DC Machine

Content

Introduction
Elementary DC machine
Voltage and Torque Equations
Basic Type DC Machines
Dynamics characteristics of Magnet
Permanent and Shunt DC Motor

Electrical Motor Development

Basic Priciples of Electrical Machine

Analysis
DC Machine
Reference Frame Theory
Induction Machine
Synchronous Machine
BLDC Machine
3

Type of Electric Motors

Classification of Motors
Electric Motors
Alternating Current
(AC) Motors

Synchronous

Induction

Single-Phase

Three-Phase

Direct Current (DC)

Motors

Separately
Excited

Series

Self Excited

Compound

Shunt

Introduction
Three types of Motor Load
Motor loads

Description

Examples

Constant
torque loads

Output power varies

but torque is constant

Conveyors, rotary kilns,

constant-displacement
pumps

Variable
torque loads

Torque varies with

square of operation
speed

Centrifugal pumps, fans

Constant
power loads

Torque changes
inversely with speed

Machine tools

Introduction
DC machines application not widely
used
DC generator is replaced by rectifier
DC Motor is still used in lower power :
Shunt DC Motor
Permanent Magnet DC Motor

Brushless DC motor becomes popular

and widely used in electric vehicle.
6

Elementary of DC Machine

Stator coil as field winding source of

flux
Rotor coil as armature
7

Voltage Equation
Voltage equation for field winding and rotor
coil

Flux linkage :

utual inductance winding between field winding and armature as a function of

r = 0, , 2 , ........
L= Constant
8

Open circuit voltage

DC Machine with paralel winding

in

out

A and a rotor coil

10

Comutation of DC Machine with permanent magnet

Constant flux is established by magnet permanent
Small dc motor with low power control application

11

Voltage Equation
Voltage field and coil
winding

is rotor speed

is referred as back emf

12

Torque Equation
Electromagnetic torque

Torque and rotor speed equation :

J
= inertia of the rotor (kg m2 or Js2 )
TL
= mechanical load
Bm = mechanical damping ratio (Nms)
Te is positive in direction of r and direction of TL opposes of Te
13

Basic Type of DC Machine (1)

Separate Winding

Shunt DC Machine

14

Shunt Characteristic

15

Basic Type of DC Machine (2)

Series Winding

Application : traction motor for train or bus, hoists

and crane
High starting torque with mechanical load at normal
operation

16

Series Characteristic

Torque and speed characteristics

17

Type of DC Electric Motors

DC motors
Separately excited DC motor: field current
supplied from a separate force

Self-excited DC motor: shunt motor

Speed constant
independent of load
up to certain torque
Field winding parallel
with armature winding
Current = field current
+ armature current
(Rodwell Int.
Corporation, 1999)

Speed control:
insert resistance
in armature or
field18current
18

Type of DC Electric Motors

DC motors
Self-excited DC motor: series motor
Suited for high
starting torque:
cranes, hoists

Speed restricted to
5000 RPM
Avoid running with
no load: speed
uncontrolled

Field winding in series

with armature winding
Field current =
armature current
(Rodwell Int.
Corporation, 1999)

19

19

Type of DC Electric Motors

DC motors
DC compound motor
Suited for high
starting torque if high
% compounding:
cranes, hoists
Field winding in
series and
parallel with
armature winding

Good torque and

stable speed

Higher %
compound in
series = high
starting torque

20

Dynamic characteristics of permanent

magnet and Shunt DC Machine
Two modes of dynamic operation are
of interesting :
Starting from stall
Constant voltage source
Changing in mechanical load

21

Starting characteristics
of permanent magnet DC
motor

Direct on line starting for small

power,
Current starting limitation in large
22
hp motor

Dynamic performance
during sudden changes
in load torque.

DC motor 5 hp , 240 V, 127,7 rpm load 1 kg

DC motor 200 hp, 250 V, 600 rpm

23

Time Block Diagram and State

Equation

Shunt DC motor

Solving field voltage equation and armature voltage equation:

24

Solving for dr /dt :

State equation in matrix (vector matrix) :

25

 Permanent Magnet DC Motor

26

System Equation :

x = state vector
u = input vector

27

Example For control Design to express transfer functions

between state and input variables.
To derive transfer function between state variables (ia and
r) and input variables (ia and TL).

Inertia time constant

Second order differential equation in term of r:

Coefficient of dumping ratio

28

Finally ,

29

DC shunt Motor Constant

Torque

Parameter :
Vt (rated)= 120 V ; Ia (rated) = 10 A ; n = 1200 rpm ; If = 1,6 A
Ra = 0.5 La = 0.01H
Typical loads include belt conveyors
Rf = 75 Lf = 0.02 H
with a fixed loading, extruders, hoists,
Mechanical Load = 50 N
and mine lifts.

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Ia
250
200
150
100
50
0
n
1000
800
600
400
200
0
-200
Tem_DC4
200
150
100
50
0
0

0.2

0.4

0.6

0.8

Time (s)

31

Laplace Transform

meter dc permanent magnet : 6 V, ra = 7 , LAA = 120 mH

2 oz.in/A, J = 150 oz.in.s2 . No load rpm = 3350 rpm
oad = 0,15 A
32

33

For step voltage

Inverse Laplace

34

Using euler equation :

Substituting parameter :

35

PR
9.3-9.5
9.13-9.14
9.19-9.21

36