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Lecture 5: DC motors
Instructor:
Dr. Gleb V. Tcheslavski
Contact:
gleb@ee.lamar.edu
Office Hours:
TBD; Room 2030
Class web site:
http://ee.lamar.edu/gleb/
Index.htm
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Preliminary notes
DC power systems are not very common in the contemporary engineering
practice. However, DC motors still have many practical applications, such
automobile, aircraft, and portable electronics, in speed control
applications
An advantage of DC motors is that it is easy to control their speed in a
wide diapason.
DC generators are quite rare.
Most DC machines are similar to AC machines: i.e. they have AC voltages
and current within them. DC machines have DC outputs just because they
have a mechanism converting AC voltages to DC voltages at their
terminals. This mechanism is called a commutator; therefore, DC
machines are also called commutating machines.
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eind v B l
(5.5.1)
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vBlintopageunderthepoleface
eba v B l
0beyond the pole edges
(5.6.1)
vBloutof pageunderthepoleface
edc v B l
0beyond the pole edges
(5.6.2)
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(5.7.1)
(5.7.2)
v r
(5.8.1)
etot
(5.8.2)
etot p
0beyond the poleedges
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(5.8.3)
Ap B
(5.9.1)
2
underthe pole faces
etot
0beyond the poleedges
The voltage generated in any real machine depends on the following
factors:
1. The flux inside the machine;
2. The rotation speed of the machine;
3. A constant representing the construction of the machine.
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(5.9.2)
10
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F i l B
(5.12.1)
rF sin
(5.12.2)
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Fab i l B ilB
(5.13.1)
(5.13.2)
Fab i l B 0
(5.13.3)
ab rF sin 0
(5.13.4)
Fab i l B ilB
(5.13.5)
(5.13.6)
Fab i l B 0
(5.13.7)
ab rF sin 0
(5.13.8)
1.Segment ab:
2.Segment bc:
3.Segment cd:
4.Segment da:
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ind ab bc cd da
ind
Since Ap rl and
Ap B
ind
(5.14.2)
(5.14.3)
2
iunderthe pole faces
0beyond the poleedges
(5.14.1)
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(5.14.4)
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eind v B l vBl
(5.16.1)
(5.16.2)
If the induced voltage on any side of a loop is (5.16.1), the total voltage at the
brushes of the DC machine is
E 4eatt 0
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(5.16.3)
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18
E 2eatt 45
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(5.18.1)
E 4eatt 90
(5.16.3)
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Example of a commutator
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di
400
266667 A / s
dt 0.0015
Therefore, even with a small
inductance in the loop, a very large
inductive voltage kick L di/dt will be
induced in the shorted commutator
segment.
This voltage causes sparkling at the
brushes.
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33
Pole
flux
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pole
interpole
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36
or
Pout
100%
Pin
(5.36.1)
Pin Ploss
100%
Pin
(5.36.2)
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1. Electrical or copper losses the resistive losses in the armature and field
windings of the machine.
Armature loss:
PA I A2 RA
(5.37.1)
Field loss:
PF I F2 RF
(5.37.2)
Where IA and IF are armature and field currents and RA and RF are armature and
field (winding) resistances usually measured at normal operating temperature.
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PBD VBD I A
(5.38.1)
Where IA is the armature current and VBD is the brush voltage drop. The voltage drop
across the set of brushes is approximately constant over a large range of armature
currents and it is usually assumed to be about 2 V.
Other losses are exactly the same as in AC machines
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Electrical power is input to the machine, and the electrical and brush losses must be
subtracted. The remaining power is ideally converted from electrical to mechanical
form at the point labeled as Pconv.
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Pconv E A I A
(5.41.1)
Pconv ind m
After the power is converted to mechanical form, the stray losses, mechanical
losses, and core losses are subtracted, and the remaining mechanical power is
output to the load.
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(5.41.2)
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E A K
(5.43.1)
ind K I A
(5.43.2)
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Note: when
the voltage to
the field circuit
is assumed
constant,
there is no
difference
between
them
Shunt DC motor:
a field circuit gets its power from the
armature terminals of the motor.
VT E A I A RA
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(5.45.1)
46
VT
RA
2 ind
K K
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(5.46.1)
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Example 5.1: A 50 hp, 250 V, 1200 rpm DC shunt motor with compensating windings
has an armature resistance (including the brushes, compensating windings, and
interpoles) of 0.06 . Its field circuit has a total resistance Radj + RF of 50 , which
produces a no-load speed of 1200 rpm. The shunt field winding has 1200 turns per
pole.
a) Find the motor speed when its input current is 100 A.
b) Find the motor speed when its input current is 200 A.
c) Find the motor speed when its input current is 300 A.
d) Plot the motor torque-speed characteristic.
