GEDH

D.C. MACHINES SIMULATION INTERFACE DESIGN

FOR LABORATORY PRACTICALS

By Engr. Guy Rostand KOUGANG

Sept. 2019

1
 ABSTRACT

This work is aimed at conceiving an interface for simulating D.C. machines which will go
along way to reduce the difficulties (in understanding the behavior of these machines
without necessarily having the physical equipments) of students in our technical schools
as far as electrical machines lab is concerned. We have developed a Matlab based
graphical user interface as didactic material which can be used both in teaching and
learning of DC machines behaviors. This interface being a virtual lab is more accessible to
those peoples facing difficulties in the provision of laboratory equipments. The simulation
of DC machines brought good results; therefore the objectives of the project have been
met; the relevant persons are required to be computer literate and have the computer
material.

Résumé
Le but the ce travail fut de concevoir une interface pour la simulation des machines à
courant continu ; ce qui réduira les difficultés que rencontres les élèves en ce qui concerne
la compréhension du comportement des machines sans nécessairement avoir les pièces
physiques dans leurs labos de machines électriques. Nous avons développé dans
l’environnement Matlab une interface graphique vu comme matériel didactique qui peut
être utilisé à la fois par l’enseignant et l’apprenant des machines à courant continu. Cette
interface, vue comme un labo virtuel est plus accessible que les équipements physiques.
La simulation de ces machines a conduit à de bons résultats , ainsi les objectifs du projet
ont été atteints ;reste à la population concernée d’avoir l’outil informatique et de savoir le
manipulé.

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 Table of content

CERTIFICATION ............................................................................................ Erreur ! Signet non défini.

ATTESTATION............................................................................................... Erreur ! Signet non défini.
DEDICATION ................................................................................................ Erreur ! Signet non défini.
ACKNOWLEGEMENTS .................................................................................. Erreur ! Signet non défini.
Abstract ..............................................................................................................................................2
Résumé...............................................................................................................................................2
Table of content .................................................................................................................................3
List of abbreviations............................................................................................................................6
List of variables ...................................................................................................................................7
List of figures ......................................................................................................................................8
CHAPTER 1: GENERAL INTRODUCTION ................................................................................................9
I-Background and context of the study ................................................................................................9
II-Problem statement ..........................................................................................................................9
III-Research question ........................................................................................................................ 10
IV-Research hypothesis ..................................................................................................................... 10
V-Scope and objectives of the study.................................................................................................. 10
VI-Achievements............................................................................................................................... 11
VII-Overview of Dissertation .............................................................................................................11
VIII-Definition of terms [2] ................................................................................................................ 11
CHAPTER 2: LITERATURE REVIEW ON DC MACHINES ......................................................................... 13
Introduction:..................................................................................................................................... 13
I-Generator types and Characteristics ...............................................................................................13
1-Characteristics of a separately excited generator ......................................................................... 14
1.a No load or Open circuit characteristic .................................................................................. 14
1.b Load characteristic of separately excited generator .............................................................. 16
2- Characteristics of a shunt generator ...........................................................................................17
3-Compound generator ..................................................................................................................21
II-DC Motor types and Characteristics [6] .......................................................................................... 23
1. The Equivalent Circuit of a DC Motor ........................................................................................ 23
2. The Magnetization Curve of a DC Machine ............................................................................... 24
3. Separately Excited and Shunt DC Motors ..................................................................................25

3
 3.a The Terminal Characteristics of a Shunt DC Motor ............................................................... 25
3.b Nonlinear Analysis of a Shunt DC Motor .............................................................................. 27
3.c Speed Control of Shunt DC Motors ......................................................................................29
4- The Permanent-Magnet DC Motor ............................................................................................ 33
5- The Series DC Motor ................................................................................................................. 34
5.a Induced Torque in a Series DC Motor................................................................................... 34
5.b The Terminal Characteristic of a Series DC Motor ................................................................ 35
5.c Speed Control of Series DC Motors. ..................................................................................... 36
6. The Compounded DC Motor .....................................................................................................36
6.a The Torque-Speed Characteristic of a Cumulatively Compounded DC Motor (CC) ................ 37
6.b The Torque-Speed Characteristic of a Differentially Compounded DC Motor ....................... 38
III-MATLAB Graphical User Interface [3] ............................................................................................ 38
1-The Three Phases of Interface Design ........................................................................................39
1.a- Analysis .............................................................................................................................39
1.b- Design ...............................................................................................................................39
2- User Considerations ..................................................................................................................40
2.a The Reason for the GUI .......................................................................................................40
2.b- Cognitive Considerations ..................................................................................................41
2.c- Physical Considerations ..................................................................................................... 42
2.d- Paper Prototyping...............................................................................................................42
2.e- Appearance ........................................................................................................................43
3- Construction .............................................................................................................................43
Conclusion ........................................................................................................................................44
CHAPTER 3: MATERIAL AND METHODS ............................................................................................. 45
INTRODUCTION ................................................................................................................................45
I- Materials .......................................................................................................................................45
II- Simulation Projects .......................................................................................................................45
1-Startup and loading of a shunt generator ................................................................................... 45
2- Resistance starting of a dc Shunt Motor .................................................................................... 50
3- Braking of dc motors ................................................................................................................. 55
A-Methods of braking ............................................................................................................... 55
B-Resistor value for plugging: ....................................................................................................56
C- Simulation of plugging and dynamic braking ......................................................................... 57
D-Simulation of regenerative braking in the fourth quadrant .................................................... 58

4
 Digitally signed by
Guy Rostand
KOUGANG
DN: cn=Guy Rostand
KOUGANG, c=CM,
ou=GEDH,
email=g.rostandkouga
ng@gmail.com
Reason: J'ai revu ce
document
Location: gauche
Date: 2020.03.23

III- Graphical User Interface for simulating the dc machines ............................................................. 59

23:11:51 +01'00'

Conclusion ........................................................................................................................................60
CHAPTER 4: SIMULATION AND RESULTS ANALYSIS ............................................................................ 61
Introduction......................................................................................................................................61
I-Starting of the interface ..................................................................................................................61
II- Procedure to properly run the interface ........................................................................................ 63
III-Project simulation and result analysis ...........................................................................................65
1- Resistance starting of DC motors ...............................................................................................65
a- Parameters Setting ................................................................................................................65
b- Results analysis .....................................................................................................................66
2- Starting of a shunt Dc generator................................................................................................67
a- Parameters setting ................................................................................................................67
b- Results analysis .....................................................................................................................68
Conclusion ........................................................................................................................................70
CHAPTER 5: CONCLUSION AND RECOMMENDATION.........................................................................71
Recommendation .............................................................................................................................71
Suggestions for further studies ......................................................................................................... 72
Conclusion ........................................................................................................................................72
References........................................................................................................................................ 73

5
 List of abbreviations

D.C.: Direct Current

O.C.C: (Open Circuit Characteristics

MMF : magnetomotive force

EMF: electromotive force

PMDC: Permanent Magnet dc motor

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 List of variables

E Generator emf
P : number of of poles,
Z : number of conductors
: fux per pole
K: constant
N: rotational speed
VT: terminal voltage,
Ia: armature current,
Ra: armature resistance,
Rf: field resistance,
If: field current
Vf: field voltage,
Rh: rheostat resistance
Rex: external resistance
W: speed in rad/sec
F: number of Ampere.turns
IL: load current,
FAR: armature reaction,
ind or Tem: induced torque or electromechanical torque
Rs: series resistance

7
 List of figures
1Figure 2.1: Field coils for different d.c. machines............................................................................. 14
2Figure 2. 2: Connection of separately excited generator .................................................................. 15
3Figure 2. 3: No load and load characteristics of a separately excited generator ............................... 15
4Figure 2.4: Open circuit curve (O.C.C) at different speeds................................................................ 16
5Figure 2.5: Shunt generator ............................................................................................................17
6Figure 2.6: Voltage build up in shunt generator ............................................................................... 18
7Figure 2.7: Critical resistance ..........................................................................................................19
8Figure 2.8: Critical speed .................................................................................................................19
9Figure 2.9: Load characteristic of shunt generator...........................................................................20
10Figure 2.10: Short shunt connection ..............................................................................................21
11Figure 2.11: long shunt connection ...............................................................................................21
12Figure 2.12: Load characteristics of d.c generators ........................................................................22
13Figure 2.13: the equivalent circuit of a d.c. motor .........................................................................23
14Figure 2.14: The magnetization curve of a dc machine expressed as a plot of EA versus IF¬ for a
fixed speed 0 .................................................................................................................................. 24
15Figure 2.15: The equivalent circuit of a separately excited dc motor.............................................. 25
16Figure 2.16: The equivalent circuit of a shunt dc motor ................................................................. 25
17Figure 2.17: Torque-speed characteristic of the motor with armature reaction present. ............... 27
18Figure 2.18: The effect of armature voltage speed control ............................................................ 30
19Figure 2.19: Power and torque limits as a function of speed for a shunt motor under armature
voltage and field resistance control. ..................................................................................................32
20Figure 2.20: Series excited d.c motor equivalent circuit ................................................................. 34
21Figure 2.21: The torque-speed characteristic of a series dc motor ................................................. 35
22Figure 2.22: The equivalent circuit of compounded dc motors: (a) Iong-shunt connection: (b) short
shunt connection. .............................................................................................................................36
23Figure 2.24: The torque-speed characteristic of a cumulatively compounded dc motor compared to
a shunt motor with the same no-load speed. ....................................................................................37
24Figure 2.23: The torque-speed characteristic of a cumulatively compounded dc motor compared to
series and shunt motors with the same full-load rating. .................................................................... 37
25Figure 3.1: Simulation layout of the shunt generator ..................................................................... 49
26Figure 3.2: Magnetization characteristic of the machine taken at 2000rev/min ............................. 49
27Figure 3.3.a: DC motor and starter circuit ...................................................................................... 51
28Figure 3.3.b: Simulation layout of the shunt dc motor with starter ................................................52
29Figure 3.4 Simulink layout for plugging or dynamic braking ........................................................... 58
30Figure 3.5 Simulink layout for regenerative braking....................................................................... 59
31Figure 6: Physical layout of the developed GUI ..............................................................................60
32Figure 4.1: Matlab command window is found under Window/Command Window ...................... 61
33Figure 4.2: Graphical User Interface physical layout ...................................................................... 62
34Figure 4.3: setting of manipulation parameters .............................................................................63
35Figure 4.4: Variable import request window..................................................................................64
36Figure 4.5: Simulation result display ..............................................................................................65
37Figure 4.6: Resistance starting of shunt DC motor ......................................................................... 66
38Figure 4.7: On load starting of Shunt DC generator........................................................................68

