Chapter 6 DC Motors Electrical Machines I

In The Name of God The Most
Compassionate, The Most Merciful

Electric Machines I
2017 Shiraz University of Technology Dr. A. Rahideh

Table of Contents
1. Introduction to Electric Machines
2. Electromagnetic Circuits
3. Principle of Electromechanical Energy Conversion
4. Principle of Direct Current (DC) Machines
5. DC Generators
6. DC Motors
2

Chapter 6
Direct Current (DC) Motors
6.1. Different Types of DC Motors
6.2. Basic Relations
6.3. Operating Characteristics of DC Motors

Different Types of DC Motors
Base on the magnetic field production, DC Motors are classified as
1. Separately excited DC motors: a separate voltage source (from
the armature voltage source) is required for field production.
2. Shunt DC motors: field winding is connected in parallel to the
armature winding.
3. Series DC motors: field winding is connected in series with the
armature winding.
4. Cumulative compound DC motors: both series and parallel
field windings are used and their magnetic fields are added
together. It is further divided as long shunt and short shunt.
5. Differential compound DC motors: both series and parallel
field windings are used and their magnetic fields are subtracted
from each other. It is divided as long shunt and short shunt.
6. Permanent magnet DC motors: field is produced by PM. 4

Specifications of DC Motors
DC motors have the following specifications:
1. Nominal rotational speed
2. Nominal output power (nominal torque can be obtained from
the first two items)
3. Efficiency
No‐load speed Full‐load speed
4. Nominal terminal voltage
 nl   fl
5. Speed regulation (SR) SR   100
 fl
5

Examples of Mechanical Load
Fans, blowers and centrifugal pumps Traction excluding gravity
Speed Speed
Torque Torque
• In any loads involving the turbulent flow
• It is applicable to electric trains and
of fluid, the load torque varies as the
road vehicles.
square of speed.
• It is comprised of the windage, viscous
• It is the windage torque.
friction, coulomb friction and stiction.
• The windage is a dominant component
at high speeds for trains and car.
6 G. K. Dubey, Power Semiconductor Controlled Drives, 1989, Prentice‐Hall, Inc.
Coiler drives Diesel-electric locomotives
Speed Speed
Torque Torque
• It is for applications where the motor is • A diesel‐electric locomotive employs a dc
required to operate at constant power. motor fed by a dc generator driven by a
• Coiler drives are used in steel strip, diesel engine.
paper and plastic mills • Instead of d generator, ac generator
followed by a rectifier may be used.

Excavators Cranes and Hoists
Speed Speed
Low speed
High speed
Torque
Torque
• The purpose of excavators is to dig earth. • At low speeds, the torque is mainly due
• While digging, it may come across a rock, to gravity (constant and independent of
in this situation the motor should simply speed).
stop to prevent damage to the excavator. • At high speeds, the viscous and windage
will participate in the load torque.

Torque Development
The induced voltage in the armature winding having Z conductors
and a parallel paths is obtained as:
 is the rotational velocity in rad/s
pZ
Ea    is the magnetic flux of each pole
2 a
p is the number of poles
pZ Z is the total number of conductors
Ea  k   k
2 a a is the number of parallel paths
The electromagnetic power which causes the rotation of rotor is
Pe  Ea I a Pe  Te Ia is the armature current
Te is the electromagnetic torque
pZ
Te   Ia Te  k  I a
2 a 9

Separately Excited DC Motors
The schematic diagram of the separately excited dc motor:
IL Ia
+
Armature winding
Field winding
If S N
+
_ _
The simplified schematic diagram:
Ia
+
Field winding
Vt
If
Armature
_ Vf _
circuit + 10

Separately Excited DC Motors
The equivalent circuit of the separately excited dc motor:
IL Ia
ra is the armature winding resistance +
r a
rf
rf is the field winding resistance V t
Ia is the armature current E a
If
If is the field current _ + Vf _
IL is the line current
Vt is the motor terminal voltage (armature voltage) Ia  IL
Vf is the field winding voltage
Ea is the induced voltage in the armature winding V f  I f rf
Vt  Ea  I a ra Ea  k   Te  k  I a  If
11

