CHAPTER Four
DC Machines
They are machines used for electro-mechanical
energy conversion purpose.
DC machines are of two types;
1. DC motors
2. DC generators
DC Motors + DC Generators = DC
Machines
DC motor case:
The input is electrical energy and the output is mechanical energy.
DC generator case:
The input is mechanical energy and the output is electrical energy.
01/21/2025 Electrical machine - I 1
Figure 4.1 implies that
If the input to an electrical machine is electrical energy and
the output is mechanical energy; that machine is called
electrical DC motor.
If the input to an electrical machine is mechanical energy
and the output is electrical energy; that machine is called
electrical DC Generator
Figure 4.1 electromechanical energy conversion
01/21/2025 Electrical machine - I 2
4.1. DC MOTORS
Introduction:
DC Motors are electrical machines used to convert
electrical energy into mechanical energy. i.e.
DC Motors + DC Generators = DC
Machines
01/21/2025 Electrical machine - I 3
4.1.1. Construction nature of DC motors
Basically there is no constructional Difference among
DC motor and DC generator.
A given DC machine can operate either as motor or as
Generator.
Generally the DC machines Contain two main parts;
1. Stationary part (Stator)
2. Rotating part (Rotor)
________________________________________________
Stationary part stator carries stator/ field winding
Rotating part rotor carries rotor/ armature coil
________________________________________________________
01/21/2025 Electrical machine - I 4
A. Stator
The stator is the stationary & outside part of a motor.
Mainly contains the following elements.
a) The yoke – It is the outer frame and its function is to
provide mechanical protection for the whole machine.
Carries the magnetic flux produced by the pole.
b) magnetic poles – their main function is to produce
magnetic field.
c) Field winding – used to produce the electromagnet.
The stator magnetic field can alternatively be created by using
either
1. Permanent magnet or
2. An electromagnet.
01/21/2025 Electrical machine - I 5
B. Rotor = armature
The rotor is the inner part which rotates.
It is mounted in the bearings and housed in the stator. It
includes the following components
1. The core: it is laminated cylinder of iron/steel
2. Armature winding: a conductor coil through which DC
current flows.
3. Commutator: responsible for transferring the DC supply
current from external source to the armature winding.
4. Brushes: They are made up of Carbon (graphite) whose
function is to transferring/ collecting the current to/from
the commutator.
_________________________________________________
The rotor and the stator are separated by air-gap. No physical
contact between rotor and stator !
Both stator and rotor are made of ferromagnetic materials.
01/21/2025 Electrical machine - I 6
Figure 4.2 Constructional nature of DC motor
01/21/2025 Electrical machine - I 7
Figure 4.3 Constructional nature of DC motor
01/21/2025 Electrical machine - I 8
Figure 4.4 Constructional nature of DC motor
01/21/2025 Electrical machine - I 9
It is interesting to note that a given DC machine can
be used either as a motor or as a generator, by
reversing the terminal connections.
Figure 4.5 dual functionality of DC machine
01/21/2025 Electrical machine - I 10
4.1.2. Operating Principle of DC Motor
DC motor operates based on the principle that says;
“ when a current carrying conductor is placed in a
magnetic field, a mechanical force is experienced on
the conductor”.
The individual force experienced by the conductor
acts as a twisting / turning force on the armature
which is called torque!.
The torque is mathematically given by;
Torque = Force * radius
Then the armature starts rotating!
01/21/2025 Electrical machine - I 11
More detail !!
The stator poles are supplied by dc current, to produce a dc
magnetic field.
The rotor/armature is supplied by dc current through the
brushes, commutator and coils which then acts as a current
carrying conductor
• Then, the interaction of the magnetic field and rotor current
generates a force that drives the motor.
• The force on the current-carrying conductor in a magnetic field
depends upon:
1) The flux density of the field, B (Tesla).
2) Magnitude of the flowing current, I (Amperes).
3) The direction of the field and current (angle).
01/21/2025 Electrical machine - I 12
d) The length of the conductor perpendicular to the
magnetic field, l (meters).
When the magnetic field, the current and the
conductor are mutually at right angles then (θ = 900 )
• When the conductor and the field are at an angle (θ ο ≠ 00
and 1800) to each other then;
• But if θ = 00 or θ = 1800 then no force will be exerted
on the conductor.
01/21/2025 Electrical machine - I 13
Figure 4.6 twisting force production in a DC motor
01/21/2025 Electrical machine - I 14
Fleming's left-hand rule
Direction of the force (F) exerted on the current-carrying conductor
can be determined by Fleming's left-hand rule,
Figure 4.7 application of Fleming's left-hand rule
The current direction is reversed every time the coil swing through
the vertical position and thus the coil rotates anti-clockwise for as
long as the current flows Electrical machine - I
01/21/2025 15
Direction of the force (F) exerted on the current-carrying
conductor can be determined by Fleming's left-hand rule,
Implying down wards between point (A) and (B), up ward
between (C) and (D) for the current direction shown.
