Camiguin Polytechnic State College

Institute of Engineering and Computer Studies

Bachelor of Science in Electrical Engineering

EE 312: ELECTRICAL MACHINES 1

Prepared by:

RENEO LOURDY H. REMIGOSO, REE

09977917280
Instructor I

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 MODULE 2:
DC Motor

Learning Outcomes
At the end of the time allotted, the students should be able to:
1. Analyze the equivalent circuit of DC motor
2. Classify the different types of DC motors
3. Calculate problems regarding DC motors
4. Classify, calculate and analyze the DC motor starters and controllers
5. Design and Calculate DC motors

Module Overview

This module contains the following topics:

Introduction of DC Motor
Equivalent Circuit of a DC motor
Magnetization curve of a DC machine
DC motor efficiency and Speed Regulations
Separately excited DC motors
Shunt DC motors
Permanent magnet DC motor
Series DC motor
Compounded DC motor
DC motor starters
Ward-Leonard system and solid-state speed controllers
Design of DC motor

Introduction
This module will focus on one type of DC machines which is the DC motor. This module will
tackle on its characteristics and equivalent circuits, the type of DC motors, calculation of real
life problems regarding DC motor, the type of starters and controllers and lastly the design of
DC motor.

Preliminary Activity 2:
Consider the questions below.
1. Can you name any appliances/machines/equipment or etc. where DC motor applied?
Name at least five.
2. Does the DC motor application improves the way of life of the human beings? Why
and in what way?
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Topic Contents:

Introduction of DC Motor

DC motors are DC machines which converts electrical energy into mechanical energy. Its
action is based on the principle that when a current carrying conductor is placed in a magnetic
field, it experiences a mechanical force whose direction is given by "Fleming's left-hand
Rule". In terms of construction, there is no difference between a DC generator and DC
Motor: In fact, the same DC machine can be used interchangeable as a generator or as a
motor. When a generator is in operation it is driven mechanically and develops a voltage.
This voltage can send a current through a load. When a motor is in operation, it develops
torque. This torque can produce mechanical rotation.
DC power systems are still common in cars, trucks and aircrafts. When a vehicle has a DC
power system, it makes sense to consider using DC motors. Even if no DC power sources are
available, solid‐ state rectifier and chopper circuits are used to create the necessary DC power
for the DC motors. In areas where wide variations in torque‐speed characteristics are required
such as in steel mills, DC motors are needed. DC motors are often compared by their speed
regulations. A positive speed regulation means that a motor's speed drops with increasing
load, and a negative speed regulation means a motor's speed increases with increasing load.
The magnitude of the speed regulation tells approximately how steep the slope of the torque-
speed curve is.

There are five major types of dc motors in general use:

1. The separately excited dc motor
2. The shunt dc motor
3. The permanent-magnet dc motor
4. The series dc motor
5. The compounded dc motor

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 Equivalent Circuit of a DC motor

The equivalent circuit of a dc motor is shown in figure below (c). In this figure, the armature
circuit is represented on the right by an ideal voltage source EA, and a resistor RA, This
representation is really the Thevenin equivalent of the entire rotor structure, including rotor
coils, interpoles, and compensating windings, if present. The brush voltage drop is
represented by a small battery Vbrush opposing the direction of current flow in the machine.
The field circuit is represented on the left by field coils, which produce the magnetic flux are
represented by inductor LF and resistor RF. The separate resistor Radj represents an external
variable resistor used to control the amount of current in the field circuit.

(a) Actual Stator (Field) Coil (b) Armature (Rotor) Coil

(c) Equivalent Circuit of a DC Motor

There are a few variations and simplifications of this basic equivalent circuit as shown in
figure below. The brush drop voltage is often only a very tiny fraction of the generated
voltage in a machine. Therefore, in cases where it is not too critical, the brush drop voltage
may be left out or approximately included in the value of RA. Also, the internal resistance of

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the field coil s is sometimes lumped together with the variable resistor, and the total is called
RF.

