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 Faradays law, the induced emf is
df f
e=Z =Z
dt t
where t is the time taken by the conductors
to cut f 1flux lines.1 Therefore,
t= =
2 frequency p n
2( )( r )
2 60
Thus,(P: poles; Z: armature conductors; f:
a flux per pole; nr: rotation speed)
Zf Pn r
e=
60
 If the armature conductors are divided into a
parallel paths, then
Zf Pn r
e=
60
wave winding: a = 2; lap winding: a = P.
The usual expression
e = Kfm
where m=2nr/60 rad/sec and K=(P/a)Z(1/2)
If the field flux is constant, then emf is
e = Kbm
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 = mTe = eia
Hence,
eia K bmia
Te = = = K bi a
m m
 2.4 Electromechanical modeling
The acceleration torque, Ta, drives the load and
is given by
dm
J + B1m = Te T1 = Ta
dt
where J: a moment of inertia (kg-m2/sec2)
B1: a viscous friction coefficient Nm/(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
=
p K +
m b B1 m 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
1, 2 =
2
2.6 Block diagrams and transfer functions
From (2.13) and (2.19), we get
V(s) K bm (s)
I a (s ) =
R a + sLa

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

(s ) ( R a + sLa )
G l (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
m(s) = GV(s)V(s) + Gl(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 f 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.