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DC Motors

DC motors can be brushed or brushless. Brushed DC motors have a commutator and brushes to switch the current direction, while brushless DC motors electronically commutate the current instead of using brushes. Permanent magnet DC motors have wound field coils and use electronic commutation. Ironless rotor DC motors have no iron in the rotor for higher efficiency. DC motors can be controlled using H-bridges to allow bidirectional rotation. Current and voltage feedback amplifiers are used in motor drives to control speed and position.

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70 views

DC Motors

DC motors can be brushed or brushless. Brushed DC motors have a commutator and brushes to switch the current direction, while brushless DC motors electronically commutate the current instead of using brushes. Permanent magnet DC motors have wound field coils and use electronic commutation. Ironless rotor DC motors have no iron in the rotor for higher efficiency. DC motors can be controlled using H-bridges to allow bidirectional rotation. Current and voltage feedback amplifiers are used in motor drives to control speed and position.

Uploaded by

Suhan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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DC MOTORS

BRUSHED AND BRUSHLESS

DC motor working principle

r
L
F
I
F

T= 2 F r = 2 B L I r

Flemings Left
hand
convention

F= B L I
F

DC motor working principle


PMDC
motor
r
S N

S N

F
I
F

Wound
armature

T= 2 F r nt Nc = 2 B L I
r nt Nc

Wound- field DC

In the case of a PMDC motor,


T= KT Ia where KT is called
Torque Constant of the
motor.

DC motor working principle (Need for commutation)


s
N

s
N

Slip-rings and
brushes
(Do not help in
commutation!)

Split-ring commutator and


brushes

DC motors (Mechanical commutator)

What happens when a conductor moves in a


magnetic field?
+

_
Velocity
=v

Iinduc
ed

B
v

Induced voltage= Vb =Vback


emf
Vb = B L v

Vb = 2 B L v nt Nc = 2 B L
r nt Nc
In the case of a PMDC motor,
Vb= Kv where Kv is called
Voltage Constant of the
motor.

Electro-mechanical Modeling of a PMDC motor

Back

The governing equations are:


Va = Ia Ra + La (dia /dt)+ Vb
= Ia R + La (dia /dt) + Kv
Tg = KT Ia
Tg = Jequi. + Bvisc +Tcoul. + Tload

Vb = Kv

Mathematical modeling of PMDC motor


The governing equations are:
Va = Ia Ra + La (dia /dt)+ Vb
= Ia R + La (dia /dt) + Kv
Va (s) = Ia (s) R + La . S. Ia (s) + Kv (s)
Tg = KT Ia
Tg (s)= KT Ia (s)
Tg = Jequi. + Bvisc +Tcoul. + Tload
Neglecting Tc and useful load torque,
Tg (s) = Jequi. S. (s) + Bvisc (s)
Combining the above three equations, the Transfer function Gm
(s)= (s)/ Va (s) is:

Transfer function, Characteristic equation, Poles and


Time constants of the PMDC motor
The transfer function:

The equation
called the characteristic equation.

The roots of the characteristic equation are called the Poles.

Solving for roots and simplifying, the poles are:

The time constants of the system are the negative reciprocals


of the poles. They are:

Mechanical Time constant


Electrical Time constant

is

Significance of the mechanical time constant


Evaluation or estimation of Frequency Response:
BODE PLOT:
Magnitude ( in decibels) Vs Frequency plotted in
Logarithmic scale:
Also known as Gain-Frequency characteristic:

The Break frequency fb is of


Interest to us.