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 CHAPTER 1: GENERAL INTRODUCTION

I-Background and context of the study

We have noticed that in the electrotechnics field, laboratory machines for electrical
measurement practical is an old technology that has existed for many years couple with a
lot of inconveniences such as:

The bulky nature of the machines,

Difficulties in facilitating measurement practice when large number of students are
involve,
Lack of infrastructures to house the laboratory equipment in some area (colleges),
Lack of experts for maintenance works,
Some of the laboratory machines are very expensive (eg: an oscilloscope),
Constant power failure at time delays the process of laboratory practice in schools.

II-Problem statement

With all the above mentioned context which is common in many local school, there is
need to introduce computer base laboratories to reduce some of the actual difficulties in
implementing real world laboratory practices. We have decided to bring in our
contribution by means of DESIGN OF AN INTERFACE FOR SIMULATION OF D.C.
MACHINES LABORATORY PRACTICALS which will help to reduce the
inconveniences faced in rural areas such as:

Reducing the risk of Electrical and Power Engineering students moving out of
campus to another school in search of laboratories,
To insure that the laboratory practices can be easily carry out with large number of
students at the same time,
Reducing the cost of maintenance works since sophisticated laboratory machines
will be replaced simply by creating an interface for measurement,

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 Expensive measuring devices like oscilloscope will be replaced by fast and
accurate electronic machines such as computers,
To establish an environment where laboratory practice can be carried out even in
lecture rooms,
To create a forum where students are actively participating rather than being
passive learners,
To establish an environment where the instructor can easily observe and asses the
students on the spot.

III-Research question

Is our tool going to be useful, easy to use, practicable, reliable, valid and accessible to
both learners and teachers? At the end of our work we shall be able to answer these
questions.

IV-Research hypothesis

For our work, we assume that targeted persons fulfill the following criteria:

They Are computer literate,

They have basic knowledge of Matlab environment unless they must be
trained on,
They have access to computer and related software set up.

V-Scope and objectives of the study

This research is aimed at conceiving and simulating an interface for D.C. machines
practicals which will go along way to reduce the gap of future generations in our technical
schools to be learning measurement based on theory. Therefore we are:

10
-To create an environment where students can view directly and easily compare datas,
curves and characteristics after doing measurement,

-To enable an environment that will tend to provide an intrinsic motivation to students in
rural areas during practice.

VI-Achievements

We achieve to come out with a tool in which users should be able:

-To enter their own machine parameters and settings,

-To incorporate their own machine model in the interface,

-To have access to measurement data

VII-Overview of Dissertation

In the world many researchers as Chee-Mun Ong [1] have been working on DC machine
simulation models specially on dynamic behaviors. He has been working on electrical
machines modelizations which are highly used by researchers. Though, his work was not
directed toward didactics, we have decided to use it as the base of our work directed
toward the development of a didactic tool to enhance the teaching and learning process in
our schools.

VIII-Definition of terms [2]

Key words: Design, Interface, Simulation, Laboratory Practice

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Design: A unique layout of components or controls, in accordance with good engineering
practice, esthetics, and (often) ergonomics.

Interface 1.Collectively, the hardware and software that allow a computer to interact with
its operator.

Simulation: 1. Imitation of the performance of a process, device, or system. 2. The use of

a mathematical model to represent a physical process, device, or system. 3. The use of a
computer, sometimes with virtual reality hardware and software, to mimic a real-life
situation.

Laboratory Practice: An experiment carried in A properly set environment.

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 CHAPTER 2: LITERATURE REVIEW ON DC MACHINES

Introduction:

In this chapter, we present the different types of DC machines, they principles of

operations and mathematical equations of their state variables, then the Matlab simulation
environment.

I-Generator types and Characteristics

D.C generators may be classified as (i) separately excited generator, (ii) shunt
generator,(iii) series generator and (iv) compound generator.
In a separately excited generator field winding is energized from a separate voltage
source in order to produce flux in the machine. So long the machine operates in
unsaturated condition the flux produced will be proportional to the field current. In order
to implement shunt connection, the field winding is connected in parallel with the
armature. It will be shown that subject to fulfillment of certain conditions, the machine
may have sufficient field current developed on its own by virtue of its shunt connection.
In series d.c machine, there is one field winding wound over the main poles with fewer
turns and large cross sectional area. Series winding is meant to be connected in series with
the armature and naturally to be designed for rated armature current. Obviously there will
be practically no voltage or very small voltage due to residual field under no load
condition (Ia = 0). However, field gets strengthened as load will develop rated voltage
across the armature with reverse polarity, is connected and terminal voltage increases.
Variation in load resistance causes the terminal voltage to vary. Terminal voltage will start
falling, when saturation sets in and armature reaction effect becomes pronounced at large
load current. Hence, series generators are not used for delivering power at constant
voltage. Series generator found application in boosting up voltage in d.c transmission
system.

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A compound generator has two separate field coils wound over the field poles. The coil
having large number of turns and thinner cross sectional area is called the shunt field coil
and the other coil having few numbers of turns and large cross sectional area is called the
series field coil. Series coil is generally connected in series with the armature while the
shunt field coil is connected in parallel with the armature. If series coil is left alone
without any connection, then it becomes a shunt machine with the other coil connected in
parallel. Placement of field coils for shunt, series and compound generators are shown in
figure 2.1 Will develop rated voltage across the armature with reverse polarity.

1Figure 2.1: Field coils for different d.c. machines

1-Characteristics of a separately excited generator

1.a No load or Open circuit characteristic

In this type of generator field winding is excited from a separate source, hence field
current is independent of armature terminal voltage as shown on figure 2. The generator is
driven by a prime mover at rated speed, say n (rev/s). With switch S in opened condition,
field is excited via a potential divider connection from a separate d.c source and field
current is gradually increased. The field current will establish the flux per pole .
The voltmeter V connected across the armature terminals of the machine will record the

generated emf E = n=K n

As field current is increased, EG will increase. EG versus If plot at constant speed n is

shown in figure 2.3a.

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2Figure 2. 2: Connection of separately excited generator
It may be noted that even when there is no field current, a small voltage (OD) is generated
due to residual flux. If field current is increased, increases linearly initially and O.C.C
(Open Circuit Characteristics) follows a straight line. However, when saturation sets in
practically becomes constant and hence EG too becomes constant. In other words, this
characteristic is sometimes also called the magnetization characteristic of the machine.

(a) (b)
3Figure 2. 3: No load and load characteristics of a separately excited generator

It is important to note that if O.C.C is known at a certain speed nl, O.C.C at another speed
n2 can easily be predicted. It is because for a constant field current, ratio of the generated
voltages becomes the ratio of the speeds as shown below.

= ;

= at if constant

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Therefore points on O.C.C at n2 can be obtained by multiplying ordinates of O.C.C at n1
with the ratio n1/n2 . O.C.C at two different speeds are shown in the following figure 2.4.

4Figure 2.4: Open circuit curve (O.C.C) at different speeds

1.b Load characteristic of separately excited generator

Load characteristic essentially describes how the terminal voltage of the armature of a
generator changes for varying armature current Ia. First at rated speed, rated voltage is
generated across the armature terminals with no load resistance connected across it (i.e.,
with S opened) by adjusting the field current. So for Ia = 0, V = Eo should be the first
point on the load characteristic. Now with S is closed and by decreasing RL from
infinitely large value, we can increase Ia gradually and note the voltmeter reading.
Voltmeter reads the terminal voltage and is expected to decrease due to various drops such
as armature resistance drop and brush voltage drop. In an uncompensated generator,
armature reaction effect causes additional voltage drop. While noting down the readings
of the ammeter A2 and the voltmeter V, one must see that the speed remains constant at
rated value. Hence the load characteristic will be drooping in nature as shown in figure
2.3b

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 2- Characteristics of a shunt generator

We have seen in the previous section that one needs a separate d.c supply to generate d.c
voltage.
Is it possible to generate d.c voltage without using another d.c source? The answer is yes
and for obvious reason such a generator is called self-excited generator.
Field coil (F1, F2) along with a series external resistance is connected in parallel with the
armature terminals (A1, A2) of the machine as shown in figure 5. Let us first qualitatively
explain how such connection can produce sufficient voltage. Suppose there exists some
residual field. Therefore, if the generator is driven at rated speed, we should expect a
small voltage ( k resn ) to be induced across the armature. But this small voltage will be
directly applied across the field circuit since it is connected in parallel with the armature.
Hence a small field current flows producing additional flux. If it so happens that this
additional flux aids the already existing residual flux, total flux now becomes more
generating more voltage. This more voltage will drive more field current generating more
voltage. Both field current and armature generated voltage grow cumulatively.
This growth of voltage and the final value to which it will settle down can be understood
by referring to figure 2.6 where two plots have been shown. One corresponds to the O.C.C
at rated speed and obtained by connecting the generator in separately excited fashion as
detailed in the preceding section. The other one is the V-I characteristic of the field circuit
which is a straight line passing through origin and its slope represents the total field circuit
resistance.

