ECE 441 1

Direct Current Motor

Characteristics and Applications
Straight Shunt Motor
Essentially a constant speed motor

Compound or Stabilized Shunt Motors
Has both shunt and series field windings
Series field generates mmf in the same
direction as the shunt field mmf.
ECE 441 2
Circuit Diagram of a Compound Motor
ECE 441 3
Differential Connection of Fields
Both the series and shunt fields must
provide fluxes that are additive.
If the series field is reversed with respect
to the shunt field, the net flux decreases,
and the speed increases.
The time constant of the series field is
such that the current increases faster than
the shunt field current.
ECE 441 4
Differential Connection of Fields
If the series field is reversed,
The motor will start in the wrong direction

Depending upon the load and the structure of
the series field, the motor could
slow down and stop, tripping the breaker
slow down, stop, reverse direction, and accelerate
slow down, stop, reverse direction, slow down,
stop, reverse direction, etc. until a breaker trips
ECE 441 5
Reversing the Direction of
Compound Motors
Reverse either the armature current or
reverse both the series and shunt fields.
If only one field is reversed, a differential
connection results!
The field mmfs will be reduced, resulting in
excessive speed!
ECE 441 6
Reversing the Armature Current
ECE 441 7
Using NEMA standard
terminal markings
ECE 441 8
Series Motor
Series field
Heavy windings
Must conduct the armature current
Potentially dangerous problem if the shaft
load is removed!
ECE 441 9
Field winding is in
series with the
armature
ECE 441 10
More Details
When shaft load is removed, T
D
>T
load

Motor speed increases
cemf increases
armature current decreases
series field flux decreases
ECE 441 11
Reversing the Direction
of a Series Motor
Reverse the current in the armature-
interpole-compensating branch
Reverse the current in the series field
windings
ECE 441 12
Reversing the Armature Current
ECE 441 13
Using NMEA standard
Terminal Markings
ECE 441 14
Using NEMA standard
terminal markings
Reversing the series field
ECE 441 15
Effect of Magnetic Saturation on
DC Motor Performance
Pole flux is not directly proportional to the
applied mmf due to magnetic saturation
Net mmf is made up of the following
components, as applicable
F
net
= F
f
+ F
s
- F
d

F
net
= net mmf (A-t/pole)
F
f
= shunt field mmf (N
f
I
f
)(A-t/pole)
F
s
= series field mmf (N
s
I
a
)(A-t/pole)
F
d
= equivalent demagnetizing mmf due to armature
reaction (A-t)/pole
ECE 441 16
Effect of Magnetic Saturation on
DC Motor Performance
Note that F
d
is not exactly proportional to
the armature current, but is assumed to
be.
If a compensating winding is used, F
d
= 0.
ECE 441 17
Developed Torque and Speed
0
p
D p a M
T a acir
p G
acir a IP CW s
T B I k
V I R
n
k
R R R R R
u =
=

=
u
= + + +
ECE 441 18
Defining Parameters
R
acir
= resistance of armature circuit ()
R
a
= resistance of armature windings ( )
R
IP
= resistance of interpole windings ()
R
CW
= resistance of compensating
windings ()
R
s
= resistance of series field winding ()
B
p
= air-gap flux density (T)

p
= pole flux (Wb)
ECE 441 19
Solve Problems with Proportions
1
1
2 2
1 1
2
2
1
2
2
1
[ ]
[ ]
, 0
p a
D
D p a
T a acir
p G
T a acir
p G
p p
p
T a acir
p T a acir
B I
T
T B I
V I R
k
n
n
V I R
k
B A
B
V I R n
n B V I R
=
(

(
u
(

= u =
(

(
u
(

u =
(
(

=
(
(

(


ECE 441 20
Example 11.1
A 240-V, 40-hp, 1150 r/min stabilized-
shunt motor, operating at rated conditions,
has an efficiency at rated load of 90.2%.
The motor parameters are
R
a
= 0.0680 R
IP
= 0.0198
R
s
= 0.00911 R
shunt
= 99.5
Turns/pole series - shunt - 1231
ECE 441 21
Example 11.1 (continued)
The circuit diagram and magnetization
curve are shown on the next slide.
Determine (a) the armature current when
operating at rated conditions; (b) the
resistance and power rating of an external
resistance required in series with the shunt
field in order to operate at 125% rated
speed. Assume the shaft load is adjusted
to a value that limits armature current to
115% of rated current.
ECE 441 22
ECE 441 23
40 746
0.902 240
137.84
240
2.4121
99.5
137.84 2.41 135.43
T T T
T
T
T
f
f
a T f
P
P V I I
V
I A
V
I A
R
I I I A
q

= = =

=
= = =
= = =
Solution for Armature Current
ECE 441 24
Solution for External Resistance
The series field of a compound motor is
designed to be approximately equal and
opposite to the equivalent demagnetizing
mmf of armature reaction. Therefore, the
net flux is due to the shunt field alone.

