Week 6, 7 and 8 Lecture Notes (DC Motors and Its Speed and Torque Characteristics)

DC Motor
A motor is a machine which converts electrical energy (or power) intomechanical energy (or
power). Hence a DC motor is a machine which converts DC electrical power into mechanical
power. It works on the principle of Lorentz Force.
1.1 Difference between a DC Motor and a DC Generator

Constructionally there is no difference between a DC motor and a DC generator. In fact, a
same DC machine can be used as a DC generator or as a DC motor. However, operationally
the two are opposite of one another in the sense that a DC generator coverts mechanically
energy into electrical energy, whereas a DC motor coverts electrical energy into mechanical
energy. Furthermore, in case of a DC motor the generated emf (i.e. back emf, Eb, explained in
the following sections) is less than the terminal voltage, VT, whereas in case of a DC
generator the generated emf, Eg, is greater than the terminal voltage,VT.
References:
[1] J. Hiley, K. Brown, and M. Smith, Hughes Electrical and Electronic Technology, 10th ed. Pearson
Education Limited, 2008, Page: 870-871.
[2] B. L. Theraja, and A. K. Theraja, A Text Book of Electrical Technology, Volume II. S. Chand &
Company Ltd., 2008, Page: 996-997.
1.2 Back EMF— Eb

When the armature of a DC motor rotates, the armature conductors cut the magnetic flux of
the poles and according to Faraday’s Law of Electromagnetic Induction an emf is induced in
it called the dynamically or motionally induced emf. The direction of this induced emf, as
found by Lenz’s Law, is in opposition to the applied voltage,VT, as shown in Fig. 1. That’s
why it is known as back emf or counter emf and is represented by Eb. Mathematically it is
given by:
𝑍Φ𝑁𝑃
𝐸𝑏 = (𝑉𝑜𝑙𝑡𝑠)
60𝐴
Where:
Eb = Back emf or counter emf generated in any one parallel path in the armature
Winding, Volts
Z = Total number of armature conductors
Φ = Useful magnetic flux per pole,Webers
N = Speed of armature, rpmorrev/min
P = Number of poles
A = Number of parallel paths in armature winding, for current flow, between the
positive and negative carbon brushes
Now consider the circuit diagram of a shunt-wound DC motor as shown in Fig.1.
1
Figure 1: Shunt-wound DC Motor
Since the back emf, Eb, acts in a direction opposite to the applied voltage, VT, hence the
applied voltage has to force a current, Ia, through the armature conductors to overcome this
opposition (i.e. the back emf, Eb).
Applying KVL around the closed loop we get:

𝑉𝑇 = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎
Multiplying both sides of the above equation by Ia, we get:
𝑉𝑇 𝐼𝑎 = 𝐸𝑏 𝐼𝑎 + 𝐼𝑎2 𝑅𝑎
Where
VTIa = Total electrical power input to the armature i.e. Pin, Watts
EbIa = (Electrical equivalent of the) Mechanical power generated (developed) in
the armature i.e. Pm, Watts
Ia2Ra = Armature copper loss or power loss due to the resistance of armature circuit,
Watts
Hence, out of the total electrical power input to the armature of a DC motor (i.e. Pin= VTIa),
some is absorbed (or wasted) due to resistance of the armature circuit (i.e. Ia2Ra) and the rest
is converted into mechanical power within the armature (i.e. EbIa= Pm). Note that all of this
mechanical power is not available externally, since some of it is wasted as mechanical losses
(i.e. friction losses at the brushes and bearings) and some is wasted as core losses (i.e. eddy
current loss and hysteresis loss) in the ferromagnetic core of the armature.
References:
Education Limited, 2008, Page: 870-871, 873.
[2] B. L. Theraja, and A. K. Theraja, A Text Book of Electrical Technology, Volume I. S. Chand &
Company Ltd., 2008, Page: 998-999.
Example 42.1 (Home Assignment)
2
(Hughes Electrical and Electronic Technology, 10th Edition, Page: 871).
The armature of a DC machine has a resistance of 0.1 Ω and is connected to a 250 V supply.
Calculate the generated emf when it isrunning:
(a).As a generator giving 80 A, and
(b).As a motor taking 60 A
1.3 Types of DC Motors

