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EE2403 Special Electrical Machines Department of EEE 2012-2013

UNIT I SYNCHRONOUS RELUCTANCE MOTORS


PART - A
1. What are the different types f re!"#tan#e $a#hines% C$pare the$&
The synchronous reluctance motor is used in industry, here motors are re!uired to operate in
synchronism or here hi"hly re"ulated speed control is re!uired usin" a #aria$le-fre!uency dri#e. The motors
pro#ide constant, un#aryin" %or hi"hly controlled& speed from no load to full load ith no slip.
The switched reluctance motor %S'M& is e(cited $y current pulses applied to each phase. The current
pulses are applied $ased on precise rotor position. The inductance profile is trian"ular, ith ma(imum
inductance hen it is in an ali"ned position. )hen #olta"e is applied to the stator phase, the motor creates
tor!ue in the direction of increasin" inductance. *oth synchronous and S'Ms re!uire a position sensor unless
ne, sensor less technolo"y is employed. +osition sensors are a source of increased cost and reduced relia$ility.
2. What is the prin#ip!e f peratin f re!"#tan#e $a#hine%
,n reluctance machines, tor!ue is produced $y the tendency of the rotor to mo#e to a position here
the inductance of the e(cited stator indin" is ma(imi-ed %i.e., rotor tooth ali"ns ith acti#e stator phase to
minimi-e reluctance&. The rotor is typically constructed of soft ma"netic iron shaped so as to ma(imi-e the
#ariation of inductance ith rotor position. .pposite poles form a phase and the phases are ma"netically
independent of one another. The machines tend to $e noisy/ a characteristic that has limited their applications in
the past and has also limited their use currently in #ehicles. 'esearch has $een on-"oin" for years in an attempt
to address the noise issue, $ut little has $een accomplished in actual noise miti"ation. 'eluctance machines are
relati#ely lo-cost machines, and they "enerally do not contain +Ms.
3. What are the prperties f Re!"#tan#e $tr%
0om$ined reluctance and ma"net ali"nment tor!ue, 1ield ea2enin" capa$ility, under e(cited operation
for most loaded condition, 3i"h inductance, 3i"h speed capa$ility, 3i"h temperature capa$ility
'& What are the (ari"s statr #"rrent $des "sed in syn#hrn"s re!"#tan#e $tr%
4nipolar current modes, $ipolar current modes
)& Mentin the app!i#atins f distri*"ted anistrpy #a+e rtr f syn#hrn"s re!"#tan#e $tr%
These rotors are used for line 5 start %constant #olta"e and fre!uency& applications.
,& Mentin the app!i#atins f distri*"ted anistrpy Ca+e!ess rtr f syn#hrn"s re!"#tan#e $tr%
These rotors are used for #aria$le speed applications.
-& What is Syn#hrn"s re!"#tan#e $tr%
Synchronous reluctance motor is similar to three 5 phase Synchronous motor e(cept the rotor are
dema"neti-ed and made ith saliency to increase the reluctance poer. ,t is a motor hich de#elops tor!ue due
to the difference in reluctance of the to a(es, namely !uadrature and direct a(is.
.& What is $eant *y re!"#tan#e tr/"e%
The tor!ue hich is e(hi$ited on the rotor due to the difference in 'eluctance in the air "ap %or& a
function of an"ular position of rotor ith respect to the stator coil is 2non as reluctance tor!ue.
0& What are the ad(anta+es f Syn#hrn"s re!"#tan#e $tr%
'otor is simple in construction i.e. #ery lo inertia, 'o$ust, 6o tor!ue, ripple, 0an $e operated from
standard +)M 70 ,n#erters, ,t can $e also $uilt ith a standard induction motor, stator and indin"s.
12& What are the disad(anta+es f Syn#hrn"s re!"#tan#e $tr%
,t has poor poer factor performance and therefore the efficiency is not as hi"h as permanent ma"net motor,
The con#erter 287 re!uirement is hi"h, The pull 5 in and pull 5 out tor!ue of the motor are ea2.
11& What are the #hara#teristi#s f Syn#hrn"s re!"#tan#e $tr%
,t has com$ined reluctance and ma"netic ali"nment tor!ue, ,t has field ea2enin" capa$ility % to "et hi"her
synchronous speed&, 4nder e(cited operation for most load conditions, 3i"h inductance, 3i"h speed
capa$ility, 3i"h temperature capa$ility
13& State the app!i#atins f Syn#hrn"s re!"#tan#e $tr%
,t is used for constant speed applications i.e. timin" de#ices, si"nalin" de#ices, recordin" instruments and
phono"raph, it is used in automatic processors such as in food processin" and pac2a"in" industries.
4sed in hi"h speed applications, Synthetic fi$er manufacturin" e!uipment, )rappin" and foldin" machines,
synchroni-ed con#eyors.
14& What are the types f Syn#hrn"s re!"#tan#e $tr%
Synchronous reluctance motor is classified into three types dependin" upon the construction of rotor.
They are Salient type or 'adial type rotor, 1lat type or a(ial type rotor, 1lu( *arrier type or 6aminated type
rotor.
1'& Write the tr/"e e/"atin f Syn#hrn"s re!"#tan#e $tr%
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EE2403 Special Electrical Machines Department of EEE 2012-2013
T 9 %4
2
: 2;
s
& %1:<
!
- 1:<
d
& sin 2=, 4 9 Supply 8olta"e, ,
s
$e the supply current hich has to
components ,
d
and ,
!,
,
d
9 Direct a(is current, ,
!
9 >uadrature a(is current,
s

