EN 206: Power Electronics and Machines

Direct Current (DC) Machines

Suryanarayana Doolla

Department of Energy Science and Engineering

Indian Institute of Technology Bombay
email: [email protected]

February 10, 2012

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 1 / 14

Lecture Organization - Modules

Introduction and Power Semiconductor Switches

Module 1: Transformers
Module 2: AC/DC converter / Rectifier
Module 3: DC machines and Drives
Module 4: DC/DC converter
Module 5: Induction Machine
Module 6: DC/AC converter / Inverter
Module 7: AC/AC converter / Cyclo converter
Module 8: Synchronous Machine
Module 9: Special Topics: Machines, HVDC, APF

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 2 / 14

 Generator Characteristics

Characteristics of a DC Generator

The relation between basic quantities (Vt , Ia , If and n)

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14

 Generator Characteristics

Characteristics of a DC Generator

The relation between basic quantities (Vt , Ia , If and n)

While determining the characteristic, speed of generator is held
constant by the prime mover

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14

 Generator Characteristics

Characteristics of a DC Generator

The relation between basic quantities (Vt , Ia , If and n)

While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14

 Generator Characteristics

Characteristics of a DC Generator

The relation between basic quantities (Vt , Ia , If and n)

While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
No load characteristic or open circuit characteristic - Ea and If , speed
is held constant

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14

 Generator Characteristics

Characteristics of a DC Generator

The relation between basic quantities (Vt , Ia , If and n)

While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
No load characteristic or open circuit characteristic - Ea and If , speed
is held constant
Load characteristic or Load magnetization curve - Vt and If , both
speed and Ia constant

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14

 Generator Characteristics

Characteristics of a DC Generator

The relation between basic quantities (Vt , Ia , If and n)

While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
No load characteristic or open circuit characteristic - Ea and If , speed
is held constant
Load characteristic or Load magnetization curve - Vt and If , both
speed and Ia constant
External characteristic - Vt and IL , both speed and If constant

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14

 Generator Characteristics

Characteristics of a DC Generator

The relation between basic quantities (Vt , Ia , If and n)

While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
No load characteristic or open circuit characteristic - Ea and If , speed
is held constant
Load characteristic or Load magnetization curve - Vt and If , both
speed and Ia constant
External characteristic - Vt and IL , both speed and If constant
Armature characteristic or regulation curve - If and Ia , both Vt and
speed constant

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14

 Generator Characteristics

Equations governing DC generator characteristics

The emf generated is given by

φZNP
Ea =
60a
In case of separately excited generator the emf generated in the armature
is given by:

Ea = Vt + Ia Ra + brushdrop
Also,

Ea = Ka φωm

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 4 / 14

 Generator Characteristics

DC Separately excited generator - OCC

Magnetization Curve or Open Circuit Characteristics Curve (OCC)

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 5 / 14

 Generator Characteristics

DC Separately excited generator - OCC

Magnetization Curve or Open Circuit Characteristics Curve (OCC)
Relationship between air-gap flux (φ) and the field winding mmf or
field winding current.

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 5 / 14

 Generator Characteristics

DC Separately excited generator - OCC

Magnetization Curve or Open Circuit Characteristics Curve (OCC)
Relationship between air-gap flux (φ) and the field winding mmf or
field winding current.
For constant speed (ωm ), the armature generated emf (Ea )at no-load is
proportional to the air-gap flux only

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 5 / 14

 Generator Characteristics

DC Separately excited generator - OCC

Magnetization Curve or Open Circuit Characteristics Curve (OCC)
Relationship between air-gap flux (φ) and the field winding mmf or
field winding current.
For constant speed (ωm ), the armature generated emf (Ea )at no-load is
proportional to the air-gap flux only
Ea is not zero when If is zero : Residual Magnetism

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 5 / 14

 Generator Characteristics

External Characteristics - DC Separately excited generator

Terminal Voltage Vs Load Current

Ea = Vt + Ia Ra + Voltage drop due to armature reaction.

