DC Motor

Muhammad Amzar bin Mohd Noh (2140165)

Department of Electrical and Electronics Engineering, Faculty of Engineering,

National Defence University of Malaysia, 57000 Kuala Lumpur.

E-mail : amzarupnm@gmail.com

Abstract- In this paper, the separately excited DC motor operating modes:

motor with 5HP, 1200rpm and 30N.m rated
torque had been designed. The speed value of
the Dc motor is analysed by varying the value
of the armature voltage. The theory on
controlling the speed of motor using the two
type of voltage controlling were proved.
Besides that, the simulation is proving the
independent of (Ia) from (If) when one of the
current value changed. Lastly, analysis on the
effect of firing angle on the speed is done by
constructing the single phase full wave
controlled rectifier fed into the Dc motor.
1. INTRODUCTION
Dc motor can be classified in many types such
as single phase drive, three phase drive and
DC-DC converter drive. Dc also has variable
characteristics and it had been used
extensively in variable speed drive.
1. Motoring
2. Regenerative braking
3. Dynamic braking
4. Plugging
5. Four quadrants
2. MATHEMATICAL AND THEORY OF
SEPARATELY DC MOTOR MODEL
The equivalent circuit of separately excited Dc
motor is shown in figure 1. It is consisting the
voltage applied to the motor (Va), armature
resistance (Ra), armature inductance (La), field
resistance (Rf), field inductance (Lf), generated
back emf (Eg), and electromagnetic torque
developed by the motor (Tm).

There are two types of DC motor which is shunt

and series DC motor. In shunt DC motor, speed
can be varying by controlling the armature
voltage, field current and torque demand
which is corresponds to an armature current
while the field current is fixed.

The speed of series Dc motor can be varied by
controlling the armature voltage same as in the
shunt motor and controlling armature current
which is a measure of the torque demand.
Special things about series motor is it can
provide high starting torque so that, series
motor are commonly used in traction
application[1].
The dc motor has two separate sources of
fluxes that interact to develop torque. These
are the field and the armature circuits. Because
of the commutator action, torque was
developed[2].
Figure 1: Equivalent circuit of separately DC motor
Operation of the separately Dc motor
First, the armature current flows in the circuit
by applied Va. Then, the motor is excited by a
field current cause the motor to develop a back
emf and torque Td to balance the load torque
at a particular speed[1].
Mathematical calculation for the separately
Dc motor
Vf = Rf + if Va = Ra ia + Eg
Eg = KvIf Td = Kt if ia (kt = Kv)
 Field-armature mutual inductance (Laf)
In normal operation, Td = J + B + TL
= 1.8 H
Where B: viscous friction constant

TL: load torque (N.m)

The internal circuit of the Dc machine is shown
J: inertia of the motor (kg.m^2)
in figure 3.

Motor speed : =

The motor speed can be varied by controlling

the Va and Vf.

For a fixed field current, the torque demand

can be satisfied by varying the armature
current.

3. SIMULATION OF DC MOTOR

The simulation is using the DC machine block

and operate at motor mode.
Figure 3: DC machine internal circuit

The circuit build in the machine is consisting

the armature and field mechanism and the
output from the machine is motor. To identify
the machine work in motor mode or generate
mode, the sign convention for the mechanical
torque is when the speed is positive. The
positive torque signal indicates motor mode
and a negative signal indicates generator mode

Results from the simulation:

Figure 2: Simulation of Separately excited Dc motor

The output of the simulation display the speed,

armature current, field current and the torque
Te. The speed of DC motor can simply be set by
applying the correct voltage.

The simulated DC motor has 5HP, 240 V and

1200 rpm and rated torque = 30 N.m.

Parameters and the value use in the

Figure 4: Speed of the motor in rad/s.
simulation.

Ra and La = 0.6 and 0.012H Figure 4 shows the value of the motor speed
in rad/s which is 125.3. Times of the motor to
Rf and Lf = 240 and 120H achieve the constant speed is 1.239s. During
the motor start to rotate to achieve the rated
speed, the armature current is high and start
to decrease when speed of the motor near to
the steady state. The waveform of the
armature current is shown in figure 5.

Figure 7 :Rated Torque

Figure 7 show the torque value which is

29.94N.m. Time for the motor to reach
demand torque is 1.650s.

Figure 5: Armature current (A)
Figure 5 shows the value of armature current
of the motor to achieve the speed of 1200rpm
or 125.3 in rad/s. Time for armature current
to be constant is 1.625s.
From the simulation result, horsepower and
speed of the motor can be calculated. Others
simulation results also can be proved from the
calculation.
Induced Emf,

= , 240 16.3*0.6 = 230.22V

245
= / , = 240 = 1.0208 A

=
= 230.22 16.3 = 3752.586
Speed of the motor
Eg
= LafIf
230.22
= (1.8)(1.0208) = 125.293 rad/s.