9 Synchronous speed in
rad : sec, <
d
9 Direct a(is reactance, <
!
9 >uadrature a(is reactance
1)& S5e6in+ is re/"ired fr Syn#hrn"s re!"#tan#e $tr& 7"stify%
7t the time of startin", reluctance motor are su$?ected to lo""in" due to the saliency of motor. This can
$e minimi-ed $y the s2ein" of the rotor parts.
1,& What are the desi+n #nsideratins in Syn#hrn"s re!"#tan#e $tr%
+oer factor, 0opper loss and core loss, 0ost, Efficiency
1-& What are the ad(anta+es f in#reasin+ L
d
8 L
/
rati in Syn#hrn"s re!"#tan#e $tr%
Motor poer factor increases, ,
2
' losses reduced, reduced #olt 5 ampere ratin"s of the in#erter dri#in" the
machine.
1.& C$pare Syn#hrn"s re!"#tan#e $tr and Ind"#tin $tr&
S&N& Syn#hrn"s re!"#tan#e $tr Ind"#tin $tr
1. *etter efficiency Efficiency is lo
2. 3i"h cost 6o cost
3. 6o poer factor 3i"h poer factor
4. 4sed for lo and medium poer application 4sed for hi"h poer application
10& 9efine : Ma+neti# f!";
The amount of ma"netic lines of force setup in a ma"netic circuit is called ma"netic flu(. ,t is
analo"ous to electric current in electric circuit.
32& 9efine : Re!"#tan#e
The opposition offered to the ma"netic flu( $y a ma"netic circuit is called its reluctance.
31& 9efine : Per$ean#e
,t is a measure of the ease ith hich flu( can $e setup in a material. ,t is the reciprocal of the
reluctance of the material.
33& List "t any f"r feat"res f syn#hrn"s re!"#tan#e $trs&
*etter efficiency, hi"h cost, lo poer factor, used for lo and medium poer application
34& What are the app!i#atins f !inear ind"#tin $trs%
4sed for hi"h poer application, efficiency is lo compared ith synchronous reluctance.
PART <
1. E(plain the principle of operation and constructional features of Synchronous reluctance motor&
2. E(plain the tor!ue 5 speed and tor!ue 5 an"le characteristics of Synchronous reluctance motor&
3. Dra and e(plain the steady state phasor dia"ram of Synchronous reluctance motor&
4. 6ist the ad#anta"es and disad#anta"es of a Synchronous reluctance motor&
@. Deri#e the e(pression for tor!ue e!uation of a Synchronous reluctance motor&
A. E(plain the #arious stator current modes in a Synchronous reluctance motor&
B. E(plain the #arious types of Synchronous reluctance motor $ased on rotor construction ith neat s2etch.
C. E(plain the 0a"e and 0a"eless rotors of Synchronous reluctance motor ith neat s2etch.
D. 0ompare a reluctance motor ith an e!ui#alent induction motor and list out the merits and demerits of
reluctance motor o#er induction motor.
10. 7 10 3+, 4 poles, 2408, A03-, reluctance motor operatin" under rated load condition has a tor!ue an"le of
30E. Determine %a& 6oad tor!ue on shaft %$& Tor!ue an"le if the #olta"e drops to 2248 %c& 1or the a$o#e
tor!ue an"le, ill the rotor pullout of synchronism.
11. )ith neat s2etches, descri$e the constructional features and principle of operation of different types of
synchronous reluctance motor.
12. %i& Dra and e(plain the steady state pharos dia"ram of a Synchronous reluctance motor.
%ii& E(plain the folloin" characteristics of synchronous 'eluctance motor. Tor!ue 5 an"le characteristics,
Tor!ue 5 speed characteristics.
UNIT II STEPPIN= MOTORS
PART - A
1& 9efine: Stepper $tr%
Stepper motor is a motor hich rotates step $y step and not continuous rotation. )hen the stator is
e(cited usin" a D0 supply the rotor poles ali"n ith the stator poles in opposition such that reluctance is less.
3& What are the ad(anta+es f Stepper $tr%
Fo feed$ac2 is normally re!uired for either position control or speed control, +ositional control is non 5
cumulati#e, Steppin" motor are compati$le ith modern di"ital e!uipment
4& Mentin the different types f stepper $tr%
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EE2403 Special Electrical Machines Department of EEE 2012-2013
8aria$le 'eluctance stepper motor %Sin"le stac2, Multi stac2&, +ermanent ma"net stepper motor, 3y$rid
stepper motor, .uter rotor stepper motor
'& What are the different $des f e;#itatin%
Sin"le phase e(citation, to phase e(citation, 3alf step mode, Mini-step dri#e
)& Mentin the feat"res f stepper $tr%
Small step an"le, 3i"h positionin" accuracy, 3i"h tor!ue inertia ratio, Steppin" rate, +ulse fre!uency
,& 9efine: Step An+!e f stepper $tr%
7 steppin" motor rotates throu"h a fi(ed an"le for e#ery pulse. The rated #alue of this an"le is called
the step an"le and e(pressed in de"rees.
-& 9efine: H!din+ tr/"e f stepper $tr%
3oldin" tor!ue is defined as the ma(imum static tor!ue that can $e applied to the shaft of an e(cited
motor ithout causin" continuous rotation.
.& 9efine: Res!"tin f stepper $tr%
,t is defined as the accuracy of positionin" of the rotor pole at a particular step an"le ith respect to
stator pole.
0& 9efine: 9etent tr/"e f stepper $tr%
,t is defined as the ma(imum static tor!ue that can $e applied to the shaft of an une(cited motor ithout
causin" continuous rotation.
12& 9efine: P"!! in tr/"e f stepper $tr%
These are alternati#ely called the startin" characteristics and refer to the ran"e of frictional load tor!ue
at hich the motor can start and stop ithout loosin" steps for #arious fre!uencies in a pulse strain.
11&9efine: P"!! "t tr/"e f stepper $tr%
These are alternati#ely called the slein" characteristics. 7fter the test, motor is started $y a specified
dri#er in the specified e(citation mode in the self startin" ran"e/ the pulse fre!uency is "radually increased/ the
motor ill e#entually run out of synchronism. The relation $eteen the frictional load tor!ue and the minimum
pulse fre!uency ith hich the motor can synchroni-e is called pull 5 out characteristics.
13& 9efine: S!e6in+ fre/"en#y f stepper $tr%
This is defined as the ma(imum fre!uency %steppin" rate& at hich the loaded motor can run ithout
losin" steps is alternati#ely called the ma(imum slein" fre!uency.
14& 9efine: Steppin+ fre/"en#y f stepper $tr%
The speed of rotation of a steppin" motor is "i#en in terms of the num$er of steps per second and the
term steppin" rate is often used to indicate speed.
1'& 9efine: Ma;i$"$ startin+ tr/"e f stepper $tr%
This is alternati#ely called as ma(imum pull 5 in tor!ue and is defined as the ma(imum frictional load
ith hich the motor can start and synchroni-e ith the pulse train of fre!uency as lo as 10 3-.
1)& 9efine: Ma;i$"$ startin+ fre/"en#y f stepper $tr%
,t is the ma(imum control fre!uency at hich the unloaded motor can start and stop ithout losin"
steps.
1,& 9efine: Ma;i$"$ startin+ fre/"en#y f stepper $tr%
,t is the ma(imum control fre!uency at hich the unloaded motor can start and stop ithout losin"
