DC MOTORS

Chapter 1

Introduction to Electrical Machines

 Chapter 1

NO. TOPIC REMARK

Historical of Electrical Machines – Invented &
1.
Development.
2. Motors Application.
3. Principles Involved.
Relationship between speed, torque, mechanical power and
4.
efficiency.
5. Motors’ Rating Plate.
6. Motors’ drawing diagram.
 Historical: Development &
Invented
 A ) MICHAEL FARADAY ( 1791 – 1867 )
 Develop Electromagnetic science
 Discovered principle of Transformer and Generator
 B ) WERNER VON SIEMENS / SIR WILLIAM SIEMENS ( 1823
– 1883 )
 Discovered principle of Modern Dynamo
 C ) NICOLA TESLA (1856 – 1943 )
 Invented Induction Motor and AC Power Transmission
 D ) CHARLES P. STEINMETZ ( 1865 – 1923 )
 Invented AC Motors with low hysterics loss
 E ) TOSHIIKU SASHIDA ( 1939 – 19__ )
 Invented Ultrasonic – wave Motor.
Application –
Computer Peripherals:
APPLICATION USE
Floppy Disc position magnetic pickup

Printer carriage drive

Printer rotate character wheel
Printer paper feed
Printer ribbon wind/rewind
Printer position matrix print head
Tape Reader index tape
Plotter X-Y-Z positioning
Plotter paper feed
Application –
Business Machines:
APPLICATION USE
Card Reader position cards

Copy Machine paper feed

Banking Systems credit card positioning

Banking Systems paper feed

Typewriters (automatic) head positioning
Typewriters (automatic) paper feed
Copy Machine lens positioning
Card Sorter route card flow
Application –
Process Control :
APPLICATION USE
Carburetor Adjusting air-fuel mixture adjust
Valve Control fluid gas metering
Conveyor main drive
In-Process Gagging parts positioning
Assembly Lines parts positioning
Silicon Processing I. C. wafer slicing
I. C. Bonding chip positioning
Laser Trimming X-Y positioning
Liquid Gasket Dispensing valve cover positioning

Mail Handling Systems feeding and positioning letters

Application –
Machine Tool :
APPLICATION USE

Milling Machines X-Y-Z table positioning

Drilling Machines X-Y table positioning

Grinding Machines Down feed grinding wheel

Grinding Machines automatic wheel dressing

Electron Beam Welder X-Y-Z positioning

Laser Cutting X-Y-Z positioning

Lathes X-Y positioning

Sewing X-Y table positioning

General Application of
Electrical Motor:

Automation Conveyer
General Application of
Electrical Motor:

Milling Machine
Principles Involved
Bar Magnet Solenoid Magnet
M
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i r
c e
n
t
F
i
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 Principles Involved
Magnetic Flux Density
Magnetic Field of Current Loop

 Electric current in a circular loop creates a magnetic field which

is more concentrated in the center of the loop than outside the
loop.
 Stacking multiple loops is called a solenoid.
 The direction of the magnetic field can be determined using
Right Hand Rule.
Right Hand Rule
Corkscrew Principle
 Right Hand Rule

*I = Current
Conductor

Denotes current flowing in

Denotes current flowing out

 Fleming’s Left Hand Rule

 Also known as Fleming's Left Hand Motor Rule.

 If you point your left forefinger in the direction of the magnetic

field, and your second finger in the direction of the current flow,
then your thumb will point naturally in the direction of the resulting
force.
DC MOTOR TYPES
 DC motors are roughly classified into
three types:
 permanent-magnet motors that use
permanent magnets
 winding-field motors that do not use
permanent magnets.
 DC Brushless motor
DC PERMANENT MAGNET
MOTOR
DC BRUSHLESS MOTOR
Chapter 2

