CHAPTER 8 DC MACHINERY FUNDAMENTALS

Summary:
1. A Simple Rotating Loop between Curved Pole Faces
The Voltage Induced in a Rotating Loop
Getting
Getting DC voltage out of the Rotating Loop
The Induced Torque in the Rotating Loop
2. Problems with Commutation in Real Machine
Armature Reaction
L di/dt Voltages
Solutions to the Problems with Commutation
3. The Internal Generated Voltage and Induced Torque
Equations of Real DC Machine
4. The Construction of DC Machine
5 Power Flow and Losses in DC Machines
5.
DcmotorAnimation

Magnetic Induction and the DC Generator

MagneticInductionandtheDCGenerator
FaradaysLawe=Nd /dt
e= theinducedvoltageinvolts(V)
N= thenumberofseriesconnectedturnsofwireinturns
(t)
d/dt = rateofchangeinfluxinWebers/second(Wb/s)
e= BLv
B= thefluxdensityinteslas (T)
L= thelengthoftheconductorthatisinthemagneticfield
in meters (m)
inmeters(m)
v= therelativevelocitybetweenthewireandtheflux,in
meters/second(m/s)
2

Magneticinductioninawiremovinginafield.

Righthand
Right
handruleformagneticinduction.
rule for magnetic induction.

Wire loop rotating in a magnetic field.

Wirelooprotatinginamagneticfield.

AC generator with slip rings and brushes.

ACgeneratorwithslipringsandbrushes.

xxx
x

yyy
y

DCgeneratorwithcommutator andbrushes.

bc

ad

cb

da

DC generator output waveform.

DCgeneratoroutputwaveform.

DCgeneratorwithfieldcontrol.

10

DC generator fourpole
DCgeneratorfour
polefield.
field.

11

DC generator rotor with two coils.

DCgeneratorrotorwithtwocoils.

12

Coilandoutputwaveformsforatwowinding
rotor.

13

154
15
4MotorActionandtheDCMotor
Motor Action and the DC Motor
F=BLI
F=theresultingmechanicalforceinnewtons(N)
B=thefluxdensityinteslas(T)
L=theeffectivelengthofthewire(meters)inthefieldmultipliedby
the number of turns
thenumberofturns
I=thecurrentintheconductorinamperes(A)

Ia(start) =(Vt Vb)/Ra

Ia(start) =thearmaturestartingcurrentinamperes(A)
= the armature starting current in amperes (A)
Vt =theappliedvoltageinvolts(V)
Vb =thebrushdropinvolts(V)
Ra =thearmatureresistanceinohms()
the armature resistance in ohms ()

Ia =(Vt Vb Vcemf)/Ra

Vcemf =theinducedcounteremfinthearmaturewindingsinvolts(V).

14

Forceonacurrentcarryingwireina
magneticfield.
i fi ld

15

Fluxcompressionandresultingforce.

16

Simple dc motor.
Simpledcmotor.

17

DCmotorwithelectromagneticfield.

18

Segments

b
Mica

Bruches

DCMachines Construction

20

Rotorwithseveralrotorcoilsand
commutatorsegments.

21

DC Machines Construction
DCMachines

BadariahBais

KKKF163IntroductiontoEESemII
2006/07

22

b
a

DCgeneratorwithcommutator andbrushes.

Q v = r

TheAreaUnderpolefaces

AP = rl

rl =

AP

In general
general, the voltage in any real machine will
depend on the same 3 factors:
the flux in the machine
The speed of rotation
A constant representing the
construction of the machine.

The Induced Torque in the Rotating Loop

The resulting total induced torque
in the loop is:

ind = 2 rilB
ilB
The Area Under pole faces
TheAreaUnderpolefaces

AP = rl
rl =

AP

thetorqueexpressioncanbereducedto:

ind = i

ind = i

In general, the torque in any real machine will depend on

the same 3 factors:
1.The flux in the machine
2.The current in the machine
3.A constant representing the construction of the
machine.

Elements of an armature windings

Elementsofanarmaturewindings
Theanglebetweencentersofadjacentpolesis180o(electrical)
Ifcoilsidesareplaced180o electricalapart, thecoilissaidtobefullpitch
N
a
a
180oelec

Elementsofanarmaturewindings
g

The most common ways of connecting coils for armature windings:

Themostcommonwaysofconnectingcoilsforarmaturewindings:

Lapwinding
Wavewinding
E d f th
Endsofthecoilsareconnectedtothecommutator
il
t d t th
t t bars
b
InDCmachinesmostofthecoilsarefullpitch.

