ELEC 344, F-16
ELEC 344: Module 2, Part 1
Applied Electronics and Electromechanics
Instructor: Dr. Hamid Atighechi
My Webpage: www.ece.ubc.ca/~hamida
Module 2 (Read Chap. 4):
Part 1: Brushed DC Machines (Motors)
Important Topics and Concepts
Fundamentals and construction of DC machines
Induced voltage and developed torque
Equivalent circuit
Basic types of dc machines
Steady-state electromechanical (torque-speed) characteristics
Starting
NOTE: Power Points are originally developed by Dr. Juri Jatskevich
ELEC 344, F-16
DC Motors
Gear-head Motors
Small Motors
Medium-Size
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ELEC 344, F-16
DC Machines
Very popular in various applications
Tools, robotics, toys, medical, automotive & other industries
Range of Sizes
Miniature dc motors mW range
Fractional HP (1HP = 746W)
Medium Size 1 500 HP
Large DC Machines 500 HP and up
Very easy to control !
Good torque-speed performance
Brushes is a weak point of design
Limits the application
Limits the lifetime
Maintenance
3
Motor (Machine) Speed
ELEC 344, F-16
Commonly used units of speed
m - rad / sec
rev / sec
m
2
rev / min
n 60
2
n
30
rev / min rpm
Most commonly used
ELEC 344, F-16
DC Machine Motoring and Generating
Flux and armature current produce torque
Voltage (back emf) is induced in rotating armature winding
<=
Power Flow
Vt I a Pin
Pout mTm Pm
Power Flow
Pin mTm Pm
Mechanical load torque
is applied in the direction
opposite to rotation
=>
Mechanical torque is
applied in the direction
of rotation
Vt I a Pout
Fundamentals: Force & Torque
ELEC 344, F-16
Consider a conductor frame (single-coil)
Lorentz Force
Torque
F lBia
Te 2RlBia cos
ABia cos pia cos
NOTE: Maximum torque is when
and
Te ~ pia
a axis B
6
Fundamentals: Induced Voltage
ELEC 344, F-16
Consider a conductor frame (single-coil)
d
e
Faradays Law
dt
BAsin B2Rl sin
Let us rotate the frame with speed
t
BAsin t p sin t
d
e
p cost
dt
=>
e ~ p
ELEC 344, F-16
Two-Pole DC Machine Construction
DC machine with field winding
Permanent Magnet (PM)
DC machine
ELEC 344, F-16
Cutaway View of a Two-Pole DC Machine
More Realistic DC Machine
ELEC 344, F-16
Resulted Winding Connection
10
Induced Voltage & Torque
ELEC 344, F-16
Recall a simple coil-frame one turn
For armature winding we need to consider
Type of winding, rectification/averaging by
the commutator action, etc.
eturn ~ p
Ea K a m p
Tturn ~ pi
Te K? p I a
Ka
Ea
Power Balance
- is the machine armature constant determined by construction / design
- is the generated voltage or back emf
Ea I a Pe
mTe Pe
Pe Ea I a Pm mTm
K a m p I a m K p I a
=>
Te K a p I a
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ELEC 344, F-16
Commonly-Used Equivalent Circuit
DC Motor with Field Winding
vf
- is the field voltage
if
- is the field current
Rf
- field winding resistance
Lf
- field winding inductance
PM DC Motor
vt
ia
Ra
La
ea
- applied terminal voltage
- is the armature current
- armature winding + brush resistance
- armature winding inductance
- Induced back emf (voltage)
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Governing State Equations
Field Winding Equations
ELEC 344, F-16
Armature Equations
d f
v f Rf i f
dt
f N f p Lf i f
da
vt Raia
ea
dt
ea K a p m
Mechanical Side
Te K a pia
d m
Te Tm T fric J
dt
J J dc _ machine J mech_ load , [kg m ]
2
- Is the combined
moment of inertia of
the motor and load
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ELEC 344, F-16
Steady-State Equivalent Circuit
Field Winding
Equations
Armature
Equations
Vt Ra I a Ea
Vf Rf I f
Ea K a p m
f N f p Lf I f
Torque / Mechanical Side
Te K a p I a
Te Tm Tmech_ loss Tm K fric m
Friction loss
(for large machines
often can be neglected)
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ELEC 344, F-16
Steady-State Equivalent Circuit
Recall flux
Torque
Lf
Te K a p I a K a
I f Ia
Nf
Lf
p
