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PART - A
PART B
1. Explain the principle of operation and constructional features of Synchronous
reluctance motor.
2. Explain the torque – speed and torque – angle characteristics of Synchronous
reluctance motor.
3. Draw and explain the steady state phasor diagram of Synchronous reluctance motor.
4. List the advantages and disadvantages of a Synchronous reluctance motor.
5. Derive the expression for torque equation of a Synchronous reluctance motor.
6. Explain the various stator current modes in a Synchronous reluctance motor.
7. Explain the various types of Synchronous reluctance motor based on rotor
construction with neat sketch.
8. Explain the Cage and Cageless rotors of Synchronous reluctance motor with neat
sketch.
9. Compare a reluctance motor with an equivalent induction motor and list out the
merits and demerits of reluctance motor over induction motor.
10. A 10 HP, 4 pole, 240V, 60Hz, reluctance motor operating under rated load
condition has a torque angle of 30°. Determine
(a) Load torque on shaft
(b) Torque angle if the voltage drops to 224V
(c) For the above torque angle, will the rotor pullout of synchronism.
Solution:
(a) P = 7.46 kW ;
2πN s 120 * 60
ωs = ; Ns = =1800 rpm
60 4
ωs =188 .496 rad / sec
P
TL = =39 .576 N − m (5M)
ωs
(b) δrel =41 .903 ° (7M)
(c) So, the motor will not pull out of synchronism (4M)
A stepping motor rotates through a fixed angle for every pulse. The rated value of this angle
is called the step angle and expressed in degrees.
7. Define: Holding torque of stepper motor?
Holding torque is defined as the maximum static torque that can be applied to the shaft of an
excited motor without causing continuous rotation.
It is a basic type of stepping motor in which the motor step by step rotation is achieved when
the rotor teeth and stator teeth are in alignment such that the magnetic reluctance is
minimized and this state provides a rest or equilibrium position.
22. Explain: PM type stepper motor?
A stepping motor using permanent magnet in the rotor for step movement is called a
permanent magnet motor.
23. Explain: Hybrid type stepper motor?
A hybrid motor has permanent magnet in its rotor. The term hybrid derives from the fact that
the motor is operated under the combined principles of permanent magnet and variable
reluctance motor.
24. What is micro stepping and how is it achieved?
It is possible to subdivide on natural step into many small steps by means of electronics. This
method is known as mini step or micro step.
25. What is the effect of magnetic saturation in stepper motor?
The efficiency is improved
And the losses are reduced.
26. What are the classifications of drive system of stepping motor?
• Open loop system
• Closed loop system
27. What is the relationship between the step number and the step angle in a stepper
motor?
Step number (S) = 360° / θs
θs = step angle
28. What is the relationship between the step number and the rotational speed in a
stepper motor?
Rotational speed in rpm (n) = 60f / S
Where,
S = Step number
f = stepping rate in Hz.
29. What is Cyclonome?
A stepping motor manufactured by Sigma instruments Inc., are called Cyclonome.
30. What are the various bipolar drives used for stepper motor?
• Basic Bipolar drives
• Bipolar L/R drives
• Bipolar chopper drives
PART B
1. Explain the construction and principle of operation of Variable Reluctance Stepping
motor?
2. Explain in detail the various applications of stepper motor?
3. Discuss the various advantages and disadvantages of stepper motor?
4. Explain the construction and operation of permanent magnet Stepping motor?
5. Explain the construction and operation of hybrid Stepping motor?
6. Discuss the static characteristics of stepper motor with neat sketch?
7. Discuss the dynamic characteristics of stepper motor with neat sketch?
8. Explain in detail the linear and non – linear analysis of stepper motor?
9. Explain in detail the drive system of a stepping motor?
10. Explain in detail the multi stack Variable Reluctance Stepping motor?
11. (a) What is the motor torque Tm required to accelerate an initial load of
π π
Step Angle =θs in deg rees * =1.8°* =0.0314 rad (4 M )
180 180
Tm =0.1442 N − m (4 M )
11(b) What is the maximum acceleration of an initial load of 4x10 kg – m2 driven by a
-4
motor torque of 0.3 Nm. Frictional loads are negligible and the step angle is 3°.
df
Tm = Jθs (2 M )
dt
df
Maximum Accelerati on = =1.434 x10 4 steps / sec 2 (6 M )
dt
7.Determine the step angle of a 3 phase Switched Reluctance motor having 12 stator
poles and 8 rotor poles. What is the commutation frequency in each phase at a speed
of 6000 rpm.
