MODULE II- DC MOTOR
LESSON 1: HISTORY OF A DC MOTORS
DISCUSSION:
HISTORY OF DC MOTORS
1800 ALESANDRO VOLTA invented the world’s first battery.
1820 HANS CHRISTIAN OERSTED discovered that electric currents create magnetic
fields.
1825 WILLIAM STURGEON invented electromagnet.
May of 1834 Russian Engineer MORITZ JACOBI creates the first real rotating electric
motor. His motor was powerful enough to drive a boat with 14 people across a wide
river.
1886 FRANK JULIAN SPRAGUE invented the first practical DC MOTOR, a non-sparking
motor capable of constant speed under variable loads.
LESSON II- CHARACTERISTIC OF DC MOTOR
DC MOTOR
As motor converts electrical energy into mechanical energy and dc motor converts dc current
into mechanical output. DC motor works on the simple principle, whenever a current is flowing
in the conductor and it is placed in the magnetic field, it experiences a torque which compels
the armature of the motor to rotate.
DC stands for “direct current,” and they were the first type of motors that were commonly
used because they could be powered from a pre-existing power distribution system. The speed
in a DC motor can be adjusted through the intensity of its current.
The current is carried through an armature or stator. The armature contains the coiled (star-
formation for a stator) copper or aluminum wiring (commonly referred to as “windings”), and
they both provide points for the wire to connect to the rest of the motor so that the electricity
can continue to flow properly.
Main Types of DC Motors
There are 4 main types of DC motors:
1. Permanent Magnet- uses a permanent magnet to create field flux. This type of DC
motor provides great starting torque and has good speed regulation, but torque is
limited so they are typically found on low horsepower applications.
2. Series DC Motors
In a series DC motor, the field is wound with a few turns of a large wire carrying the
full armature current. Typically, series DC motors create a large amount of starting
torque, but cannot regulate speed and can even be damaged by running with no load.
These limitations mean that they are not a good option for variable speed drive
applications.
3. Shunt DC Motors- the field is connected in parallel (shunt) with the armature windings.
These motors offer great speed regulation due to the fact that the shunt field can be
excited separately from the armature windings, which also offers simplified reversing
controls.
4. Compound DC Motors- like shunt DC motors, have a separately excited shunt field.
Compound DC motors have good starting torque but may experience control problems
in variable speed drive applications.
COUNTER-ELECTROMOTIVE FORCE
Also known as back-electromotive force (back emf).
Is the emf or “voltage” that opposes change in current which induced it.
ELECTROMAGNETIC INDUCTION
A basic law of electromagnetism predicting how magnetic field will interact with an electric
circuit to produce an electromotive force (emf).
It is the production of electromotive force (i.e., voltage) across an electric conductor in a
changing magnetic field.
It is the fundamental operating principle of transformers, inductors, and many types of
electric motors, generators and solenoids.
Also known as “Faraday’s Law of Induction”.
When armature conductor cuts the magnetic field, emf induces in the conductor.
The direction of the back emf induces in the conductor is given by the Fleming’s right-
hand rule
On applying the right-hand rule, it is seen that the direction of the induces emf is opposite
to the supply voltage.
Back emf opposes the supply voltage because of the “Lenz’s Law”.
LENZ’S LAW
Named after the physicist Emil Lenz (who formulated it in 1834)
It states that the direction of the current induced in a conductor by a changing magnetic field is such that
the magnetic field created by the induced current opposes the initial changing magnetic field,
This is signified in the formula by the negative sign (-), given the formula:
∆φ
Eb = −N ( )
