D C MOTORS

1
Motor Principle

An Electric motor is a machine which converts electric energy into

mechanical energy.

The principle is that when a current-carrying conductor is placed in a

magnetic field, it experiences a mechanical force whose direction is
given by Fleming’s Left-hand Rule and whose magnitude is given by
F = BIl Newton.

Constructionally, there is no basic difference between a d.c.

generator and a d.c. motor.

The same d.c. machine can be used interchangeably as a generator or

as a motor.

D.C. motors are also like generators, shunt-wound or series-wound or

compound-wound. 2
 Motion

N S Battery

Conductor

Fleming’s left hand rule says that if we extend the index finger,
middle finger and thumb of our left hand in such a way that the
current carrying conductor is placed in a magnetic field (represented
by the index finger) is perpendicular to the direction of current
(represented by the middle finger), then the conductor experiences a
force in the direction (represented by the thumb) mutually
perpendicular to both the direction of field and the current in the
conductor. 3
• In figure a part of multipolar dc motor is shown
• When its field magnets are excited and armature conductors
are supplied with current from supply mains, they
experience a force tending to rotate armature conductors
• Apply Flemings left hand rule to determine the direction of
rotation
• The function of commutator in motor is to reverse the
current in each conductors as it moves from each pole to
other so that a unidirectional torque is produced for
continuous rotation

4
 Function of commutator
• In generator: The function of commutator in
generator is to convert alternating current
produced in armature conductors to DC
• In motor: The function of commutator in
motor is to reverse the current in each
conductors as it moves from each pole to
other so that a unidirectional torque is
produced for continuous rotation

5
 Comparison between motor and generator
action
• Generator action

• Figure a shows flux produced by field poles

and armature conductors separately
• Figure b shows resultant magnetic lines of flux
• Flux lines are crowded on the right side of
conductors and weakened on the left side of
conductors
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• These flux lines are just like a rubber band under
tension
• The bend flux lines produce a mechanical force
on armature conductors in the same way as a
bent elastic rubber band of a catapult produces
force on the stone
• The direction of torque is opposite to direction
of rotation of armature
• It is known as backward drag in a dc generator
• The work done in overcoming this opposition is
converted to electrical energy
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• Motor action

• Suppose machine is working as a motor, direction of magnetic field same and

conductors carrying current in to the plane as shown
• The conductors will experience a force in anti clock wise direction according to
Flemings left hand rule
• The machine will rotate anti clock wise direction producing a torque
• As soon as the machine starts rotating, dynamically induced emf is produced in
the armature conductors, whose direction is found out by Flemings right hand
rule.
• The direction of induced emf is opposite to the applied voltage and is known as
back emf (Eb)
• The applied voltage V forces a current through the armature conductors against
this induced emf and electric work done in over coming this opposition is
converted to mechanical energy

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Back e m f
When the motor armature rotates , the conductors also rotates
and hence cut the field fluxes. According to the laws of
electromagnetic induction emf is induced in them & whose
direction, as found by Fleming’s Right Hand rule is in opposition
to the applied voltage. Because of its opposing direction it is
referred to as counter emf or back emf Eb.

Ia
 

V Eb Ra

9
VOLTAGE EQUATION OF A MOTOR

The voltage V applied across the motor armature has to

I I sh
1. Overcome the back emf Eb and
2. Supply the armature ohmic drop Ia Ra Ia
.’. V = Eb + Ia Ra.
This is known as voltage equation of a motor. V Eb Ra
Multiplying both sides by Ia
V Ia = Eb la + Ia2 Ra
Where V Ia = electrical input to the armature
Eb Ia = electrical equivalent of mechanical power
developed in the armature.
Ia2 Ra = copper loss in the armature

Hence out of the armature input ,some is wasted in I2R

loss & the rest is converted into mechanical power
within the armature. 10
 Significance of back emf
• Back emf is very important in the working of a dc motor.
• The presence of back emf makes the d.c. motor a self-
regulating machine i.e., it makes the motor to draw as
much armature current as is just sufficient to develop
the torque required by the load.
• Armature current (Ia),=
• When the motor is running on no load, small torque is
required to overcome the friction and windage losses.
Therefore, the armature current Ia is small and the back
emf is nearly equal to the applied voltage.

