DIRECT-CURRENT MACHINES

EEE3: ELEMENTARY ELECTRICAL ENGINEERING

Outline
●
Overview
●
DC Machines
– Equivalent Circuit & Analysis
– Speed and Direction Control
●
Speed and Torque Relationships
●
Nameplate Ratings

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March 2, 2020 EEE3: Elementary Electrical Engineering
Electrical Machines: Overview
●
Used to convert from
electrical to mechanical
energy, and vice-versa
– Interaction between 2
magnets (field and
armature)
●
Multiple designs
– DC, AC Synchronous, AC
Induction, …

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March 2, 2020 EEE3: Elementary Electrical Engineering
Electrical Machines: Overview
●
Mechanical
●
Electrical
Domain
Domain ROTARY
MACHINE
– Angular Speed
– Voltage
– Rotational
– Current Torque

MOTOR

GENERATOR

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March 2, 2020 EEE3: Elementary Electrical Engineering
Electrical Machines: Overview
●
Either armature or field S

may be rotating
– The other must be fixed (i.e.
N
on the stator)
●
The armature magnet must
continuously change
polarity to maintain S
rotation
– Otherwise, will lock into
place with respect to the N

field magnet
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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Machines: Overview
●
Used to convert between
DC electricity and
mechanical motion
●
Multiple designs
– Brushed
– Brushless
– Permanent-magnet

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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Machines: Overview
q-axis
●
Shunt – field in compensating
parallel with the armature
armature
●
Series – field in a
series with the
C d-axis
armature SF
●
Compound –
combination of I shunt field
shunt and series series field

– Long shunt interpole

– Short shunt
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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Machines: Equivalent Circuit

IA (generator)
Tm, RA
IF
+ ωm + +
VF RF EM VA
– – –
IA (motor)

● Em=ωm*K*If is the back-voltage generated by the machine,

where K is the machine constant
– If approximately a non-zero constant for permanent-magnet designs
● ωm is in radian/sec [rad/s], not rpm!

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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Machines: Equivalent Circuit

IA (generator)
Tm, RA
IF
+ ωm + +
VF RF EM VA
– – –
IA (motor)

● Tm is the mechanical torque; different from developed

torque Te=K*If*Ia due to rotational losses
● Pm = Tm*ωm → mechanical power
● Pe = Te*ωm → developed power
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March 2, 2020 EEE3: Elementary Electrical Engineering
Excitation Types

IA (generator)
Tm, RA
ωm +
+
IF VA=VF
EM
–
– IA (motor)

●
Separately-excited → field and armature have
separate connections (previous slide)
●
Self-excited → field and armature share the same
connection (above)
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March 2, 2020 EEE3: Elementary Electrical Engineering
Torque Equations

(motor)

Zero at steady-state

(generator)

● Te & Tm → electrical (developed) and mechanical torque,

respectively
●
D → damping coefficient
●
J → inertial constant
●
ωm → angular speed (rad/s)
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March 2, 2020 EEE3: Elementary Electrical Engineering
A Note on the Equations…
●
Assumption for this
course is that machines
are not operated with
magnetically-saturated
cores
– Non-linear behavior under
the latter; requires the use
of magnetization curves
(example on the right)

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March 2, 2020 EEE3: Elementary Electrical Engineering
Nameplate Ratings
●
All machines have maximum ratings, beyond which
overload occurs
– Can be hazardous (fire/explosion, electric shock, etc.)
●
Nameplate power value → output power
– Different ratings for generator vs. motor operation
●
Other parameters are characterized for 100% load
– Speed at 100% load is termed base speed
– Voltage and current measurements are done at the
machine terminals

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March 2, 2020 EEE3: Elementary Electrical Engineering
Nameplate Ratings
●
Rated power as a
generator
●
Rated power as a
motor
●
Rotor rating
– For DC
machines, the
rotor is the
armature
●
Field rating
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March 2, 2020 EEE3: Elementary Electrical Engineering
 Power Flows: Motor Operation

