DC Motors

Construction very similar to a DC generator

The dc machine can operate bath as a generator and a motor.
When the dc machine operates as a motor, the input to the machine
is electrical power and the output is mechanical power.
In fact, the dc machine is used more as a motor.
DC motors can provide a wide range of accurate speed and torque
control.
Principle of operation when a current-carrying conductor is placed
in magnetic field, it experiences a mechanical force., F = Bli
Eg. Gas turbine,
diesel engine,
electrical motor
DC Motors

Separately Excited Motors
Field and armature windings are either connected
separately.

Shunt Motors
Field and armature windings are connected in parallel.

Series Motors
Field and armature windings are connected in series.

Compound Motors
Has both shunt and series field so it combines features
of series and shunt motors.
Comparisons of DC Motors

Shunt Motors: Constant speed motor (speed regulation is very
good). Adjustable speed, medium starting torque.
Applications: centrifugal pump, machine tools, blowers fans,
reciprocating pumps, etc.

Series Motors: Variable speed motor which changes speed drastically
from one load condition to another. It has a high starting torque.
Applications: hoists, electric trains, conveyors, elevators, electric cars.

Compound motors: Variable speed motors. It has a high starting
torque and the no-load speed is controllable unlike in series motors.
Applications: Rolling mills, sudden temporary loads, heavy machine
tools, punches, etc
Shunt Motor
The armature circuit and the shunt field circuit are connected across
a dc source of fixed voltage V
t
R
fc
in the field circuit is used to
control the motor speed by varying i
f
.
= If(Rfc + Rfw)
Power Flow and Efficiency
SHORT SHUNT COMPOUND MOTOR
depend on machine
size
Range shown for
machine 1 to 100 kW
Power Flow and Losses in
DC Motors

P
out
P
rotational
P
input
V
t
I
t
V
a
I
t
V
a
I
a
E
a
I
a
I
t
2
R
sr
I
t
2
R
t
I
a
2
R
a
T characteristics
Speed- torque characteristics of DC motors
Example 11
Q. A DC machine (12 kW, 100 V, 1000 rpm) is connected to a 100 V
DC supply and is operated as a DC shunt motor. At no-load
condition, the motor runs at 1000 rpm and the armature current
takes 6 A. Given armature resistance R
a
= 0.1 , shunt field
winding resistance R
fw
= 80 , and N
f
= 1200 turns per pole. The
magnetization characteristic at 1000 rpm is shown in the next
figure.
a. Find the value of shunt field control R
fc
b. Find the rotational losses at 1000 rpm
c. Find the speed, torque, and efficiency when the rated current
flows.
i) Consider the air gap flux remains the same ( no armature reaction) at that at
no load
ii) Consider the air gap flux reduces by 5 % when the rated current flow in the
armature due to the armature reaction

d. Find the starting torque is the starting current is limited to 150 % of
its rated current i) Neglect armature reaction ii) Consider armature
reaction, IfAR = 0.16A
Sen pg. 170
Sol_pg8
Cont. Example
0.99
99.4
Separately Excited DC Motor Torque
speed characteristic
Vt and flux constant - Drop
in speed as torque increase
is small good speed
regulation
AR- Improve speed regulation
DC Speed Control
Can be achieved by
Armature Voltage Control, V
t
Field resistance control,
Armature resistance Control, R
a
Speed increases as V
t
increases, R
a

increases and field flux decreases
Torque
Speed
Torque
Speed
TL = C
m
2
Load Torque profile
TL = K

Fans, blowers, centrifugal pumps
Low speed hoist, elevator
T
Vt

m
T = 0
T = 1
T = 2
V
t
increasing
Vt1
Vt2
Vt3
Vt4
Armature Voltage control-
Constant load torque speed
varies linearly as V
t
changes
Armature Voltage control-
Terminal voltage (Vt) varies-
speed adjusted by varying V
t
Armature Voltage Control
No load
speed
Full load
speed
The speed of DC motor can simply be set by applying the
correct voltage ( fixed flux and R
a
). Good speed regulation.
Maintain maximum torque capability. Expensive control.
Field Control

m
Flux decreasing
if1
if2
if3
if4
R
fc
max
R
fc
=0
T
Field Control
The speed of DC motor can simply be set by applying the
correct field resistance (R
fext
) ( fixed V
a
and R
a
). Slow/sluggish
transient respond. Unable to maintain maximum torque
capability. Simple and cheap control.
f
2
a
ae a
a
t
i where
T
) (K
) R (R
K
V

