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EEEE 531 Mechatronics Experiment #2 Analysis of D.C. Electric Motors

Purpose The purpose of this experiment is to study the operation of direct current machines. The mathematical models of the motors will be used to compare and examine the theoretical performance with real electrical machines. Pre-Lab Conventional separately exited DC electric machines have stator and rotor windings excited by direct currents. The rotor has a commutator, and the dc voltage to the armature winding is supplied through the brushes, which establish electric contact with the commutator. The brushes are fixed with respect to the stator, and they are placed in the specified angular displacement to produce the maximum electromagnetic torque. In particular, to maximize the electromagnetic torque, the stator and rotor magnetic axes are displaced by 90 electrical degrees using commutator. Expression (5.3) for the electromagnetic torque Te = Lsr isir sin r indicates that Te can be developed only if there exists a displacement between the armature (rotor) and fields (stator) magnetic axes. An electric machine can be either a motor or a generator depending on whether it drives a load or it is driven by a prime mover. The direction of the armature current is reversed when an electric machine changes from motor to generator operation. However, there is no change of the line voltage polarity, and the direction of rotation and field current are the same. These facts are essential, and Kirchhoffs voltage law can be applied to study the steady-state operation. In particular, by using the Kirchhoff law, one obtains
ia = ua E a . ra

If ua is greater than E a , the armature current is positive, and the machine operates as a motor. An electric machine operates as a generator if E a is greater than ua , and ia is negative. Schematic diagrams of separately excited motors and generators are shown in Figures 1 and 2.

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+

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rfr

rf if La

ra ia TL Load

rar
+

uf
+

r ,Te
quadrature axis
Armature Field

ua direct axis

Voltage supply

Lf

Ea = Laf i f r

Figure 1: Equivalent circuit for separately excited DC motors

rfr

rf if La

ra ia
Tpm

rar
+

Prime Mover ua direct axis Load

uf
+

r , pm

quadrature axis
Armature Field

Lf

Ea = Laf i f r

Figure 2: Equivalent circuit for separately excited DC generators

The motors that are going to be studied in this experiment are DC series and shuntconnected machines. The diagrams for these two types of motors are shown in Figures 3 and 4.

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Rochester Institute of Technology Electrical Engineering Department Technical Assistants' Office Office# 09-3248 (716) 475-7092

ra rf if
rfr

rar

ia uf La Load ua quadrature axis

Field Armature

r ,Te

TL

Lf

+
Ea = Laf i f r

direct axis

Figure 3: Schematic diagrams of Shunt connected DC electric machines

ra
ia = i f

rar

La

r , Te

TL

Load

ua

rf Lf

quadrature axis
Field Armature

Ea = Laf ia r

direct axis

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Rochester Institute of Technology Electrical Engineering Department Technical Assistants' Office Office# 09-3248 (716) 475-7092

Figure 4: Schematic diagram of series-connected DC electric machines

The assignment for the pre-lab is to plot the theoretical values of the torque / speed characteristics for both the DC shunt and series connected electric machines using the DC motor parameters given below. Shunt Connected DC motors For the shunt motor, use ra = 8, Laf = 3.2H, and if = .2A. Plot the angular velocity (rad/s) vs Te values of 0, .25, .5, .75, 1, 1.25, and 1.5 (Nm), for the following values of ua (20, 40, 60, 80, 100, 120) Volts. Use the following equation from page 303 in the book:

r =

ua ra Te Laf i f ( Laf i f ) 2

* Page 304 in the book has an example of this Series Connected DC Motors For the series motor, use rt = 10 and Laf = 3.2H. Plot the angular velocity (rad/s) vs T e values of 0.01, .25, .5, .75, 1, 1.25, and 1.5 (Nm), for the following values of ua (20, 40, 60, 80, 100, 120) Volts. Use the following equation from page 308 in the book:
Te = Laf ( Laf r + rt ) 2
2 ua

For the series motor, rt (rtotal) is used since ra and rf are in series. It is simply the sum of the two. Make sure that the calculated values of r and the formula used to calculate it are handed in with the prelab. Just a graph will not be acceptable. Procedure Determination of DC Motor Parameters (a) Place the variable 120 VDC supply across the armature (#1 and #2 of the DC Machine Stator). Place an ampermeter in series with the input supply. Be sure that the ampermeter rating is greater than the Stator Current Rating. Have the lab instructor verify the circuit construction. (b) Increase the input voltage until the ampermeter is at the rated current value for the armature (3A). Record the input voltage and current. From these values calculate ra .

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(c)

Place the previous supply and ammeter across the series winding. After the TA has verified the circuit apply the rated current and calculate the rfsr.

