Module -5

I. DC MOTOR
 Introduction
• The Dc machines are of two types namely
• 1. DC generators and 2. DC motors.
• A DC generators converts mechanical energy
into electrical energy whereas
• a DC motor converts the electrical energy into
mechanical energy.
• In order to understand the operating principle of
a DC motor, it is necessary to understand how
does a current carrying conductor experience a
force, when kept in a magnetic field.
• Force on current carrying conductor:
 If a straight conductor is placed in the
magnetic field produced by a permanent
magnet, the current flowing through a
conductor in anti clockwise direction.
 Due to the presence of two magnetic fields
simultaneously, an interaction between them
will take place as shown in fig.(1).
 As shown in fig.(1), the flux lines produced by
the magnet and the conductor are in opposite
direction to each other at left side and hence
cancel each other. Therefore the no of flux
lines at left side will reduced.
 At the right side, the individual fields are in
the same direction, hence will add or
strengthen each other. Therefore the no. of
flux lines at right side will increase.
• Magnitude of Force:
 The magnitude of the force experienced by the
current carrying conductor placed in the
magnetic field is given by,
F = BIl Newton
Where B = Flux density produced by Magnet
I = current flowing through conductor
l = Length of the conductor
• Direction of force:
 The direction of rotation of a motor depends on the direction of force
exerted on the the armature winding and the direction of force
experienced by a current carrying conductor is given by Fleming’s
left hand rule.
 Statement of Fleming’s left hand rule:
It states that if the first three fingers of the left hand are held
mutually at right angles to each other and if index finger indicates
the direction of the magnetic field, and if middle finger indicates the
direction of current flowing through the conductor, then thumb
indicates the direction of force exerted on the conductor. This is
shown in fig (2).
Fig.(2):Fleming’s left hand rule thumb
 Windings in DC Machine
• In any dc machines, there are two windings:
1. Field winding 2. Armature winding
• Out of these, the field winding is stationary which
does not move at all and armature winding is
mounted on a shaft. So it can rotate freely.
• Connection of windings for operation as motor:
 To operate the dc machine as a motor, the field
winding and armature winding is connected
across a dc power supply.
DC Motor

• Principle of operation:
 When current carrying conductor is placed in a
magnetic field, it experienced a force.
 In case of DC motor, the magnetic field us developed
by the field current i.e. current flowing in field winding
and armature winding plays the role of current carrying
conductor
 So armature winding experienced a force and start
rotating.
Construction of DC Motor

Fig.(1): construction of DC motor

• Important parts of DC motor:
1. Yoke 4. Armature
2. Field winding 5. Commutator, brushes & gear
3. poles 6. Brushes

4. Yoke:
 It acts as the outer support of a DC motor.
 It provides mechanical support for the poles.
2. Poles:
 pole of a dc motor is an electromagnet.
 The field winding is wound over the poles.
 Poles produces magnetic flux when the filed winding is
excited.
3. Field winding:
 The coils wound around the pole are called field coils and
they are connected in series with each other to form field
winding.
 When current passing through the field winding, magnetic
flux produced in the air gap between pole and armature.
4. Armature:
 Armature is a cylindrical drum mounted on shaft in which
number of slots are provided.
 Armature conductors are placed in these slots.
 Theses armature conductors are interconnected to form the
armature winding.
5. Commutator:
 A commutator is a cylindrical drum mounted on the shaft
alonwith the armature core.
 It collects the current from the armature conductors and
passed it to the external load via brushes.
6. Brushes:
 Commutator is rotating. So it is not possible to
connect the load directly to it.
 Hence current is conducted from the armature
to the external load by the carbon brushes
which are held against the surface of
commutator by springs.
 Back EMF
• When the armature winding of a dc motor starts
rotating in the magnetic flux produced by the
field winding, it cuts the lines of magnetic flux.
• Hence according to the faraday’s laws of
electromagnetic induction, there will be an
induced emf in the armature winding.
• As per the Lenz’s law, this induced emf acts in
opposite direction to the armature supply voltage.
Hence this emf is called as the back emf and
denoted by Eb.
Back EMF
• Significance of back emf:
I. The presence of back e.m.f. makes the d.c. motor
a self -regulating machine i.e., it makes the motor to
draw as much armature current as is just sufficient to
develop the torque required by the load.
II. When the motor is running on no load, small torque is
required to overcome the friction and windage losses.
III. Therefore, the armature current Ia is small and the
back e.m.f. is nearly equal to the applied voltage.
Voltage Equation of a DC Motor