Speed in rpm,

125.293 / (2/60) = 1196.49 rpm

Figure 6: Field Current, If (A)
Torque of the motor,
Figure 6 show the value of field current 1.021A Pe 3752.586
which is constant from the initial. It is constant =
, = 125.293
= 29.96 N.m
because the field winding is only used to excite
Horsepower of the motor
the field flux. Field currents depending on its
own voltage supply (Vf). 3752.586
= 745.7
= 5.0032 HP
Analysis On The Theory About Torque And the motor. To develop the full converter, four
Speed Demand thyristors are used forming the full bridge. The
bridge fed with the Ac voltage sources.
As the theory state in the introduction, the
motor speed can be varied by controlling the According to the theory about the effect of
Va or Vf. firing angle to the speed of motor, as the firing
angle increase, the speed of the motor will
The torque demand can be achieve by varying
decrease.
the armature current (Ia).
The equation of armature voltage for this type
The field current If is independent of armature
of converter is :
current. Any changes of (Ia) does not effecting
the (If). 2Vm
=

The simulation use the five different values of
armature voltage to investigate the changes of
motor speed, changes of armature current and
the value of field current. Five values of
armature voltage are 240V, 260V,280V,300V
and 320V.
Table 1: Simulation results from different values of
armature voltage (Va).

Va(V) Ia(A) If(A) Speed

(m)
Figure 8 Equivalent circuit of the full wave controlled Dc
240 16.3 1.021 125.3 motor
260 17.65 1.021 135.7
280 19.01 1.021 146.2
300 20.37 1.021 156.6
320 21.73 1.021 167.1

Based on the table above, the result clearly

show that the changes of armature voltage
does not effecting the value of field current If.
This is because each windings are supplied with
the voltage separately. Armature current is
independent of the field current.

Besides that, the speed of the motor increase

as the armature voltage increase. But, if the
field voltage are increased, the speed motor is
decrease. The field winding is used to excite
the field flux. The interaction between the flux
and the armature current producing torque.

4. SINGLE PHASE FULL CONVERTER DC

MOTOR

The simulation on the single phase full

converter DC motor is to study about the effect
of firing angle to the torque and the speed of
 Figure 10: The single phase full wave controlled Dc motor

Figure 9: The simulation circuit of the single phase full wave controlled rectifier.

Figure 8 shows the simulation circuit for the
single phase full wave converter fed to the Dc
motor. The function of pulse generator is to
provide firing angle (). The four numbers of
thyristor forming the full bridge to produce DC
voltage. Torque load 0 N.m is constant to
analyse the changes occur on the speed of the
motor.
The firing angles used in this simulation to get
different output speed and torque are 10, 30,
60, and 80
Based on the table 2, the speed of the motor
is decreasing due to the increasing of the
firing angle. Speed result in the table obtain in
10 second simulation time.
Formula to calculate the Va is:
2Vm
=
As the firing angle increase, the armature
voltage decrease. Speed will decrease as the
armature voltage decrease[3].

Table 2: Different value of firing angle and the effect of

the motor speed

Firing Angle Firing Angle Speed

T(1) () T(1) () (rad/s)

10 190 105.20
30 210 104.20
60 240 100.1
80 260 88.37
Figure 11: The speed value of the motor for 10 degree
firing angle in 20second simulation time is 113.6rad/s.
Figure 12: The speed value of the motor for 80 degree
firing angle in 20 seconds simulation times is 104.7rad/s
Analysis between torque and armature
current
Certain value of load torque can make the
armature currents become continuous[4]. To
investigate the effect of load torque on the
continuity of the armature current, the firing
angle used in this simulation is constant which
is 80 degree.
Figure 13: waveform of armature voltage and armature
current at load torque equal to 30 N.m
Based on the figure 12. The armature current
is discontinuous and touching the value of
zero.
Figure 14: Waveform of armature voltage and armature
current at load torque equal 60 N.m
Based on the figure 13, the armature current is
continuous and it not touching the zero.
In the theory of controlled full wave rectifier
written in the book Power Electronics, Daniel
W.hart, when < + , the current at the
output is discontinuous. If not, the current is
continuous.
 5. CONCLUSION

The simulation of separately excited Dc motor

in this paper is to study about the variable
control of the motor speed, effect of firing
angle and some theory about the Dc motor.
Speed of motor can be control by varying the
armature voltage or field voltage. The firing
angle also give an effect on the speed of motor.
Normally, the field current is much smaller
than the armature current.

6. REFERENCES

[1] R. Namdeo, C. S. Sharma, and R. B.

Minz, Analysis of Speed for Separately
Excited DC, vol. 3, no. 9, pp. 305312,
2014.
[2] POWER ELECTRONICS Academic Press
Series in Engineering , MH RASHID. .
[3] C. S. Sharma, K. Singh, R. Tamrakar, and
M. Pradesh, A THYRISTOR BASED
SPEED CONTROL TECHNIQUES, vol. 1,
no. 11, pp. 1325, 2016.
[4] R. Gupta, R. Lamba, and S. Padhee,
Thyristor Based Speed Control
Techniques of DC Motor:, vol. 2, no. 6,
pp. 16, 2012.
Power Electronic Book, Daniel W.hart,
Chapter4