Basically there are two types of DC motors according to the way in which their fieldwindings
are excited:
1. Separately-excited DC Motors, as shown in Fig. 2
2. Self-excited DC Motors, as shown in Fig. 3, 4 and 5
The self-excited DC motors are further subdivided into:
a). Series-wound DC Motors, as shown in Fig. 3
b). Shunt Wound DC Motors, as shown in Fig. 4
c). Compound-wound DC Motors, as shown in Fig. 5
Figure 2: Separately-excited DC Motor
Figure 3: Series-wound DC Motor
3
Figure 4: Shunt-wound DC Motor
Figure 5: Compound-wound DC Motor
In compound-wound DC motors, the series and shunt winding almost invariably assist each
other.
References:
Education Limited, 2008, Page: 875.
[2] B. L. Theraja, and A. K. Theraja, A Text Book of Electrical Technology, Volume II. S. Chand &
Company Ltd., 2008, Page: 996.
1.4 Speed of a DC Motor

We know that for a DC motor:
𝑉𝑇 = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎
Where
𝑍Φ𝑁𝑃
𝐸𝑏 =
60𝐴
For a given DC motor, Z,P and A are constant. It means:
𝐸𝑏 = 𝑘𝑁Φ
Where
4
𝑍𝑃
𝑘=
60𝐴
It means we can write
𝑉𝑇 = 𝑘𝑁Φ + 𝐼𝑎 𝑅𝑎
Or
𝑉𝑇 − 𝐼𝑎 𝑅𝑎
𝑁=
𝑘Φ
Where the value of IaRa is usually less than 5% of the terminal voltage VT. Hence we can
write:
𝑉𝑇
𝑁∝
Φ
 In words, this expression means that the speed,N, of a DC motor is approximately

proportional to its terminal voltage,VT, and inversely proportional to the useful
magnetic flux per pole,Φ; all methods of controlling the speed of a DC motor involve
the control of either the terminal voltage,VT, or the magnetic flux,Φ, or both of the
two quantities.
References:
Company Ltd., 2008, Page: 1008-1009.
1.5 Speed Characteristics of DC Motors— (N vs. Ia)

The speed characteristic of a motor usually represents the variation of its speed with input
current or input power, andfor a DC motor it is the variation of speed of armature with
armature current (i.e. N vs. Ia).
1.5.1 Speed Characteristics of Shunt-wound DC motors:
For a shunt-wound DC motor, the speed characteristic can be derived from the following
expression:
𝑉𝑇 − 𝐼𝑎 𝑅𝑎
𝑁=
𝑘Φ
In case of a shunt-wound DC motor, magnetic fluxΦ is produced by the shunt-field current,
If, and practically it remains almost constant, becausemost DC machines are operated near the
saturation point on the magnetization curve (at the knee of the curve). Hence in a shunt-
wound DC motors, the magnetic flux, Φ, is only slightly affected by the input (armature)
current,Ia (i.e. it is almost independent of the armature current, Ia) and the value of IaRa at
full-load rarely exceeds 5 % of the input (terminal) voltage VT, so that there is only 5 %
change (i.e. no appreciable change) in the speed,N, of a shunt-wound DC motor from no-load
to full-load, as shown by a straight-line (ideal curve) parallel to horizontal inFig. 6and inFig.8
by curve A (ideal curve). Although the actual curve is slightly drooping (sinking or inclining
gradually), as shown in Fig. 6, by a dotted line. Hence, for all practical purposes, a shunt-
wound DC motors is taken as a constant speed motor and is suitable for applications where
5
the speed has to remain approximately constant over a wide range of loads, such as for
driving shafts (acting as a prime mover), machines tools, lathes, wood-working machines etc.
Figure 6: Speed Characteristics of a Shunt-wound DC Motor
References:
1.5.2 Speed Characteristics of Series-wound DC motors:
For a series-wound DC motor, the speed characteristic can be derived from the following
expression:
𝑉𝑇 − 𝐼𝑎 (𝑅𝑎 + 𝑅𝑠𝑓 )
𝑁=
𝑘Φ
In case of a series-wound DC motor, the magnetic flux,Φ, is produced by the armature
current,Ia, and is directly proportional to it (i.e. Φ ∝ 𝐼𝑎 ) before magnetic saturation, but after
magnetic saturation the magnetic flux, Φ, remains almost constant (i.e. Φ≅ constant or
independent of Ia). Since most DC machines are operated near the saturation point on the
magnetization curve (at the knee of the curve), speed N of a series-wound DC motor is
roughly inversely proportional to armature current, Ia, as shown inFig. 7 (and in Fig. 8by
curve B).
When mechanical load is heavy armature current, Ia, is large and speed,N, is low. But when
load is lighter, the armature current,Ia, is small and the speed,N, may become dangerously
high. Hence, a series motor should never be started without some mechanical load on it (i.e. it
should never be permitted to operate at no-load). Otherwise it may develop excessive speed
and get damaged due to heavy centrifugal forces (the heavycentrifugal forces could tear the
windings out of the armature and destroy the machine). However, it should not be belt-
coupled to its load, except in small DC machines such as vacuum cleaners. Belt-driven
applications are not recommended since a broken belt would allow the motor to runaway
(due to lighter load). It should be noted that a series motor is a variable speed motor.
6
Figure 7: Speed Characteristics of a Series-wound DC Motor
References:
Education Limited, 2008, Page: 875-876.
[3] S. J.Chapman, Electric Machinery Fundamentals, 5th ed. McGraw Hill, 2012, Page: 468-469.
[4] T. Wildi, Electrical Machines, Drives and Power Systems, 5th ed. Prentice Hall, 2002, Page: 105.
1.5.3 Speed Characteristics of Compound-wound DC motors
Since a compound-wound DC motor has a combination of shunt and series-field windings, its
speed characteristic curve is intermediate between those of the shunt and series-wound DC
motors, as shown in Fig. 8, by curve C. The exact shape of this curvedepends upon the values
of the shunt and series ampere-turns (mmfs).
Figure 8: Speed Characteristics of DC Motors (A.Shunt, B. Series, C. Compound)
References:
7
1.6 Torque
The tendency of a force to twist or to turn or to rotate an object around an axis is called
torque. It is represented by symbol T and its magnitude equals the product of the force, F,and
the moment arm (i.e. perpendicular distance between the axis of rotation and the point of
application of the force), r.
For example, a string is wrapped around a pulley having a radius r as shown in Fig.9.If we
pull on the string with a tangential force F, the pulley will tend to rotate around its axis
provided it is free to rotate. So the torque,T, exertedon the pulley by the tangential force, F, is
given by:
𝑇 = 𝐹𝑟
Where:
T = Torque, Newton-meter (N-m)
F = Force, Newton(N)
r = Moment arm, meter (m)
Figure 9: Torque exerted upon a pulley by a force
1.7 Mechanical Work

