Đồ án truyền động điện động cơ vạn năng( bản tiếng anh có tính toán công suất)

TRƯỜNG ĐẠI HỌC SƯ PHẠM KỸ THUẬT TP. HCM
KHOA ĐÀO TẠO CHẤT LƯƠNG CAO

COURSE PROJECT
AUTOMATIC ELECTRIC DRIVE

TOPIC
PRINCIPLES OF UNIVERSAL MOTOR AND APPLICATIONS

Lecturer: TS. Nguyễn Phan Thanh
SVTH:
1. Trần Công Trung

MSSV:17142079

2. Lê Minh Huy

MSSV:17142019

Ho Chi Minh City, December 2020
CONTENT

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LECTURER’S STATEMENT

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TP.HCM, ngày…..tháng 12 năm 2020
Giáo viên hướng dẫn

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FOREWORD
About this assignments, we would like to express our gratitude to teachers of
Electrical & Engineering for lecturing us and giving out valuable lessons and
experiments. Especially lecturer Nguyen Phan Thanh for helping us about Universal
Motor and guiding us through Automatic Electric Drive project.
During the process, we couldn’t avoid the mistakes, hopefully those won’t cause
trouble for our project and once again we would like to express our gratitude to lecturer
Nguyen Phan Thanh for giving us such a valuable lesson about Universal Motor.

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CHAPTER 1: OVERVIEW
I/BACKGROUND INFORMATION:
For centuries to catch up the demands of the customers, we had created
machines that mass products with high efficiency and one of the key components to
make the machine works is the motor.
II/ OBJECTS AND PURPOSES OF THE PROJECT:
1. Object:
-

Getting familiar with general mechanism.

-

Research, calculate mechanism.

-

Research the control method.

-

Research, calculate, design circuit controller of universal motor.

2. Purpose:
-

Understand the characteristics, fundamental of universal motor

-

Get used to with various types of motor especially universal motor.

-

For future plans.

III/ RESEARCH METHOD:
1 Theoretical basic:
-

Search, summarize documentaries of universal motor.

-

Study on stepper motor linearity theory, theory, algorithms, models, and
applied circuit universal motor control in practice.

2 Experiment:
-

Applying the theory of linearity and control methods of the universal motor in
vacuum cleaners.

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CHAPTER 2: THEORETICAL BASIC

I/ OVERVIEW OF UNIVERSAL MOTOR
1 Introduction:
A universal motor is a special type of motor which is designed to run on either
DC or single phase AC supply. These motors are generally series wound (armature
and field winding are in series), and hence produce high starting torque. That is
why, universal motors generally come built into the device they are meant to drive.
Most of the universal motors are designed to operate at higher speeds, exceeding
3500 RPM. They run at lower speed on AC supply than they run on DC supply of
same voltage, due to the reactance voltage drop which is present in AC and not in

DC.

It is basically a series wound motor and hence it has high starting torque and
variable speed characteristics.
2 Structure and operating principle

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a. Structure:
Construction of a universal motor is very similar to the construction of a
DC machine. It consists of a stator on which field poles are mounted. Field
coils are wound on the field poles.
However, the whole magnetic path (stator field circuit and also armature)
is laminated. Lamination is necessary to minimize the eddy currents which
induce while operating on AC.
The rotary armature is of wound type having straight or skewed slots and
commutator with brushes resting on it. The commutation on AC is poorer than
that for DC. because of the current induced in the armature coils. For that
reason, brushes used are having high resistance.
b. Operating principle:
A universal motor works on either DC or single phase AC supply. When
the universal motor is fed with a DC supply, it works as a DC series motor.
When current flows in the field winding, it produces an electromagnetic field.
The same current also flows from the armature conductors. When a current

carrying conductor is placed in an electromagnetic field, it experiences a
mechanical force. Due to this mechanical force, or torque, the rotor starts to
rotate. The direction of this force is given by Fleming's left hand rule.
When fed with AC supply, it still produces unidirectional torque.
Because, armature winding and field winding are connected in series, they are
in same phase. Hence, as polarity of AC changes periodically, the direction of
current in armature and field winding reverses at the same time.
Thus, direction of magnetic field and the direction of armature current reverses
in such a way that the direction of force experienced by armature conductors
remains same. Thus, regardless of AC or DC supply, universal motor works on
the same principle that DC series motor works.
i.

