In this particular application all you need is a diode in parallel with the generator field with its cathode toward the positive terminal. The diode should be rated for the full field current. The diode will be reverse-biased when the VR is energizing the field. When the VR contact opens the field current will flow through the diode, decaying at the field's LR time constant. There will be little arcing because the voltage across the contact won't exceed battery voltage.
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