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tallgirl:
Counter-emf probably dates to the mid 1800s or maybe the 1870 to 1880 time frame. This refers to the induced voltage in the motor armature resulting from the rotation of the armature in a a fixed field. The generated voltage is an ac output but is demodulated by the commutator on the rotor. This counter-emf is equal to a constant times armature speed for a fixed field excitation. In a PM dc motor you can get a fairly accurate measure of RPM by pulsing current to the armature, such as a half wave SCR control, and measure the armature voltage between current pulses.
For a fixed field excitation the motor RPM = K*(Vsupply - I*R) where R is the armature resistance. Vsupply - I*R = the counter-EMF of the motor. With J. G. Tarboux as a teacher of DC Machinery these basic concepts were emphasized. He was an outstanding teacher in both DC and AC Machinery and used basic concepts and intuition as his basic teaching tools. Absolute constants were of no great importance, but rather the relationships of one factor to another were the critical items taught. Tarboux was both a PhD and a full professor. I was lucky to have had a number of very good professors. and these were in relatively small classes. Anywhere from 5 to maybe 35 students in most cases.
In 1879 Edison and his workers developed a means on his dynamo to get constant output voltage under varying load conditions by adding a winding to the field excitation that had load current thru it. Thus, as the IR drop from load on the generator reduced the output voltage the load current increased the field excitation to compensate for this voltage change. They determined the proper relationship to get good voltage regulation. Note: that they also discovered the characteristic of saturation of iron core magnetic circuits. Therefore, they did not over drive the magnetic circuit and waste excitation power, as competitors did.
This same concept of a compound field was later used in dc motors to maintain a more constant output RPM.
I generally described induced voltage by e = K*N*dp/dt where p is phi, magnetic flux or flux density, because it more directly indicates what is happening. In most ferromagnetic circuits L is constantly changing and thus harder to conceptually visualize what is happening.
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