Chapter 6. Direct Current Motors
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1 Chter 6 Direct Current Motors
2 DC Motors A DC Motor Arture (rotor) long with the couttor
3 Constructionl Fetures of DC Motors A 4-Pole DC Motor Couttor long with the rture on the rotor Slient-oles on the sttor Field windings Two exciting field windings, the shunt nd series windings
4 Significnt Fetures of DC Motors DC otors convert electricl energy into echnicl energy Constnt echnicl ower outut or constnt torque Tyes Shunt otors, series otors nd coound otors id ccelertion or decelertion Extensively used s ositioning device becuse its seed s well s torque cn be controlled recisely over wide rnge 1W to 10,000 h Alictions in utoobiles, robots, VCs, ovie cer, electric vehicles, in steel nd luinu rolling ills, electric trins, overhed crnes, control devices, etc. Biggest dvntge over other otors Torque-seed chrcteristics of dc otors cn be vried over wide rnge while retining high efficiency
5 Frdy s Lw f flux sses through turn of coil of wire, voltge will be induced in the turn of wire tht is directly roortionl to the rte of chnge in the flux with resect to tie. e d dt f coil hs N turns nd if the se flux sses through ll of the, then the induced voltge cross the whole coil is given by e N d dt
6 Polrity of the nduced Voltge, e eblv, where B, v nd e re utully erendiculr. The olrity of the induced voltge cn be deterined fro the right hnd screw rule. Turn the vector v towrds the vector B. f right hnd screw is turned in the se wy the otion of the screw will indicte the direction of ositive olrity of the induced voltge e.
7 Electrognetic Force, f fbli, where B, f nd i re utully erendiculr. Turn the current vector i towrds the flux vector B. f right hnd screw is turned in the se wy, the direction in which the screw will ove reresents the direction of the force f.
8 Oertion Princile A 4-Pole DC Motor As soon s the switch is closed, lrge ount of current will flow through the rture conductors. The current crrying rture conductors re in gnetic field roduced by the current in sttor field winding. The rture conductors will exerience echnicl force or torque which will cuse the rotor of the dc otor to sin.
9 Oertion Princile A 4-Pole DC Motor
10 Bck ef or Counter ef As the rture rottes, ech coil on the rture exeriences chnge in the flux ssing through its lne. Therefore, n electrootive force (ef) is induced in ech coil. n ccordnce with Frdy's lw of induction, the induced ef ust oose the current entering the rture. n other words, the induced ef ooses the lied voltge. A 4-Pole DC Motor For this reson, we coonly refer to the induced ef in otor s the bck ef or counter ef of the otor. The vlue of the rture voltge, E ngulr velocity of the rture (rotor) flux roduced by ech ole constnt
11 Bck ef or Counter ef f is the effective (totl) resistnce in the rture circuit nd V s is the lied voltge cross the rture terinls, then the rture current is [V s -E ]/ This eqution cn lso be written s V s E A 4-Pole DC Motor Since the resistnce of the rture circuit is usully very sll, the voltge dro cross it is lso sll in corison with the bck ef E.
12 Strting of DC Motor At the tie of strting, the bck ef in the otor is zero becuse the rture is not rotting. For sll vlue of the rture-circuit resistnce, the strting current in the rture will be extreely high if the rted vlue of Vs is iressed cross the rture terinls. The excessive current A cn 4-Pole cuse DC Motor ernent dge to the rture windings. Thus, dc otor should never be strted t its rted voltge. n order to strt dc otor, n externl resistnce ust be dded in series with the rture circuit.
13 Strting of DC Motor A 4-Pole DC Motor n order to strt dc otor, n externl resistnce ust be dded in series with the rture circuit. The externl resistnce is grdully decresed s the rture coes u to seed. Finlly, when the rture hs ttined its norl seed, the externl resistnce is "cut out" of the rture circuit.
14 Seed egultion in DC Motors The rture current of otor increses with lod. For constnt lied voltge, the increse in the rture current results in decrese in the bck ef. The reduction in the bck ef cuses dro in the seed of the otor. The seed regultion is esure of the chnge in seed fro no lod to full lod. When the chnge in seed t full lod is exressed s ercent of its full-lod seed, it is clled the ercent seed regultion (S%). n eqution for, the ercent seed regultion is S% N otor _ Nolod N N otor _ Full lod otor _ Full lod 100
15 Losses in DC Motor The ower inut to dc otor is electricl nd the ower outut is echnicl. The difference between the ower inut nd the ower outut is the ower loss. When the ower is sulied to otor, significnt ortion of tht ower is dissited by the resistnces of the rture nd the field windings s coer loss. The reinder ower (the develoed ower) is converted by the otor into echnicl ower. A rt of the develoed ower is consued by the rottionl loss. The difference is the net echnicl ower vilble t the shft of the otor. A tyicl ower-flow digr of dc otor is shown in Figure 6.3.