Given:
q = 3; NS = 12; Nr = 8 ; N = 6000 rpm
To find
Step angle (θ )
Frequency
Solution:
2π 2π
Step angle (θ ) = qN rad =
r 3×8
f1 = n N r
rpm
= Nr
60
6000
= ×8
60
f1 = 800 Hz
8. What are the applications of Switched Reluctance motor?
a. Precision position control system for Robotics
b. Low power servo motor
c. High power traction drives
9. Give basic features of Switched Reluctance motor.
The switched reluctance motor is a doubly-salient, singly-excited motor. This means that it
has salient poles on both the rotor and the stator but only one member (usually the stator)
carries windings. The rotor has no windings, magnets, or cage windings, but is built up from
a stack of salient-pole laminations.
• Low inertia and simple manufacturing
• Losses appear only on the stator and easy to cool
• No magnets and so permissible rotor temperature is higher than in PM motors.
• Torque is independent of the polarity of phase current. Reduction in no of
semiconductor devices in controller
• Open circuit voltage and Short circuit current are zero or very small under faulty
condition.
• Immune from shoot through failure.
• High starting torque, extremely high speeds possible.
10. Write the relations between the speed and fundamental switching frequency.
f = n Nr = (r.p.m./60) Nr Hz
Nr = No. of rotor poles,
If there are q phases there are q Nr steps per revolution and the step angle or stroke is given
by ε = 2 π /(q Nr) rad.
Stator poles carrying field coils. The field coils of opposite poles are connected in series
such that mmf’s are additive and they are called “Phase winding” of Switched Reluctance
motor.
19. What is Hysteresis current control?
This type of current controller maintains a more or less constant throughout the conduction
period in each phase. This controller is called hysteresis type controller.
20. Define: Chopping mode of operation of Switched Reluctance motor?
In this mode, also called low – speed mode, each phase winding gets excited for a period
which is sufficiently long.
21. Define: Single pulse mode of operation of Switched Reluctance motor?
In this mode, also called high – speed mode, the current rise is within limits during the small
time interval of each phase excitation.
22. What is the step angle of an 5 phase Switched Reluctance motor and commutation
frequency in each phase for the speed of 6000 rpm. SRM having 10 stator poles and 4
rotor poles.
Solution:
Step angle (θ ) = ( 2π / qNr ) = ( 360° / 5*4) = 18°
1. Why adjustable speed drives are preferred over a fixed speed motor?
The common reasons for preferring an adjustable speed drives over a fixed speed motor are:
1. Energy saving e.g. Fan or pump flow process
2. Velocity and position control e.g. Electric train, portable tools, washing machine
3. Amelioration of transients: Starting and stopping of motors produce sudden transients. It
can be smoothened using adjustable speed drives.
8. Discuss briefly about the types of Permanent Magnets used in electrical machines.
PM strength and other key properties
The various types of PMs include the following:
• Alnico—a family of magnets made from aluminum, nickel, and cobalt characterized by
excellent temperature stability, high residual induction, and enough energy for a number of
industrial and commercial applications.
• Ceramic—a hard, low-cost ferrite made of barium and strontium ferrite with excellent
stability. Ceramic magnets tend to be brittle, hard, and resistant to corrosion.
• Ferrites—a softer (non-sintered) version of the ceramic magnet. Lowest-cost magnets.
• Samarium cobalt (Sm2Co17)—a rare-earth magnet with outstanding magnetic properties
including high BHmax, excellent thermal stability, and excellent corrosion resistance.
Samarium cobalt is formulated as SmCo5 (1:5 material) and Sm2Co17 (2:17 material). This
magnet is well suited for applications demanding high magnetic strength in a high
temperature environment.
