NON-COMPENSATED DC MOTORS IN CURRENT ELECTRICAL DRIVES

M. Klytta (*), I. Ye. Korotyeyev (**) (*) University of Applied Sciences Giessen - Friedberg Faculty of Electrical and Information Engineering Wiesenstrasse 14, 35-390 Giessen, Germany, Tel. (+49 641) 309 1930, Fax. (+49 641) 309 2941, E-mail: Marius.Klytta@ei.fh-giessen.de (**) University of Zielona Gra Institute of Electrical Engineering Podgrna50, 65-246 Zielona Gra, Poland Tel. (+48 68) 3282 626, Fax (+48 68) 3254 615, E-mail: I.Korotyeyev@iee.uz.zgora.pl
Annotation . , , . . , . Keywords ,

INTRODUCTION Many converter-fed DC drives operate nowadays with non-compensated DC motors. Such machines are willingly chosen because of their advantages. These are among other: simpler construction, lower costs and higher efficiency factor [1, 3]. This technical solution is used despite of clear nonlinear motor properties due to the magnetic field weakening with a load, i.e. due to the non-compensated armature reaction (Fig.1). In the previous works the authors described the static [1 4] and dynamic behaviour [1, 4] of these motors. This paper gives an overview of the main static characteristics. The most of them are results of the investigations and measurements in the real system with the non-compensated DC motor.

LA

diA = U A RAi A k (iA ) , dt d J = k (i A )iA M L , dt

(1)

where R A , L A , i A - armature resistance, inductance and current; M L - load torque; k - machine constant;

motor speed; J - moment of inertia. In order to compute the motor characteristics the magnetic flux dependence on the armature current can be linearized around the nominal point:

( I A ) = N +

N ( I N I A ) = a bI A IN

(2)

UE

RA

LA

IA

where N - nominal flux; N = EN N ; EN - no-load flux; I N - nominal armature current; a, b constants. The real load dependence of the resulting excitation state is not obviously quite linear. This phenomenon occurs because of the magnetic field of the armature winding (IA) (Fig.2). This additional field component turns the neutral magnetic axis in the machine. It has the same influence on the torque building as the weakening of the resulting magnetic flux [3]. The steady state conditions for (1) are:

IE

( I A )
( I E )

UA

ML

Fig.1. Equivalent electric circuits of a typical non-compensated DC motor

The common voltage and torque equations of the non-compensated DC motors are not longer linear. The reason is the fact that the magnetic flux depends in this case on the armature current:

U A RA I A k ( I A ) = 0 ,
(3)

k( I A ) I A M L = 0 .

The above equations enable comparisons of measurements in the real system with the theoretical characteristics based on the relations (1) (3). The described machines are of great importance in modern converter-fed DC drives. On the other side there are practical no works analysing deeper their properties. The paper fulfils this gap. COMPUTED AND MEASURED CHARACTERISTICS AS RESULTS OF INVESTIGATIONS All results presented in this paper refer to the noncompensated machine type MGFQ URS 100-32 (Lenze Company / Germany). The main parameters of this motor are shown in the Table 1. A used test system enables examinations of the system in wide load and speed areas. Table 1 Parameter, unit PN , kW Value 7,6 420 21,2 210 2,4 1950 2,15 13,4 251,1 7,310-3 37,2 23,710-3

The real torque characteristic of armature current for nominal armature and excitation supplies is shown in Fig.3. The observed strong nonlinear current-increase with the load, as the consequence of the field-weakening, leads to the effect of a torque-limitation (the measured characteristic in this figure).

[ A]
80 60

IA

2
40 20 0 0 20 40 60 80 100

M [ Nm]
Fig.3. Armature current in the analyzed motor as a function of load torque for the nominal supply (UAN, UEN): computed curve (1) and measured characteristic (2)

U AN , V I AN , A U EN , V I EN , A n N , rpm.
RA , L A , mH k N , Vs

We obtain in consequence a critical torque or a breakdown torque, as well as stable and unstable parts of the whole torque characterisic in the way well known in the case of asynchronous motors (Fig.4 and Fig.5).

