BEKE 4753 Electrical Drives

DC MOTOR DRIVES
(Module 2)
INTRODUCTION

• DC DRIVES: Electric drives that use DC motors as

the prime movers.

• Dominates variable speed applications before PE

converters were introduced.

• Will AC drive replaces DC drive ?

– Predicted 30 years ago

– DC strong presence – easy control – huge
numbers
– AC will eventually replace DC – at a slow rate

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INTRODUCTION

DC MOTORS
• Advantage: Precise torque and speed
control without sophisticated electronics
controllers.
• Several limitations:
• Regular Maintenance • Expensive

• Heavy • Speed limitations

• Sparking

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 CONSTRUCTION OF DC MOTOR

DC Motors
Armature Field
terminals terminals
Wound Stator

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CONSTRUCTION OF DC MOTOR
 DC motor consists of a rectangular coil made of insulated copper
wire wound on a soft iron core which form the armature.
 The coil is mounted on an axle and is placed between the cylindrical
concave poles of a magnet.

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DC motor application in automobile

• the worldwide demand for automotive DC Motors in body domain is estimated to

reach 2 Billion Units in 2020.
• all applications described are in the range from 30W up to 200W.
• source “https://www.ednasia.com/dc-motor-trends-in-automotive-body-
electronics/”
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Brushed DC Hub Motor Application

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CONSTRUCTION OF DC MOTOR

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CONSTRUCTION OF DC MOTOR

Main Components of a DC Motor 9

 TYPE OF DC MOTOR

DC
MOTOR

Wound Permanent Electronically

Rotor Magnet Commutated

Series Shunt Compound Brushless Stepper

Variable
PM rotor
Reluctance

Conventional
Disc rotor Cup rotor
PM

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TYPES OF DC MOTOR:
 Types of DC motors commonly used in industrial applications:
• Shunt wound DC motor
• Series wound DC motor
• Compound wound or stabilized shunt DC motor, and
• Permanent magnet DC motor

 When selecting a DC motor for a given application, two factors must

be taken into consideration:
• The allowed variation in speed for a given change in load (speed
regulation).
• The allowed variation in torque for a given change in load (torque
regulation).

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 TYPE OF DC MOTOR

1) Series Wound DC Motor

• Connection: field windings are connected in series with
armature windings.

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Characteristics:
The field windings, consisting of a relatively few turns of heavy
wire, are connected in series with the armature winding.
Has the highest starting torque because of low resistance in
windings.
Any increase in current, therefore, strengthens the magnetism
of both the field and the armature.
The speed is dependent upon the load. Both the armature
current and the flux increase when the load increase.

T  KI a 2
 Since the flux is almost directly proportional to the armature current, the
torque is approximately proportional to the square of armature current.

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Characteristics (cont.):
 Speed regulation is not good. If the load is removed entirely, the
motor may operate at such a high speed that the armature will fly
apart. The speed may low under the heavy load.
 As a safety precaution, series wound DC motors should always be
connected to the load. Therefore, series motor are not
recommended for belt or chain driven system.
 Application: well suited for work that requires frequent starting under
heavy load, such as electric trains, electric cranes and winches.

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 TYPE OF DC MOTOR

2) Shunt Wound DC Motor

• Connection: field windings are connected in parallel (or
shunt) with armature windings.

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Characteristics:
 Two types:
 Self-excited DC shunt motor: field and armature windings using a same
power supply.
 Separately-excited DC shunt motor: separate power supply is used for
field and armature winding.
 Has the lowest starting torque of all wound-field DC motor.
 The magnetic field strength is virtually constant, therefore the torque and
speed of motor is primarily proportional to the armature current only.

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Characteristics (cont.):
 Has a very good speed regulation (between 5-10% of maximum speed). It
considered as a constant speed motor.
 The shunt motor will not run away under no-load, but may if field windings
fail.
 When an external load is applied to the shunt motor, it tends to slow down
slightly. When there is no load on a shunt motor, the only torque necessary
is that which is required to overcome friction and windage.
 Application: ideal for use in machine tools, conveyors, blowers or other
device that requires a constant speed driving source.

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 TYPE OF DC MOTOR

3) Compound Wound DC Motor

• Connection: uses both series field and shunt field in a
series-shunt configuration with the armature.