Fig.(1):Equivalent circuit of DC motor

• As shown in fig.(1), the armature supply voltage
V has to overcome the opposition posed by the
back emf Eb and some other voltage drops such
as brush drop and the voltage drop across Ra.
• From fig.(1), we can write that,
V = Eb + Ia Ra + Vb …….(1)

∴ V = Eb + Ia Ra
• But voltage drop across brushes is negligible.
……(2)
 Types of DC Motors
• Depending on the way of connecting the
armature and field windings of a d.c. motors
are classified as follows:
DC Motor

DC series Shunt motor Compound Separately

motor motor excited motor

Short shunt Long shunt

compound compound
 DC Shunt Motor
• In DC shunt type motor, field and armature
winding are connected in parallel as shown in fig.
(1), and this combination is connected across a
common dc power supply.
• The resistance of shunt field winding (R sh) is
always much higher than that of armature
winding (Ra).
• This is because the number of turns for the field
winding is more than that of armature winding.
Fig.(1):DC shunt motor schematic diagram
• The field current Ish always remains constant.
Since V and Rsh both are constant. Hence flux
produced also remains constant. Because field

∴ ø ∝ Ish
current is responsible for generation of flux.

• This is why the shunt motor is also called as the

constant flux motors.
 DC Series Motor
• In DC series motor, the armature and field windings are
connected in series with each other as shown in fig.(1).
• The resistance of the series field winding (Rs) is much
smaller as compared to that of the armature resistance
(Ra).
• The flux produced is proportional to the field current. But
in series motor, the field current is same as armature

∴ ø ∝ Ia or
current.

∴ ø ∝ Is
• The armature current Ia and hence field current
Is will be dependent on the load.
• Hence in DC series motor the flux does not
remains constant.

Fig.(1):DC series motor schematic diagram

 DC Compound Motor
1. Long Shunt Compound Motor:
• As shown in fig.(1), in long shunt dc motor, shunt field
winding is connected across the series combination of the
armature and series field winding.
2. Short Shunt Compound Motor:
• In short shunt compound motor, armature and field windings
are connected in parallel with each other and this
combination is connected din series with the series filed
winding. This is shown in fig.(2).
 The long shunt and short shunt compound motors are further
classified as cumulative and differential compound motors
Fig.(1): Long shunt compound dc motor fig.(2):Short shunt compound dc motor
 Torque & Speed Equations
• Torque equations:
 Torque produced by a motor will always be proportional to the air gap flux
ø and the current flowing through the armature winding (I a).
 That means T ∝ ø Ia
 The flux is produced by the field current hence ø will be proportional to
field current. That means,
ø ∝ Ifield
 hence torque produced by a dc motor is proportional to the product of I a
and Ifield. That means,
T ∝ Ia Ifield ………..(1)

 For various types of dc motors the expression for field current will be
different. We will substitute them into eq.(1) to get the torque equations .
1. Torque equation of DC shunt motor:
 For DC shunt motor Ifield = V/ Rsh = constant
 Hence the flux ø is constant.
∴ T ∝ Ia ……..(2)
 Hence in dc shunt motor, torque is proportional to only to the
armature current.
2. Torque equation DC series motor:
 For DC series motor, the field current is equal to the armature
current i.e. Ifield = Ia.
 Hence T ∝ Ia Ia
∴ T ∝ I a2 ………(3)
 Hence in dc series motor, torque is proportional to the square of
armature current.
• Speed Equations:
 We know that the expression for the back emf is,