16 A Series DC Motor n series otor the field winding is connected in series with the rture circuit s shown in Figure 6.4. We hve lso included n externl resistnce x in series with the rture tht cn be used either to strt the otor nd then be shorted or to control the seed of the otor. Since the series field winding crries the rted rture current of the otor, it hs few turns of hevy wire. As the rture current chnges with the lod, so does the flux roduced by the field winding. n other words, the flux set u by series otor is function of the rture current.
17 A Series DC Motor Flux er ole: f Then the bck ef is. E f The torque develoed by the series otor: T d f 2 Fro the bove equtions, it is evident tht the bck ef in the otor is roortionl to the rture current, nd the torque develoed by series otor is roortionl to the squre of the rture current
18 A Series DC Motor As the rture current increses, so does the flux roduced by it. An increse in the flux enhnces the level of sturtion in the otor. When the otor is sturted, the flux increses only grdully with further increse in the rture current. Hence, the torque develoed is no longer roortionl to the squre of the current. The torque versus rture current chrcteristic of series otor is given in Figure 6.5.
19 A Series DC Motor As we lod the otor, the torque develoed by it ust increse. The increse in the torque necessittes n increse in the rture current. The increse in the rture current cuses n increse in the voltge dro cross the rture-circuit resistnce, the field-winding resistnce, nd the externl resistnce. For fixed lied voltge, the bck ef ust decrese with lod. Since the bck ef is lso roortionl to the rture current, the seed of the otor ust dro.
20 A Series DC Motor ( ) [ ] 2 f 2 s f d f s f s s x s s f k V k T k V k V V V k E
21 A Series DC Motor The seed of series otor is rcticlly inversely roortionl to the rture current. The torque develoed by series otor is inversely roortionl to the squre of its seed. t rovides high torque t low seed nd low torque t high seed. For this reson, series otor is suitble for hoists, crnes, electric trins, nd host of other lictions tht require lrge strting torques. Since the torque develoed by series otor is lso roortionl to the squre of the lied voltge, the torque develoed by it cn be controlled by controlling the lied voltge. T d V s [ k ] 2 k f f k f V 2 s
22 Exle 6.1 (ge 360) The gnetiztion curve of 10-h, 220-V series otor is given in Figure 6.7 t 1200 r. The other reters of the series otor re 0.75 Ω, s 0.25 Ω, nd P r 1.04 kw. Wht is the rture current when the otor delivers its rted lod t 1200 r? Wht is the efficiency of the otor t full lod? Wht is the nuber of turns er ole? When the lod is grdully reduced, the rture current decreses to A. Deterine () the new seed of the otor nd (b) the driving torque.
23 A Shunt DC Motor The equivlent circuit of shunt otor is shown in Figure 6.8 with strting resistor in the rture circuit. The field winding is connected directly cross the source.
24 A Shunt DC Motor [ ] 2 f 2 s f s d s s s k V k V T V V V E
25 Methods of Seed Control The two ethods tht re coonly used to secure seed control re rture resistnce control nd field control.
26 Seed Control: Arture esistnce Control n this ethod, the seed control is chieved by inserting resistnce c in the rture circuit of shunt or series otor s illustrted in the figure below. n shunt, the field winding is connected directly cross the full-line voltge. The dditionl resistnce in the rture circuit decreses the bck ef in the otor for ny desired rture current. Since the flux in the otor is constnt nd the torque deends uon the rture current, the decrese in the bck ef forces dro in the otor seed.
27 Seed Control: Arture esistnce Control Seed in ters of rture current: Vs ( ) Any increse in the vlue of the control resistnce c decreses the seed of the otor. The control ethod, therefore, is suitble to oerte the otor t seed lower thn its rted seed while delivering the se torque. The seed-torque chrcteristics of series nd shunt otors for vrious vlues of the control resistor re deicted in the figure below. s c
28 Disdvntges of Arture esistnce Control Method The disdvntges of this ethod of seed control re the following: A considerble ower loss in the control resistnce A loss in the efficiency of the otor Poor seed regultion for the shunt nd the coound otors The rture resistnce control ethod is essentilly bsed uon the reduction in the lied voltge cross the rture terinls of dc otor. Therefore, it should be ossible to control the seed of dc otor by sily connecting its rture to vrible voltge source. This ethod of seed control is known s the Wrd-Leonrd ethod
29 Seed Control: Field-Control Method This roch involves the control of the field current, which in turns controls the flux in the otor. The field current in shunt otor cn be controlled by inserting n externl resistor in series with the field winding. Becuse the field current is very sll frction of the totl current intke of shunt otor, the ower dissited by the externl resistor is reltively sll. Therefore, the flux-control ethod is econoiclly better thn the rture-resistnce control ethod. To control the flux in series otor, field diverter resistor cn be connected in rllel with the series field winding.
