TON DUC THANG UNIVERSITY

Faculty of Electrical & Electronics Engineering

ELECTRICAL DRIVES
401072

Chapter 2

DC Motor Drives
2024 Tran Quoc Hoan, PhD
 Contents 2

➢ 2.1. Introduction

➢ 2.2. Equivalent circuits of DC motors

➢ 2.3. Speed control of DC motors

➢ 2.4. Braking of DC motors

2.1. Introduction

➢ 2.1. Introduction

➢ 2.2. Equivalent circuits of DC motors

➢ 2.3. Speed control of DC motors

➢ 2.4. Braking of DC motors

 Introduction 4

➢ The DC machine is popular in several drive applications due to

its simple operation and control.
➢ The starting torque of DC machines is large, which is the main
reason for using it in several traction applications.
➢ A special form of DC machine can also be used with either AC or
DC supply. Many appliances and power tools used at home, such
as circular saws and blenders, are DC machines.
DC motor construction 5
Main components of a DC machine
Brush-type DC Motors: 6
 Main components of a DC machine
Brush-type DC Motors: 7

➢ The field is normally an electric magnet fed by a DC power source. In small

machines, the field is often a permanent magnet.
➢ The armature circuit is composed of the windings, commutator, and brushes. The
windings and the commutator are mounted on the rotor shaft and rotate.
➢ The brushes are mounted on the stator and are stationary, but in contact with the
rotating commutator segments.
➢ The rotor windings are composed of several coils; each has two terminals
connected to the commutator segments on opposite sides.
➢ The commutator segments are electrically isolated from one another. The
segments are exposed, and the brushes touch two opposing segments.
➢ The brushes allow the commutator segments to be connected to an external DC
source.
 Operation of a typical DC machine 8

➢ The stator field produces flux f from the N

pole to the S pole. The brushes touch the
terminals of the rotor coil under the pole.
➢ When the brushes are connected to an
external DC source of potential V, a current I
enters the terminal of the rotor coil under the
N pole and exits from the terminal under the S
pole.
 Operation of a typical DC machine 9

➢ The presence of the stator flux and rotor

current produces a force F on the coil known
as the Lorentz force.
➢ This force produces torque that rotates the
armature counterclockwise. The coil that
carries the current moves away from the
brush and is disconnected.
 Operation of a typical DC machine 10

(a) 2-pole permanent magnet

(b) 4-pole wound field

Conventional (brushed) DC motor

Symbol of DC machine 11

(a) Field winding (current, if ) and armature winding (current, ia)

(b) Symbol of DC machine
A simple circuit diagram of a two-pole DC machine
12
 Classification of DC machine 13

➢ Separately excited machines: The field and armature circuits are

excited by separate sources.
➢ Shunt machines: The field winding is connected in parallel with
the armature circuit. A common source is used for the field and
armature windings.
 Classification of DC machine 14

➢ Series machines: This type is designed to carry large currents

and is connected in series with the armature winding.
➢ Compound machines.
2.2. Equivalent Circuits of DC Motors

➢ 2.1. Introduction

➢ 2.2. Equivalent circuits of DC motors

➢ 2.3. Speed control of DC motors

➢ 2.4. Braking of DC motors

 2.2.1. Separately Excited Motors 16

➢ The motor consists of two circuits: field and armature.

➢ The field circuit is mounted on the stator, and is
energized by a separate dc source of voltage Vf
➢ The field has a resistance Rf and a high inductance Lf
➢ The field inductance has no impact in the steady-state
analysis, since the source is a DC type.

Equivalent circuit of a
➢ The field current If:
separately excited motor Vf
If =
Rf
 2.2.1. Separately Excited Motors 17

➢ The armature circuit, mounted on the rotor, is composed

of a rotor winding and commutator segments.
➢ An external source of voltage Vt is connected across the
armature to provide the electric energy needed to drive
the load.
➢ The back electromagnetic force Ea

Equivalent circuit of a
➢ The armature current Ia:
separately excited motor
Vt − Ea
Ia =
Ra
 2.2.1. Separately Excited Motors 18

➢ The armature circuit carries a much higher current than the field circuit.
✓ The wire cross section of the armature winding is much larger than that for
the field circuit.
➢ The armature resistance Ra is much smaller than the field resistance Rf.
✓ Ra is in the range of a few ohms and is smaller for larger horsepower
motors.
✓ Rf is a hundred times larger than Ra.
➢ The field current If is usually about 1% to 10% of the rated armature current Ia.
➢ The field voltage Vf is usually in the same order of magnitude as the armature
voltage Va.
 2.2.1. Separately Excited Motors 19

