Kazakh-British Technical University

Faculty Of Information Technology

SIS NO 3
Development of the MicroProcessor Control System for Arm Robot Manipulator in
The Industry.

Prepared by: COLLINS MASIMBA

Checked by Aiym Svambayeva

Almaty, 2024
DC Motor and Its Components.

1. Pole:
The poles are part of the stator (stationary part of the motor) and provide a magnetic
field.
They are electromagnets, typically created by winding coils around an iron core, and
are responsible for producing the necessary magnetic flux.
2. Pole Shoe:
The pole shoe is a part of the pole that spreads the magnetic flux over the armature.
It helps reduce the reluctance (magnetic resistance) of the magnetic path and ensures a
uniform magnetic field across the armature.
3. Yoke:
The yoke acts as the outer frame of the motor and provides mechanical support for the
poles.
It also completes the magnetic path between the poles, allowing the magnetic flux to
flow.
4. Armature:
The armature is the rotating part of the motor (the rotor) and consists of coils of wire
wound on an iron core.
When current flows through the armature, it interacts with the magnetic field from the
poles, generating torque and causing rotation.
5. Commutator:
The commutator is a mechanical switch that reverses the direction of current in the
armature windings as the motor rotates.

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It ensures that the torque produced by the interaction between the magnetic field and
the current in the armature is always in the same direction.
6. Applied Battery:
The battery supplies electrical power to the motor by providing the necessary current
to the armature and field windings (if used for electromagnets).
The positive and negative terminals are connected to ensure proper current flow
through the motor.
7. Magnetic Poles (North and South):
These are the two poles (N and S) of the magnetic field created by the electromagnets
or permanent magnets.
They provide the magnetic environment in which the armature operates, and the
interaction of their fields with the current in the armature generates the motor's
motion.
Each of these components plays a crucial role in the operation of a DC motor by
converting electrical energy into mechanical energy through electromagnetic
principles.

Explain in detail how the shunt motor behaves as a constant speed motor and the
series motor as a variable speed motor. Hence discuss the application of shunt, series
and compound motor.

1. Shunt Motor as a Constant Speed Motor

Construction:
In a shunt motor, the field windings are connected in parallel (or "shunt") with the
armature windings.
The shunt field resistance is relatively high, so the current through the field winding is
low and nearly constant, irrespective of the load.
Why Constant Speed:
The field flux (𝜙) is almost constant since the shunt field current remains constant
due to the parallel connection and high resistance.

𝑁
The motor speed

N is given by:

V −I a R a
Nα
∅

where
V is the supply voltage,
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𝐼 is the armature current, and
𝑅 is the armature resistance.
As the load increases, a increases slightly, causing a small voltage drop across a .
However, the effect on speed is negligible because ϕ remains constant.
Hence, the speed of a shunt motor remains nearly constant under varying loads.
Applications:
Shunt motors are used where constant speed is required, such as:
Lathes
Centrifugal pumps
Fans
Blowers
Conveyor belts

A 4- pole lap wound DC shunt generator has a useful flux/pole of 0.06Wb. The
armature winding consists of 200 turns, each turn having a resistance of
0.0008Ω .Calculate the terminal voltage when running at 1000 rpm if armature
current is 45A.

Explain the internal and external characteristics of DC generators.

1. Internal Characteristics

Definition:

The internal characteristic of a DC generator shows the relationship between the induced EMF (𝐸) and the
armature current (𝐼 ), while keeping the field current constant.
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Behavior:

As the load increases, the armature current increases. However, the induced EMF decreases slightly due to:

Armature Reaction: A distortion and weakening of the main field flux caused by the magnetic field generated
by the armature current. This reduces the effective flux per pole (𝜙).

The slight reduction in ϕ leads to a reduction in 𝐸 as:

Graph:

The internal characteristic curve starts at the no-load induced EMF (𝐸 ) and decreases slightly as the
armature current increases.

2. External Characteristics

Definition:

The external characteristic of a DC generator shows the relationship between the terminal voltage (𝑉) and the
load current (𝐼 ), considering all voltage drops (armature resistance, brush contact drop, etc.).

Behavior:

The terminal voltage 𝑉 is lower than the induced EMF 𝐸 due to: Voltage drop across the armature resistance
(𝐼 R ).

Brush contact voltage drop.

As the load current increases, the terminal voltage drops more significantly compared to the internal
characteristic because it accounts for additional losses.

