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Lecture 8 - EE743

Direct Current (DC)


Machines - Part II

Professor: Ali Keyhani

DC Machines

Shunt-connected DC Machine

DC Machines

The dynamic equations (assuming rfext=0) are:


V f rf i f L ff

di f

Va ea ra ia Lla

dt

dia
dt

ea r Laf i f

Where Lff = field self-inductance


Lla= armature leakage inductance
Laf = mutual inductance between the field
and rotating armature coils
ea = induced voltage in the armature coils
(also called counter or back emf )
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DC Machines
For the field winding :
V f rf i f L ff

di f
dt

L ff

rf

d
dt

V f rf (1 f )i f
For the armature winding :
di
Va ea ra ia Lla a
dt
L
a aa
ra

ea r Laf i f

Va ra (1 a )ia ea
Te TL ( Bm J p)

DC Machines - Shunt DC Machine

Time-domain block diagram

The machine equations are solved for:

if

1
rf

f p 1

V f G1

1
ra
Va r Laf i f G2
if
a p 1

1
Te TL G3
J p Bm

Te Laf ia i f

DC Machines - Shunt DC Machine

Time domain block diagram


ia

Vf

G1

if

Laf

G2

G3

ia

Va

X
r

Vf

X
if
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DC Machines - Shunt DC Machine

State-space equations
Let

X t i f , ia , r

r r (t )dt r (0)
0

Re-writing the dynamic equations,


di f
dt

rf
L ff

if

1
Vf
L ff

L
dia
r
1
a ia af i f r
Va
dt
Laa
Laa
Laa
Laf
Bm
d r
1

r
i f ia TL
dt
J
J
J

DC Machines - Permanent Magnet

The field flux in the Permanent Magnet machines is produced by a permanent magnet located on the stator.
Therefore,

Lsfif is a constant determined by the strength of the magnet, the reluctance of the iron, and the number of turns of the armature winding.

Laf i f K v Constant

DC Machines - Permanent Magnet

Dynamic equations of a Permanent Magnet Machine

DC Machines - Permanent Magnet

Dynamic equations,
Va ra (1 a P )ia ea
Laa
a
,
ra

d
P
dt

Te TL ( Bm JP) r
Te K v ia ,

ea K v r
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DC Machines - Permanent Magnet

Time domain block diagram

The equations are solved by,

1
ia
ra
1

G1
ea ra a p 1 a p 1

r
1

G2
Te TL JP Bm
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DC Machines - Permanent Magnet


Time domain block diagram

Va
+

ea

G1

ia

Kv

Te +
-

Kvr

G2

TL

Kv

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DC Machines - Permanent Magnet

State-space equations

re-writing the equations as function of states,

dia
ra
Kv
1

ia
r
Va
dt
Laa
Laa
Laa
Bm
Kv
d r
1

r r TL
dt
J
J
J

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DC Machines - Permanent Magnet


In a matrix form,

X AX BU
P

ia

ra

Laa
Kv
J

Kv

Laa

Bm

1
ia Laa

r 0

0
Va

1 TL

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DC Machines - Permanent Magnet

Transfer Function,

Let

G1

r
,
ra

G2

ra
a11
Laa

Kv
a12
Laa

Kv
a21
J

Bm
a12
J

1
b11
Laa

1
b22
J

r
TL

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DC Machines - Permanent Magnet

The, we will have

Re-arranging the equation,

Pia a11 ia a12 r b11Va


P r a21ia a22 r b22TL

P a11 ia a12 r b11Va


a21ia P a22 r b22TL
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DC Machines - Permanent Magnet

In a matrix representation,
a12
( P a11 )
a

( P a22 )
21

ia b11Va
b T
r 22 L
AX B

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DC Machines - Permanent Magnet

Solving for ia
a12
b11Va
b T ( P a )
22
22 L
ia
( P a11 )( P a22 ) a12 a21
ia

b11Va ( P a22 )

( P a11 )( P a22 ) a12 a21

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DC Machines - Permanent Magnet

Let m be,

The equation is then reduced to,

Jra
m 2
Kv

1
1
Bm

ra P
( a m )TL
Va
a
J
Kv

ia
1 Bm
1 1 Bm
2
P

J
a
a m J
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DC Machines - Permanent Magnet


( P a11 ) b11Va
a21
b22TL
r
( P a11 )( P a22 ) a21a12
( P a11 )b22TL b11Va a21
r
( P a11 )( P a22 ) a21a12
JVa
Substituting for a 11 ,..., b11 , and let m 2 ,
Kv
it can be shown that
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DC Machines - Permanent Magnet


1
1
1

a m Va P TL
Kv
a
J

r
1 Bm
1 1 Bm
2
P

a J
a m J
2

n2

n
G1
with TL 0 ( No - Load Condition)
Va
n
G2
with Va 0
TL
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DC Machines - Permanent Magnet

The characteristic equation (or force-free equation)


equation of the
system is as shown below,
P 2 2P n2 0

exponential decaying factor


n undamped natural frequency
oscillation of the sytem

damping factor
n
b1,b2 n n 2 1
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DC Machines - Permanent Magnet


If < 1 , the roots are a conjugate complex pair, and the natural response consists of an exponentially decaying
sinusoids.
If > 1, the roots are real and the natural response consists of two exponential terms with negative real exponents.

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