Chapter 3.

DC Machines

Electromagnetic Conversion
Energy is needed in different forms:
•Light bulbs and heater  electrical energy
•Fans and rolling mills  mechanical energy
Conversion from
Electrical Mechanical
system
Electric Machines
system electrical to
e,i T,n mechanical:
Energy Flow
Motor
MOTOR
Generator
Conversion from
Electrical Mechanical
system Coupling
Magnetic
system mechanical to
e,i Fields T,n electrical:
GENERATOR
•Continuous energy converter are called electrical machines
•AC electric supply  AC machines (synchronous and asynchronous)
•DC electric supply  DC machines

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 Electrical
Machines

DC AC
machine machine
Synchronous Induction
Permanent machine machine
Field
Winding Magnet

•Machines are called AC machines (generators or

motors) if the electrical system is AC.
•DC machines (generators or motors) if the electrical
system is DC.
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Two electromagnetic phenomena in the electric

machines:
 1. Conductor moving in
magnetic field
- Motional voltage
e  Blv
Conductor moving in Right-hand screw rule
magnetic field

 2. Current carrying conductor

in magnetic field
- Electromagnetic force
(Lorentz Force)

f  Bli
 Both phenomena occur Force direction
Current -carrying
simultaneously in energy
conductor moving in Mutually
conversion process. magnetic field
perpendicular vectors

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 Current -carrying Conductor moving in
conductor moving in Force direction magnetic field Right-hand screw rule
magnetic field

Electric Machines Construction

 Stator and rotor (ferromagnetic materials)
 Slots with conductor
 Cylindrical machine (a)  uniform air gap
 Salient pole machine (b)  non uniform air gap
 Iron core  maximize flux density
 Laminations  reduce eddy current
 Conductors is used to form turncoilwinding
 Armature winding  in which voltage is excited/induced
 Field winding  the one that produces the primary flux

Cross section view of (a) cylindrical and (b) salient pole rotor electrical machines

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 DC Machine Fundamentals
• Generator action: An emf (voltage) is
induced in a conductor if it moves through
a magnetic field.

• Motor action: A force is induced in a

conductor that has a current going through
it and placed in a magnetic field

• Any DC machine can act either as a

generator or as a motor.

DC Machine Fundamentals
 DC Machine is most often used for a motor.

 The major advantages of dc machines are the easy

speed and torque regulation.

 Large dc motor (tens or hundreds of hp) used in

orienting press, conveyors, hoist, mills, trains etc.

 Small dc motor (fraction of hp) used as control

device and servomotors.

 In the past, automobiles were equipped with dc

dynamos to charge their batteries.

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 DC Machine Fundamentals
 Even today the starter is a series dc motor
 However, the recent development of power
electronics has reduced the use of dc motors
and generators.
 The electronically controlled ac drives are
gradually replacing the dc motor drives in
factories.
 Nevertheless, a large number of dc motors
are still used by industry and several
thousand are sold annually.

DC Machine
 Variable speed, large and small power range
 Field winding carrying DC-current in stator produces flux
symmetrically distributed about pole axis = direct (d) axis
 Armature winding in rotor  Alternating voltage is induced
 Mechanical commutator and brush assembly rectify the voltage
to become DC.
 Commutator-brush combination makes armature current
distribution fixed in space
 mmf of armature winding along quadrature (q) axis 
maximum torque , i.e at  = 90 degree, Max. Torque produced
at any time.

2-pole DC machine Shift of brush position to

change armature mmf

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 DC Machines Construction
• Stator: Stationary part of the
machine. The stator carries a
field winding that is used to
produce the required magnetic
field by DC excitation. Often
know as the field.

• Rotor: The rotor is the

rotating part of the machine.
The rotor carries a distributed
winding, and is the winding
where the emf is induced. Also
known as the armature.

DC motor stator with poles

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 Rotor of a dc motor.

Details of the commutator of a dc motor.

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Commutator & Brushes Operation
• Terminal ‘a’  Ca B1  +ve
• Terminal ‘b’  Cb B2  -ve
• eab is alternating (AC)
• e12 is unidirecional (DC with
ripple)
• Multislots at rotor can reduce
this ripple

As generator
eab=b()2Ɩv

Commutator & Brushes Operation

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Commutator & Brushes Operation

Commutator & Brushes Operation

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 Commutator & Brushes Operation

Armature Windings

Components of armature winding

• turn = two conductors connected at one end
• coil = several turns connected in series
• winding = several coils connected in series

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 Armature Windings
 Large machines have more than two poles
most of the conductors are in region of high air gap flux density

• electrical degrees ed p 360o md

ed   md one pole pitch  180 o ed 
• mechanical degrees md 2 p
• p number of poles
• pole pitch = distance between centers of two adjacent poles =180oed
• coil pitch = distance between two sides of a coil
• full-pitch: coil pitch = pole pitch
• short-pitch: coil pitch < pole pitch (mainly in ac-machines)

Armature Windings - Lap winding

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Armature Windings - Lap winding
 Side of each coil placed at similar position with adjacent poles
 All coils are added in series and this pattern continued until the end
of last coil connect the start of first coil
 1/p of the total coils are connected in series
 suitable for high-current low voltage
number of parallel paths = a = number of poles = number of brushes

Armature Windings - Wave winding

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 Armature Windings - Wave winding
 p/2 coil connected in series between two adjacent commutator bars
 suitable for high voltage low current
 number of parallel paths = 2
 number of brushes positions = 2 or more
 number of brushes is increased in large machines to minimize the
current density In brushes.

