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UNIT VI

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.

 The wheel is rotating at a speed of N rpm. Then


the angular speed of the wheel is,

���
�= rads/sec
��

 So work done (W) in one revolution is,

� = � � �������� ��������� �� ��� ����������

� = � � ��� 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

����� �� �������� = �������� ������ � �


�� = �� � �
���
�� �� = �� �
��

But Eb in a motor is given by, ��



�� = �. ��� �∅�� � N-m
∅��� �
�� =
���
 Therefore: This is the torque equation in a dc
∅��� ��� motor.
��� = �� �
��� ��
∅��
��� = �� � ��

� ��
�� = �∅�� �
�� �
Types of Torque in the Motor
 Basically, the torque in the armature and hence gross torque produced is
denoted as Ta.

 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

��� ������ �� ����� ���� = ��� � �


No Load Condition of a Motor
 The motor draws an armature current of Ia0.

�� −���
��� =
��

Where Eb0 is back emf on no load, proportional to speed N0

 Now armature torque Ta for motor is,

�� � ∅��

 Now

�� = �� + ���
No Load Condition of a Motor
�� = �� + ���

 But on no load, Tsh = 0

��� = ��
 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

 This component of stray losses i.e. Eb0 Ia0 is practically assumed to be


constant though the load on the motor is changed from zero to the full
capacity of the motor. So Tf is practically assumed constant for all load
conditions.
Example:
 A 4 pole dc motor takes a 50 A armature current. The armature has lap
connected 480 conductors. The flux per pole is 20 mWb. Calculate the gross
torque developed by the armature of the motor.
Example:
 A 4 pole, lap wound dc motor has 540 conductors. Its speed is found to be
1000 rpm when it is made to run light. The flux per pole is 25mWb. It is
connected to 230V dc supply. The armature resistance is 0.8 ohm. Calculate,
 (a) Induced emf,
 (b) Armature current ,
 ( c) Stray losses,
 (d) Lost torque
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 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

Main Point : In series motor, entire Vs = Eb + Ia(Ra + Rse) + Vbrush


armature current is passing through the
series field winding. So flux produced is
proportional to the armature current.

∅ � ��� � ��
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

��� ���  In this type, the shunt field winding is connected


across the combination of armature and the
�� �� series field winding as shown in the Figure.
�� ��ℎ
+  Voltage and Current Relationship
+ ��ℎ �� IL = Ise + Ish
�� M − But Ise = Ia

IL = Ia + Ish

Ø But ��� = �� ��ℎ =


��
��ℎ

�� = �� + �� �� + ��� + �����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

Therefore �� = Eb + ��� ��� + �� �� +�����ℎ

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.

 We know that ∅ � ������

 For series motors:

�� � ∅�� � �� �

 For a dc shunt motor, ��ℎ is constant as long as supply voltage is constant.


Hence �� is proportional to the armature current �� .
Torque and Speed Equations
 Similarly as,  So for a shunt motor as flux is constant,
∅��� � ∝ � − �� ��
�� =
���

 Then
 While for series motor, flux is proportional
�� � ∅�
to ��
��
��

�− �� �� − �� ���
� ∝
��
 But Vs = Eb + IaRa neglecting brush drop

Eb = Vs - IaRa

 Speed equation becomes,

�� −�� ��
��

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

��� ���� − ����� ���� � ���%


% ����� ���������� =
����� ����
Example:
 A shunt motor is taking 72 A at 120 V while developing an output of 10 hp.
Armature resistance is 0.05 Ω. Shunt field resistance is 60 Ω. Determine (a).
Counter emf, (b). Total Copper Losses, (c). Iron and friction losses.
��ℎ ��
��
�� +
��ℎ + ��
�� M −

Example:
 A 200 V series motor has a field resistance of 0.2 Ω and an armature
resistance of 0.1 Ω. The motor takes 30 A of current at 900 rpm while
developing full load torque. What is the motor speed when this motor
develops 70% of full load torque?

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