PMDC motors with ironless rotors

Ironless rotor DC motors (Bell-Armature motors)

Ironless rotor DC motor

Printed Armature motor

Ironless rotor motors (Printed Armature motor)

Simple D.C.motor drive (ON/OFF)

DC motor drive (Bi-directional)

H-bridge with FETs

Dc drive with Bi-polar power supply (T-type output stage)

Dc drive with Bi-polar power supply (T-type output stage)

The T-stage needs two power-supplies, (i.e., bipolar power


supply)
and complementary transistors.
The scheme is easy to drive and can supply voltage and
current feed-back signals in a simple fashion.
For this reason, the T configuration is used most often in
linear amplifiers.
Caution: The biasing of the output transistors requires careful
attention since a simultaneous conduction of both transistors
would result in a short circuit between the two power supplies

DC motor speed control(Using switched mode power)

Velocity profile and associated wave forms in Dc


motor speed control

Error voltage

e
t

Angular velocity

Accelerati
on

Amplifier current

Amplifier
voltage

+Ipe
ak

+Vp
eak

Constant Decele
speed
ration

Rest

Ino
m
Ipea
k

Vnom
t
-Vpeak

Velocity Control system


Motor velocity is needed to follow a given Velocity Profile :
Desired
velocity d

Amplifier

Motor & Load

Output
velocity
0

Tachogenerator

A = DC gain of the Amplifier

= time constant of the amplifier

= Mechanical time constant of the loaded motor


= voltage constant of the motor

=Tacho-generator voltage constant

The closed loop transfer function for the velocity control system, which is the
ratio of the Laplace transforms of the output velocity
and the desired velocity
is:

Position Control system


Desired
Position
d

Amplifier

Motor & Load


0

Tachogenerator
Potentiometer

= Gain of the position sensor


The transfer function of the system is:

Position Control system


Important observations from the transfer function:

If no tacho-generator feedback is used, Kg = 0.


Then the characteristic equation will have three poles
and no zeros.
This system becomes unstable for large values of gain A.
Introduction of
adds a zero to the open loop
transfer function. The new configuration is more stable
and can accommodate higher gain.

Velocity/Position Hybrid Control system

A system which alternates between velocity and position control modes:

Amplifier

Motor & Load


0

Input
s

Tachogenerator
Potentiometer
Mode selector
switch

Mode selector switch is used to make the system work in velocity control mode
or position control mode.

In velocity control mode, the system follows the desired velocity profile. But
stopping is done in position control mode to achieve greater accuracy. The
shaft will be locked in the desired position after stopping.

Achieving these advantages results in additional cost: (1) A switching circuit is


required to select system modes at the right time. (2) Designing a system that
responds in a desired manner in both modes is more difficult.

Velocity/Position Hybrid control system


.
Load
Bidirectional
Amplifier

Servomotor

S=
r

Set
Rate

Tachogenerator
Incremental
Encoder
A

Oscillator
&
Trigger

ON

OFF

F/F
1
0

Block diagram of an incremental servo-system [velocity/position Hybrid]

Voltage amplifier driven DC motor

Amplifier
with
voltage
feedback

v
DC
servomotor

DC motor drive with voltage feedback amplifier

V-I operating
characteristics
Voltage feedback
Amplifier

T-type power stage


driven by
Operational amplifier

DC motor drive with current feedback amplifier


Current Feedback
Amplifier

V-I operating characteristics


of current feedback Amplifier

DC drive with current feedback Amplifier---Notable remarks!

An amplifier with current feedback produces a constant


output current for a given input voltage.
It implies that in the case of the dynamic equations of motor,
the terms associated with the electrical behaviour , for
example, armature resistance and inductance, together with
back emf constant, do not influence the current actually being
delivered to the motor.
Ignoring constant torque terms, the relation between motor
velocity and current is given by:

Hence,

This produces torque control or current controlled velocity

DC drive with current feedback Amplifier---Notable remarks!

Compared to voltage feedback, the poles of the motor


have been altered by the use of the current feedback.
Infact, the motor is seen to behave like a one-pole ,
rather than a two-pole device.
It is noted that only the mechanical parameters of the
system
(J & B) seem to have an effect on the servo.
It can be shown that the elimination of the pole,(the
electric pole) due to armature elements , results in a
larger velocity loop bandwidth.

DC drive with current feedback Amplifier---Notable remarks!

In reality, current amplifier has finite bandwidth and can be


modeled as:
where

= Amplifier bandwidth
= Gain of the amplifier (amps/volt)
and

The overall transfer function of a motor driven by current


amplifier is:

Combined Voltage and Current feedback Amplifier

V-I operating
characteristics of
combined voltage and
current feed back
Amplifier.

