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DC Machines 2p
DC Machines 2p
DC Machines
Introduction
DC machines are used in applications requiring a wide range
of speeds by means of various combinations of their field
windings
Types of DC machines:
• Separately-excited
• Shunt
• Series
• Compound
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DC
Machines
Motoring Generating
Mode Mode
1. Construction of DC Machines
2
Construction of DC Machines
Ea = Kg f r
Te = Kg f a
= Kd If a
(b) waveform of voltage between brushes.
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Electrical Analogy
4
Space distribution of air-gap flux density, Bf
in an elementary dc machine;
One pole spans 180º electrical in space
B f B peak sin( )
Mean air gap flux per pole: avg / pole Bavg A per pole Aper pole: surface area spanned
by a pole
0 B peak sin( )dA
Flux linkage a: a Navg / pole cos( ) : phase angle between the magnetic axes of
the rotor and the stator
(t ) r t 0
with 0= 0 a Navg / pole cos( r t )
da 1
ea r Navg / pole sin( r t ) Ea 0 ea ( t )dt
dt
2
For a two pole DC machine: Ea r Navg / pole
5
In general: E a K g f r Kg: winding factor
f: mean airgap flux per pole
r: shaft-speed in mechanical rad/sec
nr
r 2 nr: shaft-speed in revolutions per minute (rpm)
60
2
avg / pole 2 B peak r
P
P 2
Ea N r avg / pole K g f r
2
A four-pole DC machine
6
Typical magnetization curve of a DC machine
1 2 dL f 1 2 dLa dM fa
Te if ia i f ia
2 d 2 d d
dM fa
Te i f ia M fa M̂ cos
d
Te M
ˆi i
f a
Pmech Pelec
Te m Ea I a Ea K g f m
Te m K g f m I a
Te K g f I a
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In a linear magnetic circuit
Te K g K f I f I a where f K f If
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Separately-excited DC machine circuit in motoring mode
p Ca p : number of poles
E a K g f m Kg Ca : total number of conductors in armature winding
2 a
E a Vt a : number of parallel paths through armature winding
Te produces rotation (Te and m are in the same direction) Pmech 0, Te 0 and ωm 0
E a Vt
Te and m are in the opposite direction Pmech 0, Te 0 and ωm 0
Generating mode
– Field excited by If (dc)
– Rotor is rotated by a mechanical prime-mover at m.
– As a result Ea and Ia are generated
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3. Analysis of DC Generators
Separately-Excited DC Generator
Vt E a I a ra where E a K g f m
also Vt I L R L where I L Ia
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Terminal voltage characteristics of DC generators
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When the switch (S) is closed
E a K g f m where f K f I f
Ea K d If m where Kd K g K f
di f
K d i f m La Lf ra rf i f
dt
K d m I f ( s ) La Lf sI f ( s ) ra rf I f ( s ) La Lf I f0
r r K dm
a f t
La Lf
if ( t ) I f0 e
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r r K dm
a f t
La Lf
if ( t ) I f0 e
lim if ( t ) 0
t
Ia= If + IL Vt= Ea - ra Ia = rf If
Ea= ra Ia + rf If
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Series DC Generator
Vt E a I a ( ra rs ) where E a K g f m
also Vt I L R L and I L Ia I s
Compound DC Generators
Vt E a I a ra I s rs where E a K g f m
also Vt I L R L and IL Is and Ia If Is
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(b) Long-shunt connected compound DC generator
Vt E a I a ra rs where E a K g f m
Types of Compounding
Fd Ff Fs
field shunt series
mmf field field
mmf mmf
for linear M.C. (or in the linear region of the magnetization curve, i.e. unsaturated magnetic circuits)
d f s
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Terminal V-I Characteristics of Compound Generators
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Examples
1. A 240kW, 240V, 600 rpm separately excited DC generator has an armature
resistance, ra = 0.01 and a field resistance rf = 30. The field winding is
supplied from a DC source of Vf = 100V. A variable resistance R is connected
in series with the field winding to adjust field current If. The magnetization
curve of the generator at 600 rpm is given below:
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Solution:
a) b)
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Solution:
a) b) (i)
b) (ii)
4. Analysis of DC Motors
• Series DC motor
• Separately-excited DC motor
• Shunt DC motor
• Compound DC motor
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DC Motors Overview
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(c) Shunt DC Motors
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DC Motors
(a) Series DC Motors
Ia I s
Te K g f I a f K f Is
Te K g K f I s I a Ia I s
Te K d I a2
K g f K d I a
Ea V I a ra rs E a K g f m , Vt E a I a ( ra rs )
m t
K g f K g f
Vt I a ra rs
m K g f K d I a
K d Ia
E a K d I a m Vt I a ra rs E a K g f m
Vt
Ia
K d m ra rs
K d Vt 2 Te K d I a2
Te
K d m ra rs 2
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K d Vt 2 1
Te thus Te
K d m ra rs 2 m2
Te 0 m overspeeding!
