DC Motor

Brief History of DC Motor

•The history of DC Motor can be traced

back to the 1830s,when Michael
Faraday did extensive works on disc
type of machine
 INTRODUCTION OF DC MOTOR
 A DC Motor is a
machine which
converts electrical
energy into mechanical
energy. It depends for
its operation on the
force which is known
to exist on conductor
carrying a current
while situated in a
magnetic field.
DC motor principles

• DC motors consist of rotor-mounted

windings (armature) and stationary windings
(field poles). In all DC motors, except
permanent magnet motors, current must be
conducted to the armature windings by
passing current through carbon brushes that
slide over a set of copper surfaces called a
commutator, which is mounted on the rotor.

Parts of an electric motor

⚫ The commutator bars are soldered to armature coils. The brush/commutator

combination makes a sliding switch that energizes particular portions of the
armature, based on the position of the rotor. This process creates north and
south magnetic poles on the rotor that are attracted to or repelled by north
and south poles on the stator, which are formed by passing direct current
through the field windings. It's this magnetic attraction and repulsion that
causes the rotor to rotate.
 Working Principle Of DC MOTOR

• Whenever a current carrying

conductor is placed in a
magnetic field, it experienced
a force whose direction is
given by Fleming’s Left Hand
Rule.
• It shows the field set up by
the poles
• It shows the conductor field
due to flow of current in the
conductor
Construction of DC MOTOR
• FIELD POLES- The pole shoe acts as a support to the field coils and spread
out the flux in the air gap and reduce the reluctance of magnetic field.
• FRAME- The Frame is the stationary part of a machine in which poles, and
rotor are stationed.
• ARMATURE- The armature consist of core and winding. It is built up of
thin lamination of low loss silicon steel(0.4 to 0.5)
 Cont.
 COMMUTATOR- A
commutator converts
alternating voltage to direct
voltage. It is a cylindrical
structure built up of segment
made drawn copper.
 BRUSHES- The use of brushes
is made for machines
designed for large current at
low voltage.
 ARMATURE WINDING- The
winding must be designated
with the most advantages
utilization of the material in
respect to weight and
efficiency
 Types of dc motors
• The D.C motors are classified depending upon the way of connecting the
field winding with the armature winding.

D.C motor

D.C compound D.C series D.C shunt

motor motor motor

Long shunt Short shunt

The Advantages

• The greatest advantage of DC motors may be speed control.

Since speed is directly proportional to armature voltage and
inversely proportional to the magnetic flux produced by the
poles, adjusting the armature voltage and/or the field current
will change the rotor speed.

• Today, adjustable frequency drives can provide precise speed

control for AC motors, but they do so at the expense of
power quality, as the solid-state switching devices in the
drives produce a rich harmonic spectrum. The DC motor has
no adverse effects on power quality.
The drawbacks

• Power supply, initial cost, and maintenance requirements are

the negatives associated with DC motors
• Rectification must be provided for any DC motors supplied
from the grid. It can also cause power quality problems.
• The construction of a DC motor is considerably more
complicated and expensive than that of an AC motor,
primarily due to the commutator, brushes, and armature
windings. An induction motor requires no commutator or
brushes, and most use cast squirrel-cage rotor bars instead of
true windings — two huge simplifications.
Major types of dc motors

• Self excited dc motor

• Series dc motor
• Shunt dc motor
• Compound dc motor
• Separately excited dc motor
• Permanent magnet dc motor
Series motors

• Series motors connect the ia Ra Rf

field windings in series
with the armature.
• Series motors lack good
M
speed regulation, but are Ea VT (dc
well-suited for high- supply)

torque loads like power

tools and automobile
starters because of their
high torque production VT = Ea + ia ( Ra + R f )
and compact size.
note : ia = iL
Ea = K1 K 2 I a
Series Motor Power Flow Diagram

Pcf=ia2Rf P

Pin= VTiL Pm Pout

Pca=ia2Ra
 60 P 
 =  
P is normally given  2 N 
 60 Po 
Pin = Pout + total losses for output / load torque , o =  
 2 N 
Where,  60 Pm 
for mechanical torque, m =  
Pca =armature copper loss  2 N 
Pcf =field copper loss P 
Efficiency,  =  out 
P=stray, mech etc  Pin 
Pm= Ea ia
Series Motor (cont)

• Example 1:
A dc machine in Figure 1 is ia Ra Rf
consumed a 6.5kW when the 12.5 A
of armature current is passing thru
the armature and field resistance of
3.3 and 2.0 respectively.
Assume stray losses of 1.2kW. M Ea VT (dc
Calculate supply)

a) terminal voltage, VT
b) back emf, Ea
Figure 1
c) net torque if the speed is at
3560rpm
d) efficiency of the machine
[520V, 453.75V, 12N-m, 68.8%]
Series Motor (cont)

