DC MOTOR

Motor Arus Terus

1. Konsep penukaran kuasa elektrik kepada
kuasa mekanikal
2. Prinsip kendalian motor a.t.
3. Tindak balas angkir, menukar arah putaran
motor dan daya gerak elektrik balikan
4. Motor jenis siri, pirau dan gabungan
5. Perbandingan ciri-ciri motor a.t.
6. Persamaan voltan motor a.t.
7. Daya kilas angkir dan daya kilas aci
8. Mengawal kelajuan motor a.t.
9. Pengaturan kelajuan
10.Kehilangan dan kecekapan
11.Penghidup motor a.t.
12.Kegunaan motor a.t.

Introduction
Electromagnetic Energy Conversion:
1.

2.

When armature conductors move in a magnetic field produced

by the current in stator field winding, voltage is induced in the
armature conductors.
When current carrying armature conductors are placed in a
magnetic field produced by the current in stator field winding,
the armature conductors experience a mechanical force.

These two effects occur simultaneously in a DC machine

whenever energy conversion takes place from electrical to
mechanical or vice versa.

Operation Of DC Motor
Flemming
left hand
rule

Armature Reaction

If a load is connected to the terminals of the dc

machine, a current will flow in its armature windings.
This current flow will produce a magnetic field of its
own, which will distort the original magnetic field from
the machines field poles. This distortion of the magnetic
flux in a machine as the load is increased is called the
armature reaction.

Reversal of Direction of
Rotation:

Reversal of Direction of Rotation:

The direction of the magnetic flux in the air gap depends on

the direction of the field current.

And the direction of the force exerted on the armature

winding depends on the direction of flux and the direction of
armature current.

Thus in order to reverse the direction of dc motor, we have

to reverse the direction of force.

This can be achieved either by changing the terminals

of the armature or the terminals of the field winding

DC Motor Operation

In a dc motor, the stator

poles are supplied by dc
excitation current, which
produces a dc magnetic
field.
The rotor is supplied by dc
current through the brushes,
commutator and coils.
The interaction of the
magnetic field and rotor
current generates a force
that drives the motor

DC Machine Equivalent
Circuit

Equivalent circuit of a DC motor

The armature circuit (the
entire rotor structure) is
represented by an ideal
voltage source EA and a
resistor RA. A battery Vbrush in
the opposite to a current flow
in the machine direction
indicates brush voltage drop.
The field coils producing the
magnetic flux are represented
by inductor LF and resistor RF.
The resistor Radj represents an
external variable resistor
(sometimes lumped together
with the field coil resistance)
used to control the amount of
current in the field circuit.

DC Motor Equivalent Circuit.

The armature is represented by an ideal voltage source EA and a

resistor RA.
The brush voltage drop is represented by a small battery Vbrush
opposing the direction of the current flow in the machine.
The field coils, which produce the magnetic flux, are
represented by inductor LF and RF.
The separate resistor Radj represents an external variable
resistor used to control the amount of current in the field circuit.

Equivalent Circuit of a DC Motor.

 The brush drop voltage is often only a very tiny fraction of the

generated voltage in the motor.

Therefore, in cases where it is not critical, the brush drop voltage
may be left out or approximately included in the value of R A.
Also, the internal resistance of the filed coils is sometimes
lumped together with the variable resistor, and the total is called
RF , Figure below.

A Simplified Equivalent Circuit eliminating the Brush

Voltage Drop and Combining Radj with the Field
Resistance .

Motor types: Separately Excited DC

motors.
Separately excited DC
motor:
a field circuit is supplied from a
separate constant voltage
power source.

The Equivalent Circuit of Separately Excited dc Motor.

From the above figure,

VF
IF
RF

VT E A I A R A
IL IA

Motor types: Shunt DC motors.

Shunt DC motor:
a field circuit gets its power
from the armature terminals of
the motor.
The Equivalent Circuit of

a Shunt dc Motor.

From the above figure,

VF
IF
RF

VT E A I A R A
IL IA IF

Motor types: The permanent-magnet

DC motor
A permanent magnet DC (PMDC) motor is a motor whose poles
are made out of permanent magnets.
Advantages:
1. Since no external field circuit is needed, there are no field circuit
copper losses;
2. Since no field windings are needed, these motors can be
considerable smaller.
Disadvantages:
1. Since permanent magnets produces
weaker flux densities then externally
supported shunt fields, such motors have
lower induced torque.
2. There is always a risk of demagnetization
from extensive heating or from armature
reaction effects (via armature mmf).

Motor types: The series DC motor

A series DC motor is a DC motor whose field windings consists
of a relatively few turns connected in series with armature
circuit. Therefore:

VT E A I A RA RS

Motor types: Compounded DC motor

A compounded DC motor is a motor with both a shunt and a
series field.
Current flowing into a
dotted end of a coil
(shunt or series)
produces a positive mmf.

If current flows into the

dotted ends of both coils,
the resulting mmfs add
to produce a larger total
mmf cumulative
compounding.
If current flows into the dotted end
of one coil and out of the dotted
end of another coil, the resulting
mmfs subtract differential
compounding.