Elementsofanarmaturewindings
Lap winding
Lapwinding

Commutatorbar

Onecoilbetweenadjacentcommutator bars
1/poftotalcoilsareconnectedinseries
No.ofpoles
No of poles no.
no ofbrushes
of brushes no.ofparallelpaths
no of parallel paths

Elementsofanarmaturewindings
g

Elementsofanarmaturewindings
Wavewinding

p/2coilsinseriesbetweenadjacentcommutator
/2 il i
i b
dj
b
bars
ofallcoilsbetweenbrushes
Regardlessofno.ofpoles,therearealways2parallelpath
Thedistancebetweenendcoils(commutator
(
pitch)) is2(C1)/p
p
(
)/p
whereCistheno.ofcommutator bars

Elementsofanarmaturewindings
g

 Theripplecanbefurtherreducedbytheuseofa
e pp e ca be u t e educed by t e use o a
cylindricalironcoreandbyshapingthepole
pieces
thisproducesan
approximately
uniform field in the
uniformfieldinthe
narrowairgap
thearrangement
ofcoilsandcore
f il
d
isknownasthe
armature

 Afour
A fourpole
poleDCgenerator
DC generator

Rotorwithseveralrotorcoilsand
commutator segments.

44

TheInternalGeneratedVoltageandInducedTorqueEquationsof
RealDCMachine
Thevoltageinanysingleconductorunderthepolefaceswaspreviously
shown to be
showntobe

eind per conductor = e = vBl

Thevoltageoutofthearmatureofarealmachineisthus:
The
voltage out of the armature of a real machine is thus E A =

ZvBl
a

WhereZisthetotalnumberofconductorsandaisthenumberofcurrentpaths.

Q v = r

A 2rl
AP = =
P
P

B (2rl ) 2rlB rlB = P

= BAP =
=
2
P
P
P Z ZP
EA =
=
= K
2 a
2a

ZP
K=
2a

ZrBl
EA =
a

Ia

ArmatureReaction
C

If

m
x

If

Ia

ArmatureReaction
C

If

x
x

If

Ia

ArmatureReaction
C

If

m
x

If

Ia

TheInternalGeneratedTorqueEquationsofRealDCMachine
Theforceinanysingleconductorunderthepolefaces:
y g
p

Find per conductor = f = iBl

Thetorqueinanysingleconductorunderthepolefaces

Tind per conductor = fr = iBlr

The torque out of the armature of a real motor is thus
Thetorqueoutofthearmatureofarealmotoristhus:

Tind =

ZI a Blr
a

WhereZisthetotalnumberofconductorsandaisthenumberofcurrentpaths.

A 2rl
AP = =
P
P

B (2rl ) 2rlB rlB = P

= BAP =
=
2
P
P
Tind

ZP
=
I a = KI a
2a

ZP
K=
2a

Tind

P ZI a
=
2 a
PZ
=
I a
2a

The Power-Flow Diagram:

Classification Of DC Machines

DC Generator
Self Excited

(b)

((c))

Long shunt

Short shunt

Load
L

(a)

Compound Field

Load
L

Shunt Field
Loaad

Series Field
Load
d

Load

Separetly Excited

(d)

DC Mortor
Separetly Excited

Self Excited
Series Field

Shunt Field

Compound Field
Long shunt

Short shunt
(a)
(b)

( )
(c)
(d)

. The Equivalent Circuit of a DC Motor

The internal generated voltage is given by:

P Z ZP
EA =
=
= K
2 a
2a
the torque induced is
thetorqueinducedis

Tind

ZP
=
I a = KI a
2a

TheMagnetizationCurveofaDCMachine

SeparatelyExcitedandShuntDCMotors

VT = EA + IARA

The Terminal Characteristics of a Shunt DC Motor

E = K em

V = E + I a Ra

V = K em + I a Ra
V
Ra
m =

Ia
K e K e

T = K e I a

T
Ia =
K e

Ra
V
m =

Tind
2
K e (K e )

NonlinearAnalysisofaShuntDCMotor
The total mmf in a shunt dc motor is the field circuit mmf less the mmf due to
armature
t
reaction
ti (AR):
(AR)

Fnet = NFIF - FAR

Th equivalent
The
i l t fi
field
ld current:
t

I F*

FAR
= IF
NF

EA
n
=
E A0 n0

Example9.2
A 50HP, 250V, 1200r/min DC shunt motor without compensating windings
has an armature resistance (including the brushes and interpoles) of 0.06
0 06
. Its field circuit has a total resistance R-adj -+ R-F- of 50 , which produces
a no-load speed of 1200r/min. There are 1200 turns per pole on the shunt field
winding, and the armature reaction produces a demagnetising magnetomotive
force of 840 A turns at a load current of 200A. The magnetization curve of this
machine is shown below:

(a) Find the speed of this motor

when its input current is 200A.
(b) This motor is essentially
identical to the one in Example
9.1 except for the absence of
compensating windings. How
does its speed compare to that
of the previous motor at a load
current of 200A?

VT
Ia = I L I F = I L
RF

250
I a = 200
= 195A
50

Speed Control of Shunt DC Motors

Adjusting the field resistance RF (and thus the field flux)

Adjusting the terminal voltage applied to the armature.
L
Less
common method:
th d
Inserting a resistor in series with the armature circuit.