• Neodymium iron boron (NdFeB)—an advanced, rare-earth magnet that is the most
powerful commercialized PM available. The sintered form provides the highest magnetic
properties, but the bonded version can be made in more shapes and sizes. The sintered
neodymium magnet ranges in strength from a BHmax of 28-50 mega-gauss-Oersted
(MGOe). Bonded magnets are combinations of magnetic powders and either thermo-
elastomers or thermoplastic resins. These blended materials can be injection molded or
compressed. Compression bonded magnets have greater magnetic output but can be shaped
into only simple geometries. Neodymium magnets offer the best value in performance and
cost; however, designers should be aware that this type of magnet is temperature-sensitive
and susceptible to oxidation if not properly coated. The magnet is high in Br, Hc, and
BHmax. Table 5.1 compares key properties of selected neodymium magnets and the most
powerful samarium cobalt magnets. Neodymium magnets clearly have a potential for greater
magnetic strengths but do not have the high temperature capability of the samarium cobalt
magnets. Depending on the specified grade, neodymium magnets may have a working
temperature of up to 200 C and samarium cobalt magnets a working temperature of up to
375C.
9. What are the methods for containing the magnets in PMBLDC motor?
As the base speed increases, magnet containment becomes a critical problem. For a machine
with surface-mounted magnets operating as a brushless direct current motor (BDCM) with
trapezoidal back-emf, there are four options:
1. Wrap the magnets with a suitable B-stage.
2. Encase the rotor in a non-magnetic can.
3. Use an “inside-outside configuration” in which the stator is inside the structure containing
the magnets and rotor laminations. The centrifugal forces on the magnets are then restrained
by this structure.
4. Use an axial gap configuration. In this arrangement, the stator and rotor are in the shape of
a toroid. The armature current is in the radial direction and the magnets are charged in the
axial direction. The air gap is in the axial direction and the centrifugal force on the magnets is
in the radial direction. Thus a restraining ring can be used that does not impact the air gap
volume.
10. Compare brushless DC motor with P.M. commutator motor.
11. What are the modes of operation of the square wave BLDC motor?
There are two modes of operation: 120 degree mode and 180 degree mode. The mode
corresponds to the conduction period of the switches in the voltage source inverter. Each
switch conducts for the period 120 or 180 degree as per the mode. Commutation from one
conducting device to another takes place at every 60 degree intervals.
12. Why the shape of the emf waveform of a BLDC is trapezoidal?
The ideal shape of the emf waveform is rectangular. The effect of slotting and fringing
causes its corner to be rounded and hence the shape is trapezoidal with flat top portion with
120 degree
13. Give the emf and torque equations of the square wave BLDC motor.
The emf equation is given by E = kφω and the torque equation is given by T = kφI.
where k is the armature constant depending on the number of turns in series per phase in the
armature winding,
ω is rotor speed in rad / sec and
φ is the flux ( mainly contributed by the Permanent Magnet on the rotor).
I is the load current.
14. Give the expression for torque speed characteristics of BLDC motor.
The emf equation is given by E = kφω and the torque equation is given by T = kφI.
E = V - IR
At no load , I = 0, so the no load speed ω0 is given by ω0 =V/ (kφ)
(Since at no load I=0, E= V= kφ ω0 )
The stall torque( motor at zero speed) is given by T0 = kφI0, where I0 is the stall current.
At zero speed E = 0 , V= I0R, R = V/ I0.
E = V- RI
Kφω = V – (V/ I0) I
= V(1-I/ I0)
ω = (V/Kφ)( 1-I/ I0)
= ω0 (1-T/ T0) since T is proportional to I.
This is the equation describing the torque speed characteristics of BLDC motor.
15. Compare 120 degree and 180 degree operation of BLDC motor.
The 180 degree magnetic arc motor uses 120 degree mode of inverter operation. The motor
with 120 degree magnetic arc uses 180 degree mode of inverter operation.
In 180 degree mode of inverter has 1.5 times copper losses but produce same torque with
only 2/3 of magnetic material. Motor operation is less efficient.
16. Give the expression for self and mutual inductances of a BLDC motor.
Self inductance is given by Lg = (ψ/i) = (πμ0 N2lr1 )/(2g”) where
g” = g’ + lm/ μrec
g’ = Kcg
N = Number of conductors in the slot.