∆t
ADVANTAGES OF BACK EMF IN DC MOTOR
1. The energy conversion in DC motor is possible only because of the back emf.
2. The back emf makes the DC motor self-regulating.
SPEED CHARACTERISTICS OF A DC MOTOR
N=60(a)(Eb) E=kN φ
PZφ
Where: N= speed (RPM)
a=number of armature current paths
P=number of poles
Z= number of conductors
φ= flux per pole (weber)
Eb= back emf (volt)
k= proportionality constant
Torque Developed in the Armature
T=9.55(Pd/N)
𝑃𝑍Ɵ𝐼𝑎
T=
6.23 𝑎′
Pd=EbIa
T=kIaφ
Where: T=torque developed (newton-meter)
Ia= armature current (ampere)
N=speed of armature rotation (rpm)
Pd= power developed in the armature (watt)
a= number of armature current paths
P= number of poles
Z= number of conductors
φ= flux per pole (weber)
k= proportionality constant
Mechanical Power Output
Hp=2πNT Hp=2πNT
33,000 44,760
Where: Hp= mechanical power output (horsepower)
N= speed of armature rotation (rpm)
T= torque developed
LESSON 3: PRINCIPLE OF DC MOTOR AND PARTS
DC motor working is based on the principle that when a current carrying conductor is placed
in a magnetic field, the conductor experiences a mechanical force.
The basic parts for DC motors are as follows:
1 Stator-the stator carries the field winding and Poles. The stator together with the rotor
constitutes the magnetic circuit or core of the machine. It is a hollow cylinder.
2 Rotor-It carries the armature winding. The armature is the load carrying member. The
rotor is cylindrical in shape.
3 Armature Winding- this winding rotates in the magnetic field set up at the stationary
winding (Field winding). It is the load carrying member mounted on the rotor. An
armature winding is a continuous winding; that is, it has no beginning or end. It is
composed of a number of coils in series.
4 Field Winding- this is an exciting system which may be an electrical winding or a
permanent magnet and which is located on the stator.
5 Commutator- the coils on the armature are terminated and interconnected through
the commutator which comprised of a number of bars or commutator segments which
are insulated from each other. The commutator rotates with the rotor and serves to
rectify the induced voltage and the current in the armature both of which are A.C.
6 Brushes- these are conducting carbon graphite spring loaded to ride on the commutator
and act as interface between the external circuit and the armature winding.
7 Poles- the field winding is placed in poles, the number of which is determined by the
voltage and current ratings of the machine.
8 Slot/Teeth- for mechanical support, protection from abrasion, and further electrical
insulation, non-conducting slot liners are often wedged between the coils and the slot
walls. The magnetic material between the slots is called teeth.
WHAT IS THE DIFFERENCE BETWEEN DC MOTOR AND DC GENERATOR?
The basic internal structure of the motor and the generator are the same and works on the
Faraday’s laws of induction.
The generator has a mechanical energy input and gives a DC current output while the motor
has a DC current input and a mechanical output.
Both uses commutator mechanism. DC motors use the commutators to change the polarity of
the magnetic field while the DC generator uses them to counter the effect of the polarization
and turn the output from the armature into a DC signal.
The Electric Motor and Generator are differentiated on various factors like the main principle
of working or function of the motor and generator. Consumption or production of electricity,
its driven element, the existence of the current in the winding. Fleming’s rule followed by the
motor and generator.
LESSON 4: CLASSIFICATION OF DC MOTOR
1. SEPARATELY EXCITED- as the name signifies, the field coils or field windings are
energized by a separate DC source.
2. SELF EXCITED- in case of self-excited DC motor, the field winding is connected either
in series or in parallel or partly in series, partly in parallel to the armature winding.
a. SERIES WOUND DC MOTOR- the entire armature current flows through the field
winding as it’s connected in series to the armature winding.
b. SHUNT WOUND DC MOTOR- the field windings are exposed to the entire
terminal voltage as they are connected in parallel to the armature winding.
c. SHORT SHUNT DC MOTOR- if the shunt field winding is only parallel to the
armature winding and not the series field winding then it’s known as short
shunt DC motor.
