Unit 2. DC Motors and Generators UNIT OBJECTIVE DISCUSSION OF FUNDAMENTALS. Operating principle of dc motors

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1 Unit 2 DC Motors nd Genertors UNIT OBJECTIVE DISCUSSION OF FUNDAMENTALS When you hve completed this unit, you will be ble to use the DC Motor/Genertor module to demonstrte nd explin the opertion of dc motors nd genertors Operting principle of dc motors As stted in Unit 1, motors turn becuse of the interction between two mgnetic fields. This unit will discuss how these mgnetic fields re produced in dc motors, nd how mgnetic fields induce voltge in dc genertors. The bsic principle of dc motor is the cretion of rotting mgnet inside the mobile prt of the motor, the rotor. This is ccomplished by device clled the commuttor which is found on ll dc mchines. The commuttor produces the lternting currents necessry for the cretion of the rotting mgnet from dc power provided by n externl source. Figure 2-1 illustrtes typicl dc motor rotor with its min prts. This figure shows tht the electricl contct between the segments of the commuttor nd the externl dc source is mde through brushes. Note tht the rotor of dc motor is lso referred to s the rmture. Figure 2-1. The min prts of dc motor rotor (rmture). In Figure 2-2, the brushes mke contct with segments A nd B of the commuttor nd current flows in wire loop A-B. No current flows in the other wire loop (C-D). This cretes n electromgnet A-B with north nd south poles s shown in Figure 2-2. Festo Didctic

2 Unit 2 DC Motors nd Genertors Discussion of Fundmentls If the rotor is turned clockwise little s shown in Figure 2-2b, current still flows in wire loop A-B nd the mgnetic north nd south poles rotte clockwise. Figure 2-2. Opertion of the commuttor. As the rotor continues to rotte clockwise, time comes where commuttion occurs, i.e., the brushes mke contct with segments C nd D insted of segments A nd B, s shown in Figure 2-2c. As result, current now flows in wire loop C-D insted of flowing in wire loop A-B. This cretes n electromgnet C-D with north nd south poles s shown in Figure 2-2c. 62 Festo Didctic

3 Unit 2 DC Motors nd Genertors Discussion of Fundmentls Figure 2-3. Opertion of the commuttor (continued). By compring Figure 2-2b nd Figure 2-2c, you cn see tht the mgnetic north nd south poles rotte counterclockwise t the commuttion. As the rotor continues to rotte clockwise, the sme phenomenon repets every ngle of rottion, s shown in Figure 2-3, Figure 2-3b, nd Figure 2-3c. Festo Didctic

4 Unit 2 DC Motors nd Genertors Discussion of Fundmentls In brief, s the rotor turns, the north nd south poles of the electromgnet go bck nd forth (oscillte) over ngle, s shown in Figure 2-4. In other words, the north nd south poles re sttionry, i.e., they do not rotte s the rotor turns. This is equivlent to hving n electromgnet in the rotor tht rottes t the sme speed s the rotor but in the opposite direction. The higher the number of segments on the commuttor, the lower the ngle of rottion between ech commuttion, nd the lower the ngle over which the north nd south poles oscillte. For exmple, the north nd south poles would oscillte over n ngle of only if the commuttor in Figure 2-2, Figure 2-3, nd Figure 2-4 were hving 32 segments. Figure 2-4. The north nd south poles oscillte round fixed position. If this rotor is plced next to fixed permnent mgnet sttor s shown in Figure 2-5, the mgnetic poles of opposite polrity ttrct ech other (in order to lign) nd the rotor strts to turn. After the rotor hs turned by certin ngle, commuttion occurs nd the north nd south poles of the electromgnet go bck. Once gin, the mgnetic poles of opposite polrity ttrct ech other, nd the rotor continues to rotte in the sme direction so s to lign the mgnetic poles of opposite polrity. However, nother commuttion occurs little fter nd the north nd south poles of the electromgnet go bck once gin. This cycle repets over nd over. The force tht results from the interction of the two mgnetic fields lwys cts in the sme direction, nd the rotor turns continully. Thus, converter of electricl-to-mechnicl energy, i.e., n electric motor, hs been chieved. The direction of rottion depends on the polrity of the voltge pplied to the brushes of the rotor. 64 Festo Didctic

5 Unit 2 DC Motors nd Genertors Discussion of Fundmentls Figure 2-5. Rottion resulting from interction of mgnetic fields in the sttor nd the rotor. Operting principle of dc genertors Previously, we sw tht the vrition of mgnetic flux in coil of wire cused voltge to be induced between the ends of the coil of wire. If wire loop is plced between two mgnets nd rotted s shown in Figure 2-6, mgnetic lines of force re cut nd voltge " " is induced in the loop. The polrity of the induced voltge " " depends on the direction in which the wire loop moves s it cuts the mgnetic lines of force. Since the wire loop cuts mgnetic lines of force in both directions within full revolution, the induced voltge is n c voltge similr to tht shown in Figure 2-6. If commuttor such s tht shown in Figure 2-1 is used, it will ct s rectifier nd convert the induced c voltge into dc voltge (with ripple), s shown in Figure 2-6. Direct current will therefore be produced t the output of the genertor. The fster the rotor turns, the more lines of force tht re cut nd the higher the output voltge. Also, the stronger the sttor mgnet, the more lines of force tht re present, nd therefore, the higher the output voltge. Festo Didctic

6 Unit 2 DC Motors nd Genertors Discussion of Fundmentls Figure 2-6. A coil rotting in mgnetic field results in n induced voltge. 66 Festo Didctic

