52-123

Electrical Machines (1)

CHAPTER 5
DC MOTOR CHARACTERISTICS

Dr. Esam Jaragh 1

CHAPTER 5: DC MOTOR CHARACTERISTICS

DC MOTOR CHARACTERISTICS

o The motor in general converts an electrical power into a mechanical power.

o The useful outputs of the motor are rated in terms of horsepower

(1 hp = 746 Watts).

Basic Motor Equations:

o In Chapter 2, we developed an equation to find the maximum torque by a

rotating conductor.

o The torque could be found by:

 = k a  Ia
 
prove:  = F d = ( B Ia ) d =  Ia  d = k a  Ia
A 
Dr. Esam Jaragh 2
CHAPTER 5: DC MOTOR CHARACTERISTICS

EQUIVALENT CIRCUIT OF DC MOTOR

o For the motor, the terminal voltage is the input (unlike generators).

o The current flows into the armature and against the generated voltage i.e.
back EMF.

o The terminal voltage is larger than the generated voltage i.e. back EMF.
(Vt > Eg)

o IL is the line current.

o If there is no load connected to the

shaft of the motor, the motor will run
at a constant speed & Eg ≈ Vt,
and
Vt − Eg
Ia =
Ra
Dr. Esam Jaragh 3
CHAPTER 5: DC MOTOR CHARACTERISTICS

SPEED REGULATION
o Speed regulation represents how the speed changed from no-load to a full-
load conditions.
o The smaller the speed regulation, the better the motor’s characteristics.

 NL −  FL
% Speed Regulation = 100
 FL

Speed (rad/s)

Rated Current
Ia (A)
Typical motor load characteristics
Dr. Esam Jaragh 4
CHAPTER 5: DC MOTOR CHARACTERISTICS

MOTOR EFFICIENCY

Efficiency = (%) = Po x 100

Pi
o Pi is an electrical input power and easy to calculate, Pi = Vt IL

o Po is the mechanical output power and is equal to:

Po = Pi – PLosses

o So the efficiency could be also calculated by:

Efficiency = (%) = P i − P losses x 100

Pi

Dr. Esam Jaragh 5

CHAPTER 5: DC MOTOR CHARACTERISTICS

POWER FLOW DIAGRAM

o The developed power is the power which is converted to a mechanical
power by the armature’s and can be calculated by:

Pdev = Eg Ia = Pin – PCopper Losses

o Note that this developed power is not the actual output power from the
motor; to get the actual output power, the stray power losses must be taken
into account since there is an internal friction and core losses:
Pconverted
= Eg Ia
Electrical Input Power Mechanical Output Power
into Motor (Pin) Po =  
Po = Pin – PCopper losses – Pstray losses

Copper losses Stray Power Losses (mechanical

and core losses)

Dr. Esam Jaragh 6

CHAPTER 5: DC MOTOR CHARACTERISTICS

SHUNT MOTOR
o By shunt motor, the field winding is in shunt (in parallel) with the armature.
o The line voltage (Vt) supplies the field excitation and the current to the
armature.
o The field current is constant since the line voltage (Vt) is directly
across/parallel with the field circuit. Thus, the flux is constant.
o  = ka  Ia, so  is directly proportional to the armature current only since the
other quantities are constant.
o As we apply voltage to a shunt motor, F1
current will flow through the field circuit
which magnetizes the motor.
o The magnetic field will have a specific
polarity within the motor.
F2
Shunt DC motor
Dr. Esam Jaragh 7
CHAPTER 5: DC MOTOR CHARACTERISTICS

EFFECT OF LOAD ON THE SHUNT MOTOR

Torque
o As the load increases, so does the torque until it is
Rated Torque
equal to the new load.
o The Ia is proportional to the motor torque as well as

Rated Current
the load torque.
 = k a  Ia

o Remember that Eg = ka   and Eg = Vt – IaRa, Armature current

so the angular speed Vt − Ia R a
=

Speed (rad/s)
ka  Rated Speed

o Only  and Ia vary since the other quantities are constant.