➢ The developed power Pd:

Pd = Ea I a = Td 
Ea = K 
Td = K I a

✓ Φ : the flux, which is almost proportional to If

✓ K : the constant, is dependent on design parameters such as the
number of poles, number of conductors, and number of parallel paths
 2.2.1. Separately Excited Motors 20

➢ The speed-torque equation:

Vt − Ea
Td = K 
Ra
Vt − K 
= K (replaced Ea = K  )
Ra
➢ Or:
Vt Ra
= − T
K ( K) 2 d

Vt Ra I a Td
= − (replaced I a = )
K K K
 2.2.1. Separately Excited Motors 21

➢ The no-load speed: by setting the no-load armature current is zero (or the load
torque is zero)
Vt
0 =
K
➢ In the steady state, the developed torque Td is equal to the load torque Tm.
➢ The speed of the motor drops by an amount of Δω:

Ra
 = Tm
( K)
2

  =  0 − 
 2.2.1. Separately Excited Motors 22

➢ The speed-torque and speed-current characteristics when the field and

armature voltages are kept constant:
 2.2.1. Separately Excited Motors 23

➢ At the starting point: the motor speed is zero

Vt Vt
Tst = K  ; I st =
Ra Ra

➢ Ra is usually small:
✓ Tst is very large when the source voltage is equal to the rated value. This is
an advantageous feature and is highly desirable when motors start under
heavy loading conditions.
✓ Ist is also very large. Large currents at starting might have a damaging
effect on the motor windings.
 2.2.1. Separately Excited Motors 24

➢ Example 5.1 (p. 120): A separately excited DC motor has the following data:

➢ Calculate the rated torque, starting torque, and starting current at full voltage.
 2.2.1. Separately Excited Motors 25

➢ Reducing source voltage at starting: ➢ Adding a resistance to the armature circuit:

Vt
Vst = 6 I a Ra = 6  5  2 = 60V R + Ra =
I st
Vt 600
R= − Ra = − 2 = 18
I st 65
 2.2.2. Shunt Motors 26

➢ The field winding is connected across the same

voltage source used for the armature circuit.
➢ The current of the source I is equal to the sum
of the armature current Ia and the field current If.
➢ The shunt motor exhibits characteristics
Equivalent circuit of a
separately shunt motor
identical to those of the separately excited
motor.
 2.2.3. Series Motors 27

➢ The field winding is connected in series with the

armature circuit.
➢ The series field winding is composed of a small number
of turns as compared to the shunt field winding.
➢ The current of the series winding is equal to the
armature current.
➢ The series machine has a field current varying with the
loading of the motor - the heavier the load, the stronger
the field. At light or no-load conditions, the field of the
Equivalent circuit of a
series motor series motor is very small.
 2.2.3. Series Motors 28

➢ The armature current: ➢ Assume that the motor operates in the

Vt − Ea linear region of the saturation curve:
Ia =
Ra + R f  = CI a
➢ The torque of the machine:
➢ The developed torque:
Vt − Ea
Td = 
Ra + R f Td = I a = CI a2
Vt −  Vt Ra + R f
Td =  = −
Ra + R f CI a C
Vt Ra + R f Vt Ra + R f
= − Td = −
 (  ) 2
CT d C
 2.2.3. Series Motors 29

➢ The starting current: ➢ The starting torque of a series motor is

Vt much larger than that for a shunt motor.

I st =
Ra + R f ➢ The starting current of a series motor is
lower than that for a shunt motor.
➢ The starting torque:
2
➢ The series motor a popular machine in such
 Vt 
Tst = I st = CI = C 
2

applications as traction and transportation.
st R +R
 a f  ➢ Ex: A trolley bus requires a high starting
torque, especially when loaded with
passengers.
 2.2.4. Compound Motors 30

➢ Equivalent circuit of a compound ➢ The flux:  = series + shunt

motor:
➢ The speed equation:

=
Vt
−
( Ra + R f ) I a
 ( series + shunt )  ( series + shunt )
Assuming series = CI a