steps.
1-& What is rest psitin r e/"i!i*ri"$ psitin f stepper $tr%
,t is defined as the position at hich as e(cited motor comes to rest at no load.
1.& What is detent psitin f stepper $tr%
,t is defined as the position at hich a motor ha#in" a permanent ma"net in its rotor or stator comes to
rest ithout e(citation at no load.
10& 9efine: Ma;6e!!>s stress
,t is defined as cur#in" of ma"netic lines of force at the end of the poles of the stator.
32& Why inter!ea(in+ is dne in a stepper $tr%
,nterlea#in" is done in the stepper motor to decrease the step an"le and thus increasin" the resolution.
31& E;p!ain: ?R type stepper $tr%
,t is a $asic type of steppin" motor in hich the motor step $y step rotation is achie#ed hen the rotor
teeth and stator teeth are in ali"nment such that the ma"netic reluctance is minimi-ed and this state pro#ides a
rest or e!uili$rium position.
33& E;p!ain: PM type stepper $tr%
7 steppin" motor usin" permanent ma"net in the rotor for step mo#ement is called a permanent ma"net
motor.
34& E;p!ain: Hy*rid type stepper $tr%
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EE2403 Special Electrical Machines Department of EEE 2012-2013
7 hy$rid motor has permanent ma"net in its rotor. The term hy$rid deri#es from the fact that the motor
is operated under the com$ined principles of permanent ma"net and #aria$le reluctance motor.
3'& What is $i#r steppin+ and h6 is it a#hie(ed%
,t is possi$le to su$di#ide on natural step into many small steps $y means of electronics. This method is
2non as mini step or micro step.
3)& What is the effe#t f $a+neti# sat"ratin in stepper $tr%
The efficiency is impro#ed, and the losses are reduced.
3,& What are the #!assifi#atins f dri(e syste$ f steppin+ $tr%
.pen loop system, closed loop system
3-& What is the re!atinship *et6een the step n"$*er and the step an+!e in a stepper $tr%
Step num$er %S& 9 3A0E : G
s
G
s
9 step an"le
3.& What is the re!atinship *et6een the step n"$*er and the rtatina! speed in a stepper $tr%
'otational speed in rpm %n& 9 A0f : S )here, S 9 Step num$er, f 9 steppin" rate in 3-.
30& What is Cy#!n$e%
7 steppin" motor manufactured $y Si"ma instruments ,nc., are called 0yclonome.
42& What are the (ari"s *ip!ar dri(es "sed fr stepper $tr%
*asic *ipolar dri#es, *ipolar 6:' dri#es, $ipolar chopper dri#es
41& What are the different $des f e;#itatin "sed in (aria*!e re!"#tan#e steppin+ $trs%
1 phase on or full step operation, 2 phase on mode, alternate 1 phase on and 2 phase on mode half step
operation, micro steppin" operation.
43& Mentin the !i$itatins f pen !p peratin f stepper $trs&
The open loop dri#e is attracti#e and idely accepted in applications of speed and position controls.
3oe#er the performance of stepper motor dri#en in open loop mode may fail to follo a pulse command hen
the fre!uency of the pulse train is too hi"h or the inertial load is too hea#y.
PART <
1. E(plain the construction and principle of operation of 8aria$le 'eluctance Steppin" motorH
The #aria$le reluctance motor does not use a permanent ma"net. 7s a result, the motor rotor
can mo#e ithout constraint or IdetentI tor!ue. This type of construction is "ood in non industrial
applications that do not re!uire a hi"h de"ree of motor tor!ue, such as the positionin" of a micro slide.
The #aria$le reluctance motor in the a$o#e illustration has four Istator pole setsI %7, *, 0& set
1@ de"rees apart. 0urrent applied to pole 7 throu"h the motor indin" causes a ma"netic attraction
that ali"ns the rotor %tooth& to pole 7. Ener"i-in" stator pole * causes the rotor to rotate 1@ de"rees in
ali"nment ith pole *. This process ill continue ith pole 0 and $ac2 to 7 in a cloc2ise direction.
'e#ersin" the procedure %0 to 7& ould result in a countercloc2ise rotation.
,f your motor has three indin"s, typically connected as shon in the schematic dia"ram in
1i"ure , ith one terminal common to all indin"s, it is most li2ely a #aria$le reluctance steppin"
motor. ,n use, the common ire typically "oes to the positi#e supply and the indin"s are ener"i-ed in
se!uence.
The cross section shon in 1i"ure is of 30 de"ree per step #aria$le reluctance motor. The rotor
in this motor has 4 teeth and the stator has A poles, ith each indin" rapped around to opposite
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EE2403 Special Electrical Machines Department of EEE 2012-2013
poles. )ith indin" num$er 1 ener"i-ed, the rotor teeth mar2ed < are attracted to this indin"Js poles.
,f the current throu"h indin" 1 is turned off and indin" 2 is turned on, the rotor ill rotate 30
de"rees cloc2ise so that the poles mar2ed K line up ith the poles mar2ed 2.
To rotate this motor continuously, e ?ust apply poer to the 3 indin"s in se!uence.
7ssumin" positi#e lo"ic, here a 1 means turnin" on the current throu"h a motor indin", the
folloin" control se!uence ill spin the motor illustrated in 1i"ure 2.A cloc2ise 24 steps or 2
re#olutionsL
Winding 1 1001001001001001001001001
Winding 2 0100100100100100100100100
Winding 3 0010010010010010010010010
time --->
There are also #aria$le reluctance steppin" motors ith 4 and @ indin"s, re!uirin" @ or A
ires. The principle for dri#in" these motors is same as that for the three indin" motors, $ut it
$ecomes important to or2 out the correct order to ener"i-e the indin"s to ma2e the motor step
nicely.
2. E(plain in detail the #arious applications of stepper motorH
3. Discuss the #arious ad#anta"es and disad#anta"es of stepper motorH
Stepper Mtr Ad(anta+es and 9isad(anta+es
Ad(anta+es
Stepper motors ha#e the folloin" ad#anta"esL
6o cost
'u""edness
Simplicity in construction
3i"h relia$ility since there is no contact $rushes in the motor. Therefore the life of the motor
is simply dependant on the life of the $earin".
Fo maintenance
)ide acceptance
Fo feed$ac2 components are needed
They or2 in ?ust a$out any en#ironment
,nherently more failsafe than ser#o motors.
E(cellent response to startin": stoppin":re#ersin".
,t is possi$le to achie#e #ery lo speed synchronous rotation ith a load that is directly
coupled to the shaft.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
There is #irtually no concei#a$le failure ithin the stepper dri#e module that could cause the
motor to run aay. Stepper motors are simple to dri#e and control in an open-loop
confi"uration. They only re!uire four leads. They pro#ide e(cellent tor!ue at
lo speeds, up to @ times the continuous tor!ue of a $rush motor of the same frame si-e or
dou$le the tor!ue of the e!ui#alent $rushless motor. This often eliminates the need for a
