Chapter-II

Dynamic Analysis of DC Machines

 THEORY OF DC MACHINES
 DC machines application not widely used
 DC generator is replaced by rectifier to control the
magnitude of DC voltage.
 DC Motor is still used in lower power :
 Shunt DC Motor
 Permanent Magnet DC Motor
 Brushless DC motor becomes popular and widely used in
electric vehicle.

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 Elementary of DC Machine

 The 2-pole machine is equipped with a field winding on the stator poles, a rotor coil
(a-a’) and a commutator.
 The commutator is made up of two semicircular copper segments mounted on the
shaft at the end of the rotor and insulated from one another as well as from the iron
of the rotor.
 Each terminal of the rotor coil is connected to a copper segment. Station carbon
brushes ride upon the copper segments whereby the rotor coil is connected to a
stationary circuit by a near friction contact.
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 Voltage Equation
Voltage equation for field winding and rotor coil

Flux linkage :

Mutual inductance winding between field winding and armature as a function of θr :

θr = 0, π, 2 π, ........
L= Constant
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  At the instant of switching each brush is in contact with both
copper segments whereupon the rotor coils is short circuited.
 It is desirable to commutate(short-circuit) the rotor coil at the
instant the induced voltage is a minimum.
 The waveform of the voltage induced in the open-circuited
armature winding ,during constant speed operation with a
constant field winding current , may be determined by setting
ia=0 and if equal to a constant.
 The open circuit voltage

 The open circuit armature voltage is zero at θr=0,Π,2Π,etc.

which is rotor position during commutation.
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 The open circuit voltage corresponding to the rotor position denoted as θca, θcb,
θcc are indicated.
 During one revolution of the rotor the assumed positive direction of armature current
ia is down coil side a and out of coil side a’ for 0< θr<∏.for ∏< θr <2 ∏,positive
current is down coil side a’ and out of coil side a.

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 DC Machine with paralel winding
 A practical dc machine with rotor equipped with an a winding
and an A winding.

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  At the rotor position depicted , coils a4-a4’ and A4-A4’ are being commutated.
 The bottom brush short-circuits the a4-a4’ coil while the top brush short-circuits the A4-
A4’ coil.
 When the assumed direction of positive current is into the paper in coil sides a1,A1:
a2,A2,….. And out in coil sides a1’,A1’ :a2,A2’ …..It is instructive to follow the path
of current one of the parallel paths from one brush to another.
 For angular position is shown in above fig.
Positive current enters the top brush and flows
down the rotor via a1 and back through a1’ ;
down a2 and back through a2’:
down a3 and back through a3’ to the bottom
brush.
 A parallel current path exists through A3-A3’
,A2-A2’ and A1-A1’.
 The open circuit voltage as shown in fig.

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 Voltage Equation
 Voltage field and coil winding

is rotor speed

is referred as back emf

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 Torque Equation
 The field winding produces stationary MMF and owing to commutation, the
armature winding also produces a stationary MMF that is displaced Π/2
electrical degrees from the MMF produced by the field winding.
 It follows then that the interaction of these two MMFs produces the
electromagnetic torque.
 The torque and rotor speed are related by
Torque Eqn:

• Torque and rotor speed equation :

J = inertia of the rotor (kg m2 or Js2 )

TL = mechanical load
Bm = mechanical damping ratio (Nms)
Te is positive in direction of θr and direction of TL opposes of Te

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 Basic Type of DC Machine (1)
 Separate Winding

• Shunt DC Machine

solving Ia and If in terms of

Va , insert in to Te yields

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Shunt Characteristic
At stall wr=0 ,the steady state current Ia
is limited only by the armature resistance.
In case of small machines, the armature
resistance large so that the starting armature
current ,which results when rated voltage is
applied ,is generally not damaging.
For large HP machines are designed with
a small resistance . Therefore , an excessive
high armature current will occur during the
starting period if rated voltage is applied to
the armature terminals.
To prevent high starting current,
resistance may be inserted to the armature
circuit at stall and may be decreased either
manually or automatically to zero as the
machine accelerates to normal operating
speed.
Steady state xics of shunt motor
 Basic Type of DC Machine (2)
 Series Winding

• Application : traction motor for train or bus, hoists and crane

• High starting torque with mechanical load at normal operation
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 Series Characteristic

If the field winding is to be a shunt

connected winding, it is wound with a
large number of turns of small diameter
wire, making the resistance of the field
winding quite large.
The series connected field winding is
in series with the armature, it is
designed to minimize the voltage drop
across it. Thus , the winding is wound
with a few turns of low resistance wire.
The stall torque is quite high it is Torque and speed characteristics
proportional to the square of the
armature current for a linear magnetic
system.
At higher rotor speeds, the torque
decreases rapidly with increasing speed.
 Compound connected dc machine

 A compound connected machine ,which is equipped with both a shunt and series field
winding.
 the shunt filed dominates the operating characteristics while the series filed which consists
of a few turns of low-resistance wire. The series field winding may be connected so as to
aid or oppose the flux produced by the shunt filed winding.