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Characteristics:
 Combines the high starting torque of the series motor with the shunt
motor’s constant speed under changing load conditions.
 The starting torque is higher than in the shunt motor but lower than
in the series motor.
 Variation of speed with load is less than in a series wound motor but
greater than in a shunt motor.
 Two types of compound motor:
a) Cumulative compound motor: The current entering both the
series field and the shunt field is moving in the same direction.
Both fields produce the same magnetic field and aid each other.
b) Differential compound motor: the series winding's magnetic field
is connected to oppose the shunt winding's magnetic field.

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a) Cumulative Compound DC Motor

 Its starting torque is approximately 300-400 % of its full load rating.

(higher than shunt wound motor starting torque)
 Speed decreases when a load is applied more rapidly than it does in
a shunt motor, but less rapidly than in a series motor.

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Cumulative Compound Motor (cont.)
 Can achieve a speed regulation of about 25%. Therefore, if the
physical load of cumulative compound motor is increased, its speed
will reduce slightly more than with shunt motor.
 It is ideally suited for applications which require a large starting
torque and a constant running speed, such as elevators.
 The cumulative compound motor is used where reasonably uniform
speed combined with good starting torque is needed.

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b) Differential Compound DC motor
 An increase in load creates an increase in
current and a decrease in total flux resulting
the decrease in speed.
 It has less starting torque than either series
motor or shunt motor
 It tends to have a more constant speed up to
the full load rating of the motor. However, it is
unable to handle serious heavy load.
 Therefore, differential compound motor are
not used unless it is unlikely an overload
condition will be encountered.

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 TORQUE & SPEED CHARACTERISTIC OF
WOUND DC MOTORS

Typical torque-speed characteristics of series, shunt and

compound motor.

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 TYPE OF DC MOTOR

4) Permanent Magnet (PM) DC Motor

 It is built with a standard armature and brushes, but has permanent

magnets in place of the shunt field rather than windings.
 The permanent magnet poles are usually constructed of material
such as ceramic or alnico (aluminum, nickel and cobalt).

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 Benefit of PM DC motor:
 less expensive to operate, no need for a shunt field winding
exciter supply.
 simpler to install, with only two armature connection are needed.
 simpler to reverse, simply reverse the connection to armature.
 The torque speed characteristic is close to that shunt wound DC
motor.
 It is usually used for low horsepower (below 5HP) and slow speed
application.
 The main drawback of PM motors is relatively high cost of the
magnet and inability to obtain higher speeds because of their low
flux level generation.

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CONSTRUCTION OF DC MOTOR

DC Motors
Armature Field
terminals terminals
Wound Stator

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PRINCIPLE OPERATION

DC Motors -2 pole: Wound stator excitation

Rotor/Armature

Stator/Field

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PRINCIPLE OPERATION

DC Motors-2 pole: Permanent Magnet (PM)

excitation

Rotor/Armature

PM
Stator/Field

N S

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PRINCIPLE OPERATION

DC Motors -2 pole

X
X

• Mechanical commutator to maintain armature current

direction. 29
PRINCIPLE OPERATION
• Current flowing in
DC Motors - 2 pole armature circuit
interact with field
winding to produce
torque.
Torque • Torque produced is
proportional to the
X
armature current.
X
• The torque will make
X
the rotor to rotate
X
(clockwise).
X
• As the rotor rotates,
Torque
voltage will be
induced in the rotor
– which is known as
the back emf.

In order to look on how the speed is control on DC motor,

we need to model the DC motor with electric circuit
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CONSTRUCTION OF DC MOTOR

DC Motors
Armature Field
terminals terminals

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EQUIVALENT CIRCUIT – SEPERATELY EXCITED DC MOTOR

Ra La Lf Rf

ia +
+ if +

Vt ea Vf

_ _ _

di dif
v t  R aia  L a  Ea v f = R fif + L
dt dt

Te  ktφia Electric torque

Ea  keφω Armature back e.m.f.