OUTPUT (SHAFT) POWER

DEVELOPED POWER
INPUT POWER

STRAY LOSSES

MECHANICAL LOSSES
CORE LOSSES

ELECTRICAL LOSSES
ROTATIONAL LOSSES

●
MOTOR: Electrical → Mechanical

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March 2, 2020 EEE3: Elementary Electrical Engineering
 Power Flows: Generator Operation
DEVELOPED POWER

OUTPUT POWER
INPUT (SHAFT) POWER

ELECTRICAL LOSSES
CORE LOSSES
MECHANICAL LOSSES

STRAY LOSSES
ROTATIONAL LOSSES

●
GENERATOR: Mechanical → Electrical

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March 2, 2020 EEE3: Elementary Electrical Engineering
Efficiency
●
η = output / input
– Always on the interval [0, 1]
– Real-life: [0, 1)
– Unless you have been scammed, 100% efficiency is a
physical impossiblity
● Motor: Pm / (Vf*If + Va*Ia)
● Generator (separately-excited): (Va*Ia) / (Pm + Vf*If)
● Generator (self-excited): (Va*Ia – Vf*If) / Pm

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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Motor: Speed Control
●
Field weakening
– Above base speed
only; limited torque
●
Armature resistance
– High I2R losses; slower
than base speed only
●
Armature voltage
control
– Complex;
implemented by
electronic means
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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Motor: Direction Control
●
In a DC motor, developed
torque and speed are in +
IF
the same direction VF RF
–
● Flip either If or Ia (latter
illustrated)
Since motors always IA(reverse)
Tm, RA
–
consume electrical power,
this implies flipping the ωm + – – +
voltage polarities EM EM VA VA
– If both are flipped, sign of – + + –
Te=K*If*Ia remains the same, IA (forward)
thus no change in direction
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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Motor: Starting
● At starting, ωm is zero
+
Em is also zero IF
–
VF RF
– Ia = Va / Ra –
● Since Ra << 1Ω, starting
at rated voltage is likely IA (generator)
Tm, RA
to destroy both the
ωm + +
motor and the driven VA
equipment EM
– –
– Need to limit Ia IA (motor)

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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Motor: Starting
●
Method #1: External
resistance Ra,ext
– Resistance is eventually
bypassed RA RA,EXT
TM,
+ +
– Step (sudden) change at ω
M
EM VA
moment of bypass; load
must be able to tolerate – –
IA
the step

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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Motor: Starting
●
Method #2: VA
Gradual ramp-up
of Va
– Rate-of-change
bounded by two
non-zero values 0 t
– More complex to Tm ,
implement ωm RA
+ +
●
Delegated to EM VA
electronic motor –
–
drives IA (motor)
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March 2, 2020 EEE3: Elementary Electrical Engineering
DC Generator: Characteristic Curves
●
Because of non-idealities,
terminal voltage varies
with output loading Vt separately-excited

● Voltage regulation: (VNL –

VFL) / VFL
self-excited
– Smaller is better; zero is
physically impossible
IFL IL
– Usually described as a
percentage

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March 2, 2020 EEE3: Elementary Electrical Engineering
Example: DC Generator
● A DC machine has the following ratings: Pgen=2.2kW,
Va=Vf=220V, Ia=12A, If=800mA, Ra=50mΩ, wm=1800rpm.
– Find K, Em, and Rf; assume that the machine is separately-excited.
– If the damping coefficient D = 0.06, find the torque being supplied
by the prime mover (mechanical source) when the machine is
delivering rated power.
– Find the terminal voltage if a 1.2kW load is attached and the
machine is being driven at 1500rpm in the self-excited
configuration.

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March 2, 2020 EEE3: Elementary Electrical Engineering
Example: DC Motor
● A DC machine has the following ratings: Pmot=2.0kW,
Va=Vf=220V, Ia=12A, If=800mA, Ra=50mΩ, wm=1700rpm.
– Find K, Em, and Rf.
– Find the damping coefficient at no-load if the shaft speed is
1875rpm.
– Assuming the field current is kept at rated value, what value
of armature current would make a 10 N-m load with
damping D=0.004 turn at half base speed? What is the torque
developed by the machine? Is this a safe configuration?

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March 2, 2020 EEE3: Elementary Electrical Engineering