=
Vt
−
( Ra + R f ) I a
CI a + shunt CI a + shunt
 2.2.4. Compound Motors 31

➢ The motor torque: Td =  ( series + shunt ) I a

=
Vt
−
( Ra + R f ) Td
 ( series + shunt )   ( series + shunt )  2
 
➢ The speed-torque characteristic:
 2.2.4. Compound Motors 32

➢ At no-load condition: Td = 0 series = 0

Vt
0 =
shunt

➢ The starting current of the ➢ The starting torque:

armature circuit:
Tst =  ( series + shunt ) I st
Vt
I st =  Vt
2
  Vt 
Ra + R f = C   + shunt 
R +R 
 a f   Ra + R f 
2.3. Speed Control of DC Motors

➢ 2.1. Introduction

➢ 2.2. Equivalent circuits of DC motors

➢ 2.3. Speed control of DC motors

➢ 2.4. Braking of DC motors

 2.3.1. DC Shunt or Separately Excited Motors
34

➢ The speed-torque characteristics of a DC, separately excited (or shunt) motor:

Vt Ra Vt Ra
= − T = − I a =  0 − 
 (  ) 2 d
 
0 : no-load speed

➢ For a given torque, the motor speed is a function of:

✓ Resistance in armature circuit.
✓ Terminal voltage (armature voltage).
✓ Field flux (or field voltage).
 Controlling Speed by Adding Resistance 35

➢ A dc motor setup with resistance ➢ Speed-torque characteristics:

added in the armature circuit:
Controlling Speed by Adding Resistance 36

➢ Point 1: no external resistance

➢ Point 2: Radd1
Vt Ra + Radd1
2 = − I a =  0 −  2
 
➢ Point 4: motor speed is zero, “holding”
operation
Vt Ra + Radd3
 4 =  0 −  4 = − Ia = 0
 
Vt Vt
Radd3 = − Ra = − Ra
Ia Td
 Controlling Speed by Adding Resistance 37

➢ The operating a dc motor for a period with a resistance inserted in

the armature circuit is a very inefficient method.
➢ The use of resistance is acceptable only when the heat produced
by the resistance is utilized as a by-product or when the
resistance is used for a very short period.
 Controlling Speed by Adding Resistance 38

➢ Example 6.1 (p. 168): A 150V, dc shunt motor drives a constant-torque load at
a speed of 1200rpm. The armature and field resistances are 1Ω and 150Ω,
respectively. The motor draws a line current of 10A at the given load.
➢ Calculate the resistance that should be added to the armature circuit to
reduce the speed by 50%.
➢ Assume the rotational losses to be 100W. Calculate the efficiency of the
motor without and with the added resistance.
➢ Calculate the resistance that must be added to the armature circuit to operate
the motor at the holding condition.
 Controlling Speed by Adjusting Armature Voltage
39

➢ A common method:
✓ This method is highly efficient and stable and is simple to implement.

Vt Ra
= − T
 (  ) 2 d

Vt Ra
= − I a =  0 − 
 

The no-load speed is reduced when

the armature voltage is reduced.
 Controlling Speed by Adjusting Armature Voltage
40

➢ Motor characteristics when armature voltage changes:

V4 Ra
4 = − T =0
 (  ) 2 d

Ra
V4 = Td

 Controlling Speed by Adjusting Field Voltage
41

➢ Motor speed is also dependent on the field flux.

Vt Ra
= − T
 (  ) 2 d

Vt Ra
= − I a =  0 − 
 

The motor speed is more sensitive to

flux variations than to variations in the
armature voltage.
 Controlling Speed by Adjusting Field Voltage
42

➢ Effect of field voltage on motor speed:

Vt Ra
= − T
 (  ) 2 d

Vt Ra
= − I a =  0 − 
 

The motor speed is more sensitive to

flux variations than to variations in the
armature voltage.
 Controlling Speed by Adjusting Field Voltage
43

➢ When motor speed is controlled by adjusting the field current, the

following conditions should be considered:
✓ The field voltage must not exceed the absolute maximum rating.
✓ Since dc motors are relatively sensitive to variations in field voltage,
large reductions in field current may result in excessive speed.
✓ Because the armature current is inversely proportional to the field
flux, reducing the field results in an increase in the armature current
(assuming that the load torque is unchanged).
 Controlling Speed by Adjusting Field Voltage
44

➢ Example 6.3 (p. 172): A 150V, dc shunt motor drives a constant-

torque load at a speed of 1200rpm. The armature and field
resistances are 2Ω and 150Ω, respectively. The motor draws a
line current of 10A. Assume that a resistance is added in the field
circuit to reduce the field current by 20%. Calculate the armature
current, motor speed, value of the added resistance, and extra
field losses.
 Solid-State Control 45

