Chapter 13

DC Motor Drives

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A Table of Contents
1. Introduction

2. Equivalent Circuit of dc Motors

3. Permanent-Magnet dc Motors

4. Dc Motors With A Separately Excited Field Winding

5. Effect of Armature Current Waveform

6. Dc Servo Drives

7. Adjustable-Speed dc drives

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Introduction
1. Traditionally, dc motor drives have been used for speed and
position control applications.

2. Dc drives continue to be used because of their low initial co

st and excellent drive performance.

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Equivalent Circuit of dc Motors 1/3

In a dc motor, the field flux  f is established by the stator,

either by means of permanent magnets, where  f says
constant, or by means of a field winding.

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Equivalent Circuit of dc Motors 2/3

dia
vt  ea  Ra ia  La
dt

d m
Tem  J  Bm  TWL (t )
dt

Equivalent circuit of dc motor.

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Equivalent Circuit of dc Motors 3/3

A dc motor can be operated in either direction and its

electromagnetic torque can be reversed for baking, as shown
by the four quadrants of the torque-speed plane.
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Permanent-Magnet dc Motors 1/3

Tem  kT I a
Ea  k E  m
Vt  Ea  Ra I a

(kT  kt f , , k E  ke f )

1 R
Permanent-magnet dc motor m  (Vt  a Tem )
KE kT
equivalent circuit

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Permanent-Magnet dc Motors 2/3

The plot of this

equation that as the
torque is increased.

Vt 5 Vt 4 V t 3Vt 2 Vt1 (where Vt 4 is the rated voltage)

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Permanent-Magnet dc Motors 3/3

The terminal voltage

required as a function
of speed and the
corresponding .

The torque capability as

function of speed is plotted.

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Dc Motors With a Separately Excited Field Winding

1 Ra
 m  ke f (Vt  kt f Tem )

The voltage Vt and the

corresponding Ea .

Va<100% Va=100%
Flux = 100% Flux <100%

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Effect of Armature Current Waveform
Form Factor
The form factor for the dc motor armature current is defin
ed as
I a (rms)
Form factor 
I a (average )

Torque Pulsations
Electromagnetic torque Tem (t ) developed by the motor is
proportional to the instantaneous armature current ia (t ) .

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Dc Servo Drives 1/12

Transfer Function Model for Small-Signal

Dynamic Performance

A dc motor operating in a closed loop to deliver

controlled speed or controlled position.

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Dc Servo Drives 2/12

These equations for the motor-load combination can be

represented by transfer function blocks.

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Dc Servo Drives 3/12

The electrical time constant  edetermines how quickly

the armature current builds up.

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Dc Servo Drives 4/12

m is the mechanical time

constant with which the
speed changes in
response to a step change
in the terminal voltage.

The corresponding change in the armature

current is plotted.

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Dc Servo Drives 5/12

Power Electronic Converter

1. The converter should

allow both its output
voltage and current
to reverse in order to
yield a four-quadrant.

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Dc Servo Drives 6/12

Power Electronic Converter

2. Converter should be able to operate in a current-controll
ed mode.

3. Average output of the converter.

4. Converter should produce an armature current.

5. Converter output should respond as quickly.

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Dc Servo Drives 7/12

Power Electronic Converter

A full-bridge switch-mode dc-dc converter

produces a four-quadrant controllable dc
output.
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Dc Servo Drives 8/12

Ripple in the Armature Current ia

PWM bipolar voltage PWM unipolar voltage

switching switching

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Dc Servo Drives 9/12

Control of Servo Drives

No internal current-control loop

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Dc Servo Drives 10/12

Control of Servo Drives

Internal current-control loop

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Dc Servo Drives 11/12

Nonlinearity Due to Blanking Time

Effect of blanking time

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Dc Servo Drives 12/12

Selection of Servo Drive Parameters

1. The ripple in the armature current, which causes torque
ripple and additional armature heating, is proportional to
La /. f s

2. The dead zone in the transfer function of the converter, w

hich degrades the servo performance, is proportional to
f s.t 

3. Switching losses in the converter are proportional to

. f s tc

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Adjustable-Speed dc drives 1/9

Switch-Mode dc-dc
Converter

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Adjustable-Speed dc drives 2/9

Switch-Mode dc-dc
Converter

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Adjustable-Speed dc drives 3/9

Line-Frequency Controlled Converters

Line-frequency-controlled converters for dc motor

drives: single-phase input and three-phase input

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Adjustable-Speed dc drives 4/9

Line-Frequency Controlled Converters

Line-frequency-controlled converters for four-quadrant

operation: back-to-back converters and converter
operation modes.
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Adjustable-Speed dc drives 5/9

Line-Frequency Controlled Converters

Contactors for four-quadrant operation.

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Adjustable-Speed dc drives 6/9

Effect of Discontinuous Armature Current

Effect of discontinuous I a on m .

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Adjustable-Speed dc drives 7/9

Control of Adjustable-Speed Drives

Open-loop speed control.

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Adjustable-Speed dc drives 8/9

Field Weakening in Adjustable-Speed dc

Motor Drives

Line-frequency-controlled converters for dc motor

drives: single-phase input and three-phase input
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Adjustable-Speed dc drives 9/9

(b) switch-
Power Factor of the Line current in mode converter
Adjustable-Speed Drives drive

(a) drive capability

(c) line-frequency thyristor converter drive

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