(d) Place the previous supply and ammeter across the shunt winding. A smaller range ammeter will be beneficial. After the TA has verified the circuit apply the rated current and calculate the rfsh. Shunt-Motor Load Characteristics
DC Machine
1 2

0 5

Electro-Dynamometer

A DC

S e rie s

0 120 V DC

4 Shunt

A DC
0 0.5

120 V 60 Hz 7 8

N 3 N 120 V AC
Figure 5: D.C. Shunt Motor Connection

(a) Connect the DC motor for shunt field operation as shown in Figure 5. Connect the dynamometer to the fixed 120 VAC output. Connect the belt between the DC motor and the Dynamometer. (b) (c) (d) (e) Set the shunt field rheostat control at its full clockwise position (for maximum shunt field excitation). Make sure the brushes are in their neutral position. Set the dynamometer control at its full counterclockwise position (to provide a minimum starting load for the dc motor). (0lbfin.) Have the lab instructor inspect the circuit before continuing. Turn on the power supply. Adjust the variable output voltage to 120 VDC as indicated by the meter. Note the direction of rotation; if it is not clockwise, turn the power off and interchange the shunt field connections.

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(f)

Adjust the field rheostat for a no-load motor speed of 1800 rpm as indicated by the hand-held tachometer. Make sure that the voltmeter, connected across the input of the circuit, indicates exactly 120VDC . NOTE: DO NOT change the field rheostat for the remainder of the experiment. Measure the line current and the field current, as indicated by the ammeters, for a motor speed of 1800rpm . Apply a load to the dc motor by varying the dynamometer control knob until the dynamometer reads 2lbfin. Readjust the power supply, if necessary, to maintain exactly 120VDC . Measure and record the input current, field current and motor speed. Repeat this step for each of the following torque values: 4, 6, 8, 10 and 12 lbfin. Be sure to readjust the power supply to 120VDC if necessary. Be very careful when adjusting the dynamometer. The Dynamometer will enter into oscillation very easily! If this occurs and the TA is not immediately available, turn off the power supply and reapproach that data point.

(g) (h)

(i)

Adjust the dynamometer control to 0lbfin, return the voltage to zero and turn off the power supply.

Series-Motor Load Characteristics

0 5

DC Machine
1 2

Electro-Dynamometer

A DC

S e rie s

0 120 V DC N 3 N

3 Shunt 5

120 V 60 Hz 6 7 8

120 V AC Connect the motor for series field operation as shown in Figure 3, with the belt connecting the DC machine and the dynamometer.. Connect the dynamometer to the

Figure 6: D.C. Series Motor Connection

(a)

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fixed 120VAC output. Set the dynamometer control at its mid-range position to provide a starting load for the series dc motor. (b) Turn on the power supply and gradually increase the DC voltage until the motor starts to turn. Note the direction of rotation. If it is not clockwise, turn off the power supply and interchange the series field connections. Adjust the variable voltage for exactly 120VDC as indicated by the meter. Adjust the loading of the motor by varying the dynamometer control knob until the dynamometer indicates a torque of 12lbfin. Readjust the power supply, if necessary, to maintain exactly 120VDC . Measure and record the input current indicated by the ammeter and the motor speed using the hand-held tachometer. Repeat this procedure for the following torques: 10, 8, 6, 4, and 2lbfin. Be sure to readjust the power supply to 120 VDC if necessary. At 120VDC with 0 lbfin, the speed will be 5270rpm and the current will be 0.65 amperes. DO NOT BRING THE MOTOR TO 0 lbf-in!

(c)

(d)

(e) Return the voltage to zero and turn off the power supply. Report The report will concentrate on the study of the torque speed characteristics. This means that all theoretical equations that were used in the pre-lab must be included. Convert the Torque and velocity data to SI units. (Nm and rad/s respectively) To convert the torque from (Lbf/in) to (Nm), multiply it by 0.112. To convert the velocity from (RPM) to (rad/s), multiply it by 0.1047. Calculate the Laf values for both the series and shunt connected motors using the equations from the pre-lab. Do this by using the values found in lab and the equations given in the pre-lab. Plot the theoretical and measured torque speed characteristics for both the series and shunt connected motors. Discuss the accuracy of the plots. Calculate the efficiencies of the motors at different torques. The efficiency is the power in divided by the power out. The power out is the velocity times the torque (e.g., P out = Tw). Discuss the efficiency.

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Table 1 Equivalent Circuit Parameters ra V I ra V A rfshunt V I rfsh V A

Rochester Institute of Technology Electrical Engineering Department Technical Assistants' Office Office# 09-3248 (716) 475-7092

rfseries V I rfs

V A

Table 2 Shunt Motor Load Characteristics Torque LBf/in 0 2 4 6 8 10 12 Torque Nm ua Volts it Amps if Amps ia Amps N RPM N rad/s Laf Henry

Table 3 Series Motor Load Characteristics Torque LBf/in 12 10 8 6 4 2 0 Torque Nm ua Volts it Amps N RPM N rad/s Laf Henry

120

.65

5270

TA Signature _____________________________

Date __________________

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