andDC Motor DC Drive

2.2 CONSTRUCTION

Cutaway view of a dc motor

2.2 CONSTRUCTION ….contnd

Stator with visible poles

2.2 CONSTRUCTION ….contnd

Rotor of a dc motor.
2.2 CONSTRUCTION ….contnd

General arrangement of a dc machine

 2.2 CONSTRUCTION ….contnd

 The stator of the dc motor has poles,

which are excited by dc current to
produce magnetic fields.
 In the neutral zone, in the middle
between the poles, commutating
poles are placed to reduce sparking of
the commutator. The commutating
poles are supplied by dc current.
2.2 CONSTRUCTION
 2.2 CONSTRUCTION ….contnd

 The poles are mounted on an

iron core that provides a closed
magnetic circuit.
 The motor housing supports the
iron core, the brushes and the
bearings.
 The rotor has a ring-shaped
laminated iron core with slots.
 Coils with several turns are
placed in the slots. The distance
between the two legs of the coil
is about 180 electric degrees.
 2.2 CONSTRUCTION ….contnd

 The coils are connected in series

through the commutator segments.
 The ends of each coil are connected to
a commutator segment.
 The commutator consists of insulated
copper segments mounted on an
insulated tube.
 Two brushes are pressed to the
commutator to permit current flow.
 The brushes are placed in the neutral
zone, where the magnetic field is close
to zero, to reduce arcing.
2.2 CONSTRUCTION ….contnd

Commutator of a dc motor
 2.2 CONSTRUCTION

 The commutator switches the current

from one rotor coil to the adjacent coil.
 The switching requires the interruption
of the coil current.
 The sudden interruption of an inductive
current generates high voltages .
 The high voltage produces flashover
and arcing between the commutator
segment and the brush.
DC Motor Operation
DC Motor Operation : Current
DC Motor Operation : Force
DC Motor Operation : Magnetic Field
DC Motor Operation
DC Motor Operation
 Basic principle of operation
• The generated voltage of a DC machines having (p) poles and (Z)
conductors on the armature with (a) parallel path between brushes as
below :
pZ
EA   K 
2a
where K = pZ /(2πa) = machine constant

• The mechanical torque which also equal to electromagnetic torque, is

found as follows:
EAI A
e m   K I A

 In the case of a generator:
m is the input mechanical torque, (converted to electrical power)
 For the motor:
e is developed electromagnetic torque, (drive the mechanical load)
 Equivalent Circuit
The brush
voltage
drop
RA

External variable resistor

used to control the
amount of current in the Armature circuit (entire
field circuit rotor structure)

Field Coils

Equivalent circuit of dc motor

Because a dc motor is the same physical machine as a dc generator, its
equivalent circuit is exactly the same as generator except for the direction of
current flow.
 Simplified Equivalent Circuit

Simplified equivalent circuit of dc motor

• The brush drop voltage (Vbrush ) is often only a very tiny fraction of the
generated voltage in the machine – Neglected or included in RA.

• Internal resistance of the field coils is sometimes lumped together with

the variable resistor and called RF
 Separately excited DC motor

VF
IF 
RF

IL  IA

VT  E A  I A R A
Separately excited motor is a motor
whose field current is supplied from a
separate constant-voltage power supply.
 Shunt DC motor

VT
IF 
RF

IL  IA  IF

VT  E A  I A R A
A shunt dc motor is a motor whose
field circuit get its power directly
across the armature terminals of the
motor.
 Shunt DC Motor :
Terminal Characteristics
• Consider the DC shunt motor. From the Kirchoff’s
Law
VT  E A  I A R A
• Induced Voltage
E A  K 

• Substituting the expression for

induced voltage between VT and EA.

VT  K  I A RA
• Since, then current IA can be
expressed as
  ind
I A  ind VT  K  RA
K K
 • Finally, solving for the motor's speed yield

VT RA
  
2 ind
K ( K )
This equation is a straight line with a negative slope.

Torque-speed characteristic of a shunt or separately excited dc motor

Shunt DC Motor : Terminal Characteristic
• Affect of Armature Reaction (AR) will reduce flux as the load increase
(ind also increase), so it will increase motor speed ().
If the motor has compensating winding, the flux () will be constant.

