Electric Motors

BAE 4353

12/3/2002

Classification / types

DC Motors
AC Motors
Stepper Motors
Linear motors

Function
Power conversion - electrical into mechanical
Positional actuation electrical signal to position

DC Motors

BAE 4353

12/3/2002

DC Motors
Fundamental characteristics
Basic function

Types and applications

Series
Shunt
Combination
Torque characteristics

Modelling

BAE 4353

Fundamental characteristics of DC Motors

End view
Time 0

12/3/2002

End view
Time 0+

Shifting magnetic field in rotor causes rotor to be forced to turn

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Nature of commutation

BAE 4353

12/3/2002

Power is applied to armature

windings
From V+
Through the +brush
Through the commutator
contacts
Through the armature (rotor)
winding
Through the brush
To V-

Rotation of the armature

moves the commutator,
switching the armature winding
connections
Stator may be permanent or
electromagnet
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BAE 4353

DC motor wiring topologies

12/3/2002

Series Wound DC motors

BAE 4353

12/3/2002

Armature and field connected in a series circuit.

Apply for high torque loads that do not require precise speed
regulation. Useful for high breakaway torque loads.
locomotives, hoists, cranes, automobile starters

Starting torque
300% to as high as 800% of full load torque.

Load increase results in both armature and field current increase

Therefore torque increases by the square of a current increase.

Speed regulation
Less precise than in shunt motors
Diminished load reduces current in both armature and field
resulting in a greater increase in speed than in shunt motors.
No load results in a very high speed which may destroy the motor.
Small series motors usually have enough internal friction to prevent
high-speed breakdown, but larger motors require external safety
apparatus.

Shunt wound DC motors

BAE 4353

12/3/2002

Field coil in parallel (shunt) with the armature.

Current through field coil is independant of the armature.
Result = excellent speed control.

Apply where starting loads are low

fans, blowers, centrifugal pumps, machine tools

Starting torque
125% to 200% full load torque (300 for short periods).

BAE 4353

Compound wound DC motors

12/3/2002

Performance is roughly between series-wound and shunt-wound

Moderately high starting torque
Moderate speed control
Inherently controlled no-load speed
safer than a series motor where load may be disconnected
e.g. cranes

BAE 4353

Permanent magnet DC motors

12/3/2002

BAE 4353

Permanent Magnet DC Motors

12/3/2002

Have permanent magnets rather than field windings but with

conventional armatures. Power only to armature.
Short response time
Linear Torque/Speed characteristics similar to shunt wound
motors. Field magnetic flux is constant
Current varies linearly with torque.

Self-braking upon disconnection of electrical power

Need to short + to supply, May need resistance to dissipate heat.

Magnets lose strength over time and are sensitive to heating.

Lower than rated torque.
Not suitable for continuous duty
May have windings built into field magnets to re-magnetize.

Best applications for high torque at low speed intermittent duty.

Servos, power seats, windows, and windshield wipers.
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Modeling DC motors

BAE 4353

12/3/2002

A linear speed/torque curve

can be used to model DC
motors. This works well for
PM and compound designs
and can be used for control
models for narrow ranges for
the other configurations
Model will assume!
Linearity
Constant thermal
characteristics
No armature inductance
No friction in motor

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DC Motor modeling

BAE 4353

12/3/2002

From the circuit

V IR Eb

Motor equations

Eb K e

Power is:

T Kt I
Substituting the above:

T
R K e
Kt

V
T

R
Kt Ke Kt

And no-load speed

V
n
Kt
In terms of no-load speed
torque/speed equation is:

For stalled rotor torque

KV
Ts e
R

R
T
Ke Kt

R 2
T
P T T n
Ke Kt
Max power is:

Pmax

V2

4R

Units:

K e [Vs / rad ]

K t [ Nm / A]

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Application

BAE 4353

12/3/2002

Use motor voltage and no-load speed to calculate Kt

Kt = Ke in SI units
Use stalled rotor torque, V, and Ke to find R
Note, R varies with speed and cannot be measured at rest

See web download for explanation of Kt, Ke:

http://biosystems.okstate.edu/home/mstone/4353/downloads/
Development of Electromotive Force.pdf

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BAE 4353

DC motor control H-bridge

12/3/2002

Switches control direction

A switches closed for
clockwise
B switches for counterclockwise

PWM for speed control

As duty cycle for clockwise
speed
Bs duty cycle for counterclockwise speed

Can be configured to brake

Bottom B and A to brake

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H-Bridge implementation

BAE 4353

12/3/2002

Elements in box are

available as single IC

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Brushless designs

BAE 4353

12/3/2002

Commutation is done
electronically
Encoder activated switching
Hall effect activated switching
Back EMF driven switching

