3

DC MACHINES
PART I : BASIC PRINCIPLES



192221 ELECTRICAL MACHINES I
1
Contents
- Electromagnetic conversion
- Basic structure of electric machines
- Evolution of DC machines
- Armature windings
- Armature voltage
- Developed (Electromagnetic) torque
- Magnetization (Saturation) curve
- Armature reaction
- Classification of DC machines
2
Electromagnetic Conversion
GENERATOR
MOTOR
Electrical
system
Mechanical
system
ELECTRIC
MACHINE
voltage
current
(e,i)
torque
speed
(T,n)
Energy flow
Coupling
Magnetic fields
(,B,H)
3
x x
x x
x x
x x
x x
x x
x x
x x
v
v
F
B
F = electromagnetic force on an electric charge
q = electric charge (Coulomb)
v = speed (m/s)
B = magnetic flux density (Tesla)
sin F qvB u =
( ) F q v B =

u
x x
x x
x x
x x
F
q
Electromagnetic Force :
4
x x
x x
x x
x x
x x
x x
x x
x x
+
-
v
l
e
v
e
B
Motional Voltage :
When a conductor moves in a magnetic field, voltage is
induced in the conductor.
sin e vBl u =
( ). e v B l =


u
5
x x
x x
x x
x x
x x
x x
x x
x x
F
l
i
F
i
B
Electromagnetic Force :
When a current-carrying conductor is placed in a magnetic
field, the conductor experiences a mechanical force.
sin F iBl u =
( ) F i l B =

u
6
v
e
B
F
i
B
Right Hand Rule
(for Generator)
Left Hand Rule
(for Motor)
Motion(v) Voltage(e) Current(i) Motion(f)
7
Cylindrical Machine
(uniform air gap)
Salient Pole Machine
(nonuniform air gap)
Basic Structure of Electric Machines
8
STATOR
The part of the machine does not move and normally is the
outer frame of the machine.
ROTOR
The part of the machine is free to move and normally is the
inner part of the machine.
ARMATURE WINDING
The winding in which voltage is induced.
FIELD WINDING
The winding through which a current is passed to produce
the primary source of flux in the machine.
9
x
x
Field windings
Fieldwindings
Armature windings
DC MACHINE
10
Synchronous Machine
Field windings
(DC current)
Armature windings
(AC current)
Rotor Speed =
s
AC MACHINE
Induction Machine
Armature /Field windings
(AC current)
Rotor Speed >
s
Generator
Rotor Speed <
s
Motor

s
= Synchronous Speed
11
Construction of DC machine
12
13
Evolution of DC Machines
b
1
b
2
s
1
s
2
b
1
b
2
s
1
s
2
1 2
ab s
1
b
1
cd s
2
b
2
s
1
, s
2
: slip ring
b
1
, b
2
: carbon brush
14
15
v
e
B
ind
e

v
v
B
B
+

a
b
+

d
c
B
e
ab
B
16
Right Hand Rule
+

a
b
+

d
c
B
V
t
e
ab
b
1
b
2
s
1
s
2
1
2
b
c
17
c
1
, c
2
: commutator
b
1
, b
2
: carbon brush
b
1
b
2
c
1
c
2
b
1
b
2
ab c
1
b
1
or b
2
cd c
2
b
2
or b
1
b
1
.
x
18
+

a
+

d
B
V
t
e
ab
1
2
b
c
b
1
b
2
c
1
c
2
.
x
19
2 poles, 4 slots
20
21
Voltage at commutators
A 2-pole, 4-turn machine
A 2-pole, 6-turn machine
22
ab
e
12
e
12,avg
E
u
u
u
Single turn machine
Multi-turn machine (six-turn)
23
360
1 pole pitch = 180
o
o
md
ed
p
=
=
2
ed md
p
u u
electrical degrees
mechanical degrees
Electrical degree VS Mechanical degree
24
Armature Windings
turn coil
winding
There are 2 kinds of interconnection :
(1) Lap winding
(2) Wave winding
25
progressivewinding
retrogressivewinding
LAP WINDING
WAVE WINDING
26
progressive winding
retrogressive winding
27
(1) Lap winding
4 poles
16 coils
16 slots
16 com.
4 brushes
28
+ +

Unrolled winding (for lap winding)
a b c d e f g h i j k l m n o p a
1-1 2-2 3-3 4-4 5-5 6-6 7-7 8-8 9-9 10-1011-1112-1213-1314-1415-1516-16
+ +