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E A K
Since the field current is constant (both field resistance and VT are constant) and
since there are no armature reaction (due to compensating windings), we conclude
that the flux in the motor is constant. The speed and the internal generated
voltages at different loads are related as
E A 2 K2 n2
E A1 K1 n1
Therefore:
E A2
n2
n1
E A1
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VT
250
I A IL IF IL
100
95 A
RF
50
Therefore:
EA2
244.3
n2
n1
1200 1173rpm
E A1
250
b) Similar computations for the input current of 200 A lead to n2 = 1144 rpm.
c) Similar computations for the input current of 300 A lead to n2 = 1115 rpm.
d) To plot the output characteristic of the motor, we need to find the torque
corresponding to each speed. At no load, the torque is zero.
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Pconv E A I A ind
EA I A
ind
2443 95
ind
190 N - m
2 1173 / 60
ind
2383 195
388 N - m
2 1144 / 60
ind
2323 295
587 N - m
2 1115 / 60
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53
Fnet N F I F FAR
(5.53.1)
It is customary to define an equivalent field current that would produce the same
output voltage as the net (total) mmf in the machine:
FAR
I IF
NF
*
F
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(5.53.2)
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E A K
(5.54.1)
For a given effective field current, the flux in the machine is constant and the
internal generated voltage is directly proportional to speed:
EA
n
E A0 n0
(5.54.2)
Where EA0 and n0 represent the reference (rated) values of voltage and speed,
respectively. Therefore, if the reference conditions are known from the magnetization
curve and the actual EA is computed, the actual speed can be determined.
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VT
250
I A IL IF IL
200
195 A
RF
50
Therefore:
At the given current, the demagnetizing mmf due to armature reaction is 840 Aturns, so the effective shunt field current of the motor is
FAR
840
I IF
5
4.3 A
NF
1200
*
F
From the magnetization curve, this effective field current will produce an internal
voltage of EA0 = 233 V at a speed of 1200 rpm. For the actual voltage, the speed is
EA
238.3
n
n0
1200 1227rpm
E A0
233
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58
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Armature
voltage speed
control
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Increasing the armature voltage VA increases the armature current (IA = (VA EA)/RA);
Increasing armature current IA increases the induced torque ind (ind = KIA);
Increased induced torque ind is now larger than the load torque load and,
therefore, the speed ;
Increasing speed increases the internal generated voltage (EA = K);
Increasing EA decreases the armature current IA
Decreasing IA decreases the induced torque until ind = load at a higher speed .
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max K I A,max
(5.64.1)
Pmax max
The maximum power out of the motor is directly proportional to its speed.
For the field resistance control, the maximum power out of a DC motor is
constant, while the maximum torque is reciprocal to the motor speed.
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(5.64.2)
65
Torque and power limits as functions of motor speed for a shunt (or separately
excited) DC motor.
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shunt
separately-excited
For the given initial line current of 126 A, the initial armature current will be
250
I A1 I L1 I F 1 126
120 A
41.67
Therefore, the initial generated voltage for the shunt motor will be
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IF 2
250
5 A
50
E A 2 K22 2 n2
E A1 K11 1n1
Since the armature current is assumed constant, EA1 = EA2 and, therefore
1n1
n2
2
The values of EA on the magnetization curve are directly proportional to the flux.
Therefore, the ratio of internal generated voltages equals to the ratio of the fluxes
within the machine. From the magnetization curve, at IF = 5A, EA1 = 250V, and at
IF = 6A, EA1 = 268V. Thus:
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1103 1187rpm
2
EA2
250
b) A speed vs. RF characteristic
is shown below:
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E A1 VT 1 I A1 RA
E A 2 K22 2 n2
E A1 K11 1n1
E A 2 n1
n2
and since the flux is constant
E A1
Since
Since the both the torque and the flux are constants, the armature current IA is
also constant. Then
VT 2 I A 2 RA
200 120 0.03
n2
n1
1103 879rpm
VT 1 I A1 RA
250 120 0.03
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VT E A I A ( RA Rs )
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(5.75.1)
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ind K I A
(5.76.1)
cI A
(5.76.2)
ind KcI A2
(5.76.3)
Torque in the motor is proportional to the square of its armature current. Series
motors supply the highest torque among the DC motors. Therefore, they are used
as car starter motors, elevator motors etc.
