19222 Electrical Machines & Control

DC Machines
Dr Andrew Cruden
Electronic & Electrical Engineering
University of Strathclyde
R: R3.08H
E: a.cruden@eee.strath.ac.uk
T: 0141-548-2991
1
Overview of Presentation

aInvestigate the torque/speed

characteristics of series and shunt DC
motors and describe typical applications
for both types
aSummary

aSee accompanying notes entitled 19222

DC Machines Theoretical Overview

19222 DC Machines 2
Quick Review

aThere are two types of DC machine to be

considered: series and shunt connected
motors
aSeries motors have the armature and field
coils connected in series
aShunt motors have the armature and field
coils connected in parallel

19222 DC Machines 3
DC Motor Relationships

a In the motor armature, the effect of the applied voltage,

Va, is reduced by the influence of an induced emf, the
back emf, Vemf or E, which is established through the
process of electromagnetic induction (i.e. Right Hand
Rule) in opposition to the applied voltage

a Note: the Right Hand Rule illustrates an induced current

however it is a voltage (emf) that is induced which in
turn causes a current to flow. talking about a current
helps the mnemonic!!

19222 DC Machines 4
Flemings Right Hand Rule
a The direction of the induced
emf in a circuit can be
understood using Flemings Motion

right hand rule (Morton Thumb)

a The first finger of the right

hand points in the direction of Field

the magnetic flux (field) (Football 1st Finger)

Current
a The thumb is pointed in the (Club 2nd Finger)
direction of motion of the
conductor relative to the flux
a The second finger then
represents the direction of the
induced emf (i.e. current flow
resulting from the back emf)

19222 DC Machines 5
Back emf Faradays Law of
Electromagnetic Induction

a The concept of a back emf can be confusing

a It simply means that whilst we are creating a force
on a conductor to produce motor action, the same
conductor is moving through a magnetic field and
therefore has a voltage (emf) induced in it
a This means that even whilst we are driving a
machine as a motor, part of it is still working as a
generator (i.e. inducing an emf)
a The underlying principle is Faradays Law of
electromagnetic induction see Transformer notes

19222 DC Machines 6
DC Motor Relationships

a Therefore the equivalent applied voltage, Veq, equals

Veq = Va - Vemf
a The back emf, Vemf = E, is only present when the motor
armature is turning.
a If the motor is stopped then there is no induced emf, as
no lines of flux are being cut, and the armature current
will be a maximum (as Veq = Va). Note that the induced
emf can never be equal to or higher than the applied
voltage

19222 DC Machines 7
DC Motor Relationships -
contd
a As Va is regulated by the induced emf, the armature
current is regulated, i.e. if no emf was induced the
armature current flowing would be much higher and the
speed of motor operation would be much higher
a The value of induced emf, Vemf rate of change of flux,
or
Vemf = Ke
a where is the motor flux, is the rotational speed of
the motor in rads/sec and Ke is a constant relating motor
parameters such as number of poles etc and is specific
for a particular motor
a The flux, , is established by the field current If 8
19222 DC Machines
DC Motor Relationships -
contd

aThe torque output of the motor is

proportional to the force on the
conductors and from F = BIaL = (/A)IaL
then, T = F.r,
T = IaKt
awhere is as before, Ia is the armature
current and Kt is the torque constant of
the motor.
19222 DC Machines 9
 DC Shunt Motor
a For a shunt connected motor if
the applied voltage is constant Equivalent Circuit for DC Shunt
then the field current, If, and Motor
therefore the flux, , is
constant Ra La
a E ( = Vemf = Ke) Ia
a So when a load is applied to
Rf
the shunt motor the speed
decreases, and therefore so Va If E M
Lf
does E
a As E decreases then the
armature current, Ia, starts to
T,
increase and the torque, T =
IfIaKt, starts to increase Inductors La and Lf are shown for
Va I a Ra completeness. For tutorials/exams, the
a Va = IaRa + E = inductors should be neglected (i.e. omitted)
19222 DC Machines
I f Ke 10
 DC Shunt Motora The motor torque will increase
until it matches the applied load
torque
a For typical values of Ia, and Ra,
Torque vs Speed Characteristics
it is normal to assume Vemf ~ Va
for a DC Shunt Motor
a Hence as Va is varied so does E
and
a Practically, at no-load (T~0), Ia
is small and E~Va, and as the
Torque, T

