DC Machines

TwoTwo-pole DC machine
center of rotation c r l N c d b w b a S

d +

a Horizontal view

eind

TwoTwo-pole DC machine

TwoTwo-pole DC machine

Generated voltage
From Faraday's law,

dJ e!N dt

Consider a conductor rotating at n rpm in the field of p poles having a flux per pole. The total flux cut by the conductor in n revolutions is p n; The flux cut per second, giving the induced voltage e, is

pJn e! 60

Generated voltage
If there is a total of z conductors on the armature, connected in a parallel paths, then the effective number of conductors in series is z/a, which produce the total voltage E in the armature winding. Hence, for the entire winding,

pJn z E! 60 a 2Tn wm ! , thus 60 zp E! Jwm 2Ta zp E ! kaJwm , where ka ! 2Ta

Generated voltage
p ! 2, z ! 2, a ! 1

zp E! Jwm 2Ta 2 Therefore E ! Jwm T And J ! k f i f E ! ki f wm

Induced torque
Assume no losses, mechanical power at armature = input electrical power

Te wm ! Eia Te ! k aJia Te ! ki f ia

Lap winding
A two-layer winding in which each coil is connected in series to the adjacent coil. For a P-pole machines, a lap winding has P parallel paths between brushes. Lap winding is preferred for higher current applications.

Rotor winding

Wave winding
Notice that the two ends of each coil are connected to commutator segments separated by the distance between poles. This configuration allows the series addition of the voltages in all the windings between brushes. This type of winding only requires one pair of brushes. A wave winding has 2 parallel paths, regardless of the number of poles. Wave winding is preferred for higher voltage applications.

Rotor

Question 1
The armature of a 120-V dc motor has a resistance of 1.5 and takes 4 A when operating at full load. Calculate (a) the counter EMF produced by the armature, and (b) the developed power by the armature. (c) efficiency of the motor, given the formula -

Pout L ! v100 % Pin

DC motor circuit
1.5 4A

120 V

eind

Answer : (a) 114 V; (b) 456 W

Question 2
A 60-kW four-pole generator has a lap winding placed in 48 armature slots, each slot containing six conductors. The pole flux is 0.08 Wb, and the speed of rotation is 1040 r/min. a. Determine the generated voltage; b. What is the current flowing in the armature conductors when the generator delivers full load?

Ans: (a) 399.36 V; (b) 37.56 A

Question 3 (p364) Example 8.1

When switch is closed at no load, current will flow into the rotor winding. Torque will be induced to give angular acceleration. Voltage is induced in the rotor winding. Rotor current will fall. Rotor will wind up in constant speed with zero torque (equilibrium).

Question 3 (p364)
When load torque of 10 Nm is applied, motor will slow down. Induced voltage decreases. Rotor current increases. Induced torque increases until equal to load torque (equilibrium) at lower speed.

Question 3 (p364)
When assisting torque of 7.5 Nm is applied, motor will accelerate. Induced voltage increases. Rotor current reverses (generator). Opposite torque induced. Eventually opposite torque equal to assisting torque (equilibrium).

Question 3 (p364)
When flux density were reduced to 0.2 T at no load, transient will occur and reach constant speed (zero torque ~equilibrium). Rotor current is zero. Speed ???.

TwoTwo-pole, 4-loop DC machine 4 This machine has 4 complete loops buried in slots of rotor. The poles faces are curved to provide a uniform air-gap width and to give a uniform flux density everywhere under the faces.

TwoTwo-pole, 4-loop DC machine 4when wt ! 0r, E ! 4e

when wt ! 45r, E ! 2e

when wt ! 90r, E ! 4e
E, volts 4e

2e

wt 0 45 90 135 180 225 315

Commutation
It is the process of switching the loop connections on the rotor of a DC machine just as the voltage in the loop switches polarity, in order to maintain an essentially constant DC output voltage.

Construction of DC motor

Commutation problems
1) Armature reaction ~ sparks at brushes (neutral-plane shift) ~ flux-weakening 2) L*di/dt voltages ~ sparks at brushes

Commutation Problems (1)

Commutation Problems (2)

Commutation Problems (3)

Solutions
Interpoles / commutating poles ~ Sparking due to Neutral-plane shift and L*di/dt voltages ~ cheaper Compensating windings ~ flux-weakening ~ an expensive solution ~ for very heavy, severe duty cycle motors

Types of DC motors
Separately excited DC motor Shunt DC motor Permanent magnet DC motor Series DC motor Compounded DC motor

Seperately excited DC motor

IF RA IL VF RF LF IA EA VT

VT ! E A  I A RA IL ! I A

E A ! KJw

Shunt DC motor
RA IL

IL ! I A  IF
Constant if VT is constant

RF EA IA IF

VT

VF ! I F RF

VT ! E A  I A RA
E A ! KJw

Shunt DC motor
VT ! KJw  I A RA X ind ! KJI A
X ind VT ! KJw  RA KJ VT RA w!  X 2 ind KJ ( KJ )

Equation gives straight line with a negative slope.

Example 8.2
RA IL

Prated = 50 hp VT = 250 V nm = 1200 rpm

VT

ratings

With compensating windings IA EA and interpoles IF RA = 0.06 ohms RF = 50 ohms nNL = 1200 rpm Find motor speed and induced torque when input currents are 100 A, 200 A and 300 A.

