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Faculty of Engineering, Architecture and Science

Department of Electrical and Computer Engineering


Course Number
EES 612
Course Title
Electrical Machines and Actuators
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Lab Title


Lab Date


Lab Section


TAs Name




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Faculty of Engineering, Architecture and Science
Department of Electrical and Computer Engineering

LAB INSTRUCTIONS
EES 612 ELECTRICAL MACHINES AND ACTUATORS
EXPERIMENT # 1: SEPARATELY EXCITED DC MOTOR

Introduction

DC motors are widely employed in such devices as power shovels, printing presses,
traction equipment, golf carts, power wheelchairs, cooling fan drivers, car engine starters,
wind-shield wipers, and power mirrors, to name just a few. They are also used in
manufacturing and processing applications where easy speed (and/or torque) control is
needed. Small DC motors are also used as servomotors in position control applications.
This experiment investigates the characteristics of a separately excited DC motor.

In general, a DC motor is described by the two following fundamental equations:
=

(1)
= (2)

where denotes the developed (internal) torque; denotes the counter electromotive
force (c-emf);

denotes the armature current; is the shaft speed (in rad/s); and is
the so-called flux constant of the machine (in Nm/A or Volt-Second).

In a shunt or a separatel y excited motor, the armature terminal voltage

is given by

= +

(3)

where

denotes the armature resistance. Thus, the so-called torque-speed

characteristic of a shunt or a separatel y excited DC motor can be found by combining
the Equations (1) through (3), as
=

()
2
(4)

The shaft speed expressed in rpm, , is related to that expressed in rad/s, , by

= 9.55 or = /9.55 (5)


In permanent-magnet machines the value of is fixed by the magnets establishing the
air-gap magnetic field, whereas in separately excited machines the value of is a
function of the field current

and, therefore, can be varied by either the field voltage

or
the field resistance

, or by both.


Pre-Lab Assignment
The DC motor you will be using in the lab has been spun by another motor at a constant
speed of 1745 , and its open-circuit armature voltage (which is the same as ) has
been measured for different values of the field current

. Table P1 shows the result.

Table P1:

characteristic at = .

() () (/)
0 10.9
50 27.8
100 50.4
150 76.5
160 88.4
175 94.3
200 94.6
225 111.8
250 112.1
275 125.0
300 127.0
325 136.1
350 137.8
370 143.6
375 144.1
400 146.8
410 148.6





P1- Calculate corresponding to each value of

, and complete Table P1. Then plot

versus

on Graph P1. Comment on the variation of , as

is increased.




















Graph P1: Magnetizing curve of the DC motor.









()

()
P2- For the machine described above, calculate the no-load speed (in rpm) at an
armature voltage of

= 120 and a field current of

= 250 . Ignore the

rotational losses.




















P3- If the field current is reduced to

= 175 , what should the armature voltage

be
changed to, in order for the no-load speed to remain at the same value as that in P2?






















Lab Work

1. General safety note
To prevent injuries or damage to equipment, the power source must be turned
OFF prior to wiring up the circuit. Ask your TA to check.

2. Equipment
DC machine module EMS 8211
DC power supply module EMS 8821 (for applying armature and field voltages)
Dynamometer module EMS 8911 (for applying a load torque)
Hand-held tachometer (for measuring the shaft speed)
Bench-top digital multimeter (for measuring the armature voltage)
Hand-held clamp ammeters (for measuring the armature and field currents)

3. Circuit
Connect the circuit of Figure 1 which ensures that the DC machine is to be controlled
as a separately excited motor. In the circuit of Figure 1, the field voltage

is constant
at about 120 , while the field resistance

(and therefore the field current

) can be
varied by the rheostat . Clockwise rotation of the rheostat reduces the field
resistance and, thus, increases

. The armature voltage, however, can be varied by

the voltage knob . The shaft torque applied by the dynamometer can be varied by
the torque knob . A clockwise rotation of each knob increases the
corresponding quantity that the knob controls.



Figure 1: DC machine configured as a separately excited motor.
4. Experiments

E1: Torque-Speed Characteristic at Full Field and Armature Voltage

E1.1 With the power supply module off, turn both knobs and the rheostat fully
counterclockwise (to ensure zero armature voltage, zero shaft torque, and minimum
field current). Then turn on the power supply and adjust the rheostat to bring the
field current up to 250 (monitor the field current by the clamp ammeter). The
motor must not spin at this stage (since the armature voltage is zero); if it does,
something is terribly wrong!

E1.2 Gradually turn the voltage knob clockwise and raise the armature voltage to 120 .
This should result in clockwise rotation of the motor. The torque knob must still be
kept at its fully counterclockwise position, such that the dynamometers scale
displays zero. Thus, the motor experiences no shaft torque. However, it nonetheless
combats the rotational losses and, consequently, its armature current is not zero.

