I.

Introduction
A. Electromagnetic Conversion

Electrical energy Mechanical energy

(voltage & current) (torque & speed)
Electric Machine
(Magnetic Field)

Motor

Generator

The conversion of energy results from the following electromagnetic phenomena:

1. When a conductor moves in a magnetic field, voltage is induced in the
conductor (Generator)
2. When a current-carrying conductor is placed in a magnetic field, the
conductor experiences a mechanical force (Motor)

1
 I. Introduction
B. Stator and Rotor

Stator
-Stationary part Rotor
-Rotating part
-outer frame (normally)
-inner frame (normally)

2
 I. Introduction
C. Winding Construction

Two conductors
connected to one end
by an end connector
Formed by connecting Formed by connecting
several turns in series several coils in series

3
 I. Introduction
D. Armature Winding and Field Winding

Armature Winding: The winding in which voltage is induced

Field Winding: The winding through which a current is passed to

produce the primary source of flux in the machine

4
 I. Introduction
E. Armature Winding

Pole pitch
Angular distance between the centers of two adjacent poles on a machine

- in mechanical degree :

360 md S
p  (1-9)
p p

p : number of pole
N N
- in electrical degree :

 p  180ed S

As shown in previous slide

5
 I. Introduction
E. Armature Winding

Coil pitch
The two sides of a coil are placed in two slots on the armature surface.
The distance between the two sides of a coil is called the coil pitch
a1
Out from the page

- in mechanical degree : m

- in electrical degree :
S
m
m Into the page
 180 a1’ x N N
p (1-10)

p : pole pitch (in mechanical degree)

S

6
 I. Introduction
E. Armature Winding
Type of coil stretching
• Full-pitch coil • Fractional-pitch coil
 m   p (mechanical )  m   p (mechanical )
a1

p p
S S 
m
m
N N x a1’ N N

S S

Chorded windings :
The voltages in the conductors on either side
Windings employing fractional-pitch coil
of the coil will be exactly the same in
magnitude and opposite in direction at all
7
times
 I. Introduction
E. Armature Winding

Mechanical speed VS electrical speed x

fe  f m e  m e  m 2 poles

P nm
e  m rad
fm 
2 60
P 120
e  m rad/s
nm  fe
2 P rpm

P
fe  fm Hz 360ed=360 md
2 180 

Note :
p : number of pole
.
fm : mechanical freq.
f e: electrical freq.
m : mechanical speed (rad/s)

nm : mechanical speed (rpm)

8
 I. Introduction
E. Armature Winding
4-Pole
6-Pole Mechanical Electrical
Degree Degree
x
2-Pole Coil pitch 180 180
Pole pitch 180 180

x 1 360 360
electrical
cycle
4-Pole Coil pitch 90 180
Pole pitch 90 180
1 180 360
electrical
cycle
180  360ed=180 md 360ed=120 md
180  6-Pole Coil pitch 60 180
Pole pitch 60 180

1 120 360
electrical
cycle

9
 I. Introduction
F. Pole

Salient pole: Magnetic pole that sticks out from the surface of the stator

Nonsalient pole: Magnetic pole constructed flush with the surface of the stator

10
Electric Machine :
DC Machines
I. Introduction
G. DC Machine

12
 II. Fundamentals
A. Major components

Stator coil

Pole shoes
(Salient pole)

Air gap Rotor coil

Stator Rotor
carries field winding that is used carries armature winding where
to produce required magnetic field the emf is produced

13
Pole Shaft Commutator
Interpole

Stator (Field) Rotor with commutator (Armature)

14
 II. Fundamentals
B. Generating AC Voltages
•The coil is connected to two slip rings, which is
connected to an external load by means of two
stationary brushes.
  BA •As the coil rotates at a uniform angular velocity
between N and S poles, a voltage is induced
between the terminals.
•The voltage is generated because the conductors of
the coil cut across the flux produced by N, S poles.
•For a clock-wise rotation, the direction of the emf
will be direct from a to d for one-half of the
revolution and induced emf will be directed from d to
a for the other half revolution.