Armature Resistance Control

m
R
a
increasing
R
ae
max
R
ae
=0
T
Resistance control
The speed of DC motor can simply be set by applying the
correct armature resistance (R
aext
) ( fixed V
a
and R
f
). Poor speed
regulation. High Losses. Unable to maintain maximum torque
capability ( TL rated). Simple and cheap control.
No load
speed
T
) (K
) R (R
K
V

2
a
ae a
a
t


TL
rated
Example 12
A variable speed drive system uses a dc motor which is
supplied from a variable-voltage source. The drive
speed is varied from 0 to 1500 rpm (base speed) by
varying the terminal voltage from 0 to 500 V with the
field current maintained constant.
(a) Determine the motor armature current if the
torque is held constant at 300 N-m up to the base
speed.
(b) Determine the torque available a speed of 3000
rpm if the armature current is held constant at the
value obtained in part (a).
Neglect all losses.
Sen pg 180
Sol_pg15_motor
Series Motor
T characteristics
Speed- torque characteristics of DC motors
Example 13
A 220 V, 7 hp series motor is mechanically coupled to a
fan and draws 25 amps and runs at 300 rpm when
connected to a 220 V supply with no external
resistance connected to the armature circuit (R
ae
= 0 ).
The torque required by the fan is proportional to the
square of the speed. R
a
= 0.6 and R
sr
= 0.4 . Neglect
armature reaction and rotational loss.
(a) Determine the power delivered to the fan and the
torque developed by the machine.
(b) The speed is to be reduced to 200 rpm by inserting
a resistance R
ae
in the armature circuit. Determine the
value of this resistance and the power delivered to the
fan.
PC Sen pg 182
Sol_pg18
Motor Starter
If a DC motor directly connected to a DC supply, the
starting current will be dangerously high


a
t
a
a
a t
a
R
V
I start; at 0
R
E V
I

a a
K E
R
a
small, I
a
large. I
a
can be limited to a safe value by:
Insert an external resistance, R
ae
Use a low dc voltage (Vt) at starts, which require a
variable-voltage supply
With external resistance,

ae a
a t
a
R R
E V
I

Motor Starter
Development of a DC motor starter
E
a
speed (). As
speed increases R
ae

can be gradually
taken out without the
current exceed a
limit ( starter box).
Initially at position 1,
as the speed
increases, the
starter move to
position 2,3,4and 5,
Example 13.1
A 10 kW , 100 V , 1000 rpm dc machine has Ra=0.1
ohm and is connected to a 100 V dc supply.

a) Determine the starting current if no starting
resistance is used in the armature circuit
b) Determine the value of the starting resistance if
the starting current is limited to twice the rated
current
c) This dc machine is to run as a motor, using starter
box. Determine the values of resistance required
in the starter box such that the armature current Ia
is constraint within 100% to 200% of its rated
value during start-up.
Sol_pg21
Permanent Magnet DC motor
Widely used in low power application
Field winding is replaced by a permanent
magnet (simple construction and less space)
No requirement on external excitation
Limitation imposed by the permanent magnet
themselves such as demagnetization and
overheating)

Equation E
a
= K
a

m
becomes E
a
= K
m

m
Example 14
A permanent magnet DC motor has R
a
= 1.03 .
When operated at no-load from a DC source of 50
V, its operates at 2100 rpm and draw a current of
1.25 A. Find:
i. The torque constant, K
m
ii. The no-load rotational losses
iii. The armature current and the motor power
output when it is operating at 1700 rpm from a 48 V
source
Fgrt; pg 389: 0.22 V/(rad/sec), 61 W, 8.54A, 274 W
Sol_pg23
Speed Control
Numerous applications require control of speed, as in
rolling mills, cranes, hoists, elevators, machine tools,
and locomotive drives.
DC motors are extensively used in many of these
applications.
Control of dc motors speed below and above the base
(rated) speed can easily be achieved.
The methods of control are simpler and less expensive
than ac motors.
Classis way used Ward-Leonard System, latest used
solid-state converters.

