1200 rpm. For the actual voltage, the speed is
n=
ELEN 3441 Fundamentals of Power Engineering
EA
238.3
n0 =
1200 = 1227 rpm
E A0
233
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b) A speed of a motor with compensating windings was 1144 rpm when the input
current was 200 A. We notice that the speed of the motor with armature reactance
is higher than the speed of the motor without armature reactance. This increase is
due to the flux weakening.
c) Assuming that the mmf due to
the armature reaction varies
linearly with the increase in current,
and repeating the same
computations for many different
load currents, the motors torquespeed characteristic can be plotted.
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Armature
voltage speed
control
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Increasing the armature voltage VA increases the armature current (IA = (VA EA)/RA);
Increasing armature current IA increases the induced torque ind (ind = KIA);
Increased induced torque ind is now larger than the load torque load and,
therefore, the speed ;
Increasing speed increases the internal generated voltage (EA = K);
Increasing EA decreases the armature current IA
Decreasing IA decreases the induced torque until ind = load at a higher speed .
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max = K I A,max
(5.64.1)
Pmax = max
The maximum power out of the motor is directly proportional to its speed.
For the field resistance control, the maximum power out of a DC motor is
constant, while the maximum torque is reciprocal to the motor speed.
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(5.64.2)
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Torque and power limits as functions of motor speed for a shunt (or separately
excited) DC motor.
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shunt
separately-excited
For the given initial line current of 126 A, the initial armature current will be
I A1 = I L1 I F 1 = 126
250
= 120 A
41.67
Therefore, the initial generated voltage for the shunt motor will be
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IF 2 =
250
=5A
50
E A 2 K22 2 n2
=
=
E A1 K11 1n1
Since the armature current is assumed constant, EA1 = EA2 and, therefore
n2 =
1n1
2
The values of EA on the magnetization curve are directly proportional to the flux.
Therefore, the ratio of internal generated voltages equals to the ratio of the fluxes
within the machine. From the magnetization curve, at IF = 5A, EA1 = 250V, and at
IF = 6A, EA1 = 268V. Thus:
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E A1 = VT 1 I A1 RA
E A 2 K22 2 n2
=
=
E A1 K11 1n1
E n
n2 = A 2 1
and since the flux is constant
E A1
Since
Since the both the torque and the flux are constants, the armature current IA is
also constant. Then
n2 =
VT 2 I A 2 RA
200 120 0.03
n1 =
1103 = 879 rpm
VT 1 I A1 RA
250 120 0.03
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If the field circuit is left open on a shunt motor, its field resistance will be
infinite. Infinite field resistance will cause a drastic flux drop and, therefore,
a drastic drop in the generated voltage. The armature current will be
increased enormously increasing the motor speed.
A similar effect can be caused by armature reaction. If the armature
reaction is severe enough, an increase in load can weaken the flux
causing increasing the motor speed. An increasing motor speed increases
its load, which increases the armature reaction weakening the flux again.
This process continues until the motor overspeeds. This condition is
called runaway.
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VT = E A + I A ( RA + Rs )
(5.75.1)
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ind = K I A
(5.76.1)
= cI A
(5.76.2)
ind = KcI A2
(5.76.3)
Torque in the motor is proportional to the square of its armature current. Series
motors supply the highest torque among the DC motors. Therefore, they are used
as car starter motors, elevator motors etc.
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= cI A
Since the armature current is
IA =
(5.77.1)
ind
(5.77.2)
Kc
E A = K
VT = E A + I A ( RA + RS ) = K +
Since (5.77.1), the torque:
ind = KcI A2 =
(5.77.3)
ind
Kc
( RA + RS )
K 2
(5.77.4)
(5.77.5)
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c
ind
K
(5.78.1)
VT = K
c
ind + ind ( RA + RS )
K
Kc
(5.78.2)
R + RS
VT
1
A
Kc
Kc ind
(5.78.3)
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For IA = 50 A
F = NI = 25 50 = 1250 A turns
From the magnetization curve, at this mmf, the internal generated voltage is
EA0 = 80 V. Since the motor has compensating windings, the correct speed of the
motor will be
n=
The resulting torque:
EA
246
n0 =
1200 = 3690 rpm
E A0
80
ind =
EA I A
246 50
= 31.8 N m
3690 2 60
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Long-shunt
connection
Short-shunt
connection
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VT = E A + I A ( RA + RS )
(5.85.1)
I A = IL IF
VT
RF
IF =
The mmf of a compounded DC motor:
(5.85.2)
(5.85.3)
Cumulatively compounded
(5.85.4)
Differentially compounded
I F* = I F +
ELEN 3441 Fundamentals of Power Engineering
N SE
F
I A AR
NF
NF
(5.85.5)
Number of turns
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Since the shunt mmf and series mmf subtract from each other in a differentially
compounded motor, increasing load increases the armature current IA and
decreases the flux. When flux decreases, the motor speed increases further
increasing the load. This results in an instability (much worse than one of a shunt
motor) making differentially compounded motors unusable for any applications.