Shunt DC Motors
The schematic diagram of the shunt dc motor:
IL Ia
+
If Armature winding
Field winding
S N
IL Ia
+
If
Vt
_ 12

Shunt DC Motors
The equivalent circuit of the shunt dc motor:
IL Ia
IL Ia
+ If
ra +
If
Vt rf
Vt
Ea
_ _
Vt
IL  Ia  I f If   If
rf
Vt  Ea  I a ra Ea  k   Te  k  I a
13

Effects of Field Winding Open-circuit
• Assume during the operation of a shunt or separately excited dc
motor, the field circuit becomes open, then
If 0   res Ea  k res 
• Therefore back‐emf decreases
• Since the armature voltage source is constant, the armature
current increases significantly Vt  Ea  I a ra
• Despite the reduction of flux, the current increase is dominant
and torque increases Te  k res I a I I
d +
L a
• Therefore the rotor accelerates Te  TL  J I
dt f
• In such a case, the motor should be V t
disconnected from the voltage source.
_
14

Series DC Motors
The schematic diagram of the series dc motor:
IL
+ Ia
If Armature winding
Field winding
S N
IL Ia
+
If
Vt
_ 15

Series DC Motors
The equivalent circuit of the series dc motor:
IL I f Ia IL Ia
+ rs +
ra If
Vt Vt
Ea
_ _
Ia  I f  IL Ea  k   Te  k  I a
Vt  Ea  I a ra  rs    I f  Ia
16

Compound DC Motors
Short-shunt
The simplified schematic diagram of the short‐shunt compound dc
motor:
IL Ia
+
If
Vt
Series field Shunt field
_
Cumulative
Differential
17

Compound DC Motors
Short-shunt
The equivalent circuit of the short‐shunt compound dc motor:
IL rs Ia
+ If
ra
Vt rf
Ea
_
Ea  ra I a
IL  Ia  I f Ea  k   If 
rf
 Cumulative
Vt  Ea  ra I a  rs I L   ksh I f  k s I L 
  Differential 18

Compound DC Motors
Long-shunt
The simplified schematic diagram of the long‐shunt compound dc
motor:
IL Ia
+
If
Vt
Shunt field Series field
_
Cumulative
Differential
19

Compound DC Motors
Long-shunt
The equivalent circuit of the long‐shunt compound dc motor:
IL rs Ia
+ If
ra
Vt rf
Ea
_
Vt
IL  Ia  I f Ea  k   If 
rf
 Cumulative
Vt  Ea  I a ra  rs    ksh I f  ks I a 
  Differential 20

Cumulative vs. Differential
Compound DC Motors
• If the direction of the fields produced by the series and shunt
field windings are the same, the motor is cumulative;
• Otherwise it is differential.
• A cumulative compound dc motor is a
differential compound dc generator
and vice versa.
21

Permanent Magnet DC Motors
The schematic diagram of the PM dc motor:
IL Ia
+
Armature winding
Permanent Permanent
Magnet S N Magnet
Ia
+
Vt S N
Armature
_ circuit
22

Permanent Magnet DC Motors
The equivalent circuit of the PM dc motor: IL Ia
+
ra
Vt
S N
ra is the armature winding resistance _
Ea
Ia is the armature current
IL is the line current
Vt is the motor terminal voltage (armature voltage)
Ea is the induced voltage in the armature winding
Vt  Ea  I a ra Ea  k   Te  k  I a Ia  IL
23

Common types of Permanent Magnets
1.4
Br
1.2
1.0
0.8
B (T)
Neodymium-iron Alnico
magnet magnet
0.6
0.4
Ferrite
magnet
0.2
Rare-earth
cobalt magnet
0.90 H 0.75 0.60 0.45 0.30 0.15 0

c
-H (MA/m)
Demagnetization curve of four types of permanent magnets
24
Power Flow in DC Motors
• In dc motors the input power is electrical (Voltage multiplied by
current) Pin  Pelec  Vt I L  (V f I f )
Pelec  Parmaturelosses  Pfieldlosses  Pbrushlosses  Pcorelosses  Ea I a