7 Exercise 2-1 The Seprtely-Excited DC Motor EXERCISE OBJECTIVE When you hve completed this exercise, you will be ble to demonstrte the min operting chrcteristics of seprtely-excited dc motor using the DC Motor/Genertor module. DISCUSSION Previously, you sw tht dc motor is mde up bsiclly of fixed mgnet (sttor) nd rotting mgnet (rotor). Mny dc motors use n electromgnet for the sttor, s illustrted in Figure 2-7. Figure 2-7. Simplified dc motor with n electromgnet s sttor. When power for the sttor electromgnet is supplied by seprte dc source, either fixed or vrible, the motor is known s seprtely-excited dc motor. Sometimes the term independent-field dc motor is lso used. The current flowing in the sttor electromgnet is often clled field current becuse it is used to crete fixed mgnetic field. The electricl nd mechnicl behviour of the dc motor cn be understood by exmining its simplified equivlent electric circuit shown in Figure 2-8. Figure 2-8. Simplified equivlent circuit of dc motor. Festo Didctic

8 Ex. 2-1 The Seprtely-Excited DC Motor Discussion In the circuit, is the voltge pplied to the motor brushes, is the current flowing through the brushes, nd is the resistnce between the brushes. Note tht,, nd re usully referred to s the rmture voltge, current, nd resistnce, respectively. is the voltge drop cross the rmture resistor. When the motor turns, n induced voltge proportionl to the speed of the motor is produced. This induced voltge is represented by dc source in the simplified equivlent circuit of Figure 2-8. The motor lso develops torque proportionl to the rmture current flowing in the motor. The motor behviour is bsed on the two equtions given below. The first reltes motor speed nd the induced voltge, nd the second reltes the motor torque nd the rmture current. where is constnt expressed in units of. is constnt expressed in units of or. When voltge is pplied to the rmture of dc motor with no mechnicl lod, the rmture current flowing in the equivlent circuit of Figure 2-8 is constnt nd hs very low vlue. As result, the voltge drop cross the rmture resistor is so low tht it cn be neglected, nd cn be considered to be equl to the rmture voltge. Therefore, the reltionship between the motor speed nd the rmture voltge is stright line becuse is proportionl to the motor speed. This liner reltionship is illustrted in Figure 2-9, nd the slope of the stright line equls constnt. Figure 2-9. Liner reltionship between the motor speed nd the rmture voltge. Since the reltionship between voltge nd speed is liner, dc motor cn be considered to be liner voltge-to-speed converter, s shown in Figure Festo Didctic

9 Ex. 2-1 The Seprtely-Excited DC Motor Discussion Figure DC motor s voltge-to-speed converter. The sme type of reltionship exists between the motor torque nd the rmture current, so tht dc motor cn lso be considered s liner current-to-torque converter. Figure 2-11 illustrtes the liner reltionship between the motor torque nd the rmture current. Constnt is the slope of the line relting the two. Figure 2-12 shows the liner current-to-torque converter. Figure Liner reltionship between the motor torque nd the rmture current. Figure DC motor s current-to-torque converter. When the rmture current increses, the voltge drop ( ) cross the rmture resistor lso increses nd cn no longer be neglected. As result, the rmture voltge cn no longer be considered to be equl to, but rther the sum of nd, s indicted in the following eqution: Festo Didctic

10 Ex. 2-1 The Seprtely-Excited DC Motor Discussion Therefore, when fixed rmture voltge is pplied to dc motor, the voltge drop cross the rmture resistor increses s the rmture current increses, nd thereby, cuses to decrese. This lso cuses the motor speed to decrese becuse it is proportionl to. This is shown in Figure 2-13, which is grph of the motor speed versus the rmture current for fixed rmture voltge. Figure Motor speed drop s the rmture current increses (fixed rmture voltge ). Procedure summry In the first prt of the exercise, you will set up the equipment in the Worksttion, connect the equipment s shown in Figure 2-14, nd mke the pproprite settings on the equipment. In the second prt of the exercise, you will mesure the rmture resistnce of the DC Motor/Genertor. It is not possible to mesure the rmture resistnce directly with conventionl ohmmeter becuse the non-liner chrcteristic of the motor brushes cuses incorrect results when is too smll. The generl method used to determine the rmture resistnce consists in connecting dc power source to the motor rmture nd mesuring the voltge required to produce nominl current flow in the rmture windings. Power is not connected to the sttor electromgnet to ensure tht the motor does not turn. Therefore, equls zero. The rtio of the rmture voltge to the rmture current yields the rmture resistnce directly. The motor will not strt to rotte becuse it is mechniclly loded. In the third prt of the exercise, you will mesure dt nd plot grph of the motor speed versus the rmture voltge to demonstrte tht the speed of the seprtely-excited dc motor is proportionl to the rmture voltge under no-lod conditions. In the fourth prt of the exercise, you will mesure dt nd plot grph of the motor torque versus the rmture current to demonstrte tht the torque of the seprtely-excited dc motor is proportionl to the rmture current. 70 Festo Didctic