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cI A
(5.77.1)
ind
IA
Kc
(5.77.2)
E A K
(5.77.3)
ind
VT E A I A ( RA RS ) K
RA RS
Kc
K 2
2
Since (5.77.1), the torque: ind KcI A
c
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(5.77.4)
(5.77.5)
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c
ind
K
(5.78.1)
ind
c
VT K
ind
RA RS
K
Kc
(5.78.2)
RA RS
VT
1
Kc
Kc ind
(5.78.3)
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Example 5.4: A 250 V series DC motor with compensating windings has a total series
resistance RA + RS of 0.08 . The series field consists of 25 turns per pole and the
magnetization curve is
a) Find the speed and induced
torque of this motor when its
armature current is 50 A.
b) Calculate and plot its torquespeed characteristic.
a) To analyze the behavior of a series
motor with saturation, we pick points
along the operating curve and find the
torque and speed for each point. Since
the magnetization curve is given in
units of mmf (ampere-turns) vs. EA for
a speed of 1200 rpm, calculated
values of EA must be compared to
equivalent values at 1200 rpm.
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F NI 25 50 1250 A turns
From the magnetization curve, at this mmf, the internal generated voltage is
EA0 = 80 V. Since the motor has compensating windings, the correct speed of the
motor will be
EA
246
n
n0
1200 3690rpm
E A0
80
ind
EA I A
246 50
31.8 N - m
3690 2 60
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83
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Long-shunt
connection
Short-shunt
connection
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VT E A I A RA RS
(5.85.1)
I A IL IF
IF
The mmf of a compounded DC motor:
VT
RF
(5.85.2)
(5.85.3)
Cumulatively compounded
(5.85.4)
Differentially compounded
N SE
FAR
I IF
IA
NF
NF
*
F
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(5.85.5)
Number of turns
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88
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I F* I F
N SE
F
3
I A AR 5
200 5.6 A
NF
NF
1000
From the magnetization curve, EA0 = 262 V at speed n0 = 1200 rpm. The actual
motor speed is
EA
242
n
n0
1200 1108rpm
E A0
262
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N SE
FAR
3
I IF
IA
5
200 4.4 A
NF
NF
1000
*
F
From the magnetization curve, EA0 = 236 V at speed n0 = 1200 rpm. The actual
motor speed is
EA
242
n
n0
1200 1230rpm
E A0
236
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Cumulatively compounded
motors: speed control
The same two techniques that have been discussed for a shunt motor
are also available for speed control of a cumulatively compounded
motor.
1.Adjusting the field resistance RF;
2.Adjusting the armature voltage VA.
The details of these methods are very similar to already discussed for
shunt DC motors.
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DC motor starters
In order for DC motors to function properly, they must have some
special control and protection equipment associated with them. The
purposes of this equipment are:
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VT E A 250 0
IA
4167
A
RA
0.06
This current is over 20 times the motors rated full-load current and may severely
damage the motor.
A solution to the problem of excessive starting current is to insert a starting
resistor in series with the armature to limit the current until EA can build up to limit
the armature current. However, this resistor must be removed from the circuit as
the motor speed is high since otherwise such resistor would cause losses and
would decrease the motors torque-speed characteristic.
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VT
Rtot R1 R2 ... RA
I max
After the stages 1 through i are shorted out, the total resistance left in the starting
circuit is
Rtot ,i Ri 1 ... RA
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I A,min
VT E A,1
Rtot
I min 350 A
After the resistance R1 is out of the circuit, the armature current must increase to
I A,max
VT E A,2
Rtot ,1
I max 700 A
I min
I min
Rtot ,1
Rtot Rtot ,n
Rtot
I max
I max
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RA Rtot ,n
Solving for n:
I min
Rtot
I max
log RA Rtot
n
log I min I max
Notice that the number of stages n must be rounded up to the next integer.
VT
250
Rtot
0.357
I max 700
log RA Rtot
log 0.05 0.357
n
2.84 3
log I min I max
log 350 700
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Rtot ,1 RA R2 R3
VT E A,1
I max
250 125
0.1786
700
This (new) total resistance will be in the circuit until the current drops again to 350 A.
This occurs when
Rtot ,2 RA R3
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VT E A,2
I max
250 187.5
0.0893
700
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I A,3
VT E A,3
RA
250 218.75
625 A
0.05
which is less than the allowed value. Therefore, the resistances are
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Time delay
relay similar to
ordinary relay
except for
having
adjustable
time delay.
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Relay: a
main coil
and a
number of
contacts
Overload: a
heater coil
and normally
closed
contacts
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1.
2.
3.
4.
5.
Copper losses;
Brush drop losses;
Mechanical losses;
Core losses;
Stray losses.
To find the copper losses, we need to know the currents in the motor and two
resistances. In practice, the armature resistance can be found by blocking the rotor
and a small DC voltage to the armature terminals: such that the armature current
will equal to its rated value. The ratio of the applied voltage to the armature current
is approximately RA.
The field resistance is determined by supplying the full-rated field voltage to the
field circuit and measuring the resulting field current. The field voltage to field
current ratio equals to the field resistance.
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