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Course in Electrical Machines and Systems: Year 2
Course in Electrical Machines and Systems: Year 2
2004 J D Edwards
These notes were prepared for a Year 2 course module in the Department of Engineering and
Design at the University of Sussex. The module runs for ten weeks, and absorbs 25% of student
time.
This introductory course in electrical machines follows on from the Year 1 course
Electromechanics, with a similar philosophy. It avoids the traditional mathematical derivation of
the theory of AC and DC machines, and makes extensive use of field plots generated with MagNet
to explain the principles. With this physical background, the theory is developed in terms of circuit
models and phasor diagrams.
Field plots are particularly useful for explaining armature reaction and compensating windings in
DC machines, and for demonstrating the action of variable-reluctance and hybrid stepper motors.
They also show the essential unity of the conventional rotating machines; there are similar plots for
the stator and rotor field components and the resultant field in DC, synchronous and induction
machines.
CONTENTS
1
INTRODUCTION
TRANSFORMERS
2.1
Introduction
2.2
2.3
2.4
2.5
Parameter determination
2.6
Transformer performance
2.7
Current transformers
11
8.1
AC/DC Converters
66
2.8
Transformer design
12
8.2
DC motor control
68
8.3
DC/AC Inverters
68
8.4
AC motor control
70
DC MACHINES
15
3.1
Introduction
15
3.2
DC machines in practice
16
3.3
18
3.4
Series motors
21
INTRODUCTION TO AC MACHINES
24
4.1
24
4.2
25
4.3
Multi-pole fields
28
SYNCHRONOUS MACHINES
30
5.1
Introduction
30
5.2
Characteristics
31
5.3
Salient-pole machines
35
5.4
37
INDUCTION MACHINES
39
6.1
Introduction
39
6.2
Characteristics
40
6.3
46
6.4
Parameter determination
48
6.5
50
6.6
Dynamic conditions
52
6.7
54
STEPPER MOTORS
56
7.1
Introduction
56
7.2
Variable-reluctance principle
56
7.3
58
7.4
59
7.5
61
7.6
64
66
REFERENCES
76
10 APPENDICES
77
10.1
77
10.2
List of formulae
80
1 INTRODUCTION
This course follows on from the Term 3 course
Electromechanics. Its purpose is to explore in
greater depth the AC and DC machines that were
introduced in the earlier course. The approach is
that of the application engineer rather than the
machine designer, concentrating on the basic
principles, characteristics, and control. Since
induction motors account for more than 90 per cent
of the motors used in industry, the course gives
particular emphasis to these machines.
Course components
Introduction 1
Sinusoidal operation
TRANSFORMERS
m sin t
Introduction
i1
+
v1
+
e1
i2
R1
+
R2
e2
+
Z v2
v1 N 1
V1m N 1 m 2 fN 1 m 2 fN 1 ABm
Voltage relationships
d
R2 i 2
dt
(2-2)
v 2 e 2 R2 i 2 N 2
8 10 12 14 16 18 20
Current relationships
d
dt
(2-3)
v2 N 2
d
dt
(2-4)
v2 N 2
(2-9)
N 1i1 N 2 i2 0
(2-10)
(2-5)
i2 N 1
(2-8)
2
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
d
R1i1
dt
(2-7)
N2 turns
v1 e1 R1i1 N 1
d
N 1 m cos t V1m cos t
dt
secondary
primary
N1 turns
(2-6)
Flux density B, T
2.1
(2-11)
V1 N 1
V2 N 2
(2-12)
I1 N 2
I 2 N1
(2-13)
Transformer rating
2.2
(2-14)
I L I1 I 2
(2-15)
(2-16)
I L I1 I 2 2I1 2I S
(2-17)
I1
+
VS
ZL V1
IL
I2 V2
+
+
Transformers 3
a m cos t
b m cos( t 120)
c m cos( t 240) m cos( t 120)
(2-18)
(a)
3-phase transformers
(b)
(c)
a b c
m
cos t cos( t 120) cos( t 120)
cos t 2 cos t cos120
cos t cos t 0
(2-19)
2.3
I1
i1
+
V1
ZL
v1
+
V2
N1:N2
i2
I2
v2
V2
I2
(2-22)
Time domain
Frequency domain
v2 N 2
n
v1 N 1
V2 N 2
n
V1 N 1
(2-20)
i1 N 2
n
i2 N 1
I1 N 2
n
I 2 N1
(2-21)
N 1 V2
V
N2
Z in 1
N
I1
2I2
N1
N
1
N2
(2-23)
V2 N 1
I2 N 2
2
Z
Z L 2L
n
Referred impedances
Impedance transformation
Z in
Z2 ZL
n2
(2-24)
Z in Z2
Z2
Z2
n2
ZL
n2
(2-25)
(2-26)
Transformers 5
2.4
Z2
Zin
ZL
N1:N2
(a)
Z'2
R1
jx1
I2 = nI2
jx2
R2
I2
I0
Zin
ZL
N1:N2
I0m
I0c
V1
jXm
Rc
V2
(b)
N1:N2
Z1 n 2 Z1
(2-27)
Z1
Zin
ZL
N1:N2
(a)
Z''1
Zin
ZL
N1:N2
(b)
(a)
R1
jXm
jx1
jx2
R2
Rc
(b)
N1:N2
(a)
R1
jXm
jx1
R2
jx2
Rc
N1:N2
(b)
Re
jxe
Re R1
R2
x
, x e x1 22
2
n
n
(2-28)
jXm
Rc
N1:N2
(c)
Figure 2-14: Approximate equivalent circuit.
