 Suggests that there are three ways to control the speed

of DC motor:
 Field flux control
 Armature voltage control (Vs)
 Armature resistance control (Ra)

In fact,
 The motor speed increase as Vs increase.
 The motor speed decrease as the field flux and armature
resistance increase.

1
 DC MOTOR

Field Flux Control

❑ If armature voltage Vs and armature resistance is kept constant, the speed

can be varied by varying the field flux ( at the stator windings )
❑ By varying the field flux, motor speed is changing in inverse proportion to
the flux.
❑ If the flux is increased, the speed will drop, and vice versa.

2

Schematic diagram of a shunt motor
including the field rheostat
DC MOTOR
SPEED CONTROL OF SHUNT MOTOR
❑ Assume that the motor is initially
running at constant speed where the
counter-emf, Vg is slightly less than the
armature voltage supply Vs, due to IR
drop in the armature.
❑ If the resistance of rheostat Rf is
suddenly increased, both the exciting
current If and the flux Φ will diminish.
❑ This immediately reduces the Vg,
causing the armature current I to jump
to a much higher value.
 Vg = k
3
 DC MOTOR
SPEED CONTROL OF SHUNT MOTOR

❑ Despite the weaker field, the motor develops a greater torque than
before because of the higher value of armature current.
❑ The motor will accelerate until Vg is again almost equal to Vs. (to
develop the same Vg with a weaker flux, motor must turn faster)
❑ This method of speed control usually used when the motor has to run
above its rated speed. For shunt motor, this method enables high
speed/rated speed ratios as high as 3 to 1.
❑ Under certain abnormal condition, the flux may drop to dangerously
low values. If the fluxes are so small, the motor has to rotate at a
dangerously high speed to induce the required Vg.

4
5
 DC MOTOR
SPEED CONTROL OF SHUNT MOTOR

Armature voltage Control

Vs − I a Ra
S=
K

❑ If the flux is kept constant and the value of Ra is remain unchanged,

the speed depends only upon the armature voltage Vs.
❑ By raising or lowering Vs, the motor speed will rise and fall in
proportion.
❑ Two method of armature voltage control
a) Ward-Leonard Control System
b) Rheostat Speed Control

6
 DC MOTOR
SPEED CONTROL OF SHUNT MOTOR

a) Ward-Leonard Control System

Ward-Leonhard speed control system

7
 DC MOTOR
SPEED CONTROL OF SHUNT MOTOR

 Vs can be varying by connecting the motor armature to separately

excited variable-voltage dc generator.
 The field excitation of dc motor is kept constant, but the generator
excitation Ix can be varied from zero to maximum and even reversed.
 The generator output voltage Vs can therefore be varied from zero to
maximum, with either positive or negative polarity.
 Consequently, the motor speed can be varied from zero to maximum in
either direction

8
 DC MOTOR

 When Vs is adjusted to be slightly higher than the Vg,

❖ Current will flow from generator to motor and a motor developed a
positive torque.
❖ The armature of the motor absorbs power because current flow into
the positive terminal of the armature.

 When Vs is adjusted to become less than Vg,

❖ The flow of the current, I will reverse.
❖ As a result, motor torque reverses and the armature of the motor
delivers power to the generator.
❖ The electric power that the dc motor now delivers to generator is
derived at the expense of kinetic energy of rapidly decelerating
armature and its connected mechanical load.
❖ Thus by reducing Vs, the motor forced to slow down.

9
 DC MOTOR
SPEED CONTROL OF SHUNT MOTOR

 When generator receive the electric power, it operates as a motor,

driving its own ac motor as an asynchronous generator.
 As a result, ac power is fed back into the utility line.
 Since power can be recovered, this Ward-Leonhard system is very
efficient.
 This control system is usually found in steel mills, high–rise elevators,
mines and paper mills
 In modern installations, the generators is often replaced by a high-
power electronic converter that changes the AC power of the electrical
utility to dc, by electronic means.