➢ Solid-state control is used for enhanced efficiency and for versatile

operation of electric drive systems.
➢ For dc machines, converters are often used in the armature circuit to
control the terminal voltage of the motor.
➢ In some cases, the converter is also used to control the field voltage.
➢ When a converter is used, the power source can be either dc or ac,
which makes the selection of the machine independent of the available
type source at the site.
 Solid-State Control 46

➢ Basic configuration of dc motor with a

converter:
✓ The armature circuit of the motor is
connected to the converter, which is fed
from an ac source.
✓ The field circuit of the motor is excited from
the ac source through a full-wave rectifier
circuit, which may contain filters.
 Single-Phase, Half-Wave Drives 47

➢ A single-phase, half-wave SCR drive:

 Single-Phase, Full-Wave Drives 48

➢ Full-wave drive using four-SCR ➢ Full-wave drive using two SCRs

bridge: and a center-tap transformer:

V1 = V2 = rated armature voltage

 2.3.2. DC Series Motors 49

➢ The concept of speed control of series machines is almost

identical to that for the shunt machines.
➢ The basic types of control used for shunt machines can also be
implemented for series machines.
➢ However, the implementation requires special consideration of the
fact that the field and armature currents are directly correlated.
 2.3.2. DC Series Motors 50

➢ The speed-torque characteristics of the series motor:

Vt Ra + R f
= − Td
 (  ) 2

➢ Three methods can be used to control the motor speed:

✓ 1. Adding a resistance in the armature circuit.
✓ 2. Adjusting the armature voltage.
✓ 3. Adjusting the field current.
 Adding Resistance to the Armature Circuit 51

➢ Controlling speed of series motor by adding a resistance in the

armature circuit:
 Adding Resistance to the Armature Circuit 52

➢ Assuming that the flux is linearly proportional to the armature

current:
  CI a  Td = K I a  KC ( I a )
2

Vt Ra + R f
= − = 0 − 
KCI a KC
Vt Ra + R f + Radd
= − = 0 − 
KCI a KC
Ra + R f + Radd
 =
KC
 Adjusting Armature Voltage 53

➢ Circuit for controlling speed of series motor by varying terminal

voltage:
 Adjusting Armature Voltage 54

➢ The change in armature voltage has a similar effect on the series

motor as the insertion of an armature resistance.
➢ The voltage control can be done by any technique described for
the shunt motor drive.
➢ Since the voltage must be kept at or below the rated value, this
type of control is suitable for speed reduction below rated speed.
 Adjusting Field Current 55

➢ Two simple methods can be used to control the field current:

✓ Adding a shunt resistance to the series field circuit.
✓ Using a solid-state switching device across the field windings to
regulate the field current.
➢ These two methods provide similar performance.
 Adjusting Field Current 56

➢ Simple circuit for controlling

speed of series motor by
varying field current:

R f add
If = I a = AR I a
R f add + R f
( AR : resistance ratio )
 Adjusting Field Current 57

➢ Motor speed:
Vt Ra + AR R f
= −
KCAR I a KCAR
 Adjusting Field Current 58

➢ Solid-state devices can also

implement the field reduction:
a transistor and a diode shunt
the field circuit
2.4. Braking of DC Motors

➢ 2.1. Introduction

➢ 2.2. Equivalent circuits of DC motors

➢ 2.3. Speed control of DC motors

➢ 2.4. Braking of DC motors

 2.4. Braking of DC Motors 60

➢ Three basic methods:

✓ Regenerative Braking
✓ Dynamic Braking
✓ Countercurrent Braking
 1. Regenerative Braking 61

➢ Under given operating conditions, when the speed of the DC

machine exceeds its no-load speed, the machine is in the
regenerative braking mode.
➢ An electric motor is in regenerative braking when the load torque
reverses its direction and causes the machine to run at a speed
higher than its no-load speed but without changing the direction of
rotation.
 1. Regenerative Braking 62

➢ Example of regenerative braking:

 Regenerative Braking of DC Shunt Motors 63

➢ The energy exchange under regenerative braking is from the

mechanical load to the electrical source. Hence, the load is driving
the machine, and the machine is generating electric power that is
returned to the supply.
➢ The basic equations of the motor:
Ra
Vt = Ea + Ra I a = K + Tl
K
Vt Ra Vt − Ea Tl
= − T ; Ia = =
K ( K ) 2 l
Ra K
 Regenerative Braking of DC Shunt Motors 64

➢ Motor operation: ➢ Speed-torque characteristics:

 Regenerative Braking of DC Shunt Motors 65

➢ Point 2: The no-load operating point of a dc machine.