2.5
Parameter determination
Transformers 7
Open-circuit test
Short-circuit test
I1oc
+
V1oc
jXm
Rc
Re
jxe
jXm
Rc
(a)
I1sc
jxe
Re
V2
Rc 1oc
P1oc
(2-29)
V1sc
Z1oc
V1oc
1
1
1
I1oc
Rc jX m
V1oc
I 1oc
1
1
Rc2
(b)
(2-30)
(2-31)
X m2
Re
1
I1oc
V1oc
1
2
Rc
(2-32)
V
N
n 2 2oc
N 1 V1oc
(2-34)
Z1sc
P1sc
I12sc
V1sc
Re jx e
I1sc
(2-35)
(2-33)
Z1sc
V1sc
Re2 x e2
I 1sc
(2-36)
Re2
(2-37)
2.6
Transformer performance
ZL =
RL + jXL
Rc
jxe
I2 = nI2
I0
+
V1
jXm
Rc
ZL =
ZL / n2
V2 nl V2 fl
V2 nl
(2-38)
Pout
Pin
(2-39)
(2-40)
N1:N2
I1
jxe
Re
jXm
+
V2 = V2 / n
1 loss
Pin
Pin
Pin
Pout
Ploss
1
Pout Ploss
Pout Ploss
(2-41)
(b)
(c)
(d)
(e)
Z L
Z L 6 .0 j 2 .5
26.9 j11.2
n2
( 0.472) 2
I2
V1
Z e ZL
230 j 0
( 0.682 j 0.173) ( 26.9 j11.2)
230 j 0
7.12 j 2.94 A
27.6 j11.4
Power relationships
(2-42)
I2
I 2
7.70
16.3 A
n 0.472
S VI P Q
2
(2-45)
P VI cos V Re( I )
(2-46)
Q VI sin V Im(I )
(2-47)
I0
V1
V
230 j 0 230 j 0
1
Rc jX m
1080
j 657
0.213 j 0.350 A
The primary current is:
I1 I 0 I2
V2 nl V2 fl
V2 nl
108.6 106.0
2.33%
108.6
I1
R1
jx1
(e) Efficiency
jx2
I2 = nI2
R2
I0
I2
jXm
ZL
N1:N2
V12
I 22 Re
Rc
Ploss
(230.0) 2
(7.699) 2 0.682
1080
89.4 W
I1
jx2
R2
I2
I0 = I0 / n
jXm = jn2Xm
ZL
Pout 1597
94.70%
Pin 1686
I2
2.7
Current transformers
jX m I1
Z 2 Z L jX m
(2-48)
Transformers 11
2.8
I2
jX m I1
j10.0 5.0
RL jX m 0.2 j10.0
I2
10.0 5.0
10.0 5.0
4.999 A
0.2 j10.0
10.002
Transformer design
5.0 4.999
0.02%
5 .0
jX m I1
j10.0 5.0
I2
jX L jX m
j 0.2 j10.0
The magnitude is given by:
I2
10.0 5.0
4.902 A
0.2 10.0
5.0 4.902
1.96%
5 .0
k c Pl
As
(2-49)
b
2a
mean turn
6a
a
Figure 2-24: Punching E and I shapes.
3a
a
5a
2a
Thermal model
(2-50)
(2-51)
Transformers 13
l Nl m N {( 4)a 2b}
A Ac / N
1.5k s a 2
(2-52)
I
Temperature rise
(2-53)
3k s a 4 (5 2 )T
k c N 2 {( 4)a 2b}
3k s a 4 (5 2 ) T
k c N 2 {( 4) a 2b}
3 0.4 (10 10 3 ) 4 (5 2 )(90 30)
0.04 21.9 10 9 (1230 ) 2
{( 4) 10 10 3 2 30 10 3 }
0.216 A
(2-54)
A relationship between the apparent power rating
As
As
3k s a 4 (5 2 )
of the transformer and the dimensions can be
Thus, the current is given by:
obtained by substituting for N from equation 2-56
in equation 2-55:
3k s a 4 (5 2 ) T
2
(2-55)
I
2 Bm ba 3 3k s (5 2 ) T
k c N 2 {( 4)a 2b}
VI
(2-57)
k c {( 4)a 2b}
From equation 2-10, the number of turns is:
Rating and size
Vm
2V
2fABm 4fabBm
(2-56)
Solution
From figure 2-26, a = 10 mm and b = 30 mm. From
equation 2-56, we have:
N
2V
4fabBm
2 230
4 50 10 10 3 30 10 3 1.4
(2-58)
1230
3 DC MACHINES
Introduction
3.1
350
300
250
200
150
100
50
0
0
1.2
Basic equations
[V]
(3-1)
[Nm]
(3-2)
[rad/s]
(3-3)
ea K i f r
(3-4)
Td K i f ia
(3-5)
Armature equation
r
if
ea
ia
+
va
(3-6)
DC Machines 15
3.2
DC machines in practice
Slotted armature
Pout
Pin
(3-7)
N
S
N
S
1 loss
Pin
Pin
Pin
Pout
Ploss
1
Pout Ploss
Pout Ploss
Figure 3-7: Total flux plot.