Longshunt
connectio
n

Shortshunt
connectio
n

Motor types: Compounded DC motor

The Kirchhoffs voltage law equation for a compounded DC motor is

VT E A I A RA RS

(5.85.1
)

The currents in a compounded DC motor are

VT
IF
RF

IA IL IF

(5.85.2
)
(5.85.3
)

Cumulatively compounded

The mmf of a compounded DC motor:

Fnet FF FSE FAR

(5.85.4
)

Differentially compounded

The effective shunt field current in a compounded DC motor:

N SE
FAR
I IF
IA
NF
NF
*
F

Number of turns

(5.85.5
)

Torque Equation
T k AI A
T = torque of armature (Nm)
kA = geometry constant
= flux/pole (Wb)
IA = armature current (A)

Geometry Constant
pN
pN
'
kA
(rad / s ), k A
(rpm )
2M
60 M
p = number of field poles
N = number of active conductors on armature
M = number of parallel paths in armature winding
(=p for lap winding, =2 for wave winding)

Power Equation

P EI A T
P=power (W) not counting losses
E = EMF induced in armature (back EMF)
IA = armature current (A)
T = torque of armature (N-m)
= speed of rotation (rad/s)
Note that Pin = VLIL which will be higher than P
because of loss in the field and armature
windings as well as rotational (friction) losses.

EMF Equation

E k A k n
'
A

60
n
2

E = EMF induced in armature (V)

kA = geometry constant
= flux/pole (Wb)
= speed of rotation (rad/s)
n = speed of rotation of armature
(rpm)

Terminal Voltage Equation

RA
+

VT

VT E I A R A

VT = voltage at motor terminals

E = EMF induced in armature (V)
IA = armature current (A)
RA = armature resistance

Speed Equation
VT I A R A
n
k A'
(applies to shunt connected motor only)
Note that can also be written as kfIf where
kf is /If (normally a constant ratio)

Ratio Equation

n2 E 2

n1 E1

Speed-Torque
Speed
Differential Compound
Shunt
Cumulative Compound

Series

Torque

Power flow and losses in DC machines

Unfortunately, not all electrical power is converted to mechanical power
by a motor and not all mechanical power is converted to electrical power
by a generator
The efficiency of a DC machine is:

Pout

x100%
Pin
or

Pin Ploss

x100%
Pin

The losses in DC machines

There are five categories of losses occurring in DC machines.

1. Electrical or copper losses the resistive losses in the armature

and field windings of the machine.
Armature loss:

PA I A2 RA

Field loss:

PF I RF
2
F

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.

The losses in DC machines

2. Brush (drop) losses the power lost across the contact potential at
the brushes of the machine.

PBD VBD I A

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

The losses in DC
machines
3. Core losses hysteresis losses and eddy current losses. They vary
as B2 (square of flux density) and as n1.5 (speed of rotation of the
magnetic field).

4. Mechanical losses losses associated with mechanical effects:

friction (friction of the bearings) and windage (friction between the
moving parts of the machine and the air inside the casing). These losses
vary as the cube of rotation speed n3.

5. Stray (Miscellaneous) losses losses that cannot be classified in

any of the previous categories. They are usually due to inaccuracies in
modeling. For many machines, stray losses are assumed as 1% of full
load.

The power-flow diagram

On of the most convenient technique to account for power
losses in a machine is the power-flow diagram.
For a
DC
motor:

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.

The power-flow diagram

The electrical power that is converted is

Pconv E A I A
And the resulting mechanical power is

Pconv indm
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.

Example 1
A 6 pole, 3.0 hp 120V DC lap-wound shunt motor has 960
conductors in the armature. It takes 25.0 A from the supply at
full load. Armature resistance is 0.75, flux/pole=10.0 mWb,
field winding current is 1.20A. Find the speed and torque.
E K A
746W
2.24kW
hp

P 3hp

I A I L I F 25 A 1.2 A 23.8 A
E VT I A RA 120V 23.8 A 0.75 102V

6 960 153
pN
KA

2M 2 6

E
102V

66.9rad / s
K A 153 10 x10 3

60
638rpm
2

n
T

P
2.24kW

33.5 N m
66.9rad / s

Example 2
A 10hp, 115V Dc series motor takes 40A at its full load speed
of 1800rpm. What is the torque at 30A?

2n 2 1800

188rad / s
60
60

T K AI A K A K F I F I A
IF I A

746W
7.46kW
hp

P 10hp

P T
P
7.46kW
T
39.6 N m
188rad / s

T K AKF I A

K AKF

T
39.6 N m

0.025
2
40 A 2
IA

Tnew K A K F I An ew 0.025 30 A 22.2 N m

2

Example 3 (a)
A 220V DC shunt motor draws 10A at 1800rpm. The
armature resistance is 0.2 and field winding resistance is
440.
(a) What is the torque?

IF

VT 220V

0.5 A
RF 440

I A I L I F 10 A 0.5 A 9.5 A
E VT I A R A 220V 9.5 A 0.2 218V
P EI A 218V 9.5 A 2.07 kW

2n 2 1800

188rad / s
60
60

P
2.07 kW

11.0 N m
188rad / s

Example 3 (b)
A 220V DC shunt motor draws 10A at 1800rpm. The
armature resistance is 0.2 and field winding resistance is
440.
(b) What will be the speed and line current at a torque of 20
N-m (if field current is constant)?
E K A
K A

E
218V

1.16
188rad / s

T K AI A
IA

T
20 N m

17.3 A
K A
1.16

I L I A I F 17.3 A 0.5 A 17.8 A

E VT I A R A 220V 17.3 0.2 217V

E
217V

187rad / s
K A 1.16

60
1.79 x103 rpm
2

(shunt is constant speed)