Mechanical work is done when a force, F, moves an object through a distance, d, in the
direction of the force. It is represented by symbol W and mathematically expressed as:
𝑊 = 𝐹𝑑
Where
W = Work done, J
F = Force, N
d = Distance covered by the object in the direction of force, m
1.8 Power
Power is the rate of doing work or expending energy. It is represented by symbol P and
mathematically expressed as:
𝑊 𝑜𝑟 𝐸 𝐹. 𝑑
𝑃 = = = 𝐹𝑣 … 𝑖𝑛 𝑐𝑎𝑠𝑒 𝑜𝑓 𝐿𝑖𝑛𝑒𝑎𝑟 𝑀𝑜𝑡𝑖𝑜𝑛
𝑡 𝑡
But
𝑃 = 𝑇𝜔 … 𝑖𝑛 𝑐𝑎𝑠𝑒 𝑜𝑓 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 (𝑜𝑟 𝐶𝑖𝑟𝑐𝑢𝑙𝑎𝑟 𝑜𝑟 𝑅𝑜𝑡𝑎𝑟𝑦) 𝑀𝑜𝑡𝑖𝑜𝑛 (𝑒. 𝑔. 𝑎 𝑅𝑜𝑡𝑎𝑡𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡)
Where:
8
P = Power, W
W = Work done, J
E = Energy, J
d = Distance through which an object is moved by force, m
v = Linear velocity, m/sec
t = Time, sec
T = Torque, N-m
ω = Angular velocity, rad/sec
The SI unit of energy is Joule (J). There is also another unit of energy commercially used by
suppliers of electrical appliances and equipment — the kilowatt hour (kWh). It represents the
electrical energy consumed by an appliance using one kW (electric) power for a period of
one hour. Kilowatt hour is also known as the Board of Trade Unit (BoTU).
1𝑘𝑊ℎ = 1𝐵𝑜𝑇𝑈
Also
1𝑘𝑊ℎ = 1000𝑊 × ℎ = 1000 𝐽/𝑠𝑒𝑐 × 3600 𝑠𝑒𝑐 = 36 × 105 𝐽 = 3.6 × 𝑀𝐽
The unit of power is Watt (W) which equals joules per second (J/sec). The (mechanical)
power output of motors is sometimes also expressed in horsepower (hp). One horse power
equals 746 Watts. It corresponds to the average power output of a dray horse.
References:
[2] T. Wildi, Electrical Machines, Drives and Power Systems, 5th ed. Prentice Hall, 2002, Page: 51-52.

