DC Motor

109 SLIDES 1
 DC motor
• DC motors are DC machines used as motor
• DC generator are DC machines used as
generator.
• The same physical machine can operate as
either a motor or a generator
– It is simply a question of the direction of the
power flow through it.

109 SLIDES 2
 Introduction to DC motors
• The earliest power systems in US were dc
systems.
• By the 1890s ac power systems were clearly
winning out over dc systems.
• They were several reasons for the continued
popularity of dc motors :
– dc power system are still common in cars, trucks,
and aircraft.
– when it is needed wide variation of motor speed.

109 SLIDES 3
• Today, induction motors with solid state drive
packages are preferred choice over dc motors
for most speed control applications. However
there are still applications where dc motors
are preferred
• DC motors are still compared by speed
regulation
• DC motor speed regulation :
nl - fl
SR = ------------ x 100 %
fl

109 SLIDES 4
 nnl - nfl
SR = ------------ x 100 %
nfl
• It is a rough measure of the shape of a motor’s
torque – speed characteristic
– a positive SR means motor’s speed drops with
increasing load
– a negative SR means motor’s speed increasing with
increasing load.
– the magnitude of the SR tells us approximately how
steep the slope of the torque-speed curve is.

109 SLIDES 5
• There are 5 major type of dc motors in general
use :
– The separately excited dc motor
– The shunt dc motor
– The permanent magnet dc motor
– The series dc motor
– The compound dc motor

109 SLIDES 6
Equivalent Circuit of DC Motor

109 SLIDES 7
• The armature circuit is represented by an ideal
voltage source, EA and a resistor RA.
• The brush voltage drop is represented by a small
battery, Vbrush.opposing the direction of current
flow in the machine.
• The field coils, which produce the magnetic flux
in the generator, are represented by LF and
resistor RF
• The separate resistor, Aadj represents an external
variable resistor used to control the amount of
current in the field circuit.
• The brush voltage drop is usually very tiny, in this
case it can be approximately included in the value
of RA
109 SLIDES 8
• The internal generated voltage in this
machine:
EA = k
• The induced torque derived by this machine :
ind = k  IA

109 SLIDES 9
The magnetization curve of a DC
Machine

109 SLIDES 10
109 SLIDES 11
• The field current in a dc machine produces a field
magnetomotive force given by  = NFIF .
• This magnetomotive force produces a flux in the
machine according its magnetization curve Figure 9-3
• Since the field current is proportional to the
magnetomotive force, and since EA is directly to the
flux, it is customary to present the magnetization curve
as a plot of EA vs field current for a given speed o ,
Figure 9-4.
• It is worth noting here that, to get maximum possible
power per pound of weight out of a machine, most
motors and generators are designed to operate near
the saturation point on the magnetization curve (at the
knee of the curve)

109 SLIDES 12
– This implies that a very large increase in field
current is often necessary to get a small increase
in EA when operation is near full load

109 SLIDES 13
 SEPARATELY EXCITED AND SHUNT DC
MOTORS
• The equivalent circuit of a separately excited dc motor
is shown in Figure 9-5 a} and the shunt dc motor is
shown in Figure 9-5b)
• A separately excited dc motor is a motor, whose field
circuit is supplied from a separate constant voltage
power supply
• A shunt dc motor is a motor whose field circuit gets its
power directly across the armature terminal of the
motor
• When the supply voltage is assumed constant, there is
no practical in behavior between the two machines

109 SLIDES 14
109 SLIDES 15
RA IA IL

109 SLIDES 16
• The Kirchoff’s voltage law equation for the
armature circuit of these motors is :
VT = EA + IA Ra

THE TERMINAL CHARACTERISTIC OF A SHUNT DC

MOTOR
• A terminal characteristic of a machine is a plot of
the machine output quantities versus each other
• For a motor, the output quantities are the shaft
torque and speed

109 SLIDES 17
• How does a shunt dc motor respond to a load?
• Supposed that the load on the shaft of a shunt
motor is increased
– Then the load torque load will exceed the induced
torque ind in the machine, then the motor will start
to slow down.
– When the motor slows down, its internal voltage
drops (EA = K), so the armature current in the
motor (IA =(VT-EA)/RA increases
– As the motor current increases, the induced torque in
the motor increases (ind = KIA)
– Finally, the induced torque will equal to the load
torque at a lower mechanical speed of rotation 