Core losses
Input electrical Ohmic losses due to Ohmic losses due Brushes losses
power armature winding to field windings
• In dc motors the output power is mechanical (load torque
multiplied by rotational velocity) Pout  Pmech  PL  TL
Ea I a  Pmech losses  Pmech
Output mechanical
Mechanical losses
power
25

Power Flow in DC Motors
Important note
Ea I a  Pmech losses  Pmech
• At no‐load condition, there is no load torque TL  0
• Therefore output power is zero Pmech  TL  0
Ea I a noload  Pmechlosses
26

Operating Characteristics of DC
Motors
1. Speed vs. armature current   Ia
2. Torque vs. armature current Te  I a
  Te
3. Speed vs. Torque:
27

Operating Characteristics of Separately
Excited and Shunt DC Motors
Vt  Ea  I a ra
Vt  I a ra
Vt  I a ra  k 
k
Ea  k  

pZ
k
2 a With AR
Without AR
Ia 28

2. Torque vs. armature current T  I a
Te  k  I a
Te
pZ
k Without AR
2 a
With AR
Ia
29

3. Speed vs. torque   Te
Te
Te  k  I a Ia 
k Vt ra
  T
Vt  I a ra k (k ) 2 e

k

pZ
k
2 a
With AR
Without AR
Te
30

Operating Characteristics of Series
DC Motors
Vt  Ea  I a ra  rs 
Vt  I a ra  rs   k
Ea  k  

Vt  I a ra  rs 

k
  cI a
V r  r 
 t  a s
With saturation
Without saturation
kcIa kc Ia 31

DC Motors
2. Torque vs. armature current T  I a
Te  k  I a
Te  k c I a2
  cI a
Te
Without saturation
With saturation
Ia 32

DC Motors
Te
Te  k c I a2 Ia 
kc Vt r r
  a s

Vt

ra  rs  kc Te kc
kcIa kc

Series DC motors should
not run without load since
it’s speed increases
severely. With saturation
Without saturation
Te 33

Operating Characteristics of
Compound DC Motors

Differential compound
Differential Shunt & separately excited

compound Cumulative compound
DC motors
are not used
due to their
instability Series
problem. Te
34

Changing the Direction of Rotation
of DC Motors
In order to change the direction of rotation of DC motors,
1. The direction of the field current should be changed while
the direction of the armature current should be kept
unchanged.
or
2. The direction of the armature current should be changed
while the direction of the field current should be kept
unchanged.
The second method is preferred since the field circuit have
higher inductance.
35

Separately Excited
DC Motors
Example 1: A voltage of 230 V is connected to the armature of a
separately excited DC motor and under this condition the nominal
current of 205 A flows in the armature. If the armature resistance is
0.2 ohms,
a) Find the back‐emf.
b) Calculate the output power and torque if the rotational losses
are 1445 W and the rotational velocity is 1750 rpm.
36

Separately Excited
DC Motors
Solution 1: separately excited DC motor
Vt  230 V I a  205 A ra  0.2 
a) Calculate the back‐emf ( Ea ).
Ea  Vt  ra I a Ea  230  0.2  205 Ea  189 V
IL Ia
+
ra rf
Vt
Ea If
_ Vf _
+
37

Separately Excited
DC Motor
Solution 1: separately excited DC motor
I a  205 A Ea  189 V n  1750 rpm Prot  1445 W
b) Calculate the output power and torque
Pa  Ea I a Pa  189  205 Pa  38745 W
Pout  Pa  Prot Pout  38745  1445 Pout  37400 W
37400
Tout 
Pout Tout  Tout  203.5 Nm
 1750  260
38