IA
M

( I A ) I A

M N , Nm
J , kgm 2

IA
The Fig.2 and 3 show the computed and measured influence of the armature reaction. The field in the overload area of the real characteristic (Fig.2) declines even more than according to the equation (2), which is a rather good representation for lower loads.
Fig.4. Torque characteristic of a non-compensated DC motor with the breakdown torque

[Vs]
2 1,8 1,6 1,4 1,2 1 0 10 20 30 40 50

The varying-voltage control characteristics of the non-compensated DC motor and the frequency control characteristics of asynchronous motor should be therefore similar (Fig.5).

M [ Nm]

U AN
0.5U AN

MN

I A [ A]
Fig.2. Field in the analyzed non-compensated DC motor for IE = IEN as theoretical curve (1) and as real characteristic (2)

n [rpm]
Fig.5. Calculated M/n characteristics of the analyzed motor for various armature voltages

As the computed torque characteristics show, the excitation weakening (method of varying-field control) can lead to characteristics which are unstable (Fig.6). The other negative consequence of the excitation weakening, as method of speed-increasing, should be the decreasing critical torque similar to the characteristics of asynchronous motors (Fig.6). The above mentioned relations have been tested then in the real system.
M [ Nm]

- for nominal armature voltages and overload (torque over MN) one observes also points of static instability. The important conclusion is that the excitation weakening leads in general to unstable operating points. A particular strong unstable behaviour and therefore a speed increase occur when the field weakening is combined with the motor overload (Fig.7). For the field weakening of 20% the instability has been observed even for supplying voltages under the nominal armature voltage.

I E = I EN I E = 0.9 I EN I E = 0.85I EN I E = 0.8 I EN

n [rpm] U A = 0,75U N UA =UN

MN
n [rpm]
Fig.6. Calculated excitation field dependence of the M / n characteristics of the tested motor in wide load and speed range for nominal armature voltage and various excitations

U A = 0,25U N U A = 0,5U N
M [ Nm]
Fig.8. Real n / M characteristics of the analyzed noncompensated machine in motor and generator operations for nominal excitation IE = IEN and various armature voltages

The most representative curves of the noncompensated DC machine for the motor mode are presented in Fig.7. These are results of investigations of the tested non-compensated DC motor in the motor operation for different supply voltages and excitation currents. They show influence of the both last factors on the torque characteristics form and on the upper boundaries of stable operation. The obtained characteristics confirm the described properties: - we observe the typical curvature of the torque characteristics with the load increase; - the field weakening has an expected destabilizing influence.
M [ Nm]
0.25U AN
0.5U AN

The machine characteristics in the generator mode are, as the tests have confirmed, the expected natural extentions to those in the motor mode. But there is no unfavourable curvature of the M/n-characteristics and transition to the unstable area (Fig.8). The investigations in the real system have showed that even for higher loads there was no tendency to unstable behaviour in the way observed in the motor operation (Fig.9). The opposite energy flow, which is typical for the generator mode, has evident a strong stabilizing effect.
n [rpm]

U AN

I E = 0,9 I EN

I EN
0.9 I EN 0.8I EN

I E = 0,85I EN

I E = I EN

I E = 0,95I EN

n [rpm]

Fig.7. Real torque characteristics of the tested non-compensated DC motor for different supply voltages and excitation currents

M [ Nm]
Fig.9. Real n / M characteristics of the analyzed noncompensated machine in motor and generator operations for UA = UAN and various excitation currents

The other observed properties are the following: - the excitation weakening over 10% can be already intolerable, which is in good correspondence with the computed results (Fig.6). It is valid particular for higher armature voltages (Fig.7);

The described properties of the non compensated DC motors allow us to formulate some general recommen-dations concerning their applications in the DC drives.

