CopyrightNedMohan2010

DC Motor Drives
Introduction
Classification
Structure
Operating Principle
Armature Reaction
DC Machine Equivalent Circuit
1
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Introduction
Cost
Demiseprematurelypredicted,stillusedinspeedcontrol
Merits
Easeofcontrol
CheaperPowerProcessingUnit
Drawbacks
mechanicalcommutatorandbrushesrequiremaintenance
Future
1998
PPU
motor motor motor motor
PPU
PPU PPU
ACDRIVES DCDRIVES
Future
1998
2
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ClassificationofDCdrives
Electrical
Line-commutated
thyristor converter converter
Switch-mode
magnet
Permanent
rotor
Wound
system
Mechanical
machine
DC
Processing
unit
Power
source
3
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StructureofDCmotors
stator
magnets
rotor
winding
Stator
Establishesfieldflux, |
f
Permanent
magnets
produced by
permanent magnets
f
|
produced by
stator winding current
f
|
4
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Rotor
Armaturewinding
Commutatorandbrushes
StructureofDCmotors
5
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OperatingPrinciplesofaDCMotor
Fieldfluxdensityintheairgap
N S
1b
back end
|
f
i
a
e
m
s
1
s
2
b
1
b
2
1
1
'
N S
u
u = 0
u
0 u =
f
B
0
6
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Operatingprinciples CommutatorAction
em f a
T 2 B i r =
( )
a f m
e 2 B re =
1 ' 1
em
T
m
e
2
S
1
S
0 u =
u
S N
a
i
a
e
+
+
1 ' 1
em
T
m
e
1
S
2
S
0 u =
u
S N
a
i
a
e
+
+

u
, ' '
,
1 1 1to1
e i
o
0
o
90
o
180
o
270
o
360
( )
em
T t
em
T
( ) average
a
E
( ) average
( )
a
e t
0
( )
a
e t
o
0
o
90
o
180
o
270
o
360
0
u
o
0
o
90
o
180
o
270
o
360
0
u
1
' 1
2
S
1
S
0 u =
u
S N
a
i
+
+

a
e
7
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FourCoilExample
CCW rotation by 45
o
at 0 u =
' 1 1
2 ' 4
4
' 2
' 3
0V
0V
3
+
2e
_
+
2e
_
_
+
b
a
c
d
1
2
' 4
3
' 1
4
' 2
+
_
' 3
+
_
S
N
' 3
1
2 ' 4
3
' 1
4
' 2
+
_
e
+
e
+
+
e
+
e
0V 0V
0V 0V
a
b
c
d
4b
1b
2b
3b
a
e
a
e
a
i
a
I
2
a
I
2
a
e
a
i
a
i
' 4
4
+
e
+
e
' 3
3
+
e
+
e
4b
I
a
2
I
a
2
1b
2b 3b
+
_
' 2
2
+
e
e
+
1
' 1
+
e
e
+
+
_
2e
+
_
2e
' 4
4
' 3 2
1
' 2
3
' 1
+
_
2e
+
_
2e
+
_
m
e
1
' 3
a
b
c
d
2
' 4
+
3
' 1
+
+
_
_
4
' 2
+
_
S
N
a
e
a
e
a
I
2
a
I
2
a
I
2
a
I
2
a
e
a
i
a
i
a
i
8
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FourCoilExample(contd)
N
S
e
m
2
' 4
d
a
b
c
3
' 1
+
4
' 2
+
+
_
_
1
' 3
i
a
e
a
+
_
I
a
2
I
a
2
+
_
2e
+
_
2e
' 1
1
' 4
3
2
' 3 4
' 2
+
_
2e
+
_
2e
e
a
+
_
i
a
' 1
1
+
e
+
e
' 4
4
+
e
+
e
I
a
2
I
a
2
1b
I
a
2
I
a
2
2b
3b 4b
i
a
+
_
e
a
' 3
3
+
e
e
+
2
' 2
+
e
e
+
d
a
c
b
Torqueandemfpulsations
canbereducedbyincreasing
thenumberofconductors
cond
4T
cond
2T
em
T
( ) average
em
T
2e
4e
0
0
o
45
o
90
o
180
o
270
o
360
o
a
e
( ) average
a
E
315
o
135
o
225
o
u
0
0
o
45
o
90
o
180
o
270
o
360
o
315
o
135
o
225
o
u
o
CCW rotation by 90
9
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FourCoilExample(contd)
N
S
e
m
2
' 4
d
a
b
c
3
' 1
+
4
' 2
+
+
_
_
1
' 3
i
a
e
a
+
_
I
a
2
I
a
2
+
_
2e
+
_
2e
' 1
1
' 4
3
2
' 3 4
' 2
+
_
2e
+
_
2e
e
a
+
_
i
a
' 1
1
+
e
+
e
' 4
4
+
e
+
e
I
a
2
I
a
2
1b
I
a
2
I
a
2
2b
3b 4b
i
a
+
_
e
a
' 3
3
+
e
e
+
2
' 2
+
e
e
+
d
a
c
b
Torqueandemfpulsations
canbereducedbyincreasing
thenumberofconductors
cond
4T
cond
2T
em
T
( ) average
em
T
2e
4e
0
0
o
45
o
90
o
180
o
270
o
360
o
a
e
( ) average
a
E
315
o
135
o
225
o
u
0
0
o
45
o
90
o
180
o
270
o
360
o
315
o
135
o
225
o
u
o
CCW rotation by 90
10
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SummaryofOperatingPrinciples

+ i
a
dividesequallybetweentwoparallelcircuits
+Torqueproducedoneachconductorhasthesamedirection
+ Directionofi
a
determinesdirectionoftorque

+Inducedvoltageineachcircuitisequaltothesumof
voltagesinducedineachcoil.
+ Polarityofinducedemfdependsonlyonthedirectionof
rotation.
Net Torque,
a a
em a f f a T a
i n
T n B lr lrB i k i
2 2
| | | |
= = =
| |
\ . \ .
& ( )
a a
a f m f m E m
n n
e B l r lrB k
2 2
e e e
| | | |
= = =
| |
\ . \ .
In M.K.S. Units =
E T
k k
11
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Assumingmagneticstructuredoes
notsaturate:
Increasedtorqueinsomeconductors
iscompensatedbydecreasedtorque
inotherconductors
Samereasoningholdsforinducedemf
Compensatingwindingtoreducethe
effectofarmaturereaction
Armaturereaction
N S S N
stator flux
rotor flux
resultant flux
Compensating
winding
Exciting
winding
Commutating
pole
winding
Commutating
12
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DCMachineEquivalentCircuit
a
v
+
_
a
i
N S
em
T
m
e
a
a a a a a
d i
v e R i L
dt
= + +
a E m
e k e =
em T a
T k i =
( )
L
m
em
eq
d 1
T T
dt J
e
=
SteadyState
( )
em L
a
T
T T
I
k
=
=
a a a
m
E
V I R
k
e

=
constant at its rated value
f
|
a1 a2 a3 a4
V V V V > > >
rated
a1
V =
a2
V
a3
V
a4
V
rated
, m rated
e
m
e
em
T
L
J
L
T
,
em m
T e
a
R
a
L
em
a
T
T
i
k
=
+
_
E m
k
a
e e =
M
J
+
_
a
v
Basicequations
13
CopyrightNedMohan2010
Summary
DCMotorDrives
Introduction
Classification
Structure
OperatingPrinciple
ArmatureReaction
DCMachineEquivalentCircuit
14