11 Ex. 2-1 The Seprtely-Excited DC Motor Procedure In the fifth prt of the exercise, you will demonstrte tht when the rmture voltge is set to fixed vlue, the speed of the seprtely-excited dc motor decreses with incresing rmture current or torque becuse of the incresing voltge drop cross the rmture resistor. EQUIPMENT REQUIRED Refer to the Equipment Utiliztion Chrt in Appendix C to obtin the list of equipment required for this exercise. PROCEDURE High voltges re present in this lbortory exercise. Do not mke or modify ny bnn jck connections with the power on unless otherwise specified. Setting up the equipment 1. Instll the equipment required in the EMS worksttion If you re performing the exercise using the EMS system, ensure tht the brushes of the DC Motor/Genertor re djusted to the neutrl point. To do so, connect n c power source (terminls 4 nd N of the Power Supply) to the rmture of the DC Motor/Genertor (terminls 1 nd 2) through CURRENT INPUT I1 of the dt cquisition module. Connect the shunt winding of the DC Motor/Genertor (terminls 5 nd 6) to VOLTAGE INPUT E1 of the dt cquisition module. Strt the Metering ppliction nd open setup configurtion file ACMOTOR1.DAI. Turn the Power Supply on nd set the voltge control knob so tht n c current (indicted by meter I line 1) equl to hlf the nominl vlue of the rmture current flows in the rmture of the DC Motor/Genertor. Adjust the brush djustment lever on the DC Motor/Genertor so tht the voltge cross the shunt winding (indicted by meter E line 1) is minimum. Turn the Power Supply off, exit the Metering ppliction, nd disconnect ll leds nd cble. Mechniclly couple the prime mover/dynmometer module to the DC Motor/Genertor using timing belt. 2. On the Power Supply, mke sure the min power switch is set to the O (off) position, nd the voltge control knob is turned fully counterclockwise. Ensure the Power Supply is connected to three-phse power source. If you re using the Four-Qudrnt Dynmometer/Power Supply, Model , connect its POWER INPUT to wll receptcle. 3. Ensure tht the dt cquisition module is connected to USB port of the computer. Connect the POWER INPUT of the dt cquisition module to the 24 V - AC output of the Power Supply. If you re using the Prime Mover/Dynmometer, Model , connect its LOW POWER INPUT to the 24 V - AC output of the Power Supply. Festo Didctic

12 Ex. 2-1 The Seprtely-Excited DC Motor Procedure On the Power Supply, set the 24 V - AC power switch to the I (on) position. If you re using the Four-Qudrnt Dynmometer/Power Supply, Model , turn it on by setting its POWER INPUT switch to the I (on) position. Press nd hold the FUNCTION button 3 seconds to hve uncorrected torque vlues on the disply of the Four-Qudrnt Dynmometer/Power Supply. The indiction "NC" ppers next to the function nme on the disply to indicte tht the torque vlues re uncorrected. 4. Strt the Dt Acquisition softwre (LVDAC or LVDAM). Open setup configurtion file DCMOTOR1.DAI. If you re using LVSIM-EMS in LVVL, you must use the IMPORT option in the File menu to open the configurtion file. In the Metering window, select lyout 2. Mke sure tht the continuous refresh mode is selected. 5. Set up the seprtely-excited dc motor circuit shown in Figure Leve the circuit open t points A nd B shown in the figure. 6. Set the Four-Qudrnt Dynmometer/Power Supply or the Prime Mover/Dynmometer to operte s brke, then set the torque control to mximum (knob turned fully clockwise). To do this, refer to Exercise 1-1 or Exercise 1-2 if necessry. If you re performing the exercise using LVSIM -EMS, you cn zoom in on the Prime Mover/Dynmometer module before setting the controls in order to see dditionl front pnel mrkings relted to these controls. 72 Festo Didctic

13 Ex. 2-1 The Seprtely-Excited DC Motor Procedure Figure Seprtely-excited dc motor coupled to brke. Determining the rmture resistnce 7. Turn the Power Supply on by setting its min power switch to the I (on) position, nd set the voltge control knob so tht the rted rmture current flows in the DC Motor/Genertor. The rmture current is indicted by meter I rm. ( ) in the Metering window. The rting of ny of the mchines is indicted in the lower left corner of the module front pnel. Record the vlue of rmture resistnce indicted by meter. 8. Turn the voltge control knob fully counterclockwise nd turn the Power Supply off. Interconnect points A nd B shown in the circuit of Figure Festo Didctic

14 Ex. 2-1 The Seprtely-Excited DC Motor Procedure Motor speed versus rmture voltge 9. Turn the Power Supply on. On the brke, set the torque control to minimum (knob turned fully counterclockwise). On the DC Motor/Genertor, set the FIELD RHEOSTAT so tht the field current indicted by meter I field in the Metering window is equl to the vlue given in Tble 2-1. Tble 2-1. DC motor field current. Locl c power network Voltge (V) Frequency (Hz) (ma) In the Metering window, mke sure tht the torque correction function of the Torque meter is enbled. The Torque meter now indictes the dc motor output torque. Record the rmture voltge, rmture current, field current, output torque, nd speed in the Dt Tble. These prmeters re indicted by meters E rm. ( ), I rm. ( ), I field ( ), Torque, nd Speed, respectively. On the Power Supply, set the voltge control knob to 10%, 20%, 30% etc. up to 100% in order to increse the rmture voltge by steps. For ech voltge setting, wit until the motor speed stbilizes, nd then record the dt in the Dt Tble. 11. When ll dt hs been recorded, turn the voltge control knob fully counterclockwise nd turn the Power Supply off. In the Dt Tble window, confirm tht the dt hs been stored, entitle the Dt Tble s DT211, nd print the Dt Tble. Refer to the user guide deling with the computer-bsed instruments for EMS to know how to edit, entitle, nd print Dt Tble. 74 Festo Didctic

15 Ex. 2-1 The Seprtely-Excited DC Motor Procedure 12. In the Grph window, mke the pproprite settings to obtin grph of the dc motor speed (obtined from the Speed meter) s function of the rmture voltge [(obtined from meter E rm. ( )]. Entitle the grph s G211, nme the x-xis s Armture voltge, nme the y-xis s DC motor speed, nd print the grph. Refer to the user guide deling with the computer-bsed instruments for EMS to know how to use the Grph window of the Metering ppliction to obtin grph, entitle grph, nme the xes of grph, nd print grph. Wht kind of reltionship exists between the rmture voltge nd the dc motor speed? Does this grph confirm tht the seprtely-excited dc motor is equivlent to liner voltge-to-speed converter, with higher voltge producing greter speed? Yes No 13. Use the two end points to clculte the slope of the reltionship obtined in grph G211. The vlues of these points re indicted in Dt Tble DT211. In the Dt Tble window, cler the recorded dt. Motor torque versus rmture current 14. Turn the Power Supply on. On the DC Motor/Genertor, slightly redjust the FIELD RHEOSTAT so tht the field current indicted by meter I field ( ) still equls the vlue given in Tble 2-1 (if necessry). On the Power Supply, set the voltge control knob so tht the dc motor speed is 1500 r/min. Note the vlue of the rmture voltge in the following blnk spce. V ( ) 15. Record the dc motor rmture voltge, rmture current, field current, output torque, nd speed in the Dt Tble. Festo Didctic

