DC Motor Drives

• Introduction
• Classification
• Structure
• Operating Principle
• Armature Reaction
• DC Machine Equivalent Circuit

© Copyright Ned Mohan 2010 1
 Introduction
 Cost
PPU PPU
PPU PPU

motor motor motor motor

1998 Future 1998 Future

DC DRIVES AC DRIVES
 Demise prematurely predicted, still used in speed control
 Merits
 Ease of control
 Cheaper Power Processing Unit
 Drawbacks
 mechanical commutator and brushes require maintenance

© Copyright Ned Mohan 2010 2
 Classification of DC drives

Electrical Power DC Mechanical

Processing system
source unit machine

Permanent Wound
magnet rotor

Switch-mode Line-commutated
converter thyristor converter

© Copyright Ned Mohan 2010 3
 Structure of DC motors
stator
Permanent
magnets
magnets

rotor
winding

 f produced by  f produced by
permanent magnets stator winding current

 Stator
 Establishes field flux,  f

© Copyright Ned Mohan 2010 4
 Structure of DC motors
 Rotor
Armature winding
Commutator and brushes

© Copyright Ned Mohan 2010 5
 Operating Principles of a DC Motor
 Field flux density in the airgap

back  end

1b
N S
 0

N 1 1' S f
Bf
m s1 b2
s2
b1 0 
ia
 0

© Copyright Ned Mohan 2010 6
 Operating principles ‐ Commutator Action
ea ea ea
     
ia ia ia

1'

S1 S2   
S2 S2 S1
N 1 1' S N S N 1' 1 S
   0   0    0
m S1 m
Tem Tem
1 

e1,1 ' , i1to1 '

0 

Tem  2 B f  ia r 0o 90 o
ea (t )
180 o 270 o 360 o

Ea
( average)

ea  2 B f  (r  m ) 0
0o 90 o 180 o ea (t ) 270 o 360 o


Tem (t )

Tem
( average)
0 
0o 90 o 180 o 270 o 360 o

© Copyright Ned Mohan 2010 7
 Four Coil Example
Ia Ia
4 1 
N e I Ia
e 2 2
a
 2 2   4 1 
 2 e 4b 1b
1
a e 
 3 4 2e
4  1 _ ea 2e
_

ia ea 4 ia 1
m b ia ea_ d
3 _ 2  3 2 
4 2 1
_  
_ c 3 2e _ 2e
e 3b Ia Ia 2b e _ 3 _
 2 2  2
e 3 2 e
S
at   0 o
0V
1 1
0V 0V
N 1 1b 1
2 4 2 Ia Ia
 a d  
4  2 2
e e ea
 4
d  2

a 
ia e_a 2b ia
3 ea 3 4b 2e 2e
ia 1   _ _
1 _
e 2
e 4 _
b c c
2
b 2
_ 4
4 3 3b 3
0V 0V
S 3
0V
3

CCW rotation by 45°

© Copyright Ned Mohan 2010 8
 Four Coil Example  (cont’d)
1 2  Ia Ia
N e I Ia e 2 2
d

a

e 1b
2 2
2b
  1 2 
 3
2
d

e 
 4 1 2e ea 2e
_ 1 2 _ ia _
a ea c 1 2
a ea c ia
m
ia 4 _ 3  4 3
3 2
_  
1 4 2e _ 2e
_
b e 4b 3b e
Ia Ia _ 4 3 _
 2
b
2 
e
S 4 3 e

CCW rotation by 90o

ea
4e
Torque and emf pulsations 2e Ea
can be reduced by increasing  ( average)
0 
0o 45o 90 o 135o 180 o 225o 270 o 315o 360 o
the number of conductors
Tem
4Tcond

2Tcond Tem
( average)
0 
0o 45o 90 o 135o 180 o 225o 270 o 315o 360 o

© Copyright Ned Mohan 2010 9
 Four Coil Example  (cont’d)
1 2  Ia Ia
N e I Ia e 2 2
d

a

e 1b
2 2
2b
  1 2 
 3
2
d

e 
 4 1 2e ea 2e
_ 1 2 _ ia _
a ea c 1 2
a ea c ia
m
ia 4 _ 3  4 3
3 2
_  
1 4 2e _ 2e
_
b e 4b 3b e
Ia Ia _ 4 3 _
 2
b
2 
e
S 4 3 e

CCW rotation by 90o

ea
4e
Torque and emf pulsations 2e Ea
can be reduced by increasing  ( average)
0 
0o 45o 90 o 135o 180 o 225o 270 o 315o 360 o
the number of conductors
Tem
4Tcond

2Tcond Tem
( average)
0 
0o 45o 90 o 135o 180 o 225o 270 o 315o 360 o

© Copyright Ned Mohan 2010 10
 Summary of Operating Principles

 ia divides equally between two parallel circuits 
Torque produced on each conductor has the same direction
 Direction of ia determines direction of torque

Induced voltage in each circuit is equal to the sum of  
voltages induced in each coil.
 Polarity of induced emf depends only on the direction of
rotation.

i  n 
Net Torque, Tem  na B f  a  lr   a lrB f  ia  kT ia
2  2 
n  n 
& ea   a  B f l ( m r )   a lrB f   m  k E m
 2   2 
In M.K.S. Units k E = kT

© Copyright Ned Mohan 2010 11
 Armature reaction

N S N S

stator flux resultant flux

rotor flux
Compensating Commutating
 Assuming magnetic structure does  winding winding

not saturate: Commutating
 Increased torque in some conductors Exciting pole
winding
is compensated by decreased torque 
in other conductors
 Same reasoning holds for induced emf
 Compensating winding to reduce the 
effect of armature reaction 

© Copyright Ned Mohan 2010 12
 DC Machine Equivalent Circuit
T
ia ia  em  constant at its rated value
kT f
 m Va1  Va2  Va3  Va4

 m, rated Va1  rated
Ra

Tem Va2
N S va La
va m 
Va3
ea  k E  m Tem ,  m Va4
_ _
_ TL
JM
JL
rated Tem

Basic equations Steady State

ea  k E  m Tem ( TL )
Ia 
d ia kT
va  ea  Ra ia  La
dt Va  I a Ra
Tem  kT ia m 
kE
d m 1
 (Tem  TL )
dt J eq

© Copyright Ned Mohan 2010 13
 Summary

DC Motor Drives
• Introduction
• Classification
• Structure
• Operating Principle
• Armature Reaction
• DC Machine Equivalent Circuit

© Copyright Ned Mohan 2010 14