An-Najah National University

Faculty of Engineering
Electrical Engineering Department

• DC Machine structure ,Operation and control

Dr Kamel Saleh 1
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Introduction
• DC motor in service for more than a century
• Dominated variable speed applications before
Power Electronics were introduced
• Advantage:
Precise torque and speed control without
sophisticated electronics

Dr Kamel Saleh 2
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Introduction
 Some limitations:
 High maintenance (commutators & brushes)
 Expensive
 Speed limitations
 Sparking
 Commonly used DC motors
 Separately excited
 Series (mostly for traction applications)
Dr Kamel Saleh 3
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

DC Machine – Theory of Operation

 Field winding - on stator pole
 if produces f
 Armature winding –on rotor
 ia produces a
 f and a mutually
perpendicular
 maximum torque
 Rotor rotates clockwise
 For unidirectional torque and
rotation
 ia must be same polarity under
each field pole
 achieved using commutators
and brushes Dr Kamel Saleh
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

DC Machine – Field Excitation

• Depends on connections of field winding relative
to armature winding
• Types of DC machines:
• Separately Excited
• Shunt Excited
• Series Excited
• Compounded
• Permanent Magnet Dr Kamel Saleh
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Separately Excited
• Field winding separated from armature winding
Independent control of if (f ) and ia (T)

VT= EA+RA*IA EA=K*Φ*ω

IF= Vf/(RF+Radj) Tin= K*Φ*IA 6
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Shunt Excited
Field winding parallel to rmature winding

VT= EA+RA*IA EA=K*Φ*ω

IF= VT/(RF+Radj) Tin= K*Φ*IA 7
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Torque Vs Speed Characteristics of

Separately excited and Shunt Motors
speed
Tin=TL - constant speed
TL increase
Ra*Ia
Ω decrease

Ea decrease

Ia increase
Torque
Tin=TL but at lower
speed

8
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Separately Excited DC Machine

Ra La Lf Rf

ia +
+ if +

vt ea Field vf
Armature
circuit
circuit
_ _ _

dia di f
va  Raia  La  ea v f  Rf i f  Lf
dt dt
Te  Kia  Kbia Electromagnetic torque

ea  K  Kb Armature back e.m.f.

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Separately Excited DC Machine

 Motor is connected to a
load.
 Therefore,
d
Te  J  B  TL
dt
where
TL= load torque
J = load inertia (kg/m2)
B = viscous friction
coefficient
(Nm/rad/s)
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

DC Machine – Block Diagrams

and Transfer Functions
Taking Laplace transform of (1) and (3) and neglecting initial
conditions:
Va s   K b ωs  K b I a s   TL s  (11)
I a s   (10) ωs  
Ra  s La B  s J 
These relationships can be represented in the following block
diagram
TL(s)

Ia(s) Te(s) -
+ 1 1
Kb + (s)
Ra sLa 
Va(s)
- B  s J 

Kb
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Speed Control Methods for Separately Excited DC Motor

Va
intercept 
 K
Va  Ra I a Va Ra  Te 
    
K K K   K  
Ra
slope 
 
Va

Ra
T K 2
K  K  2 e
Te

Three possible methods for speed control:

 Armature voltage Va
 Armature resistance Ra
 Field flux  (by changing field resistance Rf)
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Speed Control Methods – Ra control

Va Ra
  T
K K 2 e


Va Ra
slope  TL Simple control
K K 2 Losses in external resistor
 Rarely used.

Ra ↑

Te
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Speed Control Methods –  control

Va Ra
  T
 K K 2 e

TL

↓
Va
K Not possible for PM motor
Ra
slope  Normally employed for
K 2 speed above base speed

Te
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Speed Control Methods – Va control

Va Ra
  T

K K 2 e

Va
TL
K

Va↓

Requires variable
DC supply

Te
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Speed Control Strategy for Separately Excited DC Motor

 Base speed base = Speed at rated Va, If and Ia

  = 0 to base  speed control by Va
  > base  speed control by flux weakening ()
T

Va control base  control

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Speed Control Strategy for Separately Excited DC Motor

  = 0 to base  speed control by Va
  > base  speed control by flux weakening ( )
 T  Ia  For maximum torque capability, Ia = Ia max
 Pd = EaIa = (K)Ia = constant when  > base
in order to go beyond base,   (1/)
Per unit
quantities
Ia Va
1.0

If, Te, 

Va control base  control

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Speed Control Strategy for Separately Excited DC Motor

Per unit
quantities
Ia Va
1.0

If, Te, 


Va control base  control

 Torque and power relations below and beyond base

P, T P
P =K 

Te
Te = KIa

constant torque constant power

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Speed Control Strategy for Separately Excited DC Motor

 Example
A 220 V, 500 A, 600 rpm separately excited motor has armature
and field resistance of 0.02 and 10  respectively. The load
torque is given the expression
TL = 200 – 2N,
where N is the speed in rpm. Speeds below the rated are
obtained by armature voltage control and speeds above the
rated are obtained by field control.
i) Calculate motor terminal voltage and armature current
when the speed is 450 rpm.
ii) Calculate field winding voltage and armature current when
the speed is 750 rpm. Assume the rated field voltage is the
same as the rated armature voltage.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Operating Modes
Motoring
Back EMF Ea < Va
Ia and If are positive
Motor develops
torque to meet load
demand (i.e. Te =TL )
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Operating Modes
Regenerative Braking
 Motor acts as generator
 Develops Ea > Va
 Ia negative (flows back
to source)
 If positive
 Machine slows down
until Ea = Va
 Used only when there
are enough loads to
absorb regenerated
power
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Operating Modes
Dynamic Braking
 Similar to
regenerative
breaking
 But Va removed,
replaced by Rb
 Kinetic energy of
motor is dissipated
in Rb (i.e. machine
works as generator)
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Operating Modes
Plugging
Supply voltage Va is
reversed
Assists Ea in forcing Ia
in reverse direction
Rb connected in series
to limit current
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Operating Modes -
Four Quadrant Operation
Note: In the figure, Eg = Ea

Q2 Q1
+Va , +Ea  +  +Va , +Ea  + 
-Ia  -T +Ia  +T
Power = -ve Power = +ve

Q3 Q4
-Va , -Ea  -  -Va , -Ea  - 
-Ia  -T +Ia  +T
Power = +ve Power = -ve