φ  if The flux per pole is proportional to if

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EQUIVALENT CIRCUIT – SEPERATELY EXCITED DC MOTOR

• If the field flux comes from permanent magnet, the

motor is called the Permanent Magnet DC Motor.
• For permanent magnet DC motor, the field current
CANNOT be controlled, therefore the torque and back
e.m.f. can be written as:

Te  kTia Ea  kEω

kT is the torque kE is the back e.m.f.

constant constant

• Most of the time, kT = kE

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EQUIVALENT CIRCUIT – SEPERATELY EXCITED DC MOTOR

• Armature circuit:
dia
Vt  R aia  L  Ea
dt

• In steady state current will not change with time

(dia/dt =0),
Vt  R aIa  Ea

• Therefore steady state speed is given by,

Vt R aTe
ω 
keφ ktke  φ 2

• For the case kt = ke,

Vt R T
ω  a e2
ktφ ktφ
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CONVENTIONAL DC MOTOR CONTROL

Vt R aTe
ω 
ktφ ktφ 2

• Three possible conventional methods of speed

control:
• Armature voltage, Vt
• Field flux,φ
• Armature resistance,Ra

• Control using Ra is seldom used because it is

inefficient due to the losses in the
external armature resistance.

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CONVENTIONAL DC MOTOR CONTROL

Vt R a Te
ω 
k tφ  k t φ 2


Varying Vt
Vt
kTφ TL

Vt ↓

Te
Requires variable DC supply
Max-rated speed
→ Voltage Mode Control 36
Varying Vt
 Armature voltage control: retain maximum torque capability
 Field flux control (i.e. flux reduced): reduce maximum torque capability
 For wide range of speed control
0 to base  armature voltage, above base  field flux reduction

Armature voltage control

Te Field flux control

Maximum
Torque capability

base 
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Varying Vt

Te

Maximum
Torque capability

base 
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Varying Vt

P Te Constant torque Constant power

Pmax


base

0 to base  armature voltage, above base  field flux reduction

P = EaIa,max = kaIa,max Pmax = EaIa,max = kabaseIa,max

   1/ 39
CONVENTIONAL DC MOTOR CONTROL

Vt RT
ω  a e2
kTφ  kTφ
Varying Ra


Vt TL
kTφ

Ra ↑

Te
Simple control
Losses in external resistor
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 Varying Ra
 The current in the rheostat produce a
voltage drop which subtract from the
fixed source voltage Vs, yielding a
smaller supply voltage across the
armature.
 By varying the resistance of the
rheostat, the supply voltage across
the armature can be varied.
 This method enable to reduce the
A rheostat is place in motor speed below its nominal/rated
value
series with the armature
 It only recommended for small motors
of DC motor. because a lot of power and heat is
wasted in rheostat, and the overall
efficiency is low.
 Furthermore, the speed regulation is also poor, even for a fixed setting of the
rheostat.
 This is because, the power drop across the rheostat increases as the armature
current increases. This produces a substantial drop in speed with increasing
mechanical load. 41
 DC MOTOR
SPEED CONTROL OF SHUNT MOTOR

 The current in the rheostat produce a voltage drop which subtract

from the fixed source voltage Vs, yielding a smaller supply voltage
across the armature.
 By varying the resistance of the rheostat, the supply voltage across
the armature can be varied.
 This method enable to reduce the motor speed below its
nominal/rated value
 It only recommended for small motors because a lot of power and
heat is wasted in rheostat, and the overall efficiency is low.
 Furthermore, the speed regulation is also poor, even for a fixed
setting of the rheostat.
 This is because, the power drop across the rheostat increases as
the armature current increases. This produces a substantial drop in
speed with increasing mechanical load.

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CONVENTIONAL DC MOTOR CONTROL

Vt RT
ω  a e2
kTφ  kTφ

Varying φ

Vt TL
kTφ

↓

Te

Not possible for PM motor

Maximum torque capability reduces
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CONVENTIONAL DC MOTOR CONTROL

Varying φ

 Assume that the motor is initially

running at constant speed where
the back-emf, Ea is slightly less
than Vs, due to IR drop in the
armature.
 If the resistance of rheostat Rf is
suddenly increased, both the
exciting current If and the flux Φ
Schematic diagram of a shunt will diminish.
motor including the field rheostat  This immediately reduces the
Ea, causing the armature current
 E  k
I to jump to aa much higher value.
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 Despite the weaker field, the motor develops a greater torque than
before because of the higher value of armature current.
 The motor will accelerate until Ea is again almost equal to Vs. (to
develop the same Ea with a weaker flux, motor must turn faster)
 This method of speed control usually used when the motor has to
run above its rated speed. For shunt motor, this method enables
high speed/rated speed ratios as high as 3 to 1.
 Under certain abnormal condition, the flux may drop to dangerously
low values. If the fluxes are so small, the motor has to rotate at a
dangerously high speed to induce the required Ea.

