SEEM3133

Electric Motors and Drives

Topic 4
DC Motor
Modelling
 DC motor - modelling
a) review
b) Torque-speed curve of DCM
c) Speed control
d) Separately excited DCM
e) Power efficiency
 a) Review
DC machine

• Generator action: An emf (voltage) is induced in a

conductor if it moves through a magnetic field.

• Motor action: A force is induced in a conductor that

has a current going through it and placed in a magnetic
field

• Any DC machine can act either as a generator or as a

motor.

3
 a) Review
DC motor

• Advantages:
 Popular in a number of drive application due to its simple operation
and control.
 The starting torque of dc motor is large, which the main reason for
using it in several traction applications.
 The major advantages of dc machines are the easy speed and torque
regulation.

■ However, their application is limited to mills, mines and trains. As

examples, trolleys and underground subway cars may use dc motors.
■ In the past, automobiles were equipped with dc dynamos to charge
their batteries.

4
 a) Review
DC motor
• Large DC motor:
 the field is from electro‐magnets and there are two circuits which can
both be controlled
– Field circuit
– Armature circuits
• Small DC motor (<20 kW):
 the field is from permanent magnets, there is
– No field circuit; allows no field control
– Only armature current control
 a) Review
Construction

• Stator: Stationary part of the

machine. The stator carries a field
winding that is used to produce the
required magnetic field by DC
excitation. Often know as the field.

• Rotor: The rotor is the rotating

part of the machine. The rotor
carries a distributed winding, and is
the winding where the emf is
induced. Also known as the
armature.

[Link]
6
 a) Review
Construction-stator

DC motor stator with poles

7
 a) Review
Construction-rotor

Rotor of a dc motor.

Details of the commutator

of a dc motor.

8
 a) Review
Working principle

Coil ends or conductors are

connected to the
commutator segments in
progressive lap or wave
fashion.
 a) Review
Working principle
 a) Review
DC motor equivalent circuit

The equivalent circuit of DC Motors (and Generators) has two

components:

• Armature circuit: it can be represented by a voltage source

and a resistance connected in series (the armature resistance).
The armature winding has a resistance, Ra.

• The field circuit: It is represented by a winding that generates

the magnetic field and a resistance connected in series. The
field winding has resistance Rf.

Where 𝑅𝑓 ≫ 𝑅𝑎 . The field current is normally 1% to 10% of the

rated armature circuit
11
 a) Review
Classification of DC motor

• Separately • Shunt • Series

Excited Motors Motors

[Link]
esktop&v=TnZAHlyW1E8
12
[Link]
 a) Review
Classification of DC motor

• Separately Excited
Field and armature windings are connected separately.

• Shunt Motors
Field and armature windings are connected in parallel.
13
 a) Review
Classification of DC motor

• Series Motors
Field and armature windings are connected in series.

• Compound Motors
Has both shunt and series field so it combines features of
14series and shunt motors.
 a) Review
General Equation of DC motor – field circuit

Region where
∅𝑓 = 𝐾𝑓 𝐼𝑓

𝑉𝑓
■ When field excitation is constant, 𝐼𝑓 = 𝑅
𝑓
■ The air-gap magnetic field 𝐵 is constant for a constant field current 𝐼𝑓
(or the flux per pole ∅). For linear magnetic circuit,∅𝑓 = 𝐾𝑓 𝐼𝑓 .

15
 a) Review
General Equation of DC motor – armature circuit
■ Figure shows the steady equivalent circuit of armature of dc machine
with Resistance Ra.
■ For separately excited and shunt motors, the resistance equal to the
resistance of armature winding.
■ For series and compound motor, it is the sum of armature and field
winding resistance.
■ Basis equation applicable to all dc motor are

𝑡𝑜𝑟𝑞𝑢𝑒: 𝑇 = 2𝑁𝑟 𝑝𝑙𝑟𝐵𝑖𝑎

= 𝐾𝑇′ ∅𝐼𝑎 = 𝐾𝑇 𝐼𝑎

𝑒𝑚𝑓: 𝐸 = 2𝑁𝑟 𝑝𝑙𝑟𝐵𝜔𝑚

= 𝐾𝑒′ ∅𝜔𝑚 = 𝐾𝑒 𝜔𝑚

𝑤ℎ𝑒𝑟𝑒𝐾𝑇′ = 𝐾𝑒′ , ∅ = 𝑟𝑙𝐵 is flux per pole, 𝑝 is number of polar-pair

and 𝜔𝑚 = 2𝜋𝑛𝑚 (𝑛𝑚 is rotation of motor in rpm) 16
 a) Review
General Equation of DC motor (torque-speed)
■ Figure shows the steady equivalent circuit of armature of dc machine
with Resistance Ra.
■ For separately excited and shunt motors, the resistance equal to the
resistance of armature winding.
■ For series and compound motor, it is the sum of armature and field
winding resistance.
■ Basis equation applicable to all dc motor are
Voltage: 𝑉 = 𝐸 + 𝑅𝑎 𝐼𝑎
𝑉 𝑅
Thus 𝜔𝑚 = ′ − ′𝑎 𝐼𝑎
𝐾𝑒 𝜙 𝐾𝑒 𝜙
𝑉 𝑅𝑎
= ′ − ′ 2𝑇
𝐾𝑒 𝜙 𝐾𝑒 𝜙

