DC MOTORS

PREPARED BY: ENGR. ANDREI M. LITERAL

DC MOTOR
A DC motor is any of a class of rotary electrical motors that
converts direct current electrical energy into mechanical energy. It
works on the principle of electromagnetism.
WORKING PRINCIPLE OF A DC MOTOR
When a current-carrying conductor is placed in a magnetic field,
it experiences a force called the Lorentz’s force.
 These forces experienced by the conductors makes the motor
turn and therefore produces torque.
PARTS OF A DC MOTOR
BACK/COUNTER EMF
When the armature winding of a DC motor is rotating in the magnetic
flux produced by the field winding, it cuts the magnetic flux lines and induces
emf in the armature winding. The current induced in the loop due to this emf
is in opposite in direction with the current supplied by the external source.
𝑃∅𝑁𝑍
𝐸𝑏 =
60𝑎
𝐸𝑏 = 𝑏𝑎𝑐𝑘 𝑒𝑚𝑓 𝑖𝑛 𝑣𝑜𝑙𝑡𝑠
𝑃 = 𝑛𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠
∅ = 𝑓𝑙𝑢𝑥 𝑝𝑒𝑟 𝑝𝑜𝑙𝑒 𝑖𝑛 𝑊𝑏
𝑁 = 𝑠𝑝𝑒𝑒𝑑 𝑜𝑓 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑟𝑝𝑚
𝑍 = 𝑡𝑜𝑡𝑎𝑙 𝑛𝑜. 𝑜𝑓 𝑐𝑜𝑛𝑑𝑢𝑐𝑡𝑜𝑟𝑠
𝑎 = 𝑛𝑜. 𝑜𝑓 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙 𝑝𝑎𝑡ℎ𝑠
TORQUE DEVELOPED IN DC MOTOR
The torque output of a motor is the amount of rotational force
that the motor develops.
𝑇 = 𝐹𝑟
𝐹 = 𝛽𝐼𝑎 𝐿
𝑇 = 𝛽𝐼𝑎 𝐿𝑟
Torque on one current path
𝛽𝐼𝑎 𝐿𝑟
𝑇=
𝑎
Torque on all conductors
𝑍𝛽𝐼𝑎 𝐿𝑟
𝑇=
𝑎
 𝑍𝛽𝐼𝑎 𝐿𝑟
𝑇=
𝑎
𝜙
𝛽=
𝐴
𝑍𝜙𝐼𝑎 𝐿𝑟
𝑇=
𝐴𝑎
2𝜋𝑟𝐿
𝐴=
𝑃
𝑃𝑍𝜙𝐼𝑎 𝐿𝑟
𝑇=
2𝜋𝑟𝐿𝑎
𝑃𝐼𝑎 𝑍𝜙
𝑇=
2𝜋𝑎
If the motor is rigidly constructed
𝑃𝑍
=𝑘
2𝜋𝑎
𝑇 = 𝑘𝐼𝑎 𝜙
Additional formulas for torque developed
𝑃𝑑
𝑇 = 9.55 𝑖𝑛 𝑁 ∙ 𝑚
𝑁

𝑃𝑑
𝑇 = 7.04 𝑖𝑛 𝑓𝑡 ∙ 𝑙𝑏𝑓
𝑁
𝑃𝑑 = 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑝𝑜𝑤𝑒𝑟 𝑑𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑖𝑛 𝑤𝑎𝑡𝑡𝑠
𝑁 = 𝑠𝑝𝑒𝑒𝑑 𝑜𝑓 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑟𝑝𝑚
MECHANICAL POWER DEVELOPED
𝑃𝑑 = 𝜔𝑇 Unit of Power Equivalent
𝐽
𝑃𝑑 = 𝐸𝑏 𝐼𝑎 Watt (W)
𝑠
2𝜋𝑁𝑇 𝑓𝑡 ∙ 𝑙𝑏𝑓
𝐻𝑃 = 𝑡𝑜𝑟𝑞𝑢𝑒 𝑖𝑛 𝑁 ∙ 𝑚 Horsepower (Hp)
746 𝑊 𝑜𝑟 550
44760 𝑠
2𝜋𝑁𝑇
𝐻𝑃 = 𝑡𝑜𝑟𝑞𝑢𝑒 𝑖𝑛 𝑓𝑡 ∙ 𝑙𝑏𝑓
33000
𝑃𝑑 = 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑝𝑜𝑤𝑒𝑟 𝑑𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑖𝑛 𝑤𝑎𝑡𝑡𝑠
𝜔 = 𝑠𝑝𝑒𝑒𝑑 𝑜𝑓 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 𝑝𝑒𝑟 𝑠𝑒𝑐𝑜𝑛𝑑
𝐸𝑏 = 𝑏𝑎𝑐𝑘 𝑒𝑚𝑓
𝐼𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑢𝑟𝑟𝑒𝑛𝑡
𝐻𝑃 = 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑝𝑜𝑤𝑒𝑟 𝑑𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑖𝑛 ℎ𝑜𝑟𝑠𝑒𝑝𝑜𝑤𝑒𝑟
Sample Problem No. 1
A simplex lap wound armature has 580 conductors and carries a current of
125 amperes per armature current path. If the flux per pole is 20 mWb. Calculate
the electromagnetic torque developed by the armature?