"ear$o(. 7 stepper-dri#en system is inherently stiff, ith 2non limits to the dynamic
position error.
9isad(anta+es
Stepper motors ha#e the folloin" disad#anta"esL
'esonance effects and relati#ely lon" settlin" times
'ou"h performance at lo speed unless a microstep dri#e is used
6ia$ility to undetected position loss as a result of operatin" open-loop
They consume current re"ardless of load conditions and therefore tend to run hot
6osses at speed are relati#ely hi"h and can cause e(cessi#e heatin", and they are fre!uently
noisy %especially at hi"h speeds&.
They can e(hi$it la"-lead oscillation, hich is difficult to damp. There is a limit to their
a#aila$le si-e, and positionin" accuracy relies on the mechanics %e."., $all scre accuracy&.
Many of these dra$ac2s can $e o#ercome $y the use of a closed-loop control scheme.
4. E(plain the construction and operation of permanent ma"net Steppin" motorH
The permanent ma"net motor, also referred to as a Icanstac2I motor, has, as the name implies,
a permanent ma"net rotor. ,t is a relati#ely lo speed, lo tor!ue de#ice ith lar"e step an"les of
either 4@ or D0 de"rees. ,tJs simple construction and lo cost ma2e it an ideal choice for non industrial
applications, such as a line printer print heel positioner. The per$anent-$a+net stepper $tr
operates on the reaction $eteen a permanent-ma"net rotor and an electroma"netic field. 1i"ure 2.B
shos a $asic to-pole +M stepper motor. The rotor shon in 1i"ure has a permanent ma"net
mounted at each end. The stator is illustrated in 1i"ure . *oth the stator and rotor are shon as ha#in"
teeth. The teeth on the rotor surface and the stator pole faces are offset so that there ill $e only a
limited num$er of rotor teeth ali"nin" themsel#es ith an ener"i-ed stator pole. The num$er of teeth
on the rotor and stator determine the step an"le that ill occur each time the polarity of the indin" is
re#ersed. The "reater is the num$er of teeth, the smaller is the step an"le.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
@. E(plain the construction and operation of hy$rid Steppin" motorH
3y$rid motors com$ine the $est characteristics of the #aria$le reluctance and permanent
ma"net motors. They are constructed ith multi-toothed stator poles and a permanent ma"net rotor.
Standard hy$rid motors ha#e 200 rotor teeth and rotate at 1.C0 step an"les. .ther hy$rid motors are
a#aila$le in 0.DMand 3.AM step an"le confi"urations. *ecause they e(hi$it hi"h static and dynamic
tor!ue and run at #ery hi"h step rates, hy$rid motors are used in a ide #ariety of industrial
applications.
A. Discuss the static characteristics of stepper motor ith neat s2etchH
Tr/"e (ers"s Speed
7n important consideration in desi"nin" hi"h-speed steppin" motor controllers is the effect of
the inductance of the motor indin"s. 7s ith the tor!ue #ersus an"ular position information, this is
fre!uently poorly documented in motor data sheets, and indeed, for #aria$le reluctance steppin"
motors, it is not a constantN The inductance of the motor indin" determines the rise and fall time of
the current throu"h the indin"s. )hile e mi"ht hope for a s!uare-a#e plot of current #ersus time,
the inductance forces an e(ponential, as in 1i"ure
The details of the current-#ersus-time function throu"h each indin" depend as much on the
dri#e circuitry as they do on the motor itselfN ,t is !uite common for the time constants of these
e(ponentials to differ. The rise time is determined $y the dri#e #olta"e and dri#e circuitry, hile the
fall time depends on the circuitry used to dissipate the stored ener"y in the motor indin".
7t lo steppin" rates, the rise and fall times of the current throu"h the motor indin"s has
little effect on the motorJs performance, $ut at hi"her speeds, the effect of the inductance of the motor
indin"s is to reduce the a#aila$le tor!ue, as shon in 1i"ure .
B
EE2403 Special Electrical Machines Department of EEE 2012-2013
O 7n ideal tor!ue-speed characteristic for a stepper motor
O 2 distinct modes of operationL
5 6oc2ed-step %normal& mode
5 Slein" mode
O ,n the first, the rotor comes to rest $eteen steps %mode commonly used to achie#e a "i#en
rotor position&/ rotor can $e started, stopped, re#ersed
O Slein" mode does not allo stoppin" or re#ersal of the rotor, althou"h it ad#ances in
synchronism ith the steppin" se!uence %e.". reindin" a tape dri#e&
C
Torque
Speed
Slewing
mode
Normal
mode
EE2403 Special Electrical Machines Department of EEE 2012-2013
The motorJs maximum speed is defined as the speed at hich the a#aila$le tor!ue falls to -ero.
Measurin" ma(imum speed can $e difficult hen there are resonance pro$lems, $ecause these cause
the tor!ue to drop to -ero prematurely. The cutoff speed is the speed a$o#e hich the tor!ue $e"ins to
fall. )hen the motor is operatin" $elo its cutoff speed, the rise and fall times of the current throu"h
the motor indin"s occupy an insi"nificant fraction of each step, hile at the cutoff speed, the step
duration is compara$le to the sum of the rise and fall times. Fote that a sharp cutoff is rare, and
therefore, statements of a motorJs cutoff speed are, of necessity, appro(imate.
The details of the tor!ue #ersus speed relationship depend on the details of the rise and fall
times in the motor indin"s, and these depend on the motor control system as ell as the motor.
Therefore, the cutoff speed and ma(imum speed for any particular motor depend, in part, on the
control systemN The tor!ue #ersus speed cur#es pu$lished in motor data sheets occasionally come ith
documentation of the motor controller used to o$tain that cur#e, $ut this is far from uni#ersal practiceN
Similarly, the resonant speed depends on the moment of inertia of the entire rotatin" system,
not ?ust the motor rotor, and the e(tent to hich the tor!ue drops at resonance depends on the presence
of mechanical dampin" and on the nature of the control system. Some pu$lished tor!ue #ersus speed
cur#es sho #ery clear resonances ithout documentin" the moment of inertia of the hardare that
may ha#e $een attached to the motor shaft in order to ma2e tor!ue measurements.
The tor!ue #ersus speed cur#e shon in 1i"ure typical of the simplest of control systems.
More comple( control systems sometimes introduce electronic resonances that act to increase the
a#aila$le tor!ue a$o#e the motorJs lo-speed tor!ue. 7 common result of this is a pea2 in the a#aila$le
tor!ue near the cutoff speed.
Chara#teristi# Para$eters
