Direct-Current Machine

Electric Machine
 Electric machines can be used as motors and
generators
 Electric motor and generators are rotating energy-
transfer electromechanical motion devices
 Electric motors convert electrical energy to
mechanical energy
 Generators convert mechanical energy to electrical
energy
 Electric Machine
 Electric machines can be divided into 2 types:
 AC machines
 DC machines

 Several types DC machines

 Separately excited
 Shunt connected

 Series connected

 Compound connected

 Permanent magnet
 Electric Machine
 All Electric machines have:
 Stationary members (stator)
 rotating members (rotor)

 Air gap which is separating stator and rotor

 The rotor and stator are coupled magnetically

DC Machines
 Schematic representation of a DC Machine

N
+ If
Rotor
Vf If

- Stator

If S
Φf
2
 Electric Machine
 The armature winding is placed in the rotor
slot and connected to rotating commutator
which rectifies the induced voltage
 The brushes which are connected to the
armature winding, ride on commutator
DC Machines
 Elementary two-pole DC Machine
 Electric Machine
 The armature winding consists of identical coils carried in slots
that are uniformly distributed around the periphery of the rotor
 Conventional DC machines are excited by direct current, in
particular if a voltage-fed converter is used a dc voltage uf is
supplied to the stationary field winding
 Hence the excitation magnetic field is produced by the field
coils
 Due to the commutator, armature and field windings produce
stationary magnetomotive forces that are displaced by 90
electrical degrees
DC Machines
 The field winding is placed on the stator and
supplied from a DC Source.

N Armature
Winding
x
x x
x Rotor
x x
x x

Φf
S 2
Magnetic Flux in DC machines

N Φ a

+ rotor
If x x x
If x x
x
Vf
. . . .. stator
. Armature
- Winding
S
Φ f/2
DC Machines
 The current is induced in the Rotor Winding (i.e. the Armature Winding)
Winding since
it is placed in the field (Flux Lines) of the Field Winding.

Φf
Orthogonality of Magnetic Fields in
DC Machines
 mmf produced by the armature and mmf
produced by the field winding are
orthogonal.
F = IL × B = ILB sin ( 90 o
) IL F
90o
Magnetic field due to
field winding B

Magnetic field due to

armature winding
DC Machines
 The force acting on the rotor, is expressed as

f = IL
 × B
Due to Due to
the Armature the Field

f
l T
e
Te = f x l
f
DC Machines
The Field winding is placed on the stator and the current (voltage) is induced in the rotor winding which is referred also as the armature winding.

In DC Machines, the mmf produced by the field winding and the mmf produced by the armature winding are at right-angle with respect to each

other.
The torque is produced from the interaction of these two fields.

 stator magnetic axis Load
θ r = ωr t + θ r 0
Bm TL

ir ωr , te

stator rotor

ur

− rr
Ls
Lr
−
us is
rs
+
Transducer with stator and rotor windings
 SEPARATELY EXCITED DC MOTORS
rfr rf ra rar

ia +

if La TL LOAD

ω r , Te
quadrature axis
VOLTAGE
uf + ua SUPPLY

Lf Ea = Laf i f ωr direct axis

field
-
armature
-

Equivalent circuit for separately excited DC motors

 Electric Machine
 Conventional separately excited DC electric machine
 Stator and rotor windings excited by dc current
 The rotor has the commutator
 Dc voltage to the armature windings is supplied through the
brushes which establish electric contact with the commutator
 The brushes are fixed with respect to the stator and they are placed
in the specified angular displacement
 To maximize the electromagnetic torque, the stator and rotor
magnetic axes are displaced by 90 electrical degrees using a
commutator

Te = −Lsr is ir sin θr
 Electric Machine
 Electric machine can be either a motor or a generator
depending on whether it drives a load or it is driven by a prime
mover
 The direction of the armature current is reversed when an
electric machine changes from motor to generator operation
 However line voltage polarity, direction of rotation and field
current are the same u −E
ia = a a

ra
 (MOTOR) If u a is greater than Ea , the armature
current ia is positive
 (GENERATOR) If Ea is greater than u a , the armature
current is negative
 Electric Machine
 Conventional separately excited DC electric machine
 Using kirchhoff’s second law and assuming ra r = rfr = 0 the
differential equation of a motor

di a di f
u a − Laf i f ωr = ra ia + La u f = rf i f + L f
dt dt
 In motor application, the output is the angular velocity
 SEPARATELY EXCITED DC
GENERATORS
rfr rf ra rar

ia +

if La Tpm PRIME

ωr , ω pm MOVER

quadrature axis LOAD

uf + ua
Lf Ea = Laf i f ωr direct axis
field
-
armature
-

Equivalent circuit for separately excited DC generators

 Electric Machine
 Conventional separately excited DC electric machine
 Using kirchhoff’s second law and assuming ra r = rfr = 0 the
differential equation of a generator

di a di f
u a − Laf i f ωr = −ra ia − La u f = rf i f + L f
dt dt
 The steady state operating condition for a generator are

u a − Laf i f ωr = −ra ia u f = rf i f
 In generator application, the output is the voltage induced
 DC Machines
Energy stored in inductor is stored in the magnetic field within the coil
1
Wm = L.I 2
1 2 1
Wc = L f i 2f + La ia2 + i f ia Laf cos θr
2 2
∂Wc
Te =
∂θr
Therefore , The torque equation
Te = −i f ia Laf sin θr
The mutual inductance between the armature and field windings
N f Na
Laf = LM = Lsr max = °
= constant
ℜ m (90 )
 The armature and field magnetic axes are displaced by 90 electrical
degrees and the magnetizing reluctance °
( )
is constant
ℜ m 90
 The torque equation
DC Machines
 Electromagnetic power Pem = Ea ia
Pmec = Teωr
 Given that Pmec = Pem
Therefore Ea ia

Te = − − − − − − − (1)
ωr
 Electromotive force formula is given as
Ea = Laf i f ωr − − − − − (2)
 Substituting (2) into (1), yields
Te = Laf i f ia
using u a − Laf i f ωr = −ra ia and Te = Laf i f ia
Steady state relationship between the angular velocity end electromagnetic torque
u a − ra ia ua ra
ωr = = − Te − − − − − (3)
Laf i f Laf i f (
Laf i f ) 2
DC Machines
 The DC Machine Dynamic Equations for the circuit represented bellow is

dλ f
V f = rf i f +
dt
DC Machines

 The flux linkage equations are:

λ f = L ff i f + Laf iaa '
λaa ' = Laf i f + Laa iaa '
Laf = L fa = -L cosθ r
Where Lff = field self-inductance
Laa = armature self-inductance
Laf = mutual inductance between the field
and rotating armature coils
DC Machines - Shunt Connected

 The Shunt Configuration for a DC

Machine is as shown below,
DC Machines - Shunt Connected

 The Dynamic Equations (assuming rf ext =

0 ) are follows,
di f dia
V f = rf i f + L ff Va = ea + ra ia + L fa
dt dt
ea = ω r Laf i f
Where Lff = field self-inductance
Lfa = mutual inductance between the field
and rotating armature coils
ea = induced voltage in the armature coils
(also called counter or back emf )
DC Machines - Shunt Connected

 The torque equation for a Shunt

Connected DC-Machine is
1 1
Wc = L ff i f + Laa ia2 + i f ia Laf cosθ r
2

2 2
∂Wc
Te =
∂θ r
Therefore,
Te = −i f ia Laf sin θ r
DC Machines - Shunt Connected

π
 For DC Machines,
Machinesθ r = −
2
+

mmf armature

-
π
θr = −
2

mmf field  Te = Laf ia i f