Torque control of an independently excited DC commutator machine with a compensating (C) and commutating (B) winding. The armature (A) winding and the field (F) winding are both fed by a controlled current. This controlled current may be provided by a DC chopper (or controlled thyristor rectifier) with a current control (feedback) loop.[br][br]In a DC machine, the (stationary) armature current vector (in the animation [math]\vec{i}_a[/math]) is orthogonal to the flux vector ([math]\vec{\phi}_f[/math]) in the absence of armature reaction (i.e. a compensated machine). This condition, called [i]field orientation[/i], creates an ideal dynamic behaviour.[br][br][i]Please download the .ggb file and open with the Geogebra Classic 5 application (see [/i][url=https://www.geogebra.org/download]https://www.geogebra.org/download[/url][i]) if the animation is too slow in your browser. The animation is designed to be opened on a 1080p screen and with "Make everything bigger" setting of Windows set to 100% ([/i][url=https://support.microsoft.com/en-us/windows/change-the-size-of-text-in-windows-1d5830c3-eee3-8eaa-836b-abcc37d99b9a]Change the size of text in Windows - Microsoft Support[/url][i]).[br][br]Any and all feedback is welcome and can be sent to [url=mailto:timon.dewispelaere@kuleuven.be]timon.dewispelaere@kuleuven.be[/url].[/i]