109 SLIDES 18
• The output characteristic of a shunt dc motor can
be derived from induced voltage and torque
equations of the motors plus Kirchoff’s voltage
law as follows :
VT = EA + IARA ………………………………….(9-3)
The induced voltage EA = K, so
VT = K + IARA ……………………………..(9-4)
since ind = KIA, current IA can be expressed as
IA = ind/(K) …………………………………..(9-5)
Combining Equations (9-4) and (9-5) then
produces
VT = K + (ind/(K)) RA…………………(9-6)
Finally, solving the motor’s speed yields :
109 SLIDES 19
 VT RA
 = ---- - ------- ind …………………(9-7)
K (K)2
This equation is just a straight line with
negative slope. The resulting torque-speed
characteristic of a shunt dc motor as is shown
in Figure 9-6a

109 SLIDES 20
109 SLIDES 21
• It is important to know that in order the
motor speed varies linearly with load, the
other expression in equation (9-7) must be
constant as the load changes, including the
terminal voltage supply
• If the terminal voltage supply is not constant,
the voltage variations will affect the shape of
the torque-speed characteristic
• Another effect internal to the motor that can
affect the shape of its torque-speed
characteritic curve is armature reaction
109 SLIDES 22
• If a motor has armature reaction, then as the load
increases, the flux-weakening effects reduce its flux.
• As equation (9-7) shows, the effect of a reduction in flux, is
to increase the motor’s speed at any given load over the
speed it would run without armature reaction.
• The torque-speed characteristic of a shunt motor with
armature reaction is shown in Figure 9-6b.
• If a motor has compensating windings, there will be no flux
weakening problem in the machine, and the flux in the
machine will be constant
• If a shunt motor has compensating winding so that its flux
is constant regardless of load, motor’s speed and armature
current are known at any one value of load. then it is
possible to calculate its speed at any value of the load, as
long as the armature current at that load is known. See the
following calculation example

109 SLIDES 23
 Example 9-1
• A 50 hp, 250 V, 1200 r/min dc shunt motor with
compensating windings, has armature resistance
(including the brushes, compensating winding,
and interpoles) of 0.06 ohm. Its field circuit has a
total resistance Radj + RF of 50 ohms, which
produces a no load speed of 1200 r/min. There
are 1200 turns per pole on the shunt field
winding (see Figure 9-7).
– Find the speed of this motor when its input current is
100 A

109 SLIDES 24
 – Find the speed of this motor when its input
current is 200 A
– Find the speed of this motor when its input
current is 300 A
– Plot the torque-speed characteristic of this motor
Solution
 The internal generated voltage of a dc machine with
its speed expressed in revolutions per minute is given
by :
EA = K’n ……………………………………(9-41)

109 SLIDES 25
109 SLIDES 26
• Since the field current in the machine is constant ( VT
and field resistance are constant) and since there are no
armature reaction effects, the flux in this motor is
constant. The relationship between the speed and the
internal generated voltages of the motor at two different
load condition is thus :
EA2 K’n2
---- = ------- ………………………(9-8)
EA1 K’n1
EA2
n2 = ------ n1…………………..(9-9)
EA1

109 SLIDES 27
• At no load, the armature current is zero, so
EA1 = VT = 250 volt
• While the speed nl = 1200 r/min. If we can
calculate the internal generated voltage at any
other load, it will be possible to determine the
motor speed at the load from equation (9-9)
(a) If IL = 100 A, then the armature current in the
motor is Vt 250 V
IA = IL- IF = IL - --- = 100 A - ---------- = 95 A
RF 50 ohm

109 SLIDES 28
• Therefore EA at this load will be :
EA = VT – IA RA = 250 – (95)(0.06) = 244.3 V
• The resulting speed of the motor is
EA1 244.3
n2 = ------ n1 = ---------1200 r/min= 1173 r/min
EA2 250
• If IL = 200 A, then
The armature current in the motor :
IA = IL - VT/RF = 200 - 250/50 = 195 A
EA = 250 – (195)(0.06) = 238.3 V
The resulting speed of the motor
n2 = (238.3/250) 1200 r/min = 1144 r/min
• If Il = 300 A can be obtained using the same way as follow :
IA = 295 A, EA = 232.3 V, n2 = 1115 r/min