In addition to that, these motors are not
easy to start The motor typically
remains still or turns very slowly
consuming enormously high armature
current.
Stability problems and huge starting
armature current lead to these motors
being never used intentionally.
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I F* = I F +
N SE
F
3
I A AR = 5 +
200 = 5.6 A
NF
NF
1000
From the magnetization curve, EA0 = 262 V at speed n0 = 1200 rpm. The actual
motor speed is
n=
ELEN 3441 Fundamentals of Power Engineering
EA
242
n0 =
1200 = 1108 rpm
E A0
262
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I F* = I F
N SE
F
3
I A AR = 5
200 = 4.4 A
NF
NF
1000
From the magnetization curve, EA0 = 236 V at speed n0 = 1200 rpm. The actual
motor speed is
n=
EA
242
n0 =
1200 = 1230 rpm
E A0
236
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Cumulatively compounded
motors: speed control
91
The same two techniques that have been discussed for a shunt motor
are also available for speed control of a cumulatively compounded
motor.
1.Adjusting the field resistance RF;
2.Adjusting the armature voltage VA.
The details of these methods are very similar to already discussed for
shunt DC motors.
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DC motor starters
In order for DC motors to function properly, they must have some
special control and protection equipment associated with them. The
purposes of this equipment are:
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IA =
VT E A 250 0
=
= 4167 A
RA
0.06
This current is over 20 times the motors rated full-load current and may severely
damage the motor.
A solution to the problem of excessive starting current is to insert a starting
resistor in series with the armature to limit the current until EA can build up to limit
the armature current. However, this resistor must be removed from the circuit as
the motor speed is high since otherwise such resistor would cause losses and
would decrease the motors torque-speed characteristic.
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Rtot = R1 + R2 + ... + RA =
VT
I max
After the stages 1 through i are shorted out, the total resistance left in the starting
circuit is
Rtot ,i = Ri +1 + ... + RA
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I A,min =
VT E A,1
= I min = 350 A
Rtot
After the resistance R1 is out of the circuit, the armature current must increase to
I A,max =
VT E A,2
Rtot ,1
= I max = 700 A
I
Rtot ,1 = min Rtot
I max
ELEN 3441 Fundamentals of Power Engineering
Rtot ,n
I
= min Rtot
I max
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RA = Rtot ,n
n=
Solving for n:
I
= min Rtot
I max
log ( RA Rtot )
log ( I min I max )
Notice that the number of stages n must be rounded up to the next integer.
Rtot =
n=
VT
250
=
= 0.357
I max 700
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Rtot ,1 = RA + R2 + R3 =
VT E A,1
I max
250 125
= 0.1786
700
This (new) total resistance will be in the circuit until the current drops again to 350
A. This occurs when
Rtot ,2 = RA + R3 =
VT E A,2
I max
250 187.5
= 0.0893
700
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I A,3 =
VT E A,3
RA
250 218.75
= 625 A
0.05
which is less than the allowed value. Therefore, the resistances are
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Time delay
relay similar to
ordinary relay
except for
having
adjustable
time delay.
ELEN 3441 Fundamentals of Power Engineering
Relay: a
main coil
and a
number of
contacts
Overload: a
heater coil
and normally
closed
contacts
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1.
2.
3.
4.
5.
Copper losses;
Brush drop losses;
Mechanical losses;
Core losses;
Stray losses.
To find the copper losses, we need to know the currents in the motor and two
resistances. In practice, the armature resistance can be found by blocking the rotor
and a small DC voltage to the armature terminals: such that the armature current
will equal to its rated value. The ratio of the applied voltage to the armature current
is approximately RA.
The field resistance is determined by supplying the full-rated field voltage to the
field circuit and measuring the resulting field current. The field voltage to field
current ratio equals to the field resistance.
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