EN 206: Power Electronics and Machines
Direct Current (DC) Machines
Suryanarayana Doolla
Department of Energy Science and Engineering
Indian Institute of Technology Bombay
email:
[email protected] February 10, 2012
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 1 / 14
Lecture Organization - Modules
Introduction and Power Semiconductor Switches
Module 1: Transformers
Module 2: AC/DC converter / Rectifier
Module 3: DC machines and Drives
Module 4: DC/DC converter
Module 5: Induction Machine
Module 6: DC/AC converter / Inverter
Module 7: AC/AC converter / Cyclo converter
Module 8: Synchronous Machine
Module 9: Special Topics: Machines, HVDC, APF
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 2 / 14
Generator Characteristics
Characteristics of a DC Generator
The relation between basic quantities (Vt , Ia , If and n)
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14
Generator Characteristics
Characteristics of a DC Generator
The relation between basic quantities (Vt , Ia , If and n)
While determining the characteristic, speed of generator is held
constant by the prime mover
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14
Generator Characteristics
Characteristics of a DC Generator
The relation between basic quantities (Vt , Ia , If and n)
While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14
Generator Characteristics
Characteristics of a DC Generator
The relation between basic quantities (Vt , Ia , If and n)
While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
No load characteristic or open circuit characteristic - Ea and If , speed
is held constant
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14
Generator Characteristics
Characteristics of a DC Generator
The relation between basic quantities (Vt , Ia , If and n)
While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
No load characteristic or open circuit characteristic - Ea and If , speed
is held constant
Load characteristic or Load magnetization curve - Vt and If , both
speed and Ia constant
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14
Generator Characteristics
Characteristics of a DC Generator
The relation between basic quantities (Vt , Ia , If and n)
While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
No load characteristic or open circuit characteristic - Ea and If , speed
is held constant
Load characteristic or Load magnetization curve - Vt and If , both
speed and Ia constant
External characteristic - Vt and IL , both speed and If constant
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14
Generator Characteristics
Characteristics of a DC Generator
The relation between basic quantities (Vt , Ia , If and n)
While determining the characteristic, speed of generator is held
constant by the prime mover
Four Types:
No load characteristic or open circuit characteristic - Ea and If , speed
is held constant
Load characteristic or Load magnetization curve - Vt and If , both
speed and Ia constant
External characteristic - Vt and IL , both speed and If constant
Armature characteristic or regulation curve - If and Ia , both Vt and
speed constant
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 3 / 14
Generator Characteristics
Equations governing DC generator characteristics
The emf generated is given by
φZNP
Ea =
60a
In case of separately excited generator the emf generated in the armature
is given by:
Ea = Vt + Ia Ra + brushdrop
Also,
Ea = Ka φωm
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 4 / 14
Generator Characteristics
DC Separately excited generator - OCC
Magnetization Curve or Open Circuit Characteristics Curve (OCC)
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 5 / 14
Generator Characteristics
DC Separately excited generator - OCC
Magnetization Curve or Open Circuit Characteristics Curve (OCC)
Relationship between air-gap flux (φ) and the field winding mmf or
field winding current.
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 5 / 14
Generator Characteristics
DC Separately excited generator - OCC
Magnetization Curve or Open Circuit Characteristics Curve (OCC)
Relationship between air-gap flux (φ) and the field winding mmf or
field winding current.
For constant speed (ωm ), the armature generated emf (Ea )at no-load is
proportional to the air-gap flux only
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 5 / 14
Generator Characteristics
DC Separately excited generator - OCC
Magnetization Curve or Open Circuit Characteristics Curve (OCC)
Relationship between air-gap flux (φ) and the field winding mmf or
field winding current.
For constant speed (ωm ), the armature generated emf (Ea )at no-load is
proportional to the air-gap flux only
Ea is not zero when If is zero : Residual Magnetism
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 5 / 14
Generator Characteristics
External Characteristics - DC Separately excited generator
Terminal Voltage Vs Load Current
Ea = Vt + Ia Ra + Voltage drop due to armature reaction.
