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Classification / types
DC Motors
AC Motors
Stepper Motors
Linear motors
Function
Power conversion - electrical into mechanical
Positional actuation electrical signal to position
DC Motors
DC Motors
Fundamental characteristics
Basic function
Series
Shunt
Combination
Torque characteristics
Modeling
End view
Time 0
End view
Time 0+
Nature of commutation
Starting torque
300% to as high as 800% of full load torque.
Speed regulation
Less precise than in shunt motors
Diminished load reduces current in both armature and field
resulting in a greater increase in speed than in shunt motors.
No load results in a very high speed which may destroy the motor.
Small series motors usually have enough internal friction to prevent
high-speed breakdown, but larger motors require external safety
apparatus.
Starting torque
125% to 200% full load torque (300 for short periods).
Modeling DC motors
DC Motor modeling
From the circuit
V IR Eb
Motor equations
Eb K e
Power is:
T Kt I
Substituting the above:
T
R K e
Kt
V
T
R
Kt Ke Kt
KV
Ts e
R
R
T
Ke Kt
R 2
T
P T T n
Ke Kt
Max power is:
Pmax
V2
4R
Units:
K e [Vs / rad ]
K t [ Nm / A]
Application
Use motor voltage and no-load speed to calculate Kt
Kt = Ke in SI units
Use stalled rotor torque, V, and Ke to find R
Note, R varies with speed and cannot be measured at rest
H-Bridge implementation
Elements in box are
available as single IC
Brushless designs
Commutation is done
electronically
Encoder activated switching
Hall effect activated switching
Back EMF driven switching
PM armature
Wound/switched fields
Application
Few wearing parts (bearings)
Capable of high speed
Fractional HP
Servos
Low EMC
AC Motors
AC Motors
Fundamental characteristics
Types
Fractional
Shaded Pole
Capacitor Start Induction Run
Integral
Service Factor
Insulation class
Stepper
Modeling
AC motor model
AC Motors
120 f
Ns
P
Poles
Speed
(RPM)
3600
1800
1200
Seimens AG
Torque/speed curve
Locked
Rotor
Torque
% FL
Pull-up
Torque
% FL
Breakdown
Torque
% FL
Locked
Rotor
Current
% FL
Slip
%
Efficiency
70-275
65-190
175-300
NA
0.5-5
Med-High
70-275
65-190
175-300
600-700
0.5-5
Med-High
200-285
140-195
190-225
600-700
1-5
Med
275
NA
275
600-700
5-8
Low
74-190
60-140
160-200
800-1000
0.5-3
High