H!din+ tr/"e: the ma(imum tor!ue hich can $e applied to an ener"i-ed stationary motor
ithout causin" spindle rotation
P"!!-"t tr/"e: the ma(imum tor!ue hich can $e applied to a motor, runnin" at a "i#en
steppin" rate, ithout losin" synchronism
P"!!-in tr/"e: the ma(imum tor!ue a"ainst hich a motor ill start, at a "i#en pulse rate, and
reach synchronism ithout losin" a step.
D
0ur#e 7L +ull-out tor!ue
0ur#e *L +ull-in tor!ue
Torque
Speed
Slewing
mode
Normal
mode
Curve A
Curve B
Pull-in rate
Pull-out rate
Max pull-out rate
Max pull-in rate
EE2403 Special Electrical Machines Department of EEE 2012-2013
P"!!-"t rate: the ma(imum sitchin" rate at hich a motor ill remain in synchronism hile the
sitchin" rate is "radually increased.
P"!!-in rate: the ma(imum sitchin" rate at hich a loaded motor can start ithout losin" steps
S!e6 ran+e: the ran"e of sitchin" rates $eteen pull-in and pull-out in hich a motor ill run in
synchronism $ut cannot start or re#erse.
B. Discuss the dynamic characteristics of stepper motor ith neat s2etchH
7t lo steppin" rates, the rise and fall times of the current throu"h the motor indin"s has
little effect on the motorJs performance, $ut at hi"her speeds, the effect of the inductance of the motor
indin"s is to reduce the a#aila$le tor!ue, as shon in 1i"ure
O 7n ideal tor!ue-speed characteristic for a stepper motor
10
Torque
Speed
Slewing
mode
Normal
mode
EE2403 Special Electrical Machines Department of EEE 2012-2013
O 2 distinct modes of operationL
5 6oc2ed-step %normal& mode
5 Slein" mode
O ,n the first, the rotor comes to rest $eteen steps %mode commonly used to achie#e a "i#en
rotor position&/ rotor can $e started, stopped, re#ersed
O Slein" mode does not allo stoppin" or re#ersal of the rotor, althou"h it ad#ances in
synchronism ith the steppin" se!uence %e.". reindin" a tape dri#e&
The motorJs maximum speed is defined as the speed at hich the a#aila$le tor!ue falls to -ero.
Measurin" ma(imum speed can $e difficult hen there are resonance pro$lems, $ecause these cause
the tor!ue to drop to -ero prematurely. The cutoff speed is the speed a$o#e hich the tor!ue $e"ins to
fall. )hen the motor is operatin" $elo its cutoff speed, the rise and fall times of the current throu"h
the motor indin"s occupy an insi"nificant fraction of each step, hile at the cutoff speed, the step
duration is compara$le to the sum of the rise and fall times. Fote that a sharp cutoff is rare, and
therefore, statements of a motorJs cutoff speed are, of necessity, appro(imate.
The details of the tor!ue #ersus speed relationship depend on the details of the rise and fall
times in the motor indin"s, and these depend on the motor control system as ell as the motor.
Therefore, the cutoff speed and ma(imum speed for any particular motor depend, in part, on the
control systemN The tor!ue #ersus speed cur#es pu$lished in motor data sheets occasionally come ith
documentation of the motor controller used to o$tain that cur#e, $ut this is far from uni#ersal practiceN
Similarly, the resonant speed depends on the moment of inertia of the entire rotatin" system,
not ?ust the motor rotor, and the e(tent to hich the tor!ue drops at resonance depends on the presence
of mechanical dampin" and on the nature of the control system. Some pu$lished tor!ue #ersus speed
cur#es sho #ery clear resonances ithout documentin" the moment of inertia of the hardare that
may ha#e $een attached to the motor shaft in order to ma2e tor!ue measurements.
The tor!ue #ersus speed cur#e shon in 1i"ure 2.1B is typical of the simplest of control
systems. More comple( control systems sometimes introduce electronic resonances that act to increase
11
0ur#e 7L +ull-out tor!ue
0ur#e *L +ull-in tor!ue
Torque
Speed
Slewing
mode
Normal
mode
Curve A
Curve B
Pull-in rate
Pull-out rate
Max pull-out rate
Max pull-in rate
EE2403 Special Electrical Machines Department of EEE 2012-2013
the a#aila$le tor!ue a$o#e the motorJs lo-speed tor!ue. 7 common result of this is a pea2 in the
a#aila$le tor!ue near the cutoff speed.
Chara#teristi# Para$eters
H!din+ tr/"e: the ma(imum tor!ue hich can $e applied to an ener"i-ed stationary motor
ithout causin" spindle rotation
P"!!-"t tr/"e: the ma(imum tor!ue hich can $e applied to a motor, runnin" at a "i#en
steppin" rate, ithout losin" synchronism
P"!!-in tr/"e: the ma(imum tor!ue a"ainst hich a motor ill start, at a "i#en pulse rate, and
reach synchronism ithout losin" a step.
P"!!-"t rate: the ma(imum sitchin" rate at hich a motor ill remain in synchronism hile the
sitchin" rate is "radually increased.
P"!!-in rate: the ma(imum sitchin" rate at hich a loaded motor can start ithout losin" steps
S!e6 ran+e: the ran"e of sitchin" rates $eteen pull-in and pull-out in hich a motor ill run in
synchronism $ut cannot start or re#erse.
C. E(plain in detail the linear and non 5 linear analysis of stepper motorH
The tor!ue produced $y a specific rotary stepper motor is a function ofL
O The step rate
O The current throu"h the indin"s
O The type of dri#e used
%The force "enerated $y a linear motor is also dependent upon these factors.&
Tor!ue is the sum of the friction tor!ue %T
f
& and inertial tor!ue %T
i
&.
The frictional tor!ue %ounce-inches or "ram-cm& is the force %1&, in ounces or "rams, re!uired
to mo#e a load multiplied $y the len"th, in inches or cm, of the le#er arm used to dri#e the load %r& as
shon in fi"ure 2.14
@i+"re3&1'
The inertial tor!ue %Ti& is the tor!ue re!uired to accelerate the load %"ram-cm2&.
12
EE2403 Special Electrical Machines Department of EEE 2012-2013
)here,
, 9 the inertial load in "-cm2
9 step rate in steps:second
t 9 time in seconds
9 the step an"le in de"rees
P 9 a constant
,t should $e noted that as the step rate of a motor is increased, the $ac2 electro-moti#e force
%EM1& %i.e. the "enerated #olta"e& of the motor also increases. This restricts current flo and results in
a decrease in usea$le output tor!ue.
4sin" $asic principles of electromechanical ener"y con#ersion, a simplified analysis of one
stac2 of the stepper motor is presented here. ,t is assumed that the ma"netic circuit is linear
%unsaturated&. E#en then the resultin" model is hi"hly nonlinear so that no "enerali-ed conclusions can
$e dran. 6et
e%t& 9 #olta"e applied per stac2
' 9 indin" resistance per stac2
6%G& 9 indin" inductance per stac2 %a function of rotor position only and
independent of coil current $ecause of linear ma"netic circuit assumption&
i%t& 9 current per stac2
G%t& 9 an"ular position of rotor
PirchoffQs mesh e!uation for stator indin" is
% & % &
d
e t Ri t
dt

