Direct Current Motors

Introduction
• Most of the power is generated, transmitted and distributed in AC form.
• A dc motor is a machine that converts dc Electrical power into mechanical
power. The horsepower is used to represent the unit of a dc motor.
• Airplanes, computers, printers, robots, toys, video and DVD players,
mining industry, printing presses, etc. Its operation is based on
electromagnetic force.
• This force plays an important role to produce a powerful torque. Its
magnitude is given by, F = BIL.
 Working Principle
• The armature terminal of a 2-pole direct current (dc) motor are connected to a dc
voltage source. As a result, dc current flows through the armature conductors
which creates the alternate magnetic poles.
• Armature conductors under N-pole are assumed to carry current upward (dots)
and those under S-poles to carry current downwards (crosses).
• Due to Lorentz law, force produces by each conductor under the poles produces a
torque which tends to rotate the armature in a clockwise direction. All these forces
add together to produce a powerful torque, which sets the armature rotating.
• This process helps to develop a continuous and unidirectional torque of the motor.
 Back or Counter emf
• When the armature rotates, conductor are also rotated in the magnetic
field and these conductors cuts by the magnetic flux. As a result, an emf
is induced in the conductors. The direction of the induced emf is
determined by using the Fleming left hand rule. This induced voltage
opposes the applied voltage. Due to its opposite action, this emf is known
as back emf (Eb) or counter emf. This induced emf is always less than the
applied voltage.
• Net voltage across the armature circuit is,
Vnet=Vt-Eb
Where Eb= back emf of the motor; Vt= applied voltage of the motor
• The current through armature circuit is,
Ia=(Vt-Eb)/Ra
 Necessity of Back emf
The back emf control the additional load in a dc motor. The current through armature
circuit is, Ia= (Vt -Eb)/Ra

At the time of motor starting, the armature of the motor is not rotating. For a small
magnitude of armature circuit resistance, the current in the armature is extremely high
and at very initial stage, there would be no back emf (i.e. Eb.= 0). This can be
understood by the following equation. Ia= (Vt-0)/Ra

This high Ia is 25 times higher than the full-load current of the motor. This high
magnitude of Ia may damage the fuses or to trip the circuit breaker of the motor.

This may also increase the force, which produces powerful torque that accelerate the
armature rapidly. F = BIaL

The Eb increases as the speed of the motor increases (↑Eb=PNZϕ/60A where P=No.
of poles, N= speed in rpm, Z= total no. of armature conductors), which decrease the net
voltage Vnet across the armature circuit ,

(↓Vnet=Vt-Eb).

As a result, Ia decreases, which decrease the torque, (↓Tem=PNZϕIa/2ᴫ).

As a result of this reduced torque, the motor will stop.

Therefore, the Eb in a dc motor regulates the flow of the Ia depending on the additional
 Series Motor
In a series motor, field winding is connected in series with armature circuit.
Ia =IL, Vt= Eb+Ia(Rse+Ra).

Shunt Motor
In a shunt motor, field winding is connected in parallel with armature circuit.
IL= Ia+Ish, Vt= Eb+IaRa.
 Mechanical Power of a DC Motor
Consider the voltage and armature current equation of the dc shunt motor are,
Vt = Eb+IaRa, and Ia= (Vt-Eb)/Ra

The power equation of the motor is, VtIa=EbIa+Ia2Ra, where,

VtIa= Electric power supplied to the armature,

EbIa=Pmd = mechanical power developed by the armature,

Pmd = VtIa-Ia2Ra,

The power developed by the motor depends on the Ia because the value of Ra and Vt

remain constant. For the maximum power, differentiate the Pmd developed by the

armature w.r.t Ia and set equal to zero.

2
Pmd = VtIa-Ia Ra,

d(Pmd)/dIa = Vt - 2IaRa=0 IaRa=Vt/2

We know that applied voltage is, Vt = Eb + IaRa.

Therefore, Vt= Eb+Vt/2 , Eb=Vt/2

Pmd developed by the armature will be maximum when the Eb is equal to the half of
 Example
A shunt motor takes a total current of 20A from 250V supply. The shunt field and
armature resistances are 200Ω and 0.3 Ω respectively. Determine the (i) value of
back emf (ii) mechanical power developed in the motor armature.
A shunt motor has an armature circuit resistance of 0.7Ω and applied voltage 240V.
The no-load and full load armature current is 5A and 30A respectively. Determine the
change in back emf from no load to full load.
A 4-pole shunt motor is energized by 450V supply and takes an armature current of
55A. The resistance of the armature circuit is 0.4Ω. The armature winding is wave
connected by 650 conductors and useful flux per pole is 0.025Wb, Calculate the
speed of the motor.
A 230V shunt motor takes a total current of 25A. The shunt field and armature
resistances are 55Ω and 0.5Ω respectively. Find the (i) value of back emf and (ii)
mechanical power developed in the motor armature.
Torque of DC Motor
Whenever a conductor placed in a magnetic field, it would experience a force, this
force tends to rotate the conductor in a clockwise direction. The tendency to produce
the rotation of conductor is known as “torque”. Torque is also defined as the product of
force & perpendicular distance from the centre of the rotation of the conductor. T= F*r

Armature Torque Torque produces by the all conductors of the armature (Ta). If the

motor runs at the speed of N(rps), the power developed by the motor is, Pmd = Ta*ω

The elect. power converted into mech. Power is, Pmd = Eb*Ia → EbIa = Ta *2πN/ 60,

The final expression of the torque is, Ta = 9.55 (EbIa/N),

Shaft Torque The torque available at the shaft of the motor for doing useful work(Tsh).

