9.

DC Machines

Electromechanical Energy Conversion Systems

Outline

 Introduction to DC machines

 Induced voltage, torque and power

 Equivalent Circuts of DC motors

 Starting, Speed Control and Braking of DC motors

 DC generators

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 9.1 Introduction to DC Machines

Introduction

• A DC Machines can be used as either a DC generator or a DC

motor.
• DC generators
- To convert mechanical energy to electrical energy.
- Limited use due to solid state rectifier.
• DC motors
- To convert electrical energy to mechanical energy
- Widely used
- Main feature: speed control is simple and cheap

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 DC Machines Construction

cutaway view of a dc machine

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DC Machines Construction

cutaway view of a dc machine

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 DC Machines Construction

Rotor (armature) of a dc machine brushes

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DC Machines Construction

Stator of a dc machine
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 9.2 Induced Voltage, Torque and
Power

Induced Voltage Equations in DC Machine

The induced voltage in any given machine depends on three factors:

1. The flux ϕ in the machine

2. The speed ωm of the machine's rotor
3. A constant depending on the construction of the machine

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 Induced Voltage Equations in DC Machine

Z Z
E A    e    vB
a a
v  r m
Zr mB
EA 
a
2 r 
Flux per pole  = BAP  B
P
Therefore,

Where:  PZ 
EA    m  Km
 2 a 
K is a machine’s constant
Z is total number of conductors 2
m  nm
P is number of pole 60
a is the number of current paths  PZ 
EA     nm  K  nm
11  60a 

Induced Torque Equations in DC Machine

The torque in any dc machine depends on three factors:

1. The flux ϕ, in the machine
2. The armature (or rotor) current IA in the machine
3. A constant depending on the construction of the machine

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Induced Torque Equations in DC Machine
The torque in any single conductor under the pole faces can be
defined as
 cond  ri cond B
IA
i cond 
a
rBI A
 ind Z
a
2 r 
The flux per pole  = BAP  B
P
Therefore,
 PZ 
 ind     I A  KI A
 2 a 

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Example:

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Example:

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Armature Reaction

If the magnetic field windings of a DC machine are connected to

the power source and the rotor is turned by an external
means, a voltage will be induced in the conductors of the rotor.

This voltage is rectified and can be supplied to external loads.

However, if a load is connected, a current will flow through the
armature winding.

This current produces its own magnetic field that distorts the
original magnetic field from the machine’s poles. This distortion
of the machine’s flux as the load increases is called armature
reaction.

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Power Flow and Losses in DC Machines

The losses that occur in dc machines can be divided into five basic
categories:

1. Electrical or copper losses (I2R losses)

2. Brush losses
3. Core losses
4. Mechanical losses
5. Stray losses

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Power Flow and Losses in DC Machines

Generator operation

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 Power Flow and Losses in DC Machines

out

Motor operation

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There are five major types of dc motors in general use:

1. The separately excited dc motor
2. The shunt dc motor
3. The series dc motor
4. The compounded dc motor
5. The permanent-magnet dc motor

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 9.3 The Equivalent Circuit of a
DC Motor

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The Equivalent Circuit of a DC Motor

 Internal generated voltage Induced torque

E A  K  ind
 KI A

The equivalent circuit of a dc motor

A simplified equivalent circuit

(eliminating the brush voltage drop and
combining Radj with the internal field
resistance)
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 The Magnetization Curve of a DC Machine

mmf  NF IF E A  K

ϕ∝ ∝ ϕ

The magnetization curve (ϕ vs F) The magnetization curve expressed as a

plot of EA vs. IF, for a fixed rotor speed
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Separately Excited DC Motor

A separately excited dc motor is a motor whose field circuit is
supplied from a separate constant-voltage power supply.

The equivalent circuit of a separately excited dc motor

E A  Km
 ind
 KI A
VF
IF 
RF
VT  E A  RAI A IL =I A
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 Shunt DC Motor

VT RA Torque-speed
E A  Km  m   2  ind
characteristic equation
 K  K 
 ind  KI A
V  E  R I
 T A A A

I A =IL  IF
VT
IF 
RF

A shunt dc motor is a motor whose field circuit gets its power

directly across the armature terminals of the motor.