5Figure 2.5: Shunt generator

17
6Figure 2.6: Voltage build up in shunt generator

Initially voltage induced due to residual flux is obtained from O.C.C and given by OD.
The field current thus produced can be obtained from field circuit resistance line and
given by Op. In this way voltage build up process continues along the stair case. The final
stable operating point (M) will be the point of intersection between the O.C.C and the
field resistance line. If field circuit resistance is increased, final voltage decreases as point
of intersection shifts toward left.
The field circuit resistance line which is tangential to the O.C.C is called the critical field
resistance. If the field circuit resistance is more than the critical value, the machine will
fail to excite and no voltage will be induced - refer to figure 2.7. The reason being no
point of intersection is possible in this case.
Suppose a shunt generator has built up voltage at a certain speed. Now if the speed of the
prime mover is reduced without changing Rf, the developed voltage will be less as
because the O.C.C at lower speed will come down (refer to figure 2.8). If speed is further
reduced to a certain critical speed (ncr), the present field resistance line will become
tangential to the O.C.C at ncr. For any speed below ncr, no voltage built up is possible in a
shunt generator.

18
7Figure 2.7: Critical resistance

8Figure 2.8: Critical speed

A shunt generator driven by a prime mover, cannot built up voltage if it fails to comply
any of the conditions listed below.
a. The machine must have some residual field. To ensure this one can at the beginning
excite the field separately with some constant current. Now removal of this current will
leave some amount of residual field.
b. Field winding connection should be such that the residual flux is strengthened by the
field current in the coil. If due to this, no voltage is being built up, reverse the field
terminal connection.
c. Total field circuit resistance must be less than the critical field resistance.

Load characteristic of shunt generator

With switch S in open condition, the generator is practically under no load condition as
field current is pretty small. The voltmeter reading will be Eo as shown in figures 2.5 and

19
2.6 In other words, Eo and Ia = 0 is the first point in the load characteristic. To load the
machine S is closed and the load resistances decreased so that it delivers load current IL.
Unlike separately excited motor, here IL Ia. In fact, for shunt generator, Ia = IL - If.
So increase of IL will mean increase of Ia as well. The drop in the terminal voltage will
be caused by the usual IaRa drop, brush voltage drop and armature reaction effect. Apart
from these, in shunt generator, as terminal voltage decreases, field current hence also
decreases causing additional drop in terminal voltage. Remember in shunt generator, field
current is decided by the terminal voltage by virtue of its parallel connection with the
armature. Figure 2.9 shows the plot of terminal voltage versus armature current which is
called the load characteristic. One can of course translate the V versus Ia characteristic
into V versus IL characteristic by subtracting the correct value of the field current from
the armature current. For example, suppose the machine is loaded such that terminal
voltage becomes V1 and the armature current is Ia1. The field current at this load can be
read from the field resistance line corresponding to the existing voltage V1 across the field
as shown in figure 2.9. Suppose If1 is the noted field current. Therefore,
IL1 = Ia1- If1.Thus the point [Ia1, V1] is translated into [IL1, V1] point. Repeating these
steps for all the points we can get the V versus IL characteristic as well. It is interesting to
note that the generated voltage at this loading is EG1 (obtained from OCC corresponding
to If1). Therefore the length PQ must represents sum of all the voltage drops that has
taken place in the armature when it delivers Ia.
EG1 –V1 =Ia1Ra + brush drop + drop due to armature reaction
E V I R ; neglecting brush drop and armature reaction drop

9Figure 2.9: Load characteristic of shunt generator

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 3-Compound generator

As introduced earlier, compound machines have both series and shunt field coils. On each
pole these two coils are placed as shown in figure 2.1. Series field coil has low resistance,
fewer numbers of turns with large cross sectional area and connected either in series with
the armature or in series with the line. On the other hand shunt field coil has large number
of turns, higher resistance, small cross sectional area and either connected in parallel
across the armature or connected in parallel across the series combination of the armature
and the series field.
Depending on how the field coils are connected, compound motors are classified as short
shunt and long shunt types as shown in figures 2.10 and 2.11

10Figure 2.10: Short shunt connection

11Figure 2.11: long shunt connection

Series field coil may be connected in such a way that the mmf (magneto motive force)
produced by it aids the shunt field mmf-then the machine is said to be cumulative
compound machine, otherwise if the series field mmf acts in opposition with the shunt
field mmf – then the machine is said to be differential compound machine.
In a compound generator, series field coil current is load dependent. Therefore, for a
cumulatively compound generator, with the increase of load, flux per pole increases. This

21
in turn increases the generated emf and terminal voltage. Unlike a shunt motor, depending
on the strength of the series field mmf, terminal voltage at full load current may be same
or more than the no load voltage. When the terminal voltage at rated current is same that
at no load condition, then it is called a level compound generator. If however, terminal
voltage at rated current is more than the voltage at no load, it is called a over compound
generator. The load characteristic of a cumulative compound generator will naturally be
above the load characteristic of a shunt generator as depicted in figure 2.12. At load
current higher than the rated current, terminal voltage starts decreasing due to saturation,
armature reaction effect and more drop in armature and series field resistances.

12Figure 2.12: Load characteristics of d.c generators

To understand the usefulness of the series coil in a compound machine let us undertake
the following simple calculations. Suppose as a shunt generator (series coil not connected)
300 A.turn/pole is necessary to get no load terminal voltage of 220 V. Let the terminal
voltage becomes 210 V at rated armature current of 20 A. To restore the terminal voltage
to 220 V, shunt excitation needs to be raised such that A.Turn/pole required is 380 at 20 A
of rated current. As a level compound generator, the extra A.Turn (380-300 = 80) will be
provided by series field.
Therefore, number of series turns per pole will be 80/20 = 4. Thus in a compound
generator series field will automatically provide the extra A.Turn to arrest the drop in
terminal voltage which otherwise is inevitable for a shunt generator.
For the differentially compounded generator where series field mmf opposes the shunt
field mmf the terminal voltage decreases fast with the increase in the load current.

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 II-DC Motor types and Characteristics [6]

1. The Equivalent Circuit of DC Motor

(a) The equivalent circuit

(b) A simplified equivalent

circuit eliminating the brush
voltage drop and combining
Radj with the field resistance.

13Figure 2.13: the equivalent circuit of a d.c. motor

In this figure, the armature circuit is represented by an ideal voltage source E A and a
resistor R A. This representation is really the Thevenin equivalent of the entire rotor
structure, including rotor coils, interpoles and compensating windings, if present.The
brush voltage drop is represented by a small battery Vbrush opposing the direction of
current flow in the machine.

The field coils, which produce the magnetic flux in the motor are represented by inductor
LF and resistor RF. The separate resistor Radj represents an external variable resistor used
to control the amount of current in the field circuit.

Some of the few variations and simplifications:

i- The brush drop voltage is often only a very tiny fraction of the generated
voltage in the machine. Thus, in cases where it is not too critical, the brush
drop voltage may be left out or included in the RA.
ii- The internal resistance of the field coils is sometimes lumped together with the
variable resistor and the total is called RF.
iii- Some generators have more than one field coil, all of which appear on the
equivalent circuit.

23
The internal generated voltage is given by:

E =K

and the torque induced is

ind = I

2. The Magnetization Curve of DC Machine

EA is directly proportional to flux and the speed of rotation of the machine. How is the EA
related to the field current in the machine?

The field current in a dc machine produces a field mmf given by F=NFIF. This mmf
produces a flux in the machine in accordance with its magnetization curve, shown below:

14Figure 2.14: The magnetization curve of a dc machine expressed as a plot of EA versus IF¬ for a fixed speed 0

Since the field current is directly proportional to the mmf and since E A is directly
proportional to flux, it is customary to present the magnetization curve as a plot of EA vs
field current for a given speed 0.

NOTE: Most machines are designed to operate near the saturation point on the
magnetization curve. This implies that a fairly large increase in field current is often
necessary to get a small increase in EA when operation is near full load.

24
 3. Separately Excited and Shunt DC Motors

15Figure 2.15: The equivalent circuit of a separately excited dc

motor

16Figure 2.16: The equivalent circuit of a shunt dc motor

A separately excited dc motor is a motor whose field circuit is supplied from a separate
constant-voltage power supply, while a shunt dc motor is a motor whose field circuit gets
its power directly across the armature terminals of the motor.

When the supply voltage to a motor is assumed constant, there is no practical difference in
behaviour between these two machines. Unless otherwise specified, whenever the
behaviour of a shunt motor is described, the separately excited motor is included too.

The KVL equation for the armature circuit is:

VT = EA + IARA

3.a The Terminal Characteristics of Shunt DC Motor

A terminal characteristic of a machine is a plot of the machine’s output quantities versus

each other. For a motor, the output quantities are shaft torque and speed, so the terminal
characteristic of a motor is a plot of its output torque versus speed.

25
How does a shunt dc motor respond to a load?

Suppose that the load on the shaft of a shunt motor is increased. Then the load torque load

will exceed the induced torque ind in the machine, and the motor will start to slow down.
When the motor slows down, its internal generated voltage drops (EA = K ), so the
armature current in the motor IA = (VT – EA )/RA increases. As the armature
current rises, the induced torque in the motor increases ( ind = K Ia and finally the
induced torque will equal the load torque at a lower mechanical speed of rotation.

The output characteristic of a shunt dc motor can be derived from the induced voltage and
torque equations of the motor plus the KVL.

