ENERGY CONVERSION ONE

(Course 25741)

CHAPTER NINE ….continued

DC MOTORS AND GENERATORS
 SPEED CONTROL of SHUNT DC
MOTOR
• Effect of Armature motor’s resistance speed control on a
shunt motor’s torque-speed

• Only used in applications in which:

- motor spends almost all its time operating at full speed or
- inexpensive to justify a better form of speed control
 SPEED CONTROL of SHUNT DC
MOTOR
• In field resistance control, lower IF  higher its speed,
& higher IF causes a decrease in speed
• there is always a minimum achievable speed by I F
control
• Minimum speed occurs when IF has maximum
permissible value
• if motor operate at its rated terminal voltage, power, &
IF then it will be running at rated speed
• this is known also as : “base speed”
• to achieve a reduction in this speed by IF control,
require excessive IF that may burn up field windings
 SPEED CONTROL of SHUNT DC
MOTOR
• In armature voltage control, lower armature voltage on
separately excited motor, reduce its speed & higher armature
voltage increase its speed
• There is a maximum achievable speed, in maximum
permissible armature voltage level
• Armature voltage control would require excessive armature
voltage, which may damage armature circuit
• Armature voltage control works well for speeds below base
speed & field current control works well for speeds above base
speed
• By combining two speed-control techniques in same motor, it is
possible to get a range of speed variations of up to 40 to 1 or
more
• Shunt & S.E. motors have excellent speed control
characteristics
 SPEED CONTROL of SHUNT DC
MOTOR
• There is significant difference in torque & power
limits on machine under two types of speed
control
• Limiting factor in either case is heating of
armature conductors, which places an upper
limit on magnitude of IA
• For armature voltage control, flux in motor is
constant, so maximum torque in motor is:
Tmax=KφIA,max
• maximum torque is constant, regardless of
speed
 SPEED CONTROL of SHUNT DC
MOTOR
• power o/p, P=T.ω maximum power of motor
at any speed under armature voltage control is:
Pmax=Tmax ω
• Thus maximum power out of motor is directly
proportional to its operating speed under
armature voltage control
• on the other hand, while RF control used flux
changes
& speed increase by decrease in flux
• In order that IA do not exceed its limit, Tind must
decrease as speed of motor increases
 SPEED CONTROL of SHUNT DC
MOTOR
• since P=T.ω, & torque limit decreases as speed
of motor increases:
- max. power out of dc motor under field current
control is constant, while max. torque varies as
reciprocal of motor’s speed
• These shunt dc motor power & torque
limitations for safe operation as a function of
speed shown next
 SPEED CONTROL of SHUNT DC
MOTOR
• Power & Torque limits as a function of speed for
a shunt motor under VA & RF control
 SPEED CONTROL of SHUNT DC
MOTOR
• Example 3:
• figure, shows a 100 hp, 250 V,
1200 r/min shunt dc motor with
an armature resistance of 0.03
Ω & a field resistance of 41.67 Ω
• Motor has compensating
windings, so armature reaction
can be ignored
• Mechanical & core losses may
be ignored
• assumed to be driving a load
with a line current of 126 A & an
initial speed of 1103 r/min,
• to simplify the problem assume
armature current drawn by
motor remains constant
 SPEED CONTROL of SHUNT DC
MOTOR-Example 3
(a) machine magnetization curve shown in next
slide, what is motor’s speed if RF raised to 50
Ω
(b) calculate & plot speed of motor as a function
of RF assuming a constant-current load
• SOLUTION
(a) Initial IA1= IL1-IF1=126- 250/41.67=120 A
 EA1=VT-IA1RA=250-120 x 0.03=246.4 V
RF increased to 50 Ω,  IF2=VT/RF=250/50=5 A
 SPEED CONTROL of SHUNT DC
MOTOR-Example 3
• Magnetization
curve
 SPEED CONTROL of SHUNT DC
MOTOR-Example 3
• EA2/EA1=[K’φ2n2]/[K’φ1n1], and since IA assumed
constant  EA1 = EA2  1=[φ2n2]/[φ1n1]
or n2= [φ1 / φ2] n1
• Last Plot is EA versus IF , for a given speed
• EA directly proportional to flux  on this curve:
EA2/EA1 =φ2/φ1
• At IF=5 A, EA0=250 V, while at IF=6 A,
EA0=268 V  φ2/φ1= 268/250 =1.076
• New speed of motor:
n2= φ1/φ2 n1=(1.076)(1103)=1187 r/min
 SPEED CONTROL of SHUNT DC
MOTOR-Example 3
• A MATLAB M-file can be made to calculate
speed of motor as a function of R F
• plot of its speed versus RF shown below:
 SPEED CONTROL of SHUNT DC
MOTOR-Example 3
• Note: assumption of constant IA not a good
assumption for real loads
• IA vary with speed in a fashion dependent on
torque required by type of load attached to
motor
• these differences cause a motor’s speed –
versus-RF curve slightly different than shown in
last figure.
