Máquinas de Corrente

Contínua (CC)
 DC Machines

 Schematic representation of a DC Machine

N
+ If
Rotor
Vf If

- Stator
If S
f
2
2
DC Machines

 The field winding is placed on the stator and

supplied from a DC Source.
N Armature
Winding
x
x x
x Rotor
x x
x x

f
S 2
3
DC Machines

 The current is induced in the Rotor

Winding (i.e. the Armature Winding)
since it is placed in the field (Flux Lines) of
the Field Winding.

f

4
DC Machines

 The mmf produced by the field winding and

the mmf produced by the armature
winding are at a right-angle with respect to
each other.
 The torque is produced due to the interaction
of these two fields generating force on the
rotor.

5
DC Machines

 The force acting on the rotor, is expressed as

f  IL
  
B
Due to Due to
the Armature the Field

f
l T
e
Te = f x l
f

6
DC Machines

 The DC Machine Dynamic Equations for the

circuit represented bellow is
d f
V f  rf i f 
dt

7
DC Machines

 The flux linkage equations are:

 f  L ff i f  Laf iaa '

aa  Laf i f  Laa iaa

' '

Laf  L fa  -L cos r
Where Lff = field self-inductance
Laa= armature self-inductance
Laf = mutual inductance between the field
and rotating armature coils
8
 DC Machines - Shunt Connected

 The Shunt Configuration for a DC Machine

is as shown below,

9
 DC Machines - Shunt Connected

 The Dynamic Equations (assuming rf ext = 0 )

are follows,
di f dia
V f  rf i f  L ff Va  ea  ra ia  L fa
dt dt
ea   r Laf i f
Where Lff = field self-inductance
Lfa = mutual inductance between the field
and rotating armature coils
ea = induced voltage in the armature coils
(also called counter or back emf )

10
 DC Machines - Shunt Connected

 The torque equation for a Shunt Connected

DC-Machine is
1 1
Wc  L ff i f  Laa ia  i f ia Laf cos r
2 2

2 2
Wc
Te 
 r
Therefore,
Te  i f ia Laf sin  r

11
 DC Machines - Shunt Connected

 For DC Machines,  r   
2
+

mmf armature

-

r  
2

mmf field  Te  Laf ia i f

12
 DC Machines - Shunt Connected

 The equation of motion is expressed as

Te  ( Bm  J p) r  TL
where
Te  Electromagnetic Torque expressed in Newton - meter
Bm  Friction (damping) expressed in N  m  sec
J  Inertia expressed in Kg  m 2 or Joules  sec 2
 r  Angular frequency expressed in rad sec

13
 DC Machines - Series Connected

 The Series Connected configuration is

shown below.

14
DC Machines - Compound Connected

 The Compound Connected configuration is

shown below.

15
 DC Machines - Compound Connected

 For the Compound Connected , two

configurations shall be considered.
– Cumulative Compounding: The series field is connected
so as to did the shunt field.
– Differential Compounding: The series field is connected
as to oppose the flux produced by the shunt field.

16
DC Machines

 Shunt-connected DC Machine

17
DC Machines

 The dynamic equations (assuming rfext=0) are:

di f dia
V f  rf i f  L ff Va  ea  ra ia  Lla
dt dt
ea   r Laf i f

Where Lff = field self-inductance

Lla= armature leakage inductance
Laf = mutual inductance between the field
and rotating armature coils
ea = induced voltage in the armature coils
(also called counter or back emf )

18
DC Machines
For the field winding :
di f
V f  rf i f  L ff
dt
L ff d
  p
f
rf dt
V f  rf (1   f )i f
For the armature winding :
dia
Va  ea  ra ia  Lla ea   r Laf i f
dt
Laa
 
a
ra
Va  ra (1   a )ia  ea
Te  TL  ( Bm  J p) r
19
DC Machines - Shunt DC Machine

 Time-domain block diagram

– The machine equations are solved for:
1
1
rf
if  V f  G1
 f p 1 if 
ra
Va   r Laf i f   G2
 a p 1