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Vt E a I a ra
Te ra E a K g f m , Te K g f I a
Vt K g f m
K g f
Vt Te ra
m
K g f K g f 2
Vt ra
m Te
K g f
K g f 2 m 0 K l Te
Vt
No load (i.e. Te = 0) speed: 0
K g f
ra very small!
Kl
Slope:
K g f 2
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Vt E a I a ra
Te ra
Vt K g f m E a K g f m , Te K g f I a
K g f
Vt Te ra
m
K g f K g f 2
Vt ra
m Te
K g f
K g f 2 m 0 K l Te Same as separately excited motor
Vt
No load (i.e. Te = 0) speed: 0
K g f
ra
Kl very small!
K g f 2
Slope:
m 0 K l Te
Note that: In the shunt DC motors, if suddenly the field terminals are
disconnected from the power supply, while the motor was running,
overspeeding problem will occur
so f 0 m overspeeding!
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Motor Speed Control Methods
Vt 0 , Te
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ii. Changing the field current
Vt
m 0 K l Te 0
K g f
Te K g f I a
I f f , 0 , Te
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i. Adding a series resistance
For the same Te produced
E a Vt I a ( ra rs rt )
Ea Te K g f I a
m
K g f
E a K g f m
rt Ea , m
Ea remains constant,
Vt E a rs || rd rs
Ia
ra ( rs || rd )
Ea E a K g f m
m
K g f f K f Is
rd I s , I a , f , m
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iii. Using a potential divider
Let us apply Thévenin theorem to the
right of Vt
R2
VTh Vt RTh R1 || R2
R1 R2
Vt E a , m
If the load increases, Te and Ia increases and Ea decreases, thus motor speed m drops down more.
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Soln:
For Ia = 36 A
Ea VT I a ra 125 36 0.37 112 V
Thus
Pconv Te m Ea I a 112 36 4.03 kW
Note that induced torque is found to be Te = 33.4 Nm
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Ex2: A 50 hp, 250 V, 1200 rpm DC shunt motor with compensating windings has
an armature resistance (including the brushes, compensating windings, and
interpoles) of 0.06 . Its field circuit has a total resistance Radj + RF of 50 ,
which produces a no-load speed of 1200 rpm. The shunt field winding has
1200 turns per pole.
Solution:
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b) Similar computations for the input current of 200 A lead to n2 = 1144 rpm.
c) Similar computations for the input current of 300 A lead to n2 = 1115 rpm.
d) At no load, the torque is zero. EA I A
The induced torque is ind
2443 95
For the input current of 100 A: ind 190N - m
2 1173 / 60
2383 195
For the input current of 200 A: ind 388N - m
2 1144 / 60
2323 295
For the input current of 300 A: ind 587 N - m
2 1115 / 60
The torque-speed
characteristic of the motor is:
Ex3: A 100 hp, 250 V, 1200 rpm DC shunt motor with an armature resistance of
0.03 and a field resistance of 41.67 . The motor has compensating
windings, so armature reactance can be ignored. Mechanical and core losses
may be ignored also. The motor is driving a load with a line current of 126 A
and an initial speed of 1103 rpm. Assuming that the armature current is constant
and the magnetization curve is
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Soln:
shunt
a) For the given initial line current of 126 A, the initial armature current will be
250
I A1 I L1 I F 1 126 120 A
41.67
Therefore, the initial generated voltage for the shunt motor will be
After the field resistance is increased to 50 Ω, the new field current will be
250
IF 2 5 A
50
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separately excited
Ex4: A 250-V series dc motor with compensating windings. and a total series
resistance ra + rs of 0.08 . The series field consists of 25 turns per pole.
with the magnetization curve (at 1200 rpm) shown below.
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Soln:
a) To analyze the behavior of a series motor with saturation. pick points along the
operating curve and find the torque and speed for each point. Notice that the
magnetization curve is given in units of magnetomotive force (ampere-turns) versus
Ea for a speed of 1200 r/min. so calculated Ea values must be compared to the
equivalent values at 1200 r /min to deternine the actual motor speed.
For Ia = 50 A
Ea VT I a ra rs 250 50 0.08 246 V
Since Ia = Is = 50 A. the magnetomotive force is
Fs NI s 25 50 1250 A - turns
From the magnetization curve at F = 1250 A-turns. Ea0 = 80 V. To get the
correct speed of the motor.
Ea 246
nr nr 0 1200 3690 rpm
Ea 0 80
To find the induced torque supplied by the motor at that speed, recall that
Pconv = Ea Ia = Tem. Therefore,
Ea I a 246 50
Te 31.8 Nm
m 2 3690 / 60
b) Efficiency is given by the ratio of the output and input power values. Thus,
Pout T E I 246 50
% 100 e m 100 a a 100 100 98.4%
Pin Vt I t Vt I t 250 50
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