If
Nf Nf
Lf
Ea K a pm K a
I f m
Nf
Lf
Define L K
- is the mutual inductance between field
af
a
N f and rotating armature coils
Alternative expression for Back Emf and Torque
Ea Laf I f m
Te Laf I f I a
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ELEC 344, F-16
Equivalent Circuit for PM DC Machine
=>
Armature Equations
Torque
Back emf
Vt Ra I a Ea
Te K a p I a Kt I a
Ea K a p m K v m
Kt K v
Torque / voltage
machine constant
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ELEC 344, F-16
Classification of DC Machines
Separately
Excited
DC Machine
Shunt DC
Machine
Field winding is
designed for up to
rated armature voltage
Field winding has
large number of turns
Field current is small
compared to armature
current
Series DC
Machine
Field winding is
designed for up to
rated armature current
Field winding has
small number of turns
Field current is the
same as the armature
current
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ELEC 344, F-16
Classification of DC Machines
Compound DC Machines
Both Shunt and Series field windings are present
Short-Shunt
Compound
DC Machine
Long-Shunt
Compound
DC Machine
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Parameters of DC Machine
ELEC 344, F-16
Locked-Rotor Test (DC Measurements)
Vf
Rf
If
Vt
Ra
Ia
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ELEC 344, F-16
Parameters of DC Machine
Open-Circuit Test (Generated Voltage vs. Speed)
Lf
Ea K a pm K a
I f m
Nf
Laf I f m
Kvm
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ELEC 344, F-16
Parameters of DC Machine
Open-Circuit Test (Generated Voltage vs. Field Currents)
Laf
Ea
I f m
Lf
p
If
Nf Nf
Lf
Ea K a pm K a
I f m
Nf
Laf I f m
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Parameters of DC Machine
ELEC 344, F-16
No Load Test for PM Motors (Friction vs. Speed)
Ra
I a ,Vt ,m
Assume you know
Measure
Vt Ra I a Ea
Te K a p I a Kt I a
Ea K a p m K v m
Kt K v
Pe I a Ea mTe
Te T fric m m K fric
Torque / voltage
machine constant
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Parameters of DC Machine
ELEC 344, F-16
Stopping Transient for Determining Inertia
Assume you know
Measure & Record
T fric m
I a ,Vt ,m
dm
Te Tm T fric m J
dt
Ea K a p m K v m
m
Ea
T fric m J
J
t
K v t
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DC Machines Characteristics:
Speed Regulation (for Motors)
ELEC 344, F-16
Speed-Torque
Characteristic
m,no _ load m,load
SR
100%
m,load
nno _ load nload
100%
nload
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ELEC 344, F-16
Separately-Excited DC Motor
Vt Ea Ra I a
T K a p I a Laf I f I a
Ea K a p m Laf I f m
Speed-Torque Characteristic
Vt I a Ra
m
Ka p
Vt
Ra
m
Ka p Ka p
T
25
Shunt DC Motor
Vt
Ra
m
Ka p Ka p
K a p Laf I f
Laf Vt
Rf
ELEC 344, F-16
Speed-Torque Characteristic
Rf
Ra R 2f
m
T
2
Laf Laf Vt
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ELEC 344, F-16
Series DC Motor
Vt I a Ra Rsr Rae Laf I a m
Vt
Ia
Ra Rsr Rae Laf m
Te L I
2
af a
Torque-Speed Characteristic
Laf Vt 2
Rsr Rae Laf m
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ELEC 344, F-16
Compound DC Motor
Speed-Torque Characteristic
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ELEC 344, F-16
DC Motor Efficiency
Pout
Pin
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ELEC 344, F-16
DC Machines Characteristics:
Voltage Regulation (for Generators)
Load-Voltage
Characteristic
Vt ,oc Vt ,load
VR
100%
Vt ,load
Vno _ load Vrated
100%
Vrated
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ELEC 344, F-16
Separately-Excited DC Generator
V f R f R fc I f
Ea Vt I a Ra
Ea K a p m Laf I f m
Vt It Rload I a Rload
Load-Voltage Characteristic
Vt Ea Ra I a
31
DC Machine: Example
ELEC 344, F-16
Consider a small PM DC Motor with the following parameters:
Vt_rated = 6V, Ino_load = 0.15A, Ra = 7W, and torque constant Kt = 0.014 [Vs/rad].
