ELEC 344, F-16

ELEC 344: Module 2, Part 1

Applied Electronics and Electromechanics
Instructor: Dr. Hamid Atighechi
My Webpage: www.ece.ubc.ca/~hamida

Module 2 (Read Chap. 4):

Part 1: Brushed DC Machines (Motors)
Important Topics and Concepts

Fundamentals and construction of DC machines

Induced voltage and developed torque

Equivalent circuit
Basic types of dc machines
Steady-state electromechanical (torque-speed) characteristics

Starting
NOTE: Power Points are originally developed by Dr. Juri Jatskevich

ELEC 344, F-16

DC Motors

Gear-head Motors
Small Motors

Medium-Size
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ELEC 344, F-16

DC Machines
Very popular in various applications
Tools, robotics, toys, medical, automotive & other industries
Range of Sizes
Miniature dc motors mW range
Fractional HP (1HP = 746W)
Medium Size 1 500 HP
Large DC Machines 500 HP and up
Very easy to control !
Good torque-speed performance
Brushes is a weak point of design
Limits the application
Limits the lifetime
Maintenance
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Motor (Machine) Speed

ELEC 344, F-16

Commonly used units of speed

m - rad / sec

rev / sec
m
2

rev / min
n 60
2
n

30

rev / min rpm

Most commonly used

ELEC 344, F-16

DC Machine Motoring and Generating

Flux and armature current produce torque
Voltage (back emf) is induced in rotating armature winding

<=

Power Flow

Vt I a Pin

Pout mTm Pm
Power Flow

Pin mTm Pm

Mechanical load torque

is applied in the direction
opposite to rotation

=>

Mechanical torque is
applied in the direction
of rotation

Vt I a Pout

Fundamentals: Force & Torque

ELEC 344, F-16

Consider a conductor frame (single-coil)

Lorentz Force
Torque

F lBia

Te 2RlBia cos

ABia cos pia cos

NOTE: Maximum torque is when

and

Te ~ pia

a axis B
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Fundamentals: Induced Voltage

ELEC 344, F-16

Consider a conductor frame (single-coil)

d
e
Faradays Law
dt
BAsin B2Rl sin
Let us rotate the frame with speed

t
BAsin t p sin t
d
e
p cost
dt

=>

e ~ p

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Two-Pole DC Machine Construction

DC machine with field winding

Permanent Magnet (PM)

DC machine

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Cutaway View of a Two-Pole DC Machine

More Realistic DC Machine

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Resulted Winding Connection

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Induced Voltage & Torque

ELEC 344, F-16

Recall a simple coil-frame one turn

For armature winding we need to consider
Type of winding, rectification/averaging by
the commutator action, etc.

eturn ~ p

Ea K a m p

Tturn ~ pi

Te K? p I a

Ka
Ea
Power Balance

- is the machine armature constant determined by construction / design

- is the generated voltage or back emf

Ea I a Pe

mTe Pe

Pe Ea I a Pm mTm
K a m p I a m K p I a

=>

Te K a p I a
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Commonly-Used Equivalent Circuit

DC Motor with Field Winding

vf

- is the field voltage

if

- is the field current

Rf

- field winding resistance

Lf

- field winding inductance

PM DC Motor

vt
ia

Ra
La
ea

- applied terminal voltage

- is the armature current

- armature winding + brush resistance
- armature winding inductance
- Induced back emf (voltage)

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Governing State Equations

Field Winding Equations

ELEC 344, F-16

Armature Equations

d f
v f Rf i f
dt
f N f p Lf i f

da
vt Raia
ea
dt
ea K a p m

Mechanical Side

Te K a pia

d m
Te Tm T fric J
dt

J J dc _ machine J mech_ load , [kg m ]

2

- Is the combined
moment of inertia of
the motor and load

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Steady-State Equivalent Circuit

Field Winding
Equations

Armature
Equations

Vt Ra I a Ea

Vf Rf I f

Ea K a p m

f N f p Lf I f
Torque / Mechanical Side

Te K a p I a

Te Tm Tmech_ loss Tm K fric m

Friction loss
(for large machines
often can be neglected)

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Steady-State Equivalent Circuit

Recall flux

Torque

Lf
Te K a p I a K a
I f Ia
Nf

Lf
p

If
Nf Nf

Lf
Ea K a pm K a
I f m
Nf
Lf
Define L K
- is the mutual inductance between field
af
a
N f and rotating armature coils
Alternative expression for Back Emf and Torque

Ea Laf I f m

Te Laf I f I a
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Equivalent Circuit for PM DC Machine

=>
Armature Equations

Torque
Back emf

Vt Ra I a Ea
Te K a p I a Kt I a
Ea K a p m K v m

Kt K v

Torque / voltage
machine constant
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Classification of DC Machines

Separately
Excited
DC Machine

Shunt DC
Machine
Field winding is
designed for up to
rated armature voltage
Field winding has
large number of turns
Field current is small
compared to armature
current

Series DC
Machine

Field winding is
designed for up to
rated armature current
Field winding has
small number of turns
Field current is the
same as the armature
current
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Classification of DC Machines
Compound DC Machines
Both Shunt and Series field windings are present

Short-Shunt
Compound
DC Machine

Long-Shunt
Compound
DC Machine

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Parameters of DC Machine

ELEC 344, F-16

Locked-Rotor Test (DC Measurements)

Vf
Rf
If

Vt
Ra
Ia

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Parameters of DC Machine
Open-Circuit Test (Generated Voltage vs. Speed)

Lf
Ea K a pm K a
I f m
Nf
Laf I f m

Kvm
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Parameters of DC Machine
Open-Circuit Test (Generated Voltage vs. Field Currents)