17
 a) Review
Example DCM1-1
A dc, separately excited motor has the following data:
𝐾∅ = 3.0 𝑉 𝑠𝑒𝑐
𝑉𝑎 = 600 𝑉
𝑅𝑎 = 2 Ω
𝐼𝑎 = 5 𝐴 (𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝑎𝑡 𝑓𝑢𝑙𝑙 𝑙𝑜𝑎𝑑)

Calculate the rated torque, starting torque, and starting current at full
voltage. Answer: 15 Nm, 900 Nm, 300 A

Comment starting torque and current obtained.

18
 b) torque-speed curve of DCM
Separately excited DCM
■ The torque-speed curve is a straight line.
■ Speed regulation depends on the armature circuit resistance
■ The usual drop in speed from no load to full load, in case of medium size
motor, is of order of 5%.
■ Separately excited dc motor are employed in application requiring
good speed regulation and adjustable speed.

19
 b) torque-speed curve of DCM
Shunt DCM
■ The shunt motor exhibits characteristic identical to those of the separately
excited DCM.
■ The current of the source 𝐼 is equal to the sum of the armature current 𝐼𝑎
and field current 𝐼𝑓 .
■ Applications: centrifugal pump, machine tools, blowers fans, reciprocating
pumps

20
 b) torque-speed curve of DCM
Series DCM
■ The flux is a function of 𝐼𝑎 .
■ Series DCM is suitable for application requiring high starting torque
and heavy torque overload (hoists, electric trains, conveyors, elevators,
electric cars)

flux: 𝜙 = 𝐾𝑓 𝐼𝑎

𝑡𝑜𝑟𝑞𝑢𝑒: 𝑇 = 𝐾𝑒′ 𝐾𝑓 𝐼𝑎2

𝑉 𝑅𝑎
Thus 𝜔𝑚 = −
𝐾𝑒′ 𝐾𝑓 𝐼𝑎 𝐾𝑒′ 𝐾𝑓
𝑉 1 𝑅𝑎
= − ′
𝑇 𝐾𝑒 𝐾𝑓
𝐾𝑒′ 𝐾𝑓
21
 b) torque-speed curve of DCM
compound DCM
■ Variable speed motors.
■ Variable speed motors
■ Applications: Rolling mills, sudden temporary loads, heavy machine
tools, punches

Ra

Ia It
Rfs
Ea Vt

Pout Rfp Ifp

m

22
 b) torque-speed curve of DCM
Comparison of DCM
■ 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

 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 motor

 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.

23
 b) torque-speed curve of DCM
Example DMC1-2
A 200 V, 10.5 A, 200 rpm shunt DC motor has the armature and field
resistance of 0.5 Ω and 400 Ω respectively. It drive a load whose torque is
constant at rated torque. Calculate motor speed if the source voltage
drop to 175 V. Answer: 198.34 rpm
∅𝑓2 𝑉𝑎2
= 𝜏1 = 𝜏2
∅𝑓 = 𝐾𝑓 𝐼𝑓 ∅𝑓1 𝑉𝑎1 𝐾𝑇1 𝐼𝑎1 = 𝐾𝑇2 𝐼𝑎2
𝑉𝑎 𝑉𝑎2 𝐾𝑇1 𝐼𝑎1
= 𝐾𝑓 ∅𝑓2 = ∅ 𝐼𝑎2 =
𝑅𝑓 𝑉𝑎1 𝑓1 𝐾𝑇2
175 ′
𝐾𝑇 ∅𝑓1 𝐼𝑎1
∅𝑓2 = ∅ = 0.875∅𝑓1
200 𝑓1 =
𝐾𝑇′ ∅𝑓2
𝐼𝑎1
= = 12 𝐴
𝐸1 = 𝑉1 − 𝐼𝑎1 𝑅𝑎 = 200 − 10.5 0.5 = 194.75 𝑉 0.875

