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11/19/2011 ELCT708 DC Machine

Direct Current (DC) Machines
Dr. Mostafa Soliman
DC Machine
Part no. 2
DC Motor Characteristics
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11/19/2011 ELCT708 DC Machine
DC Motors
Equivalent circuit.
The equivalent circuit of DC Motors (and Generators) has two
components:
Armature circuit: it can be represented by a voltage source and a
resistance connected in series (the armature resistance). The armature
winding has a resistance, R
a
.
The field circuit: It is represented by a winding that generates the
magnetic field and a resistance connected in series. The field winding
has resistance R
f
.
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11/19/2011 ELCT708 DC Machine
DC Motor Equivalent circuit
Equivalent circuit of a separately excited dc motor
Equivalent circuit is similar to the generator only the current
directions are different.
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11/19/2011 ELCT708 DC Machine
DC Motor Equivalent circuit
The operation equations are:
Armature voltage equation
brush a a a t
V R I E V + + =
The induced voltage (counter or back emf) and motor
speed vs angular frequency
e
f a
I K E =
60
2 n t
e =
f
a a brush t
a a brush t a f
KI
R I V V
R I V V E I K

=
= =
e
e
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11/19/2011 ELCT708 DC Machine
Power Flow and Losses in
DC Motors
Pin = V
t
I
L
I
2
R Losses
(Copper losses)
Core Losses
(Both cores)
V
t
= Terminal voltage
I
L
= Line current
Mechanical
Losses
Stray Losses
P
out
P(developed or converted) = E
a
I
a
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11/19/2011 ELCT708 DC Machine
The relationship between
the induced EMF and torque
The developed power (E
a
I
a
) is the converted power from the
electrical domain to the mechanical domain.
a f a d
f f
a a a
d
d a a
I I K I K T
I K
I K I E
T
T I E
'
= =
=
= =
=

e
e
e
e
circuit) magnetic linear (assuming
) (
Shaft torque or output torque is:
e e e
loss mechanical loss core loss mechanical loss core
P P I E P P P P
T
a a d load
load

=

= =
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11/19/2011 ELCT708 DC Machine
Classification of DC Motors
Separately Excited and Shunt Motors
- Field and armature windings are either connected separate or in
parallel.
Series Motors
- Field and armature windings are connected in series.
Compound Motors
- Has both shunt and series field so it combines features of series and
shunt motors.
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11/19/2011 ELCT708 DC Machine
Shunt DC Motors
The armature and field windings are connected in parallel.
Almost constant speed operation.
By KVL around the outer loop:
a a t f a
f f
a
brush a a t a
R I V n I k E
const I I
k E
V R I V E
=
' '
=
=
=
=
| |
|e
so ,

neglected is if ,
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11/19/2011 ELCT708 DC Machine
Torque developed by shunt motor
( )
T
I k
R
I k
V
R
I k
T
I k V
I k
T
I
R I k V
R I E V
f
a
f
t
a
f
f t
f
a
a a t
a a a t
2
for solving
so
but
so
'
=
'
+ =
'
=
+ =
+ =
e
e e
|e
Very important:
The field circuit has not to be open at any time, otherwise, the speed will increase
rapidly and the motor will be destroyed.
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11/19/2011 ELCT708 DC Machine
Torque developed by shunt motor
If V
t
and I
f
(hence |) are
constant, speed is
directly proportional
to the torque.
( )
T
I K
R
I k
V
f
a
f
t
2
= e
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11/19/2011 ELCT708 DC Machine
Starting of Shunt DC Motors
At the starting of a DC motor, E
a
= 0, so:
To limit I
a
, a resistance is inserted in series with R
a
then removed after the development of E
a
.
current high y dangerousl
0