• Example 2:
A 600V 150-hp dc machine in Figure 2 Ra Rf
ia
operates at its full rated load at
600rpm. The armature and field
resistance are 0.12 and 0.04
respectively. The machine draws
200A at full load. Assume stray losses M Ea VT (dc
1700W. Determine supply)
a) the armature back emf at full load, Ea
b) developed/mechanical power and
developed/mechanical torque Figure 2
c) assume that a change in load results in
the line current dropping to 150A.
Find the new speed in rpm and new
developed torque. {Hint: Ea=K1K2ia}
[568V, 113.6kW, 1808Nm, 811.27rpm, 1017Nm]
Shunt motors

• Shunt motors use high-resistance ia Ra iL

field windings connected in parallel
with the armature. if
• Varying the field resistance
changes the motor speed.
• Shunt motors are prone to M Ea Rf VT (dc
armature reaction, a distortion and supply)
weakening of the flux generated by
the poles that results in
commutation problems evidenced
by sparking at the brushes.
• Installing additional poles, called
interpoles, on the stator between
the main poles wired in series with VT = Ea + ia ( Ra )
the armature reduces armature
reaction. note : iL = ia + i f
VT = i f R f
Shunt Motor (power flow diagram)

Pcf=if2Rf P
Pin=VTiL Pm Pout

Pca=ia2Ra
 60 P 
 =  
P is normally given  2 N 
 60 Po 
Pin = Pout + total losses for output / load torque , o =  
 2 N 
Where,  60 Pm 
for mechanical torque, m =  
Pca =armature copper loss  2 N 
Pcf =field copper loss P 
Efficiency,  =  out 
P=stray, mech etc  Pin 
Pm= Ea ia
Shunt Motor

• Example :
• A voltage of 230V is applied to armature of a machines results in a full load
armature currents of 205A. Assume that armature resistance is 0.2. Find
the back emf, net power and torque by assuming the rotational losses are
1445W at full load speed of 1750rpm.

[189V, 37.3kW, 203.5Nm]

Compound motors

• the concept of the

series and shunt
designs are ia Rf2 iL
Ra
combined.
if

VT = Ea + ia ( Ra + R f 2 ) M Ea Rf1 VT (dc
supply)

note : iL = ia + i f
VT = i f R f 1
Compound motor (power flow diagram)

Pca=ia2Ra Pcf2=ia2Rf2 P

Pin=VTiL Pm Pout

Pcf1=if2Rf1
 60 P 
 =  
P is normally given  2 N 
 60 Po 
Pin = Pout + total losses for output / load torque , o =  
 2 N 
Where,  60 Pm 
for mechanical torque, m =  
Pca =armature copper loss  2 N 
Pcf =field copper loss P 
Efficiency,  =  out 
P=stray, mech etc  Pin 
Pm= Ea ia
Separately Excited Motor

• There is no direct connection between the armature and field

winding resistance

• DC field current is supplied by an independent source

• (such as battery or another generator or prime mover called an exciter)
Separately Excited Motor (Cont)

Circuit analysis:
Rf Ra La
2 pnZ If ia

Ea = = K f if n = K f n
60C
Vf Lf M Ea VT

Where p= no of pole pair

n= speed (rpm)
Z=no of conductor
=Flux per pole (Wb)
C= no of current/parallel path KVL:
=2p (lap winding) Vf = if Rf
=2 (wave winding)

VT = Ea + ia Ra
note : ia = iL
Permanent Magnet motors

• PMDC is a dc motor whose poles are made of permanent

magnets.
• Do not require external field circuit, no copper losses
• No field winding, size smaller than other types dc motors
• Disadvantage: cannot produce high flux density, lower
induce voltage
Speed Control for shunt motor and separately
excited dc motor

• Torque –speed characteristic for shunt and separately

excited dc motor
m  VK f I f 
E I  c =  
Developed torque, =  a a 
    2Ra 
E I 
 =  a a  Starting
 2n  torque
 K f 2 I f 2n 
 V − Ea  Ea 
=   slope = − 
  2Ra 
 Ra  2n    
same as separately excited ,
 VK f I f   K f I f n 
2 2

 =   −
 2Ra   2Ra 
=0
n=0 n nNL n
Speed Control for shunt motor and separately
excited dc motor