10
 DC MOTOR
SPEED CONTROL OF SHUNT MOTOR

Rheostat Speed Control

A rheostat is place in series with the armature of DC motor

11
 DC MOTOR
SPEED CONTROL OF SHUNT MOTOR

❑ The current in the rheostat produce a voltage drop which subtract from
the fixed source voltage Vs, yielding a smaller supply voltage across the
armature.
❑ By varying the resistance of the rheostat, the supply voltage across the
armature can be varied.
❑ This method enable to reduce the motor speed below its nominal/rated
value
❑ It only recommended for small motors because a lot of power and heat
is wasted in rheostat, and the overall efficiency is low.
❑ Furthermore, the speed regulation is also poor, even for a fixed setting
of the rheostat.
❑ This is because, the power drop across the rheostat increases as the
armature current increases. This produces a substantial drop in speed
with increasing mechanical load.

12
 SPEED CONTROL OF SHUNT MOTOR

 Armature resistance control

 In this method, the terminal voltage supply Vs and
field flux current at the stator is kept constant.
 The speed of motor can be varied by varying the
value of armature resistance using rheostat.

Vs Ra + Rae
m = − T
K a (K a )2

 This method is simple to implement but less

efficient because of losses in Rae

13
 The external resistance Rae is connected in
series with armature resistance.
 Since the current flow through armature and
stator windings is same, the magnetic linearity
is assumed,
K a = K sr I a
 So that,

Vg = K sr I am

 And,

T = K sr I a
2

Vs R + Rsr + Rae
m = − a
K sr I a K sr
14
 DC MOTOR

❑ The techniques available for the control of speed in a

cumulatively compounded dc motor are the same those
available for a shunt motor.

❑ Theoretically, the differently compounded dc motor could

also be controlled in a similar manner. However, since the
differently compounded dc motor is almost never been
used, that fact hardly matters.

15
 The mechanical power produced by the DC motor is
P = wT = 2NT
 The electric power converted into mechanical power is
P = Vg I a
where Vg is the armature e.m.f
 By equating the mechanical and electrical power, we
have
2NT = Vg I a

2NT Vg I a
Vg = T=
Ia 2N
Vg = Vs − I a Ra

16
17
18
19
DC Motor Directional Control
The first circuit uses a single double-pole, double-throw (DPDT) switch to control the
polarity of the motors connections. By changing over the contacts the supply to the motors
terminals is reversed and the motor reverses direction. The second circuit is slightly more
complicated and uses four single-pole, single-throw (SPST) switches arranged in an “H”
configuration.

20
DC Motor Directional Control

The mechanical switches are arranged in switching pairs and must be

operated in a specific combination to operate or stop the DC motor. For
example, switch combination A + D controls the forward rotation while
switches B + C control the reverse rotation as shown. Switch combinations A
+ B or C + D shorts out the motor terminals causing it to brake quickly.
However, using switches in this manner has its dangers as operating
switches A + C or B + D together would short out the power supply.

21
 The direction of a motor's rotation may be reversed by reversing the
direction of current flow in either the armature or the field windings.
 Will reverse the magnetism
 The method for reversing direction of rotation is by employs two field
windings wound in opposite directions on the same pole.
 This type of motor control is called a split field motor
 The single pole, double throw switch makes it possible to
direct current through either of the two windings.
 When the switch is placed in the lower position, north pole
at the upper field winding and at the upper pole piece, and
a south pole at the lower pole piece.
 When the switch is placed in the upper position, the
magnetism of the field is reversed, and the armature rotates
in the opposite direction.

22
 Another method of direction reversal, called
the switch method.
 a double pole, double throw switch which
changes the direction of current flow in
either the armature or the field.
 When the switch is thrown to the "up"
position, current flows through the field
winding to establish a north pole at the right
side of the motor and a south pole at the left
side of the motor.
 When the switch is thrown to the "down"
position, this polarity is reversed and the
armature rotates in the opposite direction.