109 SLIDES 29
d) To plot the output characteristic of the motor,
it is necessary to find the torque
corresponding to each value of the speed. At
no load, the induced torque is zero.
The induced torque for any other load can be
found from the fact that power converter in a
dc motor is
Pconv = EAIA = ind 
then the induced torque in the motor is
ind = EAIA/  ……………………………(9-10)

109 SLIDES 30
• From this equation, the induced torque when IL =
100 A is
(244.3 V)(95 A)
ind = --------------------------------------------- =
(1173 r/min)(1 min/60 s)(2 rad/r)
= 190 N.m
Using the same way as above :
for IL = 200 A ind =388 Nm
for IL = 300 A in = 587Nm
The resulting plot torque-speed characteristic of
the shunt dc motor is shown in Fig 9-8

109 SLIDES 31
109 SLIDES 32
 2nd week
Nonlinear Analysis of a Shunt DC
Motor
• The flux, , hence the internal generated voltage,
EA, of a dc machine is a non linear function of its
magnetomotiveforce. Therefore, anything that
changes the magnetomotive force will have a
nonlinear effect on the internal generated voltage
of the machine. Since the change in EA cannot be
calculated analytically, the magnetization curve of
the machine must be used to accurately
determine its EA for a given magnetomotive force.
109 SLIDES 33
• The two principal contributors to the
magnetomotive force in the machine are :
* its field current
* its armature reaction, if present
• Since the magnetization curve is a direct plot
of EA versus IF for a given speed 0 , the effect
of changing a machine field’s current can be
determined directly from its magnetization
curve
• If a machine has armature reaction, its flux
will be reduced with each increase in load.

109 SLIDES 34
• The total magnetomotive force in a shunt dc
motor is the field circuit magnetomotive force
less the magnetomotive force due to armature
reaction (AR) :
net = NFIF - Ar ………………………………(9-11)
• Since magnetization curve are expressed as plot
of EA versus field current, it is customary to define
an equivalent field current that would produce
the same output voltage as the combination of all
magnetomotive forces in the machine.
The equivalent field current of a shunt dc motor
is given by :

109 SLIDES 35
 If* = IF - AR/NF …………………………….(9-12)
• The magnetization curves for a machine are usually drawn
for a particular speed, usually the rated speed of the
machine.
How can the effects of a given field current be determined if
the motor is turning at other than the rated speed?
• The equation for induced voltage of a dc machine when the
speed is expressed in revolutions per minute is
EA = K’n ……………………………………(8-41)
For a given field current, the flux in a machine is fixed, so
the internal generated voltage is related to speed by
EA/EA0 = n/n0 ……………………………….(9-13)

where EA0 and n0 represent the reference values of voltage

and speed respectively

109 SLIDES 36
109 SLIDES 37
Example 9-2
A 50 hp 250 V, 11200 r/min dc shunt motor
without compensating windings has an armature
resistance (including the brushes and interpoles)
of 0.06 ohm. Its field circuit has a total resistance
RF + Radj of 50 ohm, which produces a no load
speed of 1200 r/min. There are 1200 turns per
pole on the shunt winding, and the armature
reaction produces a demagnetization
magnetomotive force of 840 A turns at load
current of 200 A. The magnetization curve of the
machine is shown in Figure 9-9.
109 SLIDES 38
 a) Find the speed of this motor when its input
current is 200 A
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 200 A ?
c) Calculate and plot the torque-speed
characteristic for this motor.

109 SLIDES 39
Solution
a) If IL = 200 A, then the armature current of the
motor is
IA = IL – IF = IL – VT/RF
= 200 – 250/50 = 195 A
Therefore, the internal voltage of the machine is
EA = VT – IA RA the
= 250 – (195)(0,06) = 238.5 V
At IL = 200 A , the demagnetization force due to
armature reaction is 840 A turns, so the
effective shunt field current at the motor is

109 SLIDES 40
 I*F = IF - AR/NF ………………………………….(9-12)
= 5.0 – 840/1200 = 4.3 A
From the magnetization curve, this effective field
current would produce an internal generated
voltage EA0 of 233 V at a speed of n0 of 1200 r/min.
We know that the internal generated voltage EA0
would be 233 V at a speed of 1200 r/min. Since the
actual internal generated voltage EA is 238.3 V, the
actual operating speed of the motor must be
EA/EA0 = n/no the……………………………………..(9.13)
n = (EA/EA0 ) n0 = (238.3/233) 1200 = 1227 r/min
109 SLIDES 41
b) At 200 A of load in Example 9-1, the
motor’s speed was n = 1144 r/min. In this
example, the motor’s speed is 1227 r/min.
Notice : that the speed of the motor with
armature reaction is higher than the speed for
the motor with no armature reaction. This
relative increase in speed is due to the flux
weakening in the machine with armature
reaction.