Advantages of universal motor:
•

Student: Cong Trung _ Chang Hee

Can run from AC or DC supplies

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ii.

•

Is a cheap motor.

•

It has good torque at low speeds.

Disadvantages of universal motor:
•

Brushes and commutator wear out, create sparking which can
cause electromagnetic interference and may be an ignition
source of VOCs.

•

Speed control is lousy - it has characteristics of series DC
motor.

•

It is not easy to reverse the motor.

c. Stator
a. Method of stator windings.
Each type of motor has different types of size and magnetic pole so we
cannot
use the same mold to wind the wires. Each individual motor has their own
mold to wind the wires. But because of the Universal Motor characteristic, you
only need one mold to wind the wires.
The way to make mold is first take a cooper wire and then bend it then

place it around the magnetic pole. After that, measure it and make a mark then
twist at the end to make a shape like in the picture.

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After we done the first loop of the copper wires, continue to wind the wires
to match the preference of the machine, (be caution: each loop of copper
winding must be parallel to each other to avoid getting tangled and easy to put
in.)
b. 3 levels of winding stator.
i.

First level.
•

Step 1: First we look at the statistic of the machine, for example:
if machine is 700 loops then we just only to loop 700 hundred
times.

•

Step 2: We took out the previous one out make it as a preference
then we loop with the new copper wires.

•

Step 3: After done looping we now shape the new copper
winding to match the previous one, avoid bending too much and
damage to the new copper winding.

•

Step 4: then we place parallel with the stator of the machine and
start putting it around the magnetic pole.

Stretching the copper wires.

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•

Step 5: Now we use 2 hand to stretch the copper winding at the
end of 2 sides, then we place it on stator (avoid getting it bended
or tangled).

•

Step 6: After done placing we now check again if there is any

tangled part or damaged.

•

Step 7: Make sure the winding doesn’t touch the outer part of the
machine and test the smoothest when rotate.

•

Step 8: After that we use VOM to check and measure the
insulation of the wires. After that we apply tape and PVE for
safety use (insulation must be greater than or equal to 1MΩ).

ii.

Second, third level.
•

The method is same with the first one but instead of one we
making two or 3 loops.

•

Step 1: First we look at the statistic of the machine.

Roll speed

Inductance

Roll speed

ARM

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Principle of machine
Vsource

•

Step 2: We took out the previous one out make it as a preference
then we loop with the new copper wires.

•

Step 3: After done looping we now shape the new copper
winding to match the previous one, avoid bending too much and
damage to the new copper winding.

•

Step 4: then we place parallel with the stator of the machine and
start putting it around the magnetic pole.

•

Step 5: Now we use 2 hand to stretch the copper winding at the
end of 2 sides, then we place it on stator (avoid getting it bended
or tangled).

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•

Step 6: After done placing we now check again if there is any
tangled part or damaged.

•

Step 7: Make sure the winding doesn’t touch the outer part of the
machine and test the smoothest when rotate.

•

Step 8: After that we use VOM to check and measure the
insulation of the wires. After that we apply tape and PVE for
safety use (insulation must be greater than or equal to 1MΩ).

3. Rotor
a. Method of rotor winding.
ii.

Folded winding.
•

Step 1: - Mark the number of motor grooves from 1-Z and mark
the end of the wire, the first wire will be on the commutator.

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- Armature winding consists of many components
connected together according to a certain rule.
- The winding consists of one bundle of copper wires
with one loop or many loops that its two ends are connected each
other into plates and make a closed loop.

Copper wires

Commutation plates

•

Step 2: Insulate the insulating cover in the motor groove.

•

Step 3: Conduct winding wire one by one into the groove of the
rotor according to the manual of the motor.

•

Step 4: Check if there is any faults. (note: if the wire has
F>0.15mm, the wire connecting to commutator plates must be
threaded with an insulated pipe.