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 6 / 14

 Generator Characteristics

External Characteristics - Self excited generator

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 7 / 14

 Generator Characteristics

Voltage build up in a DC shunt Machine

Oa is graphical plot of ohm law of field circuit

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14

 Generator Characteristics

Voltage build up in a DC shunt Machine

Oa is graphical plot of ohm law of field circuit
Stable point ‘n’ is the intersection of OCC and Oa

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14

 Generator Characteristics

Voltage build up in a DC shunt Machine

Oa is graphical plot of ohm law of field circuit
Stable point ‘n’ is the intersection of OCC and Oa
OB - Slope of line is critical field resistance

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14

 Generator Characteristics

Voltage build up in a DC shunt Machine

Oa is graphical plot of ohm law of field circuit
Stable point ‘n’ is the intersection of OCC and Oa
OB - Slope of line is critical field resistance
Speed n2 - Critical speed

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14

 Generator Characteristics

Voltage build up in a DC shunt Machine

Oa is graphical plot of ohm law of field circuit
Stable point ‘n’ is the intersection of OCC and Oa
OB - Slope of line is critical field resistance
Speed n2 - Critical speed
The process of connecting shunt field winding to a separate dc source
for creating the necessary residual magnetism in the main poles is
called field flashing

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14

 Motor Characteristics

Equations governing dc motor characteristics

The speed of a dc motor is given by

Eb
ωm =
Ka φ
But, the back emf of a dc motor is given by:

Eb = Vt − Ia Ra

Vt − Ia Ra
=⇒ ωm =
Ka φ
Vt Ra
ωm = − Te
Ka φ (Ka φ)2

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 9 / 14

 Motor Characteristics

Characteristics of a Shunt Motor

Speed Vs Torque

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 10 / 14

 Motor Characteristics

Characteristics of a Shunt Motor

Speed Vs Torque
Speed Vs Load Current

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 10 / 14

 Motor Characteristics

Characteristics of a Shunt Motor

Speed Vs Torque
Speed Vs Load Current
Torque Vs Load Current

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 10 / 14

 Motor Characteristics

Torque - Current Characteristics

The effect of armature reaction is neglible for low values of current

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 11 / 14

 Motor Characteristics

Torque - Current Characteristics

The effect of armature reaction is neglible for low values of current

At high values of current the torque current deviates from straight line

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 11 / 14

 Motor Characteristics

Speed - Torque Characteristics

As the torque increases speed drops

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 12 / 14

 Motor Characteristics

Speed - Torque Characteristics

As the torque increases speed drops

For larger values of Te, large will be Ia which reduced due to
saturation and armature reaction

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 12 / 14

 Motor Characteristics

Speed - Torque Characteristics

As the torque increases speed drops

For larger values of Te, large will be Ia which reduced due to
saturation and armature reaction
Speed drops more rapidly
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 12 / 14
 Motor Characteristics

Characteristics of Series Motor

The main flux is proportional to load current or armature current, if

saturation and armature reaction are neglected.
The speed of a dc motor is given by
Eb
ωm =
Ka φ
The back emf of a dc series motor is given by:

Eb = Vt − Ia (Ra + Rs )

Vt − Ia (Ra + Rs )
=⇒ ωm =
Ka φ
Vt Ra + Rs
ωm = −
Ka CIa Ka .C
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 13 / 14
 Motor Characteristics

Characteristics of Series Motor

With saturation and armature reaction neglected, the speed-current

characteristic of a dc series motor is a hyperbola.

If saturation and armature reaction are neglected,

r
Ta Vt Ra + Rs
Ia = andωm = √ −
Ka .C Ka CTe Ka C

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 14 / 14

 Motor Characteristics

Characteristics of Series Motor

With saturation and armature reaction neglected, the speed-current

characteristic of a dc series motor is a hyperbola.
For larger load currents, the air gap flux tends to remain constant
because of saturation and armature reaction and hence speed-current
characteristic of a series motor approaches a straight line for larger
values of armature current.

If saturation and armature reaction are neglected,

r
Ta Vt Ra + Rs
Ia = andωm = √ −
Ka .C Ka CTe Ka C

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 14 / 14

 Motor Characteristics

Characteristics of Series Motor

With saturation and armature reaction neglected, the speed-current

characteristic of a dc series motor is a hyperbola.
For larger load currents, the air gap flux tends to remain constant
because of saturation and armature reaction and hence speed-current
characteristic of a series motor approaches a straight line for larger
values of armature current.
The dc series motor should not be operated at no load speed.

If saturation and armature reaction are neglected,

r
Ta Vt Ra + Rs
Ia = andωm = √ −
Ka .C Ka CTe Ka C

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 14 / 14

 Motor Characteristics

Characteristics of Series Motor

With saturation and armature reaction neglected, the speed-current

characteristic of a dc series motor is a hyperbola.
For larger load currents, the air gap flux tends to remain constant
because of saturation and armature reaction and hence speed-current
characteristic of a series motor approaches a straight line for larger
values of armature current.
The dc series motor should not be operated at no load speed.
The torque-current characteristic of a dc series motor is a parabola.
For large values of Ia the torque-current characteristic approaches a
straightline.
If saturation and armature reaction are neglected,
r
Ta Vt Ra + Rs
Ia = andωm = √ −
Ka .C Ka CTe Ka C

Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 14 / 14