109 SLIDES 42
c) To derive the torque-speed of this motor, we
must calculate the torque and speed for many
different conditions of the load.
Unfortunately, the demagnetization armature
reaction magnetomotive force is only given for
one condition of the load (200 A). Since no
additional information is available, we assume
that the strength of AR varies linearly with
load current.
• The calculation of and plot the torque speed
characteristic is shown in Figure 9-10
109 SLIDES 43
109 SLIDES 44
Speed Control of Shunt DC Motors
The two common ways in which the speed of a
shunt dc machine can be controlled are by :
1. Adjusting the field resistance RF (and thus the
field flux)
2. Adjusting the terminal voltage applied to the
armature.
The less common methods is described by :
3. Inserting a resistance in series with the
armature circuit.
CHANGING THE FIELD RESISTANCE
If the field resistance increases, then

109 SLIDES 45
• the field current IF = VT/RF decreases
• the flux  decreases

• Instantaneous decrease in the internal voltage

EA = k  

• A large increase in the machine’s armature current

IA = (VT – EA)/RA

• Induced torque in a motor is given :

 = K  IA
since the flux  decrease resulting in the increase in
IA , where induced torque goes ? See the example
below

109 SLIDES 46
Example
Figure 9-11 shows a shunt dc motor with a
internal resistance of 0,25 ohm, it is currently
109 SLIDES 47
Operating with internal voltage of 250 V and an internal
generated voltage of 245 V.
Therefore, the armature current is
IA = ( 250 – 245)/0,25 = 20 A
What happens in this motor if there is a 1 % decrease in
flux ?
If the flux decreases by 1 %, then EA must decrease by 1
% too because EA = K  
Therefore EA will drop to.
EA2 = 0.99 EA1 = 0.99 (245) = 242.55 V
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.

109 SLIDES 48
• The increase in current predominates over the
decrease in flux causes the induced torque
rises :
ind = K  IA
since ind > load the motor speeds up
• However, as the motor speeds up, the internal
voltage EA rises, causing IA to fall.
As IA falls, the induced torque, ind falls too,
and finally ind again equal to load at higher
steady state speed than originally.

109 SLIDES 49
To summarize the cause and effect behavior involved in
this method of speed control :
1. Increasing RF causes IF to decrease
2. Decreasing IF decreases 
3. Decreasing  lowers EA ( = K)
4. Decreasing EA increases IA ( = VT – EA)/RA
5. Increasing IA increases ind (= K  IA), with the change
in IA dominant over the change in flux)
6. Increasing ind makes ind > load , and the speed 
increases
7. Increasing  increases EA = K 
8. Increasing EA decreases IA
9. Decreasing IA decreases ind until ind = load at higher
speed 

109 SLIDES 50
109 SLIDES 51
CHANGING THE ARMATURE VOLTAGE
• The second form of speed control involves
changing the voltage applied to the armature
of the motor without changing the voltage
applied to the field. A connection is shown in
Figure 9-13 being necessarily for this type of
control. In effect, the motor must be
separately excited to use armature voltage
control
• If the voltage VA is increased, then the
armature current in the motor mus rise :
109 SLIDES 52
109 SLIDES 53
IA = (VA-EA)/Ra As IA increases, the induced
torque =indK IA increases,
making ind >load and the speed  of the
motor increases.
But as the speed  increases, the internal
generated voltage EA (=K) increases causing
the armature current to decrease. This decrease
in IA decreases the induced torque, causing
ind to equal to load at a higer rotational speed
, see Figure 9-14.

109 SLIDES 54
109 SLIDES 55
 Permanent Magnet DC Motor
(PMDCM)
• A permanent Magnet DC Motor is a dc motor
whose poles are made of permanent magnet.
• Permanent dc motor offer a number of benefits
compared with shunt dc motors in some
applications.
– They do not have field circuit copper losses
– Because no field winding, can be smaller than
corresponding shunt dc motors.
– PMDC motors are especially common in smaller
fractional and subfractional horsepower size

109 SLIDES 56
• PMDC motors have disadvantages :
– Cannot produce as high flux density as an
externally supplied shunt field, so PMDC motor
will have lower induced torque ind per armature
current IA than shunt motor of the same size and
construction.
– it is not possible to control the speed of PMDC
motor by varying the field current. The only
method available for speed control of PMDC
motor is the armature voltage control and
armature resistance control.