Series
DC Motors
Example 2: Consider a series DC motor with the following values for
nominal voltage, nominal velocity, nominal terminal current, and
series field and armature resistances:
Vt n  600 V nn  600 rpm I t n  200 A rs  0.04  ra  0.12 
a) At nominal condition, calculate the back‐emf ( Ea ).
b) Calculate the developed torque and developed power at
nominal condition.
c) If the load varies and the terminal current reduces to 150 A,
calculate the speed and developed torque.
Assume the magnetic characteristics is linear. 39

Series
DC Motors
Solution 2: a series DC motor
a) At nominal condition, calculate the back‐emf ( Ea ).
Ea  Vt  I a ra  rs  Ea  600  200  (0.12  0.04)
IL I f Ia
Ea  568 V + rs
ra
Vt
Ea
_
40

Series
DC Motors
b) Calculate the developed torque and developed power at
nominal condition.
Pa  Ea I a Pa  568  200 Pa  113600 W
113600 IL I f
Ta 
Pa Ta  Ia
 600  260 + rs
ra
Vt
Ta  1808 Nm Ea
_
41

Series
DC Motors
Ea 2  Vt  I a 2 ra  rs  Ea 2  600  150  (0.12  0.04)
Ea 2  576 V
IL I f Ia
+ rs
ra
Ea 2 k22 Ea 2 kÎ a 2 n2 Vt
 
Ea1 k11 Ea1 kÎ a1n1 Ea
_
42

Series
DC Motors
IL I f Ia
Ea 2  576 V Ea1  568 V + rs
ra
I a 2  150 A I a1  200 A Vt
Ea
Ea 2 kÎ a 2 n2 Ea 2 I a1 _
 n2  n1
Ea1 kÎ a1n1 Ea1 I a 2
576 200
n2  600 n2  811 rpm
568 150
43

Series
DC Motors
I a 2  150 A I a1  200 A Ta1  1808 Nm
Ta 2 k2 I a 2 Ta 2 kÎ a 2 I a 2
 
Ta1 k1I a1 Ta1 kÎ a1I a1 IL I f Ia
+ rs
2 2
 150 
ra
I  Ta 2  1808
Ta 2  Ta1  a 2   Vt
 I a1   200 
Ea
_
Ta 2  1017 Nm
44

Series
DC Motors
Example 3: Consider the series DC motor of the previous example
a) If the starting current needs to be 150% of nominal current,
calculate the external resistance to be connected between the
motor and the voltage source
b) With the external resistance calculate the starting torque.
c) If the external resistance remains in the circuit and the terminal
current becomes 200 A, calculate the back‐emf and speed.
Assume the magnetic characteristics is linear.
45

Series
DC Motors
Solution 3: series DC motor
a) If the starting current needs to be 150% of nominal current,
calculate the external resistance to be connected between the
motor and the voltage source. I I I L f a
Vt  Ea  I a ra  rs  Rext  + Rext rs

ra
Ea  0
At starting time, , therefore Vt
Ea
Vt  I a ra  rs  Rext  _
Vt 600 Rext  1.84 

Rext   ra  rs Rext   0.12  0.04
Ia 1.5  200
46

Series
DC Motors
b) With the external resistance calculate the starting torque.
From previous example: I I Ia
L f
I a  200 A Ta  1808 Nm + Rext rs

ra
Vt
Ea
2
 1.5  200 
2
I  _
Tstart  Ta  start  Tstart  1808  
 Ia   200 
Tstart  4068 Nm
47

Series
DC Motors
c) If the external resistance remains in the circuit and the terminal
current becomes 200 A, calculate the back‐emf and speed.
Ea  Vt  I a ra  rs  Rext  Ea  600  200  2 Ea  200 V
IL If Ia
Ea 2 I a1 200 200 +
n2  n1
rs
n2  600 Rext
ra
Ea1 I a 2 568 200
Vt
Ea
n2  211 rpm
_ 48