KVL VT = EA + IARA

The induced voltage EA = K so

VT = K + IARA

Since ind = K Ia current Ia can be expressed as:

ind
Ia
Combining the VT and IA equations:
K

ind
VT K RA
K

Finally, solving for the motor’s speed:

VT RA
ind
K (K ) 2

This equation is just a straight line with a negative slope. The resulting torque-speed
characteristic of a shunt dc motor is shown here:

It is important to realize that, in order for the speed of the motor to vary linearly with
torque, the other terms in this expression must be constant as the load changes. The

26
terminal voltage supplied by the dc power source is assumed to be constant - if it is not
constant, then the voltage variations will affect the shape of the torque-speed curve.

Another effect internal to the motor that can also affect the shape of the torque-speed
curve is armature reaction. If a motor has armature reaction, then as its load increases, the
flux-weakening effects reduce its flux. From the motor speed equation above, the effect
of reduction in flux is to increase the motor’s speed at any given load over the speed it
would run at without armature reaction. The torque-speed characteristic of a shunt motor
with armature reaction is shown below:

17Figure 2.17: Torque-speed characteristic of the

motor with armature reaction present.

If a motor has compensating windings, there will be no flux weakening problems and the
flux in the motor will be constant.

If a shunt dc motor has compensating windings so that flux is constant regardless of load,
and the motor’s speed and armature current are known at any one value of load, then it is
possible to calculate its speed at any other value of load, as long as the armature current at
that load is known or can be determined.

3.b Nonlinear Analysis of Shunt DC Motor

The flux and hence the internal generated voltage EA of a dc machine is a non linear
function of its magnetomotive force. Therefore, anything that changes the mmf in a
machine will have a non linear effect on the EA of the machine. Since the change in EA
cannot be calculated analytically, the magnetization curve of the machine must be used.

27
Two principal contributors to the mmf in the machine are its field current and its armature
reaction, if present.

Since the magnetization curve is a plot of EA vs IF for a given speed w , the effect of
changing a machine’s field current can be determined directly from its magnetization
curve.

If a machine has armature reaction, its flux will be reduced with each increase in load. The
total mmf in a shunt dc motor is the field circuit mmf less the mmf due to armature
reaction (AR):

Fnet = NFIF - FAR

Since the magnetization curves are expressed as plots of EA vs field current, it is

customary to define an equivalent field current that would produce the same output
voltage as the combination of all the mmf in the machine. The resulting voltage EA can
then be determined by locating that equivalent field current on the magnetization curve.
The equivalent field current:[4]

FAR
I F* IF
NF

One other effect must be considered when non linear analysis is used to determine EA of a
dc motor. The magnetization curves for a machine are drawn for a particular speed,
usually the rated speed of the machine. How can the effects of a given field current be
determined if the motor is turning at other than rated speed?

The equation for the induced voltage in a dc machine when speed is expressed as rev/min:
EA = K n

For a given effective field current, the flux in the machine is fixed, so the E A is related to
speed by:

EA n
E A0 n0

28
where E A0 and n0 represent the reference values of voltages and speed respectively. If the
reference conditions are known from the magnetization curve and the actual EA is known,
then it is possible to determine the actual speed n.

3.c Speed Control of Shunt DC Motors

Two common methods:

i- Adjusting the field resistance RF (and thus the field flux)

ii- Adjusting the terminal voltage applied to the armature.
Less common method:

iii- Inserting a resistor in series with the armature circuit.

Changing the Field Resistance [9]

If the field resistance increases, then the field current decreases (IF = VT/RF ), and as the
field current decreases, the flux decreases as well. A decrease in flux causes an
instantaneous decrease in the internal generated voltage E A =(K w), which causes a
large increase in the machine’s armature current since,

VT EA
IA
RA

The induced torque in a motor is given by ind =K Ia Since the flux in this machine
decreases while the current IA increases, which way does the induced torque change?

Changing the Armature Voltage

This method involves changing the voltage applied to the armature of the motor without
changing the voltage applied to the field.

29
If the voltage VA is increased, then the IA must rise [ IA = (VA -EA)/RA]. As IA increases,
the induced torque ind =K K Ia increases, making ind > load , and the speed of the motor
increases.

But, as the speed increases, the EA (=K ) increases, causing the armature current to
decrease. This decrease in IA decreases the induced torque, causing ind = load at a higher
rotational speed.

18Figure 2.18: The effect of armature voltage speed control

Inserting a Resistor in Series with the Armature Circuit

If a resistor is inserted in series with the armature circuit, the effect is to drastically
increase the slope of the motor’s torque-speed characteristic, making it operate more
slowly if loaded.

This fact can be seen from the speed equation:

VT RA
ind
K ( K )2
The insertion of a resistor is a very wasteful method of speed control, since the losses in
the inserted resistor are very large. For this reason, it is rarely used.

Safe Ranges of Operation for the 2 common methods

Field Resistance Control

The lower the field current in a shunt (or separately excited) dc motor, the faster it turns:
and the higher the field current, the slower it turns. Since an increase in field current
causes decrease in speed, there is always a minimum achievable speed by field circuit

30
control. This minimum speed occurs when the motor’s field circuit has the maximum
permissible current flowing through it.

If a motor is operating at its rated terminal voltage, power and field current, then it will be
running at rated speed, also known as base speed. Field resistance control can control the
speed of the motor for speeds above base speed but not for speeds below base speed. To
achieve a speed slower than base speed by field circuit control would require excessive
field current, possibly burning up the field windings.

Armature Voltage Control

The lower the armature voltage on a separately excited dc motor, the slower it turns, and
the higher the armature voltage, the faster it turns. Since an increase in armature voltage
causes an increase in speed, there is always a maximum achievable speed by armature
voltage control. This maximum speed occurs when the motor’s armature voltage reaches
its maximum permissible level.

If a motor is operating at its rated terminal voltage, power and field current, then it will be
running at rated speed, also known as base speed. Armature voltage control can control
the speed of the motor for speeds below base speed but not for speeds above base speed.
To achieve a speed faster than base speed by armature voltage control would require
excessive armature voltage, possibly damaging the armature circuit.

These two techniques of speed control are obviously complementary. Armature voltage
control works well for speeds below base speed, and field resistance control works well
for speeds above base speed.

There is a significant difference in the torque and power limits on the machine under these
two types of speed control. The limiting factor in either case is the heating of the
armature conductors, which places an upper limit on the magnitude of the armature
current IA.

For armature voltage control, the flux in the motor is constant, so the maximum torque in
the motor is max =K Iamax

31
This maximum torque is constant regardless of the speed of the rotation of the motor.
Since the power out of the motor is given by P= w, the maximum power is Pmax = maxw.

Thus, the max power out is directly proportional to its operating speed under armature
voltage control.

On the other hand, when field resistance control is used, the flux does change. In this
form of control, a speed increase is caused by a decrease in the machine’s flux. In order
for the armature current limit is not exceeded, the induced torque limit must decrease as
the speed of the motor increases. Since the power out of the motor is given by P= w and
the torque limit decreases as the speed of the motor increases, the max power out of a dc
motor under field current control is constant, while the maximum torque varies as the
reciprocal of the motor’s speed.

19Figure 2.19: Power and torque limits as a function of speed for a shunt motor under armature voltage and field
resistance control.

The Effect of an Open Field Circuit

As the field resistance increased, the speed of the motor increased with it. What would
happen if this effect were taken to the extreme, if the field resistance really increased?
What would happen if the field circuit were actually opened while the motor is running?

From the previous discussion, the flux in the machine will drop, and EA will drop as well.
This would cause a really large increase in the armature current, and the resulting induced

32
torque would be quite a bit higher than the load torque of the motor. Therefore, the
motor’s speed starts to rise and just keeps going up.

In ordinary shunt dc motors operating with light fields, if the armature reaction effects are
severe enough, the effect of speed rising can take place. If the armature reaction on a dc
motor is severe, an increase in load can weaken its flux enough to actually cause the
motor’s speed to rise. However, most loads have torque-speed curves whose torque
increases with speed, so the increased speed increases its load, which increases the
armature reaction, weakening the flux again. The weaker flux causes a further increase in
speed, further increase the load, etc. etc. until the motor overspeeds. This condition is
known as runaway.

4- The Permanent-Magnet DC Motor

A permanent magnet dc motor (PMDC) is a dc motor whose poles are made of permanent
magnets. PMDC motor offer a number of benefits compared with shunt dc motors in
some applications.

Advantage: Since the motors do not require an external field circuit, they do not have the
field circuit copper losses. Because no field windings are required, they can be smaller
than corresponding shunt dc motors. [10]

Disadvantages:

Permanent magnets cannot produce as high flux density as an externally supplied shunt
field., so a PMDC motor will have a lower induced torque per ampere of armature current
than a shunt motor of the same size. Also, PMDC motors run the risk of demagnetization.

A PMDC motor is basically the same machine as a shunt dc motor, except that the flux of
a PMDC motor is fixed. Therefore, it is not possible to control the speed of the PMDC
motor by varying the field current or flux. The only methods of speed control available
for a PMDC motor are armature voltage control and armature resistance control.

33
 5- The Series DC Motor

A series DC motor is a dc motor whose field windings consist of relatively few turns
connected in series with the armature circuit.

20Figure 2.20: Series excited d.c motor equivalent circuit

The KVL for this motor is VT = EA + IA (RA + RS)

5.a Induced Torque in Series DC Motor

The basic behaviour of a series dc motor is due to the fact that the flux is directly
proportional to the armature current, at least until saturation is reached. As the load on the
motor increases, its flux increases too. As seen earlier, an increase in flux in the motor
causes a decrease in its speed. The result is that a series dc motor has a sharply drooping
torque-speed characteristic.

The induced torque is ind =K Ia

The flux in this machine is directly proportional to its armature current (at least until metal
saturates). Therefore, the flux in the machine can be given by = c Ia where c is a
constant of proportionality. Thus,

ind = KcIA2

Series dc motors are therefore used in applications requiring very high torques. Example:
starter motors in cars, elevator motors, tractor motors etc.