 SPEED CONTROL of SHUNT DC
MOTOR-Example 4
• Motor in Example-3 now connected separately
excited, as shown below:
 SPEED CONTROL of SHUNT DC
MOTOR-Example 4
• Motor is initially running with VA=250 V, IA=120 A, and
n=1103 r/min, while supplying a constant torque load.
• What will the speed of this motor be if VA is reduced to
200 V?
• SOLUTION:EA=VT-IARA=250-120x0.03=246.4 V
• Since flux is constant:
EA2/EA1=[K’φ2n2]/[K’φ1n1]=n2/n1
 n2= EA2/EA1 n1
• Since torque is constant & flux is constant  IA is
constant:
EA2=200-120x0.03=196.4 V
n2= EA2/EA1 x n1=196.4/246.4 x 1103=879 r/min
 SPEED CONTROL of SHUNT DC
Effect of an Open Field Circuit
• As shown speed increase as RF increased, what would happen
if field circuit open while motor is running? The flux in machine
would drop drastically, and reach φres & EA=Kφω would drop
with it
• cause an enormous increase in IA & resulting Tind would be
quite a bit higher than load torque on motor. Therefore motor’s
speed starts to rise & just keeps going up
• Author Experience of undergraduate lab.
• Where field cct. fused by mistake (instead of 3-A by a 0.3-A
fuse) and when started after 3 s, suddenly a flash from fuse &
motor’s speed skyrocketed. Someone turned main cct. Breaker
off within a few seconds, but by that time tachometer pegged
4000 r/min, while motor rated 800 r/min needless to say every
one present very badly scared
• And learned to be most careful about field cct protection
• A field loss relay normally included to disconnect motor from
line in event of loss of field current
 SPEED CONTROL of SHUNT DC
Effect of an Open Field Circuit
• Two other causes of field weakening:
(a) in shunt motors operating with light fields if A.R. effects
severe enough, in case of an increase in load can weaken its
flux and cause rise of speed until motor over-speed known as
runaway
(b) motors operating with severe load changes & duty cycles,
this flux weakening problem solved by installing compensating
windings
• Unfortunately compensating windings too expensive for use on
ordinary run-of-the-mill motors
• Solution: to use a turn or 2 turns of cumulative compounding to
motor’s poles
• As load increases mmf from series turns increases, which
counteracts demagnetizing mmf of A.R.
• A shunt motor equipped with just few series turns like this is
called: stabilized shunt motor
 PERMANENT-MAGNET
DC MOTOR
• A permanent magnet dc motor (PMDC) is a dc
motor whose poles are made of permanent
magnets.
• PMDC motor offer a number of benefits
compared with shunt dc motors in some
applications
• Advantage: Since these motors do not require
an external field circuit, they do not have the
field circuit copper losses. Because no field
windings are required, they can be smaller than
corresponding shunt dc motors
 PERMANENT-MAGNET
DC MOTOR
• Disadvantages:
(a) Permanent magnets cannot produce as high flux density as
an externally supplied shunt field
so a PMDC motor will have a lower induced torque per ampere
of armature current than a shunt motor of the same size.
