2 Modeling of DC machine

• 2.1 Theorem of operation

• Maximum torque is produced when two
fluxes are in quadrature.
•
 2.2 Induced EMF
• From Faraday’s law, the induced emf is
dφf φf
e=Z =Z
dt t
where t is the time taken by the conductors
to cut φf 1flux lines.1 Therefore,
t= =
2 × frequency p n
2( )( r )
2 60
• Thus,(P: poles; Z: armature conductors; φf:
a flux per pole; nr: rotation speed)
Zφf Pn r
e=
60
• If the armature conductors are divided into ‘a’
parallel paths, then
Zφf Pn r
e=
60
wave winding: a = 2; lap winding: a = P.
• The usual expression
e = Kφfωm
where ωm=2πnr/60 rad/sec and K=(P/a)Z(1/2π)
• If the field flux is constant, then emf is
e = Kbωm
2.3 Equivalent circuit and electromagnetic torque

• The terminal relationship is

dia
v = e + R a ia + La
dt
• In steady state, the armature current is
constant and hence
v = e + Raia
• The power balance
via = eia + Raia2
•
• The power of mechanical form, Pa called
the air gap power, is expressed in term of
the electromagnetic torque and speed as
Pa = ωmTe = eia
• Hence,
eia K bωmia
Te = = = K bi a
ωm ωm
 2.4 Electromechanical modeling
• The acceleration torque, Ta, drives the load and
is given by
dωm
J + B1ωm = Te − T1 = Ta
dt
where J: a moment of inertia (kg-m2/sec2)
B1: a viscous friction coefficient N·m/(rad/sec)
T1: the load torque
 2.5 State-space modeling
• The dynamic equations in state-space form
⎡ Ra Kb ⎤ ⎡ 1 ⎤
⎢ − − 0 ⎥ V
⎡ pia ⎤ La La ⎥ ⎡ i a ⎤ ⎢ La ⎡ ⎤
=
⎢ pω ⎥ ⎢ K ⎥⎢ ⎥ + ⎢ ⎥⎢ ⎥
⎣ m⎦ ⎢ b B1 ⎥ ⎣ωm ⎦ 1 ⎥ ⎣T1 ⎦
− ⎢ 0 −
⎢⎣ J j ⎥⎦ ⎢⎣ J ⎥⎦
• The roots of the system are
R a B1 R a B1 2 R a B1 K 2b
−( + )± ( + ) − 4( + )
La J La J JLa JLa
λ1, λ 2 =
2
2.6 Block diagrams and transfer functions
• From (2.13) and (2.19), we get
V(s) − K bωm (s)
I a (s ) =
R a + sLa

K b Ia (s) − T1(s)
ωm =
( B1 + sJ )
• The transfer functions
ω (s) Kb
G ωV (s) = m = 2
V(s) s ( JLa ) + a ( B1La + JR a ) + ( B1R a + K 2b )

ω (s ) − ( R a + sLa )
G ωl (s) = m = 2
Ts (s) s ( JLa ) + s( B1La + JR a ) + ( B1R a + K 2b )
• The speed response due to the simultaneous
voltage input and load torque disturbance is
ωm(s) = GωV(s)V(s) + Gωl(s)T1(s)
 2.7 Field excitation
• Separately excited dc machine
• Shunt-excited dc machine
• Series-excited dc machine
• DC compound machine
• Permanent-magnet dc machine
 2.8 Measurement of motor constants
• Armature resistance:
It is measured between the armature terminals by
applying a dc voltage. (need to subtract the brush
and contact resistance)
• Armature inductance:
By the test schematic shown in Figure 2.11, the
inductance is
Va2
Ia
− R a2 fs: the frequency
La =
2 πf s Ra: the armature ac resistance
• EMF constant
Specified field voltage is applied and kept
constant, and the shaft is rotated by another
dc motor, and then the armature is
connected a voltmeter.
•