= +
here R 9 flu( lin2a"es of stator indin" 9 i6%G&.
Therefore,

% &
% & % &
di dL d
Ri t L i
dt d dt

= + + SSSS....%1&

Transformer speed
emf emf
Ener"y stored in air "ap is
) 9 T 6%G& i
2
%t&SSSSSSSSSSS..%2&
Mechanical tor!ue de#eloped is "i#en $y
% , & T W i


2
1 % &
% &
2
dL
i t
d

= SSSSSSSSSS....%3&
'otor dynamics is "o#erned $y

2
2
d d
T J f
dt dt

= + SSSSSSSSSSSS.%4&
,n a toothed structure, reluctance and therefore indin" inductance #aries continuously %e#en
function& as function of G o#er and a$o#e an a#era"e #alue, i.e.,

1 2
% & cos L L L T = +
SSSSSSSSSSSS.%@&
Su$stitutin" in e!uation 3,
2
2
1
% &sin
2
T L Ti t T =

2
% & sin Ki t T = SSSSSSSSSSSS.%A&
13
EE2403 Special Electrical Machines Department of EEE 2012-2013
This indeed is the reluctance tor!ue and has sinusoidal form compared to the tor!ue-an"le
cur#e. Fotice the similarity of the o#erall shape of the cur#e to a sinusoidal a#e.
E!uations 1, A and 4 "o#ern the dynamic $eha#ior of one stac2 of a stepper motor under
application of e%t&, a pulse a#e shape. 7ssumin" that mechanical and electrical transients are o#er in
the time inter#enin" $eteen pulses, sin"le-stac2 analysis ould suffice. E!uations $ein" hi"hly
nonlinear, appro(imate linear model is not feasi$le. Solution must $e o$tained on an analo" or di"ital
computer.
,nter#enin" time $eteen the applications of to pulses must $e lon" enou"h to allo for the motor
rotor to loc2 in position otherise the motor may s2ip a step hich is undesira$le. Step s2ippin" may
also occur if rotor oscillation amplitude a$out the loc2in" position is too lar"e.
D. E(plain in detail the dri#e system of a steppin" motorH
,n the a$o#e circuits, the details of the necessary sitches ha#e $een deli$erately i"nored. 7ny
sitchin" technolo"y, from to""le sitches to poer M.S1ETS ill or2N 1i"ure contains some
su""estions for implementin" each sitch, ith a motor indin" and protection diode included for
orientation purposesL
Each of the sitches shon in 1i"ure is compati$le ith a TT6 input. The @ #olt supply used
for the lo"ic, includin" the B40B open-collector dri#er used in the fi"ure, should $e ell re"ulated. The
motor poer, typically $eteen @ and 24 #olts, needs only minimal re"ulation. ,t is orth notin" that
these poer sitchin" circuits are appropriate for dri#in" solenoids, D0 motors and other inducti#e
loads as ell as for dri#in" steppin" motors.
U The SP31C0 transistor shon in 1i"ure is a poer darlin"ton ith a current "ain o#er 1000/
thus, the 10 milliamps floin" throu"h the 4B0 ohm $ias resistor is more than enou"h to allo the
transistor to sitch a fe amps current throu"h the motor indin". The B40B $uffer used to dri#e the
Darlin"ton may $e replaced ith any hi"h-#olta"e open collector chip that can sin2 at least 10
milliamps. ,n the e#ent that the transistor fails, the hi"h-#olta"e open collector dri#er ser#es to protect
the rest of the lo"ic circuitry from the motor poer supply.
The ,'0 ,'6@40 shon in 1i"ure is a poer field effect transistor. This can handle currents of
up to a$out 20 amps, and it $rea2s don nondestructi#ely at 100 #olts/ as a result, this chip can a$sor$
inducti#e spi2es ithout protection diodes if it is attached to a lar"e enou"h heat sin2. This transistor
has a #ery fast sitchin" time, so the protection diodes must $e compara$ly fast or $ypassed $y small
capacitors. This is particularly essential ith the diodes used to protect the transistor a"ainst re#erse
$iasN ,n the e#ent that the transistor fails, the -ener diode and 100 ohm resistor protect the TT6
circuitry. The 100 ohm resistor also acts to somehat slo the sitchin" times on the transistor.
14
EE2403 Special Electrical Machines Department of EEE 2012-2013
1or applications here each motor indin" dras under @00 milliamps, the 46F200( family
of darlin"ton arrays from 7lle"ro Microsystems, also a#aila$le as the DS200( from Fational
Semiconductor and as the Motorola M01413 darlin"ton array ill dri#e multiple motor indin"s or
other inducti#e loads directly from lo"ic inputs. 1i"ure 3.C shos the pin out of the idely a#aila$le
46F2003 chip, an array of B darlin"ton transistors ith TT6 compati$le inputsL
The $ase resistor on each darlin"ton transistor is matched to standard $ipolar TT6 outputs.
Each F+F darlin"ton is ired ith its emitter connected to pin C, intended as a "round pin, Each
transistor in this pac2a"e is protected $y to diodes, one shortin" the emitter to the collector,
protectin" a"ainst re#erse #olta"es across the transistor, and one connectin" the collector to pin D/ if
pin D is ired to the positi#e motor supply, this diode ill protect the transistor a"ainst inducti#e
spi2es.
The 46F2C03 chip is essentially the same as the 46F2003 chip descri$ed a$o#e, e(cept that it
is in an 1C-pin pac2a"e, and contains C darlin"tons, alloin" one chip to $e used to dri#e a pair of
common unipolar permanent-ma"net or #aria$le-reluctance motors.
1or motors drain" under A00 milliamps per indin", the 4DF2@4B* !uad poer dri#er
made $y 7lle"ro Microsystems ill handle all 4 indin"s of common unipolar steppin" motors. 1or
motors drain" under 300 milliamps per indin", Te(as ,nstruments SFB@41, B@42 and B@43 dual
poer dri#ers are a "ood choice/ $oth of these alternati#es include some lo"ic ith the poer dri#ers.
10. E(plain in detail the multi stac2 8aria$le 'eluctance Steppin" motorH
O The ?R stepper $trs $entined "p t this pint are a!! sin+!e-sta#5 $trs& That isA a!! the
phases are arran+ed in a sin+!e sta#5A r p!ane&
O The disad(anta+e f this desi+n fr a stepper $tr is that the steps are +enera!!y /"ite !ar+e
Ba*(e 1)CD&
O M"!ti-sta#5 stepper $trs #an prd"#e s$a!!er step siEes *e#a"se the $tr is di(ided a!n+ its
a;ia! !en+th int $a+neti#a!!y is!ated se#tinsA r sta#5s&
O Ea#h f these se#tins is e;#ited *y a separate 6indin+A r phase&
O In this type f $trA ea#h sta#5 #rrespnds t a phaseA and the statr and rtr ha(e the sa$e
tth pit#h&
11. )hat is the motor tor!ue T
m
re!uired to accelerate an initial load of 3(10
-4
2" 5 m
2
from f
1
9 10003- to f
2
9
20003- durin" 100msec. The frictional tor!ue T
f
is 0.0@ Fm and the step an"le is 1.CE.
2
2
1
% &sin
2
T L Ti t T =
12. )hat is the ma(imum acceleration of an initial load of 4(10
-4
2" 5 m
2
dri#en $y a motor tor!ue of 0.3 Fm.
1rictional loads are ne"li"i$le and the step an"le is 3E.
1@
EE2403 Special Electrical Machines Department of EEE 2012-2013
2
2
1
% &sin
2
T L Ti t T =
13. )ith a neat $loc2 dia"ram, e(plain the closed loop operation of steppin" motor.
14. E(plain the concept of tor!ue production in #aria$le reluctance steppin" motor.
. 6et
e%t& 9 #olta"e applied per stac2
' 9 indin" resistance per stac2
6%G& 9 indin" inductance per stac2 %a function of rotor position only and
independent of coil current $ecause of linear ma"netic circuit assumption&
i%t& 9 current per stac2
G%t& 9 an"ular position of rotor
PirchoffQs mesh e!uation for stator indin" is
% & % &
d
e t Ri t
dt