Short Shunt Compound Motor
𝐼𝑠𝑒 = 𝐼𝑠 , Series
𝐼𝑠 = 𝐼𝑎 + 𝐼𝑓
𝑉𝑠 − 𝐼𝑠𝑒 𝑅𝑠𝑒
𝐼𝑓 =
𝑅𝑓
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑠𝑒 𝑅𝑠𝑒 − 𝐼𝑎 𝑅𝑎
Perform KCL at Node 1
𝐼𝑠 = 𝐼𝑓 + 𝑅𝑎
Perform KVL at Loop 1
𝑉𝑠 − 𝑅𝑠𝑒 𝐼𝑠𝑒 − 𝐼𝑓 𝑅𝑓 = 0
𝐼𝑓 𝑅𝑓 = 𝑉𝑠 − 𝑅𝑠𝑒 𝐼𝑠𝑒
𝑉𝑠 − 𝑅𝑠𝑒 𝐼𝑠𝑒
𝐼𝑓 =
𝑅𝑓
Perform KVL at Loop 2
𝑉𝒔 − 𝐼𝒔𝒆 𝑅𝑠𝑒 − 𝐼𝑎 𝑅𝑎 − 𝐸𝑏 = 0
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑠𝑒 𝑅𝑠𝑒 − 𝐼𝑎 𝑅𝑎
𝑃𝑖𝑛 = 𝑉𝑠 𝐼𝑠
𝑃𝑜𝑢𝑡 = 𝐸𝑏 𝐼𝑎
d. LONG SHUNT DC MOTOR- if the shunt field winding is parallel to both the
armature winding and the series field winding then it’s known as long shunt
type compounded wound DC motor.
Long Shunt Compound Motor
𝐼𝑠𝑒 = 𝐼𝑎
𝐼𝑠 = 𝐼𝑎 + 𝐼𝑓
𝑉𝑠
𝐼𝑠 =
𝑅𝑓
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 (𝑅𝑎 + 𝑅𝑠𝑒 )
Perform KCL at Node 1
𝐼𝑠 = 𝐼𝑓 + 𝐼𝑎
𝑉𝑓 = 𝐼𝑓 𝑅𝑓
𝑉𝑓 𝑉𝑠
𝐼𝑓 = =
𝑅𝑓 𝑅𝑓
Perform KVL at Loop 1
𝑉𝑠 − 𝐼𝑠𝑒 𝑅𝑠𝑒 − 𝐼𝑎 𝑅𝑎 − 𝐸𝑏 = 0
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑠𝑒 𝑅𝑠𝑒 − 𝐼𝑎 𝑅𝑎
𝐸𝑏 = 𝑉𝑠 − 𝐼𝑎 (𝑅𝑠𝑒 + 𝑅𝑎 )
𝑃𝑜𝑢𝑡 = 𝐸𝑏 𝐼𝑎
𝑃𝑖𝑛 = 𝑉𝑠 𝐼𝑠
SPEED REGULATION AND CONTROL
If the load is applied to the DC motor or machine, the speed of the motor decreases
automatically. Thus, to maintain the constant speed, the difference between no load and full
load speed called as Speed Regulation should be maintained very less.
The motor is said to be at good regulation if they maintain the constant speed at variable load.
The range of the speed regulation of permanent dc motor is from 10% to 15%. If the range is
less than 10% then the motor has poor dc regulation. For compound dc motor the regulation
range is 25% and for differential compound motor it is 5%. Thus, to understand the speed
regulation first we should know the speed of the DC Motor.
SPEED REGULATION OF DC MOTOR
𝑁𝑛𝑙 − 𝑁𝑓𝑙
𝑃𝑒𝑟 𝑢𝑛𝑖𝑡 𝑠𝑝𝑒𝑒𝑑 𝑟𝑒𝑔𝑢𝑙𝑎𝑡𝑖𝑜𝑛 =
𝑁𝑓𝑙
𝑁𝑛𝑙 − 𝑁𝑓𝑙
𝑃𝑒𝑟𝑐𝑒𝑛𝑡 𝑠𝑝𝑒𝑒𝑑 𝑟𝑒𝑔𝑢𝑙𝑎𝑡𝑖𝑜𝑛 = 𝑥100%
𝑁𝑓𝑙