DC Motors –
Series, Shunt and Compound Motors
 Chapter 2
NO. TOPIC REMARK

1. Working Principle of DC Motor – Motors Rule.

2. State the different types of DC Motors.

3. Characteristics and applications of DC Series motor.

4. Characteristics and applications of DC Shunt motor.

5. Characteristics and applications of DC Compound motor.

6. The principle and methods of controlling the speed of a DC

Motors.
 Construction of DC Machine
Terminal Box Armature Winding

Field Pole

Brushes Armature Core

Shaft Frame or Yoke

Field Winding
Commutator
Construction of DC Machine

STATOR
DC MOTOR STRUCTURE 1
Construction of DC Machine

ROTOR / ARMATURE
Working Principle
of DC Motor :

Fleming’s Left Hand Rule

Working Principle
of DC Motor :

FORCE

ROTATION (CW)
CW-Clockwise

0 / 360

FORCE
 Working Principle
of DC Motor :

FORCE

ROTATION (CCW)
CCW-Counter
Clockwise

180

FORCE
 Working Principle
of DC Motor : FORCE

ROTATION

 The direction of rotor: Reversing

every time when the coil moves through
FORCE
the plane perpendicular to the magnetic
180
field. FORCE

ROTATION

FORCE
 Commutator and
Brushes on DC Motor
Brushes

Commutator

 To keep the torque from reversing, a split-ring device called a commutator is

used to reverse the current at that point.

The electrical contacts to the rotating ring are called "brushes“.
Current in DC Motor
Magnetic Field in DC Motor
Force in DC Motor
DC Motor Operation
How A DC Motor Works?
 DC SERIES MOTOR
OBJECTIVES:
At the end of this chapter you shall be able to:
•Explain the characteristics of a series motor
•Torque vs. Load
•Speed vs. Load
•Speed vs. Torque

•State the uses/application of DC series motor

•Explain the methods of reversing DC series motor

•Construct the DC series motors

•Carry out characteristic test for DC series motor

•Implement reversing methods of DC series motor

DC SERIES MOTOR

DC SERIES MOTOR

CHARACTERISTICS of DC SERIES MOTORS

Speed vs. Load Characteristics
Torque vs. Load Characteristics

Speed vs. Torque Characteristics

REVERSING DIRECTION of DC SERIES MOTORS

APPLICATION
DC SERIES MOTOR

 The armature/rotor and field

winding are connected in
series.
 CHARACTERISTICS of DC
SERIES MOTORS
Armature/Rotor A1 Ia

A2 DC Supply
D1
Field Winding
Øse
D2 Ise

 The torque in a DC motor is proportional to the flux, Ǿ and the armature

current, Ia.
 The speed is inversely proportional to the flux.
 The relation between these factors i.e. torque vs load, speed vs load and
torque vs speed are plotted on a graph, and are known as characteristics
enables us to understand the behavior of the motors under different
conditions.
 CHARACTERISTICS of DC
SERIES MOTORS
Speed vs. Load Characteristics

A1 Ia S
P
Speed-Load Char. Graph
E
A2 DC Supply E
D1 D
Øse
D2 Ise

LOAD CURRENT, Ia
 When the load is small the speed is high, and as the load increases the speed
decreases.
 The speed attains a dangerous value at no load condition.
 Seldom use without load and usually the DC series motor connected to a
direct-coupled load or by mounting a gear-coupled load .
 CHARACTERISTICS of C
SERIES MOTORS
Torque vs. Load Characteristics

A1 Ia

A2 DC Supply
D1
Øse
D2 Ise

 At low or light load, the torque is low due to the low armature current
and low field flux.
 As the load increases, the torque also increases proportionate to the
square of the armature current up to the point ‘P’ of the curve.
 Beyond this point the curve becomes a straight line due to saturation of
field cores.
 CHARACTERISTICS of DC
SERIES MOTORS
Torque vs. Load Characteristics

A1 Ia

A2 DC Supply
D1
Øse
D2 Ise

 T proportional to Ia Øse as Øse is proportional to Ise and further

Ise is proportional to the armature current.
T α Ia Ise The field is very weak at no load Operating the
T α Ia Ia Motor without a load will allow the motor to reach
T α Ia 2 Such high speeds that the centrifugal force will cause the
windings to tear free
 CHARACTERISTICS of DC
SERIES MOTORS
Speed vs. Torque Characteristics