= +
here R 9 flu( lin2a"es of stator indin" 9 i6%G&.
Therefore,

% &
% & % &
di dL d
Ri t L i
dt d dt

= + + SSSS....%1&

Transformer speed
emf emf
Ener"y stored in air "ap is
) 9 T 6%G& i
2
%t&SSSSSSSSSSS..%2&
Mechanical tor!ue de#eloped is "i#en $y
% , & T W i


2
1 % &
% &
2
dL
i t
d

= SSSSSSSSSS....%3&
'otor dynamics is "o#erned $y

2
2
d d
T J f
dt dt

= + SSSSSSSSSSSS.%4&
,n a toothed structure, reluctance and therefore indin" inductance #aries continuously %e#en
function& as function of G o#er and a$o#e an a#era"e #alue, i.e.,

1 2
% & cos L L L T = +
SSSSSSSSSSSS.%@&
1A
EE2403 Special Electrical Machines Department of EEE 2012-2013
Su$stitutin" in e!uation 3,
2
2
1
% &sin
2
T L Ti t T =
UNIT III SWITCHE9 RELUCTANCE MOTOR
PART - A
1. What is s6it#hed re!"#tan#e $tr%
The sitched reluctance motor is a dou$ly salient, sin"ly e(cited motor. This means that it has salient
poles on $oth the rotor and the stator, $ut only one mem$er %usually the stator& carries indin"s. The rotor has
no indin"s/ ma"net is or ca"e indin"s $ut is $uilt up from stac2s of salient pole laminations.
3& What is $eant *y se!f #ntr!%
,n the open loop system, if a load is suddenly applied, the rotor momentarily slo don, ma2in" the
tor!ue an"le delta increase $eyond D0 and leadin" to loss of synchronism. ,f the rotor speed ad?usts the stator
fre!uency the dri#e system is called as self controlled dri#e.
3. What are the ad(anta+es f S6it#hed Re!"#tan#e $tr%
'otor is simple and it tends to ha#e a lo inertia, The stator is simple to ind, ,n most applications the
$ul2 of the losses appear on the stator, hich is relati#ely easy to cool, Due to the a$sence of ma"net the
ma(imum permissi$le rotor temperature may $e hi"her than in +M motors, 4nder fault conditions the open
circuit #olta"e and short circuit current are -ero or #aryin" small, E(treme $y hi"h speeds are possi$le
4. What is the differen#e *et6een S6it#hed Re!"#tan#e $tr and (aria*!e re!"#tan#e stepper $tr%
S6it#hed Re!"#tan#e $tr ?aria*!e re!"#tan#e stepper $tr
0onduction an"le for phase current is controlled and
synchroni-ed ith the rotor position, usually $y means
of a shaft position sensor
Stepper motor is usually fed ith a s!uare a#e of
phase current ithout rotor position feed$ac2.
The S'M is desi"ned for efficient poer con#ersion at
hi"h speed
,t is usually desi"ned as a tor!ue motor ith a
limited speed.
@. What are the disad(anta+es f a S6it#hed Re!"#tan#e $tr%
The a$sence of free +M e(citation imposes the $urden of e(citation on the stator indin"s and the controllers
and increases the per unit copper losses, is limited, tor!ue : ampere is limited, Fon uniform nature of the
tor!ue production hich leads to tor!ue ripple and may contri$ute to acoustic noise.
,& 9istin+"ish *et6een #-ener+y and fie!d ener+y
C-ener+y @ie!d ener+y
0o-ener"y is defined as

=
i
di w
0
1

1ield ener"y is defined as

0
id w
f
B. 9eter$ine the step an+!e f a 4 phase S6it#hed Re!"#tan#e $tr ha(in+ 13 statr p!es and . rtr
p!es& What is the #$$"tatin fre/"en#y in ea#h phase at a speed f ,222 rp$.
=i(en: ! 9 3/ F
S
9 12/ F
r
9 C / F 9 A000 rpm
T find Step an"le %&, 1re!uency S!"tin: Step an"le %& 9
C 3
2 2

=

rad
qN
r
C. What are the app!i#atins f S6it#hed Re!"#tan#e $tr%
+recision position control system for 'o$otics, 6o poer ser#o motor
0& =i(e *asi# feat"res f S6it#hed Re!"#tan#e $tr&
The sitched reluctance motor is a dou$ly-salient, sin"ly-e(cited motor. This means that it has salient
poles on $oth the rotor and the stator $ut only one mem$er %usually the stator& carries indin"s. The rotor has
no indin"s, ma"nets, or ca"e indin"s, $ut is $uilt up from a stac2 of salient-pole laminations.
6o inertia and simple manufacturin", 6osses appear only on the stator and easy to cool, Fo ma"nets and so
permissi$le rotor temperature is hi"her than in +M motors, Tor!ue is independent of the polarity of phase
current. 'eduction in no of semiconductor de#ices in controller .pen circuit #olta"e and Short circuit current
are -ero or #ery small under faulty condition, ,mmune from shoot throu"h failure, 3i"h startin" tor!ue,
e(tremely hi"h speeds possi$le.
12& Write the re!atins *et6een the speed and f"nda$enta! s6it#hin+ fre/"en#y&
f 9 n F
r
9 %r.p.m.:A0& F
r
3- F
r
9 Fo. of rotor poles, ,f there are ! phases there are ! F
r
steps per
re#olution and the step an"le or stro2e is "i#en $y V 9 2 W :%! F
r
& rad. The no of stator poles usually e(ceeds
the no of rotor poles.
1B
Hz f
N
rpm
N n f
r
r
C00
C
A0
A000
A0
1
1
=
=
=
=
EE2403 Special Electrical Machines Department of EEE 2012-2013
11& What is #-ener+y%
,n the X 5i cur#e of a motor, the area $eteen the cur#e and hori-ontal i a(is is the co-ener"y )Q and
the other part is the stored field ener"y )
f
.
13& =i(e the e;pressin fr tr/"e f a S6it#hed Re!"#tan#e $tr&
The tor!ue is "i#en $y T 9 YZ )Q : ZG[
i9const
.r $y T 9 YZ )
f
: ZG[
X