Graph:

The external characteristic curve lies below the internal characteristic curve. It starts at the no-load terminal
voltage (𝑉) and decreases as the load current increases.

Explain the characteristics of DC shunt and series motor.

The behavior of DC motors is described by their torque-speed, torque-current, and speed-current

characteristics. Here is a detailed explanation of the characteristics of shunt and series motors:

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1. DC Shunt Motor Characteristics

In a DC shunt motor, the field winding is connected in parallel with the armature winding. The field current 𝐼
is almost constant, as it depends only on the supply voltage and field resistance.

(a) Speed-Current (N-𝐼) Characteristic:

The speed of the motor is given by:

Since the flux ()𝐼 is nearly constant, the speed decreases slightly with an increase in armature current (𝐼 ) due
to the voltage drop (𝐼 R ) across the armature resistance.

Behavior: The speed remains nearly constant regardless of the load, making it a constant speed motor.

(b) Torque-Current

Characteristic:

The torque is given by:

With constant

ϕ, the torque increases linearly with armature current.

Behavior: The motor exhibits a linear torque-current relationship, making it suitable for applications
requiring constant torque.

(c) Torque-Speed (T-N) Characteristic:

The speed reduces slightly as the load (and therefore torque) increases.

Behavior: The curve is nearly horizontal, showing small variations in speed for a wide range of torque.

2. DC Series Motor Characteristics

In a DC series motor, the field winding is connected in series with the armature winding. The field current is
equal to the armature current

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, so the flux (𝜙) varies with the load current.

(a) Speed-Current

At low currents (light load), ϕ is small, resulting in very high speeds. Conversely, at high currents (heavy
load), 𝜙 increases, and the speed decreases.

At low currents, the torque is small, but it increases rapidly as the current increases.

Behavior: The motor produces high torque at high currents, making it suitable for heavy loads.

(c) Torque-Speed (T-N) Characteristic:

At high torque (heavy load), the speed decreases significantly.

At low torque (light load), the speed is very high.

Behavior: The motor has a nonlinear torque-speed curve, showing an inverse relationship between torque
and speed.

A 250 V DC shunt motor has an armature resistance of 0.5Ω and a field resistance of 250 Ω. When driving a
constant load at 600 rpm the motor draws 21 A. What will be the new speed of the motor if an additional 250
Ω resistance is inserted in the field circuit?

Initial Field Current

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Armature Current

Calculate the Induced EMF at initial Speed.

New Field Resistance

New Filed Current

Describe the construction and working of DC generator

A DC generator consists of the following main parts:

1. Yoke (Frame)

The outer frame that supports the generator components.

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Made of cast iron or steel.

Provides mechanical strength and forms the magnetic path for the flux.

2. Poles and Pole Shoes

Poles: Electromagnets that produce the magnetic field. Made of laminated steel to reduce eddy current losses.

Pole Shoes: Wide projections of the poles that spread the magnetic flux evenly over the armature.

3. Field Windings

Copper windings wound around the poles to produce a magnetic field when current flows through them.

In self-excited generators, the windings are powered by the generator itself.

4. Armature Core

A cylindrical core made of laminated steel to reduce eddy current losses.

Supports the armature winding.

Provides a low-reluctance path for magnetic flux.

5. Armature Windings

Copper conductors wound in slots on the armature core.

These windings are rotated within the magnetic field to generate EMF.

6. Commutator

A cylindrical assembly made of copper segments insulated from each other.

Converts the AC induced in the armature winding into DC by reversing the direction of current in the external
circuit.

7. Brushes

Carbon or graphite blocks that press against the commutator.

Provide a sliding contact between the commutator and the external circuit to transfer current.

8. Bearings and Shaft

Bearings support the rotating armature.

The shaft transmits mechanical energy from the prime mover to the armature.

Working of a DC Generator

The operation of a DC generator is based on Faraday's Law of Electromagnetic Induction, which states that an
EMF is induced in a conductor when it cuts through a magnetic field.

Step-by-Step Working:

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Magnetic Field Production:

The field windings around the poles are excited with current (either externally or through self-excitation),
producing a magnetic field.

Armature Rotation:

The armature, connected to a mechanical prime mover (e.g., turbine or engine), is rotated within the magnetic
field.

Induction of EMF:

As the armature conductors rotate, they cut through the magnetic field lines, inducing an EMF in the armature
winding.

The induced EMF causes current to flow through the armature winding and the external circuit via brushes
and commutator.

Commutation:

The commutator reverses the direction of current in the armature conductors every half rotation, ensuring
unidirectional current in the external circuit.