 But P, Z and 60A are constants. Therefore we can write that,

Eb ∝ ø N ……(4)

 Therefore the speed can be expressed as,

N ∝ Eb / ø …….(5)

N = k E b/ ø ………(6) where k- proportionality constant

 But V = Eb + Ia Ra

∴ Eb = V - Ia Ra ………..(7)
 Substituting eq.(7) into eq.(5) we get,

N ∝ (V - Ia Ra) / ø …….(8)

 Since ø ∝ Ifield , we can write,

N ∝ (V - I R ) / I …….(9)
1. DC shunt motor:
 For dc shunt motor, the flux ø is constant.
∴ N ∝ (V - Ia Ra) …..(10)
2. DC series motor:
 For dc series motor Ifield = Ia. Therefore
N ∝ (V - Ia Ra - Is Rs) / Ia …….(11)
where Eb = V - Ia Ra - Is Rs
 Torque-speed characteristics
1. DC shunt motor:
• The torque-speed characteristics of dc shunt
motor is as shown in fig.(1).
• At no load, the torque produced by the motor is
Ta0 and the motor rotates at the no load speed N 0.
• As the load increased, the torque requirement
also increase. To generate the required amount
of torque, the motor has to draw more armature
current.
speed

Constant speed
(ideal)

Practical

No load
Ta0

Increase Torque
in load
Fig.(1):speed-torque characteristics of dc shunt motor
• And more armature current can be drawn if the
more speed decreases.
• Therefore, as the load increases, torque will
also increase and the speed decreases.
• However the reduction in speed is not
significant as the load is increased from no
load to full load. Therefore practically the dc
shunt motor is called as a constant speed
motor.
2. DC series motor:
• The speed –torque characteristics of DC series
motor is as shown in fig.(2).
• We know that
N ∝ 1/ Ia and T ∝ Ia2
N ∝ 1/√T and Ia ∝ √T
• This shows that the speed decreases with
increase in the value of torque.
 N ∝ (1/√T)

Fig.(2): speed-torque characteristics of dc series motor

3. DC compound motor:
• The torque- speed characteristics of the DC
compound motor is as shown in fig.(3).
• It is combination of characteristics of DC
series and DC shunt motor.
• The exact shape of these characteristics is
dependent on the precise effects of series and
shunt field winding.
Fig.(3): speed torque characteristics of dc compound motor
 Speed Control of DC Motor
According to the speed equation of a dc motor
ZNP
Eb  volts
60 A
Eb
N

V  I a Ra
N


Thus speed can be controlled by-

1. Flux control method
2. Armature Voltage or Rheostatic control method
3. Applied Voltage Control Method:
40
 Applications
Shunt Motor:
Blowers and fans
Centrifugal and reciprocating pumps
Lathe machines
Machine tools
Milling machines
Drilling machines

41
 Application
Series Motor:
Cranes
Hoists , Elevators
Trolleys
Conveyors
Electric locomotives

42
 Application
Cumulative compound Motor:
Rolling mills
Punches
Shears
Heavy planers
Elevators

43
• Typical specifications of DC series motor:
Sr. Specifications/Rating Value
No.
1. Output power in horse power 3HP
2. Rated voltage 230V
3. Type of field winding Series
4. Excitation voltage 230V
5. Insulation B
6. Base speed 1000RPM
7. Current 11Amp
8. Frame size 132 S
9. Rating Continous
10. S.R.Number 840858
 Special Purpose machine
• Permanent magnet DC MOTOR(PMDC)
• Brushless DC Motor(BLDC Motor)
• Universal Motor
• Stepper motor
1. Permanent Magnet DC motor

46
 Permanent Magnet DC motor
A permanent magnet DC (PMDC) motor is a motor whose poles
are made out of permanent magnets to produce the stator field.
Advantages:

 Since no external field circuit is needed, there are no field circuit

copper losses.
 Since no field windings are needed, these motors can be
considerably smaller.
 Widely used in low power application.
 Field winding is replaced by a permanent magnet (simple
construction and less space).
 No requirement on external excitation.
47
 Permanent Magnet DC motor
Disadvantages:

 Since permanent magnets produces weaker flux densities then externally

supported shunt fields, such motors have lower induced torque.