CONCLUSIONS The obtained real characteristics of the magnetic flux and of the armature reaction influence (Fig.2, 3, 4) have confirmed the theoretical relations. On the other side the armature reaction observed in the overload area was in the real system stronger than the assumed one, which is typical only for loads with armature currents under the nominal current (Fig.2). For the future theoretical investigations it could be usefully to approximate the real flux curve not only in one (formula 2) but in two different ranges of linearization. The armature-reaction in a non compensated DC motor does not mean really a direct flux weakening. The additional magnetizing component (magnetomotive force) acts vertical to the main component, which is as a result of the excitation (Fig.1). The resulting magnetomotive force in the machine is therefore even higher. The really reason of this flux and therefore motor weakening are the disadvantageous change of the resulting magnetomotive force angle position (turning of the field axis in relation to the neutral current axis) in the machine. The non-compensated DC motors show then consequently, like the induction motors, a certain maximal, i.e. breakdown torque (Fig.57). The non-compensated DC motors have many important advantages compared to the fully compensated DC motors. The main disadvantage is a certain inclination towards instability in some operation areas. It refers not only to the dynamic processes, i.e. the current or speed transients, but also to the danger of the simple static instability. It occurs, as the investigations have showed, for overload conditions and especially strong in case of field weakening (Fig.6, 7, 9). The stable operation range of the non-compensated DC machines is for generator mode wider than for motor mode (Fig.9). The right control method, which should in principle be chosen for drives with non-compensated DC motors, is the varying-voltage-control. The torque characteristics are in this case similar to those of the frequency controlled asynchronous motor (Fig.8). The maximal intended drive speed using this control method should therefore correspond to the nominal speed and to the nominal armature voltage of the non-compensated machine. The maximal loads should correspond to the nominal torque and therefore to the nominal current of the used machine.

The method of varying-field control is not the right one for drives with non-compensated DC machines. As the computed torque characteristics (Fig.6) and the investigations in the real system (Fig.9) have showed, the excitation weakening leads to characteristics which are unstable. Also overloads, especially in higher speed areas lead to unstable operation (Fig.7, 9). The non-compensated DC motors are suitable for drives with not too high dynamic requirements. The nonlinearity of the torque characteristics has, due to the typical close loop operation, no significant importance in converter-fed DC drives. The drives with non-compensated DC motors should be chosen for application with well known speed and load ranges. These ranges can be then realized with nominal motor speed and nominal motor torque without overloads and field weakening. [1] I.Ye. Korotyeyev, M. Klytta, Operating area and stability investigations of non-compensated DC motors. Technical Electrodynamics: Problems of Present Electrotechnics, Kiev, No 3, pp. 73 76, 2004. [2] I.Ye. Korotyeyev, M. Klytta, Properties and characteristics of non-compensated DC motors. Technical Electrodynamics: Power Electronics and Energy Efficiency, Kiev, No 3, pp. 26-27, 2005. [3] I.Ye. Korotyeyev, M. Klytta, Real properties of noncompensated DC motors. Technical Electro-dynamics: Problems of Present Electrotechnics, Kiev, No 7, pp. 3134, 2006. [4] I.Ye. Korotyeyev, M. Klytta, Starting characte-ristics of electrical drive with non-compensated DC motor. Technical Electrodynamics: Power Electronics and Energy Efficiency, Kiev, No 5, 38 41 pp, 2006. [5] I.Ye. Korotyeyev, M. Klytta, Non-compensated DC motors in generator mode. Technical Electrodynamics: Power Electronics and Energy Efficiency, Kiev, No 3, 129 130 pp, 2008. [6] I.Ye. Korotyeyev, M. Klytta, Experimental characteristic of non-compensated DC motors in generator mode. Technical Electrodynamics: Power Electronics and Energy Efficiency, Kiev, No 4, pp. 27-28, 2009. [7] I. Boldea, S.A. Nasar. Electric drives. CRC Press Boca Raton-London-New York-Washington D.C., 1999