(3-8)
(3-9)
Pout r T r (Td Tl )
(3-10)
P r Td 2 r Bav AV
Power output and size
ds
dP ( di ) dR
dS
l ds
(3-15)
( A ds ) 2
l ds
l
d ds
A2
(3-16)
d
3.3
(3-12)
Speed control
l
d ds
df Bl di BlA ds
(3-14)
(3-13)
r 0
(3-19)
[3-2]
Ra Td
K f r
K f
(3-20)
va
R T
a d2
K f ( K f )
(3-21)
va
K f
(3-22)
r
r
slope Ra
Td
Figure 3-10: Speed-torque characteristic.
N
S
N
S
A better method, which is frequently used in highpower DC drives, is to use a compensating winding
[4]. This takes the form of conductors embedded in
slots in the field pole faces, connected in series
with the armature. These conductors carry current
in the opposite direction to the armature
conductors, thereby cancelling the armature
reaction flux.
Compensating winding
Starting of DC motors
va
Ra
(3-23)
Transient conditions
(3-24)
d r K f ( v a K f r )
TL
dt
Ra
(3-25)
( K f )
d r
V
r
dt
K f
V
1 e t / r 0 1 e t /
K f
(3-27)
Ra J
(3-28)
( K f ) 2
(3-29)
Ra ia V (1 e t / )
ia
V t /
e
ia 0 e t /
Ra
(3-30)
Speed r / r0
0.8
0.6
0.4
Current ia / ia0
0.2
0
0
Time t /
(3-26)
DC Machines 21
3.4
Series motor
Shunt motor
ea
f k f if
[3-19]
(3-33)
v ea K ir
(3-34)
K i
v
T
K d
K
v
K Td
(3-35)
(3-31)
200
Td K i 2
(3-32)
Speed, rad/s
150
100
50
0
0
10
15
20
25
Developed torque, Nm
Figure 3-17: Speed/torque characteristic.
(3-36)
Applications
(3-37)
DC Machines 23
4 INTRODUCTION TO AC MACHINES
Va
4.1
ic I m cos( t 240)
V31 Va
Vc
V23
(4-2)
Vm cos( t 120)
v c vb Vm cos( t 120)
Ia
Ib
Ic
v a va Vm cos( t )
v b vc Vm cos( t 120)
V12
Vb
(4-1)
v a Vm cos( t )
v c Vm cos( t 240)
2
3
I m cos( t 120)
vb Vm cos( t 120)
+ Vc
ia I m cos( t )
ib I m cos( t 120)
V12
Vb
(4-3)
I3
I1
Ia
Ib
Ic
I2
4.2
Star
Delta
Vline 3V phase
Vline V phase
I line I phase
I line 3I phase
(a)
(b)
a
c'
b'
c
a'
(c)
Figure 4-7: AC machine flux plots:
Introduction to AC machines 25
ib 1 2 I m ,
ic 1 2 I m
(b)
b
(c)
Figure 4-9: Flux plots for values of t:
(a) 30, (b) 60, (c) 90.
c
Figure 4-8: Component fields when t = 0.
(a)
Sinusoidal fields
(4-4)
(4-5)
2lrBm sin t
(4-6)
d
2 lrBm cos t
dt
(4-7)
Introduction to AC machines 27
Current waveform
Frequency f
2-pole field
[Hz]
4.3
Multi-pole fields
a
b'
ns
Ns
a'
a'
b
c
b'
2f
p
p
60 f
p
(4-9)
[rev/s]
(4-10)
[rev/min]
c'
f
p
(4-8)
[rad/s]
Poles
2
4
6
8
10
1
2
3
4
5
s
rad/s
314
157
105
78.5
62.8
ns
rev/s
50
25
16.7
12.5
10
Ns
rev/min
3000
1500
1000
750
600
a
b'
c
a'
a'
b
c
b'
c'
(a)
b'
a
c'
b
a'
a'
c
b
c'
b'
(b)
Introduction to AC machines 29
5 SYNCHRONOUS MACHINES
5.1
Introduction
the two axes. The flux plots in figure 5-2 show (a)
the field produced by stator currents at a particular
instant of time, (b) the field produced by the rotor
magnets, (c) the resultant field when both sources
are active.
