EEE 233, DC Motors

Prof. Dr. Mahmud

Mahmud, EEE,Abdul
CUET Matin Bhuiyan 1
 References
1. I. L. Kosow “Electrical Machines and
Transformer” Prentic-Hall, ISBN 087692-
775-4

2. BL Theraja & AK Theraja “Electrical

Technology” Vol. II, 2010, ISBN 81-219-
1142-7

3. Rosenblatt and Friedman “AC and DC

Machinery” CBS

4. Internet based sources: If required…..

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 DC Motors
An electric motor (DC/AC) is a machine that converts
electrical energy (DC/AC) into mechanical energy
 Its operation is based on the principle that when a
current carrying conductor is placed in a magnetic field,
the conductor experiences a mechanical force. The
direction of this force is given by Fleming’s left hand
rule (FLHR) and magnitude is given by:
F = Bli Newton
Basically, there is no constructional difference between a
DC motor and a DC generator. The same DC machine can
be run as a generator or motor.
Therefore, essential components of a motor are:
(a) A magnetic field
(b) Current carrying conductor or a group of conductors
(c) Voltage source (DC/AC)
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https://www.youtube.com/watch?v=CWulQ1ZSE3c
 DC Motors

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 Working of DC Motor

Consider a part of DC motor as shown in Fig. When the the

motor are connected to an external source of DC supply:
(i) Field magnets are excited develop alternate N and S
poles;
(ii) The armature conductors carry currents. All conductors
under N-pole carry currents in one direction while all the
conductors under S-pole carry currents in the opposite
direction. https://www.youtube.com/watch?v=LAtPHANEfQo
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 Action of DC Motor

https://www.youtube.com/watch?v=LAtPHANEfQo&t=5s
Suppose the conductors under N-pole carry currents into the plane of
the paper and those under S-pole carry currents out of the plane of the
paper as shown in Fig. Since each armature conductor is carrying current
and is placed in the magnetic field, so a mechanical force acts on it.
Referring to Fig. and applying Fleming’s left hand rule, it is clear that
force on each conductor is tending to rotate the armature in
anticlockwise direction. All these forces add together to produce a
driving torque which sets the armature rotating. When the conductor
moves from one side of a brush to the other, the current in that
conductor is reversed and at the same time it comes under the influence
of next pole which is of opposite polarity. Consequently, the direction of
force on the conductor remains the same it helps to develop continuous
unidirectional torque…..
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 Construction of DC Motors

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https://www.youtube.com/watch?v=1AaUK6pT_cE
 Types of DC Motors
(Load will be replaced by voltage source)