If the motor runs at the speed of N(rps), the output is, Po = Tsh*ω, whereω = 2πN/ 60
The shaft torque is, Tsh = 9.55 (Po / N) unit=N-m
 Example
A shunt motor takes a current of 40A from 230V supply and runs at a speed of
1100rpm. Find the torque developed by armature, if the armature and the
shunt field resistances are 0.25Ω and 230Ω respectively.
A 6-pole shunt motor is energized by 230V dc supply. The motor has 450
conductors that are wound in lap configuration. It takes 30A current from the
supply system and develops output power of 5560W. The current through the
field windings is 3A and the flux per pole is 25mWb. The armature circuit
resistance is 0.8Ω. Find the speed and the shaft torque.
A shunt motor takes a current of 45A from 220V do supply and runs at a speed of
1500rpm. Find the torque developed by the armature, if the armature and the
shunt field resistances are 0.5 Ω and 65 Ω respectively.
A 6-pole shunt motor is energized by 230V dc supply. The motor has 500
conductors that are connected in lap wound. It takes 40A from the supply
system and develops output power of 5.9kW. The current through the field
windings is 4A and the flux per pole is 0.04Wb. The armature circuit resistance is
0.4 Ω. Calculate the shaft torque.
 Speed of a DC Motor
Speed of dc motor changes slightly with. The equation of speed can be find using the
relation of back emf for shunt motor, Eb = Vt –IaRa

The back emf is, Eb=(PφZN/60A),

N = 60A(Vt-IaRa)/ϕ = K(Vt-IaRa)/ϕ = K(Eb/ϕ), where K=60A/(PZ),

In general, N=K(Eb/ϕ) or Nά(Eb/ϕ),

Speed of a dc motor is directly proportional to the back emf & inversely proportional
to the flux per pole. Let N1, φ1 & Eb1 be the initial values and N2, φ2 & Eb2 be the

final values. N1 α Eb1/φ1 N2 α Eb2/φ2

Combining the above equations, N1/N2 =(Eb1/Eb2)*(ϕ2/ϕ1)

Shunt Motor
The flux in the shunt motor is constant with the change in voltage, N1 /N2 = Eb1/Eb2

Series motor,
The flux is directly proportional to the armature current prior to saturation.
(N1/N2) = (Ia2Eb1)(Ia1Eb2)
 Practice Problem
A dc shunt motor takes a current of 3A at no load with terminal voltage 240V and runs at
1200rpm. The armature and Field resistances are 0.25Ω & 135Ω respectively. Under load
condition motor takes a current of 45A. Determine the motor speed under load condition.
A dc series motor takes a current of 56A from a 230V supply and runs at a speed of 900 rpm.
The armature and Field resistances are 0.2Ω and 0.25Ω respectively. Find the speed of the
motor when the line current is 15A. Consider the flux for 15A current is 40 percent of the
flux for the line current of 56A.
A 220V dc series motor takes a current of 120A and runs at a speed of 1000rpm. The
armature and Field resistances are 0.15Ω and 0.25Ω respectively. Find the speed of the
motor when the line current is 35A. Consider the flux for 35A current is 70 percent of the
flux for the line current of 120A.
 Speed Regulation
The armature current increases with the increase in load. As a result, The
back emf “Eb” decreases and speed of the motor decreases slightly. The
speed regulation of a dc motor is the change in speed from full-load to no-load
and it is express as a %age of the speed at full-load.
%Speed Reg = (NLs-FLs)/(FLs)*100
 Losses in a DC Motor
A small amount of power will be lost due to I2R for the armature and the shunt field
resistances. The rest of power will be converted into mechanical power that becomes
available in armature. A small amount of the developed power in armature will be lost
due to rotational losses. The remainder are available at shaft as useful work.
 Efficiency of a DC Motor
η=(Po/Pin)*100; Pin=Po + losses
The η of a dc motor will be maximum if constant losses = variable losses.
constant losses = Iron & friction losses + shunt cu losses,
variable losses = armature cu losses (Ia2R)
Example
At no-load condition, a shunt motor takes 5A current from a 230V supply.
The
resistances of the armature and field circuit are 0.25Ω and115Ω. Under load
condition the motor can carry 40A current. Calculate the iron and friction
losses and efficiency.
 Example
A shunt motor takes a current of 80A from 220V supply and runs at 800 rpm. The
shunt field and armature resistances are 50Ω and 0.1Ω respectively. The iron and
friction losses are 1600W. Determine the (i) copper losses (ii) armature torque (iii)
shaft torque and (iv) efficiency.
At no load condition, a shunt motor takes 4A current from a 220V supply. The
resistances of the armature and field circuit are 0.15Ω and 155 Ω respectively.
Under loaded condition the motor can carry 36A current. Calculate the iron and
friction losses and efficiency.
A shunt motor takes a current of 75A from 220V supply and runs at 1100rpm. The
shunt field and armature resistances are 65Ω and0.2 Ω respectively. The iron and
friction losses are 900W. Determine the (i) copper losses (ii) armature torque (iii)
shaft torque and (iv) efficiency.
 DC Motor Characteristics
Torque and Armature Current Characteristic: It is the curve that is obtained from
the variation of torque/ armature current.
Speed and Armature Current Characteristic
It is the curve that is obtained from the variation of speed/armature current.
Torque and Speed Characteristic It is the curve that is obtained from the variation
of speed/torque. It is known as mechanical characteristic.
Torque & Armature Current Motor Characteristic
The general torque equation of shunt motor, ƬαϕIa. Since the Rsh is connected across