34
 5.b The Terminal Characteristic of Series DC Motor

The assumption of a linear magnetization curve implies that the flux in the motor will be
given by = c Ia . This equation will be used to derive the torque-speed characteristic
curve for the series motor.

Derivation of the torque-speed characteristic:

1. VT = EA + IA (RA + RS)

ind
IA
Kc
2.

3. Also, EA = K w, thus substituting this in the KVL gives:

ind
VT K RA RS
Kc

4. If the flux can be eliminated from this expression, it will directly relate the torque of a
motor to its speed. Notice that IA = /c and ind = (K/c) ² Thus,

c
ind
K

5. Substituting the flux equation into equation in part 3, results in:

VT 1 RA RS
Kc ind
Kc

21Figure 2.21: The torque-speed characteristic of a series dc motor

35
 5.c Speed Control of Series DC Motors.

Unlike with the shunt dc motor, there is only one efficient way to change the speed of a
series dc motor. That method is to change the terminal voltage of the motor. If terminal
voltage is increased, the speed will increase for any given torque.

6. The Compounded DC Motor

A compounded dc motor is a motor with both a shunt and a series field. This is shown
below:[7]

22Figure 2.22: The equivalent circuit of compounded dc motors: (a) Iong-shunt connection: (b) short shunt connection.

The KVL for a compounded dc motor is:

VT = EA + IA (RA + RS)

and the currents are: IA = IL - IF ; IF = VT/RF

The net mmf and the effective shunt field current are:

Fnet = FF ± FSE - FAR

IF* = IF ± (NSE/NF) IA – FAR/NF

36
 + sign associated with a cumulatively compounded motor - sign associated with a
differentially compounded motor

6.a The Torque-Speed Characteristic of Cumulatively Compounded DC

Motor (CC)

There is a component of flux which is constant and another component which is

proportional to its armature current (and thus to its load). Thus, CC motor has a higher
starting torque than a shunt motor (whose flux is constant) but a lower starting torque than
a series motor (whose entire flux is proportional to armature current).

The CC motor combines the best features of both the shunt and series motors. Like a
series motor, it has extra torque for starting; like a shunt, it does not overspeed at no load.

At light loads, the series field has a very small effect, so the motor behaves approximately
as a shunt dc motor. As the load gets very large, the series flux becomes quite important
and the torque-speed curve begins to look like a series motor’s characteristic.

A comparison of the torque-speed characteristics of each of these types of machines is

shown below:

24Figure 2.23: The torque-speed characteristic of a 23Figure 2.24: The torque-speed characteristic of a
cumulatively compounded dc motor compared to cumulatively compounded dc motor compared to a
series and shunt motors with the same full-load rating. shunt motor with the same no-load speed.

37
 6.b The Torque-Speed Characteristic of Differentially Compounded DC
Motor

In a differentially compounded dc motor, the shunt mmf and series mmf subtract from
each other. This means that as the load on the motor increases, IA increases and the flux in
the motor decreases. But as the flux decreases, the speed of the motor increases. This
speed increase causes another increase in load, which further increases IA, further
decreasing the flux, and increasing the speed again. The result is that a differentially
compounded motor is unstable and tends to runaway.

This instability is much worse than that of a shunt motor with armature reaction. It is so
bad that a differentially compounded motor is unsuitable for any application.

Differentially compounded motor is also impossible to start. At starting conditions, the

armature current and the series field current are very high. Since the series flux subtracts
from the shunt flux, the series field can actually reverse the magnetic polarity of the
machine’s poles. The motor will typically remain still or turn slowly in the wrong
direction while burning up, because of the excessive armature current. When this type of
motor is to be started, its series field must be short-circuited, so that it behaves as an
ordinary shunt motor during the starting period.

III-MATLAB Graphical User Interface [3]

The Graphical User Interface, or GUI, refers to the now universal idea of icons, buttons,
etc., that are visually presented to a user as a “front-end” of a software application. Most
of us would consider a software application that accepted only keyboard-entered
commands as quite archaic, and even down right primitive. We much prefer to point our
mouse pointer to a graphical representation of some aspect of the application, click on it
(invoking some event), and continue working with the application through interactive
cues.

38
 1-The Three Phases of Interface Design

One can make the argument that there are three phases of good GUI design. These are
mostly common sense, but it is good for us to present them here in a formal manner. See
reference 4 at the beginning of the Appendix for an intelligent yet easy to read treatment
of interface design that succinctly covers what’s important in a good GUI. In this section
we quickly present the three phases of good GUI design and offer some “rules-of-thumb”
that are good to apply with our MATLAB, or any other GUIs.

1.a- Analysis

Before we start our GUI design, we need to consider who will be using it and how. For
instance, if we were creating a computer interface for toddlers, we probably would not use
written words, but large, brightly colored click-able pictures would probably work nicely.
However, the same approach would probably not be as well received if we were tasked
with creating an interface for our company’s director of marketing (or maybe it would!).
The point is that we need to keep the user in mind. Many MATLAB programmers find
themselves as the primary user of their GUIs. This is because they have found that
automating tasks and having a convenient GUI is up-front time well spent. We might find
ourselves as part of a development team and our task is to create a rich yet intuitive to use
GUI for functions and data provided by other members. In such a case, the analysis
portion of good GUI design could be very important indeed. The analysis process can
become very involved, depending on the goals, and could require extensive usability
specifications, developing user case scenarios, identifying the expertise of the user,
computer system limitations, and plans for future upgrades based on user feedback.

1.b- Design

Once we understand our users and the information that is to be interfaced with, we can
begin the process of laying out our GUI. In the design phase we still aren’t writing the
GUI, although we might feel like we want to; instead, we are considering what
components, tasks, and sequences are required to make our GUI effective. Unbelievably,

39
pencil and paper is still a great way to explore our GUI design. Again, for major projects,
this can become an involved task, but in the course of the GUI development, it is time
well spent. We will talk about this again in the next section on Paper Prototyping.

2- User Considerations

Remember, whatever GUI we create has two major components: one is the GUI itself, the
other is the user. It is important that we know who our users will be; we would not design
a GUI to be used by kindergarteners the same as for a group of scientists at a research
laboratory. Human factors specialists consider people from visual, cognitive, and physical
perspectives.
Of course we are limiting our scope to what we might do with MATLAB, but as we have
seen, MATLAB gives we significant graphical capabilities—and as we are about to learn,
its GUI capabilities are just as rich.

2.a The Reason for the GUI

We should always keep in mind the reason (or reasons) for building a GUI (especially in
MATLAB). These reasons stem from the fundamental goal of the GUI of being a useful
and reliable tool for accomplishing a larger task. The nature of the tasks we are likely to
use GUIs in MATLAB for generally involve automating laborious computations, or
searching for or learning about information content in data.If the GUI is to be used
primarily as a tool that helps we accomplish a larger task, then we will want to pay
particular attention to methods that:
a. Reduce the demands on the user.
b. Match the user’s workflow.
c. Take advantage of accepted interface standards.
When our goal is to expedite a laborious task, keeping things simple should be a rule.
Keep the number of windows, decision points, etc., to a minimum. Don’t expect a user (or
even ourself if we are the user) to learn new ways to do the same old things; put basic
pull-downs in the menu bar, use universal accelerators, e.g., CTRL-C for copy, and use
accepted language for common descriptors, e.g., “Save” and “Save As…”.

40
If the GUI is to be used for searching for information, such as gleaning data for specific
statistical content, looking at data from different perspectives or with different plot types,
then it is important that we build in the ability for users to quickly change between
different presentations of the data, change resolutions, and dialog with data processing
methods. GUIs of this nature should:
a. Provide flexibility.
b. Quickly go back and forth.
c. Not overwhelm the user.
The GUI should be flexible in that the user can select from a list of data searching
perspectives and statistical methods. The user should be able to start broadly, and then
narrow the search. The user should be able to quickly apply different methods or plot
techniques, and “undo” if the selection turned out to be undesirable. Finally, don’t
overwhelm the user with too many choices.
Arrange choices in a logical fashion and limit how much the user must remember. Provide
helps and tips where necessary.

2.b- Cognitive Considerations

Cognition refers to people’s ability to think and learn. There are a few rules of thumb we
should keep in mind when developing our GUIs that will make using our GUI both
intuitive and a generally pleasant experience.
1. Don’t require the user to remember many things at once: In general, people can
remember about seven new things for about twenty seconds. With MATLAB we can help
the user remember by using the Uicontextmenu property to include “right-click”. Perhaps
the easiest to use memory aid we can include in our MATLAB GUIs is the ToolTipString.
2. Organize functions and operations into logical groupings: We can use frames in
MATLAB to indicate groupings of user interface control objects (buttons, text fields,
etc.) and separators in pull-downs and other user interface menus.
3. Present information in the proper context: If things don’t appear to be where they
should be, or if they don’t happen when expected, auser can become frustrated with a
GUI. Remember to give our GUI a descriptive title using the figure property Name. In

41
addition, label controls and axes as appropriate. If we have to wonder what something is,
it probably needs a label.
4. Strive for consistency in our GUIs: Most people know to look to the upper left in a
menu bar to find tools that let we save or open a file, print, etc. This is just the standard
that we have all become accustomed to; don’t be arrogant and force our users to look in
places that are not standard.

2.c- Physical Considerations

Don’t lose sight of the fact that we (or our users) must interact physically with our GUI.
That means they will have to use their eyes, hands, and possibly their ears. (Yes, we can
use sound in MATLAB but we do not explore that in this text.) Whatever our GUI
accomplishes, the user must use the keyboard, mouse, and monitor to effectively interact
with the computer. Some rules of thumb here are:
Keep accelerator key combinations simple, e.g., CTRL+SHIFT+Character requires three
fingers so should probably be avoided (unless we want to make the action very
deliberate). Don’t mix mouse and keyboard commands without careful consideration. It is
best to keep the interface predominantly one or the other. If the text entries are always the
same, then consider using a list box; if they are always different consider using editable
text. The visual display should not be too busy or have too many colors as this can
obscure the presentation of data and interface controls.

