University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 9: DC Motors II

DC Machines II
For a
winding
back emf equations are:

a = ia

magnet motor, the torque and

ea =

If we modify our machine to include multiple turns, these become

a =

ia

ea =

, K a , that

In a real machine, we introduce an

accounts for construction parameters (including armature turns)

Gives:

= ia K a

Nathan Ozog 2013

e = K a

Page 1 of 9

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 9: DC Motors II

Consider Power

P = ia ea =
K =
{ K a
1
424
3
a
Pm

Pe =
Pm =
Mode
Direction of
Direction of terminal

and rotational
and armature

are the
are the

Mode
Direction of torque and rotational velocity are
Direction of terminal voltage and armature current are

Nathan Ozog 2013

Page 2 of 9

University of British Columbia

EECE 365 Winter 2013
Permanent Magnet Circuit Model
In a real machine there is

Elec Machines & Electronics

Lecture 9: DC Motors II

and

in the circuit

Ra is armature resistance
La are armature inductance
The terminal voltage is then given by:

vt =
The non-ideal mechanical equations for this are then:

e =
e
m
fric
J load
J machine

torque produced by the machine [N m ]

mechanical load torque [N m ]

mechanical friction [N m ]

[
]
moment of inertia for the machine [Kg m ]
mechanical load moment of inertia Kg m

Nathan Ozog 2013

Page 3 of 9

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 9: DC Motors II

Excited Motors
We can create our magnetic field with an exciter instead of a permanent
magnet

Torque

Back EMF

= ia K a

ea = K a

= ia K a f i f
N

f
1
424
3

= K a f i f
N

f
1
424
3

We then define Laf =

= ia Laf i f

ea = Laf i f

Field Voltage

vf = Rf if + Lf

Nathan Ozog 2013

di f
dt

Terminal Voltage

vt = Raia + La

dia
+ ea
dt

Page 4 of 9

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 9: DC Motors II

Steady State DC Circuit Model

Inductance is due to field and armature being
They have no effect in
.

Field Voltage (Steady State)

Terminal Voltage (Steady State)

vf =

vt =

Motor Connections
We can connect these windings in various configurations:
Excited

Excited

Excited

Shunt Connection
Field winding is designed for up to rated
voltage
Field winding has
number of turns
Field current is
compared to armature current
Series Connection
Field winding is designed for up to rated armature
Field winding has
number of turns
Field current is the same as the
current

Nathan Ozog 2013

Page 5 of 9

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 9: DC Motors II

We can also have motors where there are two field windings

-Shunt Compound

-Shunt Compound

Separately Excited

vf = Rf if

vt = Ra ia + ea ea =
= ia Laf i f ia =
ea = i f Laf =

ea
=
i f Laf

i f Laf

Vt ia Ra
V
i R
V
Ra
= t a a = t
i f Laf
i f Laf i f Laf i f Laf (i f Laf

Vt
Ra
=

i f Laf (i f Laf

Nathan Ozog 2013

Page 6 of 9

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 9: DC Motors II

Shunt Excited

vf =

= Rf if if =

Rf

vt = Ra ia + ea ea = vt ia Ra

ea
V i R
V i R
= t a a = t a a
i f Laf
i f Laf

= ia Laf i f ia =

Vt ia Ra
=
Vt
Laf
Rf

Laf i f
Vt

Ra i a

Rf
Laf

Ra

Nathan Ozog 2013

Rf
Laf

R f Ra
2

Vt Laf

Page 7 of 9

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 9: DC Motors II

Series Excited

vf = Rf if =

vt = Ra ia + R f ia + ea
ea =

ea
V i (
= t a
i f Laf
ia Laf

= ia Laf i f =

Vt ia (Ra + R f
ia Laf

ia =

)=

ia (Ra + R f )
Vt

=
ia Laf
ia Laf

Vt

Ra + R f
Laf

Ra + R f
Vt

=
Laf
Laf
2

Nathan Ozog 2013

Vt Laf

(Laf + Ra + R f )2

Page 8 of 9

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 9: DC Motors II

Compound Motors

Nathan Ozog 2013

Page 9 of 9