Energy Conservation I ST Details:
EEE221 Md. Reshad Al Muttaki
Tutorial 10 Email: [Link]@[Link]
Spring 2025 Section: 1 & 3
DC Motors
A DC Motor is an electrical machine that converts electrical energy into mechanical energy. The popularity of
DC motors lies in their simplicity, precision, and adaptability. They are ideal for applications that demand high
starting torque, smooth operation, and easy speed control.
DC motors are often compared by their speed regulations. The speed regulation (SR) of a motor is defined by:
𝜔𝑚,𝑛𝑙 − 𝜔𝑚,𝑓𝑙
𝑆𝑅 = × 100%
𝜔𝑚,𝑓𝑙
𝑛𝑚,𝑛𝑙 − 𝑛𝑚,𝑓𝑙
𝑆𝑅 = × 100%
𝑛𝑚,𝑓𝑙
There are five major types of dc motors in general use
1. The separately excited dc motor
2. The shunt dc motor
3. The permanent-magnet dc motor
4. The series dc motor
5. The compounded dc motor
Figure: (a) The equivalent circuit of a dc motor. (b) A simplified equivalent circuit eliminating the brush
voltage drop and combining Radj with the field resistance.
The internal generated voltage in this machine is given by the equation:
𝐸𝐴 = 𝐾𝜑𝜔𝑚
and the induced torque developed by the machine is given by:
𝜏𝑖𝑛𝑑 = 𝐾𝜑𝐼𝐴
(a) (b)
Figure: (a) The magnetization curve of a ferromagnetic material (Φ versus ℱ); (b) The magnetization curve of
a dc machine expressed as a plot of EA versus IF, for a fixed speed ωo
Separately Excited and Shunt DC Motor
Figure: The equivalent circuit of (a) a separately excited dc motor. (b) a shunt dc motor
Terminal Characteristics of a Shunt DC Motor
𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 𝑅𝐴 𝐸𝐴 = 𝐾𝜑𝜔𝑚
𝜏𝑖𝑛𝑑 𝜏𝑖𝑛𝑑 = 𝐾𝜑𝐼𝐴
⇒ 𝑉𝑇 = 𝐾𝜑𝜔𝑚 + 𝑅
𝐾𝜑 𝐴
𝑅𝐴 𝑉𝑇
∴ 𝜔𝑚 = − 2
𝜏𝑖𝑛𝑑 +
(𝐾𝜑) 𝐾𝜑
This is just an equation of straight line with negative slope.
Figure: (a) Torque-speed characteristic of a shunt or separately excited dc motor with compensating windings
to eliminate armature reaction. (b) Torque-speed characteristic of the motor with armature reaction present
Mathematical Problems:
Problem 1: A 50-hp, 250-V 1200 r/min dc shunt motor with compensating windings has an armature resistance
(including the brushes, compensating windings, and interpoles) of 0.06 Ω. Its field circuit has a total resistance
𝑅𝑎𝑑𝑗 + 𝑅𝐹 of 50 Ω, which produces a no-load speed of 1200 r/min. There are 1200 turns per pole on the shunt
field winding.
(a) Find the speed of this motor when its input current is 100 A.
(b) Find the speed of this motor when its input current is 200 A.
(c) Find the speed of this motor when its input current is 300 A.
(d) Plot the torque-speed characteristic of this motor.
Solution:
(d) To plot the output characteristic of this motor, it is necessary to find the torque corresponding to each value
of speed. At no load, the induced torque τind is clearly zero. The induced torque for any other load can be found
from the fact that power converted in a dc motor is:
Problem 2: A 50-hp, 250-V 1200 r/min dc shunt motor
without compensating windings has an armature resistance
(including the brushes and interpoles) of 0.06 Ω. Its field
circuit has a total resistance 𝑅𝑎𝑑𝑗 + 𝑅𝐹 of 50 Ω, which
produces a no-load speed of 1200 r/min. There are 1200
turns per pole on the shunt field winding, and the armature
re-action produces a demagnetizing magnetomotive force
of 840 A • turns at a load current of 200 A. The
magnetization curve of this machine is shown in the figure.
(a) Find the speed of this motor when its input current is
200 A.
(b) This motor is essentially identical to the one in Problem
1 except for the absence of compensating windings.