(b) PMDC motors run risk of demagnetization
due to A.R. effect which reduces overall net flux, also if I A
become very large there is a risk that its mmf demagnetize
poles, permanently reducing & reorienting residual flux
(c) A PMDC motor is basically the same machine as a shunt dc
motor, except that flux of a PMDC motor is fixed. Therefore, it
is not possible to control the speed of the PMDC motor by
varying the field current or flux. The only methods of speed
control available for a PMDC motor are armature voltage
control and armature resistance control.
 PERMANENT-MAGNET
DC MOTOR
• The magnetization curve of typical
ferromagnetic material
• Note: after a large magnetizing intensity H
applied to core & removed, a residual flux B res
remains behind in core
• Flux can be brought to zero if a coercive
magnetizing intensity Hc is applied to core with
opposite polarity
• in this case, a relatively small value of it will
demagnetize the core
 PERMANENT-MAGNET
DC MOTOR
• (a)Typical ferromagnetic material & its Bres (b) suitable for P.M. (c) second quadrant rare earth
magnets combine High residual flux and high coercive magnetizing intensity
 SERIES DC MOTOR
• A series DC motor is a dc motor whose field
windings consist of relatively few turns
connected in series with the armature circuit
KVL for this motor is VT = EA + IA (RA + RS)
 SERIES DC MOTOR
• The Tind=KφIA while flux in this machine directly
proportional to IA (at least until metal saturates)
• Flux in machine can be given by: φ=c IA
• Where c is constant of proportionality.
 Tind=KφIA = K c IA^2 (1)
• Torque in motor proportional to square of I A
• As a result of this relationship, series motor gives
more torque per ampere than any other dc motor
• Therefore it is used in applications requiring very high
torques
• Examples: starter motors in cars, elevator motors, and
tractor motors locomotives
 TERMINAL CHARCATERISTIC
SERIES DC MOTOR
• As seen before an increase in flux cause a decrease
in speed.
• in series motor a sharply drooping torque-speed
characteristic exist (since IA pass field winding)
• Analysis is based on assumption of linear
magnetization curve, & then effects of saturation
considered in a graphical analysis
• therefore:
φ=c IA (2)
VT = EA + IA (RA + RS) (3)
• From (1) IA=√Tind /Kc & EA=Kφω
 VT = Kφω + √Tind /Kc (RA + RS) (4)
 TERMINAL CHARCATERISTIC
SERIES DC MOTOR
• To eliminate flux from equation (4):
IA=φ/c and Tind=K/c φ^2  φ=√c/K √Tind (5)
• Substituting equation (5) in (4) and solving for
speed:
VT=K √c/K √Tind ω + √Tind /Kc (RA + RS)
√c/K √Tind ω= VT - (RA + RS) / [Kc] x √Tind
ω= VT / [Kc] x 1/√Tind - (RA + RS) / [Kc] (6)
• Note: for unsaturated series motor; speed of
motor varies as reciprocal of square root of T ind
& its torque-speed characteristic shown next
 TERMINAL CHARCATERISTIC
SERIES DC MOTOR
• Torque-speed characteristic of a series motor

• One disadvantage can be seen from Eq.(6)

- when Tind goes to zero speed goes to infinity
- in practice torque can never go zero due to
mechanical, core & stray losses that must be
overcome,
however if no other load exist, can turn fast enough to
seriously damage itself
 TERMINAL CHARCATERISTIC
SERIES DC MOTOR
• Therefore; Never completely unload a series motor &
never connect one to a load by a belt or other
mechanism that could break
• nonlinear analysis of a series dc motor with magnetic
saturation effects, ignoring A.R. illustrated in
EXAMPLE-5
• Example 5:
consider the equivalent cct. of a series dc motor with a
250 V series dc motor having compensating windings,
and atotal series resistance RA+RS of 0.08 Ω. The
series field consists of 25 turns per pole, with
magnetization curve shown next
 SERIES DC MOTOR
EXAMPLE-5
• Magnetization Curve
 SERIES DC MOTOR
(a) find speed & induced torque of this motor for
when its armature current is 50 A
(b) calculate & plot torque-speed characteristic
for this motor
SOLUTION :
(a) Pick points along operating curve & find
torque & speed for each point
for IA=50 A
EA=VT-IA(RA+RS) =250 – 50 x 0.08 =246 V
since IA=IF=50 A, mmf=25 x 50=1250 A.turns
 SERIES DC MOTOR
From magnetization curve at mmf =1250 A.turns
 EA0=80 V
Speed can be found:
n= EA/EA0 x n0=246/80 x 1200= 3690 r/min
Pconv=EAIA=Tind ω 
Tind=EAIA/ω=[246 x50]/[3690x1/60x2π]=31.8 N.m.