E1.3 Wait for a few minutes to allow the armature and field windings to warm up. This
mitigates the drift of the resistances. Thereafter, if needed, readjust the armature
voltage and the field current to, respectively, 120 and 250 . Report the shaft
speed (measured by the tachometer) and armature current (measured by the
corresponding clamp ammeter) in Table E1.3.

Table E1.3: No-load shaft speed and armature current, for

= and

= .
()

()






E1.4 Gradually increase the shaft torque by turning the torque knob clockwise. Measure
the armature current and shaft speed for each of the dynamometers reading listed in
Table E1.4. If needed, readjust

to 120 and

to 250 , before each

measurement.

















Table E1.4: Different

pairs, for

= and

= .
Dynamometers
reading

()

()

() ()
0.1 120 250
0.2 120 250
0.3 120 250
0.4 120 250
0.5 120 250
0.6 120 250
0.7 120 250
0.8 120 250
0.9 120 250
1.0 120 250
1.1 120 250
1.2 120 250
1.3 120 250
1.4 120 250





E1.5 Turn the torque knob fully counterclockwise, but do not turn off the power supply.





E2: Torque-Speed Characteristic at Full Field, but Reduced Armature Voltage

E2.1 Continuing from Step E1.5 above, reduce the armature voltage to 100 by turning
the voltage knob counterclockwise, but maintain the field current at 250
(readjust if necessary). Notice the shaft speed reduction. The dynamometers scale
should display a shaft torque of about zero. Thus, the motor operates with no shaft
load, at a reduced armature voltage.



E2.2 Note down the shaft speed and armature current in Table E2.2.


Table E2.2: No-load shaft speed and armature current, for

= and

= .
()

()








E2.3 Gradually increase the shaft torque by turning the torque knob clockwise. Measure
the armature current and shaft speed for each of the dynamometers readings listed
in Table E2.3. If needed, readjust

to 100 and

to 250 , before each

measurement.


























Table E2.3: Different

pairs, for

= and

= .
Dynamometers
reading

()

()

() ()
0.1 100 250
0.2 100 250
0.3 100 250
0.4 100 250
0.5 100 250
0.6 100 250
0.7 100 250
0.8 100 250
0.9 100 250
1.0 100 250
1.1 100 250
1.2 100 250
1.3 100 250
1.4 100 250





E2.4 Turn the torque knob fully counterclockwise, but do not turn off the power supply.





E3: Torque-Speed Characteristic at Reduced Field and Armature Voltage

E3.1 Continuing from Step E2.4 above, bring the field current down to 175 by turning
the rheostat counterclockwise, but maintain the armature voltage at 100 (readjust
if necessary). Notice that this increases the shaft speed. The dynamometers scale
should display a shaft torque of about zero. Therefore, the motor works with no shaft
load, at a reduced armature voltage and field current.

E3.2 Note down the shaft speed and armature current in Table E3.2.

Table E3.2: No-load shaft speed and armature current, for

= and

= .
()

()




E3.3 Gradually load the shaft by turning the torque knob clockwise. Measure the
armature current and shaft speed for each of the dynamometers readings listed in
Table E3.3. If needed, readjust

to 100 , and

to 175 .

Table E3.3: Different

pairs, for

= and

= .
Dynamometers
reading

()

()

() ()
0.1 100 175
0.2 100 175
0.3 100 175
0.4 100 175
0.5 100 175
0.6 100 175
0.7 100 175
0.8 100 175
0.9 100 175
1.0 100 175

E3.4 Turn the torque knob fully counterclockwise. Then, turn the voltage knob
counterclockwise, such that the motor comes to a standstill. Turn off the power
supply and all the meters.
Conclusions and Remarks

C1.1 Using equations (2), (3), and (5), and any two

points from Table E1.4,

calculate and

of the machine, for

= 120 and

= 250 ; for better

accuracy, the two points should be the extremes, i.e., one from the top and the
other from the bottom of the table. Show all the work. Report the results in Table
C1.1, below. Then, compare this value of with the value of you found in P1.
Calculate their difference as a percent of the latter, i.e., as a percent of the value of
you found in P1.

Table C1.1:

and , for

= and

= .

() (/)


































C1.2 Using the calculated value of from Table C1.1, and the measured armature
currents from Table E1.4, calculate the developed torque for each corresponding
shaft speed. Report the result in Table C1.2 below. Then, plot versus on Graph
C1 (show on the horizontal axis); label the curve as experimental . Use
appropriate data ranges and ticks for the axes, such that graphs space is efficiently
utilized (for example, should range from 0 to 2.5 , in steps of 0.1, etc.). Next, on
the same graph, plot the straight line that Equation (4) represents, and title it
theoretical . Again, assume the values of

and from Table C1.1.