23
 Losses occur when electrical energy is converted to
mechanical energy (in the motor), or mechanical
energy is converted to electrical energy (in the
generator).
 These losses must be kept to a minimum. Some losses
are electrical, others are mechanical.
 Electrical losses are classified as copper losses and iron
losses; mechanical losses occur in overcoming the
friction of various parts of the machine.

24
 Copper losses occur when electrons are forced through the copper
windings of the armature and the field. These losses are proportional to
the square of the current. They are sometimes called I2R losses, since
they are due to the power dissipated in the form of heat in the
resistance of the field and armature windings.
 Iron losses are subdivided in hysteresis and eddy current losses.
Hysteresis losses are caused by the armature revolving in an alternating
magnetic field. It, therefore, becomes magnetized first in one direction
and then in the other. The residual magnetism of the iron or steel of
which the armature is made causes these losses. Since the field
magnets are always magnetized in one direction (dc field), they have
no hysteresis losses.
 Eddy current losses occur because the iron core of the armature is a
conductor revolving in a magnetic field. These currents heat the core
and, if they become excessive, may damage the windings.
25
26
27
Power is lost in an inductor through several different
mechanisms:

Resistance of the windings - 'copper loss'.

Magnetic friction in the core - 'hysteresis'.
Electric currents induced in the core - 'eddy currents'.
Physical vibration and noise of the core and windings.
Electromagnetic radiation.
Dielectric loss in materials used to insulate the core and
windings.

28
ii) Eddy Current Loss (We)The core of a generator armature is made from soft iron, which is a
conducting material with desirable magnetic characteristics. Any conductor will have currents
induced in it when it is rotated in a magnetic field. These currents that are induced in the generator
armature core are called EDDY CURRENTS. The power dissipated in the form of heat, as a result
of the eddy currents, is considered a loss.

Eddy currents, just like any other electrical currents, are affected by the resistance of the material in
which the currents flow. The resistance of any material is inversely proportional to its cross-
sectional area. Figure, view A, shows the eddy currents induced in an armature core that is a solid
piece of soft iron. Figure, view B, shows a soft iron core of the same size, but made up of several
small pieces insulated from each other. This process is called lamination. The currents in each piece
of the laminated core are considerably less than in the solid core because the resistance of the pieces
is much higher. (Resistance is inversely proportional to cross-sectional area.) The currents in the
individual pieces of the laminated core are so small that the sum of the individual currents is much
less than the total of eddy currents in the solid iron core.
As you can see, eddy current losses are kept low
when the core material is made up of many thin
sheets of metal. Laminations in a small generator
armature may be as thin as 1/64 inch. The
laminations are insulated from each other by a thin
coat of lacquer or, in some instances, simply by the
oxidation of the surfaces. Oxidation is caused by
contact with the air while the laminations are being
annealed. The insulation value need not be high
because the voltages induced are very small. 29
Magnetic Losses (also known as iron or core
losses)(i) Hysteresis loss (Wh)Hysteresis loss is a
heat loss caused by the magnetic properties of the
armature. When an armature core is in a magnetic
field, the magnetic particles of the core tend to line
up with the magnetic field. When the armature core
is rotating, its magnetic field keeps changing
direction. The continuous movement of the magnetic
particles, as they try to align themselves with the
magnetic field, produces molecular friction. This, in
turn, produces heat. This heat is transmitted to the
armature windings. The heat causes armature
resistances to increase. To compensate for hysteresis
losses, heat-treated silicon steel laminations are used
in most dc generator armatures. After the steel has
been formed to the proper shape, the laminations are
heated and allowed to cool. This annealing process
reduces the hysteresis loss to a low value.

30
31
 The terminal voltage Vs can be control using solid-
state chopper.
 This chopper convert a fixed-voltage supply into a
variable voltage supply.

32
 When the switching device turned ON, Vs= Vsupply and current Ia
increased.
 When the switching device turned OFF, the current Ia decay trough the
diode D and make Vs=0.
 The variation of Vs generated by chopper will determined the motor
speed. T
Vs = on
V
T
Vs = DV

33
Summary of DC Motors
Summary of DC Motors
Summary of DC Motors