S 1
P Torque 
E Speed
E
D

0 TORQUE

1
N

 As the torque increases the motor draws more current and causes the
speed to reduce. This is due to the increases field flux by increased load
current in the DC series field.
 REVERSING DIRECTION of
DC SERIES MOTORS

A2

A1

DC Supply
D2

D1

Changing the direction of Changing the direction of

the armature current. the field current.
 APPLICATION of DC SERIES
MOTORS

 Cranes
 Conveyor
 CNC Machine

Remarks:
•It is most important to remember that a series motor should never
be operated without a load.
•The field is very week at no load. Operating the motor without a
load will allow the motor to reach such high speeds that the centrifugal
force will cause the windings to tear free.
 DC SHUNT MOTOR
OBJECTIVES:
At the end of this chapter you shall be able to:
•Describe the characteristics of a DC shunt motor
•Speed vs. load characteristics
•Torque vs. load characteristics
•Torque vs. speed characteristics

•State the applications of a DC shunt motor

•Explain the methods of reversing DC shunt motor

•Construct the DC shunt motor

•Carry out characteristic test for DC shunt motor

•Implement reversing methods of DC shunt motor

DC SHUNT MOTOR

DC SHUNT MOTOR
CHARACTERISTICS of A DC SHUNT MOTOR
Speed vs. Load Characteristics
Torque vs. Load Characteristics

Speed vs. Torque Characteristics

REVERSING DIRECTION of DC SHUNT MOTORS

APPLICATION
 DC SHUNT MOTOR

 The armature/rotor and field winding are connected in parallel across

supply.
 Shunt motors are classified as constant speed motors.
 Little variation in the speed of the shunt motor from no load to full
load.
 CHARACTERISTICS of a DC
SHUNT MOTOR
Speed vs. Load characteristics

N - speed of the armature in r.p.m

V-IaRa = Eb r.p.m V - applied voltage
N=
KØ KØ Ia - armature current at a specific load
Ra - armature resistance
Ø -flux per pole
E1 A1
K - a constant value for the specific motor
Ra Ia DC Supply Eb - the back emf
E2 A2 V
 V, Ra, K, and Ø are practically constant values, and the armature current is the
only variable.
 At no load the value of Ia is small. Leading to the maximum speed.
 At full load, 1a Ra, is generally about 5 percent of V.
 The actual speed value depends upon the size and design of the motor.
 CHARACTERISTICS of a DC
SHUNT MOTOR
Speed vs. Load characteristics

E1 A1

Ra Ia DC Supply

E2 A2

 Speed will drop slightly due to reduce the back emf such that the armature
can draw more current to develop an increased torque from no load to full
load.
 From the curve it is observed that the speed slightly drops from its no-load
speed oa to ob when the motor delivers full load.
 This is due to the increased, Ia Ra drop in armature.
 CHARACTERISTICS of a DC
SHUNT MOTOR
Torque vs. Load characteristics

A1 T
E1
O
Ra Ia DC Supply R
A2 Q
E2
U
E

CURRENT
 Motor torque is proportional to the product of the field flux and the armature
current.
 As the field flux is constant, the torque varies as the load current varies.
 From the curve it is observed that the torque, T is directly proportional to
load or armature current, Ia.
 CHARACTERISTICS of a DC
SHUNT MOTOR
Speed vs. Torque characteristics

S
P
E
E
D

TORQUE

 From the curve it is observed that the increase in torque has negligible
effect on the speed.
 The speed slightly drops as the torque increases.
 REVERSING DIRECTION of
DC SHUNT MOTORS

E1
E1
A1 A1

A2
E2 A2
E2

Changing the direction of Changing the direction of

the armature current. the field current.
APPLICATION of a DC
SHUNT MOTOR
A DC shunt motor is best suited for constant speed drives.