1231 2.412 2969.2 /
net f f f
N I A t pole = = = = F F
ECE 441 25
net mmf = 0.70 T
ECE 441 26
1
2
2
1
2 1
2 1
2 1
2
2
0.0680 0.0198 0.0091 0.0969
[ ]
[ ]
1150 240 1.15 135.43 0.0969
0.70
1.25 1150 240 135.43 0.0969
acir a IP s
acir
p
T a acir
p T a acir
T a acir
p p
T a acir
p
p
R R R R
R
B
V I R n
n B V I R
V I R n
B B
n V I R
B
B
= + +
= + + = O
(
(

=
(
(

=

= 0.56T
ECE 441 27
F
f
= 2.3 X 1000 = 2300 A-t/pole
ECE 441 28
2 2
2300
1231
1.87
240
99.5 28.8
187
(1.87) 28.8 100.7
x
f
f f f f
f
f
T T
f x f
f x f
x
R f x
N I I
N
I A
V V
I R R
R R R
R
P I R W
= = =
=
= =
+
= = O
= = =
F
F
ECE 441 29
Linear Approximations
If the magnetization curve is not available
rough approximation obtained by assuming
magnetization effects are negligible
Do not use approximations if the motor is
operating under heavy overload or locked
rotor conditions.
If the net mmf is to be reduced below its
rated value, approximation using the linear
assumption is OK.
ECE 441 30
Approximate Equations for
Torque and Speed
1
1 1
2 2 2
1
2
2
1
1
2
1 2
[ ]
[ ]
[ ] [ ]
, 0
p a
net a D
D p a net a
p
T a acir
p T a acir
T a acir net
net T a acir
B I
I T
T B I I
B
V I R n
n B V I R
V I R n
n V I R
=
(
(

=
(
(

(


( (

= u =
( (

F
F
F
F
ECE 441 31
For the Series Motor
1 1
,
2 2
2
,
[ ]
[ ]
net a D
D series net a s a
D net a
D series a
I T
T I N I
T I
T I
= =

F
F
F
If the range of operation is in the unsaturated
region, and armature reaction effects are
either negligible or compensated for,
The developed torque is proportional to the
square of the armature current.
ECE 441 32
Example 11.2
Example 11.1 is re-solved using the linear
approximation, and the solution is
compared to the results obtained in
Example 11.1.
ECE 441 33
1
1
1
2
1 2
2 1
2 1
2 1
2
240
2.412
99.5
137.84 2.412 135.43
1231 2.412 2969.2 /
[ ]
[ ]
1150
2969.2
1
T
f
f
a T f
net f f f
T a acir net
net T a acir
T a acir
net net
T a acir
net
V
I A
R
I I I A
N I A t pole
V I R n
n V I R
V I R n
n V I R
= = =
= = =
= = = =
( (

=
( (

=
F F
F
F
F F
F
2
240 1.15 135.43 0.0969
.25 1150 240 135.43 0.0969
2354.8 /
net
A t pole

= F
ECE 441 34
2354.8
1.91
1231
240
99.5 26.15
1.91
net
f
f
T T
f x f
f x f
x
I A
N
V V
I R R
R R I
R
= = =
= =
+
= = O
F
From Example 11.1, the value of resistance was
determined to be 28.8
ECE 441 35
% 100%
28.8 26.15
% 100%
28.8
% 9.2%
actual approx
actual
R R
error
R
error
error

