THEORY OF DC MACHINES

DC machines application not widely used

DC generator is replaced by rectifier
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.

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 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.

Voltage Equation
Voltage equation for field winding and rotor coil

Flux linkage :

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

r = 0, , 2 , ........
L= Constant

 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 c=0,,2,etc.

which is rotor position during commutation.

 The open circuit voltage corresponding to the rotor position denoted as

ca, cb, cc 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<
c<.for < c <2 ,positive current is down coil side a and out of coil
side a.

DC Machine with paralel winding

A practical dc machine with rotor equipped
with an a winding and an A winding.

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 shortcircuits 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.

Voltage Equation
Voltage field and coil winding

is rotor speed

is referred as back emf

Torque Equation
The field winding produces stationary MMF and owing to
commutation, the armature winding also produces a stationary
MMF that is displaced /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 r and direction of TL opposes of Te

Basic Type of DC Machine (1)

Separate Winding

Shunt DC Machine

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.

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

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
proportional to the square of the
armature current for a linear magnetic
system.
At higher rotor speeds, the torque
decreases rapidly with increasing speed.

Torque and speed characteristics

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.

 The voltage equations for a compound dc machine may be

written as

For long shunt connected machine, the shunt field winding may
be connected ahead of the series filed winding(in fig.2.4.8A).
For short shunt connected machine, the shunt field winding
may be connected behind the series field winding(in fig.2.4.8
B).

Voltage and torque equations

The steady-state performance of along shunt connected
compound machine may be described by following equation.

Problem :1
1.A permanent magnet dc motor is rated at 6V with following parameters
ra=7,Laa=120mH,KT =2 OZ.in/A,J=150OZ.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:

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

Now at this no-load speed

Problem:2

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

ra=7,Laa=120mH,KT =2 OZ.in/A,J=150OZ.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*10-2

N.m.s
During steady state operation
The steady state electromagnetic torque:

From above two equations we can write :

The armature voltage with Laf If=Kv ,we obtain

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)
Constant voltage source
Changes in load torque
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 (r=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.

Starting characteristics of
permanent magnet DC motor

Direct on line starting for small power,

Current starting limitation in large hp motor

Example 2A characteristics

Dynamic performance during

sudden changes in load torque.

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

Permanent magnet dc motor chars

when sudden changes in load
DC motor 200 hp, 250 V, 600 rpm

Time domain block diagrams and state equations

Shunt connected dc machine

W.K.T
= +
= +

= +
+

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

+
+

= + +

= + (5)
= ( + )

 Armature time constant

Field time constant
, ,
,

=
+

Time domain block diagram of a shunt connected dc machine

State equation of shunt dc machine

,

From (1)

=

+

From (2)

=
+

From (3)

=
+

()

State equations in matrix form or vector matrix form

+ +

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

Series machine:

In this case Vt =Vfs +Va , ia=ifs ,

hence

The above equation solved for ia

 The electromagnetic torque becomes: Te=LAFSia2

Permanent Magnet dc Machine

Strength of the magnet
Reluctance of the iron
No. of turns in the armature
winding

W.K.T

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

Time domain block diagram of a permanent magnet DC machine

State Equation of a permanent magnet DC machine

From (1)

From (2)

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

OR