2.d- Paper Prototyping

Perhaps the most effective GUI development process we can do before actually creating
our GUI is to create a paper prototype. Simply put, take a sheet of paper, and sketch just
how we want the GUI to appear to the user. Of course, this is done after we have
determined what the goals of the GUI are to be. The paper prototype is a design mockup
that lets we explore the lawet of our user interface objects, buttons, dialogs, etc., and data
presentation components, e.g., plots. We will be trying to optimize the position and
organization of our GUI to best accomplish our goal. If our task is large, or if we are part

42
of an organized software (or analysis) team effort, our paper prototype can also be used to
communicate our understanding of the GUIs goals with the rest of the team.

2.e- Appearance

Soon in this chapter, we will be developing a GUI. In this GUI, we want the user to be
able to specify an arbitrary function and arbitrary range over which the function will be
plotted. We also want the user to be able to easily change some of the plot features. Since
this GUI is simple, we can probably assume a single window with a single axes object and
some uicontrols to let the user quickly change things.

3- Construction

Ah, here is the part for which we are waiting! Now that we know how we want to use our
GUI, what information is presented through it, what features we will need, how we will
arrange our objects, etc., we can start building something that works. The bulk of this
chapter deals with uicontrol and uimenu objects and their properties and how to use them
in constructing MATLAB GUIs.
Depending on the complexity of the GUI task we are undertaking, we might find the need
to prototype the GUI. (This can be particularly easy with MATLAB’s GUIDE.) Our
prototype can help we identify flaws in our design before we have invested too much time
in implementation. By prototyping, we mean creating the user interface portion without
detailing the functions that respond to the user actions (callbacks). First, we will explore
the uicontrol and uimenu objects and their properties, then use MATLAB’s Graphical
User Interface Development Environment (GUIDE) to get a GUI running quickly, and
finish this chapter with a look at some specific GUI applications that demonstrate GUI
capabilities.

43
 Conclusion
In this chapter we have presented the literature review of DC machines and Matlab
graphical interface. In the next chapter, we shall present the materials and methods used in
the graphical user interface for simulating DC machines.

44
 CHAPTER 3: MATERIAL AND METHODS

INTRODUCTION

Before building a simulating (mocking) graphical interface dc machines operation, one

must first master the mathematical models of these machines then master the simulation
environment. In this chapter, some dc machine specific operations are presented as
projects which are implemented in the built guide.

I- Materials

The dc machine mathematical models and parameters are used to describe the behavior of
these machines. Real machine parameters are used in projects. The Matlab/Simulink
blocks are then used to build the simulation model of these machines operation. The
GUIDE (Graphical User Interface Development Environment) of Matlab is then used to
run the projects through an interface.

II- Simulation Projects

In this part, we present some of the manipulation which can be done in our interface seen
as a virtual lab. We therefore prepare the manipulations materials and how parameters
values are computed. The simulation in chapter four will be based on these materials. The
user has the possibility to prepare his own materials and load in our application.

1-Startup and loading of shunt generator

In this project, we shall implement the Simulink simulation of a dc shunt generator and
use it to study the required condition of residual flux and direction of rotation for the
successful buildup of self-excitation and load characteristics of a dc shunt generator.

45
The equation of the field winding is:

= + +

Where Rf and Rh are the resistances of the main field winding and field circuit rheostat
and Lf is the field winding inductance.
The armature winding is represented by an equivalent winding in quadrature with the field
winding. Using generator notation, the average value of the terminal voltage of the
armature winding can be expressed as:

= + + +

Where Va is the average value of the armature terminal voltage, Ia is the average current
flowing out of the armature winding at the positive terminal of Va. Ea is the average value
of the internal voltage. Ra is the armature winding resistance and Laq is the armature
winding inductance. In simulation, the terminal voltage Va can be developed using the
expression of the load resistor, where value can also be set very large to approximate an
open circuit condition.
In this project, we will be dealing with fixed operation: as such the equation of motion of
the rotor will not be needed. However, if speed variation is to be simulated, the equation
of the motion of the motor, using the convention of positive torque in the direction of the
rotor rotation is:

+ =+ +

= )= )/
The negative sign is front of Ia in Tem is consistent with the generating convention. In
generating mode, Ia here will be positive, whereas Tem will remain negative.
Due to magnetic saturation, the relation between the flux per pole and the effective field
excitationIf is nonlinear. The effects of magnetic saturation and rotor speed on Ea can be
accounted for using the open circuit magnetization curve at some known speed and speed
scaling that is:

46
 = =

Where magnetic saturation is negligible, is proportional to If, therefore can be

replaced by . In which case, = = . The value of kg at the speed of
can be determined from the slope of the air gap line of the open circuit characteristic
of the machine.

In the first part of this project, we shall examine the condition of successful self-excitation
of the shunt generator with a simple resistive load. The figure 3.1 bellow shows the
Simulink simulation of the generator with a series RL load connected to its armature. The
corresponding Matlab file may be used to initialize your simulation with the following
machine parameters of a 125V, 2KW, 1750 rev/min dc shunt generator.

Rated power is 2KW,

Rated armature voltage is 125V
Rated armature current is 16A,
Rated speed is 1750 rev/min

Armature winding resistance Ra =0.24

Armature winding inductance Laq=18mH,
Shunt field winding resistance Rf=111 ,
Shunt field winding inductance Lf=10H,

Figure 2 is the magnetization characteristic of the machine taken at a constant speed of

2000rev/min. For the shunt generator to self-excite, the direction of rotation and residual
flux must be such that the polarity of the induced voltage , Ea circulates a field current
that further increases the air gap flux. In the above simulation, the residual flux is
represented indirectly by the open circuit voltage on the magnetization curve at zero field
current, and the direction of rotation is represented by the sign of the speed of rotation.
The field circuit connection can be reversed in the simulation by changing the sign of the
field polarity from+1 to -1.

47
If we were to neglect the positive element voltage drops of the armature winding, brush,
and field circuit resistances, the final voltage to which the generator will self-excite would
be determined by the intersection of the field circuit line and the open-circuit curve of the
armature. The slope of the field circuit line corresponds to the total field circuit resistances
Rt and Rrh. When the field circuit resistance exceeds the initial slope of the magnetization
curve at that speed, the terminal voltage of the shunt generator will not self-excite to a
useful level.
Use speed scaling to determine the open-circuit magnetization curve for the rated speed of
1750 rev/min from that of figure 2 given for 2000 rev/min. next determine the critical
value of the field circuit resistance that correspond to the initial slope of the magnetization
curve at the rated speed of 1750 rev/min. Also determine the value of external field
rheostat Rrh, for the shunt generator to self-excite to rated terminal voltage of 125V.
Approximate an open circuit condition on the armature terminals with an Rload of 1M
and set wm to the rated speed in rad/sec. With these parameters, the resulting system
equations are quite stiff. Try running your simulation using the ode15s or Adam/Gear
numerical method with a minimum step size and tolerance set to 5e-5 and 1e-6 respectively.
For the first set of runs, a stop time of two seconds is sufficient. Check the final value of
Va to see if it is close to the rated voltage.

Reverse the sign of wm and rerun the simulation with the other parameters kept the same.
Note the final value of Va. Change the sign of the field polarity connection and rerun the
simulation and see the final terminal voltage.

48
25Figure 3.1: Simulation layout of the shunt generator

26Figure 3.2: Magnetization characteristic of the machine taken at 2000rev/min

The next set of runs examines the drop in terminal voltage of the armature as loading
increases. The droop is caused by armature reaction and resistive drop in the armature
winding as well as brush drop. For this study, brush drop may be assumed to be constant
one volt per brush, and armature reaction may be approximated by an equivalent main
field demagnetizing current of the form:

49
 = 0.04 (arctan( )) + 0.0001 ²

In reality, the armature reaction is also dependent on the level of net excitation that is also
of If, and will occur only when the iron of the flux path becomes saturated.
Reset the stop time to about 12 seconds, Simulate the loading sequence where Rload is
being decreased in the steps 1e6, 1e3, 1e2, 1e1 and 1 . Obtain the plot of the terminal
voltage and speed.

2- Resistance starting of dc Shunt Motor

In this project, we shall examine the starting transients of a separately excited dc motor.
The objectives are to implement the Simulink simulation of the dc motor and use it to
study the starting transient when the motor is started Direct On Line (DOL).
When it is started with a resistance starter that is switched at fixed armature current level;
and when it is started with a resistance starter that is switched at fixed time intervals.
For this project, we will assume that the field excitation of the dc motor has reached the
desired steady state value before energizing the armature circuit to start the motor. The
internal emf, Ea of the armature is assumed to be proportional to the product of the field
flux and the motor speed wm that is
=

The electromagnetic torque developed by the motor is given by

=
Where Ia is the current of the armature
When the rotor is at or near standstill, wm and also Ea will be zero. In resistance starting,
the motor is started with a fixed dc supply voltage and starting resistance are inserted
during the starting period to keep the armature current within some safe limits. The upper
current limit is often decided by the ability to commutate properly and the lower limit is to
maintain acceptable acceleration or run-up time.

