Dynamic Analysis of Direct Current Machines
Under Voltage and Load Changes
By
Riad El-Imadi
Supervised by
Dr. Majed Najjar
Assistant Professor
A report submitted to the Department of Electrical and Computer Engineering in partial
fulfillment of the requirements for the degree of the course Advanced Electric Machines.
Faculty of Engineering
University of Balamand
April 2010
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DC Machine
1-Abstract
2-Introduction and definition to different types of DC machines
3-Project Parts
I. Task 1: steady state characteristic
II. Task2 : Dynamic during startup with voltage change
III. Task3 : Dynamic characteristic with load changes
IV. Task4: Start-Up with Saturation
4-Matlab Code
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1-Abstract
In this project we are simulating and studying a 4 poles DC machine rated to 300V. Presented in
3 tasks:
The first task, the steady state characteristics are obtained.
The second task deals with transient behavior of the machine during a temporary change in the
applied voltage.
And the third task simulates the changes when the torque load is changed.
For that purpose we use Matlab that helps in solving ordinary differential equations and plotting
them, to illustrate the behavior of the machine during asked conditions.
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2-Introduction and definition to different types of DC machines
DC machine
It’s desirable sometimes to devote to the dc machine in an introductory course on
electromechanical devices since it is used as a driver motor. So the direct-current (DC) machine
is not as widely used today as it was in the past. For most part a DC generator has been replaced
with the solid state rectifiers which convert alternative current into direct current with provision
to control the magnitude of the DC voltage.
Direct-current motors may be categorized as shunt, series, compound, or separately excited.
The field circuit and the armature circuit of a dc shunt motor are connected in parallel. The field
windings consist of many turns of fine wire. The entire field resistance, including a series-
connected field rheostat, is relatively large. The field current and pole flux are essentially
constant and independent of the armature requirements. The torque is therefore essentially
proportional to the armature current.
The field circuit and the armature circuit of a dc series motor are connected in series. The field
winding has relatively few turns per pole. The wire must be large enough to carry the armature
current. The flux of a series motor is nearly proportional to the armature current which produces
it. Therefore, the torque of a series motor is proportional to the square of the armature current,
neglecting the effects of core saturation and armature reaction. An increase in torque may be
produced by a relatively small increase in armature current.
The field winding of a separately excited motor is energized from a source different from that of
the armature winding. The field winding may be of either the shunt or series type, and
adjustment of the applied voltage sources produces a wide range of speed and torque
characteristics.
Our case is the compound machine; A compound-connected or compound dc machine, which
equipped both shunt and series field winding. In most compound machines, the shunt field
dominates the operating characteristics while the series field, which consists of a few turns of
low resistance wire, has a secondary influence. It may be connected so as it aid or oppose the
flux produced by the shunt field. If the compound machine is to be used as a generator, the series
field is connected so as to aid the shunt field (cumulative compound), our case.
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3-Project Parts
In this project we are simulating and studying a 4 poles DC machine rated to 300V.
In the first task, the steady state characteristics are obtained.
The second task deals with transient behavior of the machine during a temporary change in the
applied voltage.
And the third task simulates the changes when the torque load is changed.
I. Task 1
Establish the torque vs. speed steady state characteristics of this DC motor
II. Task 2
Initially the motor was running at 300rpm. Assuming the load torque remains constant as
the voltage is dipped to 50% of the original value of 300V for 5 sec. then increased to
95% of the original value.
Establish the dynamic response of the motor for a duration time of 10 sec. include all
voltages, currents, flux linkages, electromechanical torque and angular speed of the
motor.
III. Task 3
The motor is running at the speed of task 2 after the voltage is back to 95% of its original
value. If the voltage is kept constant but the load torque was increased by 50% for a
period of 5 sec. and then returned to the original value.
Establish the dynamic response of the motor for a duration time of 10 sec. include all
voltages, currents, flux linkages, electromechanical torque and angular speed of the
motor.
IV. Task4
The motor is simulated during Start-Up with Saturation .
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1- Task 1: steady state chatracteristics
The shunt field may be connected ahead of the series field ( long-shunt connection) or behind the
series field ( short-shunt connection our case ).
In this case,
Vt =Vfs+Va (1)
Va=Vf (2)
It=Ifs=Ia+ If (3)
And the torque may be obtained by:
Te=Laf ∗If∗Ia + Lafs∗Ifs∗Ia (4)
The steady state performance of a short-shunt-connected compound machine may be described
by the following equations:
Using (2) we get the relation between If and Ia:
Ia∗ra+ wr∗Lafs
If =
Rf −wr∗Laf −wr∗Lafs
(5)
And using (1) (3) and (5) will lead us to the equation
Vt =Ia∗¿ ¿
(6)
And we may obtain the torque vs. the speed characteristic plot combining both (5) and (6) in (4)
having these data:
Te = (Vt/((ra+wr*Lafs)/(rf-wr*Laf-wr*Lafs)*(wr*Laf+wr*Lafs+rfs)
+ra+wr*Lafs+rfs))^2*(Laf*(ra+wr*Lafs)/(rf-wr*Laf-wr*Lafs)
+Lafs*(ra+wr*Lafs)/(rf-wr*Laf-wr*Lafs)+Lafs)*2
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Vt=300 V
Shunt field resistance rf=130 Ohms
Series field resistance rfs=0.14 Ohms
Armature resistance ra=1.65 Ohms
Mutual inductance between shunt and series fields Lfs=0.154 H
Damping coefficient Bm=0.25 N.m.s
Inertia J=11 Kg.m2
Shunt field time constant τf=0.36 sec.
