Brushed DC Electric Motor
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A brushed DC motor is an internally commutated electric motor designed to be run from a DC power source.
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[edit] Simple Two Pole DC Motor
The following graphics illustrate a two pole DC motor.
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| A simple DC electric motor. When the coil is powered, a magnetic field is generated around the armature. The left side of the armature is pushed away from the left magnet and drawn toward the right, causing rotation. | The armature continues to rotate. | When the armature becomes horizontally aligned, the commutator reverses the direction of current through the coil, reversing the magnetic field. The process then repeats. |
When a current passes through the coil wound around a soft iron core, the side of the positive pole is acted upon by an upwards force, while the other side is acted upon by a downward force. According to Fleming's left hand rule, the forces cause a turning effect on the coil, making it rotate. To make the motor rotate in a constant direction, "direct current" commutators make the current reverse in direction every half a cycle thus causing the motor to rotate in the same direction.
The problem facing the motor shown above, is when the plane of the coil is parallel to the magnetic field; i.e. the torque is ZERO-when the rotor poles or displaced 90 degree from the stator poles. The motor would not be able to start in this position, but the coil can continue to rotate by inertia.
There is a secondary problem with this simple two-pole design; at the zero-torque position, both commutator brushes are touching across both commutator plates, resulting in a short-circuit that uselessly consumes power without producing any motion. In a low-current battery-powered demonstration this short-circuiting is generally not considered harmful, but if a two-pole motor were designed to do actual work with several hundred watts of power output, this shorting could result in severe commutator overheating, brush damage, and potential welding of the metallic brushes to the commutator.
Unlike the demonstration motor, above, DC motors are commonly designed with more than two poles, are able to start at any position, and do not have any position where current can flow without producing electromotive power.
If the shaft of a DC motor is turned by an external force, the motor will act like a generator and produce an Electromotive force (EMF). During normal operation, the spinning of the motor produces a voltage, known as the counter-EMF (CEMF) or back EMF, because it opposes the applied voltage on the motor. This is the same EMF that is produced when the motor is used as a generator (for example when an electrical load (resistance) is placed across the terminals of the motor and the motor shaft is driven with an external torque). Therefore, the total voltage drop across a motor consists of the CEMF voltage drop, and the parasitic voltage drop resulting from the internal resistance of the armature's windings. The current through a motor is given by the following equation:
I = (Vapplied − Vcemf) / Rarmature
The mechanical power produced by the motor is given by:
P = I * (Vcemf)
As an unloaded DC motor spins, it generates a backwards-flowing electromotive force that resists the current being applied to the motor. The current flow through the motor drops as the rotational speed increases, and a free-spinning motor has very little current flow. It is only when a load is applied to the motor that slows the rotor that the current draw through the motor increases.
"In an experiment of this kind made on a motor with separately excited magnets, the following figures were obtained:
Revolutions per minute 0 50 100 160 180 195 Amperes 20 16.2 12.2 7.8 6.1 5.1 Apparently, if the motor had been helped on to run at 261.5 revolutions per minute, the current would have been reduced to zero. In the last result obtained, the current of 5.1 amperes was absorbed in driving the armature against its own friction at the speed of 195 revolutions per minute."
(1917) Hawkins Electrical Guide. Theo. Audel & Co., 359.
[edit] The Commutating Plane
In a dynamo, the contact point of where a pair of brushes touch the commutator is referred to as the commutating plane. In this diagram the commutating plane is shown for just one of the brushes.
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[edit] Compensation for stator field distortion
In a real dynamo, the field is never perfectly uniform. Instead, as the rotor spins it induces field effects which drag and distort the magnetic lines of the outer non-rotating stator.
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The faster the rotor spins, the further the degree of field distortion. Because the dynamo operates most efficiently with the rotor field at right angles the stator field, it is necessary to either retard or advance the brush position to put the rotor's field into the correct position to be at a right angle to the distorted field.
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These field effects are reversed when the direction of spin is reversed. It is therefore difficult to build an efficient reversible commutated dynamo, since for highest field strength it is necessary to move the brushes to the opposite side of the normal neutral plane.
The effect can be considered to be somewhat similar to timing advance in an internal combustion engine. Generally a dynamo that has been designed to run at a certain fixed speed will have its brushes permanently fixed to align the field for highest efficiency at that speed.