50
A simple representation of the separately excited dc motor with its starting circuit is
shown in figure 3.3.a. Figure 3.3.b shows the Simulink layout of the circuit. The Kirhhoff
Voltage Low (KVL) equation of the armature circuit is:

Where Rt is the resistance of the armature circuit (sum of the starter resistance and the
armature winding resistance Ra) and Vbrush is the brush drop. The equation of motion of
the rotor is obtained by equating the brushes on the commutator. The equation of motion
of motion of the rotor is obtained by equation the net accelerating torque to the inertia
torque on the rotor that is:

=+

Where Tmech is the externally applied torque in the direction of rotation, D the damping
coefficient and J the initia of the rotor. The above two equations can be rewritten into
intergral form, that is:

27Figure 3.3.a: DC motor and starter circuit

51
28Figure 3.3.b: Simulation layout of the shunt dc motor with starter

1
( )= ( ) (0)

1
( )= ( ) (0)

During starting, the switching of the three resistor segment is being triggered by the
crossing of Ia below the threshold value of Iamin. The contacts C1, C2 and C3 are initially
open. When the main contact, MC is closed to start the motor,the initial starting current
drawn will be limited to its upper value Iamax by all of the starting resistors. As the rotor
increases inspeed, the back emf Ea will correspondingly increase with speed, causing the
armature current to decrease. When the starting current decreases to the lower limit Iamin,
contact C1 closes to short out the first starting resistance segment r1. When r1 is shorted,
the armature current rises again and the torque Tem increases along with it, accelerating
the rotor to a higher speed. As the back emf, Ea increases with speed, the armature current
will again decrease. When the armature current decreases again to the lower limit, the next
starting resistor segment, r2 will be shorted out by the contact C2. In this way,the rotor

52
accelerates further and the same process is repeated until the last starting resistance r3 is
shorted out, leaving only the armature winding resistance as the rotor accelerates on to full
speed.
The sequential logic for starting is implemented in figure 3.b by detecting the condition
when Ia decreases down to Iamin. The logic signal drives a derivative module, producing a
pulse input toa set of SR latches connected to operate like a counter. The outputs of the
three latches are used to switch off the resistive drop of the three switchable starting
resistor segments. The SR latches can be obtained from the extras/flip flops block library.
The logic and relational operator modules are taken from the nonlinear block library.
Memory modules, from the nonlinear block library, are used for different purposes: the
module placed before the relational operator module used to break an algebraic loop,
whereas the modules placed between latches are used to create a short delay to get the
latches to operate as desired. The switches C1, C2 and C3 will pass input 1 through if
their input 2 are greater or equal to an adjustable threshold. For these switches to be
operated by the standard zero logic levels, their threshold level must be set at 0.5.
Set up the simulation to simulate the starting of a separately excited dc motor. A M-file
has been programmed to set up the parameters of a 10KW, 220V, 1490 rev/min,
separately excited motor that has an armature resistance Ra=0.3 , an armature winding
inductance Laq=12mH, a brush drop of two volts, and a rated current of 50A.
First, we will simulate the motor starting with no mechanical load under full flux
condition, with Ka =1.3. The inertia of the rotor and load assembly J=2.5kgm², and the
damping coefficient D=0.
As an illustration, we will determine the three stating resistances sections for a
requirement that Iamax=100A and Iamin=60A. Ignoring the armature inductance and
assuming finite inertia, at the closing of the main contac, MC, we have
(0) = 0 = ( + + + )
At the instant of shorting out the first section of the starting resistor, we have:

( 1) = ( + + + )
= ( + + )
At the instant of shorting out the next section of the starting resistor, we have
( 2) = ( + + )

53
 = ( + )

At the instant of shorting out the last section of the starting resistor, we have
( 3) = ( + )
= ( )
So as the starting internal voltage Ea(0)=0; we have

( + + + )=

( + + )=

By equating the twos expressions of each of Ea(t1), Ea(t2) and Ea(t3) we have:

( + + )= ( + + + )

( + )= ( + + )

( )= ( + )

With = 60 , = 100 , the values of the three starting resistances segments are:
r1=0.872
r2=0.523
r3=0.313

Conduct the simulation using Adams/Gear numerical integration method with a start time
of 0, stop time of 7 seconds, minimum step size of 0.5 msec, maximum step size of 5
msec and an error tolerance of 1e-6.
-Rerun the simulation without starting resistance and compare the results with the
previous.
-Start up the same motor with load torque of 50N.m
-Resize the starting resistor sections for an = 75 , = 120 and run.

54
 3- Braking of dc motors

A-Methods of braking
For dc machines, a changeover from motoring to braking can be accomplished by
reversing the flow of the motoring armature current Ia. Although a reversal of field flux
will also result in a reversal of Tem, it is seldom employed because the time constant for
is much longer than that for Ia.
In this project, we shall examine braking methods on the second quadrant of the speed
torque domain in which Ia and Tem are reversed:

a- Plugging
When Va is reversed and an external resistor is also inserted simultaneously to limit Ia to
within some allowable value.

b- Dynamic braking:
When Va is switched off and an external resistor is simultaneously inserted across the
armature terminals to limit Ia.

c- Regenerative braking:
When Va becomes smaller than Ea, reversing the flow of Ia. This condition can be
brought about by an adjustable Va supply or by increase in Ea from an increase in wm, as
in the case of the load overhauling the rotor.

For this study, we will again use the parameters of the 2KW, 125V, 1750 rev/min dc
machine given earlier in project 1. The machine however will be connected to operate as a
separately excited motor, with its field excitation held fixed at the rated condition. The
inertia of the rotor assembly, J=0.5Kgm². For simplicity, we will ignore brush drop and
armature reaction. In each case, we will begin with the machine motoring at speed of
1750rev/min drawing rated armature current of 16A from a supply voltage Va=125V.

55
 B-Resistor value for plugging:

Assuming that the armature current is not to exceed 250% of its rated value, or 40A, we
first estimate the limiting resistors needed for the plugging and dynamic braking methods.
With armature reaction ignored, we can assume that flux is maintained at rated motoring
condition during braking. The flux at rated motoring condition is given by:
125 0.1416
= = 60 = 0.6699 . /
1750 2

Thus the developed torque Tem given by is 10.72 N.m. And the internal voltage
Ea given by is 122.76V.
A changeover from motoring to braking using the plugging method is effected by
simultaneously reversing the polarity of the applied voltage across the armature and
inserting an external resistor Rext into the armature circuit. With flux maintained constant
and the rotor speed immediately after the changeover the same as before, the value of
Rext that will keep Ia within 250% of its rated value can be determined from:

( )= ( + )
Rearranging and substituting in the known values, we have:
122.76 + 125
= 0.14 = 6.054
2.5(16)

Resistor value for dynamic braking

Similar equations can be used to compute the limiting resistor for the dynamic braking
method except that Va during braking will be zero. Thus for the dynamic braking method,
the value of the limiting resistor is
122.76
= 0.14 = 2.929
2.5(16)

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 C- Simulation of plugging and dynamic braking

Let’s examine the performance of the plugging and dynamic braking methods assuming
that the load torque behaves in the manner described by:

= 0.01 + 3.189. 10

Figure 3.4 shows the Simulink layout for this project. In this simulation, a step generator ,
timing motoring2generating is used to trigger the changerover from motoring to braking.
The two switches C1 and C2 are to be loade with a threshold level of 0.5 when the step
generatoris set to have an initial output of 1 and a final output of zero. Steady state values
of the armature current and rotor speed can be used as initial values for the corresponding
integrators to minimize the startup transients,thus saving simulation time. With the given
system parameters, the simulation will run satisfactory using the ode15s or Adams/Gear
method with tolerance set to 1e-6and minimum step size of 1e-4. Implement and run the
simulation of the system of figure 4. Obtain the plot of Tem, Ia and wm . Based on the
observed results, verify the changeover from motoring to braking and check the
agreement between the values of Ia and Ea used to determine the Rext with those obtained
from the simulation.

57
29Figure 3.4 Simulink layout for plugging or dynamic braking

D-Simulation of regenerative braking in the fourth quadrant

Braking in the inverse direction of rotation against an active load torque that is
overhauling the motor, as in the lowering operation of a hoist, is also used in practice.
This corresponds to operation in the fourth quadrant of the speed-torque domain. In this
part of the project, we shall examine the operation of a separately excited dc motor
operating with adjustable armature supply voltage that is controlled electronically to
perform the raising and lowering of a constant load torque, as in a routine hoisting
operation. For raising the load, the dc machine motors in the first quadrant where both
speed and torque are in the positive direction. At the end of the raising, the load is held
steady for a while before it is lowered at controlled speed, countering the gravitational
force on the load. Figure 3.5 shows the Simulink simulation layout of a simple closed loop
speed system that can be used to demonstrate the raising, holding and lowering
operations.

The reference speed wm* of a hypothetical hoisting operation is represented by a repeating

sequence source. The load torque is represented by a delay step source with the step
change in load torque from zero to Trated occurring at t=0, synchronized with the first
ramp up of the speed reference cycle. The time values of the repeating sequence are [0 30
40 50 65 75 85 95 100] and the corresponding output speed values are [0 wraise wraise 0
0 wlower wlower 0 0]. In the simulation, the dynamics of the ac/dc bridge and its
controller that provides the the adjustable Va, to the machine, is represented by a simple
transfer function with a first order delay.

58
30Figure 3.5 Simulink layout for regenerative braking

III- Graphical User Interface for simulating the dc

machines

We have designed in the Matlab/GUIDE (Graphical User Interface Development

Environment) an interface for simulating dc machines (virtual lab)see figure 3.6. Here, the
user should be able to:
- Choose between a generator or motor,
- choose the type of field winding connection (shunt, separately excited, ..),
-choose the type of operation (starting, braking …),
-choose the variables to be display,
-initialize the machine parameters,
-modified machine parameters,
- load the machine parameters,
-run the simulation,
-see the graphical result of the simulation,

59
- reset the axes,
Adding to the interface usability, the user can also upgrade the interface by including his
own machines files in the back office platform.

