ELECTRIC MACHINES

Chapter 5 DC Machines

By Pr. Hamid BENTARZI

5.1 DC generator Introduction

AC Generator

N BAsin t
5.2 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

Use of a commutator
A simple generator with two coils

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

A four-pole DC generator
The induced voltage in the armature of the DC machine is :

Zn
E Ka
60 (V)
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
5.3 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

5.3.1 Characeristic of seperatetly excited generator

 4

5.4 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
DC generator characteristics
vary slightly between forms
examples shown here are for a shunt-wound generator

DC Motors
Force and torque on a current loop
 I A B 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

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.
5.4.2 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)

2. Series Motor
The speed is

Ks(V I(Ra Rs))

n
I

T Ks I 2

5.4.3. Compound DC Motor

* cumulative compound Motor

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

Motor differentiative compound :

(V I(Ra Rs))
n K1
T Ka( f s)I ,
f s

Torque-load charactersitics

T Ka f I K f I
T Ks I 2
T Ka( f s )I
T Ka( f )I
s

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
5.5 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.

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)
Diapositive 41

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 :

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.
Diapositive 44

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.
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?
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.