109 SLIDES 57
 The Series DC Motor
• A series dc motor is a dc motor whose field
windings consists of a relatively few turns
connected in series with the armature circuit
• The equivalent circuit of a series dc motor is
shown in Figure 9-20.
• In a series motor, the armature current, field
current and line current are the same
• The Kirchoff voltage law is
VT = EA + IA (RA + RS) …………………………(9-18)

109 SLIDES 58
Induced Torque in a Series DC Motor
• The flux is directly proportional to the
armature current at least until saturation is
reached
• As the load on the motor increases,
– its flux increases too
– The speed of the motor decreases
– The result, the series dc motor has a sharply
drooping torque-speed characteristic
• The induced torque in this machine is given by :

109 SLIDES 59
109 SLIDES 60
  ind = K  IA …………………………...(8-49)
• The flux in this machine is direcly proportional to its
armature current (at least until the metal saturates).
Therefore the flux in the machine is given by
 = c IA ……………………………………(9-19)
where c is a constant proportionality.
• The induced torque then is given by
ind = KIA = KcIA2 ………………..…..(9-20)
• The torque of a series dc motor is proportional to the
square of its armature current.
• The series dc motor gives more torque than any other
kind of dc motor.
• The series dc motor is used in applications requiring
high torque such as in : starter motors in car,elevator
motors in locomotives.
109 SLIDES 61
The terminal characteristic of a series dc motor
• Analysis will be based on the assumption of a linear
magnetization curve, and then the effects of saturation
will be considered in a graphical analysis
• The flux of the motor
 =c IA …………………………….(9-19)
Kirchoff’s voltage law :
VT = EA + IA(RA + RS) ………………….(9-18)
From equation (9-20), the armature current can be
expressed as
ind
IA =  -----
Kc

109 SLIDES 62
• Also EA = K. Substituting these expression in Eq 9-18)
yields :
VT = K +  (ind/Kc) (RA + RS) ……………………(9-21)
• if the flux can be eliminated from this expression, it will
directly relates the torque of the motor to it’s speed. Notice
:
IA = /c
induced torque can be written as :
ind = (K/c) 2
therefore the flux in the motor can be written as
 = (c/K)  (ind ) ……………………………………….(9-22)
Substituting Eq (9-22) into Eq (9-21) and solving the speeds
yields :
VT = K (c/K)  (ind )  + (ind/Kc) (RA+RS)

109 SLIDES 63
 Kc (ind ) = Vt – [(RA + RS)/((Kc)] ind
Resulting torque speed characteristic
 =VT/((Kc) ind – (RA + RS)/Kc ……..(9-23)
this is unusual relationship.
The ideal torque speed characteristic is plotted
in Fig 9-21

109 SLIDES 64
109 SLIDES 65
 Third week
Example 9-5
Figure 9-20 shows a 250 V series dc motor with
compensating windings, and a total series
resistance RA + RS of 0.08 ohms. The series field
consists of 25 turns per pole, with the
magnetization curve shown in Figure 9-22.
a) Find the speed and induced torque of this motor
when its armature current is 50 A
b) Calculate and plot the torque-speed
characteristic for this motor.
Solution.
109 SLIDES 66
For IA = 50 A
EA = VT – IA (RA+RS)
= 250 – 50 (0,08) = 246 V
Since IA = IF = 50 A, the magnetomotiveforce is
 = NI = (25) (50) = 1250 A turns
From the magnetomotive curve at  = 1250 A
turns, EA0 = 80 V
To get the correct speed of the motor,
remember that Equat (9-13)
n = (EA/EA0) n0
= (246/80)1200 = 3690 r/min.
109 SLIDES 67
109 SLIDES 68
• To find the induced torque supplied by the
motor at that speed, recall that
Pconv = EA IA = ind. 
Therefore,
ind = EA IA/
= (246)(50)/(3690 r/min)(1 min/60 s)(2 rad/r
= 31,8 N m
b) To calculate the complete torque-speed
characteristic, we must repeat the steps for
many values of armature current
109 SLIDES 69
109 SLIDES 70
Speed Control of Series DC Motors
The only one efficient way to change the speed
of a series dc motor is to change the terminal
voltage of the motor, see Equation (9-23) :
 =(VT/((Kc))(1/ ind ) – (RA + RS)/Kc
For a given ind , speed,  is a function of VT.
By the insertion of a series resistor we can get
the control of the motor speed. However, this
method need a lot of wasteful power.