Rated Current
o As load increases, Ia increases, the speed decreases.
o Shunt DC Motors show excellent speed regulation.
Ia (A)

Dr. Esam Jaragh 8

CHAPTER 5: DC MOTOR CHARACTERISTICS

EFFECT OF FLUX ON THE SHUNT MOTOR

o Assume Ia Ra is too small compared to Vt, so
Vt


Speed
ka 

o Therefore,  is inversely proportional to .

o The purpose of the rheostat in the field circuit is Field current, If
to control the field current which affects the flux.
o If the field current decreases, the flux reduces, and the speed increases.
o But this presents a very dangerous situation; that’s, the motor will be in a
runaway condition which could damage the motor if the field circuit is an open
circuit (i.e. If = 0).

o Open circuit means the flux  is almost zero which causes the speed  to be
very high.
Dr. Esam Jaragh 9
CHAPTER 5: DC MOTOR CHARACTERISTICS

SERIES MOTOR
o We have a series motor when the field winding is in series with the
armature:
IL = Is = Ia
o Since they are in series, the flux  is proportional Ia.
o As Ia changes with the load, the flux will be affected as well.
o Series motors are well-suited for high-torque loads like portable electric tools,
cranes, winches, hoists, and automobile starters because of their high torque
production and compact size.
Torque

 = k a Ia = k ' Ia2

Armature current (Ia)

Dr. Esam Jaragh 10
CHAPTER 5: DC MOTOR CHARACTERISTICS

EFFECT OF LOAD ON A SERIES MOTOR SERIES

o Applying KVL to the circuit,

V − I ( R + R a ) Vt − Ia ( R s + R a )
E g = Vt − Ia R s − Ia R a  = t a s =
ka  k ' Ia

o When Ia is very small at no-load condition,  is very high and the motor is
running at very dangerous speed.

o Therefore, a load is always placed on

Extremely high speed
a series motor before starting it. at no-load (Ia0)

o As before, the speed is inversely

Speed
proportional to the flux. But if the field
circuit is open, the series motor will not run.

o Series motors lack good speed regulation.

Armature current (Ia)
Dr. Esam Jaragh 11
CHAPTER 5: DC MOTOR CHARACTERISTICS

COMPOUND MOTOR
o Compound motor combines the effect of both a shunt and series field.
o Can be wired in either a long shunt or a short shunt configuration.
o Under no-load or light load conditions, the series field current will be very
small and the shunt field will have its full excitation.
o Therefore, the motor behaves like a shunt motor and does not approach
dangerously high speeds.

Short Shunt Long Shunt

Dr. Esam Jaragh 12
CHAPTER 5: DC MOTOR CHARACTERISTICS

DIFFERENTIAL COMPOUND
o Differential Compound: the series and shunt field windings are connected in
such a way that their fields oppose each other.
Vt
 = k a (  f − s ) Ia Speed =  
k a (  f − s )

o Where f represents the shunt field flux and s represents the series field
flux.
o As the load increases, both Ia and s will increase, causing the term (f - s)
decreases, the torque will increase and the speed will increase (undesirable
and dangerous).
o The differential compound motor maintains even better constant speed, within
its load limit, than the shunt motor. But it has very poor starting torque and is
unable to handle serious overloads.
o The differential compound motor has very few practical applications.

Dr. Esam Jaragh 13

CHAPTER 5: DC MOTOR CHARACTERISTICS

CUMULATIVE COMPOUND MOTOR

o Cumulative Compound: the shunt and series windings are connected so
that their respective fields aid each other.

 = k a (  f + s ) Ia

Vt
Speed =  
k a (  f + s )

o An increase in load causes Ia to increase, producing a larger torque which

is greater than the shunt and the net flux will increase as well.
o Compounding improves the torque characteristic and degrades the
speed characteristic.

Dr. Esam Jaragh 14

CHAPTER 5: DC MOTOR CHARACTERISTICS

SOLVED PROBLEMS

Problem 5-1: What must be the power rating in kW of a motor which at full
load supplies 70 N-m of torque at: a) 210 rad/s , and b) 670 rpm.

Sol.

P = 
1000
210
a) P = 70  = 14.7 kW
1000
rev 2 rad min
b)  = 670   = 70.16 rad / sec
min rev. 60sec.
70.16
P = 70  = 4.9 kW
1000

Dr. Esam Jaragh 15

CHAPTER 5: DC MOTOR CHARACTERISTICS

SOLVED PROBLEMS

Problem 5-3: For the motor whose characteristic is shown in the figure, find
the percent speed regulation.