(b) to calculate complete torque-speed
characteristic, the same steps of (a) should be
repeated for may values of IA, this can be done
using a M-file of MATLAB
 SERIES DC MOTOR
SPEED CONTROL
• Unlike shunt dc motor, there is only one efficient way
to change speed of a series dc motor
• Method is to change terminal voltage of motor
• If terminal voltage is increased, first term in Eq. (6)
increased, result in a higher speed for any given torque
• speed of series dc motors can be controlled by
insertion of a series resistor however is very wasteful
of power & only used for very short time during start-up
• Now with introduction of solid-state control, techniques
available for variable terminal voltages
 COMPOUND DC MOTOR
• A compound dc motor is a motor with both a
shunt & a series field
• Such a motor shown below:
(a) long-shunt connection
 COMPOUND DC MOTOR
(b) Compound dc motor with short-shunt
connection
 COMPOUND DC MOTOR
• Current flowing into dot produces a positive mmf
(same as in transformer)
• If current flows into dots on both field coils, resulting
mmfs add to produce a larger total mmf
• This situation is known as cumulative compounding
• If current flows into dot on one field coil & out of dot on
other field coil resulting mmfs subtract
• In previous (a)&(b) figures round dots correspond to
cumulative compounding & squares corresponds to
differential compounding
 COMPOUND DC MOTOR
• KVl for the compound motor:
VT=EA+IA(RA+RS)
• Currents in compound motor are related by:
IA=IL-IF
IF=VT/RF
- Net mmf & effective shunt field currnt in compound
motor:
Fnet =FF(+,-) FSE-FAR
IF*=IF(+,-) NSE/NF IA – FAR/NF
(+) in equations associated with cumulatively
compounded
(-) associated with differentially compound motor
 COMPOUND DC MOTOR
Torque-Speed Characteristic
• In cumulatively compound dc motor, a component of
flux is constant & another one which is ~ to IA (& thus
to its load)
 cumulatively compound motor has a higher starting
torque than a shunt motor (whose φ constant) but
lower than a series motor (whose entire φ ~ to IA )
• Cumulatively compound motor combines best features
of both shunt & series motors:
Like a series motor has extra torque for starting;
Like a shunt motor it does not overspeed at no load
 COMPOUND DC MOTOR
Torque-Speed Characteristic
• At light load, series field has very small effect,
so motor behaves approximately as a shunt dc
motor
• As load gets very large series flux becomes
quite important & torque-speed curve begins to
look like a series motor’s characteristic
• A comparison of torque-speed characteristics of
each of these types of machines shown next
 COMPOUND DC MOTOR
Torque-Speed Characteristic
(a) T-ω curve of cumulatively compound,
compared to series & shunt motors with same
full-load rating
(b) T-ω curve of cumulatively compound,
compared to shunt motor with same no-load
speed
 COMPOUND DC MOTOR
Torque-Speed Characteristic
• Torque-Speed of Differentially Compound
dc motor
• In a differentially compounded dc motor, the
shunt mmf and series mmf subtract from each
other. This means that as the load on the motor
increases, IA increases and the flux in the motor
decreases.
• But as the flux decreases, the speed of the
motor increases. This speed increase causes
another increase in load, which further
increases IA, further decreasing the flux, and
increasing the speed again
 COMPOUND DC MOTOR
Torque-Speed Characteristic
• The result is that a differentially compounded
motor is unstable and tends to runaway
• This instability is much worse than that of a
shunt motor with armature reaction. It is so bad
that a differentially compounded motor is
unsuitable for any application.