Ward-Leonard System
In the classical method, a Ward-Leonard system(1890s)
with rotating machines is used for speed control of dc
motors. The system uses the motor-generator set ( M-G
set) control the speed of a DC motor. Normally AC
motor runs at constant speed is used as prime mover.

The system is operated in two control methods:
V
t
Control; In the armature voltage control mode, the
motor current I
fm
is kept constant at its rated value.
The generator field current I
fg
is changed such that V
t

changes from zero to its rated.
I
f
Control; The field current control mode is used to
obtain speed above the base speed. In this mode, the
armature voltage V
t
remains constant and the motor
field current I
fm
is decreased to obtain higher speeds .
Constant
Torque Region
Constant
Power Region
Ward-Leonard System
Prime mover
Solid-State Control
In recent years, solid state converters have been used
(replace motor- generator set) to control the speed of
dc motors.

The converter used are controlled rectifiers or choppers:
Controlled Rectifiers
If the supply is ac, controlled rectifiers can be used to
convert a fixed ac supply voltage into variable-voltage
dc supply (using SCR). High ripple, slow response
Choppers
A solid state chopper converts a fixed-voltage dc supply
into a variable-voltage dc supply(Using controllable
swithes such as Power Mosfet, Power BJT, IGBT, GTO
etc).Low ripple, fast response

Single phase rectifier
Controlled Rectifier

cos
3 l l V
V
m
t

Three phase rectifier

cos
2
m
t
V
V
1-phase or 3-phase
Eg: V
a
and V
f
Control using solid state
devices single phase supply
+
v
s

_
I
a

T
a1
T
a2
T
a3
+
+

V a
R
a

T
a4
L
a

E
g


I
f

+
v
s

_
T
f1
T
f2
T
f3
+

L
f

T
f4
L
f

V
f

ARMATURE
FIELD
Chopper Control
in
on
in t
V
T
T
DV V
Closed-loop Operation
Open loop operation: If load torque changes,
the speed will change too not satisfactory.
May not be satisfactory in many applications
where a constant speed is required
Close loop operation: the speed can be
maintained constant by adjusting the motor
terminal voltage as the load torque changes.
(eg. Load torque increases, speed decreases, speed
error eN increases, results in control signal Vc increases
decrease in the converter firing angle (controlled
rectifeir), or increases in duty cycle (chopper) to
restore back the speed)
Closed loop speed control system (basic system)
Chopper or Control
rectifier
Speed
demand
Voltage
control
Speed
demand
Current/torque
demand
Closed-loop speed control with inner current loop
Example 15
The speed of a 10 hp, 220 V, 1200 rpm
separately excited DC motor is controlled by a
single-phase full-controlled converter. The rated
current is 40 A. R
a
= 0.25 ohm, and L
a
= 10mH.
The AC supply voltage is 265 V. Motor constant
is K
a
=0.18 V/rpm. Assume the motor current is
constant and ripple free. For firing angle = 30
degree, determine:
(a) Speed of the motor
(b) Motor Torque
(c) Power to the motor.
Sen pg 191
Sol_pg34
Example: 2009/10
Question 3
(a) Describe briefly classification of self-excited DC motor based on connections of field
circuit and armature circuit. Sketch the torque speed profile for this type of motor.

(b) A 500 V shunt motor takes a current of 21 A and runs at 400 rpm on full load. The
armature resistance and field resistance are 0.3 and 500 respectively. In order to
control the speed, an additional resistance is added in series in the armature circuit.
The flux remains constant in the machine.

(i) Sketch the new schematic diagram with armature resistance motor speed control.

(ii) Find the motor speed at full load when an additional resistance of 2 is added in
armature circuit.

(iii) Find the motor speed at double full-load with added resistance of Qb(ii).

(iv) Find the motor starting current with an additional resistance of 2 .
(v) Find the required value of the additional armature resistance to reduce the speed to half
of its rated speed at full load.

Sol_pg32