• By referring to the Torque –speed characteristic for shunt and separately

excited dc motor
 VK f I f   K f I f n 
2 2

 =   −
 2Ra   2Ra 

• note that, there are three variables that can influence the speed of the
motor, V
Variables
If
Ra
• Thus, there are three methods of controlling the speed of the shunt and
separately excited dc motor,
i. Armature terminal – voltage speed control
ii. Field speed control
iii. Armature resistance speed control
Speed Control for shunt motor and separately
excited dc motor

i. Armature resistance speed control

- Speed may be controlled by changing Ra
- The total resistance of armature may be varied by means of a
rheostat in series with the armature
- The armature speed control rheostat also serves as a starting
resistor.
- From -n characteristic,

 VK f I f 
 start = c =  
 2Ra 
 K f 2 I f 2n  Will be changed
slope = − 
 2Ra 
 
Speed Control for shunt motor and separately
excited dc motor

• Torque –speed characteristic

m

Ra1
Ra1 < Ra2 < Ra3
Ra2

Ra3


n3 n2 n1 nNL n
Speed Control for shunt motor and separately
excited dc motor

• Advantages armature resistance speed control:

i. Starting and speed control functions may be combined in one
rheostat
ii. The speed range begins at zero speed
iii. The cost is much less than other system that permit control down to
zero speed
iv. Simple method

• Disadvantages armature resistance speed control :

i. Introduce more power loss in rheostat
ii. Speed regulation is poor (S.R difference nLoaded & nno loaded)
iii. Low efficiency due to rheostat
Speed Control for shunt motor and separately
excited dc motor

ii. Field Speed Control

- Rheostat in series with field winding (shunt or separately ect.)
- If field current, If is varied, hence flux is also varied
- Not suitable for series field
- Refer to -n characteristic,
- Slope and nNL will be changed
Speed Control for shunt motor and separately
excited dc motor

• Torque –speed characteristic

m

If1 < If2 < If3

1 < 2 < 3

n1 n2 n3 nNL2 nNL3 n
Base speed
nNL1
Speed Control for shunt motor and separately
excited dc motor

• Advantages field speed control:

i. Allows for controlling at or above the base speed
ii. The cost of the rheostat is cheaper because I f is small value

• Disadvantages field speed control :

i. Speed regulation is poor (S.R difference nLoaded & nno loaded)
ii. At high speed, flux is small, thus causes the speed of the machines
becomes unstable
iii. At high speed also, the machines is unstable mechanically, thus
there is an upper speed limit
Speed Control for shunt motor and separately
excited dc motor

iii. Armature terminal – voltage speed control

- Use power electronics controller
- AC supply ➔rectifier
- DC supply ➔chopper
- Supply voltage to the armature is controlled
- Constant speed regulation
- From -n characteristic,
- C and nNL will be change
- Slope constant
Speed Control for shunt motor and separately
excited dc motor

• Torque –speed characteristic

m

V3 < V2 < V1

n3 n2 n1 nNL2 nNL1 n
nNL3
Speed Control for shunt motor and separately
excited dc motor

• Advantages armature terminal voltage speed control:

i. Does not change the speed regulation
ii. Speed is easily controlled from zero to maximum safe speed

• Disadvantages armature terminal voltage speed control :

i. Cost is higher because of using power electronic controller
FACTORS AFFECTING THE PERFORMANCE OF
DC MACHINE
• There are two factors affecting the performance of dc machine
1. Armature reaction
2. Armature inductance
Armature Reaction

• Definition of armature reaction:

1. It is the term used to describe the effects of the armature mmf
on the operation of a dc machine as a "generator" no matter
whether it is a generator or motor.
2. It effects both the flux distribution and the flux magnitude in the
machine.
3. The distortion of the flux in a machine is called armature reaction
• Two effects of armature reaction:
1. Neutral Plane Shift
2. Flux Weakening
Armature Reaction

⚫Effect on flux distribution:

Neutral plane shift

• When current is flowing in the

field winding, hence a flux is
produced across the machine
which flows from the North
pole to the South pole.
• Initially the pole flux is
uniformly distributed and the
magnetic neutral plane is
vertical
Armature Reaction

⚫Effect on flux distribution:

Neutral plane shift

• effect by the air gap on the flux

field causes the distribution of flux
is no longer uniform across the
rotor.
• There are two points on the
periphery of the rotor where B= 0.
Armature Reaction

⚫Effect on flux distribution: Neutral

plane shift
• when a load connected to the
machines a resulting magnetic field
produced in the armature
• If the armature is rotated at a speed
 by an external torque each
armature coil experiences a change
in flux t as it rotates.
• A voltage is generated across the
terminals of each winding according
to the equation e = t
Armature Reaction

⚫Effect on flux distribution:

Neutral plane shift
• Both rotor and pole fluxes (flux
produced by the field winding and
the flux produced by the armature
winding) are added and subtracted
together accordingly
• The fields interact to produce a
different flux distribution in the
rotor.
• Thus, the flux on the middle line,
between the two field poles, is no
longer zero.
Armature Reaction

⚫Effect on flux distribution: Neutral plane shift

⚫The combined flux in the machine has the

effect of strengthening or weakening the flux
in the pole. Neutral axis is therefore shifted in
the direction of motion.
⚫The result is current flow circulating between
the shorted segments and large sparks at the
brushes. The ending result is arcing and
sparking at the brushes.