16 Ex. 2-1 The Seprtely-Excited DC Motor Procedure On the brke, set the torque control so tht the torque indicted by the Torque meter in the Metering window increses by 0.2 N m (2.0 lbf in) increments up to bout 2.3 N m (bout 20.4 lbf in). For ech torque setting, redjust the voltge control knob of the Power Supply so tht the rmture voltge remins equl to the vlue recorded in the previous step, then record the dt in the Dt Tble. The rmture current my exceed the rted vlue while performing this mnipultion. It is, therefore, suggested to complete the mnipultion within time intervl of 5 minutes or less. 16. When ll dt hs been recorded, set the torque control on the brke to minimum (knob turned fully counterclockwise), turn the voltge control knob fully counterclockwise, nd turn the Power Supply off. In the Dt Tble window, confirm tht the dt hs been stored, entitle the Dt Tble s DT212, nd print the Dt Tble. 17. In the Grph window, mke the pproprite settings to obtin grph of the dc motor torque (obtined from the Torque meter) s function of the rmture current [obtined from meter I rm. ( )]. Entitle the grph s G212, nme the x-xis s Armture current, nme the y-xis s DC motor torque, nd print the grph. Wht kind of reltionship exists between the rmture current nd the dc motor torque s long s the rmture current does not exceed the nominl vlue? Does this grph confirm tht the seprtely-excited dc motor is equivlent to liner current-to-torque converter (when the rmture current does not exceed the nominl vlue), with higher current producing greter torque? Yes No The torque versus current reltionship is no longer liner when the rmture current exceeds the nominl vlue becuse of phenomenon clled rmture rection. This phenomenon is described in the next unit of this mnul. 18. Use the two end points of the liner portion of the reltionship obtined in grph G212 to clculte the slope. The vlues of these points re indicted in Dt Tble DT Festo Didctic

17 Ex. 2-1 The Seprtely-Excited DC Motor Procedure Speed decrese versus rmture current 19. Using the rmture resistnce nd the constnt determined previously in this exercise, the rmture voltge mesured in step 14, nd the set of equtions given below, determine the dc motor speed for ech of the three rmture currents given in Tble 2-2. Tble 2-2. DC motor rmture currents. Locl c power network Voltge (V) Frequency (Hz) Armture current (A) Armture current (A) Armture current (A) When : When : Festo Didctic

18 Ex. 2-1 The Seprtely-Excited DC Motor Procedure When : Bsed on your results, how should the dc motor induced voltge nd speed vry when the rmture current is incresed? 20. In the Grph window, mke the pproprite settings to obtin grph of the dc motor speed (obtined from the Speed meter) s function of the rmture current [obtined from meter I rm. ( )], using the dt recorded previously in the Dt Tble (DT212). Entitle the grph s G212-1, nme the x-xis s Armture current, nme the y-xis s DC motor speed, nd print the grph. Does grph G212-1 confirm the prediction you mde in the previous step bout the vrition of the dc motor speed s function of the rmture current? Yes No Briefly explin wht cuses the dc motor speed to decrese when the rmture voltge is fixed nd the rmture current increses. 21. In the Grph window, mke the pproprite settings to obtin grph of the dc motor speed (obtined from the Speed meter) s function of the dc motor torque (obtined from the Torque meter), using the dt recorded previously in the Dt Tble (DT212). Entitle the grph s G212-2, nme the x-xis s Seprtely-excited dc motor Torque, nme the y-xis s Seprtely-excited dc motor speed, nd print the grph. This grph will be used in the next exercise of this unit. 22. On the Power Supply, set the 24 V - AC power switch to the O (off) position. If you re using the Four-Qudrnt Dynmometer/Power Supply, Model , turn it off by setting its POWER INPUT switch to the O (off position). Remove ll leds nd cbles. 78 Festo Didctic

19 Ex. 2-1 The Seprtely-Excited DC Motor Conclusion Additionl experiments DC motor speed-versus-rmture voltge grph nd torque-versus-rmture current grph for reversed rmture connections You cn obtin grphs of the dc motor speed n versus the rmture voltge, nd dc motor torque versus the rmture current, with reversed rmture connections. To do so, mke sure the Power Supply is turned off nd reverse the connection of the leds t terminls 7 nd N of the Power Supply. Refer to steps 6 to 17 of this exercise to record the necessry dt nd obtin the grphs. This will llow you to verify tht the liner reltionships between the speed nd rmture voltge, nd the torque nd rmture current, re vlid regrdless of the polrity of the rmture voltge. Reclculting constnts nd will show you tht their vlues re independent of the rmture voltge polrity. CONCLUSION In this exercise, you hve lerned how to mesure the rmture resistnce of dc motor. You hve seen tht the speed of seprtely-excited dc motor is proportionl to the rmture voltge pplied to the motor. You sw tht the torque produced by dc motor is proportionl to the rmture current. You observed tht the dc motor speed decreses with incresing rmture current when the rmture voltge is fixed. You demonstrted tht this speed decrese is cused by the incresing voltge drop cross the rmture resistor s the rmture current increses. If you hve performed the dditionl experiments, you observed tht the speed versus voltge nd torque versus current reltionships re not ffected by the polrity of the rmture voltge. You lso observed tht the direction of rottion is reversed when the polrity of the rmture voltge is reversed. REVIEW QUESTIONS 1. Wht kind of reltionship exists between the speed nd rmture voltge of seprtely-excited dc motor?. A liner reltionship b. A prbolic reltionship. c. An exponentil reltionship. d. The speed of the motor is independent of the pplied voltge. 2. Wht kind of reltionship exists between the torque nd rmture current of seprtely-excited dc motor s long s the rmture current does not exceed the nominl vlue?. A liner reltionship. b. A prbolic reltionship. c. An exponentil reltionship. d. The motor torque is independent of the current. Festo Didctic