V0 = output voltage with no load


I0 = short circuit output current

DC motor drive with Combined voltage and current


feedback amplifier

Voltage
feedbac
k

The transfer function relating the


shaft velocity to the input voltage is: Current
feedback

Servomotor

DC motor drive with Combined voltage and current


feedback amplifier
The overall transfer function is:

where

and

The presence of an additional term in the denominator


is seen, which of course, can affect the pole locations.
One should look into the system carefully to understand
how the motor poles are affected by using an amplifier
with both voltage and current feedback.

Brushless D.C. Motors (BLDCs)

Construction:

PM D.C.motor with brushes

Brushless D.C. motors

Brushless DC motor Different types of Rotor constructions

BLDC motor

BLDC motors

HS1
HS3
0-60
1
1
60-120
1
0
120-180 1
0
180-240
0
240-300
1
300-360
1

HS2
0
0
1

Ph.a
Ph.b
Ph.c
0-60
+V
-V

Brushless DC Motors (BLDCs)

+
_
+
_

+
_

+
_

BLDC phase switching


Phase Switching:

BLDC motor driven by 6-transistor H-Bridge


.

3 phase Inverter drive for a 3-phase BLDC motor

a
b

Brushless DC Motor (BLM or BLDC)


The Brushless DC motor does not have brushes or mechanical
commutator. The motor windings are stationary and switched
electronically. The rotor consists of permanent magnets with one or
multiple pole-pairs.
The motor has several phases. The torque of each phase depends on
the angular position of the rotor. The torque of BLM is proportional to
the phase current and is a periodic function of the rotor position.
For example the torque may be a sinusoidal or a trapezoidal function of
the rotor angular position.
The stepper motors satisfy the first three points, but they do not satisfy
the following point:
The phase switching or commutation of a BLM is done at specific
angular positions of the rotor. This is in contrast with the phase
switching of step motors which is done at specific times.
So, when a stepper motor control system utilizes a position sensor for
phase switching, that stepper motor more or less becomes a BLM!!

Advantages of Brushless DC motors


Because of the absence of brushes, BLM can be used in
clean and explosive environments. (No carbon dust is
created and no arcing and sparking possibility exists.)
They can also be rotated at very high speeds in excess of
10,000 rpm.
Since the windings are in stationary housing, the heat
generated in the current carrying conductors can be
removed more easily.
The complexity added to BLDC:
The control of BLM is more complex than brushed DC
motors, since the phase commutation needs to be
performed electronically.
Though this adds some flexibility to the design, it places a
greater responsibility on the system designer.

Control schematic for Trapezoidal BLDC

Control schematic for sinusoidal BLDC [PMSM]

Brushless Pan-cake motors (CD spindle Drives)

Floppy drive spindle motor

Hard disk spindle drive (HDD)

Moving coil actuator for Read-Write arm


movement in Hard disc drive
N
S

S
N
+
S
N

+
N
S

2- Brushless cooling fan motors

2-phase brushless cooling fan motors


The stator has 2-phases distributed between 4-poles
There are 4-salient poles with no windings to eliminate
zero torque points.
The rotor has four main drive poles.
The rotor has 8-poles superimposed to help eliminate zero
torque points.
The Hall effect sensors are spaced at 45o physical.
The fan housing is placed atop the rotor, which is placed
over the stator.
The goal of a brushless fan motor is to minimize the cost
of manufacture. This is an incentive to move lower performance
products from a 3- to a 2- configuration. Depending on how it is
driven, it may be called a 4- motor.

Modelling of 3- BLDC motor


Electrical equations:

Modelling 3-phase BLDC motor


The voltage equations are:

The torque equations are:

The (mechanical) dynamic equation is:

3-phase BLDC drive


When a star-connected three phase BLDC is driven by a
six-transistor inverter, the neutral point of the motor
has the potential of
Considering the case where the motor currents are:

the resulting torques are:

Variable voltage by switching

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