Series field time constant τs=0.005 sec.
Armature winding time constant τa=0.02 sec.
and τ=L/r.
N=1000 rpm.
P=4 poles.
Wm=(2*pi/60)*n.
We=(P/2)*Wm=209.44 rad/sec.
And both Laf and Lafs are obtained by: L=Ea/(wr*I)
then we will use Laf= Ea/(wr*If)=1.194
and Lafs= Ea/(wr*Ifs)=2.387*10^-3
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And this plot clearly illustrates, with its non linear characteristic, how the rotor speed decreases
when the torque load increases; and we notice that above the horizontal zero line the machine
works as a motor and below it its considered as a generator.
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2- Task 2: Dynamic during startup with voltage changes
The time domain equations of the compound connected cumulative machine can be arranged
,according to the RGL method, as follows representing field and armature voltages and the
relationship between the torque and rotor speed in the mechanical equation:
Lff ∗dif Lfs∗difs
vf =rf ∗if + +
dt dt
(1)
Lffs∗difs Lfs∗dif
vfs=rfsifs+ +
dt dt
(2)
Laa∗dia
va=( ra +wr + Lafs )∗ia+ +(wr∗Laf + wr∗Lafs)∗if
dt
(3)
Te=( Bm+ Jp ) wr +Tl
(4)
Where Bm is a damping coefficient constant associated to the mechanical rotational system of
the machine, Its unit (N.m.s).
And J is the inertia of the rotor and it’s expressed in (Kg.m2) or (J.s2 ).
p denotes d/dt and 1/p is the integration.
wr is the rotor speed and wr=dθr/dt.
and finally P/2 is the number of poles over 2, in our machine we have 4 poles.
And solving these differential equations in matlab starting with initial conditions of If=Ia=Ifs=o
and the speed of 300 rpm which is equal to wr= 15.7 rad/sec will show us how the motor must
behave:
Lfs
∗difs
dif 1 rf Lff
= Vf − If −
dt Lff Lff dt
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(5)
Lfs
∗dif
difs 1 rfs Lffs
= Vf − If −
dt Lffs Lffs dt
(6)
Laf Lafs
∗dif ∗difs
dia 1 ra Laa Laa
= Vf − If − −
dt Laa Laa dt dt
(7)
P 2
∗Te= ∗( Bm +Jp ) wr+Tl
2 P
(8)
Finally the following equations:
dIa = (Vt-If*(wr*(Laf+Lafs)+rfs+(wr*Laf+wr.*Lafs-rf)*(Lfs+Lffs)/(Lff+Lfs))-
Ia*(wr*Lafs+rfs+ra+(ra+wr*Lafs)*(Lfs+Lffs)/(Lff+Lfs)))/(Lffs+Laa+
(Lfs+Lffs)*(Laa-Lfs)/(Lff+Lfs));
dIf = dIa*(Laa-Lfs)/(Lff+Lfs)+Ia*(ra+wr*Lafs)/(Lff+Lfs)+If*(wr*(Laf+Lafs)-rf)/
(Lff+Lfs);
dWr = (2*(If*Ia*(Laf+Lafs)+Lafs*Ia^2)-Bm*wr-Tload)/J;
Initially the applied voltage is 150 volts then after 15 seconds it is increased to 95% of its
original value and simulated for another 15 seconds
And the characteristics of the obtained field currents are shown in the following figures:
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Ifs is so much similar with Ia because of the low current values of If.
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In ( Wr Vs. t) plot we can see how the rotor is initially at 63 rad/sec decreased to -40 rad/sec
which is normal. After 15 seconds and when changing the voltage there will be a fast increase in
the speed to the steady state value. And this can be explained by the proportionality between
speed and current.
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3- Task 3: Dynamic characteristics with load changes
Proceeding same steps as in task 2, with same voltage equations we can study the behavior of the
machine but now with a momentary change with the load torque, first its simulated at 50 % of
the original value then stepped up to 100%; and we kept the voltage constant at 285V
The current plots obtained are
This Ia plot clearly shows how the motor starts with initial current to be able to launch with a 50
% torque then once its speed starts decreasing the current goes up, and same behavior is shown
when we increase the load after 15 seconds, and we notice that the current of the armature
decreases again till it reaches a steady state form, and of course this decrease is caused by the
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increase of the load which cause by its turn the decrease of the speed as shown in the next plot
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4- Task 3: Start-Up with Saturation
Vf = rf*If+dλ1/dt
Vt = rfs*If+ra*Ia+wr(Laf*If+Lafs)+dλ2/dt
dθ/dt = wr
Finally we will get dIf/dt , dIa/dt and dθ/dt in function of the coefficient of the polynomial.
I didn’t include the plots and the code because it useless (didn’t work well).
4- Matlab Code
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