20 Ex. 2-1 The Seprtely-Excited DC Motor Review Questions 3. Connecting dc source to the rmture of dc motor tht opertes without field current nd mesuring the voltge tht produces nominl current flow in the rmture llows which prmeter of the dc motor to be determined?. The nominl rmture current. b. The nominl rmture voltge. c. The rmture resistnce. d. The resistnce of the field winding. 4. Does the speed of seprtely-excited dc motor increse or decrese when the rmture current increses?. It increses. b. It decreses. c. It stys the sme becuse speed is independent of motor current. d. The speed will oscillte round the previous vlue. 5. The rmture resistnce nd constnt K 1 of dc motor re 0.5 nd 5 r/min/v, respectively. A voltge of 200 V is pplied to this motor. The nolod rmture current is 2 A. At full lod, the rmture current increses to 50 A. Wht re the no-lod nd full-lod speeds of the motor?. = 1005 r/min, = 880 r/min b. = 995 r/min, = 875 r/min c. = 1000 r/min, = 875 r/min d. The speeds cnnot be clculted without constnt. 80 Festo Didctic

21 Exercise 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors EXERCISE OBJECTIVE When you hve completed this exercise, you will be ble to demonstrte how the field current ffects the chrcteristics of seprtely-excited dc motor using the DC Motor/Genertor module. You will lso be ble to demonstrte the min operting chrcteristics of series, shunt, nd compound motors. DISCUSSION Seprtely-excited dc motor It is possible to chnge the chrcteristics of seprtely-excited dc motor by chnging the strength of the fixed mgnetic field produced by the sttor electromgnet. This cn be crried out by chnging the current tht flows in the sttor electromgnet. This current is usully referred to s the field current ( ) becuse it is used to produce the fixed mgnetic field in the dc motor. A rheostt connected in series with the electromgnet winding cn be used to vry the field current. Figure 2-15 illustrtes how the speed versus rmture voltge nd torque versus rmture current reltionships of seprtely-excited dc motor re ffected when the field current is decresed below its nominl vlue. Constnt becomes greter nd constnt becomes smller. This mens tht the motor cn rotte t higher speeds without exceeding the nominl rmture voltge. However, the torque which the motor cn develop, without exceeding the nominl rmture current, is reduced. Figure Decresing current below its nominl vlue ffects constnts nd. Festo Didctic

22 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Discussion It is lso possible to set the field current of seprtely-excited dc motor bove its nominl vlue for short time intervls. The effect on the speed versus rmture voltge nd torque versus rmture current reltionships is reversed, i.e., constnt becomes smller nd constnt becomes higher. As result, the motor cn develop higher torque during these time intervls but the speed t which the motor cn rotte, without exceeding the nominl rmture voltge, is reduced. Incresing the field current of seprtely-excited dc motor when it is strting improves the motor torque, nd thereby, provides fster ccelertion. The strength of the fixed mgnetic field in dc motor cn lso be chnged by chnging the wy the sttor electromgnet is implemented. The sttor electromgnet, or field electromgnet, cn be shunt winding connected directly to dc voltge source, s in the seprtely-excited dc motor. A shunt winding cn lso be connected in prllel with the rmture of the dc motor. The field electromgnet cn lso be series winding, coil consisting of few loops of hevy-gge wire, connected in series with the rmture. A combintion of the shunt nd series windings cn lso be used to implement the field electromgnet. Vrious electromgnet implementtions hve been used so fr to build severl types of dc motors hving different chrcteristics when powered by fixedvoltge dc source. This ws necessry t the time the first dc motors were in used, becuse vrible-voltge dc sources were not still vilble. These dc motors, which re used less nd less tody, re briefly described in the following sections of this discussion. Series motor The series motor is motor in which the field electromgnet is series winding connected in series with the rmture s shown in Figure The strength of the field electromgnet, therefore, vries s the rmture current vries. As result, nd vry when the rmture current vries. Figure 2-16 shows the speed versus torque chrcteristic of series motor when the rmture voltge is fixed. This chrcteristic shows tht the speed decreses non linerly s the torque increses, i.e., s the rmture current increses. Figure Series motor nd its speed versus torque chrcteristic. 82 Festo Didctic

23 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Discussion The series motor provides strong strting torque nd wide rnge of operting speeds when it is supplied by fixed-voltge dc source. However, the speed, torque, nd rmture current depend on the mechnicl lod pplied to the motor. Also, the series motor hs non-liner operting chrcteristics s suggested by the speed versus torque reltionship in Figure As result, it is difficult to operte series motor t constnt speed when the mechnicl lod fluctutes. Furthermore, the rmture current must be limited to prevent dmge to the motor when it is strting (when power is pplied to the motor). Finlly, series motor must never run without mechnicl lod becuse the speed increses to very-high vlue which cn dmge the motor (motor runwy). Tody, series motors cn operte with fixed-voltge power sources, for exmple, utomobile strting motors; or with vrible-voltge power sources, for exmple, trction systems. Shunt motor The shunt motor is motor in which the field electromgnet is shunt winding connected in prllel with the rmture, both being connected to the sme dc voltge source s shown in Figure For fixed rmture voltge, constnts nd re fixed, nd the speed versus torque chrcteristic is very similr to tht obtined with seprtely-excited dc motor powered by fixedvoltge dc source, s shown in Figure As in seprtely-excited dc motor, the chrcteristics ( nd ) of shunt motor cn be chnged by vrying the field current with rheostt. However, it is difficult to chnge the speed of shunt motor by chnging the rmture voltge, becuse this chnges the field current, nd thereby, the motor chrcteristics, in wy tht opposes speed chnge. Figure Shunt motor nd its chrcteristics. Festo Didctic