=
=
Calculate the Percent Error
This lower value of resistance would cause
a slightly higher field current, and therefore,
a speed slightly lower than 1437.5 r/min.
ECE 441 36
Comparison of Steady State
Operating Characteristics of DC Motors
The steady-state operating characteristics
of typical shunt, compound, and series
motors of the same torque and speed
ratings are shown on the next slide.
ECE 441 37
ECE 441 38
Comparisons (continued)
Shunt Motor
relatively constant speed from no-load to
full-load
does not have high starting torque
essentially constant flux
torque varies linearly with armature current
speed regulation around 5%
ECE 441 39
Relatively
Constant Speed
Linear Torque
ECE 441 40
Comparisons (continued)
Compound Motor
Higher torque, lower speed than shunt motor
speed regulation between 15 and 25%
used with loads requiring high starting torques
or have pulsating loads
smoothes out the energy required by the pulsating
load, lowering the demand on the electrical supply


ECE 441 41
Higher Torque
above base speed
than Shunt motor
Lower Speed at
Higher Torque
ECE 441 42
Comparisons (continued)
Series Motor
high starting torque
wide speed range
REMOVING THE LOAD CAUSES IT TO RUN
AWAY!
CONNECT LOAD BY GEARS OR SOLID
COUPLING NO BELT DRIVES!
ECE 441 43
Wide Speed Range
High Starting Torque
ECE 441 44
Dynamic Braking, Plugging,
and Jogging


Dynamic Braking is the deceleration of the
motor by converting the energy stored in
the moving masses into electrical energy
and dissipating it as heat via resistors.
Also called resistive braking.

ECE 441 45
Dynamic Braking (continued)
Disconnect the armature from the
electrical supply lines and connect across
a suitable resistor while maintaining the
field at full strength.
The motor behaves as a generator,
feeding current to the resistor, dissipating
heat.

ECE 441 46
Dynamic Braking (continued)
Choose the resistance for current between
150 and 300% of rated current.
The armature current is in a direction to
oppose the armature motion, producing a
negative, or, counter-torque, slowing down
the load.
ECE 441 47
Compound Motor Example

Normal Operation




Dynamic Braking
ECE 441 48
Normal Operation
Closed
Open
ECE 441 49
Dynamic - Braking
Open
Closed
ECE 441 50
Regenerative Braking
Convert energy of overhauling loads into
electrical energy and pumps it back into
the electrical system.
The overhauling load drives a DC motor
faster than normal, causing the cemf to
become greater than the supply voltage
and results in generator action.
Trains, elevators, hybrid automobiles
ECE 441 51
Plugging
The electrical reversal of a motor before it
stops
Reverse the voltage applied to the
armature
Current in the series and shunt fields is not
reversed
Insert resistance in series with the
armature to limit the current
ECE 441 52
Normal Operation
ECE 441 53
Plugging
ECE 441 54
Jogging
Very brief application of power to a motor
Fraction of a revolution
Used for positioning the load
Place resistance in series with the
armature to limit the current
ECE 441 55
Example 11.7
A 240-V, compensated shunt motor driving a
910 lb-ft torque load is running at 1150 r/min.
The efficiency of the motor at this load is 94.0%.
The combined armature, compensating winding,
and interpole resistance is 0.00707, and the
resistance of the shunt field is 52.6. Determine
the resistance of a dynamic-braking resistor that
will be capable of developing 500 lb-ft of braking
torque at a speed of 1000 r/min. Assume
windage and friction at 1000r/min are essentially
the same as at 1150 r/min.
ECE 441 56
Circuit for Dynamic Braking
ECE 441 57
1 1 1
1
910 1150
199.257
5252 5252
199.257 746
158134
0.940
158134
658.89
240
240
4.56
52.6
658.89 4.56 654.33
240 654.33 0.00707
235.37
shaft
shaft
in
in T T T
T
f
f
a T f
T a a acir a
a
T n
P hp
P
P W
P V I I A
V
I A
R
I I I A
V E I R E
E V
q

= = =

= = =
= = =
= = =
= = =
= + =
=
ECE 441 58
1
1 1 2 1
2
2 2 2 1
2
1
1 1 2
2 1
2 2 2 1
2
2 2
2 2
2
[ ]
[ ]
654.33 500
359.52
910
[ ]
[ ]
1000
235.37 204.67
1150
( )
204.67 359.52 0.00707
359.52
p a
a a
a
p a a
a
p G
a
a a
a p G
a
a a acir
a a acir DB DB
a
DB
B I
I I T T
I
T B I I T
I A
n k
E n n
E E
E n k n n
E V
E I R
E I R R R
I
R

= = =

= =
u
= =
u
= =

= + =

= 0.562
0.562
DB
R
= O
= O