Find no-load speed nnl [rpm], back emf Ea, and friction torque Tfric at Vt = 6V
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ELEC 344, F-16
Speed/Torque Control of DC Motors
Recall the Separately Excited DC Motor
va Ra I a Kvm
K v Laf I f
Te Kt I a
va I a Ra
m
Kv
va ra
r 2 Te
kv kv
Control methods:
1. Varying the armature resistance
2. Varying the field
3. Varying the terminal voltage
4. Varying the armature current
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ELEC 344, F-16
Starting Considerations
Consider a 1.2kW, 120V, Shunt DC Motor with Ra = 2W, and Ia_max = 20A
Rated current
Starting current
I a ,rated
1200
10A
120
I a, start
Va Ea 120 0
60A
Ra
2
Too high ! =>
Burn the motor !
1. Use additional starting resistor in series with armature
2. Use reduced voltage
3. Use Power Electronic Drive & Controller
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ELEC 344, F-16
Part 2: Applied Power Electronics
Read Chap. 10
Power Electronics (Power Supplies, Motor Drivers/Controllers)
Rectifiers (AC to DC) getting DC from AC source
Converters (DC to DC) DC motor drivers
Inverters (DC to AC) AC motor drivers (Variable Frequency Drives)
Basic components diodes, thyristors, transistors, etc.
Power Diode
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ELEC 344, F-16
Applied Power Electronics: Components
Thyristor controllable diode
Triac paired thyristor
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ELEC 344, F-16
Applied Power Electronics: Components
Transistors controllable switches
Bipolar Junction
Transistor (BJT)
Insulated Gate Bipolar
Transistor (IGBT)
Metal Oxide
Semiconductor Field Effect
Transistor (MOSFET)
Idealized
operation
37
ELEC 344, F-16
DC-DC Converters:
Assume a dc voltage source wherein the
averaged output voltage can be controlled
Quadrants of operation
1 T
Va Va t dt
T 0
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ELEC 344, F-16
One-Quadrant VS DC-DC Converter
Pulse Width Modulation (PWM)
Switch can be realized using:
Bipolar Junction Transistor (BJT)
Insulated Gate Bipolar Transistor (IGBT)
Metal Oxide Semiconductor Field Effect
Transistor (MOSFET)
1 T
t1
va va t dt
Vs
T 0
t1 t2
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ELEC 344, F-16
Two-Quadrant VS DC-DC Converter
Pulse Width Modulation (PWM)
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ELEC 344, F-16
Four-Quadrant VS DC-DC Converter
Pulse Width Modulation (PWM)
1 T
va va t dt dVs
T 0
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ELEC 344, F-16
Thyristor Controlled Rectifiers
Control the Averaged Output Voltage
a) Single-phase, half-wave
Vs 2Vrms sin t
Vrms
1 T
1 cos( )
Vt Vt t dt
0
T
2
0
0 Vt
Vrms
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ELEC 344, F-16
Thyristor Controlled Rectifiers
Control the Averaged Output Voltage
b) Single-phase, full-wave
Vs 2Vrms sin t
2Vrms
1 T
1 cos( )
Vt Vt t dt
0
T
0
0 Vt
2 2
Vrms
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ELEC 344, F-16
Thyristor Controlled Rectifiers
Control the Averaged Output Voltage
d) Three-phase, full-wave
VA 2Vrms sin t
sin t 120
VB 2Vrms sin t 120
VC 2Vrms
1 T
Vt Vt t dt
T 0
0 Vt
3 6
0
Vrms
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ELEC 344, F-16
Closed-Loop Electric Drive System
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