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  The voltage equations for a compound dc machine may be written as

 Series field is connected to aid the shunt field cumulative, and sires field
is connected to oppose the flux produced by shunt differential.
 For long shunt connected machine, the shunt field winding may be
connected ahead of the series filed winding(pt. A).
 For short shunt connected machine, the shunt field winding may be
connected behind the series field winding(pt. B).
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 Voltage and torque equations
 The steady-state performance of along shunt connected compound
machine may be described by following equation.

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 Problem :1
1.A permanent magnet dc motor is rated at 6V with following parameters
ra=7Ω,Laa=120mH, KT =2 OZ.in/A,J=150µOZ.in.s2 . according to the motor
information sheet, the no load speed is approximately 3350 r/min and the no load
armature current is approximately 0.15A ,calculate no-load speed, torque and Bm.
Solution:

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 The no-load rotor speed from the steady state armature voltage equation
for the shunt machine is

Now at this no-load speed

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 Problem:2

2. A permanent magnet dc motor is rated at 6V with following parameters

ra=7Ω,Laa=120mH,KT =2 OZ.in/A,J=150µOZ.in.s2 . According to the motor
information sheet, the no load speed is approximately 3350 r/min ,and operated
rated applied armature voltage and load torque TL of 0.5 OZ.in . Determine
efficiency of the machine.

From the above solution we calculated kv=1.41*10-2 and Bm=6.04*10-2N.m.s

 During steady state operation
 The steady state electromagnetic torque:

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 From above two equations we can write :

The armature voltage with Laf If=Kv ,we obtain

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 Dynamic characteristics of permanent magnet and
Shunt DC Machine
 Two modes of dynamic operation are of interesting :
 Starting from stall
 Changing in mechanical load (or)
Changes in load torque Constant voltage source

 Dynamic performance during starting:

 If the armature resistance is small damaging armature current is high it
damages the armature winding if rated voltage is applied when the
machine is stalled or starting (ωr=0).
 However ,we have noted in above problem that low permanent
magnet dc motors can start with large armature resistance making it
possible to direct line start these devices without damaging the
brushes and armature windings.
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  Starting from stall
 Initially the motor is at stall and, at time zero,
6v is applied to the armature terminals.
 The peak transient armature current is limited
to approximately 0,55A by the inductance and
resistance of the armature.
 After about 0.25s, the steady state operation is
achieved with the no load armature current of
0.15A.
 The rotor speed is slightly oscillatory
(underdamped), as illustrated by the small
overshoot of the final value.
 When starting larger hp dc machines, it is
generally necessary to limit a starting current
by phase controlling an ac to dc convertor or
by inserting a resistance in series with the
armature circuit during starting.

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 Dynamic performance during sudden changes in load torque.

DC motor 5 hp , 240 V, 127,7 rpm load 1 kg m2

Dynamic performance during sudden

increase in load torque
DC motor 200 hp, 250 V, 600 rpm

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 Time domain block diagrams and state equations
Consider only the shunt and permanent magnet dc machines.
Shunt connected dc machines
The field and armature voltage equations, and the relationship between torque and rotor
speed may be written as

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 Equations (1),(2) and (3) can be written in terms of its time constants

𝑳𝑨𝑨 𝒅
𝒗𝒂 = 𝒓𝒂 𝟏+ 𝒊𝒂 + 𝑳𝑨𝑭 𝝎𝒓𝒊𝒇
𝒓𝒂 𝒅𝒕
𝒗𝒂 = 𝒓𝒂 𝟏 + 𝝉𝒂 𝝆 𝒊𝒂 + 𝑳𝑨𝑭 𝝎𝒓𝒊𝒇−−−−−− 𝟒
𝒅
𝑯𝒆𝒓𝒆, 𝝆 ⟶
𝒅𝒕
𝑳𝑭𝑭
𝒗𝒇 = 𝑹𝒇 𝟏+ 𝝆 𝒊𝒇
𝑹𝒇

𝒗𝒇 = 𝑹𝒇 𝟏 + 𝝉𝒇 𝝆 𝒊𝒇−−−−−−−(5)

