EBB2133ElectricalMachine1 Chapter5:DCMachines

Lecturer: DrZuhairiBaharudin Room:220309Ext:7810 email:zuhairb@petronas.com.my email: zuhairb@petronas.com.my

DCMotor

Objectives
Studentsshouldbeableto: a) describe the equivalent circuit for different types of describetheequivalentcircuitfordifferenttypesof DCmotors b) describetheterminalcharacteristics(torquevs. ) ( q speed)foraDCmotor c) determinespeedandtorquegeneratedbyaDC motorgivenitsterminalcharacteristicsand t i it t i l h t i ti d magnetizationcurve

 AseparatelyexcitedDCmotorisamotorwhosefieldcircuit receivespowerfromaseparateconstantvoltagesupply.

SeparatelyExcitedDCMotor Separately Excited DC Motor

VF IF = RF + Radj
Lumped together as RF

VT = E A + I A R A IL = I A

ShuntDCMotor Shunt DC Motor AshuntDCmotorisamotorwhosefieldcircuitgetsits

powerdirectlyacrossthearmatureterminals.
VT IF = RF VT = E A + I A R A IL = IA + IF

Lumped together as RF

SeparatelyExcitedandShuntDC Motors
Whenthesupplyvoltageisassumedconstant,thereisnopractical differencebetweenaseparatelyexcitedDCmotorandashuntDCmotor. difference between a separately excited DC motor and a shunt DC motor.

Lumped together as RF

Lumped together as RF

(a) Equivalent circuit of a separately excited DC motor.

(b) Equivalent circuit of a shunt DC motor.

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 TerminalCharacteristics l h

ShuntDCMotor Shunt DC Motor

Aplotofmachinesoutputquantitiesversuseachother. Terminal characteristics of a motor is torque versus speed and we can Terminalcharacteristicsofamotoristorqueversusspeed andwecan derivetheplotfromtheKVLequationofashuntDCmotor, VT = EA + IARA. Since EA = K, SinceE

VT = K + I A R A

Meanwhile,thearmature currentcanbeexpressedas

ind IA = K

therefore

ind VT = K + RA K
VT RA = ind 2 K ( K )
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Theterminalcharacteristicsof ashuntDCmotor

ShuntDCMotor Shunt DC Motor

Lets check ! Whenloadonamotorisincreased: load willexceedind, motorslows down Internallyinducedvoltage(EA =K)drops,armaturecurrent, IA =(VT EA)/RA increases AstheIA increases,inducedtorqueinthemachine,ind = KIA , q , increasesuntilitisequaltotheload atalowermechanicalspeed.

Thetorquespeedcharacteristicsislinearwhentheterminalvoltage,VT andothervariablesarekeptconstant. Armaturereaction canalsoaffecttheshapeoftheplot. Armature reaction can also affect the shape of the plot Asloadincreases,thefluxweakeningeffectsreducesthetotalfluxin themachine. As amo nt of fl decreases the speed of the motor increases Asamountoffluxdecreases,thespeedofthemotorincreases.

ShuntDCMotor Shunt DC Motor

VT RA = ind 2 K ( K )

ShuntDCMotor Shunt DC Motor

NonlinearAnalysis
Flux is nonlinear function of magnetomotive force F. Flux, isnonlinearfunctionofmagnetomotiveforce,

E A [= K]

VF I F = RF
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ShuntDCMotor Shunt DC Motor NonlinearAnalysis

Inamachinewitharmaturereactionpresent,totalfluxisreduced whenloadincreases. when load increases Therefore,theresultant/netmmf inashuntDCmotoris

Fnet =NFIF - FAR

TofindtheresultingEA,welocatetheequivalentfieldcurrent,IF* on themagnetizationcurve,givenby F

IF * = IF

AR

NF

WithchangingvaluesofEA,thespeedofthemachinechangestoo. g p p p , Sincethemagnetizationcurveisplottedforaparticularspeed,the relationshipbetweenEA andspeedisgivenby

EA n = E A 0 n0

where EA0 and n0 are reference values from the magnetization curve.