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Shunt DC Motor Torque-Speed Characteristic

VT RA This equation is just a straight line with a

 m
 2  ind
K  K  negative slope.

Applications:
Lathes,
Fans,
Pumps,..

Torque-speed characteristic of a shunt dc with and without

armature reaction
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Example: A 50-hp, 250-V, 1200 r/min dc shunt motor with compensating
windings has an armature resistance (including the brushes, compensating
windings, and interpoles) of 0.06 Ω. Its field circuit has a total resistance
Radj + RF of 50 Ω, which produces a no-load speed of 1200 r/min. There are
1200 turns per pole on the shunt field winding

(a) Find the speed of this motor when its input current is 100 A.
(b) Find the speed of this motor when its input current is 200 A.
(c) Find the speed of this motor when its input current is 300 A.
(d) Plot the torque-speed characteristic of this motor.

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The torque speed characteristic

of the motor

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Example: A 50-hp, 250-V, 1200 r/min shunt dc motor has a rated
armature current of 170 A and a rated field current of 5 A. When its rotor
is blocked, an armature voltage of 10.2 V (exclusive of brushes) produces
170 A of current flow, and a field voltage of 250 V produces a field current
flow of 5 A. The brush voltage drop is assumed to be 2 V. At no load with
the terminal voltage equal to 240 V, the armature current is equal to 13.2 A,
the field current is 4.8 A, and tbe motor's speed is 1150 r/min.

(a) How much power is output from this motor at rated conditions?

(b) What is the motor's efficiency?

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 Accounting for Armature Reaction

 The mmf of the main magnet is reduced by the equivalent mmf

of the armature reaction, FAR

Fnet  NF IF  FAR

 The reduced mmf results in a reduced induced voltage which

may be calculated by locating and equivalent field current, IF* as

FAR
IF*  IF 
NF

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Series DC Motor

A series dc motor is a dc motor whose field windings consist of

a relatively few turns connected in series with the armature
circuit.
Equivalent circuit

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 Series DC Motor

 Torque-Speed Characteristics

  cI (assuming linear magnetization)

A

  KI  KcI
ind A
 ind  I A2
2
A


IA  ind

Kc

VT  E A  I A  RA  RS   Km  ind
R A
 RS 
Kc
Solving for m ,

 
VT  R  RS 
 A
m
 ind Kc Kc

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Derivation of the speed formula

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 When the torque goes to zero, the
motor speed goes to infinity.

Never completely unload a series

motor, and never connect one to a
load by a belt or other mechanism
that could break. If that were to
happen and the motor were to
become unloaded while running, the
results could be serious.

The torque-speed characteristic of a series dc motor.

Applications: Electric traction, high speed tools,..

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Example: Consider a 250-V series dc motor with compensating windings,

and a total series resistance RA + Rs of 0.08 Ω. The series field consists of 25
turns per pole, with the magnetization curve shown below.
Find the speed and induced torque of this motor for when its armature
current is 50 A.

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 The Compound DC Motor
 A motor with both shunt and series field windings
Current flowing into a dot
produces a positive mmf.

The equivalent circuit of a compound dc motor: (a) long-shunt connection

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(b) short-shunt connection

The Compound DC Motor

VT  E A  I A  RA  RS 
I A  IL  IF
VT
IF 
RF
Fnet  FF  FSE  FAR
NSE F
IF*  IF  I A  AR
NF NF
 Cumulatively Compounded
 Differentially Compounded

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 Torque-Speed Characteristic of a Compounded DC Motor

The cumulatively compounded dc motor combines the best features

of both the shunt and the series motors.
Like a series motor, it has extra torque for starting;
like a shunt motor, it does not overspeed at no load.

Applications: Rolling mills

and other loads requiring
large momentary torques.

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Example: A I00-hp, 250-V compounded dc motor with compensating

windings has an internal resistance, including the series winding, of 0.04 Ω.
There are 1000 turns per pole on the shunt field and 3 turns per pole on the
series winding. The magnetization curve of the machine is shown below. At no
load, the field resistor has been adjusted to make the motor run at 1200 r/min.
The core, mechanical, and stray losses may be neglected.