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Interaction of DC Motor and Mechanical Load

Ia Tload
+
+
VT m Mechanical Load
Ea DC Motor
(Pump, Compressor)
- - - Tdev

Ea : Back EMF
VT : Applied voltage
Tdev : (or Te) Torque developed by DC Motor
Tload : (or TL) Opposing load torque

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INTERACTION OF DC MOTOR AND MECHANICAL LOAD

Ia Tl
+
Mechanical
+ 
Vt Load
DC Motor
Ea (Pump,
Compressor)
- - - Te

 Input electrical power to dc motor

= Ea Ia = Ka m Ia = Te 
= Output mechanical power to load

 Electromechanical modelling
d J = moment of inertia of motor
J  B  Te  Tl
dt B = motor viscous friction

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Example 1:
A separately excited DC motor runs from a 220 V supply and draws an
armature current of 15 A. The armature resistance is 0.8 Ω. Calculate
the generated voltage (back e.m.f).
If the field current is suddenly reduced by 10%, calculate
a) The value to which the armature current rises momentarily, and
b) The percentage increase in torque when the current reaches the
value in a).
Ignore armature inductance, neglect saturation, and assume that the
field flux is directly proportional to the field current.

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Example 2:
A separately-excited DC motor with the following parameter : Ra = 0.5
Ω, La = 0.003H, and Kb = 0.8 V/rad/sec, is driving a load of J = 0.0167
kg-m2, B1 = 0.01 N.m/rad/sec with a load torque of 100 N.m. Its
armature is connected to a dc supply voltage of 220 V and is given the
rated field current. Find the speed of the motor.

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Example 3:
A 220 V DC shunt motor has a field resistance of 200 Ω and armature
resistance of 0.5 Ω respectively. The armature current is 20 A and the
speed is 900 rpm. Assuming a linear magnetization characteristics,
determine the additional resistance to be connected in series in the
field circuit to increase the motor speed to 1200 rpm.

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Power Electronics
Converters in
DC Drives

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Torque-speed quadrant of operation


m T
m e
Te • Quadrant of operation is
defined by the speed and
torque of the motor
Quadrant 2 Quadrant 1 • Most rotating electrical
Forward braking Forward motoring machines can operate in 4
Te T quadrants
Te - forward/reverse
m • Not all converters can
m operate in 4 quadrants
– Single quadrant
– 2 quadrants
Quadrant 3 Quadrant 4
Reverse motoring Reverse braking – 4 quadrants

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Varying Vt
 Armature voltage control: retain maximum torque capability
 Field flux control (i.e. flux reduced): reduce maximum torque capability
 For wide range of speed control
0 to base  armature voltage, above base  field flux reduction

Armature voltage control

Te Field flux control

Maximum
Torque capability

base 
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 Power Electronics Converters in
DC Drives

POWER ELECTRONICS CONVERTERS

Used to obtain variable armature voltage

• Efficient
Ideal : lossless

 Phase-controlled rectifiers (AC  DC)

 DC-DC switch-mode converters(DC  DC)

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Power Electronics Converters in DC Drives

Phase-controlled rectifier (AC–DC)

ia

+

3-phase Q1
supply Vt Q2

Q3 Q4 T


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Power Electronics Converters in DC Drives

Phase-controlled rectifier

+
3-
phase 3-phase
Vt supply
supply

Q2 Q1

Q3 Q4
T
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Power Electronics Converters in DC Drives

Phase-controlled rectifier

F1 R1

3-phase
supply
+ Va -
R2 F2


contactor

Q2 Q1

Q3 Q4
T

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Power Electronics Converters in DC Drives

Switch–mode converters

T1 

+ Q2 Q1

Vt Q3 Q4 T
-

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Power Electronics Converters in DC Drives

Switch–mode converters

T1 Q1
Q2
D1
Q3 Q4 T
+
T2 Vt
D2 - Q1  T1 and D2

Q2  D1 and T2

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Power Electronics Converters in DC Drives

Switch–mode converters

D1 D3 Q1
T1 T3 Q2
+ Vt -
Q3 Q4 T

T4 D2 T2
D4

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Power Electronics Converters in DC Drives

Switch–mode converters

• Switching at high frequency

 Reduces current ripple
 Increases control bandwidth

• Suitable for high performance applications

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