 Wood planers
 Grinders
 Circular saw
 Polishers
 Blowers

Remarks:
•When working with shunt motor, never open the field circuit when
it is in operation. If this happens, as the flux is only due to residual
the motor speed increases to a dangerous magnitude. At light loads
this speed could become dangerously high, and the armature may
fly off.
DC COMPOUND MOTOR
 DC COMPOUND MOTOR
CUMULATIVE COMPOUND MOTOR
(LONG SHUNT)

A1
E1

Shunt Winding

A2 DC Supply
D1
Series Winding

E2 D2

 The motor has both shunt and series field windings for producing the
required main flux in the poles.
 DC COMPOUND MOTOR
Cumulative Compound Motor - Speed vs. Load Characteristic
Series

Cumulative Compound
S
P
E
E Shunt
D

LOAD CURRENT

 The speed of this motor falls more than the shunt motor but falls less than
series motor.
 Can run on no-load at a specified speed.
 The increased drop in speed at load is due to the combined drop of the
voltage due to armature and series field resistance.
 DC COMPOUND MOTOR
Cumulative Compound Motor – Torque vs. Load Characteristic
g e
2.Cumulative an
R
Compound
oad
T rl
ve
O O
R
Q 3.Shunt
U
E Rated Torque

1.Series
LOAD CURRENT

 Up to full load, the torque developed in a cumulative compound motor is less

than that in the shunt motor but more than in the series motor.
 At the time of starting, the starting current is about 1.5 times the full load
current and produces a high torque, which is better than that of the shunt
motor during starting.
 DC COMPOUND MOTOR
Cumulative Compound Motor – Torque vs. Speed Characteristic

S
P
E
E
D

TORQUE

 As the total flux of the motor increases with load, the speed decreases but the
torque increases.
 The output power is proportional to the product of speed and torque.
 the cumulative compound motor will not be overload in case of sudden
appearance of load as in rolling mills.
 DC COMPOUND MOTOR
Cumulative Compound Motor

Application:

 To drive a machine that require a relatively constant speed under varying

loads.
 Frequently used on machines that require sudden application to heavy loads,
such as presses, shears, compressors, reciprocating tools, steel rolling
machinery and elevators.
 DC COMPOUND MOTOR
DIFFRENTIAL COMPOUND MOTOR
(LONG SHUNT)
A1
Shunt Winding
E1

A2
DC Supply
D1

D2
E2

 The series field of the DC compound motor is connected in such a way

that its flux oppose (bucks) the flux produced by the shunt field.
 DC COMPOUND MOTOR
Differential Compound Motor - Speed vs. Load Characteristic

S
P
E
E
D

LOAD CURRENT

 The motor speed increases with the increase in load due to the fact that the
total flux decreases at the increased load.
 DC COMPOUND MOTOR
Differential Compound Motor – Torque vs. Load Characteristic

T
O
R
Q
U
E

LOAD CURRENT


The torque increases with the increases of load.
 DC COMPOUND MOTOR
Differential Compound Motor – Torque vs. Speed Characteristic

S
P
E
E
D

TORQUE
 The torque-speed characteristic indicating that both speed and torque increase
in the machine, resulting in the overloading of the machine initially, and
thereby, reaching an unstable state.
 DC COMPOUND MOTOR
Differential Compound Motor

Application:

 This motor is not in common use due to its unstable behavior at overloads.
This motor is dangerous to use unless there is no possibility of the load
exceeding the normal full load value as it is designed to work with full load
limits.
APPLICATION of DC
COMPOUND MOTORS

 Powering Fly wheel stabilized machines

 Presses machines
 Stamping machines
 Shearing machines
 METHODS OF SPEED
CONTROL IN DC MOTORS
DC SERIES MOTORS: FIELD DIVERTER METHOD

DC Supply

Diverter
 METHODS OF SPEED
CONTROL IN DC MOTORS
DC SERIES MOTORS: FIELD DIVERTER METHOD
S

DC Supply
Diverter

Application of the field diverter method:

Most mainly used in the speed control of electric trains.