⚫Solution to this problem:

• placing an additional poles on the neutral
axis or mid-point that will produce flux
density component, which counter-acts
that produced by the armature.
Armature Reaction

⚫Effect on flux magnitude: Flux Weakening

⚫Most machine operate at saturation point

⚫When the armature reaction happen, at
location pole surface:
• The add of rotor mmf to pole mmf only
make a small increase in flux
• The subtract of rotor mmf from pole
mmf make a large decrease in flux.
• The result is the total average flux
under entire pole face is decreased.
• This is called Flux Weakening

d –flux decrease under subtracting section of poles

Armature Inductance

• When rotor turns, thus we have inductance value, e 1 =

L(di/dt). Let say current ia1.
• That means, we have ability to store energy
• If the machine is turn ‘off’, thus, e 1 will decreased. This will
affect the current as well. Say ia2.
• When the machine is turn ‘on’ again, it will produce e 2 while
e1 is still inside. The current now is reversed direction from
previous (decreasing) current.
• Thus, it will cause sparking → resulting the same aching
problem caused by neutral plane shift.
D.C series motor
D.C shunt motor
 D.C compound motor

Long shunt motor Short shunt motor

 Characteristics of a DC Motor
• Torque-Armature current(electrical) characteristic(T Vs I a)
• Speed-Armature current characteristic(N Vs Ia)
• Speed-Armature current characteristic(N Vs Ia)
Characteristics of a DC Shunt Motor
Characteristics of a DC Series Motor
 Characteristics of a DC Compound Motor

The compound motors are of two types namely the cumulative compound of differential
compound motors.
 DC Motor Applications:
 Shunt motor application
1. printing machinery
2. Paper machines
3. Centrifugal and reciprocating pumps
 Series motor application
1. Electric trains
2. Cranes
3. Hoists
4. Conveyers
 Compound motor application
1. Elevators
2. Punches
3. Shears
4. planers
MERITS
 High starting torque
 Speed control over a wide range,
both below and above normal
speed
 Accurate seedless speed control
 Quick starting, stopping
DEMERITS
• High initial cost
• Increased operating and
maintenance cost because of the
commutator and brush gear
APPLICATIONS OF DC MOTORS

MOTORS.. APPLICATIONS…

LATHES , FANS, PUMPS DISC

D.C. SHUNT MOTOR AND BAND SAW DRIVE
REQUIRING MODERATE
TORQUES.

D.C. SERIES MOTOR ELECTRIC TRACTION, HIGH

SPEED TOOLS

ROLLING MILLS AND OTHER

D.C. COMPOUND MOTOR LOADS REQUIRING LARGE
MOMENTARY TORQUES.
Modeling DC Motor
Model Fisik
Parameter Fisik
• moment of inertia of the rotor J =0.01 kg m2
• damping (friction) of the mechanical system b =0.1
Nms
• (back-)electromotive force constant K =0.01 Nm/A
• electric resistance R = 1
• electric inductance L = 0.5 H
• Input = tegangan (V)
• Kecepatan angular (rad/s)
• Shaft angle (rad)
System equation

• Torka motor berhubungan dengan arus armatur i dan faktor

konstanta K
• Electromotive force (emf), Vb, berhubungan dengan kecepatan
angular
Persamaan Berdasar Hk Newton dan
Kirchoff
Transfer Function

• Dari (3) dan (4)

• Transformasi Laplace dr (6)

• Substitusikan (5) sehingga menjadi:

Blok Diagram Motor DC
Transfer Function

• Dari pers (8), transfer function dari input voltage, V

(s), ke output sudut, , sbb:

• Dari blok diagram Gb. 2, dapat dilihat, transfer

function dari input tegangan, V(s), ke kecepatan
sudut,  , adalah:
Matlab Representation

• Fungsi transfer yang telah dibahas diatas dapat diaplikasikan melalui

Toolbox Matlab.
• Contoh : persamaan Polynomial
• A=3s3 + 2s + 10
• Dapat ditulis dalam Matlab sebagai :
• A = [3 0 2 10]
Program Motor DC

• Buat m File untuk simulasi motor DC sbb :

• Masukkan parameter motor sbb :
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
• Transfer function pada Pers. (9) dapat dituliskan dengan beberapa cara :
Transfer Function

• Ga(s) dapat diekspresikan sebagai Gv(s).1/s .