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 6 / 14
Generator Characteristics
External Characteristics - Self excited generator
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 7 / 14
Generator Characteristics
Voltage build up in a DC shunt Machine
Oa is graphical plot of ohm law of field circuit
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14
Generator Characteristics
Voltage build up in a DC shunt Machine
Oa is graphical plot of ohm law of field circuit
Stable point ‘n’ is the intersection of OCC and Oa
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14
Generator Characteristics
Voltage build up in a DC shunt Machine
Oa is graphical plot of ohm law of field circuit
Stable point ‘n’ is the intersection of OCC and Oa
OB - Slope of line is critical field resistance
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14
Generator Characteristics
Voltage build up in a DC shunt Machine
Oa is graphical plot of ohm law of field circuit
Stable point ‘n’ is the intersection of OCC and Oa
OB - Slope of line is critical field resistance
Speed n2 - Critical speed
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14
Generator Characteristics
Voltage build up in a DC shunt Machine
Oa is graphical plot of ohm law of field circuit
Stable point ‘n’ is the intersection of OCC and Oa
OB - Slope of line is critical field resistance
Speed n2 - Critical speed
The process of connecting shunt field winding to a separate dc source
for creating the necessary residual magnetism in the main poles is
called field flashing
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 8 / 14
Motor Characteristics
Equations governing dc motor characteristics
The speed of a dc motor is given by
Eb
ωm =
Ka φ
But, the back emf of a dc motor is given by:
Eb = Vt − Ia Ra
Vt − Ia Ra
=⇒ ωm =
Ka φ
Vt Ra
ωm = − Te
Ka φ (Ka φ)2
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 9 / 14
Motor Characteristics
Characteristics of a Shunt Motor
Speed Vs Torque
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 10 / 14
Motor Characteristics
Characteristics of a Shunt Motor
Speed Vs Torque
Speed Vs Load Current
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 10 / 14
Motor Characteristics
Characteristics of a Shunt Motor
Speed Vs Torque
Speed Vs Load Current
Torque Vs Load Current
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 10 / 14
Motor Characteristics
Torque - Current Characteristics
The effect of armature reaction is neglible for low values of current
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 11 / 14
Motor Characteristics
Torque - Current Characteristics
The effect of armature reaction is neglible for low values of current
At high values of current the torque current deviates from straight line
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 11 / 14
Motor Characteristics
Speed - Torque Characteristics
As the torque increases speed drops
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 12 / 14
Motor Characteristics
Speed - Torque Characteristics
As the torque increases speed drops
For larger values of Te, large will be Ia which reduced due to
saturation and armature reaction
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 12 / 14
Motor Characteristics
Speed - Torque Characteristics
As the torque increases speed drops
For larger values of Te, large will be Ia which reduced due to
saturation and armature reaction
Speed drops more rapidly
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 12 / 14
Motor Characteristics
Characteristics of Series Motor
The main flux is proportional to load current or armature current, if
saturation and armature reaction are neglected.
The speed of a dc motor is given by
Eb
ωm =
Ka φ
The back emf of a dc series motor is given by:
Eb = Vt − Ia (Ra + Rs )
Vt − Ia (Ra + Rs )
=⇒ ωm =
Ka φ
Vt Ra + Rs
ωm = −
Ka CIa Ka .C
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 13 / 14
Motor Characteristics
Characteristics of Series Motor
With saturation and armature reaction neglected, the speed-current
characteristic of a dc series motor is a hyperbola.
If saturation and armature reaction are neglected,
r
Ta Vt Ra + Rs
Ia = andωm = √ −
Ka .C Ka CTe Ka C
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 14 / 14
Motor Characteristics
Characteristics of Series Motor
With saturation and armature reaction neglected, the speed-current
characteristic of a dc series motor is a hyperbola.
For larger load currents, the air gap flux tends to remain constant
because of saturation and armature reaction and hence speed-current
characteristic of a series motor approaches a straight line for larger
values of armature current.
If saturation and armature reaction are neglected,
r
Ta Vt Ra + Rs
Ia = andωm = √ −
Ka .C Ka CTe Ka C
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 14 / 14
Motor Characteristics
Characteristics of Series Motor
With saturation and armature reaction neglected, the speed-current
characteristic of a dc series motor is a hyperbola.
For larger load currents, the air gap flux tends to remain constant
because of saturation and armature reaction and hence speed-current
characteristic of a series motor approaches a straight line for larger
values of armature current.
The dc series motor should not be operated at no load speed.
If saturation and armature reaction are neglected,
r
Ta Vt Ra + Rs
Ia = andωm = √ −
Ka .C Ka CTe Ka C
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 14 / 14
Motor Characteristics
Characteristics of Series Motor
With saturation and armature reaction neglected, the speed-current
characteristic of a dc series motor is a hyperbola.
For larger load currents, the air gap flux tends to remain constant
because of saturation and armature reaction and hence speed-current
characteristic of a series motor approaches a straight line for larger
values of armature current.
The dc series motor should not be operated at no load speed.
The torque-current characteristic of a dc series motor is a parabola.
For large values of Ia the torque-current characteristic approaches a
straightline.
If saturation and armature reaction are neglected,
r
Ta Vt Ra + Rs
Ia = andωm = √ −
Ka .C Ka CTe Ka C
Prof. Doolla (DESE) EN 206: DC Machines February 10, 2012 14 / 14