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Back or Counter E.M.F. of DC Motors
When the armature of a DC motor rotates under the
influence of the driving torque, the armature conductors
move through the magnetic field and hence e.m.f. is
induced in them as in a generator. The induced e.m.f.
acts in opposite direction to the applied voltage V(Lenz’s
law) and in known as back or counter e.m.f. Eb. The back
e.m.f. (Eg =PϕZN/60A) Eb (= PϕZN/60 A) is always less
than the applied voltage V, although this difference is
small when the motor is running under normal conditions.
Consider a shunt wound motor shown in Fig. When DC voltage V is applied across
the motor terminals, the field magnets are excited and armature conductors are
supplied with current. Therefore, driving torque acts on the armature which
begins to rotate. As the armature rotates, back e.m.f. Eb is induced which
opposes the applied voltage V. The applied voltage V has to force current through
the armature against the back e.m.f. Eb. The electric work done in overcoming and
causing the current to flow against Eb is converted into mechanical energy
developed in the armature. It follows, therefore, that energy conversion in a DC
motor is only possible due to the production of back e.m.f. Eb. Net voltage across
armature circuit = V – Eb: If Ra is the armature resistance, then, Ia =(V-Eb)/Ra
Since V and Ra are usually fixed, the value of Eb will determine the current
drawn by the motor. If the speed of the motor is high, then back e.m.f Eb (=
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PϕZN/60 A) is large and motor will draw less armature current and vice-versa.
Significance of Back or Counter E.M.F.
The presence of back e.m.f. makes the DC motor a self-regulating machine
i.e, it makes the motor to draw as much armature current as is just sufficient
to develop the torque required by the load. Armature current, Ia =(V-Eb)/Ra
(i) When the motor is running on no load, small torque is required to overcome
the friction and windage losses. Therefore, the armature current Ia is small and
the back e.m.f. is nearly equal to the applied voltage.
(ii) If the motor is suddenly loaded, the first effect is to cause the armature
to slow down. Therefore, the speed at which the armature conductors move
through the field is reduced and hence the back e.m.f. Eb falls. The decreased
back e.m.f. allows a larger current to flow through the armature and larger
current means increased driving torque. Thus, the driving torque increases as
the motor slows down. The motor will stop slowing down when the armature
current is just sufficient to produce the increased torque required by the load.
(iii) If the load on the motor is decreased, the driving torque is momentarily
in excess of the requirement so that armature is accelerated. As the armature
speed increases, the back e.m.f. Eb also increases and causes the armature
current Ia to decrease. The motor will stop accelerating when the armature
current is just sufficient to produce the reduced torque
Required by the load.
It follows, therefore, that back e.m.f. in a DC motor
Regulates: the flow of armature current i.e., it automatically
changes the armature current toMahmud,
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 Voltage Equation of D.C. Motor
Let in a DC motor (See Fig.)
V = applied voltage
Eb = back e.m.f.
Ra = armature resistance
Ia = armature current
Since back e.m.f. Eb acts in
opposition to the applied voltage V, the
net voltage across the armature circuit
is V- Eb. The armature current (Ia) is
given by; Ia =(V-Eb)/Ra
OR
V= Eb +IaRa
This is known as voltage equation of
the DC motor.

Higher the value of Eb compared to

V, higher the motor efficiency……
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 Armature Torque (Ta) of D.C. Motor
Torque is the turning moment of a force about an axis and is
measured by the product of force (F) and radius (r) at right angle to
which the force acts i.e. In D.C. Motors: (T = F × r ). The sum of the
torques due to all armature conductors ( as in Fig.) is known as gross or
armature torque (Ta) in a Dc machine…..
Let in a DC motor:
r = average radius of armature =Bil
in m
l = effective length of each ω = 2πN/60
conductor in m
Z = total number of armature
conductors
A = number of parallel paths
i = current in each conductor =
Ia/A
B = average flux density in
Wb/m2 (B = ϕ/a )
ϕ = flux per pole in Wb
P = number of poles
Force on each conductor,
F = B i l newton Mahmud, EEE, CUET 16
Armature Torque (Ta) of Motor (Cont.)
Torque due to one conductor Ta = F × r newton- metre (N-m)
Total armature torque, Ta = (Zx Fx r) newton-metre = Z B i l r
Now i = Ia/A, B = ϕ /a where a is the cross-sectional area of
flux path per pole at radius r. Clearly, a = 2πrl/P
Ta = Z B i l r = Z x ϕ/a×Ia/A ×l r = Z×Pϕ/ 2πrl × Ia/A×l r =ZPϕ
Ia /2π A =Z(P/A)ϕ Ia/2π = (1//2π) Z ϕ Ia (P/A)
Thus, Ta = 0.159× Z ϕ Ia (P/A) N-m………………(1)
Ta ∞ϕIa as Z P & A are fixed, Now for series motor Upto
magnetic saturation: ϕ ∞ Ia so that Ta ∞Ia2 After magnetic
saturation, ϕ is constant so that Ta ∞Ia (For Shunt motor).
We know that Eb = ϕ ZN P/60A or PϕZ/A = Eb60/N
From Eq.(i), we get the expression of Ta as:
Ta = 0.159× PϕZIa/A = 0.159× Ia(PϕZ/A) = 0.159 (60Eb/N) Ia
Ta = 9.55 (EbIa/N) N-m……………. (2)
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 Shaft Torque (Tsh) of D.C. Motor
The torque which is available at the motor shaft for doing useful work is
known as shaft torque. It is represented by Tsh. Fig. illustrates the
concept of shaft torque. The total or gross torque Ta developed in the
armature of a motor is not available at the shaft because a part of it is
lost in overcoming the iron and frictional losses in the motor. Therefore,
shaft torque Tsh is somewhat less than the armature torque Ta. The
difference (Ta – Tsh) is called lost torque.
Thus, Clearly:
Ta-Tsh = 9.55 (Iron and frictional losses)/N
Only the shaft torque Tsh that produces the
useful output. If the speed of the motor is N
r.p.m., then, P =T ω = T 2πN/60 OR Output The value of Eb can
in watts = 2 π NTsh/60 be found from:
Eb = ϕZN (P/A)
= V – IaRa