(a) What is the shunt field current in this machine at no load?

(b) If the motor is cumulatively compounded, find its speed when IA = 200 A
(c) If the motor is differentially compounded, find its speed when IA = 200 A

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9.4 Starting, Speed Control and

Braking of DC Motors

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 Starting of DC motors
If a dc motor is directly connected to a dc power supply, the starting
current will be dangerously high.

The starting current can be limited to a safe value by using the

following methods:

1. Insert an external resistance at start,

2. Use a low dc terminal voltage at start (requires a variable-voltage)

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Example: Consider a 100-hp, 250-V, 350-A shunt dc motor with an

armature resistance of 0.05Ω. We wish to design a three-stage starter
circuit for this motor which will limit the maximum starting current to
twice its rated value and which will switch out sections of resistance as the
armature current falls to its rated value.

Determine the values of each stage starting resistance.

Contactors

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Speed control of DC motors

The three most common speed-control methods for dc motors:

1. Adjustment of the flux, usually by means of field-current control,
2. Adjustment of the armature terminal voltage,
3. Adjustment of the resistance associated with the armature
circuit.

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 Speed Control of Shunt DC Motors

 Torque-speed equation slope  

RA
VT 2
 K 
K
VT RA
  m
 2  ind
K  K 

 For any given load, The load line and hence speed may be
varied by

o Terminal Voltage VT.

• The less common method is by inserting
a resistor in series with the armature
o Field Flux  circuit.

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Speed Control by Changing the Motor Flux (via RF)

VT
IF  
RF 

E A  K  m

VT  E A 
I A 
RA
 
ind

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 Speed Control by Changing the Motor Flux (via RF)

Field resistance control can control the speed of the motor for
speeds above base speed but not for speeds below base speed.

To achieve a speed slower than base speed by field circuit control

would require excessive field current, possibly burning up the field
windings.

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Speed Control by Changing the Armature-Voltage

The armature voltage is changed without changing the field voltage.

The motor must be separately excited to use armature voltage control.
VA  E A
I A 
RA

  KI 
ind A

 ind
  load  m 
E A  Km 
VA  E A 
I A   ind 
RA
m    ind   load
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 Speed Control by Changing the Armature-Voltage

Armature voltage control can control the speed of the motor for
speeds below base speed but not for speeds above base speed.

To achieve a speed faster than base speed by armature voltage

control would require excessive armature voltage, possibly damaging
the armature circuit.

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Speed Control by Inserting a Resistor in Series With the Armature Circuit

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Example: Consider a 100-hp, 250-V, 1200 rpm shunt dc motor with an
armature resistance of 0.03Ω and a field resistance of 41.67Ω. The motor
has compensating windings, so armature reaction can be ignored.
Mechanical and core losses may be assumed to be negligible for the
purposes of this problem. The motor is assumed to be driving a load with a
line current of 126 A and an initial speed of 1103 rpm. To simplify the
problem, assume that the amount of armature current drawn by the motor
remains constant.

If the machine's magnetization curve is given below, what is the motor's

speed if the field resistance is raised to 50Ω?

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Example: Consider a 100-hp, 250-V, 1200 rpm separately excited dc
motor with an armature resistance of 0.03Ω and a field resistance of
41.67Ω. The motor is initially running with VA = 250 V, IA = 120 A, and
n = 1103 rpm, while supplying a constant-torque load. What will the
speed of this motor be if VA is reduced to 200 V?

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 Braking of dc motors

1. Plugging or reverse current braking

2. Rheostatic or dynamic braking
3. Regenerative braking

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9.5 DC Generators

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 DC Generators

There is no real difference between a generator and a motor

except for the direction of power flow.

There are four major types of dc generators, classified according to

the manner in which their field flux is produced:

1. Separately excited generator

2. Shunt generator
3. Series generator
4. Compounded generator: - Cumulatively compounded generator
- Differentially compounded generator

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Thanks for your attention..

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