(1917) Hawkins Electrical Guide. Theo. Audel & Co..
[edit] Dynamo Design Variations
DC motors are commonly constructed with wound rotors and either wound or permanent magnet stators.
[edit] Wound stators
The field coils have traditionally existed in four basic formats: separately-excited (sepex), series-wound, shunt-wound, and a combination of the latter two; compound-wound. In a series wound motor, the field coils are connected electrically in series with the armature coils (via the brushes). In a shunt wound motor, the field coils are connected in parallel, or "shunted" to the armature coils.
[edit] Permanent Magnet Motors
Permanent magnet types have some performance advantages over wound stator types, and have become predominant in fractional horsepower applications. They can be smaller, lighter, more efficient and reliable [1].
Originally all large industrial DC motors used wound field or rotor magnets. Permanent magnets have traditionally only been useful on small motors because it was difficult to find a material capable of retaining a high-strength field. Only recently have advances in materials technology allowed the creation of high-intensity permanent magnets, such as neodymium magnets, allowing the development of compact, high-power motors without field coils.
[edit] Speed control
Generally, the rotational speed of a DC motor is proportional to the voltage applied to it, and the torque is proportional to the current. Speed control can be achieved by variable battery tappings, variable supply voltage, resistors or electronic controls. The direction of a wound field DC motor can be changed by reversing either the field or armature connections but not both. This is commonly done with a special set of contactors (direction contactors).
The effective voltage can be varied by inserting a series resistor or by an electronically controlled switching device made of thyristors, transistors, or, formerly, mercury arc rectifiers [2]. In a circuit known as a chopper, the average voltage applied to the motor is varied by switching the supply voltage very rapidly. As the "on" to "off" ratio is varied to alter the average applied voltage, the speed of the motor varies. The percentage "on" time multiplied by the supply voltage gives the average voltage applied to the motor. Therefore, with a 100V supply and a 25% "on" time, the average voltage at the motor will be 25 V. During the "off" time, the armature's inductance causes the current to continue flowing through a diode called a "flywheel diode", in parallel with the motor. At this point in the cycle, the supply current will be zero, and therefore the average motor current will always be higher than the supply current unless the percentage "on" time is 100%. At 100% "on" time, the supply and motor current are equal. The rapid switching wastes less energy than series resistors. This method is also called pulse-width modulation (PWM) and is often controlled by a microprocessor. An output filter is sometimes installed to smooth the average voltage applied to the motor and reduce motor noise.
Since the series-wound DC motor develops its highest torque at low speed, it is often used in traction applications such as electric locomotives, and trams. Another application is starter motors for petrol and small diesel engines. Series motors must never be used in applications where the drive can fail (such as belt drives). As the motor accelerates, the armature (and hence field) current reduces. The reduction in field causes the motor to speed up until it destroys itself. This can also be a problem with railway motors in the event of a loss of adhesion since, unless quickly brought under control, the motors can reach speeds far higher than they would do under normal circumstances. This can not only cause problems for the motors themselves and the gears, but due to the differential speed between the rails and the wheels it can also cause serious damage to the rails and wheel treads as they heat and cool rapidly. Field weakening is used in some electronic controls to increase the top speed of an electric vehicle. The simplest form uses a contactor and field weakening resistor, the electronic control monitors the motor current and switches the field weakening resistor into circuit when the motor current reduces below a preset value (this will be when the motor is at its full design speed). Once the resistor is in circuit, the motor will increase speed above its normal speed at its rated voltage. When motor current increases, the control will disconnect the resistor and low speed torque is made available.