(b)
(a)
5.2
Characteristics
Circuit model
(b)
+
E
Synchronous Machines 31
I
+
E
I
jXsI
(5-1)
jXs
jXsI
+
E
V
Figure 5-7: Phasor diagram: motor.
Figure 5-5: Approximate equivalent circuit.
Torque characteristic
Phasor diagram
MN E sin X s I cos
(5-2)
VE sin
VI cos
Xs
(5-3)
3VE sin
3VI cos Td s
Xs
(5-4)
Td
3VEsin
s X s
[Nm]
(5-5)
Td max
3VE
s X s
(5-6)
Td
Td max
Excitation control
P VI cos
sin
(5-7)
0.5
motor
generator
-0.5
C
-1
-180
(5-8)
-90
90
jXsI
180
B
Figure 5-9: Locus diagram for constant load.
Synchronous Machines 33
A
I
A
I
N
jXsI
E
jXsI
E0
C
B
Figure 5-12: Leading power factor condition.
B
Figure 5-10: Unity power factor condition.
jXsI
jXsI
I
B
Figure 5-11: Stability limit.
5.3
Salient-pole machines
Is
V
q-axis
It
Il
Figure 5-14: Power factor correction.
(5-9)
(5-11)
Qt Ql Q s
(5-12)
Synchronous Machines 35
(5-15)
Voltage harmonics
(5-13)
If the windings are connected in star (figure 4-1),
the third harmonics will cancel. For example, the
voltage between lines 1 and 2 is:
v12 va vb
(5-14)
(5-16)
V
jXqIq
Iq
Id
Reluctance motors
E
Ra I
jXdId
1
1
sin 2
2 X q X d
3V
Xd
1 sin 2
2X d X q
3V
3
s
VEsin V 2 1
sin 2
2 X q X d
X d
(5-17)
(a)
(b)
(c)
1
0.75
(a)
(5-18)
5.4
0.5
0.25
0
(b)
-0.25
0
30
60
90
(a)
Synchronous Machines 37
(b)
(c)
(d)
Figure 5-21: Flux plots for travelling field:
(a) 0, (b) 30, (c) 60, (d) 90.
(a)
(b)
(c)
Figure 5-23: Linear motor flux plots:
(a) primary, (b) secondary, (c) resultant field.
6 INDUCTION MACHINES
6.1
Introduction
(a)
(b)
(c)
Figure 6-3: Induction motor flux plots:
(a) stator field, (b) rotor field, (c) resultant field.
Induction Machines 39
N N r s r
slip speed
(6-2)
s
synchronous speed
Ns
s
slip s r s s
(6-3)
r s s s (1 s ) s
(6-4)
f r sf s
(6-5)
(Brook Crompton)
6.2
Characteristics
slip s r
(6-1)
(6-6)
(6-7)
(6-8)
Performance calculation
Is
jxs
jxr
Td
Ir
Is
(6-9)
Rs
jxs
jxr
Ir
I0
+
jXm
[Nm]
I0
Vs
3 2 Rr
Ir
s
s
Rc
Rr
s
rc
Vs
Rr
s
jxm
Figure 6-5: Induction motor equivalent circuit.
