Chapter 5a

Direct Current
Machines
Shunt Machines only

Artemio P. Magabo
Professor of Electrical Engineering

Department of Electrical and Electronics Engineering

University of the Philippines - Diliman
 Features of a DC Machine
q-axis

A 2-pole DC armature
Machine
a

C m d-axis
F

compensating I shunt field

interpole
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 Generalized Machine Model
q-axis
iI
I vI

iC

C vC

a va
F

ia iF d-axis

m vF

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 Equivalent Armature Winding
q-axis

When present, the interpole

I i I vI and compensating windings
are connected in series
with the armature.
C i C vC
ve
ve = va vC vI
ia = iC = iI
a va
F

ia iF d-axis

m vF

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 Equivalent Coil Representation
q-axis
EQUIVALENT ARMATURE

e ve
F
ia
iF d-axis
m
vF
Shunt
field
where,
R e = R a + RC + RI
L ee = L aa + L CC + L II + 2L CI 2L aI 2L aC

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 L and G Matrices

LFF
[L] =
Lee

The elements of the

G matrix are deter-
mined using the GM [G ] =
rule.
GeF
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Comments:

1. The armature winding a is pseudo-stationary.

2. The armature winding a has speed voltage
coefficients with the F winding.

3. The elements of [L] and [G] are constant.

4. Using the G-M rule, GaF = LaF,

where LaF is mutuals between a fictitious dR coil
and the F coil.

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 Voltage and Electromagnetic
Torque Equations
From
[v] = [R ][i] + [L ][pi] + m [G][i]
we get

VF RF + LFF p iF
V = L
Re + Lee p ia
e m aF
For a 2-pole machine,
Te = ( LaF i F )ia

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 Equivalent Circuit
The equations for the DC machine describe the
equivalent circuit shown below.
EQUIV. ARMATURE SHUNT

L FF
Es ve RF
L ee R e iF
ia
vF
where
E s = m LaF iF

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 Types of DC Machines
1. Separately-excited machine

2. Self-excited machine

3. Series field machine

4. Compound machine
* separately-excited shunt field
* self-excited shunt field

Note: Emphasis will be on the self-excited and

separately-excited machines.

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 Separately-Excited Generator
At steady-state condition, all currents are constant.
Re RF

Ia
Te Eg Vt IF VF = R F I F

m
Tm VF

E g = mL aF IF E g = R e I a + Vt
Te = L aF IF Ia Tm = Te + D m

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 Separately-Excited Motor
At steady-state condition, all currents are constant.
Re RF

Ia
Tm Ec Vt IF VF = R F I F

m
Te VF

E c = mL aF IF Vt = R e I a + E c
Te = L aF IF Ia Te = Tm + Dm
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 Self-Excited Generator
At steady-state condition, all currents are constant.
Re

Ia IL
V t = R F IF
Eg IF RF Vt
Te
Ia = IF + IL
m
Tm
E g = mL aF IF E g = R e I a + Vt
Te = L aF IF Ia Tm = Te + Dm

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 Self-Excited Motor
At steady-state condition, all currents are constant.
Re

Ia IL
V t = R F IF
Ec IF RF Vt
Tm
IL = IF + Ia
m
Te
E c = mL aF IF Vt = R e I a + E c
Te = L aF IF Ia Te = Tm + Dm

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 Separately-Excited Generator
Consider the build-up of a separately-excited DC
generator. Re RF

Ia=0
IF
Eg Vt

m VF
Assumptions:
1. The machine is driven at a constant speed, m.
2. There is no load; i.e. Ia=0 and Vt = Eg.
3. Residual magnetism is present.

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From Eg=Er when IF=0, the voltage increases with
the field current, linearly at first, until saturation.

Eg
No-load
magnetization
curve

Linear Er is the generated

Approximation voltage due to the
Er residual flux.

IF
Note: The expression E g = mL aF IF does not
consider the effect of saturation.

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 External Characteristics Curve
What happens to the terminal voltage Vt of the
separately-excited DC generator as the load is
increased?
Re RF

Ia=IL
E g = mL aF IF
Eg Vt IF Vt = E g R e I a

m
VF
With the generated voltage Eg held constant, Vt
decreases as the load current IL is increased.

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The plot of the terminal voltage versus the load
current is called the external characteristic curve.
Vt
ReIL drop
VNL
VFL

IFL IL
Define: Voltage Regulation
VNL VFL
VR = 100 (in percent)
VFL
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 Separately-Excited Generator

1. The shunt field requires a separate source.

2. The machine will build up even if residual

magnetism is absent.

3. The magnitude of the field current is not

affected by changes in the load.

4. Voltage regulation is better compared to the

self excited machine.

