DC Motors-Working Principle
• To understand the operating principle of
DC motor we need to first look into its
constructional feature.
• The very basic construction of a DC motor
contains a current carrying armature
which is connected to the supply end
through commutator segments and
brushes it is placed within the north south
poles of a permanent or an electro-
magnet.
• Operating principle of DC motor follows
the Fleming’s left hand rule to determine
the direction of force acting on the
armature conductors of DC motor.
Flemings left hand rule
Fleming Left Hand Rule:
It is found that whenever a
current carrying conductor is placed
inside a magnetic field, a force acts on the
conductor, in a direction perpendicular to
both the directions of the current and the
magnetic field
Back EMF in DC Motor:
When the armature of a d.c. motor rotates under the influence of the driving torque, the armature conductors move
through the magnetic field and hence e.m.f. is induced in them as in a generator. The induced e.m.f. acts in opposite
direction to the applied voltage V (Lenz's law) and in known as back or counter e.m.f Eb.
EMF equation of a DC motor:
• Consider a DC motor with the following parameters,
P = number of field poles
Ø = flux produced per pole in Wb (weber)
Z = total no. of armature conductors
A = no. of parallel paths in armature
N = rotational speed of armature in revolutions per min. (rpm)
Now, Average emf induced per conductor is given by dΦ/dt (Volts) .................(1)
Flux cut by one conductor in one revolution = dΦ = PΦ ….(Weber),
Number of revolutions per second (speed in RPS) = N/60
Therefore, time for one revolution = dt = 60/N (Seconds)
From eq. 1, emf induced per conductor = dΦ/dt = PΦN/60 (Volts) …..(eq. 2)
Z/A = number of conductors connected in series
Therefore, Induced emf for Z/A conductors = induced emf per conductor * Z/A
Eb = PΦN/60 * Z/A volts
Significance of Back EMF
The presence of back emf makes the d.c. motor a self-regulating machine i.e., it makes the motor to draw as much armature
current as is just sufficient to develop the torque required by the load.
• When the motor is running on no load, small torque is required to overcome the friction and windage losses. Therefore, the
armature current Ia is small and the back emf is nearly equal to the applied voltage.
• If the motor is suddenly loaded, the first effect is to cause the armature to slow down. Therefore, the speed at which the
armature conductors move through the field is reduced and hence the back emf Eb falls. The decreased back emf allows a
larger current to flow through the armature and larger current means increased driving torque. Thus, the driving torque
increases as the motor slows down. The motor will stop slowing down when the armature current is just sufficient to produce
the increased torque required by the load.
• If the load on the motor is decreased, the driving torque is momentarily in excess of the requirement so that armature is
accelerated. As the armature speed increases, the back emf Eb also increases and causes the armature current Ia to decrease.
The motor will stop accelerating when the armature current is just sufficient to produce the reduced torque required by the load.
It follows, therefore, that back emf in a d.c. motor regulates the flow of armature current i.e., it automatically changes the
Torque equation of a DC motor
When armature conductors of a DC motor carry current in the presence of stator field flux, a
mechanical torque is developed between the armature and the stator.
Torque is given by the product of the force and the radius at which this force acts.
Torque T = F × r (N-m) …where, F = force and r = radius of the armature
Work done by this force in one revolution = Force × distance = F × 2πr
(where, 2πr = circumference of the armature)
Net power developed in the armature
P = word done / time
P = (force × circumference × no. of revolutions) / time
P = (F × 2πr × N) / 60 (Joules per second)………………………….. (1)
But, F × r = T
and
2πN/60 = angular velocity ω in radians per second.
Putting these in the above equation (1)
Net power developed in the armature = P = T × ω = 2πNT/60 (Joules per second)
Armature torque (Ta)
The power developed in the armature can be given as,
Pa = Ta × ω = Ta × 2πN/60
The mechanical power developed in the armature is converted from the electrical power,
Therefore, mechanical power = electrical power
That means, Ta × 2πN/60 = Eb.Ia
We know, Eb = PΦNZ / 60A
Therefore, Ta × 2πN/60 = (PΦNZ / 60A) × Ia
Rearranging the above equation,
Ta = (PZ / 2πA) × Φ.Ia (N-m)
The term (PZ / 2πA) is practically constant for a DC machine. Thus, armature torque is directly proportional
to the product of the flux and the armature current i.e. Ta ∝ Φ.Ia
Performance characteristics of dc motor
The performance of a DC motor can be judged by its characteristics and a motor for any particular
application can be selected easily. The performance characteristics of DC motor are:
• Torque versus armature current (T v/s Ia)
• Speed versus armature current (N v/s Ia)
• Torque versus speed (T v/s N)
DC Shunt Motor Characteristics
(i) Torque – Current Characteristics (T v/s Ia): We know that, T α Iaφ
But the flux of a shunt motor is practically constant. Therefore, T α Ia
Therefore, the torque-current characteristic of a shunt motor is a
straight line passing through the origin. Although the field current
remains practically constant, the field flux becomes slightly weaker at
heavy loads, due to armature reaction, hence the curve bends slightly
bends at heavy loads.
(ii) Speed - Torque Characteristics (N v/s T):
• The Speed of a shunt DC motor is given by,
N ∝ Eb
∵ E b = V − Ia Ra
∴ N ∝ (V − Ia Ra)
For a DC shunt motor, the back EMF and flux both are constant under normal operating conditions. Therefore, the
speed of a shunt motor will remain constant with respect to armature current as shown by dotted line.
However, when the load is increased, the back EMF and flux decreases due to the drop in armature resistance and
armature reaction respectively. Although the back EMF decreases somewhat greater than the flux so that speed of
motor decreases slight with the increase in load (as line AB).
