PowerShell ActiveDirectory module depends on Active Directory Web Services (ADWS). It's ships with Windows 2008 R2 (and latter) but can also be installed on older DCs. The name of the package is Active Directory Management Gateway (ADMG).
In my experience: if you want to use AD module against selected DC/domain, the best option is to create PSDrive that will point to this server/ domain:
New-PSDrive -PSProvider ActiveDirectory -Name MyAD -Root '' -Server YourDC
Once you cd into this drive, any command you will run will target selected DC.