𝑃𝐼𝑎 𝑍𝜙
𝑇=
2𝜋𝑎
Simplex lap
𝑎 = 𝑚𝑃
𝑎=𝑃

(125)(580)(20×10−3 )
𝑇=
2𝜋
𝑇 = 230.77 𝑁 ∙ 𝑚
Sample Problem No. 2
A 6-pole lap wound dc motor takes 300 A when the speed is 500 rpm. The
flux per pole is 0.05 Wb and the armature has 870 turns Neglecting the shunt field
current, calculate the brake horsepower of the motor.
2𝜋𝑁𝑇 𝑃𝐼𝑎 𝑍𝜙
𝐻𝑃 = , 𝑇=
44760 2𝜋𝑎
Simplex lap
𝑎 = 𝑚𝑃
𝑎=𝑃
(300)(2×870)(0.05)
𝑇=
2𝜋
𝑇 = 4984.73 𝑁 ∙ 𝑚
2𝜋(500)(4984.73)
𝐻𝑃 =
44760
𝐻𝑃 = 349.86 ℎ𝑝
SERIES-WOUND DC MOTOR
A type of self-excited DC motor which the armature is connected
in series with the field windings.
𝐼𝑎 = 𝐼𝑓 = 𝐼𝑠

Back EMF
Applying KVL:
𝑉𝑠 − 𝐼𝑎 𝑅𝑎 − 𝐼𝑎 𝑅𝑓 − 𝐸𝑏 = 0
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎 + 𝑅𝑓 − 𝑉𝑏
𝐸𝑏 = 𝑏𝑎𝑐𝑘 𝑒𝑚𝑓
𝑉𝑠 = 𝑠𝑢𝑝𝑝𝑙𝑦 𝑣𝑜𝑙𝑡𝑎𝑔𝑒
𝐼𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑢𝑟𝑟𝑒𝑛𝑡
𝐼𝑓 = 𝑓𝑖𝑒𝑙𝑑 𝑐𝑢𝑟𝑟𝑒𝑛𝑡
𝑅𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝑅𝑓 = 𝑓𝑖𝑒𝑙𝑑 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝑉𝑏 = 𝑏𝑟𝑢𝑠ℎ 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 𝑑𝑟𝑜𝑝
Characteristics of a series-wound DC motor
1. Torque and Armature Current Characteristics
𝑇 = 𝑘𝐼𝑎 𝜙
But flux is dependent on armature
current on a series motor,
𝐼𝑎 = 𝐼𝑓
T ∝ 𝐼𝑎 2
After saturation of core, the flux becomes constant.
𝑇 ∝ 𝐼𝑎
2. Speed and Armature Current Characteristics
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎 + 𝑅𝑓 − 𝑉𝑏
𝑃∅𝑁𝑍
𝐸𝑏 =
60𝑎

It is important to note that when series-wound dc motors are left

running unloaded, it will gain more and more speeds until it destroys
itself.
Series-wound DC motors have poor speed regulation.
3. Torque and Speed Characteristics