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•

Step 5: Checking on rotor:
-

Check the insulation between the winding wire and
metal part of the rotor.

•

Check the welds on the commutator plate.

Step 6: Assemble the motor
-

Check energizing.

-

Check the mechanical part by using hand to rotate the
rotor until it smooths.

-

Check the circuit (using VOM).

-

Check the insulation between the wires and outer part of
the motor (using VOM).

iii.

-

Check the supply.

-

Run the motor to check the value and direction.

Wave winding.
•

Step 1: - Mark the number of motor grooves from 1-Z and mark
the end of the wire, the first wire will be on the commutator.
- Armature winding consists of many components
connected together according to a certain rule.

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- The winding consists of one bundle of copper wires
with one loop or many loops that its two ends are connected each
other into plates and make a closed loop.

•

Step 2: Insulate the insulating cover in the motor groove.

•

Step 3: Conduct winding wire one by one into the groove of the
rotor according to the manual of the motor.

•

Step 4: Check if there is any faults. (note: if the wire has
F>0.15mm, the wire connecting to commutator plates must be
threaded with an insulated pipe.

•

Step 5: Checking on rotor:

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-

Check the insulation between the winding wire and
metal part of the rotor.

•

Check the welds on the commutator plate.

Step 6: Assemble the motor
-

Check energizing.

-

Check the mechanical part by using hand to rotate the
rotor until it smooths.

-

Check the circuit (using VOM).

-

Check the insulation between the wires and outer part of
the motor (using VOM).

iv.

-

Check the supply.

-

Run the motor to check the value and direction.

Shunt winding.
Note: the total grooves on the motor must be an even number, if the
number bundle is even number then the shunt bundles will be

continuously wound and separated by 2 grooves.
If the number of bundles is odd number then the shunt bundles will be
independently wound and separated by 2 grooves.
•

Step 1: Sketch and draw winding on a paper.

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•

Step 2: Insulate the insulating cover in the motor groove.

•

Step 3: Conduct winding wire one by one into the groove of the
rotor according to the manual of the motor.

•

Step 4: Check if there is any faults. (note: if the wire has
F>0.15mm, the wire connecting to commutator plates must be
threaded with an insulated pipe.

•

Step 5:
-

Lower case: Pair first shunt bundles 1-6; 7-12.
Pair third shunt bundles 3-8; 2-9.
Pair fifth shunt bundles 5-10; 4-11.

-

Upper case: Pair the second bundles 6-11; 5-12.
Pair the fourth bundles 8-1: 7-12.
Pair the sixth bundles 4-9; 3-10.

•

Step 6: Checking on rotor:

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-

Check the insulation between the winding wire and

metal part of the rotor.

•

Check the welds on the commutator plate.

Step 7: Assemble the motor
-

Check energizing.

-

Check the mechanical part by using hand to rotate the
rotor until it smooths.

-

Check the circuit (using VOM).

-

Check the insulation between the wires and outer part of
the motor (using VOM).

v.

-

Check the supply.

-

Run the motor to check the value and direction.

V winding.
Note: the bundles must be an even number.
Beginning and the end of the last bundles must be forming a V shape.
And V shape must be symmetrical.
•

Step 1: Sketch and draw on a paper.

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•

Step 2: Assemble the upper and lower case wound.

Lower

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Upper

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•

Step 3: Determine the output that connect to the commutation
plate.

•

Step 4: Draw the wounding.

•

Step 5: - Mark the number of motor grooves from 1-Z and mark
the end of the wire, the first wire will be on the commutator.

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- Armature winding consists of many components

connected together according to a certain rule.
- The winding consists of one bundle of copper wires
with one loop or many loops that its two ends are connected each
other into plates and make a closed loop.
•

Step 6: : Insulate the insulating cover in the motor groove.

•

Step 7: Conduct winding wire one by one into the groove of the
rotor according to the manual of the motor.

•

Step 8: Check if there is any faults. (note: if the wire has
F>0.15mm, the wire connecting to commutator plates must be
threaded with an insulated pipe.

•

Step 9: Checking on rotor:
-

Check the insulation between the winding wire and
metal part of the rotor.