Figure 1

•The study of DC generator has to be begin with a

knowledge of the AC generator.
•Figure 1 shows an elementary two-pole AC
generator having a single turn coil Figure 2
15
 II. Fundamentals
B. Commutation
•In order to have DC voltage at the terminal
(brush voltage), the internal generated voltage
has to be rectified. The mechanism used as
the rectifier is a mechanical rectifier, known as
a commutator.
•Figure 3 shows a modified arrangement of
Figure 1. The slip ring arrangement has been
changed to the split slip ring arrangement,
which represents the commutator.
+ - Figure 3 •The commutator is a mechanism that
mechanically rectify the AC signal. As the
result, the polarity of the brushes remains
fixed, and the current direction through the
Figure 4
load remains the same, as shown in Figure 4.
•This process is known as commutating
process, which converts the internal generated
AC voltage to the external DC voltage at the
terminal.
Multiturn
Figure 5 machine
16
 II. Fundamentals
C. Starting the linear DC Machine
R B
x x x x VB  eind
t=o i
i (t) R
+ F ind
VB e ind l
- v

x x x x

Linear DC Machine 1. Closing the switch produces a current flow

VB
i
R
2. The current flow produces a force on the
bar given by F  ilB
3. The bar accelerates to the right, producing
an induced voltage eind as it speeds up e  vlB
4. This induced voltage reduces the current
flow i  VB  eind  / R
5. The induced force is thus decreased F  ilB
until eventually F=0. At that point, eind  VB , i  0
and the bar moves at a constant no-load
speed VB
vss 
Bl
17
 II. Fundamentals
C. Linear DC Machine as motor
R B
x x x x
i (t)
+
VB e ind l F ind
F load - v 1. A force Fload is applied opposite to the
x x x x
direction of motion, which causes a net
force Fnet opposite to the direction of
Linear DC Machine as motor motion
2. The resulting acceleration a  Fnet / m
is negative, so the bar slows down (v )
3. The voltage eind = vBl falls, but i  VB  eind  / R
increases
4. The induced force Find  ilB increases until
|Find| = |Fload| at a lower speed v
5. An amount of electric power equal to eindi
is now being converted to mechanical
power equal to Findv, and the machine is
acting as a motor

18
 II. Fundamentals
D. Linear DC Machine as generator
R
B
x x x x

i (t)
+ Fapp
VB e ind l 1. A force Fapp is applied in the direction of
F ind - v
motion, Fnet is in the direction of motion
x x x x 2. The resulting acceleration a  Fnet / m
is positive, so the bar speeds up (v )
Linear DC Machine as generator 3. The voltage eind = vBl increases, and
increases i   eind  VB  / R
4. The induced force Find  ilB increases until
|Find| = |Fload| at a higher speed v
5. An amount of mechanical power equal to
Findv is now being converted to electric
power eindi, and the machine is acting as a
generator

19
 III. DC Machine
A. Classification based on the type of field connection

•Separately excited dc machine: No direct connection between the armature and the
field windings. The field winding is connected to a separate dc supply
•Self-excited dc machine: A direct connection between the armature and the field
windings (Shunt, series and compound machine)

Note : DC generator needs a prime mover to rotate the rotor (steam

turbine, diesel engine, electric motor)

Internal generated voltage E A  K

Induced torque develop by the  ind  K I A
machine

EA: Internal generated voltage at armature

IA: Armature current

20
 III. DC Machine
B. Separately excited dc machine

Torque-speed characteristics

21
 III. DC Machine
B. Separately excited dc machine
IF IA IF IA
Generator Motor
Radj : external variable
resistor to control IF
+ RF : field resistor
+
RA LF : field inductor
Radj Radj RA
RA : armature resistor
RF IA : armature current
VF RF IF : field current VF RF
VT VT
EA VF : voltage of field winding
EA
VT : terminal voltage
EA : internal generated voltage
LF LF
- -

VF
IF  VF
RF IF 
RF
VT  E A  I A RA
VT  E A  I A RA
IL  I A
IL  IA

22
 Exercise
 A separately excited dc generator is turning at 1400rpm produces an induced
voltage of 127V. The armature resistance is 2 and the machine delivers a current
of 12A. Calculate the terminal voltage.

VT  E A  I A RA  127  2(12)  103V

IF IA

Radj RA

VF RF
VT
EA

LF

23
 III. DC Machine
C. Shunt DC Machine

Shunt DC motor
- it is running in constant speed regardless the load
- it is used when the starting conditions are not severs
- application : centrifugal pump, blower fans, machine tools

Torque-speed characteristics
VT  E A  I A RA
E A  K  VT  K  I A RA
 ind  ind
 ind  K  I A IA  VT  K  RA
K K
VT RA
  
K  K  2 ind
24
 III. DC Machine
C. Shunt DC Machine

IA Generator Motor
IL IA IL

IF IF
+ +
RA
Radj IL : line current RA Radj

RF RF
VF VT VF VT
EA EA

LF LF
- -

V VT
IF  T net  N F I F  AR IF  net  N F I F  AR
RF RF
AR AR
VT  E A  I A RA I F*  I F  VT  E A  I A RA I F*  I F 
NF NF
I A  IL  IF IL  I A  IF
25
 Exercise
 A 50hp, 250V, 1200r/min dc shunt motor without compensating windings has an armature
resistance (including the brushess and interpoles) of 0.06. Its field circuit has a total
resistance RF+Radj of 50 , which produces a no-load speed of 1200r/min. There are 1200
turns per pole on the shunt field winding, and the armature reaction produces a
demagnetizing magnetomotive force of 840A turns at a load current of 200A.

IA IL
250
I A  I L  I F  200   195 A IF
50
E A  VT  I A RA  250  195(0.06)  238.3V RA Radj

RF
VF VT
EA

LF

26
 III. DC Machine
D. Series DC Machine

 Series DC motor
- the speed varies automatically with the load
- it is used when the heavy power is needed
-application : elevator and hoists, electric trains,
electric cars, conveyor

Torque-speed characteristics

27
 III. DC Machine
D. Series DC Machine

IA Generator
Is IL Is Motor
IL

RS LS + IA LS
RS +
RA RS : field series resistor RA
LS : field series inductor

VT VT
EA EA

- -

I A  IL  Is
I A  IL  Is
VT  E A  I A  RA  Rs 
VT  E A  I A  RA  Rs 

28
 III. DC Machine
E. Compounded DC Machine

Cumulatively compounded

 Compounded DC motor
-it is having the characteristics of both shunt
and DC motors
- it is used when the severe starting conditions
are met and the constant speed is required
at the same time Torque-speed characteristics
-application : heavy machine tools, sudden
temporary loads

29
 III. DC Machine
E. Compounded DC Machine (Short Shunt)
Note : compounded DC generators are used in many applications because the output voltage
remains relatively constant for all values of load current

IA Generator IL IA Motor IL

IF LS + IF LS +
RS RS

RA Radj RA Radj

RF RF
VF VT VF VT
EA EA

LF LF
- -

I A  IL  IF net  F  SE  AR I A  IL  IF net  F  SE  AR

VT  I L Rs N SE 
V  I L Rs N  IF  I F*  I F  I A  AR
IF  T I F*  I F  SE I A  AR RF NF NF
RF NF NF
VT  E A  I A RA  I L Rs
VT  E A  I A RA  I L Rs
30
 III. DC Machine
E. Compounded DC Machine (Long Shunt)
Note : compounded DC generators are used in many applications because the output voltage
remains relatively constant for all values of load current

IA Generator IL IA Motor IL

LS IF + LS IF +
RS RS

RA Radj RA Radj

RF RF
VF VT VF VT
EA EA

LF LF
- -

I A  IL  IF net  F  SE  AR I A  IL  IF net  F  SE  AR

V N  VT N SE 
IF  I F*  I F  I A  AR
IF  T I  I F  SE I A  AR
*
F RF NF NF
RF NF NF
VT  E A  I A  RA  Rs 
VT  E A  I A  RA  Rs 
31
 III. DC Machine
G. Problem with the real DC machine

