DC Motors

Widely used for speed

drives
( easy control one
current, DC in steady
state)
pole
High starting torque
(traction)
Flux
path

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5- 1

DC Motor

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5- 2

DC Motors

Simple control.
Regular maintenance.
Relatively heavy rotor with a high inertia.
Difficulty in producing a totally enclosed motor.
A limit on constant power-speed range because of
commutator electrical and mechanical stress.
Relatively high cost.
High starting current (no back emf present) could
damage commutator and windings.

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5- 3

Structure of DC motors
Stator

Establishes field flux, f

Permanent
Magnets

f produced by
permanent magnets

Jan-May 2010

f produced by
stator winding currents
Electrical Machines & Drives - ECNG 3010

5- 4

Operation Principles DC Motor

back end
1b

N
1

ia

Jan-May 2010

S1
b1

S
f
S2

Bf

b2

Electrical Machines & Drives - ECNG 3010

5- 5

Structure of DC Motors

Rotor

Jan-May 2010

Armature
winding
Commutator and
brushes

Electrical Machines & Drives - ECNG 3010

5- 6

Commutator Action
ia
S1

ia
S2

1
S2

+
m

= 0

S1
1

ia
S2

= 0

Tem

S1

+
m

S
= 0

Tem
Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5- 7

Commutator Action
e1,1,i1tol
0
00

0
00

1800
2700

900

ea(t)

1800
900

2700

Tem
average

1800

0
00
Jan-May 2010

900

Ea
average
Tem(t)

Tem = 2 Bf l ia r
ea = 2 Bf l (rm)

2700
Electrical Machines & Drives - ECNG 3010

5- 8

Commutator Action
Torque and emf pulsations can be reduced by increasing
the number of conductors

ea

4e

Ea
(average)

2e
00 450

Tem

4Tcond

900 1350 1800 2250 2700 3150 3600

Tem
(average)

2Tcond
00 450

900 1350 1800 2250 2700 3150 3600

Armature Reaction
Rotor flux

Stator flux

Jan-May 2010

Resultant flux

Electrical Machines & Drives - ECNG 3010

5- 9

Basic Field & Armature Connections

If
If = I a
+
v
Series

Jan-May 2010

+
v

Ia _

_
Shunt

Electrical Machines & Drives - ECNG 3010

Ia>>If
Ra< Rf
If
+ ef _
Separately
Excited

Ia

+
v
_

5 - 10

DC Motor Model - Field

Rf Lf
ef = if Rf + Lf dif
dt

if
_
e
+ f
Field winding
Steady
State

f = f (if) Linear region (Kf)

f = Kf If

Ef = RfIf = Rf f
Kf

(Permanent magnets alternative)

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5 - 11

DC Motor Model - Armature

ia

Because of rotation of
conductors (armature) in the
flux field
e.m.f. induced in armature
circuit ( oppose flow of
armature current)

_
Ra La

va
+

eb = KE Steady State Eb = KE
T(t) = KT ia(t) Steady state
P = T = KT Ia Eb
KE
Jan-May 2010

KT
KE

Electrical Machines & Drives - ECNG 3010

T = KT Ia
Eb I a
5 - 12

DC Motor Model - Armature

va = ia Ra + La dia + eb
dt
va = ia ( Ra + Rf ) + (La + Lf ) dia + eb
dt
Steady State
V = Ia Ra + Eb
V = Ia ( Ra + Rf ) + Eb
Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5 - 13

Torque-Speed Characteristics
= V Ia Ra
KE

Using field equations : T

T = KT Kf Ef
RaRf

Jan-May 2010

V Ra T
KE
K2T2

= V2 KTKf
RaRf

Shunt

1 - KEKf
Rf

V - KE Kf Ef
Rf

Electrical Machines & Drives - ECNG 3010

Separately Excited

5 - 14

DC Motors - Shunt
If

+
v

Ia _

= V Ia Ra
KE

No Load Condition :
T=0 I=0
0 = V/KE
T0 , Ia0 very high

Jan-May 2010

V - Ra T
KE
K2T2

With Load :
= Ra T/(KT)2
= 0 -

Electrical Machines & Drives - ECNG 3010

5 - 15

DC Motors - Shunt

Ra small small
Characteristic almost constant

T1
If
+ ef _
Jan-May 2010

Ia +
v
_

T
Separately
Excited

Electrical Machines & Drives - ECNG 3010

Same characteristics
as shunt

5 - 16

Torque-Speed Characteristics
Series
= V - Ia (Ra + Rf )
KE
T=

Jan-May 2010

V
KE Kf Ia

KT K2f V2
[ KE Kf + (Ra + Rf) ]

Electrical Machines & Drives - ECNG 3010

Ra + Rf
KE Kf

5 - 17

DC Motors - Series
Field Winding

Few turns
High currents

Field current changes with loading (saturation)

Very high speeds at no-load.

If = I a
+
v

Always connected to mechanical load.

High starting torque.
Ability to be driven by ac supplies.
(Eb , changing polarity at same time)
e.g. home appliances

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5 - 18

Torque-Speed Characteristics

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5 - 19

DC Machine - PM
ia
+
va N

S
+

_
Basic equations :
ea = kTm
va = ea + Ra ia + La dia
dt
Tem = kT ia
dm = 1 (Tem TWL)
dt
Jeq
Jan-May 2010

ia = Tem
kT

va

+
_ea=kE m_

Ra
La

Tem, m

Electrical Machines & Drives - ECNG 3010

TWL

JL

5 - 20

Brushless DC

Inside out machines.

_
Electronically
commutated armature.
c
i
c
At any instant, only
+
two sets of windings
carry currents. As the
b
rotor turns, different
pairs of windings are ia +
chosen.

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

ib

+
b

Magnetic
axis of
phase a

5 - 21

Brushless DC

+
utility

Vd

logic

Jan-May 2010

Permanent
magnets

ia
b

+ ea a

c Shaft position signals

Electrical Machines & Drives - ECNG 3010

5 - 22

Brushless DC

Jan-May 2010

Electrical Machines & Drives - ECNG 3010

5 - 23