𝐸2 = 𝑉2 − 𝐼𝑎2 𝑅𝑎 = 175 − 12 0.5 = 169 𝑉

𝐸2 𝐾𝑇′ ∅𝑓2 𝑁2 𝐸2 169

= =≫ 𝑁2 = 𝑁 = 200 = 198.34 𝑟𝑝𝑚
𝐸1 𝐾𝑇′ ∅𝑓1 𝑁1 0.875𝐸1 1 0.875 194.75
24
 c) Speed control
control method
■ Speed can be controlled by the following methods :
■ Armature voltage control, Va
■ field flux control, Φf or Vf
■ Armature resistance control, Re
Wasting
Preferred power
method

> Based
speed
 c) Speed control
control method
■ Speed can be controlled by the following methods :
■ Armature voltage control, Va
■ field flux control, Φf or Vf
■ Armature resistance control, Re

method operation advantage remark

Armature voltage < based (rated) High efficiency, good Constant torque
control, Va speed transient response
and good speed
regulation.
field flux control, Φf > Based speed Speed up to 2 times Constant
of rated speed power(reduce
(special motor : 6 torque)
times of rated speed)
Armature resistance - - Wasting power in
control, Re external resistance
 c) Speed control
control method
■ Speed can be controlled by the following methods :
■ Armature voltage control, Va
■ field flux control, Φf or Vf
■ Armature resistance control, Re
 c) Speed control
control method
■ Speed can be controlled by the following methods :
■ Armature voltage control, Va
■ field flux control, Φf or Vf
■ Armature resistance control, Re
 c) Speed control
control method
■ Speed can be controlled by the following methods :
■ Armature voltage control, Va
■ field flux control, Φf or Vf
■ Armature resistance control, Re
 c) Speed control
Maximum torque and power limitation
method operation remark
Armature voltage • < based (rated) 𝑇 ∝ 𝐼𝑎 (𝑉𝑎 )
control, Va speed, 𝜔𝑏
• Full field flux, Φf
field flux control, Φf • > Based speed, 𝜔𝑏 𝑃𝑚 ∝ 𝐼𝑎
• At Armature
voltage, Va= Vrated
 c) Speed control
Maximum torque and power limitation

Refer back Topic3 IEMD part b

& c for detail
 c) Speed control
Maximum torque and power limitation
For no load condition, Te = TL = 0 (and assume friction is negligible),
then equation (8) can be reduced to
𝑉𝑎 = 𝐾𝑒′ ∅𝜔𝑟 (9)

From equation (9) as the speed ωr increased, then Va must be

increased to counter balance back emf E.

Eventually, the converter

(power source) will reach the
maximum level it can deliver.
(converter will run out of
volts)

“How can we increase the

speed further?”
 d) Separately excited DCM
Torque-speed characteristic with variable va
■ In the steady-state

increase

decrease
 d) Separately excited DCM
Torque-speed characteristic with variable va
 d) Separately excited DCM
Torque-Speed Curve with variable ∅ (𝑉𝑎 = 𝑉𝑎𝑜 , 𝜔 > 𝜔𝑏 )
 d) Separately excited DCM
Armature and field boundary
 d) Separately excited DCM
Armature and field boundary
 d) Separately excited DCM
Armature and field boundary
 d) Separately excited DCM
Example DCM1-4

Answer: must operate > 53.4 V

39
 d) Separately excited DCM
Example DCM1-4

Answer: must operate > 53.4 V

40
 d) Separately excited DCM
Example DCM1-4
 d) Separately excited DCM
Example DCM1-5
A 200 V, 500 A, 600 rpm separately excited motor has armature and field
resistance of 0.02 Ω and 10 Ω respectively. The load torque is given by the
expression 𝑇𝐿 = 2000 − 2𝑁 Nm, where N is the speed in rpm. Speed
below the rated are obtained by armature voltage control and speed
above the rated are obtained by field control. Calculate:
a) Motor terminal voltage and armature current when speed is 450 rpm.
Answer: 363 A, 149 V
b) Field winding voltage and armature current when speed is 750 rpm.
Answer: 200 A, 165.3 V

42
 d) Separately excited DCM
Example DCM1-5

Fun.43Of elect. Drive Gopal K.D Chap 5 pg. 89-90

 d) Separately excited DCM
Example DCM1-5

Fun.44Of elect. Drive Gopal K.D Chap 5 pg. 89-90

 e) Power efficiency

45
 e) Power efficiency
Example DCM1-7
A 12 V 2A, dc separately excited motor drives a constant-torque load at a
speed of 200 rpm. The armature and field resistances are 0.2 Ω and 0.1 Ω
respectively. Calculate the efficiency of the motor if iron and friction
losses are 1.2 W. Answer: 91.7%

armature coper losses = I2 R a =

iron and friction losses are =1.2 W
Total losses =
Motor power input =VxI=
Motor power output =
Efficiency = (Poutput/Pinput) x 100% = 91.7 %

46