(T. Wildi, Electrical Machines, Drives and Power Systems, 5th ed. Prentice Hall, 2002, Page: 5).
A motor develops a starting torque of 150 N-m. If apulley on the shaft has a diameter of 1 m,
calculate the braking force needed to prevent the motor fromturning.
1.9 Torque [and Mechanical Power (Developed by or) Output] of a DC Motor

The mechanical power developed by a rotating electrical machine (e.g. armature of a DC
motor) is given by the expression:
𝑃𝑚 (𝑊𝑎𝑡𝑡) = 𝑇𝑎 (𝑁𝑒𝑤𝑡𝑜𝑛 𝑚𝑒𝑡𝑒𝑟) × 𝜔(𝑟𝑎𝑑/𝑠𝑒𝑐)
Where
𝜔 = 2𝜋𝑁 (𝑟𝑎𝑑/𝑠𝑒𝑐) … 𝑤ℎ𝑒𝑛 𝑁 𝑖𝑠 𝑖𝑛 𝑟𝑝𝑠 (𝑖. 𝑒. 𝑟𝑒𝑣/𝑠𝑒𝑐)
Or
9
2𝜋𝑁
𝜔= (𝑟𝑎𝑑/𝑠𝑒𝑐) … 𝑤ℎ𝑒𝑛 𝑁 𝑖𝑠 𝑖𝑛 𝑟𝑝𝑚 (𝑖. 𝑒. 𝑟𝑒𝑣/𝑚𝑖𝑛)
60
And
N = Rotational speed (normally expressed in rpm)
Hence
Mechanical power (developed by or) output of the armature of a DC motor is given by:
2𝜋𝑁𝑇𝑎 𝑁𝑇𝑎
𝑃𝑚 = 𝑇𝑎 𝜔 = = … 𝑤ℎ𝑒𝑟𝑒 𝑁 𝑖𝑠 𝑖𝑛 𝑟𝑝𝑚
60 9.55
Where
9.55= A constant, whose exact value equals 30/π.
We know that for a DC motor, mechanical power (developed by or) output of the armature is
also given by:
𝑃𝑚 = 𝐸𝑏 𝐼𝑎
It means
𝑃𝑚 = 𝑇𝑎 𝜔 = = = 𝐸𝑏 𝐼𝑎 … 𝑤ℎ𝑒𝑟𝑒 𝑁 𝑖𝑠 𝑖𝑛 𝑟𝑝𝑚
60 9.55
Or
2𝜋𝑁𝑇𝑎
= 𝐸𝑏 𝐼𝑎
60
Or
2𝜋𝑁𝑇𝑎 𝑍Φ𝑁𝑃
=( )𝐼
60 60𝐴 𝑎
1 𝑍Φ𝐼𝑎 𝑃 𝑍Φ𝐼𝑎 𝑃
𝑇𝑎 = ( ) = 0.159 ( ) … (𝑁𝑒𝑤𝑡𝑜𝑛 𝑀𝑒𝑡𝑒𝑟𝑠)
2𝜋 𝐴 𝐴
Where P represents the number of poles, and not the mechanical power (which is represented
by Pm).
For a given DC motor, Z,P and A are constant. It means:

𝑇𝑎 ∝ Φ𝐼𝑎
Or in other words, torque, Ta, of a DC motor is proportional to the product of the armature
current, Ia, and the useful flux per pole,Φ, yet it is independent of speed.
1.9.1 Proof that Torque is Independent of Speed
In fact, the speed, N, depends upon torque, Ta, but torque is independent of speed. As we
know that:
𝑉𝑇
𝑁∝
Φ
And
Keeping in view the above expressions, it seems that with the decrease in flux, Φ, the speed,
𝑁, would increase and the armature torque, Ta,would decrease. But this is not true, because
10
torque always tends to produce rotation. Hence, if torque, Ta, increases motor speed, N, must
alsoincrease rather than decrease. The apparent inconsistency between the above two
expressions can be reconciled in the following way:
Suppose the applied voltage, VT, is held constant and the flux, Φ, in a motor is decreased by
decreasing the field current, If. Then the following sequence of events takes place:
1. The back emf (Eb∝Φ) drops instantly (but the speed, N, remains constant because of
the inertia of heavy armature).
2. Due to decrease in Eb, Ia is increased because Ia=(VT – Eb)/Ra. Moreover, a small decrease in
flux, Φ, produces a large increase in armature current, Ia.
3. As per the expression, Ta∝ΦIa, when a small decrease in flux, Φ, produces a large
increase in armature current, Ia, the armature torque, Ta, increases.
4. As a result, increase in armature torque, Ta, produces increase in speed, N.
With the applied voltage, VT, held constant, motor speed, N, varies inversely with the flux, Φ (N
∝VT/Φ). However it is possible to increase flux, Φ, and at the same time increase the speed, N,
provided Ia, is held constant as it is done actually in DC servomotors.
Note:
General expression for any motor 2𝜋𝑁𝑇𝑎 𝑁𝑇𝑎

𝑃𝑚 = 𝑇𝜔 = = (𝑊𝑎𝑡𝑡𝑠) … 𝑤ℎ𝑒𝑟𝑒 𝑁 𝑖𝑠 𝑖𝑛 𝑟𝑝𝑚
(whether AC or DC) 60 9.55
𝑃𝑚 = 𝑇𝜔 = = = 𝐸𝑏 𝐼𝑎 (𝑊𝑎𝑡𝑡𝑠) … 𝑤ℎ𝑒𝑟𝑒 𝑁 𝑖𝑠 𝑖𝑛 𝑟𝑝𝑚
60 9.55
Expressions for a DC motor
1 𝑍Φ𝐼𝑎 𝑃 𝑍Φ𝐼𝑎 𝑃
𝑇𝑎 = ( ) = 0.159 ( ) … (𝑁𝑒𝑤𝑡𝑜𝑛 𝑀𝑒𝑡𝑒𝑟𝑠)
2𝜋 𝐴 𝐴
References:
Education Limited, 2008, Page: 6-8, 873-874.
Company Ltd., 2008, Page: 1001-1002, 1009.
[3] T. Wildi, Electrical Machines, Drives and Power Systems, 5th ed. Prentice Hall, 2002, Page: 52-53, 99.
1.10 Torque Characteristics of DC Motors

The torque characteristics of a motor usually represents the variation of its torque with input
current, andfor a DC motor it is the variation of torque developed by armature with armature
current (i.e. Ta vs. Ia).
1.10.1 Armature Torque of a Shunt-wound DC Motor
In case of a shunt-wound DC motor, the magnetic flux,Φ,is produced by the shunt-field

current, If, and is independent of armature current, Ia (and also load). This magnetic flux, Φ,
practically remains almost constant, because most DC machines are operated near the
11
saturation point on the magnetization curve (at the knee of the curve). Hence for a shunt-
wound DC motor:
Becomes
𝑇𝑎 ∝ 𝐼𝑎 (∵ Φ ≅ constant)
This characteristic is shown by Fig. 10, by curve A.
References:
1.10.2 Armature Torque of a Series-wound DC Motor
In case of a series-wound DC motor, flux,Φ, is produced by the armature current, Ia,and is

directly proportional to it (i.e. Φ ∝ 𝐼𝑎 …before magnetic saturation) upto full-load. Hence for
a series-wound DC motor:
Becomes
𝑇𝑎 ∝ 𝐼𝑎 2 𝑎𝑝𝑝𝑟𝑜𝑥. (∵ Φ ∝ 𝐼𝑎 ) … before magnetic saturation
As a result the torque characteristic is a parabola(before magnetic saturation).
But after magnetic saturation, Φ is almost independent of Ia. Hence at that time:
𝑇𝑎 ∝ 𝐼𝑎 (∵ Φ ≅ 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡) … after magnetic saturation
As a result the torque characteristic a straight line (after magnetic saturation).
This characteristic is shown in Fig. 10, by curve B.
Above full load, magnetic saturation becomes more marked and the armature torque, Ta,does
not increase so rapidly with the armature current, Ia.
Curves A, B and C in Fig. 10 show the relative shapes of torque curves for shunt, series and
compound-wound DC motors having the same full-load torque, OQ, with the same full-load
armature current, OP.The exact shape of curve C depends upon the relative value of the shunt
and series ampere-turns atfull load.
From Fig. 10 it is evident that for a given current below the full-load value the shunt motor
exerts the largest torque, but for a given current above the full-load value the series motor
exerts the largest torque. This is so because when a series motor operates at full-load, the
flux per pole, Φ, is the same as that of a shunt motor of identical power and speed.
However, when the series motor starts up the armature current, Ia, is higherthan the full-load
(or rated) value with the result that the flux per pole, Φ, is also greater than the full-load
value. It follows that the startingtorque of a series motor is considerably greater than that of a
shunt motor.
The maximum permissible current at starting is usually about 1.50 times the full-load current.
Consequently where a large starting torque is required, such as for starter motors in cars,
hoists, cranes, electric trains, etc., the series-wound DC motor is the most suitable machine.
12
Figure 10: Torque Characteristics of DC Motors
References:
[4] S. J.Chapman, Electric Machinery Fundamentals, 5th ed. McGraw Hill, 2012, Page: 493-495.

