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Actuator
3
Rotary Motion
A current-carrying conductor in a magnetic field tends to move
at right angles to the field.
Once it moves out of the field, the force is reduced to zero and no
further action takes place.
4
Rotary Motion
current flows from point A to point B on one side of the loop, and
from point C to point D on the other side of the loop;
Cross-section view of the loop of wire inside the main field. The
distortion of this field creates the force that causes the rotation.
8
Rotary Motion
Due t o inertia, the loop continues to spin CCW.
9
Rotary Motion
A continuous rotation is achieved as shown in figure on next
slide by reversing the direction of current through the loop the
instant it passes through the neutral plane.
The direction of the flux lines in the main field is from the north
pole to the south pole.
12
Rotary Motion
In position 1 the current
enters the loop through the
negative brush and exits
through the positive brush.
POSITION 1
(Maximum torque)
13
Rotary Motion
When armature is in position 2,
the brushes make contact with
both commutator segments.
POSITION 2
However, inertia causes the
(In neutral plane
armature to continue rotating no torque)
past this position.
14
Rotary Motion
When armature rotates past neutral
position in position 3, the sides of
the loop are in the opposite position
from where they were in position 1.
Switching action of commutator
reverses the direction of current flow
through the armature loop.
POSITION 4
(In neutral plane
no torque)
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Rotary Motion
Rotation of the armature continues in one direction because the
commutation keeps reversing current direction through loop.
This way the armature always interacts the same way with the
main field to maintain a continuous torque in one direction.
18
Rotary Motion
When one loop is in the neutral position, the other is in the
position of maximum torque.
19
Rotary Motion
22
Rotary Motion
Figure (a) shows how flux lines between two poles of a magnet
bow away from each other.
Therefore, the stronger flux lines force the other lines inward so
that they run straight between the poles.
25
Control of FieldFlux
26
Counterelectromotive Force
As the armature conductors rotate, they cut through
the main field.
The CEMF cancels out a portion of the applied voltage, and the
difference between the two forms a net voltage that produces the
resultant armature current.
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Counterelectromotive Force
The amount of CEMF produced is proportional to three factors:
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Motor Selection
DC motors are available in different sizes. The larger they are,
the more power they have.
1. Speed Regulation. How much the motor speed will vary with a
change in the mechanical load.
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Motor Selection
Speed Regulation
A motor is designed t o operate a t full load.
Full load is the maximum power it can provide to run its rated
mechanical load all of the time.
It is possible for motor to run above full load, but not for a
sustained period of time: It will overheat and likely become
damaged.
33
Motor Selection
Speed Regulation
The speed regulation of a motor is calculated by comparing its
no-load speed to its full-load speed.
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Motor Selection
Speed Regulation (Example)
An example of speed regulation is the operation of a hand
drill that uses permanent magnets to develop the main field.
When drill is turned on, it runs at no load. As the drill bit cuts
through the material, it slows down to the full-load condition.
Even though these mechanical loads move differently, they are all
powered by the turning action of a motor.
36
Motor Selection
Torque
The amount of torque a motor produces is measured by
multiplying the force it will exert by the distance between the
center of the shaft and the point where the force is being applied,
as determined by the following formula:
where
F is the magnetic force acting on the conducting armature,
measured in pounds.
r is the radius in feet, measured from the axis of rotation to the
point where the force is applied.
T is the rotary action exerted by the motor shaft, measured in
pound-feet (lb-ft).
37
Motor Selection
Torque
The magnitude of force is determined by the following factors:
When starting the motor from a dead stop, it takes more effort
to get it started than to keep it running.
D = Distance in feet.
F = Force in pounds produced by the rotary torque of the motor
shaft.
W = Work in foot-pounds.
40
Motor Selection
Work
Work is not done unless the load is moved a distance.
41
Motor Selection
Horsepower
Normally placed on the housing of a motor is a nameplate that
lists a power rating in units of horsepower that the motor
delivers to the load.
42
Motor Efficiency
The mechanical output power of a motor used to drive a
load is always less than the power supplied to its input.
A part of the energy supplied to the motor is dissipated into heat
and is therefore wasted.
43
Motor Interrelationships
The ultimate function of the motor is t o drive a mechanical
load.
The energy required to run the motor is drawn from the power
source at the same rate mechanical power is being used.
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Motor Interrelationships
The armature current produces a magnetic field around the
armature.
The interaction with the main field causes the armature to turn.
45
Motor Interrelationships
The motor is also a self-regulating device.
If the load varies, the speed changes, which affects the CEMF.
The new CEMF adjusts the armature current until the torque
matches the load's new requirements.
46
Basic Motor Construction
Mechanically, all motors have two main parts or assemblies:
the armature and
the field poles.
Parts of DC Motor 50
Basic Motor Construction
The moving portion of the motor is the armature, which rotates
inside the housing.
The outer surface of the core has slots where the armature loops
are placed.
