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DC MOTORS
INTRODUCTION AND ITS BASIC PRINCIPLE
Torque Equation of a DC Motor
Let us consider a wheel of radius R meters acted upon by a circumferential
force F newtons as shown in the Fig. 6.7.
���
�= rads/sec
��
� = � � ��� joules
Torque Equation of a DC Motor
The power developed (�� )
���� ����
�� =
����
�� = � � � watts
� � ���
�� =
���� ��� � ���
����� � = ������ �� � − �
���
�� = � � � ��
�� = � �
Torque Equation of a DC Motor
Let Ta be the gross torque developed by the armature of the motor. It is also called
armature torque. Then
The torque which is available at the shaft for doing the useful work is known
as load torque or shaft torque denoted as Tsh.
�� = �� + ��� �� =
2���
33000
→ N- rpm; T – lb-ft
where: �� - Lost Torque
2���
�� = → N- rpm; T – N-m
The shaft torque magnitude is always less than the armature torque. 44760
�� −���
��� =
��
�� � ∅��
Now
�� = �� + ���
No Load Condition of a Motor
�� = �� + ���
��� = ��
So on no load, motor keeps on rotating at a speed of N0 rpm drawing an
armature current Ia0.
So on no load,
Torque developed = Torque required to overcome friction, windage, iron losses
Power developed (Eb0 x Ia0) = Friction, windage and iron losses
Where Eb0 = Back emf on no load
Ia0 = Armature current on no load
DC Shunt Motor
��ℎ �� In this type, the field winding is connected
across the armature winding and the
��
combination is connected across the supply, as
�� + shown in the Figure.
��ℎ + �� Voltage and Current Relationship
�� M − IL = Ia + Ish
−
��
��� =
���
Vs = Eb + IaRa + Vbrush
Now ∅ � ���
Types of DC Motors
Similar to the dc generators, dc motors are classified depending upon the way
of connecting the field winding with the armature winding.
DC Series Motor
��� ��� In this type of motor, the series field winding is
connected in series with the armature and the
�� �� supply, as shown in the Figure.
�� +
Voltage and Current Relationship
+ ��
IL = Ise = Ia
�� M −
−
Vs= Eb + IaRa + IseRse + Vbrush
∅ � ��� � ��
Types of DC Motors
DC Compound Motor
The compound motor consists of part of the field winding connected in series and
part of the field winding connected in parallel with armature.
Long Shunt Compound Motor
�� = �� + �� �� + ��� + �����ℎ
�� = �� + �� �� + ��� ��� + �����ℎ
Types of DC Motors
DC Compound Motor
The compound motor consists of part of the field winding connected in series and
part of the field winding connected in parallel with armature.
Short Shunt Compound Motor
��� ��� In this type, the shunt field is connected purely in
parallel with armature and the series field is connected
�� �� in series with this combination shown in the Figure.
��ℎ �
��ℎ � + Voltage and Current Relationship
+ ��
IL = Ise
�� M −
− And IL = Ia + Ish
But Ise = IL
�� = Eb + �� ��� + �� �� +�����ℎ
Types of DC Motors
DC Compound Motor
The compound motor consists of part of the field winding connected in series and
part of the field winding connected in parallel with armature.
Short Shunt Compound Motor
��� ��� In this type, the shunt field is connected purely in
parallel with armature and the series field is connected
�� �� in series with this combination shown in the Figure.
��ℎ �
��ℎ � + Voltage and Current Relationship
+ ��
Voltage Drop across shunt field winding is,
�� M −
− ��� ��� = �� − ��� ���
��� ��� = �� + �� �� + ������
Then,
�� −��� ���
��� =
���
�� +�� �� +������
��� =
���
Torque and Speed Equations
From torque equation
�� � ∅��
��
That is because �. ��� is a constant for a given motor.
�
�� � ∅�� � �� �
Then
While for series motor, flux is proportional
�� � ∅�
to ��
��
��
∅
�− �� �� − �� ���
� ∝
��
But Vs = Eb + IaRa neglecting brush drop
Eb = Vs - IaRa
�� −�� ��
��
∅
Speed Regulation
The speed regulation for a dc motor is defined as the ratio of change in speed
corresponding to no load and full load condition to speed corresponding to
full load.
Mathematically