1 2
29
g o
c
k
h
p
d l
6
3
15
2
7
10
14
11
7
14 8 15
4
1 11 12
30
Equivalent coil representation (for lap winding)
31
(2) Wave winding
4 poles
9 coils
18 slots
9 com.
2 brushes
32
+

+
Unrolled winding (for wave winding)
a f b g c h d i e a
1-1 6-6 2-2 7-7 3-3 8-8 4-4 9-9 5-5
+

+
33
Equivalent coil representation (for wave winding)
34
Lap winding Wave winding
Coil (C) even number odd/even number
Slot (N
slot
)
C 2C
Commutator
(N
com
)
C
Brush (N
B
)
p 2m
Coil pitch
2/P
Commutator
pitch*
Current path
2( 1)
c
C
y
p

=
c
y m =
a mp =
2 a m =
p = the number of poles, C = the number of coils
m = 1 for simplex winding
* + for progressive winding, - retrogressive winding
35
A two-pole lab wound dc machine
36
A six-pole lab wound dc machine
37
Armature Voltage
2 ( ) 2 ( )
t m
e B lv B l r u u e = =
t
e
2 ( )
t m
e B l r u e =
( )
2
p
B
A rl
| |
u
t
= =

m
v
v
+

a
b
+

d
c
e
ab
( ) B u
( ) B u
( ) B u
e
cd
r
r
l
u
N
S
38
m
t
p
e
| e
t
=
t
a
Ne
E
a
=
a m a m
Np
E K
a
|e |e
t
= =
2
a
Np Zp
K
a a t t
= =
Average induced voltage (per turn) :
Armature voltage :
Machine constant :
(Armature constant)
N = the number of turns of armature winding
a = the number of current paths
Z = the number of conductors in slots
p = the number of poles
a
E
39
Developed (Electromagnetic) Torque
a
c c
I
f Bli Bl
a
= =
c c
T f r =
2
a a
c
I pI
T Bl r
a a
|
t
| |
= =
|
\ .
Electromagnetic Force :
a
e a a
N pI
T K I
a
|
|
t
= =
Torque (on each conductors) :
Average Torque :
Electromagnetic Torque :
2
c
e
T NT =
a
I
c
i
f
c
B
B
f
c
r
.
x
40
Magnetization (Saturation) Curve
y
R
y
R
p
R
p
R
g
R
g
R
r
R
|
p
F
p
F
p
F
' '
p
c g
F
R R
| =
+
41
r
E
a
E
f
I
r
E
a
E
f
I
1 2
n n >
1
n
2
n
a a m a
E K E |e | =
p f f f p
F N I I F =
constant n =
42
EX 1 A dc machine has the rating of 25kW, 250V, 1200 RPM.
Draw the magnetization curve of the dc machine at 1200 RPM
and 1000 RPM.
The magnetization curve data at 1200 RPM are provided in the
table below :
I
f
0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 1.0 1.2 1.4
E
a,n1
5 80 136 173 200 219 232 242 250 260 265 270
E
a,n2
4.2 67 113 144 167 183 193 202 208 217 221 225
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The magnetization curve of the dc machine in ex.1
at 1200 RPM and 1000 RPM
44
Armature reaction
- The demagnetizing effects due to fluxes produced by the
armature winding.
- They are cause of field weakening and neutral plane
shifting.
Armature Reaction
45
Neutral plane
46
-
e
+
-
e
+
-
e
+
-
e
+
Shifted Neutral plane
SC
I
SC
I
Arc & spark in brushes
Neutral Plane Shifting
47
Field Weakening
No load
No load
a a
F F A = +A
a a
| | A > +A
a
E | + +
48
Effects of Armature Reaction on Pole mmf
49
(1) Interpoles or Commutating poles
- Reduce the effects of armature reaction near commutators.
(2) Compensating windings
- Reduce the effects of armature reaction near main poles.
Solutions to the Problem of Armature Reaction
50
(1) Interpoles or commutating poles
a
|
int
|
51
(2) Compensating winding
52
Cancellation of AR-mmf and Compensating mmf
53
54
Classification of DC Machines
(1) Separately excited dc machine
(2) Self-excited dc machine
Shunt dc machine Series dc machine
Short Shunt
Long Shunt
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