Armature Windings - Voltage

 the voltage induced in a turn
et  Blv  2 B ( )lm r
 average value of the voltage
induced in a turn
p
et  2 B( ) lm r  m

 Flux density for flux per pole Φ
 
B( )  
A 2rl p
 induced voltage in the armature
winding/parallel path
N number of turns in the armature winding
N Np a number of parallel paths
Ea  et   m  K a  m
a a Z total number of armature conductors
 Ea independent of operation = 2N
mode •machine (or armature) constant, Ka
• in generator: generated voltage
Np Zp
• in motor back emf Ka  Ka 
a 2a

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 Armature Windings - Torque
 the force on a conductor
Ia
f c  Bli  B ( )lic  B ( )l
a
 the torque on a conductor
Tc  f c r
 the average torque on a conductor
Ia pI a
Tc  B( ) l r
a 2 a
 the total torque developed • machine constant
N p Ka 
Np
T  2 NTc  I a  K a I a
a a
 power balance
T  K a I a
Ea  K a  m
Ea I a  K a   m I a  T  m  P

Example 1
Q. A four pole dc machine has an armature of radius 15 cm and
an effective length of 30 cm. The poles cover 75% of the
armature periphery. The armature winding consists of 35
coils, each coil having seven turns. The coils are
accommodated in 35 slots. The average flux density under
each pole is 0.85 T.
If the armature is lap-wound, N(rpm)(2/60) rads-1
(a)Determine the armature constant Ka.
(b)Determine the induced armature voltage when the armature
rotates at 1000 rpm.
(c) Determine the current in the coil and electromagnetic
torque developed when the armature current is 400 A.
(d)Determine the power developed by the armature.
r=15cm, l=30cm, N=35, slot=35, B=0.85. , p=4, w=1000
Sol_pg20 Sen Pg. 139

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 Example 2
If the dc machine armature in example 1 is wave-
wound, repeat parts (a)-(d).

Zp 2x35x7x4
Ka    156.1
2 (a ) 2 (2)
Φ  0.0374
2π
E a  K a Φ.ω  156.1x0.0374x1000x  611.1V
60

Magnetization Curve
 field mmf on d-axis
• armature mmf on q-axis
• no coupling
(quadrature/decoupled mmf)

 Magnetic core with infinite

permeability at low values of
flux (ampere-turns)
 Assume material Ur infinite
permeability, reluctance in
airgap only. Cross-section view

Magnetic flux/pole  given as

2 Fp Fp
 
2 g g
Equivalent circuit

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 Magnetization Curve
 It is more convenient if the magnetization curve is
expressed in terms of armature induce voltage Ea at a
particular speed (Fig. a).

 The magnetization curve obtained experimentally by

rotating the dc machine at 1000 rpm and measuring the
open-circuit armature terminal voltage as the current in
the field winding is changed (Fig b). Represents the
saturation level in the magnetic system of the dc machine
for various values of the excitation mmf.

Magnetization Curve
2 Fp Fp
 
2 g g
•increased Fp   increased   saturation
•Assume armature mmf has no effect
Residual flux Flux - Fp (field mmf)
relationship

•induced voltage in armature proportional to flux

times speed (Ea   ) m

Open cct.
Voltage
Ea

Field current, if

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 Classification of DC Machines
 The field circuit and armature circuit can be interconnected
in various ways to provide a wide variety of performance
characteristics-an outstanding advantage of dc machines.
 The field poles can be excited by two field windings, a shunt
filed winding and a series field winding.
 The shunt winding has a large number of turns and takes
only a small current (< 5% rated armature current).
 The series winding has fewer turns but carries a large
current.
 If both windings are used, the series winding is wound on top
of the shunt winding.

Classification of DC Machine

(a) Separately excited machine

(b) Series machine Self-excited generator –
(c) Shunt machine need residual flux in
machine iron
(d) Compound machine
* Permanent magnet can be considered as separately excited m/c., but
constant excitation

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 Classification of DC Machines
 Both shunt and series windings may be used ,
resulting in a compound machine.
 If the shunt winding is connected across the
armature, it is known as short-shunt machine.
 In an alternative connection, the shunt winding is
connected across the series connection of
armature and series winding, and the machine is
known as long-shunt machine.
 A rheostat is inserted in field winding to control
the field excitation ( vary mmf field)

Generators v-i characteristics

Ea = IaRa + Va
Va= Ea - IaRa

V-I characteristics of DC generators

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 Example 3
 A lap-wound armature is used in a six-pole dc machine.
There are 72 coils on the armature, each containing 12
turns. The flux per pole in the machine is 0.039 Wb and
the machine spins at 400 rpm.
Determine the induced voltage Ea.

Z = 2N = 2x72x12 =1728;
Ka=Zp/(2a)
a=p=6
flux/pole = 0.039
= 400 rpm=400(2)/60

Ea=Ka..=449.28

Example 4
 A 12 pole dc generator a wave wound armature
containing 144 coils of 10 turns each. The resistance of
each turn is 0.011 ohm. Flux per pole is 0.05 Wb and it is
running at a speed 200 rpm.
Ea = ?
T =?

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