rc
X m2
Rc
Rc2 X m2
(6-10)
xm
Rc2
Xm
Rc2 X m2
(6-11)
Induction Machines 41
Rc
rc2 x m2
rc
(6-12)
Xm
rc2 x m2
xm
(6-13)
(6-14)
rc
X m2
Rc
(6-15)
Rc
x m2
rc
(6-16)
Z s Rs jx s
(6-17)
Zr
Rr
jx r
s
(6-18)
Z m rc jxm
(6-19)
Zp
ZmZr
Zm Z r
Ir
(6-22)
Vs
Vline 400
231 V
3
3
Z s Rs jx s 2.27 j 2.83
Zr
Rr
2.28
jx r
j 2.83 45.6 j 2.83
s
0.05
Z m rc xm 3.95 j 74.8
Zp
Zm Zr
(3.95 j 74.8)( 45.6 j 2.83)
31.1 j 20.3
I0
Vs
Zs Z p
Zr
Is
Z pIs
(6-21)
Vs
231
Zs Zm
( 2.27 j 2.83) (3.95 74.8)
231
231
2.97 A
6.22 j 77.6 77.9
Is
Vs
Vs
Ir
Z pIs
Zr
211 j5.89
45.6 j 2.83
I r Ir
211 j 5.89
45.6 j 2.83
211
4.62 A
45.7
Ns
60 f 60 50
1500 rev/min
p
2
N r (1 s ) N s (1 0.05) 1500
1425 rev/min
Td
3I r2 Rr
ss
3 ( 4.62 ) 2.28
18.6 Nm
2 50
0.05
2
2
Developed torque, Nm
35
30
25
20
15
10
full load
5
0
0
300
600
Typical characteristics
70
60
50
40
30
20
10
0
60
Developed torque, Nm
30
0
brake
region
motor
region
generator
region
-30
-60
-90
-120
-1500
1500
3000
70
Torque, Nm
60
50
motor
40
30
load
20
10
0
0
300
600
s r s r
s
s
(6-23)
Pmech (1 s ) s Td
[6-7]
Pin ( s 1) s Td
(6-24)
[6-6]
Ploss s s Td
[6-8]
r
motor
curve
30
0
brake
curve
-30
C
-60
-1500
-750
750
1500
Pem s Td s Td
(6-25)
Pmech (1 s ) s Td (1 s ) s Td
(6-26)
Ploss s s Td s s Td
(6-27)
Pem
1
Pmech 1 s
(6-28)
Developed torque, Nm
60
60
30
0
-30
-60
-90
0
750
1500
2250
3000
Developed torque, Nm
(b)
(a)
300
600
6.3
70
Developed torque, Nm
60
50
(a)
40
(b)
30
20
10
0
0
300
600
Pout
Pin
(6-29)
Pin Ploss
Pout
Pin
Pout Ploss
(6-30)
Table 6-1 shows typical efficiency values for 4pole induction motors ranging from 0.25 kW to
250 kW from one manufacturer, and the
corresponding power loss as a percentage of the
input power.
Table 6-1: Induction motor efficiency
Output power
0.25 kW
2.2 kW
22 kW
250 kW
Efficiency
66%
77%
91%
95%
Power loss
34%
23%
9%
5%
Power loss:
0.05 263 = 13.2 kW
Running cost: 263 24 365 0.07 = 161 000
Cost of loss:
13.2 24 365 0.07 = 8050
If the efficiency could be improved by a mere
0.1%, the cost saving per year would be 162.
Users comparing different motors need to know the
efficiency with high accuracy.
Loss components
(6-31)
(6-32)
Pcore 3 I m rc
(6-33)
PRr 3 | I r |2 Rr 3s | I r |2
Rr
sPem
s
(6-34)
Pstray
(6-35)
Induction Machines 47
(6-36)
(6-37)
(6-38)
6.4
Parameter determination
P'in
Is
Rs
jxs
+
rc
Vs
Pfw
jxm
|Vs|
Figure 6-16: No-load equivalent circuit.
Figure 6-15: No-load test graph.
Pin Pfw | I s |2 ( Rs rc ) 2
(6-39)
Vs
Is
| Z | ( Rs rc ) 2 ( x s x m ) 2 (6-40)
Rs
jxs
jxr
+
Vs
Rr
Pin | I s |2 ( Rs Rr ) 2
(6-41)
Vs
Is
| Z | ( Rs Rr ) 2 ( x s x r ) 2 (6-42)
Induction Machines 49
DC resistance test:
Rs
(2)
RDC 4.54
2.27
2
2
Vs
Pin
Plr 422
141 W
3
3
Rlr
Pin
I lr2
25.7 V
44.5
141
(5.70) 2
4.33
V
25.7
2
xlr s Rlr2
( 4.33)
I
5
.
70
lr
1.25
2
xlr f 0 1.25 50
2.51
2 f lr
2 12.5
Vline
3
Pin
Rnl
400
3
Pnl Pfw
3
Pin
I nl2
(4)
(5)
No-load test:
Vs
(3)
231 V
214 50
54.7 W
3
54.7
( 2.97 )
6.5
X nl
Pfl Ploss
Pfl
3290 540
83.59%
3290
Is
6.20
sc
Vs
nl
77.5
2
xr
Locked-rotor test:
Vline
(b) Efficiency.
(1) PRs 3I s2 Rs 3(5.70) 2 2.27 221 W
+
sb
sa
The rotor current has two components: a positivesequence component Irp, associated with the
forward rotating field, and a negative-sequence
component Irn, associated with the backward
rotating field. Relative to the forward component,
the fractional slip s is given by equation 6-2:
s
Ns Nr
Ns
[6-2]
Ns Nr
N
1 r 1 (1 s ) 2 s
Ns
Ns
(6-43)
Rs
jxs
Td
jxr
30
20
Rr
s
jxm
Vs
Torque, Nm
rc
Positive
sequence
10
0
Total
torque
-10
Negative
sequence
-20
jxm
Rr
2s
rc
Rs
jxs
(6-44)
Irp
+
1 2 Rr
1 2 Rr
I rp
I rn
s
s s
2s
-30
-1500
-750
750
1500
Speed, rev/min
Irn
jxr
Induction Machines 51
Losses
Vs
(6-45)
2
Rr ( I rp
2
I rn
)
(6-46)
Full-load slip
Stator current magnitude
Rotor current magnitude
3-phase
0.05
5.56 A
4.63 A
211 W
147 W
358 W
1-phase
0.082
11.6 A
10.5 A +ve,
11.2 A ve
611 W
538 W
1150 W
Dynamic conditions
Dynamic model
6.6
-25
-50
0
100
200
300
Time, ms
(a)
120
Starting transient
90
Torque, Nm
60
30
0
-30
0
100
200
300
Time, ms
(b)
Figure 6-24: Induction motor starting:
(a) phase current, (b) torque.