PM armature
Wound/switched fields
Application
Few wearing parts (bearings)
Capable of high speed
Fractional HP
Servos
Low EMC

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Stepper Motors

BAE 4353

12/3/2002

Description
Generally a two phase motor
permanent magnet rotor and wound fields
Rotor normally has many poles
200 poles = 1.8 degrees per step

Used primarily for position or velocity control

Typically no position feedback
Torques are managed so that an intended step is always achieved
Accelerations, decelerations and loads must be managed intelligently

Two general types of windings

Unipolar
Bi-polar

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Winding configurations

BAE 4353

12/3/2002

Bi-polar design
6 wire

Unipolar design
4 wire

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AC Motors

BAE 4353

12/3/2002

AC Motors
Fundamental characteristics
Types
Fractional horsepower (single phase)
Integral
Single phase (Cap start Induction run)
Three phase

NEMA Torque characteristics

Modelling

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BAE 4353

Fractional horsepower designs

12/3/2002

Shaded Pole (low starting torque, simple, cheap)

uses a short circuited coil embedded in face of field to cause one
side of field to be magnetized before the other

Split phase (low starting torque)

Two windings (2-phase), one with high resistance hence different RL
and phase
Centrifugal switch on starting winding

Capacitor Start Induction Run (medium starting torque)

Two windings (2-phases)
Capacitor used on second winding to create leading phase
Centrifugal switch on starting winding

Universal? (intermittent use, brushes!)

DC motor with inductance managed to allow AC operation

Synchronous (clocks, synchronization)

Permanent magnet rotor always in phase with AC

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AC motor model

BAE 4353

12/3/2002

See Siemens AC motor

info for modeling info.

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BAE 4353

AC Motors

12/3/2002

Relationship between number of poles and motor synchronous

speed
Poles
Synchronous
120 f
Speed
Ns
(RPM)
P
2

3600

1800

1200

Squirrel cage motors must operate with some slip .5 to 8% to allow

the rotor to be magnetized.
Actual speed is synchronous speed reduced by the slip.

(100 % slip )
N Ns
100

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Squirrel Cage Rotor

BAE 4353

12/3/2002

Seimens AG, 2002

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BAE 4353

Inducing magnetism in the rotor

12/3/2002

Difference between
angular velocity of rotor
and angular velocity of
the field magnetism
causes squirrel cage
bars to cut the field
magnetic field inducing
current into squirrel cage
bars.
This current in turn
magnetizes the rotor

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Torque/speed curve

BAE 4353

12/3/2002

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Typical starting current

BAE 4353

12/3/2002

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BAE 4353

Motor characteristics
Enclosure / frame
Voltage / frequency
3 or 1 phase
Poles / speed
Service factor

60 Hz

50 Hz

115

380

200

400

230

425

460

220/380

12/3/2002

575

Fraction of rated HP that motor can be operated at

Insulation class/ Temp rise

(operating temperature compatible)

NEMA Design A,B,C,D, etc. (Torque curve type)

See next page

Efficiency
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BAE 4353

NEMA Torque characteristics summarized

BREAKNEMA STARTING STARTING DOWN

DESIGN TORQUE CURRENT TORQUE

12/3/2002

FULL
LOAD
SLIP

TYPICAL
APPLICATIONS

Low

Mach. Tools, Fans

Normal

High

High

Normal

Normal

Normal

High

Normal

Low

Normal

Loaded compressor
Loaded conveyor

Very high

Low

-------

High

High Punch Press

Normal Same as Design "A"

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BAE 4353

12/3/2002

NEMA Motor Characteristics

Design

Locked
Rotor
Torque
% FL

Pull-up
Torque
% FL

Breakdown
Torque
% FL

Locked
Rotor
Current
% FL

Slip
%

Efficiency

70-275

65-190

175-300

NA

0.5-5

Med-High

B
(most
common)

70-275

65-190

175-300

600-700

0.5-5

Med-High

200-285

140-195

190-225

600-700

1-5

Med

275

NA

275

600-700

5-8

Low

74-190

60-140

160-200

800-1000

0.5-3

High

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BAE 4353

PWM Variable Frequency Drives

12/3/2002

Variable frequency drives use AC to DC converter then a

DC to AC converter (inverter)
Inverter frequency and voltage output can be varied to allow
motor speed to be varied.
Very efficient and cost effective variable speed for 1 HP and up

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