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ShuntDCMotor Shunt DC Motor

SpeedControl
Threemethodsareavailabletocontrolthespeedofashunt DCmotor: Adjustingthefieldresistance,RF (andthusthefieldflux) Adjustingtheterminalvoltage appliedtothearmature d h l l l d h Addingaresistor inserieswiththearmaturecircuit(less commonmethod) common method)

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 AdjustingFieldResistance,RF

ShuntDCMotorSpeedControl Shunt DC Motor Speed Control

F

IncreasingRF causesfieldcurrent, IF (= VT/RF) to decrease ( todecrease. Lumped DecreasingIF decreasesflux,. together as R Decreasing reducesarmature voltage,E (E voltage EA.(EA = K ) DecreasingEA increasesarmature current,IA (= (VT - EA)/RA). IncreasingIA i i I increasesinducedtorque,(ind = K IA) i d d ( ), V withthechangeinIA dominantoverchangeofflux. IF = T

Increasingind makesind > load , andthespeedofthe VT = E A + I A R A machine, increases. Increasing increasesEA (= K )again. IL = IA + IF IncreasingEA decreasesIA. g DecreasingIA decreasesind untilind = load atahigherspeed.
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RF

ShuntDCMotorSpeedControl Shunt DC Motor Speed Control

Torquespeedcharacteristic m
If1 <

If2 < If3

1 < 2 < 3 n1n2 n3 nNL2 nNL1 nNL3 n

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 AdjustingTerminalVoltage,VT appliedtothearmature

ShuntDCMotorSpeedControl Shunt DC Motor Speed Control

Voltageappliedtothearmatureisadjustedwithoutchangingthevoltage appliedtothefield. pp f Increasingarmaturevoltage,VA increasesarmaturecurrent, IA [= (VA EA) /RA ]. Increasing IA increases induced torque iind. IncreasingI increasesinducedtorque, d Increasingind makesind > load , increasing. Increasing increasesEA (= K )again. IncreasingEA decreasesIA [= (VA EA ) /RA ]. DecreasingIA decreasesind untilind = load atahigherspeed.

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ShuntDCMotorSpeedControl Shunt DC Motor Speed Control

Torquespeedcharacteristic m V3
<

V2 < V1

n3

n n2 n1 nNL2nNL1 nNL3
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ShuntDCMotorSpeedControl Shunt DC Motor Speed Control

Armatureresistancespeedcontrol

SpeedmaybecontrolledbychangingRa Thetotalresistanceofarmaturemaybevariedbymeansofa rheostatinserieswiththearmature Thearmaturespeedcontrolrheostatalsoservesasastarting resistor. Fromncharacteristic,

VK f I f =c = start 2R a K f 2 I f 2n slope = 2Ra

Will b changed be h d

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ShuntDCMotorSpeedControl Shunt DC Motor Speed Control

Torquespeedcharacteristic
m Ra1 Ra2

Ra1 < Ra2 < Ra3

Ra3

n3 n2 n1

nNLn

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ELECTRICALMACHINES1 EBB2133
SeriesandCompounded p DCMotors

Objectives
Studentsshouldbeableto: a) describe the equivalent circuit for series and describetheequivalentcircuitforseriesand compoundedDCmotors b) describetheterminalcharacteristics(torquevs. ) ( q speed)forbothDCmotors c) determinespeedandtorquegeneratedgivenits terminalcharacteristicsandmagnetizationcurve t i l h t i ti d ti ti

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 ADCmotorwhosefieldwindingsconsistofarelativelyfew turns,connectedinserieswiththearmaturecircuit. B i BasicprinciplebehindaseriesDCmotoristhatfluxisdirectly i i l b hi d i DC t i th t fl i di tl proportionaltothearmaturecurrent,IA,atleastuntil saturationisreached.