Simplified Equivalent Circuit of a DC Motor

Where:
RA = armature resistance
IA = armature current
EA = internal generated voltage in a dc motor, someties called a counter emf or back
emf (similar concept to the induced emf of a dc generator)
RF = field resistance
LF = field winding inductance

The internal generated voltage or the back emf in DC motor is a similar concept to the
induced emf of a DC generator given by the general equation:
EA = Kϕω
or in another detailed equation:
𝐏𝐧𝐍𝛟
EA =
𝟔𝟎𝒂

Where:
EA = back emf
K = constant representing the mechanical construction of the machine.
n = ω = speed at which armature is driven (rpm) , 1 rev = 2π rad
ϕ = flux per pole (weber )
NA = total number of conductors in armature
P = number of poles
a = number of armature current paths

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 Note: a = mP (for lap winding)
a = 2m (for wave winding)
where: m = multiplicity factor or flex factor
m = 1, for simplex winding
m = 2, for duplex winding

Take note that after assembly, P, N and a will become constant, thus it will go back to its
general equation:
EA = Kϕω

The induced torque or the developed torque by the DC motor is a measure of much force
acting on an object causes that object to rotate. Torque is sometimes termed as moment of a
force given the general equation:
Tind = KϕIA

The power developed in a DC motor is given by the equation:

1. Power on the source (battery)

P= VT IA

2. Power delivered by the shaft

𝟐𝛑𝐓𝐧
P = 𝐓𝛚 or P =
𝟔𝟎

Combining the equation of the back emf and power developed, the torque developed in the
armature in detailed equation is:

𝐏 𝐈ᴀ 𝐍 𝛟
Tind =
𝟐𝝅𝒂

Where:
T = torque induced (N•m)
P = power delivered in the shaft (W)

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 IA = armature current
K = constant representing the mechanical construction of the machine.
n = ω = speed at which armature is driven (rpm) , 1 rev = 2π rad
ϕ = flux per pole (weber )
NA = total number of conductors in armature
P = number of poles
a = number of armature current paths
Note: a = mP (for lap winding)
a = 2m (for wave winding)
where: m = multiplicity factor or flex factor
m = 1, for simplex winding
m = 2, for duplex winding

Take note that after assembly, P, N and a will become constant, thus it will go back to its
general equation:
Tind = KϕIA

Magnetization Curve of a DC Machine

The internal generated voltage EA of a dc motor or generator is given by Equation:

EA = Kϕω
Therefore, EA is directly proportional to the flux in the machine and the speed of rotation of
the machine. But, what would be the relationship between the internal generated voltage and
the field current of the machine. The field current in a dc machine produces a field
magnetomotive force given by F = NF IF. This magnetomotive force produces a flux in the
machine in accordance with its magnetization curve as shown in figure below. Since the field
current is directly proportional to the magnetomotive force and since EA is directly
proportional to the flux, it is customary to present the magnetization curve as a plot of EA
versus field current for a given speed ωo.

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 The Magnetization Curve of a Ferromagnetic Material (ϕ vs F)

The magnetization curve of a dc machine expressed as a plot of EA versus IF. for a fixed
speed ωo

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 DC Motor Efficiency and Speed Regulations

Power Losses in DC Motors:

➢ DC motors take in electric power and produce mechanical power. In either case, not
all the power input to the machine appears in useful form at the other end-there is
always some loss associated with the process.
➢ The power losses are discuss in the previous module

The losses that occur in dc motor can be divided into five basic categories:

1. Electrical or copper losses (l2R losses)

2. Brush losses
3. Core losses
4. Mechanical losses (Friction and Windage loss)
5. Stray load losses

Note: In other books, stray power loss is equal to core loss plus friction and windage loss.
Stray loss is sometimes called as constant loss.

DC Motor Efficiency:
Efficiency
➢ Is the ratio of the power input (electrical power) to the power output (mechanical
power).

Pout Pin−Ploss Pin−(Pcopper+Pstray)

= = = x 100%
Pin Pin Pin

Speed Regulations:
➢ Is defined as the percentage rise in speed of a motor when the load on the motor is
reduced from rated value to zero.

No load speed−Full load speed

% Speed Regulation = x 100%
Full load speed

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 Separately Excited DC Motors

A type of DC motor at which the field windings of this motor is excited or supplied from a
separate or external dc source like a battery. The figure below (a) shows the schematic
diagram and figure (b) shows its equivalent circuit diagram of the separately excited DC
motor.

a. Schematic Diagram of Self Excited DC Motor

b. Equivalent Circuit Diagram of Self Excited DC Motor

Equations:
EA = Kϕω (Induced Voltage or back emf)
Tind = KϕIA (Induced Torque)

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 IF = VF / RF
VT = EA + IA RA
IL = I A

Where:
EA = back emf (V)
Tind = induced torque (N•m)
IF = Field Current (A)
VF = field voltage or external voltage source (V)
VT = supply voltage (V)
RF = field winding resistance (Ω)
RA = armature winding resistance (Ω)
IA = armature current (A)
IL = supply current (A)
LF = field winding inductance (number of turns)
ω = n = speed at which armature is driven (rpm) , 1 rev = 2π rad
ϕ = flux per pole (weber )