 There is always a risk of demagnetization from extensive heating or from

armature reaction effects.

Applications:

 PMDC motor have been proven most suitable for position control in
machine tools, robotics, Electric bike.

 PMDC motors are used in printing and coil winding, packaging, textile,
welding and pharmaceutical machinery, and also conveyors and machine
tools industry. 48
 What is BLDC Motor?

• A brushless DC motor (known as BLDC) is a permanent

magnet synchronous electric motor which is driven by
direct current and it accomplishes electronically controlled
commutation system instead of a mechanically
commutation system.
• BLDC motors are also referred as trapezoidal permanent
magnet motors.
• Due to the absence of brushes ,BLDC motors are capable to
run at high speeds.
• The efficiency of BLDC motors is typically 85 to 90 %,
whereas as brushed type DC motors are 75 to 80 % efficient
Constructional Details of BLDC
 Constructional Details of BLDC motor

• BLDC motors have many similarities

to AC IM and brushed DC motors in
terms of construction and working
principles respectively. Like all other
motors, BLDC motors also have a
rotor and a stator
• The main design difference
between a brushed and brushless
motors is the replacement of
mechanical commutator with an
electric switch circuit.
• A BLDC Motor is a type of
synchronous motor in the sense
that the magnetic field generated
by the stator and the rotor revolve
at the same frequency.
• Stator :
• Similar to an Induction AC motor,
the BLDC motor stator is made out
of laminated steel stacked up to
carry the stator windings.
• Windings in a stator can be
arranged in two patterns; i.e. a star
pattern (Y) or delta pattern (∆).
• The major difference between the
two patterns is that the Y pattern
gives high torque at low RPM and
the ∆ pattern gives low torque at
low RPM.
• Steel laminations in the stator can
be slotted or slot less; as slot less
core has lower inductance, thus it
can run at very high speeds.
• Rotor :
• The rotor of a typical BLDC motor is
made out of permanent magnets.
• Depending upon the application
requirements, the number of poles in
the rotor may vary. A BLDC motor has
at least two poles and the poles can
extend to eight.
• Increasing the number of poles does
give better torque but it reduces the
maximum possible speed.
• Another rotor parameter that
impacts the maximum torque; is the
material used for the construction of
permanent magnet; higher the flux
density of the material, higher is the
torque.
 Advantages, Disadvantages and applications of Brushless DC Motors

Advantages
• It has no mechanical commutator and associated problems
• High efficiency due to the use of permanent magnet rotor
• High speed of operation even in loaded and unloaded conditions
due to the absence of brushes that limits the speed
• Smaller motor geometry and lighter in weight than both brushed
type DC and induction AC motors
• Long life as no inspection and maintenance is required for
commutator
• system Higher dynamic response due to low inertia
 Advantages, Disadvantages and applications of Brushless DC Motors

Disadvantages
• These motors are costly since it requires Electronic
controller
• electronic control solutions, especially for tiny BLDC
motors requires complex drive circuitry hence Need
of additional sensors
 Applications of BLDC Motor:

• In home appliances, washers, dryers and compressors

are good examples.
• In automotive, fuel pump control, electronic steering
control, engine control and electric vehicle control are
good examples of these. In aerospace, there are a
number of applications, like centrifuges, pumps,
robotic arm controls, gyroscope controls
• Also they are used in Computer Numeric Controlled
(CNC) machines, Process controls, Machinery controls
and Conveyer.
 Universal motor
• What is Universal Motor?
• The universal motor is a unique
type of motor which runs on either
DC or single-phase AC supply.
• These motors are usually series
wound and produce high starting
torque. Hence, universal motors
are built into the devices meant to
drive.
• Most of the universal motors are
designed to operate at higher
speeds, exceeding 3500 RPM. They
run at lower speed on AC supply
than they run on DC supply of
same voltage
 Advantages of universal motor
• Versatility: Universal motors can run on either AC or DC power, making
them suitable for use in a wide range of applications.
• High speed: Universal motors can operate at very high speeds, making
them ideal for use in applications such as power tools and small
appliances.
• High power density: Universal motors have a high power density, meaning
they can deliver a lot of power in a small package.
• High efficiency: Universal motors are highly efficient, meaning they can
convert a large portion of their input energy into useful mechanical work.
• Low cost: Universal motors are generally less expensive to produce than
other types of motors, making them a cost-effective choice for many
applications.
• Durability: Universal motors are known for their durability and long
lifespan, making them a reliable choice for many applications.
 Disadvantages of universal motor
• Limited torque: Universal motors have relatively low torque compared to
other types of motors, which can limit their use in certain applications.
• Poor performance at low speeds: Universal motors can struggle to maintain
their performance at low speeds, making them less suitable for use in
applications that require precise control of speed.
• Noise and vibration: Universal motors can produce a lot of noise and
vibration, which can be a disadvantage in certain applications.
• Limited power factor: The power factor of a universal motor is relatively low
compared to other types of motors, meaning they may not be the most
efficient choice in certain applications.
• Sensitivity to load changes: Universal motors can be sensitive to changes in
load, meaning they may not be the best choice for applications with variable
loads.
• Limited operating temperature range: Universal motors can overheat if
operated at high temperatures for extended periods of time, limiting their
use in certain high-temperature environments.
 Applications
• Applications include industrial fans, blowers and
pumps, machine tools, household appliances,
power tools, vehicles, and disk drives.
• Small motors may be found in electric watches.
 Induction motor
• What is an Induction Motor
• An induction motor is a type of
electric motor used for various
industrial and commercial
applications.
• It’s a widely used motor due to its
robust construction, reliability, and
relatively low cost.
• Induction motors work on the
principle of electromagnetic induction
to convert electrical energy into
mechanical energy, which drives the
rotation of the motor’s shaft.
 Working Principle of Induction Motor
• The motor which works on the principle of
electromagnetic induction is known as the induction
motor.
• The electromagnetic induction is the phenomenon in
which the electromotive force induces across the
electrical conductor when it is placed in a rotating
magnetic field.
• When the three phase supply is given to the stator, the
rotating magnetic field produced on it.
• The figure below shows the rotating magnetic field set
up in the stator. The polarities of the magnetic field vary
by concerning the positive and negative half cycle of the
supply. The change in polarities makes the magnetic
field rotates.
• The conductors of the rotor are stationary. This
stationary conductor cut the rotating magnetic field of
the stator, and because of the electromagnetic
induction, the EMF induces in the rotor. This EMF is
known as the rotor induced EMF, and it is because of
the electromagnetic induction phenomenon.
 Construction of Induction Motor
• A three phase Induction motor mainly consists of
two parts called as the Stator and the Rotor.
• The stator is the stationary part of the induction
motor, and the rotor is the rotating part.
• The construction of the stator is similar to the
three-phase synchronous motor, and the
construction of rotor is different for the different
machine.
• Construction of Stator The stator is built up of
high-grade alloy steel laminations to reduce eddy
current losses. It has three main parts, namely
outer frame, the stator core and a stator winding.
• Outer frame It is the outer body of the motor. Its
main function is to support the stator core and to
protect the inner parts of the machine.
• For small machines, the outer frame is casted, but
for the large machine, it is fabricated. The figure
below shows the stator construction.
 Applications of Induction motor

Some of the applications are mentioned below:

• Pumps.
• Compressors.
• Small fans.
• Mixers.
• Toys.
• High speed vacuum cleaners.
• Electric shavers.
• Drilling machines.