Discuss in detail most important characteristics of dc shunt series and compound generator

The performance of DC generators is represented by their Open-Circuit, Internal, and External Characteristics.
These characteristics differ for shunt, series, and compound generators.

1. DC Shunt Generator Characteristics

(a) Open-Circuit Characteristic (OCC):

This curve shows the relationship between the generated EMF and the field current at constant speed.

At low field current, the flux and EMF are small.

As field current increases, EMF increases linearly until saturation due to the magnetic core's properties.
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(b) Internal Characteristic:

Shows the relationship between the generated EMF and the load current Due to armature reaction, the flux
decreases slightly with load, reducing the EMF.

(c) External Characteristic:

Shows the relationship between terminal voltage and load current. Terminal voltage drops due to:

Armature reaction

Voltage drop across armature resistance Behavior:

A DC shunt generator can maintain nearly constant terminal voltage under light to moderate loads.

At heavy loads, terminal voltage decreases due to armature reaction and resistance.

Applications:

Battery charging

Electroplating

Small-scale power supplies

2. DC Series Generator Characteristics

(a) Open-Circuit Characteristic (OCC):

Similar to the shunt generator, showing the relationship between generated EMF and field current.

The field current in a series generator is proportional to the armature current.

(b) Internal Characteristic:

Shows the relationship between the generated EMF

and the load current. At low loads, the generated EMF is small because the field current (and hence the flux)
is low.

As load increases, EMF increases rapidly due to the increase in flux until saturation.

(c) External Characteristic:

Shows the relationship between terminal voltage

and load current At low loads, terminal voltage is small.

As load increases, terminal voltage increases until a maximum point, after which it decreases due to armature
reaction and saturation.

Behavior:

The voltage rises initially with load and drops after saturation, making it unsuitable for constant voltage
applications.

Applications:
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Series generators are rarely used independently but can be found in:

Series arc lighting

Booster applications

Traction systems

3. DC Compound Generator Characteristics

A compound generator combines both shunt and series field windings. It provides the benefits of both shunt
and series generators. Compound generators can be classified into cumulative and differential compound
generators.

(a) Cumulative Compound Generator:

External Characteristic:

At light loads, the shunt winding dominates, providing constant voltage.

As load increases, the series winding strengthens the flux, compensating for the voltage drop due to armature
reaction.

Voltage either remains constant or rises slightly with load, depending on design.

(b) Differential Compound Generator:

External Characteristic:

The series winding opposes the shunt winding, weakening the flux as the load increases.

Terminal voltage drops sharply with load, making it unsuitable for most practical applications.

Applications:

Cumulative Compound Generator:

Power supply systems

Heavy machinery

Elevators

Rolling mills

Differential Compound Generator:

Rarely used due to poor voltage regulation.

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Speed control of DC motors is essential for various industrial and commercial applications. The methods used
depend on the type of motor, such as DC shunt motors and DC series motors

Speed Control of DC Shunt Motor

A. Flux Control Method

 In a DC shunt motor, the flux (ϕ) is controlled by varying the shunt field current (I).

 A variable resistor (field rheostat) is added in series with the shunt field winding.

 By increasing the field resistance, the field current decreases, reducing the flux and increasing the
speed.

B. Armature Resistance Control Method

 A variable resistor (armature rheostat) is connected in series with the armature.

 By increasing the resistance, the voltage across the armature decreases, reducing the speed.

C. Voltage Control Method

 The speed of the motor is directly proportional to the applied voltage.

 By varying the voltage applied to the armature, the speed can be controlled.

 This is achieved using methods such as:

o Ward Leonard System: Uses a motor-generator set to supply variable voltage to the
armature.

o Solid-State Controllers: Use power electronics to vary the armature voltage.

2. Speed Control of DC Series Motor

A. Flux Control Method

 The flux (ϕ) is controlled by varying the series field current.

 A diverter (variable resistor) is connected in parallel with the series field winding.

 By adjusting the diverter resistance, the field current decreases, reducing the flux and increasing the
speed.

B. Armature Resistance Control Method

 A variable resistor is connected in series with the armature.

 By increasing the resistance, the voltage across the armature decreases, reducing the speed.

C. Field Tapping Method

 The series field winding is divided into sections with taps.

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  The number of active field windings is changed by switching between taps, altering the flux and speed.

D. Voltage Control Method

 The supply voltage to the motor is varied using power electronics or motor-generator sets.

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