Example 1:
A seperately excited motor runs at 1045 rpm, with a constant field current, while taking an
armature current of 50 A at 120 V. The armature resistance is 0.1 Ω. If the load on the motor
changes such that it takes 95 A at 120 V, determine the motor speed at this load.
Given:
VT = 120 V, IA1 = 50 A, IA2 = 95 A, RA = 0.1 Ω, n1 = 1045 rpm
Solution:
VT = EA + IA RA (general formula)
EA = VT - IA RA

Calculating the back emf:

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 EA1 = VT - IA1 RA
EA1 = 120 – (50)(0.1) = 115 V

EA2 = VT - IA2 RA
EA2 = 120 – (95)(0.1) = 110.5 V

The back emf with its speed expressed in rpm is:

EA = Kϕn
The relationship between the speeds (rpm) and internal generated voltages of the motor at
two different load condition is:
Eᴀ₁ Kϕn₁
=
Eᴀ₂ Kϕn₂

The constant K and flux ϕ cancels out:

Eᴀ₁ n₁
=
Eᴀ₂ n₂

Eᴀ₂
n2 = n1
Eᴀ₁
110.5
n2 = (1045)
115

n2 = 1004 rpm

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 Shunt DC Motor

A type of DC motor at which the armature and field windings of this motor are connected in
parallel across the supply voltage. The figure below (a) shows the schematic diagram and
figure (b) shows its equivalent circuit diagram of the shunt dc motor.

a. Schematic Diagram of Shunt DC Motor

b. Equivalent Circuit Diagram of Shunt DC Motor

EA = Kϕω
Tind = KϕIA
IF = VT / RF
VT = EA + IA RA
IL = I A + IF

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Example 2:
A 50-hp, 250-V, 1200 r/min dc shunt motor with compensating windings has an armature
resistance (including the brushes, compensating windings, and interpoles) of 0.06 Ω. Its field
circuit has a total resistance of 50 Ω, which produces a no-load speed of 1200 r/min. There
are 1200 turns per pole on the shunt field winding (see figure below).
(a) Find the speed of this motor when its input current is 100 A.
(b) Find the speed of this motor when its input current is 200 A.

Solution:
(a) If IL = 100 A:

IA = IL - IF
IA = IL – (VF / RF)
IA = 100 – (250/20)
IA = 95 A
Therefore, EA:
EA = VT - IA RA
EA = 250 – (95)(0.06)
EA = 244.3 V
The resulting speed of the motor is:
Eᴀ₂
n2 = n1
Eᴀ₁

n2 = (244.3 / 250) (1200)

n2 = 1173 rpm

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 (b) If IL = 200 A:

IA = IL - IF
IA = IL – (VF / RF)
IA = 200 – (250/20)
IA = 195 A
Therefore, EA:
EA = VT - IA RA
EA = 250 – (195)(0.06)
EA = 238.3 V
The resulting speed of the motor is:
Eᴀ₂
n2 = n1
Eᴀ₁

n2 = (238.3 / 250) (1200)

n2 = 1144 rpm

Permanent Magnet DC Motor

A permanent-magnet dc (PMDC) motor is a dc motor whose poles are made of permanent

magnets. Permanent-magnet dc motors offer a number of benefits compared with shunt dc
motors in some applications. Since these motors do not require an external field circuit, they
do not have the field circuit copper losses associated with shunt dc motors. Because no field
windings are required, they can be smaller than corresponding shunt dc motors. However,
PMDC motors also have disadvantages. Permanent magnets cannot produce as high a flux
density as an externally supplied shunt field, so a PMDC motor will have a lower induced
torque per ampere of armature current than a shunt motor of the same size and construction.
A permanent-magnet dc motor is basically the same machine as a shunt dc motor, except that
the flux of a PMDC motor is fixed. Therefore, it is not possible to control the speed of a
PMDC motor by varying the field current or flux. The only methods of speed control
available for a PM DC motor are armature voltage control and armature resistance control.

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 Series DC motor

A type of DC motor at which the armature and field windings of this motor are connected in
series across the supply voltage. The figure below (a) shows the schematic diagram and
figure (b) shows its equivalent circuit diagram of the shunt dc motor.

a. Schematic Diagram of Series DC Motor

b. Equivalent Circuit Diagram of Series DC Motor

Note: In series motor, flux ϕ is proportional to the armature current IA. Therfore, the flux in
the machine can be given by:
ϕ = c IA
where c is a constant of proportionality, thus:
Tind = KcIA2 (for series motor only)
EA = Kϕω
IA = IS = IL
VT = EA + IA (RA +RS)

Where:

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 RS = series field winding resistance
IS = series field current