This causes a torque and the coil rotates anticlockwise.
Figure 4.8 Axis of rotation and direction of rotor conductors
01/21/2025 Electrical machine - I 16
Exercise: Apply Fleming's left hand rule to cross check the
direction of force experienced on the current carrying conductor
placed in a magnetic field assuming;
a) The current direction in fig (a) and (c) is into the page!
b) The current direction in fig (b) and (d) is out of the page!
01/21/2025 Electrical machine - I 17
4.1.3. The Back E.M.F.
• After motoring action, there exist a generating action.
• When the armature rotates , the conductors also rotate
and hence cut the flux.
• Through the laws of electromagnetic induction
(Faraday’s law!), e.m.f. is induced in the armature
conductors.
• Its direction can be found by Fleming's Right-hand
Rule, and it is in opposite direction to the supplied
voltage.
• Because of its opposing direction, it is referred to as
counter e.m.f. / back e.m.f. / Eb.
• It will be seen that.
01/21/2025 Electrical machine - I 18
Where The Back E.M.F. is given by;
Figure 4.9 Induced voltage in the armature winding of DC motor
01/21/2025 Electrical machine - I 19
4.1.4. voltage and current equation
In case of DC motor supply voltage V has to
overcome back emf, Eb which opposes V , other
drops (IaRa and Brush drop).
The voltage equation of DC motor can be
written as;
Neglecting the brush drop;
01/21/2025 Electrical machine - I 20
01/21/2025 Electrical machine - I 21
• The current equation of DC motor is
4.1.5. Power equation of DC motor
• The voltage equation of DC motor is given as
𝑽 = 𝑬 𝒃 + 𝑰 𝒂 𝑹𝒂
• Multiply both sides by Ia ;
01/21/2025 Electrical machine - I 22
This equation is called power equation of DC motor.
= net electrical power input
= power loss due to armature resistance called armature
coper loss.
The difference between and is gross mechanical
power developed in the armature.
is called electrical equivalent of the gross mechanical
power developed by the armature.
01/21/2025 Electrical machine - I 23
4.1.6. Induced Torque equation of D.C Machine
The torque in any D.C machine depends on three factor:
1. The flux (φ) in the machine.
2. The armature (or rotor) current (Ia) in the machine.
3. A constant depending on machine construction.
Mathematically the total induced torque can be expressed as
Where
k is constant, ɸ is the flux and Ia is the current flowing
through the armature winding.
01/21/2025 Electrical machine - I 24
4.1.7. DC Motor Equivalent circuit
A DC motor has two distinct circuits
Field circuit and
Armature circuit.
The input is Electrical and the output is Mechanical power.
In this equivalent circuit, the field winding is supplied from a
separate DC voltage source of voltage Vf
01/21/2025 Electrical machine - I 25
4.1.8. General Classification of D.C Motors:
01/21/2025 Electrical machine - I 26
• D.C Motors can be classified in to three main groups
1) Permanent-magnet DC motors
2) Self-excited DC motor
a) Series - Wound D.C Motor.
b) Shunt- Wound D.C Motor
c) Compound – Wound DC Motor
3) Separately excited DC motor
A. Permanent-magnet DC motor
The permanent-magnet DC motor is constructed in the
same manner as its DC generator counterpart.
Its stator magnetic field is produced from permanent
magnet. Not from electromagnet!
01/21/2025 Electrical machine - I 27
• The permanent-magnet D.C motor is constructed in
the same manner as its D.C generator counterpart.
01/21/2025 Electrical machine - I 28
B. Self-excited DC motor
a) Series wound DC Motor
The field windings and the armature winding are
connected in series.
There is only one path for current to flow from the D.C
voltage source.
Has higher starting torque. That torque depends on the
armature current and field strength.
01/21/2025 Electrical machine - I 29
• Series motors are used when heavy loads must be
moved, and speed regulation is not important.
• A typical application is automobile starter motors.
• Has poor voltage regulation
01/21/2025 Electrical machine - I 30
b) Shunt - Wound D.C Motor
The shunt-wound D.C motor has field coils connected
in parallel with its armature.
Has less starting torque, but less dependent on load to
control speed.
Has good voltage regulation.
01/21/2025 Electrical machine - I 31
• This type of D.C motor has field coils that are wound
of many turns of small diameter wire and have a
relatively high resistance
• Total current drawn from the supply, IL = If + Ia
• Total input power , Pin = VT IL
01/21/2025 Electrical machine - I 32
c) Compound DC motors
• If both series and shunt field windings are used, the
motor is said to be compounded.
• In a compound machine, the first field winding is
connected in series with the armature, and the other
shunt field winding is connected in parallel.
01/21/2025 Electrical machine - I 33
C. Separately excited machines
The armature and field winding are electrically separate
from each other.
The field winding is excited by a separate DC source.
Note that the total input power, PT = VfIf + VTIa
01/21/2025 Electrical machine - I 34