24 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Discussion The min dvntge of shunt motor is the fct tht only single fixed-voltge dc source is required to supply power to both the rmture nd the shunt winding. Also, speed vries little s the mechnicl lod vries. However, shunt motor hs limited speed rnge becuse speed cnnot be esily vried by vrying the rmture voltge. Furthermore, the rmture current must be limited to prevent dmge to the motor when it is strting (when power is pplied to the motor). Finlly, when the shunt winding opens ccidentlly, the field current becomes zero, the motor speed increses rpidly, nd motor runwy occurs s suggested by the speed versus field current chrcteristic shown in Figure Compound motor It is possible to combine shunt nd series windings to obtin prticulr speed versus torque chrcteristic. For exmple, to obtin the chrcteristic of decresing speed when the motor torque increses, series winding cn be connected in series with the rmture so tht the mgnetic flux it produces dds with the mgnetic flux produced by shunt winding. As result, the mgnetic flux increses utomticlly with incresing rmture current. This type of dc motor is referred to s cumultive compound motor becuse the mgnetic fluxes produced by the series nd shunt windings dd together. Shunt nd series windings cn lso be connected so tht the mgnetic fluxes subtrct from ech other. This connection produces differentil-compound motor, which is rrely used becuse the motor becomes unstble when the rmture current increses. Figure 2-18 shows compound motor nd its speed versus torque chrcteristic (cumultive compound). Figure Compound motor nd its speed versus torque chrcteristic. Figure 2-19 is grph tht shows the speed versus torque chrcteristics of the vrious types of dc motors discussed so fr. As cn be seen, the seprtelyexcited dc motor nd the shunt motor hve very similr chrcteristics. The min feture of these chrcteristics is tht the motor speed vries little nd linerly s the torque vries. On the other hnd, the series motor chrcteristic is nonliner nd shows tht the motor speed vries lot (wide rnge of operting speed) s the torque vries. Finlly, the chrcteristic of cumultive compound motor is compromise of the series nd shunt motor chrcteristics. It provides the compound motor with firly wide rnge of operting speed, but the speed does not vry linerly s the torque vries. 84 Festo Didctic

25 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Discussion Figure Speed versus torque chrcteristics of vrious dc motors. Procedure summry In the first prt of the exercise, you will set up the equipment in the Worksttion, connect the equipment s shown in Figure 2-20, nd mke the pproprite settings on the equipment. In the second prt of the exercise, you will set the field current of the seprtelyexcited dc motor to lower vlue thn in the previous exercise (below the nominl vlue). You will mesure dt nd plot grph of the motor speed versus the rmture voltge. You will clculte constnt. You will compre constnt nd the grph with those obtined in the previous exercise to determine how decresing the field current ffects these chrcteristics. In the third prt of the exercise, you will mesure dt nd plot grph of the motor torque versus the rmture current. You will clculte constnt. You will compre constnt nd the grph with those obtined in the previous exercise to determine how decresing the field current ffects these chrcteristics. In the fourth prt of the exercise, you will connect the DC Motor/Genertor s series motor (see setup in Figure 2-21). You will mesure dt nd plot grph of the motor speed versus the motor torque. You will compre the speed versus torque chrcteristic of the series motor to tht of the seprtely-excited dc motor obtined in the previous exercise. Festo Didctic

26 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure EQUIPMENT REQUIRED Refer to the Equipment Utiliztion Chrt in Appendix C to obtin the list of equipment required for this exercise. PROCEDURE High voltges re present in this lbortory exercise. Do not mke or modify ny bnn jck connections with the power on unless otherwise specified. Setting up the equipment 1. Instll the equipment required in the EMS worksttion If you re performing the exercise using the EMS system, ensure tht the brushes of the DC Motor/Genertor re djusted to the neutrl point. To do so, connect n c power source (terminls 4 nd N of the Power Supply) to the rmture of the DC Motor/Genertor (terminls 1 nd 2) through CURRENT INPUT I1 of the dt cquisition module. Connect the shunt winding of the DC Motor/Genertor (terminls 5 nd 6) to VOLTAGE INPUT E1 of the dt cquisition module. Strt the Metering ppliction nd open setup configurtion file ACMOTOR1.DAI. Turn the Power Supply on nd set the voltge control knob so tht n c current (indicted by meter I line 1) equl to hlf the nominl vlue of the rmture current flows in the rmture of the DC Motor/Genertor. Adjust the brush djustment lever on the DC Motor/Genertor so tht the voltge cross the shunt winding (indicted by meter E line 1) is minimum. Turn the Power Supply off, exit the Metering ppliction, nd disconnect ll leds nd cble. Mechniclly couple the prime mover/dynmometer module to the DC Motor/Genertor using timing belt. 2. On the Power Supply, mke sure the min power switch is set to the O (off) position, nd the voltge control knob is turned fully counterclockwise. Ensure the Power Supply is connected to three-phse power source. If you re using the Four-Qudrnt Dynmometer/Power Supply, Model , connect its POWER INPUT to wll receptcle. 86 Festo Didctic