A four-pole DC motor is fed at 440 V and takes an armature current of50 A. The resistance of
the armature circuit is 0.28 Ω. The armaturewinding is wave-connected with 888 conductors
and the useful fluxper pole is 0.023 Wb. Calculate the speed.

A DC motor runs at 900 r/min off a 460 V supply. Calculate the approximate speed when the
machine is connected across a 200 V supply.

A DC motor takes an armature current of 110 A at 480 V. The resistance of the armature
circuit is 0.2 Ω. The machine has six poles andthe armature is lap-connected with 864
conductors. The flux per poleis 0.05 Wb. Calculate:
a). The speed, and
b). The gross torque developed by the armature

13
The torque required to drive a DC generator at 15 r/s is 2 kN-m. The core, friction and
windage losses in the machine are 8.0 kW.Calculate the power generated in the armature
winding.

A series motor runs at 600 r/min when taking 110 A from a 250 Vsupply. The resistance of
the armature circuit is 0.12 Ω and that of the series winding is 0.03 Ω. The useful flux per
pole for 120 A is0.024 Wb and that for 50 A is 0.0155 Wb. Calculate the speed whenthe
current has fallen to 50 A.
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Week 6, 7 and 8 Lecture Notes (DC Motors and Its Speed and Torque Characteristics)

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Week 6, 7 and 8 Lecture Notes (DC Motors and Its Speed and Torque Characteristics)

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DC Motor

1.1 Difference between a DC Motor and a DC Generator

1.2 Back EMF— Eb

Now consider the circuit diagram of a shunt-wound DC motor as shown in Fig.1.

Applying KVL around the closed loop we get:

Example 42.1 (Home Assignment)

1.3 Types of DC Motors

Figure 2: Separately-excited DC Motor

Figure 3: Series-wound DC Motor

Figure 5: Compound-wound DC Motor

1.4 Speed of a DC Motor

 In words, this expression means that the speed,N, of a DC motor is approximately

1.5 Speed Characteristics of DC Motors— (N vs. Ia)

1.5.1 Speed Characteristics of Shunt-wound DC motors:

Figure 6: Speed Characteristics of a Shunt-wound DC Motor

1.5.2 Speed Characteristics of Series-wound DC motors:

1.5.3 Speed Characteristics of Compound-wound DC motors

Figure 8: Speed Characteristics of DC Motors (A.Shunt, B. Series, C. Compound)

Figure 9: Torque exerted upon a pulley by a force

1.7 Mechanical Work

Example 3.3 (Home Assignment)

1.9 Torque [and Mechanical Power (Developed by or) Output] of a DC Motor

For a given DC motor, Z,P and A are constant. It means:

1.9.1 Proof that Torque is Independent of Speed

General expression for any motor 2𝜋𝑁𝑇𝑎 𝑁𝑇𝑎

1.10 Torque Characteristics of DC Motors

1.10.1 Armature Torque of a Shunt-wound DC Motor

In case of a shunt-wound DC motor, the magnetic flux,Φ,is produced by the shunt-field

1.10.2 Armature Torque of a Series-wound DC Motor

In case of a series-wound DC motor, flux,Φ, is produced by the armature current, Ia,and is

Example 42.2 (Home Assignment)

Example 42.3 (Home Assignment)

Example 42.4 (Home Assignment)

Example 42.5 (Home Assignment)

Example 42.6 (Home Assignment)

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