SeriesDCMotor Series DC Motor

IA = IS = IL VT = E A + I A ( R A + RS )

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 I d dT InducedTorque

SeriesDCMotor Series DC Motor

Asloadisincreased,IL andIA increaseandsodoesflux. Anincreaseinfluxcausesadecreaseinthespeedofthemotor. p ForaseriesDCmotor,inducedtorqueisgivenbyind =KIA andflux isproportionaltoitsarmaturecurrent (atleastpriortosaturation), =cIA. Therefore,theinducedtorqueisproportionaltothesquareofits armaturecurrent,ind =KcIA2 . This makes the series DC motor suitable for hightorque applications ThismakestheseriesDCmotorsuitableforhigh torqueapplications suchasstartermotorsincars,elevatorandcranes.

IA = IS = IL VT = E A + I A ( R A + RS )
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SeriesDCMotor Series DC Motor TerminalCharacteristics

ThetorquespeedrelationshipcanbederivedusingKVL VT = EA + IS (RA +RS) and proportionality of flux and armature andproportionalityoffluxandarmature current, =cIA..

VT Kc

ind

R + RS A Kc

For detailed derivation, refer to Chapman, pg. 564

AdisadvantageofaseriesDCmotoristhatitsspeedgoestoinfinity whenthetorqueiszero. h th t i Inpractice,thiswillnotbesoasthemotorneedstoovercome mechanical,strayandcorelosses. However,itisessentialtoremembernottocompletelyunloada seriesDCmotorasthemotorwillturntoofastanddamageitself.

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SeriesDCMotor Series DC Motor TerminalCharacteristics

The torque-speed characteristic of a series DC motor.

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 SpeedControl

SeriesDCMotor Series DC Motor

=
VT Kc 1 R A + RS Kc

TheonlymethodtocontrolthespeedofaseriesDCmotorisby changingitsterminalvoltage. changing its terminal voltage

ind

Thefirsttermofthetorquespeedrelationshipshowsincreased speedforanygiventorque.

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ADCmotorwithbothashuntandseriesfieldcircuits. Todifferentiatebetweenacumulativelyanddifferentiallycompounded DCmotors,wewillusethedotconvention:Currentflowingintoadot DC motors we will use the dot convention : Current flowing into a dot producespositivemagnetomotive force. Ifcurrentflowsintothedotsonbothfieldcoils,theresultingmmfs add toproducealargertotalmmf cumulativecompounding. to produce a larger total mmf cumulative compounding Ifcurrentflowsintothedotononefieldcoilandoutofthedotonthe otherfieldcoil,theresultingmmfs subtract differentialcompounding.
Cumulatively compounded Differentially compounded

CompoundedDCMotor Compounded DC Motor

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CompoundedDCMotor Compounded DC Motor

Cumulatively compounded Differentially compounded (a) Compounded DC motor with long-shunt connection

( ) (b) Compounded DC motor p with short-shunt connection

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CompoundedDCMotor Compounded DC Motor TheKirchhoffsvoltagelawequationforacompoundedDCmotor:

VT = EA + IA (RA + RS) Thecurrentrelationshipforthismotoris The current relationship for this motor is
IL = IA + IF IF = VT RF

Cumulatively compounded Differentially compounded

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Theresultantmagnetomotiveforceandtheeffectiveshuntfieldcurrent:

CompoundedDCMotor Compounded DC Motor

Fnet = FF FSE F AR N SE F AR IA I = IF NF NF
* F

wherethepositivesignisforcumulativelycompoundedmotorand negativesignfordifferentiallycompoundedmotor.
Cumulatively compounded Differentially compounded