27 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure 3. Ensure tht the dt cquisition module is connected to USB port of the computer. Connect the POWER INPUT of the dt cquisition module to the 24 V - AC output of the Power Supply. If you re using the Prime Mover/Dynmometer, Model , connect its LOW POWER INPUT to the 24 V - AC output of the Power Supply. On the Power Supply, set the 24 V - AC power switch to the I (on) position. If you re using the Four-Qudrnt Dynmometer/Power Supply, Model , turn it on by setting its POWER INPUT switch to the I (on) position. Press nd hold the FUNCTION button 3 seconds to hve uncorrected torque vlues on the disply of the Four-Qudrnt Dynmometer/Power Supply. The indiction "NC" ppers next to the function nme on the disply to indicte tht the torque vlues re uncorrected. 4. Strt the Dt Acquisition softwre (LVDAC or LVDAM). Open setup configurtion file DCMOTOR1.DAI. If you re using LVSIM-EMS in LVVL, you must use the IMPORT option in the File menu to open the configurtion file. In the Metering window, select lyout 1. Mke sure tht the continuous refresh mode is selected. 5. Set up the seprtely-excited dc motor circuit shown in Figure Note tht this setup is the sme s tht used in the previous exercise. If you re performing the exercise with line voltge of 220 V, use the Resistive Lod module to connect 880- resistor in series with the rheostt of the DC Motor/Genertor. If you re performing the exercise with line voltge of 240 V, connect 960- resistor in series with the rheostt. Festo Didctic

28 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure Figure Seprtely-excited dc motor coupled to brke. 6. Set the Four-Qudrnt Dynmometer/Power Supply or the Prime Mover/Dynmometer to operte s brke, then set the torque control to minimum (knob turned fully counterclockwise). To do this, refer to Exercise 1-1 or Exercise 1-2 if necessry. If you re performing the exercise using LVSIM -EMS, you cn zoom in on the Prime Mover/Dynmometer before setting the controls in order to see dditionl front pnel mrkings relted to these controls. 88 Festo Didctic

29 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure Speed versus rmture voltge chrcteristic of seprtely-excited dc motor 7. Turn the Power Supply on. On the DC Motor/Genertor, set the FIELD RHEOSTAT so tht the field current indicted by meter I field ( ) in the Metering window is equl to the vlue given in Tble 2-3: Tble 2-3. Field current of the seprtely-excited dc motor. Locl c power network Voltge (V) Frequency (Hz) (ma) In the Metering window, mke sure tht the torque correction function of the Torque meter is enbled. The Torque meter now indictes the dc motor output torque. Record the rmture voltge, rmture current, field current, output torque, nd speed in the Dt Tble. These prmeters re indicted by meters E rm. ( ), I rm. ( ), I field ( ), Torque, nd Speed respectively. On the Power Supply, set the voltge control knob to 10%, 20%, 30%, etc. up to 100% in order to increse the rmture voltge by steps. For ech voltge setting, wit until the motor speed stbilizes, nd then record the dt in the Dt Tble. 9. When ll dt hs been recorded, turn the voltge control knob fully counterclockwise nd turn the Power Supply off. In the Dt Tble window, confirm tht the dt hs been stored, entitle the Dt Tble s DT221, nd print the Dt Tble. Refer to the user guide deling with the computer-bsed instruments for EMS to know how to edit, entitle, nd print Dt Tble. 10. In the Grph window, mke the pproprite settings to obtin grph of the dc motor speed (obtined from the Speed meter) s function of the rmture voltge [obtined from meter E rm. ( )]. Entitle the grph s G221, nme the x-xis s Armture voltge, nme the y-xis s DC motor speed, nd print the grph. Refer to the user guide deling with the computer-bsed instruments for EMS to know how to use the Grph window of the Metering ppliction to obtin grph, entitle grph, nme the xes of grph, nd print grph. Festo Didctic

30 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure 11. Use the two end points to clculte the slope of the reltionship obtined in grph G221. The vlues of these points re indicted in Dt Tble DT221. Compre grph G221 nd constnt obtined in this exercise with grph G211 nd constnt obtined in the previous exercise. How does decresing the field current ffect the speed versus voltge chrcteristic nd constnt of seprtely-excited dc motor? In the Dt Tble window, cler the recorded dt. Torque versus rmture current chrcteristic of seprtely-excited dc motor 12. Turn the Power Supply on. On the DC Motor/Genertor, slightly redjust the FIELD RHEOSTAT so tht the field current indicted by meter I field ( ) still equls the vlue given in Tble 2-3 (if necessry). On the Power Supply, set the voltge control knob so tht the dc motor speed is 1500 r/min. Note the vlue of the rmture voltge in the following blnk spce. 13. In the Metering window, mke sure tht the torque correction function of the Torque meter is enbled. Record the dc motor rmture voltge, rmture current, field current, output torque, nd speed in the Dt Tble. On the brke, set the torque control so tht the torque indicted by the Torque meter increses by 0.2 N m (2 lbf in) increments up to bout 1.5 N m (bout 14.0 lbf in). For ech torque setting, redjust the voltge control knob of the Power Supply so tht the rmture voltge remins equl to the vlue recorded in the previous step, then record the dt in the Dt Tble. The rmture current my exceed the rted vlue while performing this mnipultion. It is therefore suggested to complete the mnipultion within time intervl of 5 minutes or less. 90 Festo Didctic

31 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure 14. When ll dt hs been recorded, set the torque on the brke to minimum (turned fully counterclockwise), turn the voltge control knob fully counterclockwise, nd turn the Power Supply off. In the Dt Tble window, confirm tht the dt hs been stored, entitle the Dt Tble s DT222, nd print the Dt Tble. 15. In the Grph window, mke the pproprite settings to obtin grph of the dc motor torque (obtined from the Torque meter) s function of the rmture current [(obtined from meter I rm. ( )]. Entitle the grph s G222, nme the x-xis s Armture current, nme the y-xis s DC motor torque, nd print the grph. The torque versus current reltionship is no longer liner when the rmture current exceeds the nominl vlue becuse of phenomenon clled rmture rection. This phenomenon is described in the next unit of this mnul. 16. Use the two end points of the liner portion of the reltionship obtined in grph G222 to clculte the slope. The vlues of these points re indicted in Dt Tble DT222. Use the two end points of the liner portion of the reltionship obtined in grph G222 to clculte the slope. The vlues of these points re indicted in Dt Tble DT222. Compre grph G222 nd constnt obtined in this exercise with grph G212 nd constnt obtined in the previous exercise. Describe how does decresing the field current ffect the torque versus current chrcteristic nd constnt of seprtely-excited dc motor. In the Dt Tble window, cler the recorded dt. Festo Didctic