Tl = 0
Vt
2 =
K
Vt − Ea Tl
Ia2 = = =0
Ra K
Vt = Ea
 Regenerative Braking of DC Shunt Motors 66

➢ Point 3: The motor is operating as a generator.

Tl 3
I a3 =
K
Vt Ra
3 = − T
K ( K ) 2 l3

Vt − Ea 3 Tl 3
I a3 = =
Ra K
 Regenerative Braking of DC Shunt Motors 67

➢ Back emf during regenerative braking:

Tl 3
I a3 =
K
Vt Ra
3 = − T
K ( K ) 2 l3

Vt − Ea 3 Tl 3
I a3 = =
Ra K
 Regenerative Braking of DC Shunt Motors 68

➢ Example 9.1 (p. 252): A 440V, dc shunt motor has a rated armature current of 76A at a speed
of 1000rpm. The armature resistance of the motor is 0.377Ω, the field resistance is 110Ω, and
the rotational losses are 1kW. The load of the motor is bidirectional. Calculate the following:
➢ a. No-load speed of the motor
➢ b. Motor speed, where the armature current is 60 A during regenerative braking
➢ c. Developed torque during regenerative braking
➢ d. Ea during regenerative braking
➢ e. Power delivered by the source under normal motor operation
➢ f. Terminal current under regenerative braking
➢ g. Generated power during regenerative braking
➢ h. Total losses under regenerative braking
➢ i. Power delivered to the source under regenerative braking
 Regenerative Braking of DC Series Motors 69

➢ Regenerative braking occurs when the motor speed exceeds the

no-load speed (at zero torque).
➢ For a series motor, at zero torque, the no-load speed is
theoretically infinity.
➢ Hence, one might conclude that the series motor could not
operate under regenerative braking.
➢ The circuit of the series motor can be altered during regenerative
braking to allow the machine to generate electric power that can
be returned to the source.
 Regenerative Braking of DC Series Motors 70

➢ Regenerative braking of dc series motor:

▪ The circuit on the right side shows the

normal motor operation.
▪ The circuit on the left shows a
configuration for regenerative braking.
▪ The field circuit is excited by a separate
source.
▪ The voltage of the separate source
must be low enough to prevent the field
current from becoming excessive.
 Regenerative Braking of DC Series Motors 71

➢ Regenerative braking circuit for series motor:

 2. Dynamic Braking 72

➢ Dynamic braking is used to stop the motor by dissipating its stored

kinetic energy into a resistive load.
➢ Once the kinetic energy is totally dissipated, the motor stops
rotating if no external torque is exerted.
 Dynamic Braking of dc Shunt Motors 73

➢ The normal operation of the dc shunt motor:

Ra
Vt = Ea + Ra I a = K + Tl
K
Vt Ra
= − T
K ( K ) 2 l

Vt − Ea Tl
Ia = =
Ra K
 Dynamic Braking of dc Shunt Motors 74

➢ Dynamic braking:

− Ea K
Ia = − =−
Ra + Rb Ra + Rb
( Ea ) ( K )
2 2

Pb = =
Ra + Rb Ra + Rb
 Dynamic Braking of dc Shunt Motors 75

➢ Speed-current characteristics ➢ Circuit for dynamic braking:

under dynamic braking:
 Dynamic Braking of dc Series Motors 76

➢ Dynamic braking of series motor:

 3. Countercurrent Braking 77

➢ Countercurrent braking of the dc shunt motor is done by two methods:

▪ Plugging
▪ Terminal voltage reversal (TVR)
➢ The plugging method is suitable for the gravitational-type load where
the motor stops, reverses its direction of rotation, or operates under
holding conditions.
➢ The TVR can stop the motor rather rapidly or reverse its rotation. It
cannot hold the motor at zero speed if the load is gravitational.
 3. Countercurrent Braking of dc Shunt Motors
78

➢ Plugging
 3. Countercurrent Braking of dc Shunt Motors
79

➢ Braking by Terminal Voltage Reversal (TVR)

 3. Countercurrent Braking of dc Shunt Motors
80

➢ Braking by Terminal Voltage Reversal (TVR)

 3. Countercurrent Braking of dc Shunt Motors
81

➢ TVR braking circuit with DC source: ➢ TVR braking circuit with AC source: