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Chapter-4
DC MOTORS AND GENERATORS

EE 365 ELECTRIC MACHINES I

Dr. Öğr. Üyesi Zehra ÇEKMEN

Equivalent circuit of a DC machine

𝐼𝐹
Sometimes, when the brush drop voltage is small, it
may be left out.
Armature
The internal generated voltage in the machine is current flow
direction for
generator

𝐸𝐴 = 𝐾𝜙𝜔 𝑜𝑟 𝐸𝐴 = 𝐾′𝜙𝑛
The induced torque developed by the machine is
𝐼𝐹
𝜏𝑖𝑛𝑑 = 𝐾𝜙𝐼𝐴
Armature
Here K is the constant depending on the design of a current flow
direction for
generator
particular DC machine (number and commutation of rotor
coils, etc.) and  is the total flux inside the machine.

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Power Flow Diagram

Mechanical
output power
Electrical
input power Power converted or Power flow diagram of
developed a DC motor

Electrical
Copper Losses output power
Mechanical
Rotational Losses input power
𝜏𝑖𝑛𝑑 . 𝜔𝑚 = 𝐸𝐴 𝐼𝐴
𝑃𝑖𝑛 = 𝜏𝑎𝑝𝑝 𝜔𝑚

Power flow diagram of

a DC generator

Copper Losses

3 Rotational Losses

Separately Excited and Shunt DC motors

Note:
when the
voltage of
the field
circuit is
assumed
constant,
there is no
difference
between
them…

Separately excited DC motor: Shunt DC motor:

a field circuit is supplied from a separate a field circuit gets its power from
constant voltage power source. the armature terminals of the motor.

For the armature circuit of these motors: VT  E A  I A RA

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Example 4.1. Shunt motor terminal characteristic

A 50 hp, 250 V, 1200 rpm DC shunt motor with compensating windings has an armature resistance
(including the brushes, compensating windings, and interpoles) of 0.06 . Its field circuit has a total
resistance Radj + RF of 50 , which produces a no-load speed of 1200 rpm. The shunt field winding
has 1200 turns per pole. (1hp=746W)

a) Find the motor speed when its input current is 100 A.

b) Find the motor speed when its input current is 200 A.

c) Find the motor speed when its input current is 300 A.

d) Plot the motor torque-speed characteristic.

Solution

A 50 hp, 250 V, 1200 rpm DC shunt motor with compensating windings has an armature
resistance (including the brushes, compensating windings, and interpoles) of 0.06 . Its field
circuit has a total resistance Radj + RF of 50 , which produces a no-load speed of 1200 rpm.
The shunt field winding has 1200 turns per pole.

Given quantities:
Terminal voltage, VT = 250 V
Field resistance, RF = 50 Ω
Armature resistance, RA = 0.06 Ω
Initial speed, n1 = 1200 r/min
Shunt field winding, 𝑁𝐹 = 1200 turns

Dr. Zehra ÇEKMEN 6

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Solution

The internal generated voltage of a DC machine (with its speed expressed in rpm):

𝐸𝐴 = 𝐾′𝜙𝑛
Since the field current is constant (both field resistance and VT are constant) and since
there are no armature reaction (due to compensating windings), the flux in the motor is
constant. The speed and the internal generated voltages at different loads are related as

𝐸𝐴2 𝐾𝜙𝜔2 𝐾′𝜙𝑛2 𝑛2

= = =
𝐸𝐴1 𝐾𝜙𝜔1 𝐾′𝜙𝑛1 𝑛1

Therefore: 𝐸𝐴2
𝑛2 = 𝑛
𝐸𝐴1 1

Solution

At no load, the armature current is zero and therefore EA1 = VT = 250 V. No load speed
n1=1200rpm.
a) Since the input current is 100 A, the armature current is
VT
I A  IL  IF IL 
RF
250V and the resulting motor speed is:
 100 A  𝐸𝐴2 𝐾𝜙𝜔2 𝐾′𝜙𝑛2 𝑛2
50 = = =
 100 A  5 A  95 A 𝐸𝐴1 𝐾𝜙𝜔1 𝐾′𝜙𝑛1 𝑛1

Therefore 𝐸𝐴 at the load conditions will be; n2 E A 2


E A2  VT  I A RA n1 E A1

 250V  (95 A)(0.06 ) E A2

n2   n1
E A1
 250 V  5.7 V
244.3V
 244.3V  1200 r / min  1173 r / min
8 250V

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Solution

b) When the input current is 200A,

the armature current in the motor is
VT
I A  IL  IF IL 
RF
The resulting speed of this motor is
250V
 200 A 
50 n2 E A2

 200 A  5 A  195 A n1 E A1
E A2
Therefore, EA at the load will be n2   n1
E A1
E A  VT  I A RA 238.3V
 1200 r / min
 250V  (195 A)(0.06 ) 250V
 250 V  11.7 V  238.3 V  1144 r / min
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c) When the input current is 300A, the armature

current in the motor is
VT
I A  IL  IF IL 
RF
The resulting speed of this motor is
250V
 300 A 
50 n2 E A2

 300 A  5 A  295 A n1 E A1
E A2
Therefore, EA at the load will be n2   n1
E A1
E A  VT  I A RA 232.3 V
 1200 r / min
250 V
 250V  (295 A)(0.06 )
 1115 r / min
 250 V  17.7 V  232.3 V
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Solution

d) To plot the output characteristic of the motor, we need to find the torque corresponding to each
speed. At no load, the torque is zero.
Since the induced torque at any load is related to the power converted in a DC motor:

𝑃𝑐𝑜𝑛𝑣 = 𝐸𝐴 𝐼𝐴 = 𝜏𝑖𝑛𝑑 𝜔 𝐸𝐴 𝐼𝐴 𝐸𝐴 𝐼𝐴
𝜏𝑖𝑛𝑑 = =
𝜔 2𝜋. 𝑛Τ60
𝑟𝑎𝑑 2𝜋. 𝑛(𝑟𝑝𝑚)
𝜔 =
𝑠 60
2443.95
For the input current of 100 A: 𝜏𝑖𝑛𝑑 = = 190 𝑁 − 𝑚
2𝜋. 1173/60 The torque-speed
n=1173 rpm
characteristic of the
2383.195 motor
For the input current of 200 A: 𝜏𝑖𝑛𝑑 = = 388 𝑁 − 𝑚
2𝜋. 1144/60
n=1144 rpm
2323.295
For the input current of 300 A: 𝜏𝑖𝑛𝑑 = = 587 𝑁 − 𝑚
2𝜋. 1115/60
n=1115 rpm
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Example 4.2. Separately excited DC motor

The motor in Example 4.1 is now connected in separately excited. The motor is initially running at
speed, n = 1103 r/min with VA = 250 V and IA = 120 A, while supplying a constant-torque load. If VA is
reduced to 200 V, determine
a) the internal generated voltage, EA
b) the final speed of this motor, n2

Given quantities

Initial line current, IL = IA = 120 A

Initial armature voltage, VA = 250 V
Armature resistance, RA = 0.06 Ω
Initial speed, n1 = 1103 r/min

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a) The internal generated voltage

E A  VT  I A RA
 250V  (120 A)(0.06 )
 250 V  7.2 V  242.8 V

a) The internal generated voltage n2 E A 2


n1 E A1
E A2  VT2  I A RA E A2
n2   n1
 200V  (120 A)(0.06 ) E A1
 200 V  7.2 V  192.8 V 192.8 V
 1103 rpm
242.8V
 876 rpm
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Example 4.2. Shunt motor: Nonlinear analysis

(Armature Reaction)

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 Radj
+ RF of 50 , which produces a no-load speed of 1200 rpm. The shunt field winding has 1200 turns
per pole. The armature reaction produces a demagnetizing mmf of 840 A-turns at a load current of
200A. The magnetization curve is shown.

a) Find the motor speed when its input current

is 200 A. n=1200 rpm
b) How does the motor speed compare to the
speed of the motor from previous ex.(same
motor but with compensating windings) with
an input current of 200 A?
c) Plot the motor torque-speed characteristic.

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Solution

Equivalent circuit:
a) Since the load current is 200 A, the armature current is

VT
I A  IL  IF IL 
RF
250V
 200 A 
50
 200 A  5 A  195 A

Internal generated voltage (induced voltage)

E A  VT  I A RA
 250V  (195 A)(0.06 )
 250 V  11.7 V  238.3 V
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Solution

At load current of 200A, the demagnetizing mmf due to

armature reaction is 840 A-turns, so the effective shunt field
current of the motor is

𝐹𝐴𝑅 840
𝐼𝐹∗ = 𝐼𝐹 − = 5− = 4.3𝐴
𝑁𝐹 1200

From the magnetization curve, this effective field current n=1200 rpm
will produce an internal voltage of EA0 = 233 V at a speed of
1200 rpm. For the actual internal generated voltage EA is
238.3V, the actual operating speed is

𝐸𝐴 𝐾′𝜙𝑛 𝐸𝐴 238.3
= → 𝑛 = 𝑛0 = 1200 = 1227 𝑟𝑝𝑚
𝐸𝐴0 𝐾′𝜙𝑛0 𝐸𝐴0 233

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Solution

b) A speed of a motor with compensating windings was 1144 rpm when the input current was
200A. We notice that the speed of the motor with armature reactance is higher than the speed of
the motor without armature reactance. This increase is due to the flux weakening.

c) To obtain the torque-speed characteristic

of this motor, we must calculate the torque
and speed for many different conditions of
load. Unfortunatelly, the demagnetization
armature reaction mmf is only given for
one condition of load (200A) . Since no
additional information is available, we will
assume that the mmf due to the armature
reaction varies linearly with the increase in
current, and repeating the same
computations for many different load
currents, the motor’s torque-speed
characteristic can be plotted.
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The series DC motor

A series DC motor is a DC motor whose field windings consists of a relatively few turns connected
in series with armature circuit. Therefore:

𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 (𝑅𝐴 + 𝑅𝑆 )

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Example 4.3. Series motor: terminal characteristic

Example: A 250 V series DC motor with compensating windings has a total series resistance RA + RS
of 0.08 . The series field consists of 25 turns per pole and the magnetization curve is

a) Find the speed and induced torque of

this motor when its armature current is
50 A.
b) Calculate and plot its torque-speed
characteristic.

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Example 4.3. Solution

For IA = 50 A
𝐸𝐴 = 𝑉𝑇 − 𝐼𝐴 𝑅𝐴 + 𝑅𝑆 = 250 − 50𝑥0.08 = 246𝑉
Since for a series motor IA = IF = 50 A, the mmf is

ℱ = 𝑁. 𝐼𝑆 = 25.50 = 1250 𝐴 − 𝑡𝑢𝑟𝑛𝑠

From the magnetization curve, at this mmf, the internal generated voltage is
EA0 = 80 V and speed of the motor n0=1200rpm. Since the motor has compensating
windings, the correct speed of the motor will be
𝐸𝐴 246
𝑛= 𝑛0 = 1200 = 3690 𝑟𝑝𝑚
𝐸𝐴0 80

The resulting torque:

𝐸𝐴 𝐼𝐴 246.50
𝜏𝑖𝑛𝑑 = = = 31.8 𝑁 − 𝑚
𝜔 3690.2𝜋/60
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Example 4.3. Solution

b) The complete torque-speed

characteristic

We notice severe over-speeding at

low torque values.

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The Compounded DC motor

A compounded DC motor is a motor with both a shunt and a series field.
Current flowing into a dotted
end of a coil (shunt or
series)
If current flowsproduces a positive
into the dotted ends
of both mmf.
coils, the resulting mmfs Long-shunt
add to produce a larger total mmf – connection
cumulative compounding.

If current flows into the dotted end of one coil

and out of the dotted end of another coil, the
resulting mmfs subtract – differential Short-shunt
connection
compounding.

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Compounded DC motor

The Kirchhoff’s voltage law equation for a compounded DC motor is

𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 𝑅𝐴 + 𝑅𝑆
The currents in a compounded DC motor are
𝐼𝐴 = 𝐼𝐿 − 𝐼𝐹
𝑉𝑇
𝐼𝐹 =
𝑅𝐹
The mmf of a compounded DC motor: Cumulatively compounded

ℱ𝑛𝑒𝑡 = ℱ𝐹 +
−ℱ𝑆𝐸 − ℱ𝐴𝑅
Differentially compounded

The effective shunt field current in a compounded DC motor:

𝑁𝑆𝐸 ℱ𝐴𝑅 𝑁𝑆𝐸 ℱ𝐴𝑅
𝑁𝐹 𝐼𝐹∗ = 𝑁𝐹 𝐼𝐹 +
−𝑁𝑆𝐸 𝐼𝐴 − ℱ𝐴𝑅 𝐼𝐹∗ = 𝐼𝐹 + 𝐼𝐴 − or 𝐼𝐹∗ = 𝐼𝐹 − 𝐼 −
𝑁𝐹 𝑁𝐹 𝑁𝐹 𝐴 𝑁𝐹
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Example 4.4. Compounded DC motor

Example : A 100 hp, 250 V compounded DC motor with compensating windings has an internal
resistance, including the series winding of 0.04 . There are 1000 turns per pole on the shunt field
and 3 turns per pole on the series windings. The magnetization curve is shown below.

The field resistor has been adjusted for the motor speed
of 1200 rpm. The mechanical, core, and stray losses may
be neglected.
a) Find the no-load shunt field current. 𝑛 = 1200 𝑟𝑝𝑚
b) Find the speed at IA = 200 A if the motor is i)
cumulatively; ii) differentially compounded

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Example 4.4. Solution

a) At no load, the armature current is zero; therefore, the internal generated voltage equals VT =
250 V. From the magnetization curve, a field current of 5 A will produce a voltage EA = 250 V at
1200 rpm. Therefore, the shunt field current is 5 A.
b) When the armature current is 200 A, the internal generated voltage is

𝑉𝑇 = 𝐸𝐴 + 𝐼𝐴 𝑅𝐴 + 𝑅𝑆 , 𝐸𝐴 = 250 − 200𝑥0.04 = 242 𝑉 𝑛 =?

The effective field current of a cumulatively compounded motor will be
𝑁𝑆𝐸 ℱ𝐴𝑅 3
𝐼𝐹∗ = 𝐼𝐹 + 𝐼 − = 5+ 200 = 5.6 𝐴
𝑁𝐹 𝐴 𝑁𝐹 1000

From the magnetization curve, EA0 = 262 V at speed n0 = 1200 rpm. The actual motor speed is

𝐸𝐴 242
𝑛= 𝑛0 = 1200 = 1108 𝑟𝑝𝑚
𝐸𝐴0 262
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Example 4.4. Solution

c) The effective field current of a differentially compounded motor will be

𝑁𝑆𝐸 ℱ𝐴𝑅 3
𝐼𝐹∗ = 𝐼𝐹 − 𝐼 − = 5− 200 = 4.4 𝐴
𝑁𝐹 𝐴 𝑁𝐹 1000

From the magnetization curve, EA0 = 236 V at speed n0 = 1200 rpm. The actual motor
speed is

𝐸𝐴 242
𝑛= 𝑛 = 1200 = 1230 𝑟𝑝𝑚
𝐸𝐴0 0 236

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The permanent-magnet DC motor (PMDC Motor)

A permanent magnet DC (PMDC) motor is a motor whose poles are made out of permanent
magnets.
Advantages:

 Since no external field circuit is needed, there are no field

circuit and no copper losses due to field windings.
 Since no field windings are needed, these motors can be
considerable smaller.
 Since permanent magnets produces weaker flux densities
then externally supported shunt fields, such motors have
lower induced torque.
 There is always a risk of demagnetization from extensive
heating or from armature reaction effects (via armature
mmf).

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Example 4.5. PMDC Motor

A permanent magnet DC motor is supplied with 24Vand 2A, and is operating at 1500 rpm. The
motor is 85% efficient under these conditions. Assume no rotational losses. Find
a) the machine constant Kv (𝐾𝜙).
b) the back EMF at 1500 rpm.