A fan attached to the end of the shaft keeps the internal parts of
the motor cool as the armature rotates. 50
Basic Motor Construction
The bearings mounted on the stator's end plates support the
shaft at both ends.
The brushes and springs are placed inside holders that mount to
the stator housing.
53
Motor Classification
The Shunt Motor
The shunt motor, shown in figure on next slide, gets its name
from the fact that the field winding is connected in parallel or
shunt with the armature windings.
The shunt field coil is wound with many turns of fine wire.
Therefore the shunt field has a higher resistance than the
armature circuit and draws less current.
54
Motor Classification
The Shunt Motor
The strength of the shunt field with respect to the armature field
will determine both the motor's torque and the speed at which it
rotates.
The stronger the magnetic fields, the greater the torque and the
faster the rotation.
56
Motor Classification
The Shunt Motor
Since the shunt coil is connected across the fixed-line voltage
terminals, its magnetic field strength is constant.
57
Motor Classification
The Shunt Motor
Since the speed regulation from no load to full load of the shunt
motor does not exceed 12 percent, it is considered a constant
speed motor.
58
Motor Classification
The Shunt Motor (Torque Characteristics)
The amount of starting torque the motor produces determines
how fast it accelerates.
When the motor is turned ON, the shaft is not rotating. Since
the RPM is zero, there is no CEMF.
The net voltage equals the applied voltage, so the current flow
through the armature is as high as possible.
.59
Motor Classification
The Shunt Motor (Torque Characteristics)
At starting, all types of DC motors produce maximum torque
because the interaction between the rotor and stator magnetic
fields is at the highest level.
The reason for the low torque lies in the construction of the
field coil.
.60
Motor Classification
The Shunt Motor (Torque Characteristics)
Its resistance is very high because it has many turns of fine wire.
Therefore, the field current and field strength are very low.
.61
Motor Classification
The Shunt Motor (Motor Speed Control)
In many applications, the speed of the motor must be varied.
.62
Motor Classification
The Shunt Motor (Motor Speed Control)
Field Flux Control
The RPM of a DC shunt motor can be controlled beyond its rated
base speed by changing the strength of the main field flux.
.64
Motor Classification
The Shunt Motor (Motor Speed Control)
Field Flux Control
If the field circuit opens, the speed of the motor can become
excessively high, causing it to break apart.
.67
Motor Classification
The Series Motor
The series motor, shown in figure on next slide, gets its name
from the fact that the field winding is connected in series with
its armature.
The field coil is wound with a large gauge (size) wire to handle
the current that passes through the armature.
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Motor Classification
The Series Motor
DC series motor with the field connected in series with the armature
69
Motor Classification
The Series Motor
Even though the coil has a small number of turns, the magnetic
field that forms around the windings develops an adequate
torque because its flux lines are concentrated by the pole pieces,
and because the current is high.
Since the field coil and armature are connected in series, the
same current flows through both coils.
70
Motor Classification
The Series Motor
These conditions prevent the motor from maintaining a constant
speed under changing load conditions.
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Motor Classification
The Series Motor
For example, suppose a normally loaded motor is running.
The current flow through the armature and series coil develops a
flux that produces just enough torque to turn the load.
1. At the moment the load is removed, the current flow is larger
than that required by the load. Therefore the motor speed
increases.
2. As the motor speed increases, the CEMF gets larger.
3. A greater CEMF causes the current through the armature and
field to reduce. If the resultant field strength reduction were
directly proportional to the armature current, it would decrease at
the same rate that the speed increased.
Therefore, the CEMF would stop increasing, the current would
become constant, and the speed would stabilize.
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Motor Classification
The Series Motor
4. However, because the series field coil has few turns of heavy wire,
its flux strength decreases at a faster rate than the armature
current decreases.
This condition keeps the CEMF from building at a rate as fast as
the speed increases.
5. The CEMF is unable to reduce armature current fast enough to
stop the motor from increasing its speed.
The reason is that when the motor starts, the high current flows
through both the field coil and armature winding connected in
series.
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Motor Classification
The Compound Motor
Because the series and shunt magnetic fluxes cancel, its overall
field flux is weak.
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Motor Classification
The Compound Motor (Torque Characteristics)
If the physical load of a running cumulative compound
motor is increased, its speed will reduce slightly more than with
a shunt motor.
80
Reversing DC Motors
Reversing the direction of rotation of wound-field DC motors is
achieved by changing the direction of electron flow through the
field (or fields) relative to the electron flow through the
armature.
81
Reversing DC Motors
In industrial practice, to reverse the direction of motor rotation,
it is standard to change the armature connections.
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Motor Classification
Coil Terminal Identification
The electrical parts of a DC motor consist of different types
of windings that are marked for identification.
The shunt field winding, which consists of many turns of fine wire
with a resistance between 100 to 500 ohms, is marked as F1 and F2.