=
a
t
a
a t
a
R
V
R
E V
I
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11/19/2011 ELCT708 DC Machine
Series DC Motors
The armature and field winding are connected in series.
High starting torque.
I
a
= I
f
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11/19/2011 ELCT708 DC Machine
Torque developed by series
motor
By KVL around the loop:
T
k
R R
k
T
k
V
k
T
I
k
R R
kI
V
R R I V I k I k E
I k I I k T
I I
R R I V E
s a t
a
s a
a
t
s a a t a f a
a f a
a f
s a a t a
1
or
but
) (
) (
that note we and
) (
2

'
=
'
=
+
=
+ = = =
'
=
'
=
=
+ =
e
e
e
e e
Series motor cannot be
started with no-load
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11/19/2011 ELCT708 DC Machine
Separately Excited DC Motors
The armature winding supplies the load.
The field winding is supplied by a separate DC source whose
voltage is variable.
Good speed control.
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11/19/2011 ELCT708 DC Machine
Compound DC Motors
Both series and shunt fields
exist.
The series field produces
s
.
The series field produces
sh
.
If both
s
and
sh
are in the
same direction
cumulatively compound DC
motor.
If both
s
and
sh
are in
opposite direction
differentially compound DC
motor.
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11/19/2011 ELCT708 DC Machine
Compound DC Motors
Differentially compound
Cumulatively compound:
Has higher starting torque than the
shunt motor but much lower than the
starting torque in case of series
motor.
Differentially Compound:
Unstable operation.
Not easy to start.
Not used commonly.
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11/19/2011 ELCT708 DC Machine
Comparison of DC Motors
Shunt Motors: Constant speed motor (speed regulation is very good).
Adjustable speed, medium starting torque. (T
Start
= 1.4 T
FL
) can be started
with no-load.
Applications: centrifugal pump, machine tools, blowers fans, etc.
Series Motors: Variable speed motor which changes speed drastically from one
load condition to another. It has a high starting torque. Must be started with
load.
Applications: hoists, electric trains, conveyors, elevators, electric cars, etc.
Compound motors: Variable speed motors. It has a high starting torque and the
no-load speed is controllable unlike in series motors. can be started with no-
load.
Applications: Rolling mills, sudden temporary loads, heavy machine tools, etc
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11/19/2011 ELCT708 DC Machine
Speed Control of DC Motors
Speed can be controlled by varying:
1) Armature circuit resistance using an external
resistance R
A Ext
.
2) I
F
can be varied by using an external resistance R
adj
in
series with R
F
to control the flux, hence the speed.
3) The applied voltage to the armature circuit resistance,
if the motor is separately excited
f
a a t
kI
R I V
= e
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Separately DC Motor Speed Control
MCTR 908 Electric Drives 19
There are two main regions to control the speed of the separately excited DC motors.
Region 1: for speeds up to base speed Called Constant Torque Region.
Armature voltage is variable while keeping the field current constant.
Region 2: for speeds higher than the base speed Called Constant Power Region.
Field current is variable while the armature voltage is constant (at rated value).
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Separately DC Motor Speed Control
MCTR 908 Electric Drives 20
Armature Voltage Control (Constant Torque Region):
1. This method implies changing the voltage applied to the armature of the motor without
changing the voltage applied to its field. Therefore, the motor must be separately excited
to use armature voltage control.
2. This control method is used for speeds from zero up to the base speed.
3. This method cannot be used for speed higher than the base speed because the voltage
should not exceed the rated voltage.
Armature Voltage Control
Armature Voltage Control
4. In this region, the torque is kept
constant (at maximum value) and
as a result, I
a
and , I
f
are constant
also. (T
d
o I
a
I
f
)
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Separately DC Motor Speed Control
MCTR 908 Electric Drives 21
Armature Voltage Control (Constant Torque Region):
a. Increasing the armature voltage V
A
increases the armature current (I
a
= (V
A
- E
a
)/R
a
);
b. Increasing armature current I
a
increases the induced torque T
ind
(T
ind
= K|I
a
);
c. Induced torque T
ind
is now larger than the load torque T
load
and, therefore, the speed e
increases.
d. Increasing speed increases the internal generated voltage (E
A
= K|e);
e. Increasing E
a
decreases the armature current I
a