109 SLIDES 71
THE COMPOUNDED DC MOTOR
A compounded dc motor is a motor with both a
shunt and a series field, see Fig. 9-24.
Current flowing into a dot produces positive
magnetomotive force.
If current flows into the dots on both field coils, the
resulting magnetomotiveforce add to produce a
large magnetomotiveforce – cumulatively
compounded. The opposite – differentially
compounded, the magnetimotiveforce is subtracted
one to the other.

109 SLIDES 72
109 SLIDES 73
The Kirchoff’s voltage law equation for a compounded dc
motor :
VT = EA + IA (RA + RS) ………………………..………..(924)
The current in the compounded motor are related by
IA = IL – IF …………………………………………………...(9-25)
IF = VF/RF ………………………….……………………..…(9-26)
The net magnetomotive force and the effective shunt
field current in the compound ed motor:
net = F  SE - AR ……………………………………(9-27)
and
IF* = IF  (NSE/NF) IA – AR /NF……………………..(9-28)
Where the + sign is associated with a cummulatively
compound motor, while – sign is associated with a
differentially compund motor

109 SLIDES 74
109 SLIDES 75
109 SLIDES 76
INTRODUCTION TO DC GENERATORS
• DC generators are dc machines used as
generators.
• There is no real difference between motor and
generator except for the direction of power flow.
• There are five major types of dc generators
according to the manner in which their field flux
is produced, as follows :
1. Separately excited generator
2. Shunt generator
3. Series generator

109 SLIDES 77
 4. Cummulatively compounded generator
5. Differentially compounded generator
Voltage Regulation is defined :
Vnl – Vn
VR = ----------- x 100 %
Vn
Vnl : no load terminal voltage of the generator
Vn : full load terminal voltage of the generator
 All generators are driven by a source of mechanical
power, which is usually callled prime mover of the
generator
 A prime mover for a dc generator can be :

109 SLIDES 78
 – A steam turbine
– A diesel engine
– An electric motor
 Throughout this chapter, a generator speed’s is
assumed to be constant
 DC generators are quite rare in modern power
system.
 DC power system such as those automobiles now use
ac generators plus rectifiers to produce dc power
 The equvalent circuit of a dc generator is shown in
Figure 9-43

109 SLIDES 79
109 SLIDES 80
 THE SEPARATELY EXCITED GENERATOR
• A separately excited dc generator is a
generator whose field current is supplied by a
separate external dc voltage source
• The voltage VT represents the actual voltage
measured at the terminals of the generator
• The current IL represents the current flowing
in the lines connected to the terminals.
• The internal generated voltage EA and the
armature current IA
IA = IL …………………………(9-40)

109 SLIDES 81
The Terminal Characteristic of a Separately Excited DC
• The terminal characteristic of a separately excited
generator is thus a plot of VT versus IL for a constant
speed .
• By Kirchoff’s voltage law, the terminal voltage is
VT = EA – IA RA …………………(9-41)
• since the internal generated voltage is independent of
IA, then the terminal characteristic of the separately
excited dc generator is straight line, Figure 9-45a. In all
future plot, the generators will be assumed to have
compensating winding. If compensating winding is
present, then the armature reaction will not modify the
characteristics.

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Control of Terminal Voltage
• There are two possible ways to control the
voltage of this generator :
– Change the speed of rotation.
If  increases, then EA = K increases
so VT = EA – IA RA increases too.
– Change the field current.
If RF is decreased, then the field current increases
(IF = VF/RF).
Therefore the flux  in the machine increases.
EA = K must rise too. So VT = EA – IA RA rises
109 SLIDES 84
 In many applications, the speed range of the
prime mover is quite limited, so the terminal
voltage is mostly common controlled by
changing the field current.
 See Fig 9-46 a) is the separately excited dc
generator, while the Fig.9-46 b shows the
effect of the decrease in field resistance on
the output voltage of the generator.