Sol.
 NL −  FL
% Speed Regulation = 100
 FL

160 − 120
% Speed Regulation = 100 = 33.3 %
120

Dr. Esam Jaragh 16

CHAPTER 5: DC MOTOR CHARACTERISTICS

SOLVED PROBLEMS

Problem 5-5: A long shunt cumulatively compound motor is run at full load. It
is rated 120 V, 15 A, 140 rad/s. If Rf =100 , Ra=0.8 , Rs=0.2 , and the
stray losses are 65 W, find;
Sol.
a) The back EMF
If = Vt/Rf =120/100 = 1.2 A
Ia = IL – If = 15-1.2 = 13.8A
Eg = Vt – Ia (Rs+Ra) = 120-13.8(0.2+0.8)=106.2 V

b) The output power rating

Po = Pin – PLosses P Losses = 120 1.2 + 13.82 ( 0.8 + 0.2 ) + 65 = 399.45 W
PLosses = Vt If + Ia2 R a + Ia2 R s + Pstray Pin = 120  15 = 1800 W

P Losses = Vt If + Ia2 ( R a + R s ) + 65 Po = 1800 − 399.45 = 1400.55 W  1400 W

Dr. Esam Jaragh 17
CHAPTER 5: DC MOTOR CHARACTERISTICS

SOLVED PROBLEMS

Problem 5-5: A long shunt cumulatively compound motor is run at full load. It
is rated 120 V, 15 A, 140 rad/s. If Rf =100 , Ra=0.8 , Rs=0.2 , and the
stray losses are 65 W, find;
Sol. (cont.)
c) The efficiency
P P −P
 = o  100 = in Losses  100
Pin Pin
1400
= 100 = 78%
1800
d) The torque rating
P 1400
o = o = = 10 N.m.
 140 or Pdev = Eg Ia= 106.213.8=1465 W

e) The developed torque

P 1465
dev = dev = = 10.46 N.m.
Pdev = Po + Pstray = 1400+65=1465W  140
Dr. Esam Jaragh 18
CHAPTER 5: DC MOTOR CHARACTERISTICS

SOLVED PROBLEMS

Problem 5-6: A 230 V, 1.5 kW shunt motor draws 8.2 A at full load. If Rf = 200  ,
Ra = 1.1 , and the rated speed is 156 rad/s, find: a) the stray power loss, b) the
developed power and c) the developed torque.
Sol.
a) The stray power loss
If = Vt/Rf = 230/200 = 1.15 A
Ia = IL – If = 8.2 - 1.15 = 7.05A
Eg = Vt – Ia Ra = 230 – 7.05 (1.1) = 222.25 V
Pstray = Pdev. – Po
Pstray = Eg Ia - Po
= 222.25(7.05) – 1500 = 66.8 W c) The developed torque

b) The developed power P 1567

dev = dev = = 10.04 N.m.
Pdev. = Eg Ia = 222.25 (7.05) = 1567 W  156
Dr. Esam Jaragh 19
CHAPTER 5: DC MOTOR CHARACTERISTICS

SOLVED PROBLEMS

Problem 5-7: A short shunt compound motor is 5kW, 240V, and draws a line current
of 24A. If Rf =200 , Ra=0.4 , and Rs=0.05 , find at rated load: a) the total
copper losses, b) the stray power losses, c) the efficiency, d) the back EMF.
Sol.
a) Vf = Vt – IL Rs = 240 – 24 (0.05) = 238.8 V
If = Vf/Rf = 238.8/200 = 1.194 A
Ia = IL – If = 24-1.194 = 22.81A
2
P Cu = IL R s + If2 R f + Ia2 R a
= ( 24 ) 0.05 + (1.194 ) 200 + ( 22.81) 0.4
2 2 2
P 5000
c) (%) = o x 100 = x 100 = 86.8%
= 522 W Pin 240  24
b) Pstray = Pin – PCu – Po d) Eg = Vt – IL Rs – Ia Ra
= (240) 24 –522 – 5000 = 240 – (24) (0.05) – (22.81) (0.4)
= 238 W = 229.68 V
Dr. Esam Jaragh 20
CHAPTER 5: DC MOTOR CHARACTERISTICS

SOLVED PROBLEMS

Problem 5-8: A 4-pole, 220-V shunt motor has 540 lap-wound conductor. It takes
32 A from the supply mains and develops output power of 5.595 kW. The field
winding takes 1 A. The armature resistance is 0.09 Ω and the flux per pole is 30
mWb. Calculate a) the speed and b) the shaft torque in N-m.
Sol.
a) Ia = 32 − 1 = 31 A
Eg = Vt – Ia  Ra = 220 – 310.09 = 217.2 V

ZP 2  a Eg
Eg =  =
2a ZP

2 4  217.2
= = 84.2rad / s (or 804.4 rpm)
−3
540  4  30 10
Po 5595
b) shaft = = = 66.4 N − m
 84.2
Dr. Esam Jaragh 21