• Armature reaction
1. When load is connected, magnetic field is produced
from the rotor winding, and affects the original flux from
the poles
2. Flux weakening
Placed in slots carved in the
Compensating faces of the poles parallel to the
rotor conductors to cancel the
winding distorting effect of armature
reaction

• Inductive Kick
Changing voltage occurring in the commutators that are
shorted by the brushes

Brush shifting To stop the brush sparking

32
 III. DC Machine
H. Power flow and losses
P conv
Motor

Pout = load m Copper losses :

Pin = VT IL EA IA = ind m

Pcu  Pcu , A  Pcu , F

2
Brush Core Mechanical
Stray Pcu , A  I A RA
Copper losses losses
losses losses Others
losses Eddy current Friction & 2
Armature &
Voltage
drop & hysteresis
windage
Pcu , F  I F RF
field winding P conv
Generator
Ignored
Pout = VTIL Brush Losses :
EaIA = ind m
Pin = app m PBD  VBD I A

Brush Copper
Stray Mechanical Core losses
losses losses losses
losses
33
 III. DC Machine
I. Formulation of performances
• Efficiency
Pout
  100% (2.5)
Pin
Pin  VT  I L (2.6)

Pout  Pin  Ploss (2.7)

Ploss  Pcu  PBD  Pcore  Pmech  Pstray (2.8)

• Induced torque
Pconv (2.9)
 ind 

Pconv  EA  I A (2.10a)

Motor Pconv  Pin  Pcu  PBD (2.10c)

Generator Pconv  Pin  ( Pcore  Pmech  Pstray ) 34

 III. DC Machine
I. Formulation of performances

• Output torque or load torque

Pout
 out   load  (2.11)

• Speed Regulation
 nl   fl
SR  100% (2.12)
 fl
Motor
nnl  n fl
SR   100 % (2.13)
n fl
• Voltage Regulation
VT ,nl  VT , fl
Generator VR   100% (3.9)
VT , fl
35
 III. DC Machine
J. Operating Characteristics
Operating characteristics of DC motor can be analyze by using its
magnetization curve (EA versus IF) that is taken at certain speed value
Internal generated voltage, EA (V)

nm = 1200 rpm

 AR
I F ( armature _ reaction )  (2.15)
NF
AR : magneto motrice force because of armature reaction

NF : turn number of field winding

Field current, IF (A)

Note: IF in the magnetization curve is the effective field

current, after being subtracted by the armature reaction

I F  I F ( in _ actual _ condition )  I F ( armature _ reaction ) (2.14)

36
 III. DC Machine
K. Starting problem

• Starting condition
nm = m = 0 IL IA

EA = 0 because EA  K  
IF

Using the equivalent circuit of shunt DC motor RA

0
RF
VT  E A
IA  (2.16) VT VF
RA
EA
- Problem
LF
I A 

- Alternative Solution
Inserting a starting resistor in series with the armature (must not be in the circuit permanently )

0
VT  E A
IA 
R A  R s ta r t
37
 III. DC Machine
L. Speed control

 The techniques of controlling DC motor speed

• Shunt, separately excited, and compounded DC motors :

- changing field resistance
- changing armature voltage (the most useful way)
- changing armature resistance

• Series DC motor :
- changing armature voltage

38
 III. DC Machine
L. Speed control (cont’d)

 Ward-Leonard speed controller

Control armature voltage of DC motor by using Electromechanical method

Ward-Leonard speed controller RAge RAmo

n t
Three-phase
AC voltage IAgen IAmot
supply

EA VT EA

Three-phase
AC motor
(prime mover)
DC generator DC motor

The armature voltage can be controlled by

varying the field current of the DC generator

39
 III. DC Generator
M. Parallel operation of DC generators

Operating characteristics of parallel DC generators can be analyzed

by using their VT versus IL curves

VT (V)

Generator 2 Generator 1
VT nl

VT fl2 VT fl1
VTsystem

IL (A) IL (A)
I Lfl2 I Lfl1
IL2 IL1
Iload= IL1 + IL2

40