f. Decreasing I
a
decreases the induced torque until T
ind
= T
load
at a higher speed e
(balanced condition)
Armature Voltage Control
Armature Voltage Control
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Separately DC Motor Speed Control
MCTR 908 Electric Drives 22
Field Weakening Control (Constant Power Region):
1. This method is used to control the speed for values higher than the base speed.
2. In this region, the armature voltage and current are kept constant.
3. The power developed by the motor (T
d
) remains constant.
4. In order to keep the power constant, the torque has to be decreased as it will be inversely
proportional to the speed (T
d
o 1/).
Field Weakening
Armature Voltage Control
5. In this region, the torque decreases
with increasing the speed and as a
result, I
f
will decrease as I
a
is
constant (T
d
o I
a
I
f
)
Field Weakening
Armature Voltage Control
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Separately DC Motor Speed Control
MCTR 908 Electric Drives 23
Field Weakening Control (Constant Power Region):
a. Increasing field resistance R
f
decreases the field current (I
f
= V
f
/R
f
);
b. Decreasing field current I
f
decreases the flux |;
c. Decreasing flux decreases the internal generated voltage (E
a
= K|e);
d. Decreasing E
a
increases the armature current (I
a
= (V
T
E
a
)/R
a
);
e. Changes in armature current dominate over changes in flux; therefore, increasing I
a
increases the induced torque (T
ind
= K|I
a
);
f. Increased induced torque is now larger than the load torque T
load
and, therefore, the
speed e increases;
g. Increasing speed increases the internal generated voltage E
a
;
h. Increasing E
a
decreases the armature current I
a

i. Decreasing I
a
decreases the induced torque until T
ind
= T
load
at a higher speed e.
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11/19/2011 ELCT708 DC Machine
Example 1
Q1) A 240 V, shunt DC motor takes an
armature current of 20 A when running at
960 rpm (full load). The armature resistance
is 0.2 O. Determine the no load speed if the
no load armature current is 1 A.
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11/19/2011 ELCT708 DC Machine
Example 1
rpm 45 . 975 960 *
236
8 . 239
.) . (
.) . (
.) . (
.) . (
.) . (
constant is I assuming
V 8 . 239 2 . 0 * 1 240 load) (no
V 236 2 . 0 * 20 240 load) (full
f
= = =
= =
= =
+ =
l n n
l F n
l n n
l F E
l n E
E
E
E R I V
c
c
c
c
c a a t
load full load, no = = F.l. n.l.
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11/19/2011 ELCT708 DC Machine
Example 2
Q2) A 120 V shunt motor has the following
parameters: Ra = 0.4 O, RF = 120 O and
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 rpm, find:
The developed power
The output power, and
The output torque.
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11/19/2011 ELCT708 DC Machine
Example 2
N.m 67 . 14
1200
60
2
1843
) (
watt 1843 240 2083 (b)
watt 1 . 2083 5 . 18 * 6 . 112 *
V 6 . 112 ) 4 . 0 ( * ) 5 . 18 ( 120
A 5 . 18 1 5 . 19 1
120
120
) (
= = =
= = =
= = =
= = =
= = = =
=
t
e
out
out
dev out
a a dev
a a t a
a f
f L a
P
T c
losses rotational P P
I E P
R I V E
I A I
I I I a
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11/19/2011 ELCT708 DC Machine
Example 3
Q1) 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 O.
b) Find the no-load speed given that the
no-load current is 1 A.
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11/19/2011 ELCT708 DC Machine
Example 3
rpm 151 , 25
V 6 . 239 6 . 0 * 1 240
: load no At (b)
4 . 0
6 . 0
38
2 . 217 240
) ( * ) (
2
1 1
2 2
1
2
= =
= =
O =
O =

= +
+ + =
n
I n
I n
E
E
E
R
R R
R R I E V a
a
a
a
a
a
a
f a
f a a a t