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109 SLIDES 86
4th lecture NONLINEAR ANALYSIS OF A SEPARATELY
SEPARATED EXCITED DC GENERATOR
• Because the internal generated voltage of a generator
is a nonlinear function of the magnetomotive force, it is
not possible to calculate simply the value of EA to be
expected from a given field current. The magnetization
curve of the generator must be used to accurately
calculated its output voltage for a given input voltage.
• In addition, if a machine has armature reaction, its flux
will be reduced with each increase in load, causing EA to
decrease.
• The only way to accurately determine the output
voltage in a machine with armature reaction is to use
graphical analysis.

109 SLIDES 87
• The total magnetomotive force in a separately excited
generator is the field circuit magnetomotive force less
the magnetomotive force due to armature reaction
(AR):
net = NF IF - Ar ……………………………….(9-42)
• As with dc motors, it is customary to define an
equivalent field current that would produce the same
output voltage as the combination of all
magnetomotive forces in the machine. The resulting
voltage EAO can then be determined by locating that
equivalent field current on the magnetization curve.
• The equivalent field current of a separately excited dc
generator is given by
IF* = IF – ( AR/NF) ………………………….(9-43)

109 SLIDES 88
• Also the difference between the speed of the
magnetization curve and the real speed of the
generator must be taken into account using Equation
(9-13}
EA/EAO = n/no ……………………..(9-13)
Example 9-9
• A separately excited dc generator is rated at 172 kW,
430 V, 400 A and 1800 r/min. It is shown in Figure 9-47,
and its magnetization curve is shown in Figure 9-48.
The machine has the following characteristics :
RA = 0.05 ohms VF = 430 V
RF = 20 ohms NF = 1000 turns/pole
Radj = 0 to 300 ohms

109 SLIDES 89
a) If Radj is adjusted to 63 ohm, the generator’s prime mover
is driving it at 1600 r/min, what is this generator’s no load
terminal voltage ?
b) What would its voltage be if a 360 A load were connected
to its terminal ? Assume that the generator has
compensating windings
c) What would its voltage be if a 360 A load is connected to
its terminal but the generator does not have
compensating winding? Assume that its armature reaction
at this load is 450 A turns.
d) What adjustment could be made to the generator to
restore its terminal voltage to the value found in part a?
e) How much field current would be needed to restore the
terminal voltage to it’s no load value ? (Assume that the
machine has compensating winding). What is the required
value for the resistor Radj to accomplish this ?

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Solution
a) The generator’s total field circuit resistance is
RF+ Radj = 83 ohms
then the field current in the machine is
IF = VT/RF = 430/83 =5, 2 A
From the machine’s magnetization curve,
this much current would produce a voltage
Eao = 430 V at a speed of 1800 r/min. Since
this generator is actually turning at nm = 1600
r/min, its internal generated voltage EA will
be EA/EAO = n/no ……………..(9-13)

109 SLIDES 93
 EA = (1600/1800) 430 = 382 V
Since VT = EA at no load conditions, the output voltage of
the generator is VT = 382 V
b) If a 360 A load were connected to this generator’s
terminals, the terminal voltage of the generator would
be
VT =EA – IA RA = 382 –(360) (0.05) =364 V
c) If a 360 A load were connected to this generator’s
terminals and the generator had 450 A turn of
armature reaction, the effective field current would be
IF* = IF - AR/NF = 5.2 – 450/1000 = 4.75 A
From the magnetization curve, EAO= 410 V, so the
internal generated voltage at 1600 r/min would be :

109 SLIDES 94
 EA/Eao = n/no
EA = (1600/1800) 410 = 364 V
Therefore the terminal voltage of the generator would
be :
VT = EA – IA RA = 364 – (360)(0.05) = 346 V
It is lower than before due to the armature reaction
d) The voltage at the terminals of the generators has
fallen, so to restore to its original value, the voltage of
the generator must be increased. This requires an
increase in EA, which implies that Radj must be
decreased to increase the field current of the
generator.
e) For the terminal voltage to get back up to 382 V, the
required value of EA is
EA = VT + IARA = 382 + (360)(0.05)= 400 V
109 SLIDES 95
To get a voltage of 400 V at nm = 1600 r/min, the
equivalent voltage at 1800 r/min would be:
EA/Eao =n/no ………………………(9-13)
Eao = (1800/1600 ) 400 = 450 V
From the magnetization curve, this voltage would
require a field current of IF = 6.15 A
The field circuit resistance would have to be :
RF + Radj = VF /IF
20 + Radj = 430/6.15 =69.9 ohms
Radj = 49.9 ohms = 50 ohms
Note : For the same field current and load current,
the generator with armature reaction had a lower
output voltage than that without armature reaction
109 SLIDES 96
THE SHUNT DC GENERATOR
A shunt dc generator is a dc generator that supplies
its own field current by having its field connected
directly across the terminals of the machine, Fig.9-
49.
IA = IF + IL ………………………………….(9-41)
How does the shunt dc generator get its initial flux
to start when it is turned on ?