Shunt
DC Motors
Example 4: Consider a shunt DC motor with the following values for
nominal terminal voltage, armature resistance and field resistance:
Vt n  230 V ra  0.3  rf  160 
Assume the no‐load rotational velocity is 1200 rpm, the terminal
current at no‐load condition is 3.938 A and the nominal armature
current is 40 A.
a) Calculate the armature current at no‐load condition.
b) Calculate the developed power at no‐load condition.
c) Calculate the efficiency of the motor at nominal condition.
d) Calculate the rotational velocity at nominal condition.
49

Shunt
DC Motors
Solution 4: shunt DC motor
Vt n  230 V ra  0.3  rf  160 
nnoload  1200 rpm I L ( noload )  3.938 A I an  40 A
a) Calculate the armature current at no‐load condition.
Vt 230 I f  1.438 A IL Ia
If  If 
rf 160 + If
ra
Vt rf
I a ( noload )  I L ( noload )  I f Ea
_
I a ( noload )  3.938  1.438 I a ( noload )  2.5 A

50

Shunt
DC Motors
Vt n  230 V ra  0.3  rf  160 
b) Calculate the developed power at no‐load condition.
Ea ( noload )  Vt  ra I a ( noload ) Ea ( noload )  230  0.3  2.5
IL Ia
Ea ( noload )  229.25 V + If
ra
Pa ( noload )  Ea ( noload ) I a ( noload ) Vt rf
Ea
Pa ( noload )  229.25  2.5 Pa ( noload )  573 W _
51

Shunt
DC Motors
Vt n  230 V ra  0.3  rf  160 
Ean  Vt  ra I an Ean  230  0.3  40 Ean  218 V

IL Ia
Pan  Ean I an Pan  218 40 + If
ra
Pan  8720 W Vt rf
Ea
_
52

Shunt
DC Motors
Vt n  230 V ra  0.3  rf  160 
Pan  8720 W
Note that no‐load developed power is the rotational losses
Prot  Pa ( noload )  573 W
Pout  Pan  Prot Pout  8720  573 Pout  8147 W

53

Shunt
DC Motors
Vt n  230 V ra  0.3  rf  160 
Pout  8147 W
Pin  Vt I L Pin  230  40  1.438 Pin  9530.6 W
Pout 8147
    0.855
Pin 9530.6
54

Shunt
DC Motors
Vt n  230 V ra  0.3  rf  160 
d) Calculate the rotational velocity at nominal condition.
Ea ( noload )  229.25 V Ean  218 V
Ean 218 nn  1141 rpm

nn  nnoload nn  1200
Ea ( noload ) 229.25
55

Chapter 6 DC Motors Electrical Machines I

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Chapter 6 DC Motors Electrical Machines I

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In The Name of God The Most

Compassionate, The Most Merciful

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

0.90 H 0.75 0.60 0.45 0.30 0.15 0

Pelec  Parmaturelosses  Pfieldlosses  Pbrushlosses  Pcorelosses  Ea I a

Ea I a  Pmech losses  Pmech

2017 Shiraz University of Technology Dr. A. Rahideh

• Therefore output power is zero Pmech  TL  0

Ea I a noload  Pmechlosses

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

Differential Shunt & separately excited

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

Vt  230 V I a  205 A ra  0.2 

Ea  Vt  ra I a Ea  230  0.2  205 Ea  189 V

2017 Shiraz University of Technology Dr. A. Rahideh

Pa  Ea I a Pa  189  205 Pa  38745 W

Pout  Pa  Prot Pout  38745  1445 Pout  37400 W

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

Ea  Vt  I a ra  rs  Ea  600  200  (0.12  0.04)

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

2017 Shiraz University of Technology Dr. A. Rahideh

Vt  Ea  I a ra  rs  Rext  + Rext rs

Vt 600 Rext  1.84 

2017 Shiraz University of Technology Dr. A. Rahideh

I a  200 A Ta  1808 Nm + Rext rs

2017 Shiraz University of Technology Dr. A. Rahideh

Ea  Vt  I a ra  rs  Rext  Ea  600  200  2 Ea  200 V

2017 Shiraz University of Technology Dr. A. Rahideh