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DC motors
DC motors are important in many applications . In portable
applications using battery power, DC motors are a natural choice.
DC machines are also used in applications where high starting
torque and accurate speed control over a wide range are important.
Major applications for DC motors are: elevators, steel mills, rolling
mills, locomotives, and excavators.
Like other rotating machines, DC motors result from the interaction
of two magnets. The interaction is best understood as one of like
poles repelling (north poles repel north poles, south poles repel
south poles).
One magnet is attached to the frame of the motor and is produced
by the current in the field windings. The other magnet results from
current in the armature windings.
Principle of operation
The field current produces the stationary magnet shown. The
armature current Ia produces the rotating magnet. Rotation results
from the fact that like poles repel.
In the diagram below, the rotation continues until N-S alignment,
resulting in lock-up—that is, if nothing is done to prevent it.
A commutator is a switch that prevents N-S alignment by reversing
the direction of armature current at just the right time to keep the
torque in the direction of i ntended rotation.
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The direction of the field current does not change—changes to the
direction of current is confined to the armature.
The commutator is a rotating
switch. The fi xed contacts are
carbon brushes spring-loaded
against the moving contacts on
the shaft.
The back EMF on the armature is produced via Faraday’s law.
dϕ
V=-
dt
If the flux were sinusoidal (which it’s not—this is a DC machine!),
the corresponding phasor equation would be
V = -jωf
In DC motors, the back EMF, denoted Ea, is proportional to the flux,
times the shaft speed. The constant of proportionality is Ka, the
armature constant.
Ea = Kaϕωm
The torque developed by the armature is proportional to the product
of the magnetic flux and the armature current. The constant of
proportionality is the armature constant.
TD = K aϕ Ia
The developed power is the product of this torque and the shaft
speed.
PD = TDω = K aϕ Iaω = K aϕ ω Ia
PD = EaIa
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We consider two types of DC motors—the series motor (If = Ia) and
the shunt motor (where the field current and the armature current
are different).
Series DC motors
The equivalent circuit is:
(Lf is neglected in steady-state)
Ea = V - ( Ra +Rf ) Ia (steady-state) linear when the magnetic core
of the motor is not saturated
Ea = K aϕ ωm
TD = K aϕ Ia
If we assume the machine is working in its linear region, ϕ = K f If .
This results in the developed torque being proportional to the
square of the armature current.
TD = Kaϕ Ia = K aK fIf Ia = KaK f Ia Ia = K aK fI2a
Series motors develop very high starting torque because of the
large starting current in motors.
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This is a good thing—high starting torque is critical in many
applications.
Care must be taken when using DC motors. This is because the
shaft speed is inversely proportional to the armature current—just
think what this implies for a motor accidentally disconnected from
its load (so that Ia becomes very small)!
Let’s look at this more closely.
Ea = V - ( R a +R f ) Ia = Kaϕ ωm
ωm =
V
-
( Ra +Rf ) Ia
Kaϕ K aϕ
Since, aI = If in a series machine, and since in the linear region,
ϕ ∝ If (no magnetic saturation) ,
K1
ωm = - K2
Ia
.
When a DC series motor is initially switched on, the large surge of
current produces a high starting torques. Starting currents often
have to be limited to prevent electrical and mechanical damage.
If the motor load is lost, TD will get quite small, causing Ia to become
small which, in turn, results in overspeeding the motor. Series
motors must always be fitted with overspeed protection.
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Shunt DC motors
E a = V - RaIa = K aϕ ωm
TD = Kaϕ Ia If = V
( Rc +Rf )
Rc controls If ∝ ϕ . Solving for ω m
V IR
ωm = - a a
K aϕ Kaϕ
V, Ra , and K a are constants. If Rc is not changed, ϕ remains
constant as well.
ωm = K 3 -K 4Ia TD = K aϕ Ia
The starting torque is as high as in the series motor. However, the
shunt, or separately-excited, motor has a safe no-load speed,
providing that the field circuit is not de-energized. Loss-of-field
protection is usually provided to guard against overspeeding.
The control resistor Rc enables speed to be controlled very
accurately over a wide range.
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25-6
Power flow in DC motors
Example
A DC series motor is rated at 1200V, 750hp, 2500rpm. It has an
armature resistance of 0.14Ω and field resistance of 0.06Ω. It
draws a current of 520A from the supply when delivering rated load.
Find:
i) rated output torque.
ii) rated developed torque.
iii) rated efficiency.
iv) rotational losses at rated speed.
v) speed when the load is changed, causing the line current to
drop to 260 A.
vi) developed torque for the conditions in part (v).
vii) horsepower output for the conditions in (v) if the rotational
losses are proportional to speed2.
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Solution
Under rated conditions the motor is modeled as follows:
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Example
A DC shunt motor is rated at 600V, 255hp, 2000rpm. It has an
armature resistance of 0.07Ω and a total field resistance of 80Ω. It
draws a current of 353A from the supply when delivering rated load.
Find:
i) rated output torque
ii) rated developed torque
iii) rated efficiency
iv) rotational losses at rated speed
v) speed when the load is cha nged, causing the line current to
rise to 500 A.(Field resistance is unaltered.)
vi) developed torque for the conditions in part (v).
vii) horsepower output for the conditions in (v) if the rotational
losses are proportional to speed2.
Solution
Under rated conditions the motor is modeled as follows:
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Example
A DC shunt motor is rated at 500V, 100hp, 3600rpm. It has an
armature resistance of 0.1Ω and a total field resistance of 100Ω. It
draws a current of 165A from the supply when delivering rated load.
Find:
i) rated output torque.
ii) rated developed torque.
iii) rated efficiency.
iv) rotational losses at rated speed.
v) line current when the total field resistance is changed such that
φ is doubled. (Developed torque is unaltered.)
vi) speed for the conditions in part (v).
vii) horsepower output for the conditions in (v) if the rotational
losses are proportional to speed2.
viii) efficiency for the conditions in (v).
Solution
Under rated conditions the motor is modeled as follows:
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