Increasing Va load torque increases then Ia

increases and causes E to fall
slightly relative to Va.
a Therefore the speed does fall
Speed, slightly as torque increases but
in general for a shunt motor the
speed is considered constant
w.r.t Torque
19222 DC Machines 11
Practical Concerns: Shunt
Motor
Va I a Ra
a Field Weakening: Examine the earlier equation =
I f Ke
a The speed could be varied by varying If
a This is known as field weakening - however there is a
danger if the field current is reduced to much - the
motor could overspeed!!
a Some motors sense any decrease in field current and
operate a protective relay trip i.e. disconnect the power
a If would typically be varied by changing the field
resistance Rf

19222 DC Machines 12
Example: Shunt Motor

a Assume that the shunt motor is supplied from a 100V supply, and
has an armature resistance of 1 and a field resistance of 100,
torque of 0.949Nm at a speed of 990rpm and Ke = 0.955
V/(A.rad/s).
a Calculate the power output of this motor, the efficiency at this load
and the new speed if the field resistance is changed to 125?
1
Ia Iin
If
M E 100V
100
19222 DC Machines 13
Example: Shunt Motor -
contd
a Power Output, P = T = T*(2/60)*n , where T is the
motor torque and n is the motor speed in rpm
a P = 0.949*(2/60)*990 = 98.4 W
a Power input = Iin*Vin = (Ia+If)*Vin. The field current can
be calculated easily from the circuit diagram If =
100V/100 = 1A.
a E=Ke=IfKe=1*(2/60)*990*0.955= 99V
a Va=Ia.Ra+E Ia=(100-99)/1= 1A
a Therefore Power input = (1+1)*100 = 200W
a The motor efficiency is =Po/Pin*100% = 98.4/200*100
= 49.2%

19222 DC Machines 14
Example: Shunt Motor -
contd
a From previous it was shown that the torque for a shunt
motor is proportional to the armature current, which has not
changed, therefore the motor torque is still = 0.949Nm
a The new field current, If = 100/125 =0.8A
a From T = IfIaKt, for If = 1A then Kt= 0.949/(1*1) =
0.949Nm/A2
a For the new value of If , the corresponding new value of the
armature current can be calculated
Ia = 0.949/(0.8*0.949) = 1.25A
a Therefore, = Va Ia Ra = 100 (1.25 * 1) = 129.25 rad / s = 1234 rpm
I f Ke 0.8 * 0.955

19222 DC Machines 15
 Example: Shunt Motor -
contd
a Say the load torque on the motor was trebled on sudden
application of a new load. Investigate the effect on the motor
speed for constant field current (with Rf = 100) .
a New torque, T = 3*0.949 = 2.847Nm = IfIaKt
a Therefore new Ia = 2.847/(1*0.949) = 3A (This is intuitively correct
as torque Ia if the field current is constant)
a From Va IaRa 100 (3*1)
= = =10157
. rad / s =970rpm
If Ke 1* 0955
.
a Therefore for a trebling of motor load the speed has changed by
((990-970)/990)*100% = 2% i.e. almost constant speed with
changing load
a Shunt motors are good for conveyors and machine tools which
must operate at constant speed with varying loads