VT RA
  
2 ind
K ( K )

Torque-speed characteristic of a motor with armature reaction

present.
 Shunt DC Motor : Speed Control
1 : Changing The Field Resistance (flux affected)
 VT 
1. Increasing RF causes IF 
  to decrease.
 RF  
2. Deceasing IF decreases . (graph flux vs current)

3. Decreasing  lowers E A
 K   

 VT  E A  
4. Decreasing EA increases IA   
 RA 

5. Increasing IA increases  ind  K  I A 

with the change in IA dominant over the change in flux ().

6. Increasing τind makes  ind  load and the speed ω increases.

 Shunt DC Motor : Speed Control
7. Increasing speed to increases EA = K again.

8. Increasing EA decreases IA.

9. Decreasing IA decreases until ind   load at a higher speed ω

Decreasing RF would reverse the whole process, and the speed of the motor
would drop.
The effect of field resistance
speed control on a shunt
motor’s torque speed
characteristic: over the
motor’s normal operating
range
Shunt DC Motor : Speed Control
2: Changing The Armature Voltage

Armature voltage
control of a shunt (or
separately excited)
dc motor.

1. An increase in VA increases IA [= (VA  – EA)/RA]

2. Increasing IA increases  ind (  KI A )
3. Increasing τind makes  ind  load increasing ω.
4. Increasing ω increases EA (=Kω  )
 Shunt DC Motor : Speed Control
5. Increasing EA decreases IA [ = (VA – EA)/RA]
6. Decreasing IA decreases τind until  ind   load at a higher ω.

The effect of armature voltage

speed control on a shunt
motor’s torque speed
characteristic

The speed control is

shiftted by this method, but
the slope of the curve
remains constant
 Shunt DC Motor : Speed Control
3 : Inserting Resistor in Series with Armature Circuit
Add resistor in
series with RA

The effect of armature resistance

Equivalent circuit of DC speed control on a shunt motor’s
shunt motor torque – speed characteristic

Additional resistor in series will drastically increase the slope of the motor’s
characteristic, making it operate more slowly if loaded
 Shunt DC Motor : Speed Control

VT RA
   ind
K  ( K ) 2

The above equation shows if RA increase, speed will decrease

This method is very wasteful method of speed control, since the losses
in the inserted resistor is very large. For this it is rarely used.
 Series DC Motor
Series DC Motor: DC motor whose field windings consists of relatively few
turns connected in series with armature circuit

Equivalent circuit of a
series DC motor.

The Kirchhoff’s voltage law equation for this motor

VT  E A  I A ( RA  RS )
 Series DC Motor : Induced Torque
• The induced or developed torque is given by ind  KI A

• The flux in this motor is directly proportional to its armature current.

Therefore, the flux in the motor can be given by

  cI A
where c is a constant of proportionality. The induced torque in this
machine is thus given by


ind  KI  KcI
A A
2

This equation shows, torque in the motor is proportional to the square of

armature current. So, series motor give more torque per ampere than any
other dc motor, therefore it is used in applications requiring very high
torque, e.g. starter motors in cars, elevator motors, and tractor motors in
locomotives.
Series DC Motor : Terminal Characteristic
• To determine the terminal characteristic of a series dc motor,
analysis will be based on the assumption of a linear magnetization curve, and
the effects of saturation will be considered in a graphical analysis

• The assumption of a linear magnetization curve implies that the flux in the

  cI A
motor given by :

• The derivation of a series motor’s torque-speed characteristic starts with

Kirchhoff’s voltage law:
VT  E A  I A ( RA  RS )
From the equation; ind
2
 KI A  KcI A the armature current can be
expressed as:
 ind
IA 
Kc
• Also, EA = K, substituting these expression yields:

 ind
VT  K  ( RA  RS )
Kc

We know IA  ;
c
• Substituting the equations so the induced torque equation
can written as
K 2
 ind  KcIA 2
 
c
Therefore, the flux in the series motor can be written as :

c
  ind
K
• Substituting the previous equation for VT yields:

c 
VT  K  ind   ind ( RA  RS )
K Kc

VT 1 RA  RS
 
Kc  ind Kc

• Disadvantage of series motor can be seen immediately

from this equation. When the torque on this motor goes to
zero, its speed goes to infinity.
In practice, the torque can never go entirely to zero, because
of the mechanical, core and stray losses that must be
overcome.
• However, if no other load is connected to the motor, it can
turn fast enough to seriously damage itself.
NEVER completely unload a series motor, and NEVER connect
one to a load by a belt or other mechanism that could break.