RF

 During no-load, IA = 0 A, EA = 250 V and nNL = 1200 rpm. When IL = 100 A, IA = ? PAG = EAIA, and PAG = torque * speed

Armature reaction
If a motor has armature reaction, then as its load increases, the flux-weakening effects reduce its flux. As a result, motor speed tends to increase. w
m

With AR Without AR

Induced torque

Nonlinear analysis of shunt DC motor

Field current and armature reaction are the two principle contributors to the MMF. Effect of IF is determined from the magnetization curve. With armature reaction, the machines flux will be reduced with each increase in load. EA is directly proportional to wm when is fixed.

Example 8.3
A 50-hp, 250-V, 1200 rpm, dc shunt motor without compensating windings has an armature resistance (including the brushes and interpoles) of 0.06 . Its field circuit has a total resistance of 50 , which produces a no-load speed of 1200 rpm. There are 1200 turns per pole on the shunt field winding, the armature reaction produces a demagnetizing mmf of 840 At at a load current of 200 A. Find the motor speed when input current is 200 A.

Effect of armature reaction

VT and RF were unchanged, thus IF and is constant and EA n. From the magnetization curve, when n=1200 rpm and IF*=4.3 A, EA=233 V. Actual EA=238.3 V Thus, n1=(238.3/233)*1200=1227 rpm
F

Speed control of shunt DC motors

Adjusting RF and terminal voltage to the armature are two common ways to control the speed.

Changing the RF
Let RF ; Since IF = VT / RF, IF . Then , EA and IA . But the increase in IA predominates over the decrease in . Thus, torque and motor speeds up. When wm , EA , IA and torque . Finally, higher steady-state speed is reached.

Effect of RF for normal operating range

wm Larger RF

Smaller RF

Induced torque Full-load torque

Warning about RF speed control

VT RA w!  X 2 ind K J ( KJ )
wNL , and the From equation above, when slope gradient . At very low speeds, the increase in IA is no longer enough to compensate for the decrease in . Thus, torque and motor slows down. Therefore, the results are not predictable for low speeds.

Effect of RF for entire range

wm Larger RF

Smaller RF

Induced torque Full-load torque

Example 8.4
A 100-hp, 250-V, 1200 rpm shunt dc motor has an armature resistance of 0.03 and a field resistance of 41.67 . The motor has compensating windings, so armature reaction can be ignored. Mechanical and core losses may be neglected. The motor is assumed to be driving a load with a line current of 126 A and an initial speed of 1103 rpm. Assume that the armature current is constant. What is the motor speed if the field resistance is raised to 50 ? (use fig 8.30)

Effect of changing RF
In this case, EA is constant since IA is constant. So n 1/ . Initial speed is 1103 rpm When RF=41.67, IF=6 A, and from magnetization curve, EA=268 When RF=50 , IF=5 A and EA=250 Since EA on curve, 1/ 2 = EA1/EA2 = 268/250 = 1.076 Thus n2 = ( 1/ 2)*n1 = 1187 rpm

Changing the armature voltage

No changing to the VF. When VA , IA torque and wm . Then, EA and causes IA and torque . Higher steady-state speed is reached.

Effect of armature voltage speed control

wm Larger VA

Smaller VA

Induced torque

Example 8.5
The motor in ex 8.4 is now connected separately excited. The motor is initially running with VA=250 V, IA=120 A and n=1103 rpm, while supplying a constanttorque load. What will the speed of this motor be if VA is reduced to 200 V?

Effect of changing VA
Flux is constant, so EA n. Initial conditions: VA=250 V, IA=120 A, n=1103 rpm So EA0=246.4 V VA is changed to 200 V with constant torque, thus IA is constant EA1=196.4 V Thus n1=(196.4/246.4)*1103=879 rpm

Safe operating ranges

RF control is good for speeds above base speed but not for speeds below base speed. Armature voltage control is good for speeds below base speed but not for speeds above base speed.

Torque and power limits

The limiting factor is the heating of armature conductors. For armature voltage control at low speed, is constant, thus,

X max ! KJI A, max

The maximum torque is independent of wm. And,

Pmax ! X max w

Power and torque limits versus speed

Max. torque Max. power

nbase

nm

nbase

nm

High speed power and torque limit

During speeds equal and above rated speed, RF control is used. Pmax is maintained from overloading.

Pmax ! Xw
When RF , , IA (overloading) and w . Thus, torque limit is decreased when speed increases.

The PM DC motor
No field losses, smaller size Low & torque, i.e. lower induced torque per ampere of IA than shunt type. Risk of demagnetization Behave like shunt type, except that the flux is fixed. Speed control by VA and RA control.

Hysteresis loss

Different types of magnetic materials

Example 8.6
A 250-V series DC motor with compensating windings, and a total of series resistance RA + RS of 0.08 . The series field consists of 25

Tutorials
1. A dc motor operates at 1680rpm when drawing 28A from a 230V supply. The armature resistance is 0.25 and other losses are negligible. a) Calculate the no-load speed if IA = 0A at no load. b) Determine the developed power under loaded conditions. c) Determine the torque developed under the given load.
(1733rpm,6244W, 35.5Nm)

2. A 240V shunt motor has an armature resistance of 0.25 . Under load, the armature current is 24A. Suppose the flux is suddenly decreased by 2.5%, what would be the immediate effect on the developed torque?
(1.93 times)

3. For Q2, determine the new steady-state speed after the field has been decreased. Assume the motor was operating at 640rpm before the field was adjusted.
(656rpm)