1
r  Te  TL   G3
J p  Bm
Te  Laf ia i f

20
DC Machines - Shunt DC Machine

 Time domain block diagram

ia + Va
G2 
Vf if -
G1 Laf X
r + Vf
G3 
ia -
X
if
21
DC Machines - Shunt DC Machine

 State-space equations
Let t


X t  i f , ia ,  r  ;  r    r (t )dt   r (0)
0

Re-writing the dynamic equations,

di f rf 1
 if  Vf
dt L ff L ff
dia ra Laf 1
 ia  i f r  Va
dt Laa Laa Laa
d r Bm Laf 1
 r  i f ia  TL
dt J J J

22
DC Machines - Permanent Magnet

 The field flux in the Permanent Magnet

machines is produced by a permanent
magnet located on the stator.
 Therefore, L i  K  Constant
af f v

 Lsfif is a constant determined by the

strength of the magnet, the reluctance of
the iron, and the number of turns of the
armature winding.
23
DC Machines - Permanent Magnet

 Dynamic equations of a Permanent Magnet

Machine

24
DC Machines - Permanent Magnet

 Dynamic equations,

Va  ra (1   a P )ia  ea
Laa d
a  , P
ra dt

Te  TL  ( Bm  JP) r
Te  K v ia , ea  K v r

25
DC Machines - Permanent Magnet

 Time domain block diagram

– The equations are solved by,
1
ia 1 ra
   G1
 
ea ra  a p  1  a p  1

r 1
  G2
Te  TL JP  Bm

26
DC Machines - Permanent Magnet

 Time domain block diagram

Va
Te + r
+
 ea
G1
ia Kv  G2
- -
TL
Kvr
Kv

27
DC Machines - Permanent Magnet

 State-space equations
– re-writing the equations as function of states,
dia ra Kv 1
 ia  r  Va
dt Laa Laa Laa
d r Bm Kv 1
  r   r  TL
dt J J J

28
DC Machines - Permanent Magnet

– In a matrix form,

X  AX  BU
 ra Kv   1 
  0 
 ia   Laa Laa   ia    Laa Va 
P        
 r   K v 
Bm   r  
0 
1  TL 
 J J   J 

29
DC Machines - Permanent Magnet

r r
 Transfer Function, G1 
ra
, G2 
TL

 Let ra Kv
a11  a12  
Laa Laa
Kv Bm
a21  a12  
J J

1 1
b11  b22  
Laa J
30
DC Machines - Permanent Magnet

 The, we will have

Pia  a11 ia  a12 r  b11Va
P r  a21ia  a22 r  b22TL
– Re-arranging the equation,
P  a11 ia  a12 r  b11Va
 a21ia  P  a22  r  b22TL

31
DC Machines - Permanent Magnet

 In a matrix representation,

 ( P  a11 )  a12   ia   b11Va 

 a     
 21 ( P  a22 )  r  b22TL 
AX  B

32
DC Machines - Permanent Magnet

 Solving for ia
 b11Va  a12 
b T ( P  a )
ia   22 L 22 

( P  a11 )( P  a22 )  a12 a21

ia 
b11Va ( P  a22 )
( P  a11 )( P  a22 )  a12 a21

33
DC Machines - Permanent Magnet

 Let m be,
Jra
m  2
Kv
 The equation is then reduced to,
1  Bm   1 
 ra  P  Va   ( a m )TL
 a   J   Kv 
ia 
 1 Bm   1  1 Bm 
P   
2
 P     
a J    a   m J 
34
DC Machines - Permanent Magnet

( P  a11 ) b11Va
 a21 b22TL
r 
( P  a11 )( P  a22 )  a21a12
( P  a11 )b22TL  b11Va a21
r 
( P  a11 )( P  a22 )  a21a12

JVa
Substituti ng for a 11 ,..., b11 , and let  m  2 ,
Kv
it can be shown that

35
DC Machines - Permanent Magnet

 1   1  1
  a m Va    P  TL
 Kv   J  a 
r 
 1 Bm   1  1 Bm 
P   
2
 P     
 a J    a   m J 
 