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• If the motor is suddenly loaded, the first effect is to
cause the armature to slow down. Therefore, the
speed at which the armature conductors move
through the field is reduced and hence the back
emf Eb falls. 
• The decreased back emf allows a larger current
to flow through the armature and larger current
means increased driving torque.
• Thus, the driving torque increases as the motor
slows down. The motor will stop slowing down
when the armature current is just sufficient to
produce the increased torque required by the load.
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• If the load on the motor is decreased, the driving
torque is momentarily in excess of the
requirement so that armature is accelerated.
• As the armature speed increases, the back emf Eb
also increases and causes the armature current Ia
to decrease. The motor will stop accelerating
when the armature current is just sufficient to
produce the reduced torque required by the load.
• Therefore, the back emf in a DC motor regulates
the flow of armature current i.e., it automatically
changes the armature current to meet the load
requirement
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14
 Here φ(flux) is always constant, as permanent magnets of
required flux density are chosen at the time of
construction.

The torque of DC Motor can only be changed by

controlling armature supply. 15
In a separately excited DC motor the supply is given
separately to the field and armature windings. The armature
current does not flow through the field windings.
The armature current Ia=IL, The line current
Voltage equation is
V =Eb+IaRa 16
Self Excited DC Motor
In self excited DC motor, the field winding is connected
either in series or in parallel or partly in series, partly in
parallel to the armature winding, and on the basis its
field connection further classified as:-

1) Shunt wound DC motor.

2) Series wound DC motor.

3) Compound wound DC motor.

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1) Shunt Wound DC Motor

In a shunt wound DC motor (self excited), the field

windings are exposed to the entire terminal voltage as they
are connected in parallel to the armature winding
The line current IL=Ia+Ish
The voltage equatoin is
V =Eb+IaRa 18
Series Wound DC Motor
In series wound DC motor, the entire armature current
flows through the field winding as its connected in series
to the armature winding.

• The Line current IL =The armature current Ia=The

series field current Ise
• The voltage equation is V=Eb+Ia (Ra+Rse) 19
Compound Wound DC Motor
The compound wound DC motor contains the field
winding connected both in series and in parallel to the
armature winding . They are divided into two types
1. Short shunt compound and
2. Long shunt compound generator

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 Short shunt compound wound motor

• Shunt field is connected across armature

IL=Ia+Ish
Ise=IL
V=Eb+ILRse+IaRa
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 Long shunt compound wound motor

• Shunt field is connected across the series combination

of armature and series field
IL=Ia+Ish
Ise=Ia
V=Eb+Ia(Rse+Ra) 22
Depending on the nature of compounding, The
compound motors can be further classified into two
types
Cumulative Compound DC Motor
When the shunt field flux assists the main field flux,
produced by the main field connected in series to the
armature winding then its called cumulative compound
DC motor.

Differential Compound DC Motor

The arrangement of shunt and series winding is such that
the field flux produced by the shunt field winding
diminishes the effect of flux by the main series field
winding.
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Condition for Maximum Power
For a DC motor W.K.T V=Eb+IaRa
Multiplying both sides with Ia,
VIa=EbIa+Ia2Ra
Via=The input power
EbIa=The electrical equivalent of gross mechanical power
developed(Pm)
Ia2Ra=Copper losses in the armature

The gross mechanical power developed by a motor is Pm = V Ia – Ia2 Ra

To find the maximum power
Differentiate both sides with respect to Ia & equating the result to zero
dPm / dIa = V – 2Ia Ra = 0

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• .’. Ia Ra = V/2 and
• We know that V= Eb + Ia Ra
• .’. V= Eb + V/2
• .’. Eb = V/2
• Thus gross mechanical power developed by a
motor is maximum when back emf is equal to
half the applied voltage. ( in this condition
current is beyond the normal current &
efficiency is below 50 % )

25
• A 220V dc shunt motor has an armature
resistance of 1Ω and field resistance of 180 Ω,
Find out the back emf if line current is 12A
• V=220V, Ra=1 Ω, Rsh=180 Ω, IL=12A
• Ish=V/Rsh =
220/180=1.22A
• Ia=IL-Ish=
12-1.22=10.78A
Eb=V-IaRa=
220-(10.78x1)=209.22V

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A 220 v d.c shunt machine has an armature resistance of 0.5Ω . If the full
load armature current is 20 A, find the induced emf when the machine
acts as 1) generator 2) motor

Motor
Generator

1. As generator , Eg = V + Ia Ra =
220 + 0.5 x 20 = 230 v

2. As motor Eb = V- Ia Ra =
220 – 0.5 x 20 = 210 V 27
 A 440v , shunt motor has an armature resistance of 0.8 Ω and field
resistance of 200 Ω determine the back emf when giving an output 7.46
kW at 85% efficiency.

Input power = output / efficiency = 7.46 x 103x100 / 85 = 8776.47 W

Motor input current (IL) = intput power / voltage= 8776.47 /440=19.95 A
Field current Ish =V/Rsh= 440/200 = 2.2 A
17.75 A
Armature current Ia = IL-Ish=19.96 – 2.2 =
425. 8 V
Back emf Eb = V –Ia Ra = 440 – ( 17.75 x 0.8 ) =
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Torque
Torque may be defined as the” turning or twisting moments of a
force about an axis.” It is measured by the product of the force and the
radius at which this force acts.
F
r
Consider a pulley of radius r m acted upon
by a circumferential force F newton which
causes it to rotate at N rpm.
N rpm
 

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Contd . 30
. ..
 

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 From the torque equation of a dc motor
Ta α Ø Ia
For series motor
Ø α Ia until magnetic saturation and Ø is constant after
magnetic saturation
Ta α Ia 2 until magnetic saturation. And Ta α Ia after magnetic
saturation
For shunt motor Ø α Ish and shunt field current Ish is almost
constant, hence flux is also constant.
Ta α Ia

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1. A 250 V , 4-pole , wave-wound d.c series motor has 782 conductors
on its armature. It has armature and series field resistance of 0.75
Ohms. The motor takes a current of 40A. Estimate its speed and gross
torque developed if it has a flux per pole of 25 mWb.
 

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•  

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•  

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• Determine the shaft torque and developed torque of 220V , 4
pole series motor with 800 conductors wave connected supplying
a load of 8.2 kW by taking 45A from the mains. The flux per pole
is 25mWb and its armature circuit resistance is 0.6 ohms,

• Ans : Given,
V=220V, p=4, z=800, A=2, Output=8200W, Ia=45A,
φ=25x10-3Wb, Ra+Rse=0.6Ω

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•  

37
 

38
 

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2. A 220 V d.c shunt motor runs at 500 rpm when the armature current is 50A.
Calculate the speed if the torque is doubled. Given that Ra = 0.2 Ω
Let Ta1, Ia1, & N1 are the torque, armature current & speed at first condition
Ta2, Ia2 & N2 are the torque, armature current & speed at second condition .
We know that , Ta ∞ Ф Ia
V= 220 V
Since Ф is constant, Ta ∞ Ia
N1= 500rpm
.’. Ta1 ∞ Ia1 and Ta2 ∞ Ia2 Ia1 = 50 A
.’. Ta2 / Ta1 = Ia2 / Ia1 Ta2 = 2 Ta1
Ra = 0.2 Ω
.’. 2= Ia2 / 50
Ia2= 100A
Now N2/ N1 = Eb2 / Eb1 -since Ф remains constant.
Eb1 = (V- Ia1 Ra ) = 220- 50x 0.2
=210 V
Eb2 = (V – Ia2 Ra = 220 – 100 x 0.2
= 200 V
.’. N2 / 500 = 200 / 210
.’. N2 = 476 rpm 40
•  

41
• Ish=v/Rsh=220/220=1 A
• At no load IL1=6A, N1 =1100rpm
• Ia1=IL1-Ish=6-1=5A
• Eb1=V-Ia1Ra=220-(5x0.5)=217.5
• At a load of 25A
• IL2=25A
• Ia2=IL2-Ish=25-1=24A
• Eb2=V-Ia2Ra=220-(24x0.5)=208V
• N2/N1=Eb2/Eb1
• N2=208x1100/217.5
• =1051.95rpm

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43
Types of starters used
2-point starter is used for starting of DC series motor
3 point starter and 4 point starter are used for the starting
of shunt wound DC motor and compound wound DC
motor.