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 TerminalCharacteristicsofaCumulativelyCompoundedDC Motor
There are is a component of flux which is constant plus another Thereareisacomponentoffluxwhichisconstantplusanother componentwhichisproportionalwiththearmaturecurrent. Intotal,thecumulativelycompoundedDCmotorhasahigher startingtorquethanashuntmotorbutlowerthanthatofaseries starting torque than a shunt motor but lower than that of a series motorsoitdoesnotoverspeedatnoload.
Cumulatively compounded Differentially compounded

CompoundedDCMotor Compounded DC Motor

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CompoundedDCMotor Compounded DC Motor TerminalCharacteristicsofaCumulativelyCompoundedDC

Motor
At small loads most of the load current goes through the shunt Atsmallloads,mostoftheloadcurrentgoesthroughtheshunt circuitrysothemotorbehaveslikeashuntmotor. Atheavyloads,theseriesfluxbecomesquiteimportantandthe motorbehavesmorelikeaseriesmotor. motor behaves more like a series motor

Cumulatively compounded Differentially compounded

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 TerminalCharacteristicsofaCumulativelyCompoundedDC Motor

CompoundedDCMotor Compounded DC Motor

(a) Torque-speed relationship of a cumulatively compounded motor compared to shunt and series motors with the same fullload rating

(b) Torque-speed relationship of a cumulatively compounded motor compared to a shunt motors with the same no-load speed.
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CompoundedDCMotor Compounded DC Motor TerminalCharacteristicsofaDifferentiallyCompoundedDC

Motor
Theshuntmmfandtheseriesmmfsubtractfromeachother. The shunt mmf and the series mmf subtract from each other Asloadincreases,IA increasesbutfluxinthemotordecreases. Asfluxdecreases,speedofthemachineincreases. However,increaseinspeedincreasestheloadwhichfurtherreduces H i i di h l d hi h f h d theflux,thusspeedwillbefurtherincreased

Cumulatively compounded Differentially compounded

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CompoundedDCMotor Compounded DC Motor

TerminalCharacteristicsofaDifferentiallyCompoundedDC Motor
ThedifferentiallycompoundedDCmotorisunstableandittendsto runawaywithitsincreasedspeed. Thismakesthemotorunsuitableforanyusefulapplication.

Torque-speed relationship of a differentially compounded DC motor.

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 P PowerLosses L

DCMotorEfficiency DC Motor Efficiency

Pconv

Pin = VT I L

Pout = app m

E A I A = ind m

I2R & brush drop losses l

Core losses

Mechanical losses

Stray S losses

Power flow diagram of a DC motor.

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 Advantages :

PermanentMagnetDCMotor Permanent Magnet DC Motor ADCmotorwhosepolesaremadeofpermanentmagnets.

No external field circuit means no field circuit copper losses Noexternalfieldcircuitmeansnofieldcircuitcopperlosses. NofieldwindingsmeansitissmallerthanshuntDCmotor.

Disadvantages :
Permanentmagnetscannotproducehighfluxdensity. Lowinducedtorque,ind perampereofarmaturecurrent,IA. A large armature current may produce enough armature mmf to Alargearmaturecurrentmayproduceenougharmaturemmfto demagnetizethepermanentmagnets.

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ForaPMDCmachine,thepolefluxisjusttheresidualfluxinpermanent magnets. Agoodmaterialforthepolesshouldhaveaslargearesidualfluxdensity, A good material for the poles should have as large a residual flux density Bres aspossibleandatthesametime,haveaslargeacoercive magnetizingintensity,HC aspossible.

PermanentMagnetDCMotor Permanent Magnet DC Motor

(a) The magnetization curve of a typical ferromagnetic material

(b) The magnetization curve of a ferromagnetic material suitable for a PMDC machine
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Majortypesofmaterialsusedaspermanentmagnetsareferrite magneticmaterialsandrareearthmagneticmaterials.

PermanentMagnetDCMotor Permanent Magnet DC Motor

(c) Magnetization curves of a typical magnetic materials. (Alnico 5 is a ferromagnetic alloy)

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