Induction Machines 53
DC braking
(a)
Torque, Nm
20
0
-20
-40
-60
0
200
400
Time, ms
(b)
Figure 6-26: Induction motor DC braking:
(a) rotor speed, (b) torque.
+
V
Speed, rev/min
1500
6.7
1000
500
0
-500
0
200
400
Time, ms
2
m.
Figure 6-27: Linear induction motor primary.
(a)
(b)
(c)
(a)
(d)
Figure 6-30: Linear induction motor flux and
current plots: (a) 0, (b) 30, (c) 60, (d) 90.
(b)
Figure 6-28: Linear induction motor models:
(a) short primary, (b) short secondary.
7 STEPPER MOTORS
7.1
Introduction
7.2
Variable-reluctance principle
2i
L
R
12 2
x
x
(7-1)
L
R
12 2
(7-2)
2i
Torque, Nm
5
2.5
0
1 2 ( Bdr ) 2
T 1 2 2
1
2 ( Bdr )
2l g
0 dr 2
2l g
0 dr
l g drB 2
(7-5)
-2.5
-5
-50
-25
25
50
Angle, degrees
4 10 7 1000 5.0
BA Bdr
(7-3)
0 A
lg
0 dr
0 Ni
2l g
2 5.0 10 3
0.628 T
l g drB 2
0
6.68 Nm
Comment
The maximum torque from the graph in figure 7-3
is only 4.72 Nm. Equation 7-11 over-estimates the
torque because it is based on the assumption that
the flux is confined to the overlap region. The flux
plot in figure 7-2 shows this to be a very rough
approximation. If the airgap is made much smaller
in comparison with the other dimensions, equation
7-5 gives a more accurate result.
(7-4)
Stepper Motors 57
7.3
Figure 7-4 shows a 3D model of a simple variablereluctance stepper motor with a 4-pole rotor and a
6-pole stator.
(a)
(b)
a
c'
b'
c
a'
(c)
Figure 7-6: Stepper motor flux plots:
(a) phase a energised, (b) phase b energised,
(c) new rotor position.
Torque production
7.4
l g drB 2
[7-5]
phase A
+I
phase B
+I
+I
Stepper Motors 59
(a)
(b)
Figure 7-8: Hybrid stepper motor model:
(a) complete, (b) frame and two coils removed.
A2
A1
B2
(a)
B1
A2
Tm
A1
B2
(b)
Figure 7-9: Phase A energised:
(a) N polarity end, (b) S polarity end.
pl g drB12
pl g drB22
pl g dr
( B12 B22 )
0
0
0
pl g dr
{( Bm Be ) 2 ( Bm Be ) 2 }
0
4 pl g drBm Be
0
(7-6)
B1
A2
A1
B2
(a)
B1
A2
A1
Be Bm
B2
(b)
Figure 7-10: Phase B energised:
(a) N polarity end, (b) S polarity end.
(a)
Bs
(7-7)
phase A
+I
+I
phase B
+I
+I
I
I
+I
I
7.5
(b)
Figure 7-11: Phase b energised:
(a) N polarity end, (b) S polarity end.