 COMPOUND DC MOTOR
Torque-Speed Characteristic
• Differentially compounded motor is also
impossible to start
• At starting conditions, the armature current and
the series field current are very high
• Since the series flux subtracts from the shunt
flux, the series field can actually reverse the
magnetic polarity of the machine’s poles
• The motor will typically remain still or turn
slowly in the wrong direction while burning up,
because of the excessive armature current
 COMPOUND DC MOTOR
Torque-Speed Characteristic
• When this type of motor is to be started, its series field
must be short-circuited, so that it behaves as an
ordinary shunt motor during the starting period
• Nonlinear Analysis of Compound dc Motors
• Example 6: a 100 hp, 250 V compounded dc motor
with compensating windings has an internal
resistance, including series winding, of 0.04 Ω. There
are 1000 turns per pole on shunt field & 3 turns per
pole on series windings
• The machine shown in next figure, & its magnetization
curve shown also. At no load field resistor has been
adjusted to make motor run at 1200 r/min. core,
mechanical & stray losses negligible
 COMPOUND DC MOTOR
Torque-Speed Characteristic
(a) what is the shunt current in this machine at no
load?
(b) if motor is cumulatively compounded, find its
speed when IA=200 A
(c) if motor is differentially compounded, find its
speed when IA=200 A
SOLUTION:
(a) At no load, IA=0, so internal generated voltage
equal VT =250 V. & from Mag. Curve a IF=5 A
 EA=250 V at 1200 r/min (& IF=5 A )
 COMPOUND DC MOTOR
Torque-Speed Characteristic
• Compound dc motor of example 6:
 COMPOUND DC MOTOR
Torque-Speed Characteristic
(b) when IA=200 A flows in motor, machine’s internal
voltage:
EA=VT-IA(RA+RS)=250-200x0.04=242 V
effective field current of cumulatively compounded
motor is:
IF*=IF+NSE/NF IA- FAR/NF =5 +3/1000 x 200=5.6A
From mag. Curve, EA0=262 V at n0=1200 r/min
therefore motor’s speed will be:
n =EA/EA0xn0=242/262 x 1200 = 1108 r/min
(c) If machine is differentially compounded,
IF*=IF-NSE/NF IA- FAR/NF=5 – 3/1000 x 200=4.4 A
 COMPOUND DC MOTOR
Torque-Speed Characteristic
from mag. Curve
EA0=236 V at n0=1200 r/min 
n=EA/EA0 x n0=242/236 x 1200 = 1230 r/min
Note:
speed of cumulatively compounded motor
decreases with load, while speed of
differentially compounded motor increases with
load
 COMPOUND DC MOTOR
Torque-Speed Characteristic
• Speed Control in Cumulatively Compounded DC
Motor
• Techniques available for control of speed in a
cumulatively compounded dc motor are the same as
those available for a shunt motor
1- change in field resistance
2- change armature voltage
3- change armature resistance
Differentially compounded dc motor could be
controlled in a similar manner. Since differentially
compounded motor almost never used, that fact hardly
matters
 DC MOTOR STARTERS
• Equipments used for protection of dc motors,
for the following reasons:
1- protect motor against damage due to short
circuits in equipment
2- protect motor against damage from long-term
overloads
3-protect motor against damage from excessive
starting currents
4- provide a convenient manner in which to
control the operating speed of motor
 DC MOTOR PROBLEMS on STARTING
• In order for a dc motor to function properly, it must be
protected from physical damage during starting period
• At starting conditions, motor is not turning & so EA=0 V
• since internal resistance of a normal dc motor is very
low compared to its size (3 to 6 percent per unit for
Medium size motors) a very high current flows
• Consider for example, 50 hp, 250 V motor of EXAMPLE
1, RA is 0.06 Ω, & full-load current less than 200 A, but
current on starting is:
IA=[VT-EA]/RA=[250-0]/0.06=4167 A
This current is over 20 times motor’s rated full-load
current
It is possible a motor severely damaged by such current