Ta = 9.55 (EbIa/N) N-m,

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 The value of Eb can
be found from:
Eb = ϕZN (P/A)
= V - IaRa
Ta = 0.159× Z ϕ Ia (P/A) N

Eb = ϕZN (P/A)

P/A OR N= 5.63 rps =338 rpm

Ta
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966.1 rpm

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 Motor Characteristics
There are three principal types of DC motors: shunt, series and
compound motors. Both shunt and series types have only one field
winding wound on the core of each pole of the motor. The compound
type has two separate field windings wound on the core of each pole.
The performance of a DC motor can be judged from its characteristic
curves, the three important characteristics of a DC motor:
(i) Torque and Armature current characteristic (Ta/Ia)
It is the curve between armature torque Ta and armature
current Ia of a DC motor. It is also known as electrical
characteristic of the motor.
(ii) Speed and armature current characteristic (N/Ia)
It is the curve between speed N and Ia of a DC motor. It is
very important characteristic as it is the deciding factor in
the selection of the motor for a particular application.
(iii) Speed and torque characteristic (N/Ta)
It is the curve between speed N and armature torque Ta of
a DC motor. It is also known as
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 Characteristics of Shunt Motors
Fig. shows the connections of a DC shunt motor. The field current
Ish is constant since the field winding is directly connected to the
supply voltage V which is assumed to be constant. Hence, the flux in a
shunt motor is approximately constant.

Ta/Ia Characteristic: We know that in a DC motor: Ta ∞ϕIa

Since the motor is operating from a constant supply voltage, Thus, Ish and flux
ϕ is constant (neglecting armature reaction): Ta ∞Ia
Hence Ta/Ia characteristic is a straight line passing through the origin as
shown in Fig. The shaft torque (Tsh) is less than Ta and is shown by a dotted
line. It is clear from the curve that a very large current is required to start a
heavy load. Therefore, a shunt Mahmud,
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Characteristics of Shunt Motors (Cont.)
N/Ia Characteristic. The speed N of a. DC motor is given by: N ∞
Eb/ϕ. The flux ϕ and Eb in a shunt motor are almost constant
under normal conditions. So, speed of a shunt motor will remain
constant as Ia varies (dotted line in Fig.)

Ta
N/Ta Characteristic: The curve is obtained by plotting the values of N and Ta
for various armature currents (See Fig.). It may be seen that speed falls
somewhat as the load torque increases.
Conclusions
Following two important conclusions are drawn from the above characteristics:
(i) There is slight change in the speed of a shunt motor from no-load to full load.
Hence, it is essentially a constant-speed motor.
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(ii) The starting torque is not high, Ta ∞Ia, should not start with heavy loads.
 Characteristics of Series Motors
Fig. shows the connections of a d.c. series motor. Note that current passing
through the field winding is the same as that in the armature. If the
mechanical load on the motor increases, the armature current also increases.
Hence, the flux in a series motor increases with the increase in armature
current and vice-versa.

Ta/Ia Characteristic: We know that in a DC motor: Ta ∞ϕIa

Upto magnetic saturation, ϕ ∞ Ia so that Ta ∞Ia2
After magnetic saturation, ϕ is constant so that Ta ∞Ia
Thus up to magnetic saturation, the armature torque is directly proportional to
the square of armature current. And after magnetic saturation, torque is
directly proportional to the armature current.
This means that starting torque of a DC series motor will be very high as
compared to a shunt motor, thusMahmud,
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 Characteristics of Series Motors
N/Ia Characteristic. The speed(Cont.)
N of a series. motor is given by: N ∞ Eb/ϕ
where Eb = V - Ia(Ra + Rse): with increase of Ia the Eb decrease little bit
but ϕ increases very much so speed follows a hyperbolic path but at the
higher value of Ia after saturation, the flux becomes constant and speed follow
like shunt motor as shown in Fig. Thus, series motor should never be started
without any load and it is variable speed motor…..