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 Generator Nameplate Data
Rated KW Rated V Rated RPM
The machine is assumed to supply its rated KW at
the rated voltage when driven at rated RPM. This
is called full load condition.
Example: Consider a 5 KW, 125 volt, 1200 RPM
DC generator. At full load,
PLoad = 5,000 watts
Vt = 125 volts
S = 1,200 RPM
5,000
The full-load current is IL = = 40 Amps
125
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Example: A separately-excited DC generator has
a no-load terminal voltage of 125 V when driven at
1800 RPM with the field current set to 10 Amps.
Neglecting saturation, find
a) Eg at 1600 RPM with IF constant at 10 A.
b. the speed in RPM so that Eg = 100 V, with IF
constant at 10 A.
c. Eg if S and IF are increased to 1850 RPM and
12 A, respectively.
Assuming no saturation, Eg = mL aFiF reduces to
Eg
= constant
SI F
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 Re RF

Ia
Eg Vt IF

S
VF
125 Eg
a. = or E g = 111 V
1800 (10 ) 1600 (10 )
125 100
b. = or S = 1440 RPM
1800(10) S(10)
125 Eg
c. = or E g = 154 V
1800(10) 1850(12)
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Example: A separately-excited DC generator is
rated 5 KW and 125 V. The equivalent armature
resistance is 0.2. Assuming the field current IF
and the speed S are held constant,
a. Find the terminal voltage Vt at no load.
b. Find Vt when the load power is 2.5 KW.
0.2 RF
a. At full load,
Ia
PL = 5,000 watts
Eg Vt IF
Vt = 125 volts
5000 S
Ia = = 40 A VF
125
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The generated voltage is
Eg = R eIa + Vt = 133 V
At no-load, Vt=Eg. Thus Vt = 133 V.
2500
b. Since PL=2,500 watts, we get IL =
Vt
Substitute in Eg = ReIa + Vt = 133 V . We get
2500
133 = 0.2 + Vt
or Vt
2
Vt 133 Vt + 500 = 0
Solving for Vt, we get Vt=129 V or (Vt=4 V).

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 Separately-Excited Motor
The shunt field is excited by a separate source.
Re RF

IL=Ia
Vt Ec IF VF = R F I F

Te m
VF

E c = mL aF IF Vt = R e I a + E c
Te = L aF IF Ia Te = Tm + Dm
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 Electromagnetic Torque
Whether self-excited or separately-excited,

Te = L aF IFIa = k FIa
Te

separately-excited or
self-excited motor

Ia
Note: The electromagnetic torque increases
linearly with the armature current Ia.

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 Motor Speed
From Vt = R e Ia + E c and E c = mL aF IF = k F m
we get
Vt R e
m = Ia
KF KF
m

separately-excited or
self-excited motor

Ia
Note: The motor speed decreases linearly with the
armature current Ia.

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 Motor Nameplate Data
Rated HP Rated V Rated RPM
The machine is assumed to supply its rated HP
when the input voltage is rated and the machine is
running at rated RPM. The efficiency must be given
so that the line current can be calculated.

Example: Consider a 5 HP, 125 V, 1200 RPM DC

motor. The efficiency is 85% at full load.
5 746
Pin = = 4,388 watts
0 .85
4,388
IL = = 35 .1 A
125
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Example: When IL = 200A, the speed m is 100
rad/sec. Find m when IL = 100A. Neglect
saturation. Vt = 250 V, Re = 0.01 .

When IL = 200 A,
Ec1 = 250 200(0.1) = 230 V
m1 = 100 rad/sec

When IL = 100 A
Ec 2 = 250 100 (0.1) = 240 V

We want to find m2

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Neglecting saturation, Ec = mL aF IF = k F m
reduces to
m1 m2
=
Ec1 Ec2
Substitution gives
100 m 2
=
230 240

We get m 2 = 104.35 rad/sec.

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 Developed Power
From
Re
Vt = R e I a + E c
we get Ia
2 Vt Ec
Vt I a = R e I a + E c I a

VtIa = input to armature

ReIa2 = armature copper loss
EcIa = developed power in the armature
Note: The developed armature power produces the
internal mechanical torque.

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 DC Machine Losses
A. Electrical Losses
1. Copper Loss in Windings (I2R in shunt and
series fields, armature, compensating and
interpole windings)
2. Brush Contact Loss VbIa
B. Magnetic Field Loss (Core Loss)
1. Hysteresis Loss
2. Eddy-Current Loss
C. Mechanical Losses
1. Bearing Friction and Windage
2. Brush Friction Loss
3. Friction Loss in Ventilating Fan
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D. Stray Load Loss
Leakage and Armature Reaction Fluxes
(assumed as 1% of output for machines 200
HP or above, otherwise neglected

Define: Rotational Loss = Magnetic Field Loss

+ Mechanical Losses

output
Efficiency = (for a generator)
output + losses

input losses
= (for a motor)
input
max efficiency: Fixed Losses = Variable losses
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