𝑃𝑖𝑛 = 𝑉𝑇 𝐼𝐿 = 24𝑉. 2𝐴 = 48𝑊

𝑃𝑜𝑢𝑡
𝜂=
𝑃𝑖𝑛
𝑃
𝜂= 𝑜𝑢𝑡 = 0,85 → 𝑃𝑜𝑢𝑡 = 40,8𝑊
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2𝜋
𝐼 𝑛𝑜 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑙𝑜𝑠𝑠𝑒𝑠 𝑃𝑜𝑢𝑡 = 𝑃𝑐𝑜𝑛𝑣 = 40,8𝑊 𝐸𝐴 = 𝐾𝜙𝜔𝑚 = 𝐾𝑣 𝜔𝑚 = 𝐾𝑣 𝑛
60
20,4
𝐾𝑣 = = 0,13
40,8𝑊 2𝜋
𝑃𝑐𝑜𝑛𝑣 = 𝐸𝐴 𝐼𝐴 → 𝐸𝐴 = = 20,4𝑉 1500
2𝐴 60

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Example 4.6. PMDC Motor

A 125V PMDC motor is rated for 32A. Armature resistance RA = 0.135 ohm, and total rotational
losses of 132 W when operating at rated speed.
(a) Input power, electrical power losses, power developed (= power converted), and output power.
(b) Back EMF
(c) Efficiency.
(d) Draw a power flow diagram and fill-in the values for power in, electrical power loss, power
developed, mechanical power loss and power out.

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Example 4.7

A 220V DC shunt motor draws 10A at 1800rpm. The armature resistance is 0.2 and field
winding resistance is 440.
a) What is the torque induced?
b) What will be the speed and line current at a torque of 20 N-m (if field current is
constant)?
VT 220V
IF    0.5 A
RF 440 2n 2 1800
   188rad / s
60 60
I A  I L  I F  10 A  0.5 A  9.5 A Pconv 2.07kW
Tind    11.0 N  m
 188rad / s
E A  VT  I A RA  220V  9.5 A0.2   218V

Pconv  E A I A  218V 9.5 A  2.07kW

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Example 4.7

E A  K I L  I A  I F  17.3 A  0.5 A  17.8 A

K 
EA

218V
 1.16 E A  VT  I A RA  220V  17.30.2   217V
 188rad / s
E A 217V
   187rad / s
Tind  KI A K 1.16
Tind 20 N  m 60
IA    17.3 A n  1790rpm
K 1.16 2

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Separately Excited DC Generator

A separately excited DC generator is a generator whose field current is supplied by a separately

external DC voltage source

VT : Actual voltage measured at the terminals of the generator

IL : current flowing in the lines connected to the terminals.
EA : Internal generated voltage.
IA : Armature current.
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Example 4.8
A separately excited dc generator is rated at 172 kW. 430 V. 400 A and 1800rpm. Its magnetization
curve is shown in Figure. This machine has the following characteristics:

RA = 0.05 Ω RF = 20 Ω Radj = 0 to 300 Ω

VF = 430V NF = 1000 turns per pole

(a) If the variable resistor Radj in this generator's field circuit is adjusted to 63 Ω and the generator's prime
mover is driving it at 1600 rpm, what is this generator 's no-load terminal voltage?

(b) What would its voltage be if a 360-A load were connected to its terminals? Assume that the generator has
compensating windings.

(c) What would its voltage be if a 360-A load were connected to its terminals but the generator does not have
compensating windings? Assume that its armature reaction at this load is 450 A-turns.

(d) How much field current would be needed to restore the terminal voltage to its no-load value? (Assume that
the machine has compensating windings.) What is the required value for the resistor Radj to accomplish
this?

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a)

From the machine's magnetization curve, this much current would produce a voltage EAO = 430 V
at a speed of 1800 rpm. Since this generator is actually turning at n= 1600 rpm, its internal
generated voltage EA will be

Since VT = EA at no-load conditions, the output voltage of the generator is VT=382 V.

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b) If a 360-A load were connected to this generator's terminals, the terminal voltage of the
generator would be

c) If a 360-A load were connected to this generator's terminals and the generator had 450 A-turns
of armature reaction, the effective field current would be

From the magnetization curve, EA0 = 410 V, so the internal generated voltage at 1600rpm would
be

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d) For the terminal voltage to go back up to 382 V, the required value of EA is

To get a voltage EA of 400 V at n=1800 rpm would be

From the magnetization curve, this voltage would require a field current of IF =6.15 A.
The field circuit resistance would have to be

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