Changing the Field Resistance

V E

IF=VT/RF
EA(=Kw),
I A = T R A
A
Figureaboveshowsashuntdcmotorwithaninternalresistanceof
0.25.Itiscurrentlyoperatingwithaterminalvoltageof250Vandan
internal generated voltage of 245V Therefore the armature current
internalgeneratedvoltageof245V.Therefore,thearmaturecurrent
flowisIA =(250V245V)/0.25=20A.
Whathappensinthismotorifthereisa1%decreaseinflux?Iftheflux
decreaseby1%,thenEAmustdecreaseby1%too,becauseEA=Kfw.
Therefore,EAwilldropto:
EA2 =0.99EA1
EA2
0.99 EA1 =0.99(245)
0.99 (245) =242.55V
242.55V
The armature current must then rise to
IA = (250-242.55)/0.25 = 29.8 A
Thus a 1% decrease in flux produced a 49% increase in armature current
Thus,
current.
So, to get back to the original discussion, the increase in current predominates over
the decrease in flux. so, ind>load , the motor speeds up.

However, as the motor speeds up, EA rises, causing IA to fall. Thus, induced
torque ind drops too, and finally ind equals load at a higher steady-sate speed than
originally.

IncreasingTind makesTind >TLoad ,andthespeedincreases

Increasesspeedtoincreases EA (=Kw

),

The effect of field resistance RF speed

p
control on a shunt motors torqueq
speed characteristics.
over the motors normal operating range
over the entire range from no load to stall conditions

Th Effect
The
Eff t off an Open
O
Field
Fi ld Circuit
Ci
it

Changing the Armature Voltage

This method involves changing the voltage applied to the armature of the motor
without
ith t changing
h
i th
the voltage
lt
applied
li d to
t the
th fi
field.
ld
If the voltage VA is increased, then the IA must rise [ IA = (VA -EA)/RA]. As IA
increases the induced torque ind =K increases,
increases,
increases making ind > load , and the
speed of the motor increases.
But, as the speed increases,
But
increases the EA ((=K)
K) increases
increases, causing the armature
current to decrease. This decrease in IA decreases the induced torque, causing ind =
load at a higher rotational speed.

Inserting a Resistor in Series with the Armature Circuit

V
RA
= T
ind
2
K ( K )

Theinsertionofaresistorisavery
wastefulmethodofspeedcontrol,
sincethelossesintheinserted
i
th l
i th i
t d
resistorareverylarge.Forthis
reason,itisrarelyused.

Safe Ranges of Operation for the 2 common methods

FieldResistanceControl
Armature Voltage Control

Example9.3
Figure above shows a 100hp, 250 V, 1200 r/min shunt dc motor with an armature
resistance of 0.03 ohms and a field resistance of 41.67 ohms. The motor has
compensating
ti windings,
i di
so armature
t
reaction
ti can b
be iignored.
d M
Mechanical
h i l and
d 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 126A and an initial speed of 1103
r/min. To simplify the problem, assume that the amount of armature current drawn by
the motor remains constant.
(a) If the machines magnetization curve is as in Example 9.2, what is the motors speed
if the field resistance is raised to 50 ohms?

Ea1 = VT I a1Ra = 250 120 * 0.03 = 246 .4V

Example 9.4
The motor in Example 9.3 is now connected separately excited as shown below.
The motor is initially running with V-A- = 250V, I-A- = 120A, and n= 1103 r/min,
while supplying a constant-torque load. What will the speed of this motor be if
V-A- is reduced to 200V?

TheSeriesDCMotor
A series DC motor is a dc motor whose field windings consist of
relatively
l ti l few
f
turns
t
connected
t d in
i series
i with
ith th
the armature
t
circuit.
i it

Th KVL ffor thi

The
this motor
t is
i VT

= EA + IA (RA + RS)

The induced torque is ind =K

ind = K = cIA2

=cIA

SeriesDCMotor

E = K e K f I am

V = E + I a Ra

= K f Ia
T = K e I a

T = KeK

2
f Ia

V = K e K f I am + I a Ra
T
V
Ra
I
=
a
m =

K
K
e
f
Ke K f I a Ke K f
V
1
Ra

m =
Ke K f T Ke K f

Speed Control of Series DC Motors.

Unlike with the shunt dc motor, there is only one efficient way to
change the speed of a series dc motor.
motor That method is to
change the terminal voltage of the motor. If terminal voltage is
increased, the speed will increase for any given torque.

. TheCompoundedDCMotor
A compounded dc motor is a motor with both a shunt and a series
fi ld Thi
field.
This is
i shown
h
b
below:
l

VT = EA + IA (RA + RS)
IA =IIL
IF = VT/RF
IFF =F F F
net
F
SE
AR
IF* =IF (NSE/NF)IA FAR/NF

+ve sign associated with a cumulatively compounded motor

-ve sign
g associated with a differentially
y compounded
p
motor

The Torque-Speed Characteristic of a Cumulatively Compounded DC Motor (CC)