2  n2

n
G1  with TL  0 ( No - Load Condition)
Va
n
G2  with Va  0
TL

36
DC Machines - Permanent Magnet

 The characteristic equation (or force-free

equation) of the system is as shown below,
P 2  2P   n2  0
  exponential decaying factor
 n  undamped natural frequency
oscillation of the sytem

  damping factor
n
b1,b2   n   n  2  1

37
DC Machines - Permanent Magnet

 If  < 1 , the roots are a conjugate complex

pair, and the natural response consists of an
exponentially decaying sinusoids.
 If  > 1, the roots are real and the natural
response consists of two exponential terms
with negative real exponents.

38
DC Machines
 The Field winding is placed on the stator
and the current (voltage) is induced in the
rotor winding which is referred also as the
armature winding.
 In DC Machines, the mmf produced by the
field winding and the mmf produced by the
armature winding are at right-angle with
respect to each other.
 The torque is produced from the interaction
of these two fields.
39
DC Machines

 Elementary two-pole DC Machine

40
 DC Machines
 Elementary machine two-pole machine

41
 DC Machines
 Commutation of the elementary machine - a

42
 DC Machines
 Commutation of the elementary machine -b

43
 DC Machines
 Commutation of the elementary machine -c

44
 DC Machines
 Commutation of the elementary machine -d

45
 DC Machines
 Cross section of an Elementary DC
Machine

46
 DC Machines
 Perspective view of an Elementary DC
Machine

47
DC Machines

 Flux path in the DC Machine

48
DC Machines

 A realistic flux density distribution in the air

gap

49
DC Machines

 An approximate flux-density distribution in

the air gap

50
DC Machines

 Commutation and direction of rotation.

Motor operation - a

51
DC Machines

 Commutation and direction of rotation.

Motor operation - b

52
DC Machines

 Commutation and direction of rotation.

Motor operation - c

53
DC Machines

 A sampling type of a DC Generator -

Frontal view

54
DC Machines

 A sampling type of a DC Generator -

Waveform generated.

55
DC Machines

 Idealized DC Machine uniformly distributed

rotor winding - Schematic representation

56
DC Machines

 Idealized DC Machine uniformly distributed

rotor winding - Circuit representation

57
 DC Machines

 The Shunt Configuration for a DC Machine

is as shown below,

58
 DC Machines

 The Dynamic Equations (assuming rf ext = 0 )

are follows,
di f dia
V f  rf i f  L ff Va  ea  ra ia  L fa
dt dt
ea   r Laf i f
Where Lff = field self-inductance
Lfa = mutual inductance between the field
and rotating armature coils
ea = induced voltage in the armature coils
(also called counter or back emf )

59
 DC Machines

 The torque equation for a Shunt Connected

DC-Machine is
1 1
Wc  L ff i f  Laa ia  i f ia Laf cos r
2 2

2 2
Wc
Te 
 r
Therefore,
Te  i f ia Laf sin  r

60
 DC Machines

 The equation of motion is expressed as

Te  ( Bm  J p) r  TL
where
Te  Electromagnetic Torque expressed in Newton - meter
Bm  Friction (damping) expressed in N  m  sec
J  Inertia expressed in Kg  m 2 or Joules  sec 2
 r  Angular frequency expressed in rad sec

61
 DC Machines

 For DC Machines,  r   
2

Te   Laf ia i f sin  r

62
 DC Machines

 The Series Connected configuration is

shown below.

63
DC Machines

 The Compound Connected configuration is

shown below.

64
 DC Machines

 Where e, Va, and Vf are defined as,

e   r LAF i f   r LAFs i fs
V f  rf  PL ff i f  PL fs i fs
Va   r LAF i f  PLFs i f    r LAFs i fs  PL ffs   ra  PLaa ia

65
DC Machines

 For the Compound Connected , two

configurations shall be considered.
– Cumulative Compounding: The series field is
connected so as to did the shunt field.
– Differential Compounding: The series field is
connected as to oppose the flux produced by the shunt
field.

66