(7-8)
,
Sr
fn
k 1, 2, 3,
fn
,
k
k 1, 2, 3,
Start/stop rate
(7-9)
Pullout torque
(7-10)
High-speed operation
1200
1000
800
600
400
200
0
0
1.2 1.4
Time, s
1400
1200
1000
800
600
400
200
0
0
1.2 1.4
Time, s
Stepper Motors 63
+Vd
Q1
100
Current, %
7.6
-100
0
90
180
270
360
Q3
D1
T1
D3
motor
phase
Q2
T2
Q4
D2
D4
Rc
Vd
100
0
-100
0
90
180
270
360
Phase current, %
(a)
100
0
-100
0
90
180
270
360
Phase current, %
(b)
100
0
Chopper control
-100
0
90
180
270
360
Phase current, %
Phase current, %
110
-110
0
90
180
270
360
Stepper Motors 65
AC/DC Converters
U3
R
+
vL
vs
L
U2
D1
D3
R
+
vs
vL
L
D2
D4
100
50
0
-50
-100
0
(8-2)
100
50
0
0
180
360
540
720
2 2V
0.900V
(8-1)
Voltage, %
Voltage, %
U4
100
50
0
-50
-100
0
180
360
540
720
Inverter action
Vd 0
3 2V
1.35V
(8-3)
100
50
0
-50
-100
0
180
360
540
Voltage, %
Voltage, %
720
100
50
0
U3
540
720
U3
U5
vL
L
U2
vs
360
eL
180
U4
U6
Voltage, %
U2
D3
+
vL
L
D2
D4
50
0
0
180
360
540
720
D5
100
D6
(8-4)
8.2
DC motor control
D1
Q3
D3
Q5
D5
a
b
8.3
DC/AC Inverters
c
Q2
D2
Q4
D4
Q6
D6
Vd
Six-step inverter
Va, %
Vab, %
180
360
540
720
100
0
180
360
540
720
Vca, %
100
0
-100
180
360
540
720
-50
180
360
540
720
Pulse-width modulation
50
Vb, %
-100
50
0
-50
180
360
540
720
50
Vc, %
-100
100
Vbc, %
-50
0
180
360
540
720
100
Vab, %
Dynamic braking
0
-100
0
90
180
270
360
DC link inverter
converter
DC link
inverter
8.4
AC motor control
f
V0 kV0
f0
(8-6)
f
E 0 kE 0
f0
(8-7)
V1
R12 (L1 ) 2
s k s 0
(8-5)
(8-8)
[2-10]
X q kX q 0
(8-9)
3
s
s0
VEsin V 2 1
sin 2
2 X q X d
X d
V E sin V 2 1
1
0 0
0
sin
2
2 X q 0 X d 0
X d 0
(8-10)
a2
b1
b2
c1
c2
Voltage, %
Is
+
I0
Vs
jXm
Ir
Rr
s
-100
180
360
540
720
Rs
jxs
jxr
rc
(8-11)
s s s0 s 0
(8-12)
Ir
Rr
s
Vs
3 2 Rr
3 2
Ir
I r Rr
s
s
s s
I0
+
jxr
Is
jxs
Rs
s0 s 0 s0 s 0 s0
s
k s 0
k
(8-13)
jxm
(8-14)
X m2
Rc
[6-15]
Since Rc is approximately constant under variablefrequency conditions [3, 4], and Xm is proportional
to frequency, the value of rc will be insignificant at
low frequencies. Therefore, this element may be
ignored, giving the circuit shown in figure 8-20.
x s kx s 0 ,
x r kx r 0 ,
X m kX m 0
(8-15)
Rs
jkxs0
jkxr0
I0
Vs
jkXm0
Ir
kRr
s0
Torque, Nm
100
Torque, Nm
70
60
50
40
30
20
10
0
20
30
40
50
10
2.5
0
80
60
10
40
20
20
30
40
50
2.5
0
0
Frequency, Hz
50
40
30
20
10
2.5
184
138
Speed, rev/min
525
225
75
50
40
30
20
186
142
10
2.5
Speed, rev/min
225
75
Phase voltage, V
525
240
70
Torque, Nm
60
50
40
20
10
30
30
40
180
120
60
50
0
20
2.5
10
10
20
30
40
50
Frequency, Hz
0
0
300
600
V0
Vp
Vb
0
fp
f0
frequency
9 REFERENCES
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
10 APPENDICES
10.1 Induction motor 2-axis equations
In matrix form, the 2-axis differential equations of a 2-pole induction motor are as follows [9, 10]:
v sd Rs Ls p
v
0
sq
vrd Mp
vrq M r
0
Rs Ls p
M r
Mp
0
Rr Lr p
Lr r
Mp
isd
Mp isq
Lr r ird
Rr Lr p irq
0
(10-1)
In equation 10-1, p d / dt and r is the rotor angular velocity in rad/s. The resistances Rs and Rr are the
normal stator and rotor resistances in the equivalent circuit, and the inductances are related to the
equivalent-circuit reactances as follows:
X m M
x s ( Ls M )
x r ( Lr M )
(10-2)
The variables vsd, vsq, isd and isq are the 2-axis stator voltages and currents. These are related to the 3-phase
terminal voltages and currents by the equations:
isd
i
sq
v sd
v
sq
1 12
2
3
3
0 2
i
12 sa
isb
23
isc
(10-3)
1 12
3
0 2
v
12 sa
v sb
23
v sc
(10-4)
2
3
Provided there is a 3-wire supply to the motor (no neutral connection), there is an inverse transformation
giving the 3-phase variable in terms of the 2-axis variables:
isa
i
sb
isc
1
2 1
3 2
12
0
isd
3
2
isq
23
(10-5)
v sa
v
sb
v sc
1
2 1
3 2
12
0
v sd
3
2
v sq
23
(10-6)
Appendices 77
The variables vrd, vrq, ird and irq are the corresponding 2-axis rotor voltages and currents. They are related to
the physical currents in an equivalent 2-phase rotor winding by the equations:
ird cos
i
rq sin
sin ir
cos ir
(10-7)
v rd cos
v
rq sin
sin v r
cos v r
(10-8)
ir cos
i
r sin
sin ird
cos irq
(10-9)
v r cos
v
r sin
sin vrd
cos v rq
(10-10)
where is the angle between the axis of the phase of the rotor and the a phase of the stator. The inverse
form of these equations is:
v ( R L p G r ) i Z i
(10-11)
where v and i are the column vectors of voltage and current variables, and the impedance matrix Z is given
by:
Z R L p G r
(10-12)
The resistance matrix R, the inductance matrix L and the torque matrix G all have constant elements:
Rs
0
R
0
0
Ls
0
L
M
0
0
0
G
0
0
Rs
0
0
0
0
Rr
0
0
Ls
M
0
0
M
Lr
0
0
0
0
0
M
0
0
Lr
0
0
Rr
(10-13)
0
M
Lr
(10-14)
0
0
Lr
(10-15)
(10-16)
To solve problems such as starting or DC braking, equation 10-11 must be re-arranged in a suitable
form for numerical solution with all the derivatives on one side:
di
pi L1{v ( R G r ) i}
dt
(10-17)
d r
Jp r Td Tl M (ird isq isd irq ) Tl
dt
(10-18)
where J is the moment of inertia of the rotating system, and Tl is the load torque (which may be a function
of the rotor speed r).