Persamaan tersebut ditulis dalam Matlab sebagai :
aux = tf(K,conv([L R],[J b]))
Gv = feedback(aux,K);
Ga = tf(1,[1 0])*Gv;
• Fungsi feedback digunakan untuk membuat
hubungan feedback dari 2 transfer fuction.
• Operator perkalian *,merupakan overloaded oleh
class LTI dari Control System Toolbox
Transfer Function 2

• Selain menggunakan konvolusi, perintah pertama dari ketiga perintah

diatas dapat diganti dengan perkalian dua transfer function :
aux = tf(K,[L R])*tf(1,[J b]);
Transfer Function 3

• Cara yang ketiga adalah dengan mendefinisikan transfer function

secara symbolis.
• Pertama system direpresentasikan dalam operator Laplace dan
kemudian masukkan fungsi sebagai ekspresi aljabar.
s = tf([1 0],1);
Gv = K/((L*s + R)*(J*s + b) + Kˆ2);
Ga = Gv/s;
Masukkan Label Input dan Output
Gv.InputName = ’Voltage’;
Gv.OutputName = ’Velocity’;
Ga.InputName = ’Voltage’;
Ga.OutputName = ’Angle’;
• Untuk menjalankan, simpan dan beri nama file motor.m dan pangil
dari command window
Menampilkan respon

• Grafik respon kecepatan (velocity) dan sudut

(angle), 2 transfer function dapat digabung menjadi
satu dengan satu input, dan dua output (velocity
dan angle).
G = [Gv; Ga];
• Cara lain adalah mengkonversikan Ga kedalam
bentuk state space dan menambahkan satu extra
output yang sama dengan state kedua (velocity)
G = ss(Ga);
set(G,’c’,[0 1 0; 0 01],’d’,[0;0],’OutputName’,{’Velocity’;’Angle’});
Manampilkan Grafik

• Sekarang, kita dapat menampilkan grafik step, impulse, dan respon

frekuensi dari model motor dengan perintah berikut:
figure(1); step(G);
figure(2); impulse(G);
figure(3); bode(G);
Step Respon
Impulse Respon
Bode Diagram
Control Design

• PID feedback controller untuk mengendalikan

motor DC
• Transfer Function untuk PID controller sbb:

• u adalah controller output (voltage V ), e = uc − y

merupakan controller input (the control error), dan
Kp, Kd, Ki adalah gain dr proportional, derivative
dan integral,
Blok diagram
Proportional Control

• Pertama, kita coba proportional controller sederhana dengan

beberapa gain, misal diestimasikan 100.
• Untuk menghitung closed loop transfer function, digunakan perintah
feedback.
• Tambahkan baris berikut ke m-file”
Kp = 100;
Gc = feedback(Gv*Kp,1);
Gc.InputName = ’Desired velocity’;
Proportional Control

• Untuk mendapatkan step respon dari sistem close loop, tuliskan :

figure(4); step(Gc,0:0.01:2);
• Jalankan Kembali program anda
• Hasilkan lihat gambar berikut
Kontrol PID

Kp = 1;
Ki = 0.8;
Kd = 0.3;
C = tf([Kd Kp Ki],[1 0]);
rlocus(Ga*C);
Kp = rlocfind(Ga*C);
Gc = feedback(Ga*C*Kp,1);
figure(9); step(Gc,0:0.01:5)
Penjelasan program

• Fungsi rlocus dan rlocfind digunakan untuk memilih

overall gain dari PID controller,
• Yaitu keadaan kontroler yang stabil dan lokasi kutup
yang diinginkan (dengan mendefinisikan rasio
konstanta Kp, Ki, dan Kd)
• Jika desain tidak memuaskan, ratio dapat diubah.
• Lihat hasilnya setelah program dijalankan.
Simulink Representation
Simulink PID Controller
Tugas Praktikum

• Buatlah program Matlab untuk memodelkan dan

mengendalikan motor DC seperti tertulis diatas.
• Program terdiri dari :
• 1 buah m-file
• 2 buah simulink
• Lakukan perubahan pada nilai Kp, Ki, dan Kd, yang
bervariasi, dan catat apa yang terjadi.
• Berikan penjelasan setiap langkah yang anda
lakukan dalam program yang dibuat.