14/04/2020

ELECTRIC MACHINES
Chapter 5 DC Machines

By Pr. Hamid BENTARZI

4.1 DC generator
Introduction

AC Generator
N BAsin t

1
 14/04/2020

4.1 DC generator
Construction

A Simple DC Generator
• The alternating signal from the earlier AC generator could be
converted to DC using a rectifier
• A more efficient approach is to replace the two slip rings with a
single split slip ring called a commutator
– this is arranged so that connections to the coil are reversed as
the voltage from the coil changes polarity
– hence the voltage across the brushes is of a single polarity
– adding additional coils produces a more constant output

4.1 DC generator
Construction

• Use of a commutator

2
 14/04/2020

4.1 DC generator
Construction

• Use of a commutator

4.1 DC generator
Construction

• A simple generator with two coils

3
 14/04/2020

4.1 DC generator
Construction

• The ripple can be further reduced by the use of a

cylindrical iron core and by shaping the pole
pieces
– this produces an
approximately
uniform field in the
narrow air gap
– the arrangement
of coils and core
is known as the
armature

4.1 DC generator
Construction

• A four-pole DC generator

4
 14/04/2020

4.1 DC generator
Construction

The induced voltage in the

armature of the DC machine
is :
Zn
E Ka (V)
60
n : speed of rotation, (RPM)
Z: total number of conductors in the armature winding
: flux per pole, (wb)

Generator ----E=Eg is the electromotive force (EMF)

Motor ---- E=Ec is the counter EMF

4.1 DC generator
Construction

5
 14/04/2020

4.1 DC generator
Types
• Practical DC generators or dynamos can take
a number of forms depending on how the
magnetic field is produced
– can use a permanent magnet
– more often it is generated electrically using field
coils
• current in the field coils can come from an external
supply
– this is known as a separately excited generator
• but usually the field coils are driven from the generator
output
– this is called a self-excited generator
– often use multiple poles held in place by a steel
tube called the stator

6
 14/04/2020

4.3 Electric equivalent circuit of the DC machine.

The terminal
voltage of DC
generator is :

Vt Eg I a Ra

The terminal
voltage of DC
motor is :

Vt Ec I a Ra

7
14/04/2020

8
 14/04/2020

• DC generator characteristics
– vary slightly between forms
– examples shown here are for a shunt-wound
generator

9
 14/04/2020

DC Motors
Force and torque on a current loop

I AB sin

• Therefore if a conductor lies within a magnetic field:

– motion of the conductor produces an electric current
– an electric current in the conductor will generate motion
• The reciprocal nature of this relationship means that, for
example, the DC generator above will function as a DC motor
– although machines designed as motors are more efficient in
this role
• Thus the four-pole DC generator shown earlier could equally
well be a four-pole DC motor

10
 14/04/2020

DC Motor and Characteristics

Advantages of DC motor:
– Ease of control
– Deliver high starting torque
– Near-linear performance
Disadvantages:
– High maintenance
– Large and expensive (compared to induction motor)
– Not suitable for high-speed operation due to commutator and brushes
– Not suitable in explosive or dirty environment.

The DC drive is relatively simple and cheap (compared to induction motor drives). But
DC motor itself is more expensive.
• Due to the numerous disadvantages of DC motor (esp. maintenance), it is getting less
popular, particularly in high power applications.
• For low power applications the cost of DC motor plus drives is still economical.
• For servo application, DC drives is still popular because of good dynamic response
and ease of control.

11
14/04/2020

12
 14/04/2020

4.3 Types of DC Motors

Shunt DC motor
Series DC Motor
Compound DC Motor
Seperately excited DC Motor

1- Shunt Motor
• The speed of Shunt motor is

60(V IRa)
n
Z f
• The torque of motor shunt ist :

T Ka f I K f I (N-m)

13
 14/04/2020

2. Series Motor
•The speed is

Ks(V I(Ra Rs))

n
I

T Ks I 2

3. Compound DC
Motor

* cumulative compound Motor

T Ka( f s )I

(V I(Ra Rs))
n K1
f s

14
 14/04/2020

3. Motor Compound

• Motor differentiative compound :

T Ka( f s )I

(V I(Ra Rs))
n K1
f s

Torque-load charactersitics

T Ka f I K f I

T Ks I 2

T Ka( f s)I

T Ka( f s )I

15
 14/04/2020

Speed-load charactersitics

60(V IRa)
n
Z f
Ks(V I(Ra Rs))
n
I
(V I(Ra Rs))
n K1
f s

(V I(Ra Rs))
n K1
f s

Speed regulation

(no n f )
RV 100
nf

16
 14/04/2020

34

17
 14/04/2020

35

36

18
 14/04/2020

For DC machines, Solve the following problems:

Pb 7.8,
Pbs 8.1-3,
Pbs 8.10, 8.11, 8.13,
Pbs 8.22, 8.23

4- Separately Excited DC Motor

•The field windings is used to excite the field flux.