In a series DC motor, the starting torque is high since the starting

current is also high.
Sample Problem No. 3
A 220 V series motor takes 15 A and runs 700 rpm. The armature
resistance including the resistance of the series winding is 0.8 ohm.
Calculate the torque developed by the motor.
𝑃𝑑
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎 + 𝑅𝑓 − 𝑉𝑏 𝑃𝑑 = 𝐸𝑏 𝐼𝑎 𝑇 = 9.55
𝑁
𝐸𝑏 = 220 − 15 0.8
𝐸𝑏 = 208 𝑉
𝑃𝑑 = 208(15)
𝑃𝑑 = 3120 𝑊
3120
𝑇 = 9.55
700
𝑇 = 42.56 𝑁 ∙ 𝑚
SHUNT-WOUND DC MOTOR
A type of self-excited DC motor which the armature is connected
in parallel with the field windings.
Back EMF
Applying KVL
𝑉𝑠 − 𝐼𝑎 𝑅𝑎 − 𝐸𝑏 − 𝑉𝑏 = 0
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎 − 𝑉𝑏
Applying KCL
𝐼𝑠 − 𝐼𝑎 − 𝐼𝑓 = 0
𝐼𝑎 = 𝐼𝑠 − 𝐼𝑓
𝑉𝑠
𝐼𝑓 =
𝑅𝑓
Characteristics of a shunt-wound dc motor
1. Torque and Armature Current Characteristics
𝑇 = 𝑘𝐼𝑎 𝜙
Since field current is independent to the armature current, flux is fairly
constant on a shunt motor.
𝑇 ∝ 𝐼𝑎
2. Speed and Armature Current Characteristics
Since speed is fairly constant, speed regulation is improved on a shunt-
wound DC motor.
3. Speed and Torque Characteristics
Shunt-wound motors has relatively low starting torque compared
to series-wound motors.
Sample Problem No. 4
A 440-volt shunt motor has an armature resistance of 0.8 ohm and a field
resistance of 200 ohm. What is the back emf when giving an output of 7.46kW at
85% efficiency?
𝑃𝑜𝑢𝑡
𝜂=
𝑃𝑖𝑛
7460
𝑃𝑖𝑛 = = 8776.47 𝑊
0.85
𝑃𝑖𝑛 = 𝑉𝑠 𝐼𝑠
8776.47
𝐼𝑠 = = 19.95 𝐴
440
440
𝐼𝑓 = = 2.2 𝐴
200
𝐼𝑎 = 19.95 − 2.2 = 17.95 𝐴
𝐸𝑏 = 440 − 17.95(0.8)
𝐸𝑏 = 425.64 𝑉
Sample Problem No. 5
A DC shunt motor develops 15 HP at 120 V. The armature efficiency is 95%. What is the
armature effective resistance?
15(746)
𝑃𝑖𝑛 = = 11778.94 𝑊
0.95
𝑃𝑎 = 11778.94 1 − 0.95 = 588.95 𝑊

𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎
𝑃𝑑
= 𝑉𝑠 − 𝐼𝑎 𝑅𝑎
𝐼𝑎
𝑃𝑑 = 𝑉𝑠 𝐼𝑎 − 𝐼𝑎 2 𝑅𝑎
15(746) = 120𝐼𝑎 − 588.95
𝐼𝑎 = 98.16 𝐴

588.95 = (98.16)2 𝑅𝑎
𝑅𝑎 = 0.06 Ω
Sample Problem No. 6
A 5-kW, 220-V dc shunt motor has a full-load line current of 30 A. The armature circuit
resistance is 0.3 ohm and the shunt field resistance is 200 ohms. The constant loss for this motor
is
𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑙𝑜𝑠𝑠 = 𝑃𝑓 + 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑙𝑜𝑠𝑠𝑒𝑠
𝑃𝑖𝑛 = 𝑃𝑜𝑢𝑡 + 𝑃𝑎 + 𝑃𝑓 + 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑙𝑜𝑠𝑠𝑒𝑠

𝑃𝑖𝑛 = 220 30 = 6600 𝑊

220
𝐼𝑎 = 30 − = 28.9 𝐴
200
𝑃𝑎 = 28.9 2 0.3 = 250.56 𝑊

𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑙𝑜𝑠𝑠 = 6600 − 5000 − 250.56

𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑙𝑜𝑠𝑠 = 1349.44 𝑊
COMPOUND-WOUND DC MOTOR
The desirable characteristics of both series and shunt-wound DC
motor can achieved on the compound-wound DC motor.
LONG-SHUNT DC MOTOR
A type of compound-wound DC motor which the armature is
connected in series with the series field windings.
𝐼𝑠𝑒 = 𝐼𝑎
Back EMF
Applying KVL
𝑉𝑠 − 𝐼𝑎 𝑅𝑎 − 𝐼𝑎 𝑅𝑠𝑒 − 𝐸𝑏 − 𝑉𝑏 = 0
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎 + 𝑅𝑠𝑒 − 𝑉𝑏
Applying KCL
𝐼𝑠 − 𝐼𝑎 − 𝐼𝑠ℎ = 0
𝐼𝑎 = 𝐼𝑠 − 𝐼𝑠ℎ
𝑉𝑠
𝐼𝑠ℎ =
𝑅𝑠ℎ
𝑅𝑠𝑒 = 𝑠𝑒𝑟𝑖𝑒𝑠 𝑓𝑖𝑒𝑙𝑑 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝐼𝑠𝑒 = 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝑡ℎ𝑟𝑜𝑢𝑔ℎ 𝑠𝑒𝑟𝑖𝑒𝑠 𝑓𝑖𝑒𝑙𝑑 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
𝐼𝑠ℎ = 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝑡ℎ𝑟𝑜𝑢𝑔ℎ 𝑠ℎ𝑢𝑛𝑡 𝑓𝑖𝑒𝑙𝑑 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
𝑅𝑠ℎ = 𝑠ℎ𝑢𝑛𝑡 𝑓𝑖𝑒𝑙𝑑 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒
SHORT-SHUNT DC MOTOR
A type of compound-wound DC motor which the armature is
connected in parallel with the shunt field windings.
𝐼𝑠𝑒 = 𝐼𝑠
Applying KVL
𝑉𝑠ℎ − 𝐼𝑎 𝑅𝑎 − 𝐸𝑏 − 𝑉𝑏 = 0
𝐸𝑏 = 𝑉𝑠ℎ − 𝐼𝑎 𝑅𝑎 − 𝑉𝑏
𝑉𝑠ℎ = 𝑉𝑠 − 𝐼𝑠 𝑅𝑠𝑒
Applying KCL
𝐼𝑠 − 𝐼𝑎 − 𝐼𝑠ℎ = 0
𝐼𝑎 = 𝐼𝑠 − 𝐼𝑠ℎ
𝑉𝑠ℎ
𝐼𝑠ℎ = 𝑉𝑠ℎ = 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 𝑎𝑐𝑟𝑜𝑠𝑠 𝑠ℎ𝑢𝑛𝑡 𝑓𝑖𝑒𝑙𝑑 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
𝑅𝑠ℎ
SPEED REGULATION
Speed regulation is a measure in percentage of how a motor will
react or how much the speed of rotation will change when there are
sudden changes on its mechanical load.
𝑁𝑁𝐿 −𝑁𝐹𝐿
%𝑁𝑅 = × 100%
𝑁𝐹𝐿
%𝑁𝑅 = 𝑝𝑒𝑟𝑐𝑒𝑛𝑡 𝑠𝑝𝑒𝑒𝑑 𝑟𝑒𝑔𝑢𝑙𝑎𝑡𝑖𝑜𝑛
𝑁𝑁𝐿 = 𝑛𝑜 − 𝑙𝑜𝑎𝑑 𝑠𝑝𝑒𝑒𝑑
𝑁𝐹𝐿 = 𝑓𝑢𝑙𝑙 − 𝑙𝑜𝑎𝑑 𝑠𝑝𝑒𝑒𝑑
Sample Problem No. 7
A 230 V, dc motor takes a no-load current of 2 A and runs at a speed of 1200
rpm. If the full-load current is 40 A, find the speed on full-load and the percentage
speed regulation. Assume that the flux remains constant. Resistance of armature =
0.25 ohm.
𝑃∅𝑁𝑍
𝐸𝑏 = 𝐸𝑏 ∝ 𝑁 𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎
60𝑎
𝐸𝑏2 𝑁2
=
𝐸𝑏1 𝑁1
𝐸𝑏1 = 230 − 2 0.25 = 229.5 𝑉
𝐸𝑏2 = 230 − 40 0.25 = 220 𝑉
𝐸𝑏2 220
𝑁2 = 𝑁1 = 1200
𝐸𝑏1 229.5
𝑁2 = 1150 𝑟𝑝𝑚
𝑁𝑁𝐿 −𝑁𝐹𝐿 1200−1150
%𝑁𝑅 = × 100% = × 100%
𝑁𝐹𝐿 1150
%𝑁𝑅 = 4.35 %
STARTER RESISTANCE
At starting, the armature draws high current due to the back emf of
the motor at the instant of starting equal to zero.
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎
If 𝐸𝑏 = 0 at starting
0 = 𝑉𝑠 − 𝐼𝑎 𝑅𝑎
𝑉𝑠
𝐼𝑎 = (high starting armature current)
𝑅𝑎

A rheostat is connected in series with the armature to minimize

starting current and gradually decreases its resistance as the motor speeds
up.
𝑉
𝐼𝑎 = 𝑠
𝑅𝑎 +𝑅
𝑅 = 𝑠𝑡𝑎𝑟𝑡𝑒𝑟 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒
Sample Problem No. 8
A 10-HP, 220-V, dc shunt motor has an armature and field resistances of 0.25
ohm and 100 ohm, respectively. The full-load efficiency is 83%. Determine the
value of starting resistance in order that the armature starting current will not
exceed 200 percent of the full-load value.
Full-load armature current
10×746
𝑃𝑖𝑛 = = 8987.95 𝑊
0.83
8987.95
𝐼𝑠 = = 40.85 𝐴
220
220
𝐼𝑎 = 40.85 − = 38.65 𝐴
100
𝑉𝑠
𝐼𝑎 =
𝑅𝑎 +𝑅
220
𝑅= − 0.25
2(38.65)
𝑅 = 2.6 Ω
SPEED REVERSAL AND CONTROL
The direction of rotation of dc motor can be reversed by:
1. Interchanging the field terminals
2. Interchanging the supply terminals
Note: If both of them are change, the rotation will not reverse.

The speed of rotation can be controlled by:

1. Inserting a rheostat in series with armature
2. Inserting a rheostat in series with the field winding
3. Inserting a potentiometer to vary the supply voltage