𝑻𝒆 − 𝑻𝑳 = ( 𝑩𝒎 + 𝑱 𝝆) 𝝎𝒓 − − − − 𝟔

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 𝝉𝒂 ⟶ Armature time constant
𝝉𝒇 ⟶ Field time constant
𝑺𝒐𝒍𝒗𝒊𝒏𝒈 𝒕𝒉𝒆 𝒆𝒒𝒖𝒂𝒕𝒊𝒐𝒏𝒔 𝟒 , 𝟓 𝒂𝒏𝒅 𝟔 𝒇𝒐𝒓 𝒊𝒂 ,
𝒊𝒇 , 𝒂𝒏𝒅 𝝎𝒓 𝒚𝒊𝒆𝒍𝒅𝒔

𝟏
𝒓𝒂
𝒊𝒂 = 𝒗𝒂 − 𝑳𝑨𝑭𝝎𝒓𝒊𝒇 − − − − 𝟕
𝝉𝒂 𝝆 + 𝟏
𝟏
𝑹𝒇
𝒊𝒇 = 𝒗𝒇 − − − − 𝟖
𝝉𝒇 𝝆 + 𝟏
𝟏
𝝎𝒓 = 𝑻𝒆 − 𝑻𝑳 − − − − 𝟗
𝑱𝝆 + 𝑩𝒎
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Time domain block diagram of a shunt connected dc machine

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 State equation of shunt dc machine
𝒅𝒊𝒂 𝒅𝒊𝒇
𝑺𝒐𝒍𝒗𝒊𝒏𝒈 𝒕𝒉𝒆 𝒆𝒒𝒖𝒂𝒕𝒊𝒐𝒏𝒔 𝟏 , 𝟐 𝒂𝒏𝒅 𝟑 𝒇𝒐𝒓 ,
𝒅𝒕 𝒅𝒕

𝒅𝝎𝒓
𝒂𝒏𝒅 𝒚𝒊𝒆𝒍𝒅𝒔
𝒅𝒕
From (1)
𝒅𝒊𝒂 𝒓𝒂 𝑳𝑨𝑭 𝟏
= − 𝒊 − 𝒊 𝝎 + 𝒗 — 𝟏𝟎
𝒅𝒕 𝑳𝑨𝑨 𝒂 𝑳𝑨𝑨 𝒇 𝒓 𝑳𝑨𝑨 𝒂
From (2)
𝒅𝒊𝒇 𝑹𝒇 𝟏
= − 𝒊 + 𝒗 — 𝟏𝟏
𝒅𝒕 𝑳𝑭𝑭 𝒂 𝑳𝑭𝑭 𝒇
From (3)
𝒅𝝎𝒓 𝑩𝒎 𝑳𝑨𝑭 𝟏
= − 𝝎𝒓 + 𝒊𝒇 𝒊𝒂 − 𝑻 − −(𝟏𝟐)
𝒅𝒕 𝑱 𝑱 𝑱 𝑳

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 State equations in matrix form or vector matrix form

−𝑹𝒇 𝟏
𝟎 𝟎 𝟎 𝟎 𝟎
𝑳𝑭𝑭 −𝑳𝑨𝑭𝝎𝒓 𝑳𝑭𝑭
𝒊𝒇 −𝒓𝒂 𝒊𝒇 𝒗𝒇
𝟏
𝜌 𝒊𝒂 = 𝟎 𝟎 𝒊𝒂 + 𝑳𝑨𝑨 + 𝟎 𝟎 𝒗𝒂
𝑳𝑨𝑨 𝑳𝑨𝑭𝒊𝒇 𝒊𝒂 𝑳𝑨𝑨 𝑻𝑳
𝝎𝒓 𝝎𝒓
−𝑩𝒎 −𝟏
𝟎 𝟎 𝑱 𝟎 𝟎
𝑱 𝑱

Note: The second term on the right side contains the product of state
variables causing the system to be nonlinear.

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 Series machine:
 In this case Vt =Vfs +Va , ia=ifs ,
hence

 The above equation solved for ia

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  The electromagnetic torque becomes: Te=LAFSia2

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Permanent Magnet dc Machine
PHYSICAL STRUCTURE
𝒗𝒇 𝒊𝒔 𝒆𝒍𝒊𝒎𝒊𝒏𝒂𝒕𝒆𝒅
𝑳𝑨𝑭𝒊𝒇 𝒊𝒔 𝒓𝒆𝒑𝒍𝒂𝒄𝒆𝒅 𝒃𝒚 𝒌𝒗
𝒌𝒗 𝒊𝒔 𝒅𝒆𝒕𝒆𝒓𝒎𝒊𝒏𝒆𝒅 𝒃𝒚
Strength of the magnet
Reluctance of the iron
No. of turns in the armature
winding
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 W.K.T

Above eqns. (1) and (2) can be written in terms of its time constants

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 Time domain block diagram of a permanent magnet DC machine

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 State Equation of a permanent magnet DC machine

From (1)

From (2)

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 The form in which the state equations are expressed in above eqn.
is called the fundamental form.

OR

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