32 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure Speed versus torque chrcteristic of series motor 17. Modify the connections so s to obtin the series motor circuit shown in Figure Figure Series motor coupled to brke. 18. Turn the Power Supply on nd set the voltge control knob so tht the rmture voltge indicted by meter E rm. ( ) is equl to the vlue recorded in step 14 of the previous exercise. The series motor should strt to rotte. 19. In the Metering window, mke sure tht the torque correction function of the Torque meter is enbled. Record the dc motor rmture voltge, rmture current, output torque, nd speed in the Dt Tble. On the dynmometer, set the torque control so tht the torque indicted by the Torque meter increses by 0.2 N m (2 lbf in) increments up to bout 2.3 N m (bout 20.3 lbf in). For ech torque setting, redjust the voltge control knob of the Power Supply so tht the rmture voltge remins equl to the vlue set in the previous step, wit until the motor speed stbilizes, nd then record the dt in the Dt Tble. It my not be possible to mintin the rmture voltge to its originl vlue s the torque is incresed. The rmture current my exceed the rted vlue while performing this mnipultion. It is, therefore, suggested to complete the mnipultion within time intervl of 5 minutes or less. 20. When ll dt hs been recorded, set the torque control on the brke to minimum (fully counterclockwise), turn the voltge control knob fully counterclockwise, nd turn the Power Supply off. In the Dt Tble window, confirm tht the dt hs been stored, entitle the Dt Tble s DT223, nd print the Dt Tble. 92 Festo Didctic

33 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure 21. In the Grph window, mke the pproprite settings to obtin grph of the series motor speed (obtined from the Speed meter) s function of the series motor torque (obtined from the Torque meter). Entitle the grph s G223, nme the x-xis s Series motor torque, nme the y-xis s Series motor speed, nd print the grph. Briefly describe how the speed vries s the mechnicl lod pplied to the series motor increses, i.e., s the motor torque increses. Compre the speed versus torque chrcteristic of the series motor (grph G223) to tht of the seprtely-excited dc motor (grph G212-2 obtined in the previous exercise). 22. On the Power Supply, set the 24 V - AC power switch to the O (off) position. If you re using the Four-Qudrnt Dynmometer/Power Supply, Model , turn it off by setting its POWER INPUT switch to the O (off) position. Remove ll leds nd cbles. Festo Didctic

34 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Procedure Additionl experiments Speed versus torque chrcteristic of shunt motor You cn obtin the speed versus torque chrcteristic of shunt motor nd compre it to those obtined for the seprtely-excited dc motor nd series motor. To do so, mke sure the Power Supply is turned off nd set up the shunt motor circuit shown in Figure (If you re using the Four-Qudrnt Power Supply/Dynmometer, mke sure to press nd hold the FUNCTION button 3 seconds to hve uncorrected vlues on this module s disply). Mke sure the torque control on the brke is set to minimum (fully counterclockwise). Turn the Power Supply on, set the rmture voltge to the vlue recorded in step 14 of the previous exercise. Set the FIELD RHEOSTAT on the DC Motor/Genertor so tht the field current is equl to the vlue indicted in Tble 2-1. Cler the dt recorded in the Dt Tble. Refer to steps 19 to 21 of this exercise to record the necessry dt nd obtin the grph. Entitle the Dt Tble nd grph s DT224 nd G224, respectively. Compre the speed versus torque chrcteristic of the shunt motor (grph G224) to those of the seprtely-excited dc motor (grph G212-2 obtined in the previous exercise) nd series motor (grph G223). Figure Shunt motor circuit. 94 Festo Didctic

35 Ex. 2-2 Seprtely-Excited, Series, Shunt, nd Compound DC Motors Conclusion Speed versus torque chrcteristic of cumultive compound motor You cn obtin the speed versus torque chrcteristic of cumultive compound motor nd compre it to those obtined for the other dc motors. To do so, mke sure the Power Supply is turned off nd set up the cumultive compound motor circuit shown in Figure (If you re using the Four-Qudrnt Power Supply/Dynmometer, mke sure to press nd hold the FUNCTION button 3 seconds to hve uncorrected vlues on this module s disply). Mke sure the torque control on the brke is set to minimum (fully counterclockwise). Turn the Power Supply on, set the rmture voltge to the vlue recorded in step 14 of the previous exercise. Set the FIELD RHEOSTAT on the DC Motor/Genertor so tht the current in the shunt winding is equl to the vlue indicted in Tble 2-1. Cler the dt recorded in the Dt Tble. Refer to steps 19 to 21 of this exercise to record the necessry dt nd obtin the grph. Entitle the Dt Tble nd grph s DT225 nd G225, respectively. Compre the speed versus torque chrcteristic of the cumultive compound motor (grph G225) to those of the other dc motors (grphs G212-2, G223, nd G224). CONCLUSION Figure Cumultive compound motor circuit. In this exercise, you observed tht decresing the field current of seprtelyexcited dc motor below its nominl vlue increses constnt but decreses constnt. You sw tht this llows the motor to rotte t higher speeds without exceeding the nominl rmture voltge but reduces the torque which the motor cn develop without exceeding the nominl rmture current. You lso sw tht it is possible to increse the field current bove its nominl vlue for short time intervls to improve the strting torque. You plotted grph of the speed versus torque chrcteristic of series motor nd compred it to tht obtined in the previous exercise with seprtely-excited dc motor. You observed tht the speed of series motor decreses more rpidly thn tht of the seprtelyexcited dc motor s the torque increses. Furthermore, you observed tht the speed versus torque chrcteristic of the seprtely-excited dc motor is liner wheres tht of the series motor is non liner. Festo Didctic

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