Comment on the torque-speed characteristic of the motor and the disagreements
between the experimental and theoretical curves. State your reasons for the
discrepancies.

Table C1.2: Cal culated developed torque versus shaft speed, for

= and

= .
Dynamometers
reading from
Table E1.4

()
From Table E1.4
()
From Table E1.4
=

()
Take from Table C1.1
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
1.1
1.2
1.3
1.4
n (rpm)
T (N.m)






























Graph C1: Theoretical and experimental torque-speed curves
for

= 120 and

= 250 .















C2.1 Using equations (2), (3), and (5), and any two

points from Table E2.3,

calculate and

of the machine, for

= 100 and

= 250 ; show all the

work. Report the results in Table C2.1. Then, compare this value of with the
value of you found in P1; calculate their difference as a percent of the latter.

Table C2.1:

and , for

= and

= .

() (/)







































C2.2 Using the calculated value of from Table C2.1, and the armature currents from
Table E2.3, calculate the developed torque for each corresponding shaft speed.
Report the result in Table C2.2 below. Then, plot versus on Graph C2 (show
on the horizontal axis); label the curve as experimental . Use appropriate data
ranges and ticks for the axes, such that graphs space is efficiently utilized (for
example, should range from 0 to 2.5 , in steps of 0.1, etc.). Next, on the same
graph, plot the straight line that Equation (4) represents, and title it theoretical .
Again, assume the values of

and from Table C2.1.

Comment on the torque-speed characteristic of the motor and the disagreements
between the experimental and theoretical curves. State your reasons for the
discrepancies.

Table C2.2: Cal culated developed torque versus shaft speed, for

= and

= .
Dynamometers
reading from
Table E2.3

()
From Table E2.3
()
From Table E2.3
=

()
Take from Table C2.1
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
1.1
1.2
1.3
1.4

n (rpm)
T (N.m)































Graph C2: Theoretical and experimental torque-speed curves
for

= 100 and

= 250 .













C3.1 Using equations (2), (3), and (5), and any two

points from Table E3.3,

calculate and

of the machine, for

= 100 and

= 175 ; show all the

work. Report the results in Table C3.1. Then, compare this value of with the
value of you found in P1; calculate their difference as a percent of the latter.

Table C3.1:

and , for

= and

= .

() (/)






































C3.2 Using the calculated value of from Table C3.1, and the armature currents from
Table E3.3, calculate the developed torque for each corresponding shaft speed.
Report the result in Table C3.2 below. Then, plot versus on Graph C3 (show
on the horizontal axis); label the curve as experimental . Use appropriate data
ranges and ticks for the axes, such that graphs space is efficiently utilized (for
example, should range from 0 to 2.5 , in steps of 0.1, etc.). Next, on the same
graph, plot the straight line that Equation (4) represents, and title it theoretical .
Again, assume the values of

and from Table C3.1.

Comment on the torque-speed characteristic of the motor and the disagreements
between the experimental and theoretical curves. State your reasons for the
discrepancies.

Table C3.2: Cal culated developed torque versus shaft speed, for

= and

= .
Dynamometers
reading from
Table E3.3

()
From Table E3.3
()
From Table E3.3
=

()
Take from Table C3.1
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
1.1
1.2
1.3
1.4

n (rpm)
T (N.m)






























Graph C3: Theoretical and experimental torque-speed
curves for

= 100 and

= 175 .
















C4 Using the data of Tables E1.4 and C1.2, calculate the motors output power (shaft
power) and efficiency, for each value of the shaft torque. Complete Table C4, and
plot the efficiency versus the output power of the motor on Graph C4. Comment on
the variations of efficiency as a function of the output power.


Table C4: Input power, output power, and efficiency, for

= and

= .
Dynamometers
reading
() (/)

()

= () =

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1.0

1.1

1.2

1.3

1.4




%
Output Power
(W)

































Graph C4: Efficiency versus shaft power, for

= 120 and

= 250 .















n (rpm)
T (N.m)

C5 Plot all the three theoretical curves of C1.2, C2.2, and C3.2 on Graph C5, and
comment on the effect of the following practices on the torque-speed characteristic of
a separately excited DC motor: (1) only armature voltage reduction, and (2) both
armature voltage reduction and field weakening.

Also, explain why in this experiment we did not weaken the field alone, but also
reduced the armature voltage along with it.




































Graph C5: Theoretical torque-speed curves resulted from the experiments
E1, E2, and E3.




Blank Page
























































C6 Using the measurements of E1.3, E2.2, and E3.2, and the results of C1.1, C2.1, and
C3.1, calculate the motors rotational power loss and its associated torque, for each of
the three test conditions. Show all the work. Report the results in Table C6.


Table C6: Rotational power loss and torque, for the three test conditions.
Dynamometers
reading
() (/)

()

()

()
0

0

0








































Last updated Sep 16, 2013AY