Lecture-10

DC Machines
Mesfin T.

Addis Ababa University

College of Technology and Built Environment
School of Electrical and Computer Engineering

Introduction Electrical Machines

ECEG-3151
May 14, 2025
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 Overview

Overview I
1 Overview
2 Objective
3 Introduction
DC Motor Drives
Conceptual DC Motor
4 Stator Magnetic Field
Stator Field Produced by Permanent Magnets
Stator Field Produced by Field Winding
5 Elementary Single-Coil Motor
Induced Coil Voltage
Total Coil Voltage
Torque Production
Waveforms
6 Commutation and a Real DC Motor
Principle of Commutation
Mesfin
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 Overview

Overview II
Structure of a Real DC Motor

7 DC Motor Model
Power Balance
DC Motor in Steady State
Rated Values
TorqueSpeed Curves at Different Voltages

8 Field Weakening

9 Four Quadrant Operation of DC Motor

10 Lossless Steady-State DC Motor Model

11 Characteristics for Maximum Continuous Torque

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 Objective

Lecture Objectives

In this lecture you will learn the following:

The perating principle of the DC motor,
The dynamic model of the DC motor, and
Sketch the steady-state characteristics of the (lossless) DC motor
as a function of the speed, including the field-weakening region

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 Introduction DC Motor Drives

Introduction
DC Motor Drives

DC motor drives are obsolete

nowadays (since modern drives
are AC motor drives)
DC drives are simpler to grasp
than AC drives, since the
models involve scalar
quantities (while vector models
are needed for AC drives)
Models and control algorithms
of DC drives can be extended
to AC drives
Starting from DC drives is
pedagogically reasonable

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 Introduction Conceptual DC Motor

Conceptual DC Motor
Consider the 2-pole motor shown (operating characteristics remain the
same for the motors having more poles)
Rotor (armature) is
made from thin steel
laminations
Set of identical coils
wound in slots on the
rotor
Stator flux is
produced by
permanent magnets
(PMs)
Alternatively field
winding could be used

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 Stator Magnetic Field Stator Field Produced by Permanent Magnets

Stator Magnetic Field

Stator Field Produced by Permanent Magnets

Ferrite magnets are cheap and easy to manufacture

Rare-earth magnets (e.g. NdFeB, SmCo) provide much higher
energy products, but they are expensive and difficult to
manufacture and handle
Uniform radial magnetic field is ideally produced

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 Stator Magnetic Field Stator Field Produced by Field Winding

Stator Field Produced by Field Winding

Alternatively field winding can be used

Conceptual figure shown below (real winding has many turns)
Flux density B can be adjusted by controlling the current if

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 Elementary Single-Coil Motor Induced Coil Voltage

Elementary Single-Coil Motor

Induced Coil Voltage

N conductors are connected in

series
Rotor rotates at ωM = dvM/dt
Tangential velocity of the
conductors is V = rωM
Voltage BlV is induced in each
conductor moving in the
magnetic field
Induced voltage e = 2N rlBωM
is proportional to the angular
speed
Induced voltage is also known
as the back-emf
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 Elementary Single-Coil Motor Total Coil Voltage

Total Coil Voltage

Coil voltage
dψ
U = Ri + (1)
dt
Total flux linkage

ψ = Li + ψf (2)

where L is the coil

self-inductance and ψf is the
flux linkage due to the external
field (PMs or field winding)

Based on the geometry

ψf = 2N rlBvM (−π/2 < vM < π/2)
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 Elementary Single-Coil Motor Total Coil Voltage

Coil voltage can be expressed

as
di
U = Ri + L +e (3)
dt
Voltage induced by the
external field
dψf dψf dvM
e= =
dt dvM dt
= ψf = 2N rlBvM

which is the same result as

earlier

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 Elementary Single-Coil Motor Torque Production