One interesting method of speed control of a DC motor is the Ward-Leonard control. It is a method of controlling a DC motor (usually a shunt or compound wound) and was developed as a method of providing a speed-controlled motor from an AC supply, though it is not without its advantages in DC schemes. The AC supply is used to drive an AC motor, usually an induction motor that drives a DC generator or dynamo. The DC output from the armature is directly connected to the armature of the DC motor (sometimes but not always of identical construction). The shunt field windings of both DC machines are independently excited through variable resistors. Extremely good speed control from standstill to full speed, and consistent torque, can be obtained by varying the generator and/or motor field current. This method of control was the de facto method from its development until it was superseded by solid state thyristor systems. It found service in almost any environment where good speed control was required, from passenger lifts through to large mine pit head winding gear and even industrial process machinery and electric cranes. Its principal disadvantage was that three machines were required to implement a scheme (five in very large installations, as the DC machines were often duplicated and controlled by a tandem variable resistor). In many applications, the motor-generator set was often left permanently running, to avoid the delays that would otherwise be caused by starting it up as required. Although electronic (thyristor) controllers have replaced most small to medium Ward Leonard systems, some very large ones (thousands of horsepower) remain in service. The field currents are much lower than the armature currents, allowing a moderate sized thyristor unit to control a much larger motor than it could control directly. For example, in one installation, a 300 amp thyristor unit controls the field of the generator. The generator output current is in excess of 15,000 amps, which would be prohibitively expensive (and inefficient) to control directly with thyristors.
[edit] DC motor starters
The counter-emf aids the armature resistance to limit the current through the armature. When power is first applied to a motor, the armature does not rotate. At that instant the counter-emf is zero and the only factor limiting the armature current, is the armature resistance. Usually the armature resistance of a motor is less than one ohm; therefore the current through the armature would be very large when the power is applied. This current can make an excessive voltage drop affecting other equipment in the circuit and even trip overload protective devices.
- Therefore the need arises for an additional resistance in series with the armature to limit the current until the motor rotation can build up the counter-emf. As the motor rotation builds up, the resistance is gradually cut out.
[edit] Manual Starting Rheostat
When electrical and DC motor technology was first developed, much of the equipment was constantly tended by an operator trained in the management of motor systems. The very first motor management systems were almost completely manual, with an attendant starting and stopping the motors, cleaning the equipment, repairing any mechanical failures, and so forth.
The first DC motor-starters were also completely manual, as shown in this image. Normally it took the operator about ten seconds to slowly advance the rheostat across the contacts to gradually increase input power up to operating speed. There were two different classes of these rheostats, one used for starting only, and one for starting and speed regulation. The starting rheostat was less expensive, but had smaller resistance elements that would burn out if required to run a motor at a constant reduced speed.
This starter includes a no-voltage magnetic holding feature, which causes the rheostat to spring to the off position if power is lost, so that the motor does not later attempt to restart in the full-voltage position. It also has overcurrent protection that trips the lever to the off position if excessive current flow over a set amount is detected.
(1917) Hawkins Electrical Guide. Theo. Audel & Co., p.664-669.
[edit] Three-point starter
The incoming power is indicated as L1 and L2. The components within the broken lines form the three-point starter. As the name implies there are only three connections to the starter. The connections to the armature are indicated as A1 and A2. The ends of the field (excitement) coil are indicated as F1 and F2. In order to control the speed, A field rheostat is connected in series with the shunt field. One side of the line is connected to the arm of the starter (represented by an arrow in the diagram). The arm is spring-loaded so, it will return to the "Off" position when not held at any other position.
- On the first step of the arm, full line voltage is applied across the shunt field. Since the field rheostat is normally set to minimum resistance, the speed of the motor will not be excessive; additionally, the motor will develop a large starting torque.
- The starter also connects an electromagnet in series with the shunt field. It will hold the arm in position when the arm makes contact with the magnet.
- Meanwhile that voltage is applied to the shunt field, and the starting resistance limits the flow of current to the armature.
- As the motor picks up speed counter-emf is built up, the arm is moved slowly to short.
[edit] Four-point starter
The four-point starter eliminates the drawback of the three-point starter. In addition to the same three points that were in use with the three-point starter, the other side of the line, L1, is the fourth point brought to the starter when the arm is moved from the "Off" position. The coil of the holding magnet is connected across the line. The holding magnet and starting resistors function identical as in the three-point starter.
- The possibility of accidentally opening the field circuit is quite remote. The four-point starter provides the no-voltage protection to the motor. If the power fails, the motor is disconnected from the line.
[edit] See also
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[edit] References
- ^ I.M. Gottlieb, Electric Motors & Control Techniques, 2nd Edition, TAB Books 1994.
- ^ Cyril W. Lander, Power Electronics 3rd Edition, Mc Graw Hill International UK Limited, London 1993 ISBN 0-07-707714-8 Chapter 8 D.C. Machine Control