31Figure 6: Physical layout of the developed GUI

Conclusion

In this chapter, we have presented the material used in our dc machine simulation
interface. The different dc simulation implement have been described here as project:
starting of shunt generator, resistance starting of shunt dc motor, braking of dc motor by
plugging, dynamic and regenerative methods. In the following chapter, we shall present
the results of manipulation in this computer base built lab (virtual lab).

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 CHAPTER 4: SIMULATION AND RESULTS ANALYSIS

Introduction

In the previous chapter, we have presented the materials and methods used in the design
and implementation of dc machines graphical user interface. In this chapter, we present
steps to be followed to run the interface and analyze the simulation results.

I-Starting of the interface

The user must have Matlab 2008a or earlier version installed; store the interface files in
the Matlab folder found in the user folder ‘My Documents’.
To start the interface, the user should follow the procedure:

a- Run Matlab then open the Matlab command window

32Figure 4.1: Matlab command window is found under Window/Command Window

61
b- In Matlab command window open the application; type >> open('RUN.fig') and the
simulation interface is run, its layout is presented as on figure 4.2 bellow.

(a) The welcome interface from where a press on

the toggle button opens the simulation interface bellow.

(b) The real simulation interface

33Figure 4.2: Graphical User Interface physical layout

Now that the interface is running, the following are the steps that the user should follow
for proper simulation.

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 II- Procedure to properly run the interface

a- Unroll the pop- up Menu ‘ChooseTypeOfMachine’ and choose the type of dc machine
to be simulated.
b- Unroll the pop- up Menu ‘ChooseTypeOfExcitation’ and choose the type of dc
machine field connection to be simulated.
c- Unroll the pop- up Menu ‘ChooseTypeOfOperation’ and choose the type of operation
of the machine to be simulated.
d- Unroll the pop- up Menu ‘Choose Variable(s) to display ‘ and choose the variables to
display from the simulation.
e- Double press the toggle button ‘Initialize Machine Parameters’ for default machine
parameters to be displayed.
f- In the machine parameter table found under the ‘Initialize Machine Parameters’ toggle
button, modify any parameter to meet your manipulation parameters values. The interface
should looklike in figure 4.3 bellow.

34Figure 4.3: setting of manipulation parameters

63
g- Press the toggle button ‘Load Machine Parameters’ to load the machine parameters and
wait a request which appears after few minutes. The following request of figure 4.4 opens.
Accept it by pressing on ‘Finish’ toggle button and ‘Ok’ as presented on figure 4 bellow.

35Figure 4.4: Variable import request window

h- Press the toggle button ‘Run’ to run the simulation and display the simulation chosen
outputs as presented on figure 4.5.

64
36Figure 4.5: Simulation result display

i- The user has the opportunity to display results of many simulations on the same axes
provided that the values are in the same range for better visualization. If not, the user can
clear the previous displays before running the next simulation by pressing the toggle
button ‘Reset Axes’.
j- To close the application, press the toggle button ‘CLOSE’ then ‘Yes close’

III-Project simulation and result analysis

1- Resistance starting of DC motors

a- Parameters Setting

Machine used parameters: 10KW, 220V, 1490 rev/min, Ra=0.3 , Laq=12mH, brush drop
of two volts, Iarated= 50A.
J=2.5kgm², the damping coefficient D=0. Iamax=100A and Iamin=60A

65
By choosing the default machine parameters presented in the previous chapter and
running the application with the following values sets of starter resistances (0*r1, 0*r2,
0*r3), (r1, r2, r3) where r1, r2, r2 are default starting resistance values, we obtain the
following display.

37Figure 4.6: Resistance starting of shunt DC motor

b- Results analysis

From the results of figure 4.6 the following observations are done:
a- Without starter resistance the current I1 drawn by the motor is very high (12 times the
rated current) during the starting time interval 0 to 1.6 seconds as shown on the speed
curve. This current being too high tends to damage the machine in a short while and also
disturbs the whole supply network to which the machine is connected by means of current
surges. After 1.6 seconds, as the machine back emf is built up, the starting current drops to
zero and the machine can be loaded.

66
b- With starting resistances, the maximum starting current fluctuates in between 60A and
100A following the constrained values of the resistances. The starting current finally
drops to zero when the back emf has been built at 4.2 seconds.
From our observations, we can conclude that although the starting resistances reduce
greatly the starting current, they in large the starting time of the machine. So, before
choosing this starter, a good comprise between the machine starting time constraint and
starting current constraint must be taken into consideration.

2- Starting of shunt Dc generator

a- Parameters setting

Machine used parameters:

Rated power is 2KW,
Rated armature voltage is 125V
Rated armature current is 16A,
Rated speed is 1750 rev/min
Armature winding resistance Ra =0.24
Armature winding inductance Laq=18mH,
Shunt field winding resistance Rf=111 ,
Shunt field winding inductance Lf=10H,
Rload values: 1e6, 1e3, 1e2, 5e1 and 1e1

67
38Figure 4.7: On load starting of Shunt DC generator

b- Results analysis

From the result of figure 4.7, we observe that starting the generator with a 1M resistance
as load (open circuit or no load condition of the generator), the emf and speed are built
successfully to the rated values of 125V and 1750 rev/min respectively. But resistance
lower than 1000 , the terminal voltage final value drops considerably up to a certain level
where the machine does success starting for load values bellow 50 .
Finally, it can be concluded that starting a shunt dc generator on load affects the final
terminal voltage as the generator emf may not be able to self-excite and fails during its
starting due to load current. In case where the load resistance is around 1K , the machine
starting succeed but the load will function properly only if it is not voltage drop sensitive.
Therefore before starting a generator on load, a sound compromise must be done between
the load voltage sensitivity, running time and the generator capability to withstand the
load while starting.

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 III-Advantages and disadvantages

Advantages of the interface

The following are some advantages of our developed interface:

-It helps understanding the behavior of DC machines without necessary being in front of
the physical machine,
-The user can change the machine parameters therefore run the simulation for many
machines provided their setting is as the existing ones in the interface,
-It enhances the teaching and learning by the use of multi sensors teaching approach (the
learners hear what the teacher says (use of ears) and see what he is saying (use of eyes)).
-It is more practicable in environment of huge effective,
-A skill user can upgrade the interface by loading his own Simulink files for DC
machines,
-Simpower blocks can be used is our Simulink files,

Drawbacks

Although our interface has so many advantages, it has some limitations which are as
follows:
-The interface does not replace the real machines therefore the user at certain time must be
obliged to get in touch the real life machines or lab.
- The interface objects physical presentation is by far different from that of the real world
machines, so a user who has never seen the real machine or lab would not easily handle
the real concepts,
-The interface is computer based and specifically Matlab dependent, therefore the user
must have access to both a computer (with at least 1G RAM) and Matlab software.

69
 Conclusion
In this chapter we have presented the steps that the user must follow to run our simulation
interface. Some of the previous chapter projects have been manipulated and the results
analyses are very interesting. Therefore this application seen as a virtual lab meets the
physical lab behaviors.

70
 CHAPTER 5: CONCLUSION AND RECOMMENDATION

The need to introduce computer base laboratories to reduce some of the actual difficulties
in implementing real world laboratory practices in our local schools has conducted us to
propose a virtual lab by means of graphical user interface for simulating DC machine
manipulations. This work has been shared into chapters. In chapter one, it is shown how
the local schools do not have enough facilities in term of electrical machines labs. The key
objective is to provide the relevant students and teachers with a didactic material which
helps them to cope the expected skills without totally replacing the real world labs
virtuous. Chapter two presents the literature review on dc machines, chapter three deals
with the materials and methods used in the simulation of dc machines and interfacing.
Chapter four then presents the developed graphical user interface for simulating dc
machines and analyses of simulation results. The obtained simulation results meets the
physical behavior of such machines, therefore this interface can be used without any fear
in virtual labs.

Recommendation

A user guide has been presented in chapter four for proper simulation. We recommend the
user to have basic computer skills and Matlab 2008a or earlier version knowledge to be
able to upgrade his own manipulation files in our application. It should be noted that this
interface is just a palliative but not substituting the real world labs that is more valid and
practical.

71
 Suggestions for further studies

For further studies, we suggest if possible the researcher should develop an interactive
interface where the user can manipulate objects which are physically closer to the real
world machines.

Conclusion
This research was aimed at conceiving and simulating an interface for D.C. machines
practical which will go along way to reduce the gap of future generations in our technical
schools to be learning measurement based on theory. We have developed a graphical user
interface as didactic material which can be used both in teaching and learning of DC
machines operations. This interface being a virtual lab is more accessible to those targeted
peoples than real machines. The simulation of DC machines brought good results;
therefore the objectives of the project have been met.

72
References

1- Chee-Mun Ong (1997), ‘Dynamic Simulation of Electric Machinery’, Purdue

University, Prentice Hall PTR
2- Stan Gibilisco (2001), ’ The Illustrated Dictionary of Electronics’, Eighth Edition,
McGraw-Hill
3- PATRICK MARCHAND &O. THOMAS HOLLAND (2003), ‘Graphics and GUIs
with MATLAB’, 3rd Edit, CRC Press Company, chapt. 10
4- U.A Bakshi & V. U. Bakshi (2009),’Electrical technology’, Technical publication
PUNE, chapter 5.
5- Stephen J. Chapman (2005), ‘ELECTRIC MACHINERY FUNDAMENTALS’. 4
Edit., chapter 8, MC Graw Hills
6- Kougang Guy R. (2015), ‘Electrical Machines’, NPB
7- Mohamed E. El-Hawary, (2008), ‘Introduction to electrical Power system’, IEEE
Press
8- A.E. Fitzgerald (2003), ‘Electric Machinery’, 6 Edit. MC Graw, Chapter 7
9- Fabrice Sincere (2007), ‘Electrotechnique’, IUT QLIO
10- Gerhard Henneberger (2005), ‘Electrical Machines II Dynamic Behavior,
Converter Supply and Control’, Aachen University

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