I = current
lm = magnet length in radial direction
g’ = air gap, g” = air gap including radial thickness of the magnet
μrec = relative recoil permeability.
Mutual inductance is given by Mg = - (1/3) Lg
17. What are the types of sensors used with PMBLDC motors?
Hall effect sensors are most commonly used for speed, position sensing with PMBLDC
motors. Optical Disc based sensors are also used. Presently rotor position sensors are
avoided by using alternative methods called as Sensorless control methods, which uses
terminal emf measurement, third harmonic voltage measurement, flux estimation and neuro –
fuzzy techniques etc.
18. Why MOSFET or IGBTs are used in inverters for PMBLDC motors?
These devices operate at very high switching frequencies for PWM method of operation. The
duty cycle of the PWM decides the average voltage applied to the motor and hence the speed
is adjusted. These devices are easy to commutate by using microprocessor or microcontroller
based software. (Base drive)
19. Write the dynamic equations of the PMBLDC motor.
The dynamic model equations of PMBLDC motor is given by
dia/dt =( van – R ia – ea (θ) ) / L
dib/dt =( vbn – R ib – eb (θ) ) / L
dic/dt =( vcn– R ic – ec(θ) ) / L
dω/dt = [ Te – Tl – B ω ] / J
dθ/dt = P ω / 2
where the Torque developed is given by
Te = (ea(θ)ia+ea(θ)ib + ea (θ) ic) / ω
TL = Load torque applied, B is the coefficient of friction and J is the moment of inertia.
20. What are the relative merits and demerits of brush less DC motor drives?
Merits:
• Commutator less motor
• Specified electrical loading is better
• Heat can be easily dissipated
• No sparking takes place due to brush
• Source of EMI is avoided
Demerits:
Above 10 kW, the cost of magnet is increase
Due to centrifugal force the magnet may come out.
21. How the direction of rotation is reversed in case of PMBLDC motor
The direction of rotation can be reversed by reversing the logic sequences in PMBLDC
motor
22. What are the difference between conventional DC motor and PMBLDC motor?
DC PMBLDC
Brushes are present Brushes are not present
Sparking may occur due to brush Sparking will not occur as brush is not
present
Brush tend to produce RF1 RF1 problem does not occur
There is a need for brush maintenance No need of brush maintenance
23. Write the torque and emf equation of square wave brushless motor
e = 2 N pn B g lr1ω
Te = 4 N ph B g lr1 I
24. What are the various kinds of permanent magnets?
There are basically three different types of permanent magnets which are used in small DC
motors
• Alnico magnets
• Ferrite or ceramic magnet, and
• Rare - earth magnet (samarium – cobalt magnet )
25. Bring out the differences between conventional and brushless DC motors?
Description Conventional motors Brushless DC motors
Mechanical structure Field magnets on the stator Field magnets on the rotor.
Similar to AC synchronous
motor.
Distinctive features Quick response and Long – lasting
26. Write the difference between square wave PMBL and sine wave PMBL motor.
S.No. Square wave PMBL Sine wave PMBL motor
1. It has rectangular distribution of It has sinusoidal or quasi – sinusoidal
magnetic flux in the air gap. distribution of magnetic flux in the air gap.
2. It has rectangular current waveforms. It has sinusoidal or quasi – sinusoidal
current waveforms.
3. It has concentrated stator winding It has quasi – sinusoidal distribution of
stator winding (conductors) which is short
pitch and distributed or sometimes
distributed in some cases.
27. Write the expression of torque equation of a sine wave PMBL motor.
For an ideal case
3
T = I Bm π r1 l N s sin β Nm
2 2
and for the practical case
3p
T = E I sin β Nm
ω ph
Where Bm = Maximum flux density in the air gap Wb / m2
l = axial length of the magnetic path, m
Ns = stator poles
β = torque angle
p = Number of pole pairs
28. Write the expression for induced emf / phase of the sine wave PMBL motor.
For an ideal case
1
E ph = Bm π r1 l ωN s
2p 2
and for the practical case
E ph = 2 φm1 K w1 N ph π f
Where Bm = Maximum flux density in the air gap Wb / m2
l = axial length of the magnetic path, m
Ns = stator poles
β = torque angle
p = Number of pole pairs
PART B
1. Derive the torque and EMF equations of the permanent magnet brushless DC motor.
2. What are the differences between mechanical and electronic commutator?
3. What are the advantages and disadvantages of Brushless DC motor drives?
4. Draw the diagram of mechanical commutator. Explain the operation of the same.
5. Sketch the structure of controller for permanent magnet brushless DC motor and explain
the functions of various blocks.