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TWO POINT STARTER

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• Operation
• Consist of two terminals “ L” connected to the
positive supply and “F” connected to field winding
of motor
• The handle is initially at off position
• To start the motor, supply is switched on
• Now entire starting resistance is in series with the
armature and series field
• To start the motor handle is moved slowly from off
position to on position
• as motor picks up speed the starting resistance 1,2,3
are gradually cut out
46
• At On position , motor runs at normal speed
and entire starting resistance is eliminated
from armature circuit
• The electromagnet Known as hold on coil or
no volt release coil attracts and holds the soft
iron core attached to the starting arm when it
is in the on position
• The Over Load Release (OLR) coil and No Volt
Coil are the two protective equipment's of
starter

47
• Overload release coil
• When over load happens the current through motor is
more than normal value
• The liver is attracted by over load release coil and
closes the contacts(ab)and which in effect short
circuits the hold on coil. The hold on coil gets de
energised and handle is returned to off position and
the motor supply is cut off
Hold on coil/ No volt release coil
• When supply fails, current through hold on coil
becomes zero and the hold on coil gets de energised
and starter arm comes back to off position, due to the
spring force attached to the base of handle
48
• Suppose handle remains in the on position
when supply failure happens,
• When supply comes again, the handle is still in
on position and hence no starting resistance in
the armature circuit
• This can cause high current through the
armature circuit and damage the coils
• The no volt coil avoids this danger

49
Three point starter

Brass arc

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• Operation
• Consist of three terminals L connected to positive of
supply, F connected to field winding and A connected
to armature
• The handle is initially at off position
• To start the motor, supply is switched on
• Now entire starting resistance is in series with the
armature To start the motor handle is moved slowly
from off position to on position
• as motor picks up speed the starting resistance 1,2,3
are gradually cut out

51
• At Run position , motor runs at normal speed and
entire starting resistance is eliminated from
armature circuit
• The shunt field supply is completed through brass
arc and no volt coil
• The electromagnet Known as hold on coil or no
volt release coil attracts and holds the soft iron
core attached to the starting arm when it is in the
on position
• The Over Load Release (OLR) coil and No Volt
release Coil are the two protective equipment's of
starter
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• Overload release coil
• When over load happens the current through motor is
more than normal value
• The lever below is attracted by Over load release coil
and closes the contact C and which in effect short
circuits the hold on coil. The hold on coil gets de
energised and handle is returned to off position and
the motor supply is cut off
Hold on coil/ No volt release coil
• When supply fails, current through shunt field and hold
on coil becomes zero and the hold on coil gets de
energised and starter arm comes back to off position,
due to the spring force attached to the base of handle

53
• Suppose handle remains in the on position when supply
failure happens,
• When supply comes again, the handle is still in on
position and hence no starting resistance in the armature
circuit
• This can cause high current through the armature circuit
and damage the coils
• The no volt coil avoids this danger
• The disadvantage of three point starter is when we
control the speed of motor by controlling shunt field
current, there are chances that current through no volt
coil gets reduced and coil gets de energised
• This may bring the starting lever to off position un
necessarily
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55
• The basic difference between three point and four point
starter is that the no volt coil and shunt field are not
connected in series
• The no volt coil with a current limiting resistance is
connected in parallel to the shunt field circuit
• This arrangement ensures that any change in shunt field
current do not affect the current through the no volt coil
• This means the electromagnetic pull of the hold on coil is
always sufficient so that the spring does not
unnecessarily restore the lever to off position
• A 4 point starter is used where the field current is to be
adjusted by means of afield rheostat for the purpose of
operating the motor above rated speed