How does its speed compare to that of the previous
motor at a load current of 200 A?
Solution:
Therefore, the internal generated voltage of the machine is
At IL = 200 A, the demagnetizing magnetomotive force due to armature reaction is 840 A • turns, so the effective
shunt field current of the motor is
From the magnetization curve, this effective field current would produce an in-ternal generated voltage EA0 of
233 V at a speed n0 of 1200 r/min.
We know that the internal generated voltage EA0 would be 233 V at a speed of 1200 r/min. Since the actual internal
generated voltage EA is 238.3 V, the actual operating speed of the motor must be
(b) At 200 A of load in Problem 1, the motor’s speed was nm = 1144 r/min. In this example, the motor’s speed is
1227 r/min. Notice that the speed of the mo-tor with armature reaction is higher than the speed of the motor with
no armature reaction. This relative increase in speed is due to the flux weakening in the machine with armature
reaction.
Speed Control of Shunt DC Motors
There are two common methods and one less common method in use for controlling speed of Shunt DC Motor.
1. Adjusting the field resistance RF (and thus the field flux)
2. Adjusting the terminal voltage applied to the armature.
The less common method of speed control is by
3. Inserting a resistor in series with the armature circuit.
Method 1: CHANGING THE FIELD RESISTANCE
1. Increasing RF causes IF(= VT/RF ↑) to decrease.
2. Decreasing IF decreases Φ.
3. Decreasing Φ lowers EA (= KΦ↓ωm).
4. Decreasing EA increases IA(= VT - EA↓)/RA.
5. Increasing IA increases τind(= KΦ↓IA↑), with the change in IA dominant over the change in flux.
6. Increasing τind makes τind > τload, and the speed ωm increases.
7. Increasing ωm increases EA = KΦωm↑ again.
8. Increasing EA decreases [Link] IA decreases τind until τind = τload at a higher speed ωm.
Figure: The effect of field resistance speed control on a shunt motor’s torque-speed characteristic: (a) over the
motor’s normal operating range; (b) over the entire range from no-load to stall conditions
Method 2: CHANGING THE ARMATURE VOLTAGE
1. An increase in VA increases IA [= (VA ↑ - EA)/RA].
2. Increasing IA increases τind (= KΦIA↑).
3. Increasing τind makes τind > τload increasing ωm.
4. Increasing ωm increases EA(= KΦωm↑).
5. Increasing EA decreases IA [= (VA ↑ - EA)/RA].
6. Decreasing IA decreases τind until τind = τload at a higher ωm.
Figure: The effect of armature voltage speed control on a shunt motor’s torque-speed characteristic
Method 3: INSERTING A RESISTOR IN SERIES WITH THE ARMATURE CIRCUIT
Figure: The effect of armature resistance speed control on a shunt motor’s torque-speed characteristic
Problem 3: The figure shows a 100-hp, 250-V 1200
r/min shunt dc motor with an armature resistance of 0.03
Ω and a field resistance of 41.67 Ω. The motor has
compensating windings, so armature reaction can be
ignored. Mechanical and core losses may be assumed to
be negligible for the purposes of this problem. The motor
is assumed to be driving a load with a line current of 126
A and an initial speed of 1 103 r/min. To simplify the
problem, assume that the amount of armature current
drawn by the motor remains constant.
(a) If the machine’s magnetization curve is shown in Figure 8-9, what is the motor’s speed if the field resistance
is raised to 50 Ω?
The ratio of the internal generated voltage at one speed to the internal generated voltage at another speed is given
by the ratio of the two speeds:
Because the armature current is assumed constant, EA1 = EA2, and this equation reduces to
At IF = 5 A, EA0 = 250 V, while at IF = 6 A, EA0 = 268 V Therefore, the ratio of fluxes is given by
and the new speed of the motor is
(Ans.)
Problem 4: The motor in is connected separately
excited as shown in the figure. The motor is initially
running with VA = 250 V, IA= 120 A, and n = 1103
r/min, while supplying a constant-torque load. What
will the speed of this motor be if VA is reduced to
200 V?
Solution: The motor has an initial line current of
120 A and an armature voltage VA of 250 V, so the internal generated voltage EA is
(Ans.)