the Vt. Therefore, the flux will remain constant & the torque equation becomes, ƬαIa.

The curve b/w Ƭ versus Ia is a straight line that will pass through the origin.
 Speed vs Armature Current Characteristic
Under no-load condition

The speed of the shunt motor can be expressed as, Nα(Eb/ϕ) → Nα (Vt – IaRa)/ϕ

Assume the shunt motor is operating at no-load with its rated speed. In this case
The speed & flux remain constant. Therefore, N is constant with Ia.
Under load condition

Ia will increase & Eb will decrease, as a result speed of the motor will be decreased

slightly. with variation of Ia.

Speed vs Torque Characteristic

The Ia increases when connected load IL is increased. As a result, the torque increases

& the Eb decreases. Therefore, the speed of the motor decreases with the variation of

torque (see figure)

 Series Motor Characteristics
Torque/Current Characteristics
2
Torque of series motor is TαϕIa. Since ϕαIa. The final equation of torque is TαIa .

Torque will be increased with the square of the Ia up to saturation of magnetic

material. After saturation of current the ϕ remain constant & equation of torque will
become TαIa. The torque-current characteristic of series motor is shown in figure.

Speed/Current Characteristics
NαEb /φ → Nα[Vt-Ia(Rse+Ra)]/φ.

Since ϕ is proportional to Ia, The speed equation becomes,

N α [Vt-Ia(Rse+ Ra)]/Ia

Under no-load condition the value of the Ia is small &

under loaded condition, the Ia is high.

The increasing Ia decreases the speed of the motor (see figure).

Speed/Torque Characteristics
Armature current increases with increases the load. As a result, the torque
increases and also increases the Ia. This increasing Ia decreases the speed
of the motor (see figure 3).
Comparison Between Generator and Motor
Generator is driven by mechanical machine and generates voltage. As a result, a
current will flow through the electrical circuit. The motor is connected across the
supply. The armature of the motor takes a current which in turn produces a force.
This force produces a driving torque. As a result of this torque, the motor rotates In
the generator, the direction of generated voltage is determined by the Fleming’s
right hand rule. In the motor, the direction of generated voltage is determined by
the Fleming’s right hand rule. In the generator, the generated voltage and the
armature current are in the same direction. In the dc motor, these are in opposite
direction. In the generator, the relationship b/w the generated voltage, current and
speed are considered as main characteristics. Whereas in the motor, speed, torque
& current are considered. In the generator, the generated voltage & the armature
current are in the same direction. In the dc motor, these are in opposite direction. In
the generator, the relationship b/w the generated voltage, current & speed are
considered as main characteristics. Whereas in the motor, speed, torque & current
 Comparison Between Generator and Motor
Generator is driven by mechanical machine and generates voltage. As a result, a
current will flow through the electrical circuit.
The motor is connected across the supply. The armature of the motor takes a current
which in turn produces a force. This force produces a driving torque. As a result of
this torque, the motor rotates.
In the generator, the direction of generated voltage is determined by the Fleming’s
right hand rule.
In the motor, the direction of generated voltage is determined by the Fleming’s right
hand rule.
In the generator, the Eg and Ia are in the same direction. In the dc motor, these are

in opposite direction.
In the generator, the relationship b/w the Eg , Ia and N are considered as main

characteristics. Whereas in the motor, N, T & Ia are considered.

 Applications of DC Motor
Shunt Motor
The characteristics of shunt motor is an approximately constant speed. It
has
medium starting torque. Motor is used in the lathe machine, drill machine,
shaper machine, blower and fan, etc.
Series Motor
This motor is known as variable speed motor and it has high starting torque.
This motor is used in the trolley car, crane, electric traction, elevators, air
compressors, vacuum cleaners, hair drier and conveyor machines etc.
Compound Motor
The differential compound motor has poor torque characteristics. As a result,
this motor is rarely used. However, cumulative–compound motor has high
starting torque and it is used in the printing presses, ice machines, air
compressors and rolling mils etc.