Torque Production

Force F = Bli acts on each

conductor placed in the
magnetic field
Electromagnetic torque

TM = 2rF = 2N rlBi (4)

is proportional to the current

Mechanical power

pM = TM ωM = ei (5)

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 Commutation and a Real DC Motor Principle of Commutation

Commutation

Mechanical commutator makes

the currents flow as shown in
the figure (regardless of the
rotor position)
Current enters the rotor via
one brush, flows through all
the rotor coils, and leaves via
the other brush
All the power has to be fed
into the motor through the
brushes and commutator

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 Commutation and a Real DC Motor Structure of a Real DC Motor

Structure of a Real DC Motor

Much more than one

coil
Each coil is connected
to two segments of the
commutator
Brushes (typically
carbon) slide on the
commutator
Commutation losses
and the need for
replacing brushes
regularly make DC
motors less desirable
than AC motors
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 DC Motor Model

DC Motor Model

Terminal voltage
dia
Ua = Ra ia + La + ea (6)
dt
Induced voltage (back emf)

ea = Kf + ωM (7)

Electromagnetic torque

TM = Kf ia (8)

Flux factor Kf depends on the external

field (constant in permanent-magnet
motors)

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 DC Motor Model Power Balance

Power Balance

Input Power

Pa = Ua ia (9)

Power balance becomes

 
2 1 2
Pa = Ra ia + La ia + ea ia (10)
dt 2

First term represents the resistive losses

Second term is the rate of change of the
magnetic energy in La
Last term equals the mechanical power

PM = TM ωM = ea ia (11)

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 DC Motor Model DC Motor in Steady State

DC Motor in Steady State

Terminal voltage

Ua = Ra ia + Ea (12)

Where, Ea = Kf ωm
Power balance

Pa = Ra i2a + PM (13)

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 DC Motor Model Rated Values

Rated Values

Rated values will be marked with the subscript N

Rated voltage UN is determined by insulation
Rated current IN corresponds to the maximum acceptable
resistive losses
Rated field (and therefore Kf N ) is determined by magnetic
saturation
Rated speed is obtained using the previous rated values
UN − Ra IN
ωN = (14)
Kf N

Rated power refers to the output (mechanical) power, PN = TN ωN

Machine can operate continuously in the rated operating point

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 Types of DC motors

Shunt-wound motor: in which the field winding is connected in

parallel with the armature

Figure 1: Shunt type motor

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 Types of DC motors

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 Types of DC motors

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 Types of DC motors

Series-wound motor: in which the field winding is connected in

series with the armature

Figure 2: Series type motor

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 Types of DC motors

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 Types of DC motors

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 Types of DC motors

Compound-wound motor: in which has two field windings; one

connected inparallel with the armature and the other in series
with it.

Figure 3: Compound type motor

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 Types of DC motors

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 Types of DC motors

Example (1)

The induced emf in a DC machine is 200 V at a speed of 1200 rpm.

Calculate the electromagnetic torque developed at an armature current
of 15 A.
Given:
Induced EMF, E = 200
Speed, N = 1200
Armature Current, Ia = 15
First, convert the speed to angular velocity:
2πN 2π × 1200
ω= = = 125.66
60 60
Now, use the torque equation:
E · Ia 200 × 15 3000
T = = = ≈ 23.87
ω 125.66 125.66
Therefore, the electromagnetic
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 Types of DC motors

Example (2)

The armature resistance of a DC shunt motor is 0.5 ohm, it draws 20 A

from 220 V mains and is running at a speed of 80 radian per second.
Determine (i) Induced emf (ii) Electromagnetic torque (iii) Speed in
rpm

Ra = 0.5 Ω, Ia = 20 A, V = 220 V, ω = 80 rad/s

E = V − Ia Ra = 220 − (20 × 0.5) = 220 − 10 = 210 V

E · Ia 210 × 20 4200
T = = = = 52.5 Nm
ω 80 80
ω × 60 80 × 60 4800
N= = = ≈ 763.94 rpm
2π 2π 6.2832
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 Questions?

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