The relationship between voltage and DC motor output speed

The operation of a DC motor is relatively straightforward, which means A coil is placed

in a permanent magnetic field, and when an electric current passes through the coil, an
electromotive force (emf) is produced, and thereby torque is produced causing the
propeller to turn. The entire process is driven by applying electrical power to the coil,
with the source voltage having a direct relationship to the propeller’s output speed. To
understand this relationship between voltage and speed, let’s look at a typical DC motor
circuit.

The applied voltage equals the voltage drop across the coil resistance, R, plus the back-
EMF (resultant force).

𝑉 = 𝐸𝑓 + 𝐼 ∗ 𝑅 (1)
Where,

V - Applied Voltage, Ef - Resultant Electromotive force, I - Amount of current passes

through the coil, R - Resistance

We know that 𝑃𝑜𝑤𝑒𝑟 (𝑃) = 𝑉 ∗ 𝐼 so modify the equation (1) and hence
𝑉 ∗ 𝐼 = 𝐸𝑓 ∗ 𝐼 + 𝐼 2 ∗ 𝑅 (2)
Where [𝑡ℎ𝑒 𝑉 ∗ 𝐼] = 𝐼𝑛𝑝𝑢𝑡 𝑝𝑜𝑤𝑒𝑟 𝑡𝑜 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟,
[𝐸𝑓 ∗ 𝐼] = 𝐸𝑙𝑒𝑐𝑡𝑟𝑖𝑐𝑎𝑙 𝐸𝑞𝑢𝑖𝑣𝑎𝑙𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑝𝑜𝑤𝑒𝑟 𝑝𝑟𝑜𝑑𝑢𝑐𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟,
𝐼2 ∗ 𝑅
= 𝑝𝑜𝑤𝑒𝑟 𝑙𝑜𝑠𝑠 (𝐼 2 𝑚𝑒𝑎𝑛𝑠 𝑡ℎ𝑒 ℎ𝑖𝑔ℎ 𝑎𝑚𝑜𝑢𝑛𝑡 𝑜𝑓 𝑐𝑢𝑟𝑟𝑒𝑛𝑡, 𝑤ℎ𝑖𝑐ℎ 𝑝𝑟𝑜𝑣𝑖𝑑𝑒 𝑡ℎ𝑒 𝑐𝑜𝑖𝑙 𝑓𝑎𝑖𝑙𝑢𝑟𝑒)

Similarly, we have to discuss the mechanical perspective,

Work done = Force X Distance, thereby 𝑀𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑃𝑜𝑤𝑒𝑟 (𝑃) = 𝑇 ∗ 𝜔

Where, T - Torque, 𝜔 - rotational speed
In general, the electrical equivalent of the mechanical power produced by the motor is
equal to the mechanical power requirement by the propeller so
𝑇 ∗ 𝜔 = 𝐸𝑓 ∗ 𝐼
Equation 2 becomes
𝑉 ∗ 𝐼 = 𝑇 ∗ 𝜔 + 𝐼2 ∗ 𝑅 (3)
𝑇 𝐼2 ∗ 𝑅
𝑉 = [ ]𝜔 + [ ]
𝐼 𝐼
𝑇 𝑇
In Electrical Motor, = 𝐾𝑡 ; 𝑇 = 𝐼 ∗ 𝐾𝑡 ; 𝐼 =
𝐼 𝐾𝑡
𝑇∗𝑅
Equation 3 becomes, 𝑉 = 𝐾𝑡 ∗ 𝜔 + [ 𝐾 ] (4)
𝑡

The intention of this derivation is to relate the rotational speed with a torque of the motor
so the modification is mandatory in equation 4.

𝑇∗𝑅
Equation (4) becomes, 𝐾𝑡 ∗ 𝜔 = 𝑉 − [ 𝐾 ]
𝑡

𝑉 𝑇∗𝑅
𝜔= − [ 2 ] (5)
𝐾𝑡 𝐾𝑡
without load condition (without propeller [T = 0])
Equation 5 becomes,
𝑉
𝜔𝑚𝑎𝑥 = (6)
𝐾𝑡
From equation 5, it is understood that the rotational speed is directly proportional to the
voltage and inversely proportional to the torque produced.

𝑉 𝑇𝑠𝑡𝑎𝑙𝑙 ∗ 𝑅
− [ ] = 𝜔= 0 (7)
𝐾𝑡 𝐾𝑡 2

𝑇𝑠𝑡𝑎𝑙𝑙 ∗ 𝑅 𝑉
[ ] =
𝐾𝑡 2 𝐾𝑡

These relationships can be seen in a typical DC motor’s torque-speed curve.