Figure : The ideal torque- speed characteristic of a series dc motor

 Series DC Motor : Speed Control
Method of controlling the speed in series motor :
1. Change the terminal voltage of the motor. If the terminal voltage is
increased, the speed also increased, resulting in a higher speed for any
given torque.
VT 1 R A  RS
 
Kc  ind Kc
2. By the insertion of a series resistor into the motor circuit, but this
technique is very wasteful of power and is used only for intermittent period
during the start-up of some motor.
 Compounded DC Motor
• In long shunt compound dc motor, the series field is
connected in series with armature and the combination is in
parallel with the shunt field.

• In the short shunt field compound dc motor, the shunt field

is in parallel with armature and the combination is
connected in series with the series field.
• If the magnetic fluxes produced by both series field and
shunt field windings are in same direction, that is, additive,
the dc motor is cumulative compound. If the magnetic
fluxes are in opposite, the dc motor is differential
compound.
 Compounded DC Motor
• The Kirchhoff’s voltage law equation for a compound dc motor is:
VT  E A  I A ( R A  RS )

• The currents in the compounded motor are related by :

IA  IL  IF VT
IF 
RF

• The net magnetomotive force given by

F net = F F ± FSE - FAR

FF = magnetmotive force (shunt field)

FSE = magnetomotive force (series field)
FAR = magnetomotive force (armature reaction)
The effective shunt field current in the compounded DC motor
given by:

N SE FAR
I  IF 
*
F IA 
NF NF

NSE = winding turn per pole on series

winding
NF = winding turn per pole on shunt
winding
The positive (+) sign is for cumulatively compound motor
The negative (-) sign is for differentially compound motor
 Cumulatively Compounded DC Motor:
Torque Speed Characteristic
• Has a higher starting torque than a shunt motor (whose flux is constant)
but a lower starting torque than a series motor (whose entire flux is proportional
to armature current).

• It combines the best features of both the shunt and the series motors.
Like a series motor, it has extra torque for starting; like a shunt motor,
it does not over speed at no load.
• At light loads, the series field has a very small effect, so the motor behaves
approximately as a shunt dc motor.

• As the load gets very large, the series flux becomes quite important and the
torque speed curve begins to look like a series motor’s characteristic.

• A comparison of these torque speed characteristics of each types is shown in

next slide.
Fig (a) The torque-speed characteristic of a cumulatively compounded
dc motor compared to series and shunt motors with the same full-load
rating.
Fig. (b) The torque-speed characteristic of a cumulatively
compounded dc motor compared to a shunt motor with the same no-
load speed.
 Cumulatively Compounded DC Motor :
Speed Control
The techniques available for control of speed in a cumulatively
compounded
dc motor are the same as those available for a shunt motor:

1. Change the field resistance, RF

2. Change the armature voltage, VA
3. Change the armature resistance, RA

The arguments describing the effects of changing RF or VA

are very similar to the arguments given earlier for the shunt
motor.
 Differentially Compounded DC Motor:
Torque Speed Characteristic
• The shunt magnetomotive force and series magnetomotive force subtract
from each other.
• This means that as the load on the motor increase,
IA increase and the flux in the motor decreased, (IA)
As the flux decrease, the speed of the motor increase, ()
This speed increase causes an-other increase in load, which further increase
IA,
Further decreasing the flux, and increasing the speed again.
• All the phenomena resulting the differentially compounded motor is
unstable and tends to run away.
• This instability is much worse than that of a shunt motor with armature
reaction, and make it unsuitable for any application.
 Permanent Magnet DC Motor
In PMDC motor, the stator
wound poles of a conventional dc
motor are replaced by permanent
magnet. The rotor has
conventional dc armature, with
commutator segment and
brushes. The outer shell is made
of magnetic material and
permanent magnet which are
radially magnetized, are mounted
on the inner periphery of the
outer shell as shown in fig.
 Advantage of PMDC MOTOR
 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
 Disadvantages of PMDC 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 IA
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 Bres 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