•

Check the welds on the commutator plate.

Step 10: Assemble the motor
-

Check energizing.

-

Check the mechanical part by using hand to rotate the
rotor until it smooths.

-

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Check the circuit (using VOM).

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-

Check the insulation between the wires and outer part of
the motor (using VOM).

-

Check the supply.

-

Run the motor to check the value and direction.

II/ CONTROLING UNIVERSAL MOTOR:
1. Method:
Universal Motors (UM) are normally used for driving portable apparatus such as
hand tool machines, vacuum cleaners and most domestic apparatus. The importance
of UM is due to its own advantages such as high starting torque, very powerful in
relation to its small size, having a variable speed; and lower cost. So, this paper focus
on UM speed control under variable loading conditions. A mathematical model for
UM is designed. Two controllers are proposed for controlling the motor speed, output
rate controller and output reset controller. Ant Colony Optimization (ACO) is
proposed for tuning the controller’s parameters due to its impact on solving different
optimization problems. It possesses fast convergence, minimum algorithm
parameters required, lower consecution time and give optimal results without
needing large number of iterations. The results are compared and discussed
accurately, which show the proposed tuning technique work well and give optimal
results for both controllers.
2. Control Motor’s Speed:
a. Centrifugal Mechanic
In the case where variable RPM (more than two desired settings for RPM)
are required for universal motors, the centrifugal mechanism of RPM control is
used. This speed control method is used for universal motors in applications
like home food and drink mixers.

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The setting of RPM is made by a centrifugal switch located inside the
motor as shown in the diagram below. This centrifugal switch can be controlled
or adjusted by means of an external lever.
If the motor speed rises above that set by the lever, the centrifugal device
or switch opens two contacts and inserts a resistance R in the power circuit to
the motor, which causes the motor speed to decrease.
If the motor runs too slowly, the centrifugal device will close the two
contacts and short circuit the resistance so that the motor speed rises. This
process is repeated so rapidly that variations in speed are not noticeable.
A resistance is connected across the centrifugal switch or device to
perform this function. A capacitor C is used across the contact points in order
to reduce sparking produced due to the opening and closing of these points.
Moreover, it prevents pitting the of contacts.
b. Resistance Method:

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In this method, the speed of the electric motor is controlled or set by

connecting a variable resistance R in series with the motor. Due to having the
resistance before the motor, the current to the motor is reduced, which in turns
reduces the speed of the motor according to the setting of that variable
resistance. This type of speed control is employed for motors used in sewing
machine.
In this case
the amount
of
resistance
in

the

motor
power
circuit can
be
changed
by means
of a foot
pedal. Also, a universal motor in drink and food mixers uses this method to set
the speed and can be changed by setting the variable resistance.

c. Field Tapping Method:

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In this method, the field poles are tapped at various points so that the
speed of the motor can be varied by varying the field strength. If there are more
tapping
from
the field,
then
we can
have
various
speeds
for
the
motor.
For
this
purpose
of
speed
setting,
the
field
poles
are
wound
in
various sections with different series of wire and taps are brought out from
each section. Nichrome resistance wire is wound over one of the field poles

and the taps are brought out from this wire.

3. Technical Calculation:
The speed of a DC motor (N) is equal to:

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Therefore speed of the 3 types of DC motors – shunt, series and
compound – can be controlled by changing the quantities on the right-hand
side of the equation above.
Hence the speed can be varied by changing:
•

The terminal voltage of the armature, V.

•

The external resistance in armature circuit, Ra.

•

The flux per pole, φ.

4. Universal Motor Controller:

Because of the widespread use of the universal motor, it is very
important that the energy consumption of the motor (input power) is as low as
possible, while still satisfying the needs of the user (output power). Hence we
need to improve the technical quality or efficiency of the universal motor,
which is defined as the ratio of output power to input power. The efficiency
depends on various losses, these include iron losses, copper losses as well as
brush losses, friction losses and ventilation losses. The iron losses include the
hysteresis losses and the eddy current losses, primarily in the armature core
and in the saturated parts of the stator core. The copper losses are the joule
losses in the windings of the stator and the rotor.

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