Equations 10-17 and 10-18 represent five simultaneous first-order non-linear differential equations,
which can be solved by standard numerical methods such as Runge-Kutta to determine the stator currents
and the rotor speed as functions of time. If the motor has P pairs of poles, two changes are required to the
equations: (a) the left-hand side of the torque equation 10-16 is multiplied by P; (b) in equation 10-1, r is
replaced by Pr.
Appendices 79
1 loss
Pin
Pin
Pin
Pout
Ploss
1
Pout Ploss
Pout Ploss
Efficiency:
H.dl i Ni
Materials:
B B ( H ) r 0 H , 0 4 10 7 H/m
d
d d
N
(Li )
dt
dt dt
, M 21 12
i
i1
i2
Hl R
l
l
Resistance: R
A A
v2 i1 N 2
n
v1 i2 N1
Voltage regulation:
ZL
n2
V2 nl V2 fl
V2 nl
AC power
Basic equations: ea K f r , Td K f ia
L
R
(linear system)
2
DC machines
L
R
(linear system)
2
x
x
Torque: T i 2
d
d
, v2 N 2
dt
dt
Ni
l
Reluctance: R
r 0 A
Force: f x i 2
Voltage: v1 N 1
di
di
v1 R1i1 L1 1 M 2
dt
dt
Coupled coils:
di
di
v 2 R 2 i 2 L2 2 M 1
dt
dt
MMF: F Ni
Transformers
f
B
A
0
Linear approximation: ea K i f r , Td K i f ia
Armature equation: v a Ra ia ea Ra ia K f r
Ra negligible: r
va
K f
Small motors: r
va
R T
a d2
K f ( K f )
Series motor: i f ia i
va Vm cos( t )
vc Vm cos( t 240)
[rad/s], n s
60 f
N s 60n s
p
f
p
[rev/s],
[rev/min].
Induction machines
Slip speed: N s N r
Fractional slip: s
N s N r s r
Ns
s
3 2 Rr
Ir
s
s
1-phase torque: Td
1 2 Rr
1 2 Rr
I rp
I rn
s
s s
2s
Non-salient model: V jX s I E
Non-salient torque: Td
3VEsin
s X s
Salient-pole torque:
3 VEsin V 2 1
1
Td
sin 2
s X d
2 X q X d
Xd
1 sin 2
2X d X q
Reluctance motor: Td
3V
V kV0 , E kE 0 , s k s 0
X d kX d 0 ,
Td
3
s0
X q kX q 0
V E sin V 2 1
1
0 0
0
sin 2
2 X q 0 X d 0
X d 0
rc
Rc
X m2
Rc
Rc2 X m2
rc2 x m2
rc
xm
Xm
Rc2
Xm
Rc2 X m2
rc2 x m2
xm
Loss components:
P.oss PRs PRr Pcore Pfw Pstray
PRr 3s | I r |2
Rr
sPem s( Pin PRs Pcore )
s
No-load test
Pin Pfw | I s |2 ( Rs rc ) 2
Appendices 81
Speed control
Td
3 2 Rr
3 2
Ir
I r Rr
s
s
s s
s s s0 s 0
s
s0 s 0 s0 s 0 s0
s
k s 0
k
Rr
R
kR
r r
s
s0 / k
s0
x s kx s 0 ,
x r kx r 0 ,
X m kX m 0
Stepper motors
Alignment torque: Tm
Hybrid stepper: Tm
l g drB 2
4 pl g drBm Be
fn
,
k
k 1, 2, 3,
AC/DC converters
2 2V
0.900V
3 2V
1.35V