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
Schematic representation of a DC
Machine
DC Machines
Stator
Rotor
+

V
f


-
I
f

I
f

I
f

N
u
f
2

S
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

The field winding is placed on the stator
and supplied from a DC Source.
DC Machines
Rotor
N
u
f
2

S
x
x
x
x x
x
x
x
Armature
Winding
Magnetic Flux in DC machines
u
f
/2
rotor
stator
I
f

S
N
V
f

+




-
.
.
.
.
.
.
x
x
x
x
x
x
Armature
Winding
I
f

u
a

The current is induced in the Rotor
Winding (i.e. the Armature Winding)
since it is placed in the field (Flux
Lines) of the Field Winding.
DC Machines
u
f

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

The force acting on the rotor, is
expressed as

DC Machines

Field the
to Due
Armature the
to Due
B L I f =
l
f
f
T
e

T
e

= x
f
l
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.
DC Machines
r
r
r
L
s
L
s
r
s
i
s
u
r
u
+
r
i

+
stator
rotor
axis magnetic stator
a
x
i
s
m
a
g
n
e
t
i
c
r
o
t
o
r
0 r r r
t u e u + =
e r
t , e
L
T
m
B
Load
Transducer with stator and rotor windings
Equivalent circuit for separately excited DC motors

VOLTAGE
SUPPLY
LOAD
r f af a
i L E e =
+
-
e r
T , e
L
T
+
-
a
r
a
i
ar
r
a
L
fr
r
f
i
f
r
f
u
f
L
a
u
axis quadrature
axis direct
armature
field
SEPARATELY EXCI TED 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
r r s sr e
i i L T u sin =
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
a
a a
a
r
E u
i

=
(MOTOR) If is greater than , the armature
current is positive
(GENERATOR) If is greater than , the armature
current is negative
a
E
a
u
a
i
a
E
a
u
Electric Machine
Conventional separately excited DC electric machine
Using kirchhoffs second law and assuming the
differential equation of a motor
0 = =
fr ar
r r
dt
di
L i r i L u
a
a a a r f af a
+ = e
dt
di
L i r u
f
f f f f
+ =
In motor application, the output is the angular velocity
Equivalent circuit for separately excited DC generators

LOAD
PRIME
MOVER
r f af a
i L E e =
+
-
pm r
e e ,
pm
T
+
-
a
r
a
i
ar
r
a
L
fr
r
f
i
f
r
f
u
f
L
a
u
axis quadrature
axis direct
armature
field
SEPARATELY EXCI TED DC
GENERATORS
Electric Machine
Conventional separately excited DC electric machine
Using kirchhoffs second law and assuming the
differential equation of a generator
0 = =
fr ar
r r
dt
di
L i r i L u
a
a a a r f af a
= e
dt
di
L i r u
f
f f f f
+ =
The steady state operating condition for a generator are


In generator application, the output is the voltage induced
a a r f af a
i r i L u = e
f f f
i r u =
DC Machines

sin
equation torque The ,
cos
2
1
2
1
2 2
r af a f e
r
c
e
r af a f a a f f c
L i i T
Theref ore
W
T
L i i i L i L W
u
u
u
=
c
c
=
+ + =
constant
) 90 (
max
=
9
= = =

m
a f
sr M af
N N
L L L
Energy stored in inductor is stored in the magnetic field within the coil
2
.
2
1
I L W
m
=
The mutual inductance between the armature and field windings
( )

9 90
m
The armature and field magnetic axes are displaced by 90 electrical
degrees and the magnetizing reluctance is constant
DC Machines
The torque equation
a a em
i E P =
( )
) 3 (
2
=

=
e
f af
a
f af
a
f af
a a a
r
T
i L
r
i L
u
i L
i r u
e
r e mec
T P e =
) 1 ( =
r
a a
e
i E
T
e
) 2 ( =
r f af a
i L E e
a f af e
i i L T =
Electromagnetic power
Given that em mec
P P =
Therefore
Electromotive force formula is given as
Substituting (2) into (1), yields
a a r f af a
i r i L u = e
a f af e
i i L T = using and
Steady state relationship between the angular velocity end electromagnetic torque
The DC Machine Dynamic Equations for
the circuit represented bellow is

DC Machines


dt
d
i r V
f
f f f

+ =
DC Machines
The flux linkage equations are:
cos


' '
'
r fa af
aa
aa f af
aa
aa
af f ff f
-L L L
i L i L
i L i L
u

= =
+ =
+ =
Where L
ff
= field self-inductance
L
aa
= armature self-inductance
L
af
= 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 r
f ext
=
0 ) are follows,
f af
r
a
a
fa a a a a
f
ff f f f
i L e
dt
di
L i r e V
dt
di
L i r V
e =
+ + = + =


Where L
ff
= field self-inductance
L
fa
= mutual inductance between the field
and rotating armature coils
e
a
= 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

sin
,
cos
2
1
2
1
2 2
r af a f e
r
c
e
r af a f a aa f ff c
L i i T
Theref ore
W
T
L i i i L i L W
u
u
u
=
c
c
=
+ + =
DC Machines - Shunt Connected
For DC Machines,
2
t
u =
r
mmf field
mmf armature
+
-
2
t
u =
r
f a af e
i i L T =