Lionel used universal series motors from Lionel’s inception in 1900 to just a couple of years ago. Since 1970 or so the universal motor made by Lionel has been called “Pullmor”. This motor has a wound rotor and stator and the rotor and stator are wired in series. The hot enters one brush and exits the other brush into the field which is grounded; hence, in series.
The DC traction motors used in real diesel electric locomotives are universal series motors that are very similar in construction to Lionel’s Pullmor motor. In some instances the rotor and stator are wired in series while in others the rotor and stator are excited on separate circuits. Most locomotives before ~1980 used universal motors. Most other locomotives such as the GG1 and such used universal motors. Prototype locomotives never used can motors. The reason that prototype locomotives did not use can motors is that universal motors are more efficient at cheaper cost. Today the majority of heavy freight haul locomotives use asynchronous motors, commonly known as induction motors.
Very briefly, induction motors function by a rotating magnetic field of the stator. The frequency of the rotating magnetic field is dependent upon the frequency of AC. The rotor of the induction motor is made of copper plates. The copper plates are arranged in what looks like a hamster wheel and is often called a “squirrel cage”. The rotating magnetic field induces (hence the name induction motor) current flow in the copper plates which results in the turning of the rotor. By definition, the rotor always turns slower than the rotating magnetic field (called slip) hence it is not synchronous with the rotating magnetic field. If the rotor becomes synchronous with the rotating magnetic field current flow in the copper plates is no longer induced and torque drops to 0. Advantage of induction motors is that they are very high efficiency (>90%) and very high starting torque. As far as I know, there are no induction motors used in model railroading.
DC can motors have been nearly eliminated in the RC world by what is called a synchronous motor. The reason for this is that DC can motors are very inefficient compared to synchronous motors. Märklin uses synchronous motors in some of their model trains (called the soft drive or C-sine motor). Märklin is the only one that I know of that uses a synchronous motor in model railroading. Lionel attempted to make a synchronous motor for their trains but failed. Synchronous motors are used in prototype railroading where high starting torque is not needed. Bullet trains like those in Japan or the TGV in France use synchronous motors. Like induction motors, there is a rotating magnetic field from the stator. The difference is, the rotor rotates synchronous with the rotating magnetic field. Technically, at 0 rpm the rotor produces 0 torque. For a long time, synchronous motors could not self-start, but modern electronics allow for very low frequencies to be used to such a point that they self-start. Unlike induction motors, synchronous motors have either DC powered magnets or permanent magnets and these magnets constitute the rotor. With a synchronous motor, the rotor can be either on the outside or on the inside of the motor. These are called inrunner or outrunner motors. AC is used on the stator which produces the rotating magnetic field which is dependent upon the frequency of the AC signal applied. Advantage of synchronous motors is that they are very efficient (>90%) and their linear torque curve allow for precise control. The so called DC brushless motors are a form of synchronous motor.
DC can motors have already been discussed. Practically all current production of our O gauge trains use DC can motors and the vast majority of the other scales also use DC can motors. Some manufactures still use open-frame DC motors. I will add that just because the motor is in a can does not mean a continuous magnetic field from either the rotor or stator. If you were to take one of the DC motors apart from one of our trains, you would find large gaps between the magnets used for the stator. You can find DC motors manufactured from ring magnets, but those motors are 10 times the cost.