19222 DC Machines 16
 Series DC Motor
Equivalent Circuit for DC a The flux, , of the motor is
Series Motor directly proportional to the
field current, If, flowing to
R a + Rf L a + Lf establish the magnetic field.
Ia a For a series motor the
current in the field and
armature coils is exactly the
Va E same
M
T = IfIaKt
= I a 2 Kt
a From the circuit diagram,
T, Va = Ia(Ra+Rf) + E,
Inductors La and Lf are shown for where Va and Ia are average
completeness. For tutorials/exams, the values and E = Vemf = Ke
inductors should be neglected (i.e. omitted)
19222 DC Machines
a E=IaKe 17
 Series DC Motor - contd

a At no load, T~0, Ia is minimal

and E~Va, and hence is a
maximum as E=IaKe
a As the load torque increases, Torque vs Speed Characteristics
Ia rises to the square power of a Series DC Motor
(TIa2)
Stall
a As Ia increases E falls relative Torque
to Va, however the speed falls Increasing Va

Torque, T
according to E=IaKe
a Therefore as the torque
increases the speed of a series
motor decreases quite rapidly
(T = constant) Speed,

19222 DC Machines 18
 Practical Concerns: Series
Motors
a From the torque vs speed characteristic it is clear that as
the torque is decreased the motor speed increases - and
will keep on increasing into overspeed (similar to
potential field weakening run away for the shunt motor)
a It is good practice therefore to always have a load
connected to a series DC motor before it is turned on to
prevent overspeed. (generally this only applies to large
DC motors as small motors tend to have enough friction
to prevent this naturally)

19222 DC Machines 19
Speed Regulation

a Speed regulation determines the ability of the motor armature to

maintain its speed when a changing load is applied
a (Analogous to transformer voltage regulation)
a Speed regulation is a ratio of no-load to full-load speed
nnl n fl
% speed regulation = 100%
n fl
where nnl is the no-load speed and nfl is the full load speed in rpm
a The lower the speed regulation the more constant the motor speed
will be over a range of applied loads

19222 DC Machines 20
Example: Series Motor

a Say the torque a series motor produces is 4Nm with 5A

flowing in the armature. Calculate the value of the stall
torque if the supply voltage to the motor is 100V and
Ra= Rf = 1 ?
a From previous it was shown that: T = Ia2Kt
Kt = T/Ia2 = 4/25 = 0.16 Nm/A2
a The armature current can be calculated by analysing the
equivalent circuit: Va Vemf 100 0
Ia = = = 50 A
Ra + R f 1+1
Note: Vemf = 0 at stall i.e. zero speed
a Therefore the stall torque Ts = 502*(0.16) = 400 Nm
19222 DC Machines 21
Example: Series Motor -
contd
a From previous it was shown: Va = Ia(Ra+Rf) + E and E=IaKe
Ve Ia * ( Ra + R f )
a This can be rearranged to give:
K =
Ia
e

a From previous, if the motor were turning at 900rpm, with a

current of 5A then the emf constant, Ke, is
100 5 * (1 + 1)
Ke = = 0.19 (V / A. rad / s )
900
5*( *2 *)
60
a If the motor now takes 20A calculate the new torque and
motor speed?
a T = Ia2Kt = 202*0.16 = 64Nm
Va Ia *(Ra + Rf ) 100 20 *(1+1)
= = =158
. rad / s =1501
. rpm
IaKe 20 * 019
.
19222 DC Machines 22
 Example: Series Motor -
contd
a The speed regulation of the series motor is difficult to calculate
as at full-load the motor is virtually stalling and at no-load it
could overspeed.
a Most applications for DC series motors are traction drives for
locomotives or for cranes, where a high starting torque, high
accelerating torque and high speed at light load is required
a These applications need high starting torque to overcome the
inertia of the load and the train requires to run at high speed
once moving
a The series motor self-adjusts to protect itself from overloads
i.e. it will reduce speed as the load increases and then stall

19222 DC Machines 23
Summary of Presentation
Motor Shunt Series

Torque T=IfIaKT T=I2aKT

Back emf E=IfKe E=IaKe

Circuit Eqn Va=IaRa+E Va=Ia(Ra+Rf)+E

Mechanical P=T P=T

Power o/p
Electrical P=Va(If+Ia) P=VaIa
19222 DC Machines
Power i/p 24