•Armature current is supplied to the rotor via brush and commutator for the mechanical work.
•Interaction of field flux and armature current in the rotor produces torque.

When a separately excited motor is excited by a field current of if and an armature current of ia
flows in the circuit, the motor develops a back emf and a torque to balance the load torque at a
particular speed. The if is independent of the ia .Each windings are supplied separately. Any
change in the armature current has no effect on the field current. The if is normally much less
than the ia.

19
 14/04/2020

Field and armature equations:

Instantaneous field current :

where Rf and Lf are the field resistor and inductor, respectively.

Instantaneous armature current :

where Ra and La are the armature resistor and inductor, respectively.

The motor back emf, which is also known as speed voltage, is expressed as :

Kv is the motor voltage constant (in V/A - rad/s) and is the motor speed (in rad/sec).

Basic torque equation

The torque develped by the motor is :

where (Kt ) is the torque constant (in V/A - rad/s).

Sometimes it is written as :

For normal operation, the developed torque must be equal to the load torque plus the friction and
inertia, i.e.:

where
J : inertia of the motor (kg.m )
TL: load torque (N.m)
B : viscous friction constant, (N.m/rad/s)

20
 14/04/2020

Steady-state operation
Under steady - state operations, time derivatives is zero. Assuming the motor is not
saturated.
For field circuit,

The back emf is given by :

The armature circuit

Steady-state torque and speed

The motor speed can be easily derived:

If Ra is a small value (which is usual), or when the motor is lightly loaded, i.e. Ia is small,

That is if the field current is kept constant, the motor speed depends only on the supply voltage.
The developed torque is :

The required power is :

21
 14/04/2020

Torque and speed control

• From the derivation, several important facts can be deduced
for steady-state
operation of DC motor.
For a fixed field current, or flux (If), the torque demand can be
satisfied by varying the armature current (Ia).
• The motor speed can be varied by:
– controlling Va (voltage control),
– controlling Vf (field control).
These observations lead to the application of variable DC
voltage to control the speed and torque of DC motor.

Example 1
• Consider a 500V, 10kW , 20A rated- DC motor with armature resistance of 1 ohm. When
supplied at 500V, the UNLOADED motor runs at 1040 rev/min, drawing a current of 0.8A
(ideally current is zero at no-load).
– Estimate the full load speed at rated values,
– Estimate the no-load speed at 250V.
Base Speed and Field-weakening
Base speed: base
– the speed which correspond to the rated Va, rated Ia
and rated If.
Constant Torque region ( < base, )
– Ia and If are maintained constant to met torque demand. Va is varied to control the speed.
Power increases with speed.
• Constant Power region ( > base, )
– Va is maintained at the rated value and if is reduced to increase speed .
However, the power developed by the motor
(= torque x speed) remains constant.
Known as field weakening.

22
 14/04/2020

Four Quadrants Operation of DC Motor

Exercise # 1
A simple dc-machine with an armature and field winding is running in a steady state.
The windings are supplied from voltage sources. The voltage of the field winding drops
by 5 %. Derive the differential equations from which the small changes in the
currents and speed can be solved.
Exercise #2
A DC machine with independent electrical excitation is connected to a DC voltage
source. Armature reaction is neglected. The voltage is Vt. The motor constant is K.
The armature resistance is Ra.
In questions e to g, the pole flux is 0.
a Give the (steady-state) voltage equation and the equivalent circuit.
b Give an expression for the no-load speed.
c Give an expression for the stall torque (the torque at stand still, with blocked rotor).
d Sketch the torque-speed characteristic including the no-load speed and the stall
torque.
The pole flux is reduced to 0/2.
e In the same figure as question d, sketch the torque-speed characteristic including
the no-load speed and the stall torque.
f What is the most common reason for using flux weakening? Explain.
g What type of converter can be used to control the speed of this motor when it is fed
from a DC source?

23
14/04/2020

24
 14/04/2020

Exercise #3
A 30 hp 400 V 3500 rpm series dc motor is controlled by a linear
converter of gain k2=100. The moment of inertia of the motor load,
J=0.156 N-m/rad/s, viscous friction constant is negligible, armature
resistance Ra=0.025 , and armature inductance, La=730 mH. The back
emf constant is kv=340 mV/A-rad/s. The field resistance, Rf=0.045
and field inductance, Lf=450 mH.
•Develop the transfer function (s)/Vr(s) and (s)/TL(s) for this motor.
•Calculate the motor steady state speed if the reference voltage Vr=1 V
and the load torque is 80% of the rated value.
•Determine the speed regulation.

END

25