Laf

Ea

I f m

Lf
p

If
Nf Nf

Lf
Ea K a pm K a
I f m
Nf
Laf I f m
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Parameters of DC Machine

ELEC 344, F-16

No Load Test for PM Motors (Friction vs. Speed)

Ra
I a ,Vt ,m

Assume you know

Measure

Vt Ra I a Ea
Te K a p I a Kt I a
Ea K a p m K v m

Kt K v

Pe I a Ea mTe
Te T fric m m K fric

Torque / voltage
machine constant
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Parameters of DC Machine

ELEC 344, F-16

Stopping Transient for Determining Inertia

Assume you know

Measure & Record

T fric m

I a ,Vt ,m

dm
Te Tm T fric m J
dt

Ea K a p m K v m
m
Ea
T fric m J
J
t
K v t
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DC Machines Characteristics:
Speed Regulation (for Motors)

ELEC 344, F-16

Speed-Torque
Characteristic

m,no _ load m,load

SR
100%
m,load
nno _ load nload

100%
nload
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Separately-Excited DC Motor

Vt Ea Ra I a
T K a p I a Laf I f I a

Ea K a p m Laf I f m

Speed-Torque Characteristic

Vt I a Ra
m
Ka p
Vt
Ra
m

Ka p Ka p

T
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Shunt DC Motor

Vt
Ra
m

Ka p Ka p

K a p Laf I f

Laf Vt
Rf

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Speed-Torque Characteristic

Rf
Ra R 2f
m

T
2
Laf Laf Vt
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Series DC Motor

Vt I a Ra Rsr Rae Laf I a m

Vt
Ia
Ra Rsr Rae Laf m

Te L I

2
af a

Torque-Speed Characteristic

Laf Vt 2

Rsr Rae Laf m

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Compound DC Motor

Speed-Torque Characteristic

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DC Motor Efficiency

Pout

Pin
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DC Machines Characteristics:
Voltage Regulation (for Generators)

Load-Voltage
Characteristic

Vt ,oc Vt ,load
VR
100%
Vt ,load

Vno _ load Vrated

100%
Vrated
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Separately-Excited DC Generator

V f R f R fc I f

Ea Vt I a Ra
Ea K a p m Laf I f m

Vt It Rload I a Rload

Load-Voltage Characteristic

Vt Ea Ra I a
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DC Machine: Example

ELEC 344, F-16

Consider a small PM DC Motor with the following parameters:

Vt_rated = 6V, Ino_load = 0.15A, Ra = 7W, and torque constant Kt = 0.014 [Vs/rad].
Find no-load speed nnl [rpm], back emf Ea, and friction torque Tfric at Vt = 6V

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ELEC 344, F-16

Speed/Torque Control of DC Motors

Recall the Separately Excited DC Motor

va Ra I a Kvm

K v Laf I f
Te Kt I a
va I a Ra
m
Kv

va ra
r 2 Te
kv kv

Control methods:
1. Varying the armature resistance
2. Varying the field
3. Varying the terminal voltage
4. Varying the armature current

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Starting Considerations
Consider a 1.2kW, 120V, Shunt DC Motor with Ra = 2W, and Ia_max = 20A
Rated current

Starting current

I a ,rated

1200

10A
120

I a, start

Va Ea 120 0

60A
Ra
2

Too high ! =>

Burn the motor !

1. Use additional starting resistor in series with armature

2. Use reduced voltage
3. Use Power Electronic Drive & Controller

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ELEC 344, F-16

Part 2: Applied Power Electronics

Read Chap. 10

Power Electronics (Power Supplies, Motor Drivers/Controllers)

Rectifiers (AC to DC) getting DC from AC source
Converters (DC to DC) DC motor drivers
Inverters (DC to AC) AC motor drivers (Variable Frequency Drives)

Basic components diodes, thyristors, transistors, etc.

Power Diode

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Applied Power Electronics: Components

Thyristor controllable diode

Triac paired thyristor

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Applied Power Electronics: Components

Transistors controllable switches

Bipolar Junction
Transistor (BJT)

Insulated Gate Bipolar

Transistor (IGBT)

Metal Oxide
Semiconductor Field Effect
Transistor (MOSFET)

Idealized
operation

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DC-DC Converters:

Assume a dc voltage source wherein the

averaged output voltage can be controlled

Quadrants of operation

1 T
Va Va t dt
T 0
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One-Quadrant VS DC-DC Converter

Pulse Width Modulation (PWM)

Switch can be realized using:

Bipolar Junction Transistor (BJT)
Insulated Gate Bipolar Transistor (IGBT)
Metal Oxide Semiconductor Field Effect
Transistor (MOSFET)

1 T
t1
va va t dt
Vs
T 0
t1 t2
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Two-Quadrant VS DC-DC Converter

Pulse Width Modulation (PWM)

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Four-Quadrant VS DC-DC Converter

Pulse Width Modulation (PWM)

1 T
va va t dt dVs
T 0
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Thyristor Controlled Rectifiers

Control the Averaged Output Voltage
a) Single-phase, half-wave

Vs 2Vrms sin t
Vrms
1 T
1 cos( )
Vt Vt t dt
0
T
2

0
0 Vt

Vrms

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Thyristor Controlled Rectifiers

Control the Averaged Output Voltage
b) Single-phase, full-wave

Vs 2Vrms sin t
2Vrms
1 T
1 cos( )
Vt Vt t dt
0
T

0
0 Vt

2 2

Vrms

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Thyristor Controlled Rectifiers

Control the Averaged Output Voltage
d) Three-phase, full-wave

VA 2Vrms sin t

sin t 120

VB 2Vrms sin t 120

VC 2Vrms

1 T
Vt Vt t dt
T 0

0 Vt

3 6

0
Vrms

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Closed-Loop Electric Drive System

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