6. Explain in detail the various rotor position sensors used in permanent magnet brushless
DC motor.
7. Sketch torque – speed characteristics of a permanent magnet brushless DC motor.
8. Draw the diagram of electronic commutator. Explain the operation of the same.
9. Explain in detail the magnetic circuit analysis of brushless DC motor on open circuit.
10. Discuss in detail the various driving circuits used in permanent magnet brushless DC
motor.
UNIT – V PERMANENT MAGNET SYNCHRONOUS MOTORS
PART - A
1. Compare PMSM and PMBLDC motors.
PM Brushless DC motor PMSM
1. Rectangular distribution of magnetic 1. Sinusoidal or quasi–sinusoidal
flux in the air gap. distribution of magnetic flux in the air gap.
2. Rectangular current waveforms. 2. Sinusoidal or quasi-sinusoidal current
waveforms.
3. concentrated stator windings. 3. Quasi-sinusoidal distribution of stator
conductors. (short pitched and distributed
or concentric stator windings)
2. Give the expression for torque and emf of a PMSM motor.
T = (3/2) I √2 [ π r1 l B Ns sin(β)]/2, where β is the torque angle +ve for motoring
Eph = [2 π (kw1Nph) ΦM1 f ] / √2
3. Compare the performance of PMSM with BLDC motor.
With equal r.m.s. phase currents the torque of the square wave motor exceeds that of sine
wave motor by a factor 1.47.
With equal peak currents the factor is 1.27.
For the same flux-density flux per pole of a square wave motor exceeds that of a sine wave
motor by a factor π/2.
Square wave motor has a slightly better utilization of the peak current capability of the
converter switches.
In PMSM three devices conduct at a time (180 degree mode of inverter), where as in BLDC
only two devices conduct at a time in 120 degree mode.
4. What is meant by field oriented control of PMSM?
In general for field oriented control the stator currents are transformed into a frame of
reference moving with the rotor flux. In the PMSM the rotor flux is stationary relative to the
rotor. The rotor flux is therefore defined by the mechanical angle of rotation α, this is
obtained from a rotor position sensor. Thus, the control is much easier to implement than in
the case of induction motor.
5. What are the inherent advantages of variable reluctance motor?
a. Simple in construction due to absence of rotor windings and or magnets and
the use of small number of concentrated stator coils similar to the field coils of
a DC motor.
b. Efficient motor cooling
c. Suitable for sustained high speed operations
d. Low motor inertia and high torque / weight rotor
6. Write the expression for the self and synchronous reactance of PMSM
The sum of the magnetizing and leakage reactance define synchronous reactance.
XS = XM +Xl
Xs = Synchronous reactance
XM = Magnetizing reactance
Xl = Leakage reactance
• Rolling mills
• Cement mills
• Ship propeller
• Electric Vehicles
• Servo and robotic drives
• Starters / generator for air craft engine
25. Write down the expressions for the self and synchronous reactance of PMSM?
Xs = ( 3 π μ0 Ns2 l r1 ω) / 8 p2 g2 Ω
PART B
1. Derive the EMF equation of BLPM Sine wave motor.
2.Explain the microprocessor based control of permanent magnet synchronous motors with
a neat block diagram.
3.Derive the torque equation of BLPM Sine wave motor.
4.Explain in detail the vector control of permanent magnet synchronous motor.
5.With neat sketch, discuss the torque – speed characteristics of PMSM.
6.What are the advantages and disadvantages of permanent magnet synchronous motor?
7. Explain in detail the construction and principle of operation of permanent magnet
synchronous motor.
8.Compare electromagnetic excitation with permanent magnet of PMSM.
9.What are the differences in the constructional features of PMBLDC and PMSM?
10.Explain the principle of operation of a sine wave PM synchronous machine in detail.