Voltage Buildup in a Shunt Generator

Assume that the generator in Figure 9-49 has no
load connected to it and that the prime mover
starts to turn the shaft of the generator.

109 SLIDES 97
The voltage buildup in a dc generator depends on
the presence of a residual flux in the poles of the
generator. When a generator first starts to turn, an
internal voltage will be generated which is given by :
EA = Kres 
When the voltage appears at the terminals, it
causes a current to flow in the generator’s field coil
(IF = VT/RF). This field current produces a magneto
motive force in the poles, which increases the
terminal voltage VT. When VT rises, IF increases
further. Increasing the flux  more, which increases
EA, etc. The voltage buildup see Figure 9-50.

109 SLIDES 98
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109 SLIDES 100
• If a dc shunt generator is started and no voltage
builds up. What is wrong?
There are several possible causes :
1. there may be no residual magnetic flux to
start the process going.
2. The direction of rotation of the generator
may have been reversed, or the connection
of field may have been reversed.
3. The field resistance may be adjusted to a
value greater than the critical resistance,
Figure 9-51.

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109 SLIDES 102
The Terminal Characteristic of a Shunt DC
Generator
As the load on the generator is increased, IL
increases and so IA = IF + IL also increases.
An increase in IA increases the armature current
voltage drop IA RA, causing VT = EA – IARA to
decrease.
When VT decreases, the field current in the machine
decreases with it. This causes the flux in the
machine to decrease, decreasing EA. Decreasing EA
causes a further decrease in the terminal voltage VT
= EA – IARA, Figure 9-52

109 SLIDES 103

109 SLIDES 104
The Analysis of Shunt DC Generators
• The analysis of a shunt dc generator is somewhat
more complicated than the analysis of a
separately excited dc generator, because the field
current depends directly on the machine own
output voltage.
• First the analysis of shunt generator is studied for
machines with no armature reaction, afterwards
the effects of armature reaction are included.
• Figure 9-53 shows magnetization curve for a
shunt dc generator drawn at actual operating
speed of the machine.

109 SLIDES 105

109 SLIDES 106
• The field resistance RF, which is just equal to VT/IF
is shown by a straight line laid over the
magnetization curve.
• At no load, VT = EA and the generator operates at
the voltages where the magnetization curve
intersects the field resistance line.
• The key to understanding the graphical analysis of
shunt generators is to remember Kirchoff’s
voltage law:
VT = EA - IA RA …………………….(9-45)
EA - VT = IA RA ..……………………(9-46)
• A detail plot showing several different points on
a shunt generator’s characteristic is shown in
Figure 9-54b
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109 SLIDES 108
The Series dc generator
• A series dc generator is a generator whose
field is connected in series with its armature.
• Since the armature has a much higher current
than a shunt field, the series field has a few
turn of wire and using a thicker wire than a
shunt field.
• A series dc generator circuit is shown by Fig 9-
56. The Kirchoff’s current law

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109 SLIDES 110
 VT = EA –IA (RA +RS) ……………….(9-47)
The Terminal Characteristic of a Series Generator
• The magnetization curve of a series dc generator
looks very much like the magnetization curve of
any other generator
• At no load, however there is no field current, so
VT is reduced to a small level given by the residual
flux in the machine
• as the load increases, the field current rises, so EA
rises rapidly,
• The IA (RA + RS) drop up too. But at first the
increase in EA goes up more rapidly than the

109 SLIDES 111

 IA (RA + RS) drop rises, so VT increases.
• After a while, the machine approaches
saturation, and EA respond almost constant. At
this point the resistive drop is predominant
effect and VT stats to fall.

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Cummulative Compound DC Genertor

109 SLIDES 115

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