N/Ta Characteristic: The curve is obtained by plotting values of N and Ta for

various armature currents. When speed is high the torque is low and vise-versa.
Conclusions
Following two important conclusions are drawn from the above characteristics:
(i) It has a high starting torque
(ii) It is a variable speed motor & automatically adjusts the speed as the load
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(iii) A series motor should never be started on no-load.
 Characteristics of Compound Motors
A compound motor has both series field and shunt
field. The shunt field is always stronger than the
series field. Compound motors are of two types:
(i) Cumulative-compound motors in which series
field aids the shunt field.
(ii) Differential-compound motors in which series
field opposes the shunt field.
Each pole carries a
Differential compound motors are rarely used due
series and shunt
to their poor torque characteristics at heavy loads.
field winding
Ta/Ia Characteristic. As the load increases, the series field increases but
shunt field strength remains constant. Consequently, total flux is increased
and hence the armature torque (Ta ∝ φIa). It may be noted that torque of
a cumulative-compound motor is greater than that of shunt motor for a
given armature current due to series field.
N/Ia Characteristic: As explained above, as the lead increases, the flux per
pole also increases. Consequently, the speed (N ∝ 1/φ) of the motor tails as
the load increases (See Fig). It may be noted that as the load is added,
the increased amount of flux causes the speed to decrease more than does
the speed of a shunt motor. Thus the speed regulation of a cumulative
compound motor is poorer than that of a shunt motor. Due to shunt field,
the motor has a definite no load Mahmud,
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and can be operated safely at no-load
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Characteristics Compound Motors (Cont)
N/Ta Characteristic: Fig. (4.24) shows N/Ta characteristic of a cumulative
compound motor. For a given armature current, the torque of a cumulative
compound motor is more than that of a shunt motor but less than that of a
series motor.
Conclusions:
A cumulative compound motor has characteristics intermediate between series
and shunt motors.
(i) Due to the presence of shunt field, the motor is prevented from running
away at no-load.
(ii) Due to the presence of series field, the starting torque is increased.

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 Comparison of DC Motors

(i) The speed regulation of a shunt motor is better than that of a series
motor. However, speed regulation of a cumulative compound motor lies between
shunt and series motors (See Fig).
(ii) For a given armature current, the starting torque of a series motor is
more than that of a shunt motor. However, the starting torque of a cumulative
compound motor lies between series and shunt motors.
(iii) Both shunt and cumulative compound motors have definite no-load speed.
However, a series motor has dangerously
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 Applications of D.C. Motors
1. Shunt motors:
The characteristics of a shunt motor reveal that it is an approximately
constant speed motor. It is, therefore, used
(i) where the constant speed is required from no-load to full-load
(ii) where the load has to be driven at a number of speeds and any one of
which is required to remain nearly constant……
Industrial use: Lathes, drills, boring mills, spinning & weaving machines etc.
2. Series motors:
It is a variable speed motor i.e., speed is low at high torque and vice-versa.
However, at light load, the motor tends to attain dangerously high speed.
The motor has a high starting torque. It is, therefore, used
(i) where large starting torque is required e.g., in elevators and electric
Traction (Trains)
(ii) Where the load is subjected to heavy fluctuations and the speed is
automatically required to reduce at high torques and vice-versa.
Industrial use: Electric traction, cranes, elevators, air compressors, vacuum
cleaners, hair drier, sewing machines etc.
3. Compound motors
Differential-compound motors are rarely used because of their poor torque
characteristics. However, cumulative-compound motors are used where a
fairly constant speed is required with irregular loads or suddenly applied
heavy loads. Industrial use: Presses, shears, reciprocating machines etc.39
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 Losses in a D.C. Machine
The losses in a d.c. machine (generator or motor) may be
divided into three classes viz: (i) copper losses (ii) iron or
core losses and (iii) mechanical losses. All these losses
appear as heat and thus raise the temperature of the
machine. They also lower the efficiency of the machine.

Ph= Bmax1.6 f V watt

Pe = KBmax2 f2 t2 V watts

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