Speed above rated can be obtained and the power losses in
the diverter is quite considerable.
 METHODS OF SPEED
CONTROL IN DC MOTORS
DC SERIES MOTORS: FIELD TAPPING METHOD
 METHODS OF SPEED
CONTROL IN DC MOTORS
DC SERIES MOTORS: FIELD TAPPING METHOD

Application of the field tapping method:

Small motors like food mixers, fan, etc.

 METHODS OF SPEED
CONTROL IN DC MOTORS
DC SERIES MOTORS: SERIES PARALLEL METHOD

D4 D3 D4 D2
D2 D1 D3 D1

DC Supply DC Supply

A B
 METHODS OF SPEED
CONTROL IN DC MOTORS
DC SERIES MOTORS: SERIES PARALLEL METHOD

D2 D1 D4 D2
D4 D3 D3 D1

DC Supply DC Supply

A B

Application of the field tapping method:

Only two speeds are possible.

Often used to control speed of fan motors.
FACE PLATE STARTER

TYPES:

1.TWO POINT STARTER

2.THREE POINT STARTER
3.FOUR POINT STARTER
 What is face plate starter??
The direct current face plate starter is an electrical switchgear that
starts direct current motors, by changing the ohmic resistance in the
armature and excitation circuit. The contact pieces of the step switches have
a planar layout. DC face plate starters are being increasingly replaced with
electronic power converters such as thyristors.
 Necessity of DC Motor Starter

 'Starter'. It consists of a set of resistors placed in an enclosure. The value of resistance can
be increased or decreased by varying the number of resistors connected to the armature
circuit.

This can be done by a movable handle (starter arm) that moves on resistors tappings in
such a way that, at starting position no resistance is connected and resistance increases as
the handle moves. The starter is provided with protective devices to disconnect the motor
(by moving the starter handle to the off position) in the event of supply failure or in an
overload condition.
Formula
Current in DC Motor
 Types of face plate starters

Face-plate starters namely 2/3/4-point starters are manual starters employed

for safely starting DC motor against the spiking current.

Resistances added to armature circuit at the start are cutout by manually shifting
the contactor gradually. With the advent of superior technology, these are
mostly confined to electrical labs now-a-days.
2 Point starter
2 Point starter
 Why need it?

Starting a DC motor poses unique challenges. The primary issue is that

DC motors require a large, potentially damaging starting current which
must be limited by the starter itself

Whereas small motors can be started using a switch or contactor, large

ones require a dedicated starter like the ones described on this page.
3 Point starter
 3 point starter
In order to start the motor, the spring-loaded starter handle is moved from OFF to
the first stud position. At this point, the first resistor (R1 above) provides high
starting resistance, as CEMF has not yet developed. As the handle is slowly
moved toward the RUN position, series resistance decreases as the motor gains
speed and CEMF increases. When the handle reaches the RUN position,
resistance is eliminated.

The handle remains in the RUN position against the force of the spring because
the no voltage coil (NVC) shown above is magnetized when current flows through
the starter. The NVC also acts as a safeguard during motor operation. If the
motor's voltage supply is cut for any reason, the NVC demagnetizes and the
handle spring returns the handle to the OFF position, effectively cutting the motor.
 3 point starter

The fact that the no voltage coil is magnetized by the field current represents the
drawback of three-point starters. A motor's speed is controlled by current changes
effected by the field rheostat; because the NVC relies on the constant supply of field
current, speed changes may result in the demagnetization of the NVC, the release of
the starter handle, and the unintentional cutting of the motor. Four-point starters
overcome this problem by adding an additional terminal.
4 Point starter
 4 Point starter

While three- and four-point starters are typically used to start shunt and
compound motors, four-point starters (with disconnected F terminals) can also
be used to start series motors, provided the starting current does not exceed the
starting resistor's rated current.

Dedicated series motor starters are essentially simplified versions of a three-point

starter. They involve two terminals: the line (L) connecting the supply positive and
the starting handle, and the field/armature connection to the motor itself. These
devices are sometimes called two-point starters for this reason. Series starters are
identical to three- and four-point types in operation: the handle is simply moved from
OFF to RUN, at which point it remains there using the magnetized NVC.