Example 3:
A series motor rated 440 volts is taking 80 A and running at 840 rpm. Total resistance of the
motor is 0.10 Ω. At what speed will the motor run when developing half the torque?
Given:
VT = 440 V, IA1 = 80 A, RA +RS = 0.1 Ω, n1 = 840 rpm
Solution:
Let:
T2 = (50%) T1
Torque induced for series motor, where c is a constant:
Tind = KcIA2
The relationship between the current and torque induced of the motor at two different load
condition is:
T₁ K c Iᴀ₁²
=
T₂ K c Iᴀ₂²
The constant k and c for machine construction and proportionality constant were cancel out:
T₁ Iᴀ₁²
=
T₂ Iᴀ₂²
(100%)T₁ (80)²
(50%)T₁
=
Iᴀ₂²
IA2 = 56.57 A

The induced voltage at two different conditions:

EA1 = VT - IA1 (RA +RS)
EA1 = 440 – (80)(0.1)
EA1 = 432 V

EA2 = VT - IA2 (RA +RS)

EA2 = 440 – (56.57) (0.1)
EA2 = 434.34 V

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The relationship between the speed and induced voltage of the series motor at two different
load condition, where flux ϕ is equals to the armature current IA:
Eᴀ₁ Kϕn₁ Eᴀ₁ K Iᴀ₁n₁
= =
Eᴀ₂ Kϕn₂ Eᴀ₂ K Iᴀ₂n₂

Eᴀ₂ Iᴀ₁
n2 = n1
Eᴀ₁ Iᴀ₂
434.34 (80)
n2 = (840)
432 (56.57)

n2 = 1194.34 rpm
n2 ≈ 1194 rpm

Example 4:
A 230-V series motor develops torque of 310 N•m at 800 rpm. The torque lost due to iron
and friction loss is 10 N•m. If the efficiency is 85%, determine the current taken by the motor
at 800 rpm.
Given:

VT = 230 V, n = 800 rpm,  = 85% , Tind = 310 N•m, Tloss = 10 N•m

Solution:
2πTn 2π(800)(310−10)
Pout = = = 25, 132. 74 W
60 60
Pout 25,132.74
Pin = = = 29,567.93 W
 0.85

Pin = VT IS , IS = IA
IS = 29,567.93 / 230
IA = IS = 128. 56 A

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 Compounded DC Motor

A type of DC motor at which there are two field windings, a series field winding and a shunt
field winding. There are two types of compounded DC motor on the basis of its field winding
connection with respect to the armature winding, (1) Long-Shunt Compound DC Motor
and (2) Short-Shunt Compound DC Motor.
Aside from the type of compounded dc motor, there is also a sub classification of the
compounded DC motor depending on the polarity of the connection of shunt field winding,
series field winding and armature winding. These are; (a) Commulatively Compounded DC
Motor, (b) Differentially Compounded DC Motor.

(a) Commulatively Compounded DC Motor

➢ is one in which the series field is connected that the field due to it assists the field
produced by the shunt field winding.

Φtotal = Φshunt + Φseries

(b) Differentially Compounded DC Motor

➢ is one in which the series field is connected that the field due to it opposes the field
produced by the shunt field winding.

Φtotal = Φshunt - Φseries

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 1. Long-Shunt Compound DC Motor
The series field winding are connected in series with the armature windings and parallel with
the shunt field winding. The figure below shows the schematic diagram of (a) Long-shunt
Commulatively Compounded, (b) Long-shunt Differentially Compounded and figure (c)
shows its equivalent circuit diagram of the long-shunt compounded dc motor.

a. Long Shunt Commulatively Compounded DC Motor b. Long Shunt Differentially Compounded DC Motor

c. Equivalent Circuit Diagram of Long-Shunt Compound DC Motor

Tind = KϕIA
EA = Kϕω
IA = IL – IF , IA = IS
VT = EA + IA (RA +RS)
IF = VT / RF

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Example 5:
A 240-V dc long-shunt compound motor draws a current of 50 A. The armature, series field
and shunt field resistances are 0.1, 0.2 and 240 ohms, respectively. Determine the efficiency
of the motor. Assume a constant loss of 300 W.
Given:
VT = 240 V, Pstray = 300 W, IA = 50 A, RA = 0.1 Ω, RS = 0.2 Ω, RF = 240 Ω
Solution:
IF = VT / RF = 240 / 240 = 1 A
IA = IL – IF = 50 – 1 = 49 A
Pcopper = Pcu = (IF 2 RF) + (IS 2 RS) +(IA 2 RA)
Pcu = (12 )(240) + (492 )(0.2) +(492 )(0.1)
Pcu = 960.3 W
Pin = VT IL = (240) (50) = 12,000 W
Pout Pin−Ploss Pin−(Pcopper+Pstray)
= = =
Pin Pin Pin
12,000−(960.3+300)
= x 100%
12,000