56
Speed Control of DC Motor
 

57
II) Speed Control of DC Shunt Motor
1)Flux control method  

Ish IL

FIELD Ia
RHEOSTAT

V
ARMATURE

FIELD
WINDING

58
2. Armature
I
rheostat
I
control
L
method
sh

Ia +
CONTROLLER
RESISTANCE

NO RESISTANCE IN

SPEED N
ARMATURE
V
ARMATURE IN
RESISTANCE
ARMATURE
FIELD
WINDING

ARMATURE CURRENT
-

59
• Used to control speed below rated speed
• WKT NαEb the back emf
• A variable resistance is inserted in series with
the armature
• When the controller resistance is increased,
voltage drop takes place in the resistance and
hence the available voltage across armature
reduces
• Consequently the back emf is less than that
when armature is subjected to full voltage
• Therefore armature speed reduces
60
3. Voltage control method
• A) Multiple voltage system
• Here shunt field is permanently connected
across a fixed voltage source
• The armature is supplied from different
sources through suitable switch gear
• The speed varies depending upon the voltage
applied
• Not widely used because it needs more
voltage sources

61
• Ward leonard system

62
• The system has one coupled motor generator (M1 G)set as
shown in figure
• Speed of M2 is to be controlled
• The field winding of M1, M2 and G are connected across DC
supply line
• The armature of M2 is supplied by voltage generated by
generator G
• The speed of M2 is varied by varying the generated voltage of G
• The generated voltage is varied with the help of a field regulator
connected in the field circuit of generator
• The polarity of generated voltage and hence motor direction can
be reversed with the help of a reversing switch
• This system is used where wide range of speed control In both
the direction is required

63
SPEED CONTROL OF SERIES MOTORS
DIVERTER

1. Flux control method.

a) Field divertors.
the series windings are shunted
by a variable resistance known as
field divertor. FIELD
It diverts the main current and WINDING
reduces the flux, thus increases the
speed. It gives speed above normal ARMATURE V
speed only

64
b). Armature Divertor

A divertor across the armature can be used for giving speeds lower
than the normal speed. The variation in the speed can be controlled by
varying the divertor resistance. (The diverter shunts some of the main
current thus reducing armature current, Now for a given load torque, if
Ia is reduced, flux must increase (TαφIa). The result is that motor draws
more current from the supply so that flux is increased. sinceNα(1/φ) ,
speed of motor reduces, so speed above rated sped is achieved)

FIELD
WINDI
NG
ARMAT
ARMATURE
DIVERTOR
URE
V

65
C) Tapped Field control
The No. of series field turns in the circuit can be changed using a
rotary switch. With full field the motor runs at its minimum speed ,
which can be raised in steps by cutting out some of the series field
turns.
FIELD
WINDING

ARMATURE
ARMATURE
DIVERTOR V

66
D ) paralleling field coils

in this method regrouping the field coils in series parallel. This

method is used for fan motors. For a 4 pole machine three speeds can
be obtained as shown below.

V V
ARMATU V ARMATU ARMATU
RE RE V RE V

Fig a fig b fig c

67
2. Variable resistance in series with motor.
By increasing the resistance in series with the armature the
voltage applied across the armature terminals can be
decreased. Due to this reduced voltage across the armature ,
the speed is reduced +
FIELD
WINDING

ARMATURE

68
Previous theory questions
Part A
1. What is back emf?
2. What are the functions of starter
3. State the basic difference between
construction of dc motor and generator
4. Which speed is possible in armature voltage
control method
5. Write the formula for back emf and their
units

69
6 Write the condition for maximum power
developed in a DC motor
Part B and C
1. Explain factors affecting speed of DC motor
2. Derive the torque equation of DC motor from
fundamentals
3. State the significance of back emf in case of a
DC motor
4. Draw and explain three point starter
5. Explain working principle of DC motor

70
6. Explain the classification of DC motors based on
field winding connection to armature with figures
7. Explain different methods of speed control of
DC series motor
8. Explain different methods of speed control of
DC shunt motor
9. Draw and explain four point starter
10. Draw and write the voltage equation of a dc
motor
11. Derive speed equation of DC motor
12. Draw ward leonard method of speed control

71