30 Seed Control: Field-Control Method The ddition of resistnce in series with the shunt field winding or in rllel with the series field winding cuses the field current nd thereby the flux in the otor to decrese. Since the seed of otor is inversely roortionl to its flux, decrese in its flux results in n increse in its seed. Thus, the flux-control ethod kes otor oerte t seed higher thn its rted seed. As the torque develoed by shunt otor is roortionl to the roduct of the rture current nd the flux er ole, decrese in the flux ust be cconied by corresonding increse in the rture current for the otor to deliver the se torque.
31 Brking or eversing DC Motors n soe lictions, it y be necessry to either sto the otor quickly or reverse its direction of rottion. The coonly eloyed ethods re: Plugging Dynic brking egenertive brking
32 Brking or eversing DC Motors: Plugging Stoing nd/or reversing the direction of dc otor erely by reversing the suly connections to the rture terinls is known s lugging or counter current brking. The field-winding connections for shunt otors re left undisturbed. This ethod is eloyed to control the dc otors used in elevtors, rolling ills, rinting resses, nd chine tools, to ne just few. Just rior to lugging, the bck ef in the otor is oosing the lied source voltge. Becuse the rture resistnce is usully very sll, the bck ef is lost equl nd oosite to the lied voltge. At the instnt the otor is lugged, the bck ef nd the lied voltge re in the se direction. Thus, the totl voltge in the rture circuit is lost twice s uch s the lied voltge.
33 Brking or eversing DC Motors: Plugging To rotect the otor fro sudden increse in the rture current, n externl resistnce ust be dded in series with the rture circuit. The circuit connections, in their silest fors, for shunt nd series otors re given in the figure below.
34 As the current in the rture winding reverses direction, it roduces force tht tends to rotte the rture in direction oosite to its initil rottion. This cuses the otor to slow down, sto, nd then ick u seed in the oosite direction. Plugging, therefore, llows us to reverse the direction of rottion of otor. This technique cn lso be used to brke the otor by sily disconnecting the ower fro the otor when it coes to rest. At ny tie during the lugging ction, the rture current is Brking or eversing DC Motors: Plugging s b s s s V T Torque Brking V E V E V
35 Brking or eversing DC Motors: Dynic Brking f the rture winding of dc otor is suddenly disconnected fro the source, the otor will cost to sto. The tie tken by the otor to coe to rest deends uon the kinetic energy stored in the rotting syste. Dynic brking, on the other hnd, kes use of the bck ef in the otor in order to sto it quickly. f the rture winding, fter being disconnected fro the source, is connected cross vrible resistnce, the bck ef will roduce current in the reverse direction. A current in the reverse direction in the rture winding results in torque tht ooses the rottion nd forces the otor to coe to hlt.
36 Brking or eversing DC Motors: Dynic Brking The dynic brking effect is controlled by vrying. At the tie of dynic brking, is selected to liit the inrush of rture current to bout 150% of its rted vlue. As the otor seed flls, so does the induced ef nd the current through. Thus, the dynic brking ction is xiu t first nd diinishes to zero s the otor coes to sto.
37 At ny tie during the dynic brking, the rture current is t is evident tht the brking torque vnishes s the otor seed roches zero. Brking or eversing DC Motors: Dynic Brking 4 otor b _ shunt f 2 2 f 2 b _ series otor b T T T Torque Brking E
38 Brking or eversing DC Motors: egenertive Brking egenertive brking is used in lictions in which otor seed is likely to increse fro its rted vlue. Alictions: electric trins, elevtors, crnes, nd hoists. Under norl oertion of dc otor, sy ernent-gnet otor in n electric trin, the bck ef is slightly less thn the lied voltge. Note tht the bck ef in PM otor is directly roortionl to the otor seed. Now ssue tht the trin is going downhill. As the otor seed increses, so does the bck ef in the otor.
39 Brking or eversing DC Motors: egenertive Brking Now ssue tht the trin is going downhill. As the otor seed increses, so does the bck ef in the otor. f the bck ef becoes higher thn the lied voltge, the current in the rture winding reverses its direction nd the otor becoes genertor. t sends ower bck to the source nd/or other devices oerting fro the se source. The reversl of rture current roduces torque in direction oosite to the otor seed. Consequently, the otor seed flls until the bck ef in the otor is less thn the lied voltge. The regenertive ction not only controls the seed of the otor but lso develos ower tht y be used elsewhere.
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