 = 89.5%

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 2. Short-Shunt Compound DC Motor
The series field winding are connected in series with the supply terminals and parallel with
the shunt field winding. The figure below shows the schematic diagram of (a) Short-shunt
Commulatively Compounded, (b) Short-shunt Differentially Compounded and figure (c)
shows its equivalent circuit diagram of the short-shunt compounded dc motor.

a. Short Shunt Commulatively Compounded DC Motor b. Short Shunt Differentially Compounded DC Motor

c. Equivalent Circuit Diagram of Short-Shunt Compound DC Motor

Tind = KϕIA
EA = Kϕω
IA = IL – IF , IL = IS
EA = VT - IS RS - IA RA
VF = VT – IS RS
IF = VF / RF

Where: VF = shunt field voltage

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Example 6:
A 230-V dc short-shunt compound motor draws an armature current 50 A at rated load. The
armature, series field and shunt field resistances are 0.1 Ω, 0.2 Ω, and 100 Ω, respectively.
Find the horsepower developed in the armature at rated load.
Given:
VT = 230 V, IA = 50 A, RA = 0.1 Ω, RS = 0.2 Ω, RF = 100 Ω
Solution:
IL = IS = IA + IF
IL = IS = 50 + IF eqn. 1

VF = IF RF
VF = 100 IF eqn. 2

Substitute the equations:

VT = VF + IS RS
230 = 100 IF + (50 + IF )(0.2)
IF = 2.196 A

IS = 50 + IF = 50 +2.196 = 52.196 A
EA = VT - IS RS - IA RA
EA = 230 – (52.196)(0.2) – (50)(0.1)
EA = 214.56 V
Pdev = EA IA = (214.56)(50)
Pdev = 10,728 W
Since: 1 hp = 746 W
Pdev = 10,728 W (1 hp / 746 W)
Pdev = 14.38 hp

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 Activity 4

A. Questions

1. Why is it important to know the equivalent circuit diagram of a DC motor to an actual

DC motor?
2. Does this equivalent circuit diagram helps you picture out in solving problems
regarding DC motor?
3. What is the relationship between the internal generated voltage (back emf) and
the field current of the DC motor? Explain

B. Problems

(1-2). A separately excited dc motor develops 700 N•m torque while drawing 35 A
current.
1. What is the torque at 70 A input current?
Ans. 1,400 N•m

2. Calculate the motor speed in rpm if the back emf at 35 A armature current is 200 V.

3. A 10 hp, 230 V shunt motor takes a full load current of 40 A. The armature and field
resistances are 0.25 Ω and 230 Ω respectively. The total brush contact drop is 2 V and
the core and friction losses are 380 W. Calculate the efficiency of the motor. Assume
that stray load loss is 1% of output.
Ans. 87.51%

4. A shunt motor has an armature resistance of 0.2 Ω. It takes an armature current of 120
A when connected across a 440 V source and runs at 800 rpm. If the total torque
deveoped is unchanged, calculate the speed if the magnetic field is reduced to 60% of
its initial value.

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 Activity 5

Problems

1. A series motor, having an armature resistance of 0.1 Ω and a field resistance of 0.15
Ω takes 48 A at 230 V and 720 rpm. The total core and friction losses are 650 W.
Calculate the efficiency of the motor when delivering ½ of the rated torque.
Ans. 88%

2. A dc series motor having a resistance of 1.0 ohm between terminals runs at 800 rpm
at 200 V with a current of 15 A. At what speed will it run when connected in series
with a 5-ohms resistance, the current maintained at 15 A?

(3-4). A 550 V long shunt compound motor has an armature resistance of 0.215 Ω, a
series field resistance of 0.15 Ω and a shunt field resistance of 275 Ω. The full load speed
is 1900 rpm when the armature current is 22 A. Assume a constant loss of 200 W.
3. At what speed will the motor operate with no load if the armature current drops to 3 A
with a corresponding drop in flux to 88% of full load value.
Ans. 2,187 rpm

4. Calculate the full load efficiency.

(5-6). A 220 V short shunt compound motor has an armature resistance of 0.4 Ω, a shunt
field resistance of 175 Ω and a series field resistance of 0.4 Ω.
5. Calculate the hp developed by the armature if the armature is drawing a current of 30
A.
Ans. 7.86 hp

6. Calculate the full load efficiency if the constant loss is 250 W.

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