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§7.1 Introduction
The essential features of a dc machine are shown schematically in Fig. 7.1.
Fig. 7.1(b) shows the circuit representation of the machine.
The stator has salient poles and is excited by one or more field coils.
The air-gap flux distribution created by the field windings is symmetric about the
center line of the field poles. This axis is called the field axis or direct axis.
The ac voltage generated in each rotating armature coil is converted to dc in the external
armature terminals by means of a rotating commutator and stationary brushes to which the
armature leads are connected.
The commutator-brush combination forms a mechanical rectifier, resulting in a dc
armature voltage as well as an armature-mmf wave which is fixed in space.
The brushes are located so that commutation occurs when the coil sides are in the
neutral zone, midway between the field poles.
The axis of the armature-mmf wave is 90 electrical degrees from the axis of the field
poles, i.e., in the quadrature axis.
The armature-mmf wave is along the brush axis.
T =− ⎜ ⎟ Φ sr Fr sin δ r (4.81)
2⎝ 2 ⎠
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For the dc machine, the electromagnetic torque Tmech can be expressed in terms of
the interaction of the direct-axis air-gap per pole Φ d and the space-fundamental
component Fa1 of the armature-mmf wave, in a form similar to (4.81). Note that
sin δ r = 1 .
π ⎛ pole ⎞
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Figure 7.2 Rectified coil voltages and resultant voltage between brushes in a dc machine.
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armature emf ea0 at a constant speed ω m0 as shown in Fig. 7.3(b).
ea e
= K a Φ d = a0 (7.6)
ωm ω m0
ωm
ea = ( ) ea0 (7.7)
ω m0
n
ea = ( ) ea0 (7.8)
n0
Fig. 7.3(c) shows the magnetization curve with only one field winding excited.
This curve can easily be obtained by test methods.
Various methods of excitation of the field windings are shown in Fig. 7.4.
Any of the methods of excitation used for generators can also be used for motors.
Typical steady-state dc-motor speed-torque characteristics are shown in Fig. 7.6, in
which it is assumed that the motor terminals are supplied from a constant-voltage
source.
In a motor the relation between the emf Ea generated in the armature and and the
armature terminal voltage Va is
Va = Ea + I a Ra (7.11)
V − Ea
Ia = a (7.12)
Ra
The application advantages of dc machines lie in the variety of performance
characteristics offered by the possibilities of shunt, series, and compound excitation.
Va = E a ± I a Ra (7.17)
Vt = E a ± I a (Ra + Rs ) (7.18)
IL = Ia ± If (7.19)
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For compound machines, Fig. 7.12 shows a long-shunt connection and the short-shunt
connection is illustrated in Fig. 7.13.
⎛N ⎞
Gross mmf = I f + ⎜ s ⎟ I s equivalent shunt-field amperes (7.21)
⎝ Nf ⎠
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§7.5.2 Effects of Armature Reaction Included
Current in the armature winding gives rise to a demagnetizing effect caused by a cross-
magnetizing armature reaction.
One common approach is to base analyses on the measured performance of the machine.
Data are taken with both the field and armature excited, and the tests are conducted
so that the effects on generated emf of varying both the main-field excitation and
armature mmf can be noted.
Refer to Fig. 7.14. The inclusion of armature reaction becomes simply a matter of
using the magnetization curve corresponding to the armature current involved.
The load-saturation curves are displaced to the right of the no-load curve by an
amount which is a function of I a .
The effect of armature reaction is approximately the same as a demagnetizing mmf
Far acting on the main-field axis.
Over the normal operating range, the demagnetizing effect of armature reaction may
be assumed to be approximately proportional to the armature current.
The amount of armature of armature reaction present in Fig. 7.14 is definitely more
than one would expect to find in a normal, well-designed machine operating at
normal currents.
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§7.6 Analysis of Steady-State Performance
Generator operation and motor operation
For a generator, the speed is usually fixed by the prime mover, and problems often
encountered are to determine the terminal voltage corresponding to a specified load and
excitation or to find the excitation required for a specified load and terminal voltage.
For a motor, problems frequently encountered are to determine the speed corresponding to
a specific load and excitation or to find the excitation required for specific load and speed
conditions; terminal voltage is often fixed at the value of the available source.
Figure 7.15 Equivalent circuit for analysis of voltage buildup in a self-excited dc generator.
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Note that in Fig. 7.15,
dif
( La + Lf ) = ea − ( Ra + Rf ) if (7.25)
dt
The field resistance line should also include the armature resistance.
Notice that if the field resistance is too high, as shown by line 0b in Fig. 7.14, voltage
buildup will not be achieved.
The critical field resistance, corresponding to the slope of the field-resistance line
tangent to the magnetization curve, is the resistance above which buildup will not be
obtained.
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§7.6.2 Motor Analysis
The terminal voltage of a motor is usually held substantially constant or controlled to a specific
value. Motor analysis is most nearly resembles that for separately-excited generators.
Speed is an important variable and often the one whose value is to be found.
Va = E a ± I a Ra (7.17)
Vt = E a ± I a (Ra + Rs ) (7.18)
⎛N ⎞
Gross mmf = I f + ⎜ s ⎟ I s equivalent shunt-field amperes (7.21)
⎝ Nf ⎠
Tmech = K a Φ d I a (7.13)
E a = K a Φ dω m (7.14)
⎛ω ⎞
Ea = ⎜ m ⎟ Ea0 (7.22)
⎝ ω m0 ⎠
⎛ n⎞
E a = ⎜⎜ ⎟⎟ E a 0 (7.23)
⎝ n0 ⎠
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