9const
)ith ma"netic saturation
ne"li"i$le and ith X 5i cur#e strai"ht line , X 9 6 i ,)Q 9 )
f
9 %T& 6 i
2
,T 9 %T& i
2
d6 :d G Fm
14& E;p!ain tr/"e speed #hara#teristi#s f S6it#hed Re!"#tan#e $tr&
1or speed $elo ;
$
the tor!ue is limited $y the motor current. 4p to $ase speed it is possi$le to
maintain the tor!ue constant $y means of the re"ulators. ,n the speed ran"e $elo ;
$
the firin" an"les can $e
chosen to optimi-e efficiency of minimum tor!ue ripple. The corner point or $ase speed $ is the hi"hest speed
at hich ma(imum current can $e supplied at rated #olta"e ith fi(ed firin" an"le. ,f these an"les are still 2ept
fi(ed, then the ma(imum tor!ue at rated #olta"e decreased ith speed s!uared. 3oe#er if the conduction
an"le is increased there is a considera$le speed ran"e o#er hich ma(imum current can still $e forced into the
motor and thus sustain the tor!ue at a le#el hi"h enou"h to maintain constant poer chan"e. This is shon
$eteen points * and +. The an"le
D
is dell or conduction an"le of the main sitchin" de#ice in each phase.
,t should "enerate can $e possi$le to maintain constant poer up to 2.3 times $ase speed.
1'& What are the types f p6er #ntr!!ers "sed fr S6it#hed Re!"#tan#e $tr%
4sin" to poer semiconductors and to diodes per phase, %n \ 1& poer sitchin" de#ices and %n \ 1&
diodes per phase, +hase indin"s usin" *ifilar ires , Dump 5 0 5 con#erter, Split poer supply con#erter
1)& Why rtr psitin sensr is essentia! fr the peratin f S6it#hed Re!"#tan#e $tr%
,t is normally necessary to use a rotor position sensor for communication and speed feed$ac2. The
turnin" .F and .11 operation of the #arious de#ices of poer semiconductor sitchin" circuit are influenced
$y si"nals o$tained from rotor position sensor.
1,& What are the t6 types f #"rrent #ntr! te#hni/"es%
3ysteresis type control, +)M type control
1-& What is $eant *y ener+y rati%
Ener"y ratio 9 %)
m
: )
m
\ '& ] 0.4@ )
m
9 Mechanical ener"y transformed
This ener"y ratio cannot $e called as efficiency. 7s the stored ener"y ' is not asted as a loss $ut it is feed$ac2
to the source throu"h feed$ac2 diodes.
1.& What is phase 6indin+ f SRM%
Stator poles carryin" field coils. The field coils of opposite poles are connected in series such that
mmfQs are additi#e and they are called ^+hase indin"_ of Sitched 'eluctance motor.
10& What is Hysteresis #"rrent #ntr!%
This type of current controller maintains a more or less constant throu"hout the conduction period in
each phase. This controller is called hysteresis type controller.
32& 9efine: Chppin+ $de f peratin f S6it#hed Re!"#tan#e $tr%
,n this mode, also called lo 5 speed mode, each phase indin" "ets e(cited for a period hich is
sufficiently lon".
31& 9efine: Sin+!e p"!se $de f peratin f S6it#hed Re!"#tan#e $tr%
,n this mode, also called hi"h 5 speed mode, the current rise is ithin limits durin" the small time inter#al of
each phase e(citation.
33& What is the step an+!e f an ) phase S6it#hed Re!"#tan#e $tr and #$$"tatin fre/"en#y in ea#h
phase fr the speed f ,222 rp$& SRM ha(in+ 12 statr p!es and ' rtr p!es&
S!"tin: Step an"le %& 9 % 2W : !F
r
& 9 % 3A0E : @`4& 9 1CE
0ommutation fre!uency at each phase 9 % F
r
` ; & : 2W 9 % 4`A000& : A0 9 400 3-. Y; 9 2WF[
34& What are the $erits f 9"$p C Cn(erter%
This topolo"y uses loer num$er of sitchin" de#ices and has only one sitch #olta"e drop, the con#erter has
full re"enerati#e capa$ility, and there is faster dema"neti-ation of phases durin" commutation
3'& What are the $erits f sp!it p6er s"pp!y Cn(erter%
,t re!uires loer num$er of sitchin" de#ices, there is faster dema"neti-ation of phases durin" commutation
3)& What are the $erits f #!assi# #n(erter%
0ontrol of each phase is completely independent of the other phases/ the ener"y from the off "oin" phase is
feed$ac2 to the source, hich results in useful utili-ation of the ener"y.
3,& What are the different p6er #n(erters "sed fr the #ntr! f s6it#hed re!"#tan#e $tr%
0lassic con#erter, %n\1& poer semiconductor sitch, phase indin"s usin" $ifilar ires, split poer
supply con#erter, dump c con#erter.
3-& 9ra6 the speed-tr/"e #hara#teristi#s f s6it#hed re!"#tan#e $tr&
1C
EE2403 Special Electrical Machines Department of EEE 2012-2013
PART <
1. E(plain the construction and or2in" of Sitched 'eluctance motorH
2. )ith a $loc2 dia"ram e(plain the importance of closed loop control of Sitched 'eluctance motor.
3. Descri$e the 3ysteresis type and +)M type current re"ulator for one phase of Sitched 'eluctance motor.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
4. E(plain in detail a$out microprocessor $ased control of Sitched 'eluctance motor.
@. Descri$e the #arious poer controller circuits to Sitched 'eluctance motor and e(plain the operation of any
one scheme ith suita$le circuit dia"ram.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
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EE2403 Special Electrical Machines Department of EEE 2012-2013
A. Descri$e the #arious operatin" modes of Sitched 'eluctance motor.
B. Deri#e the tor!ue e!uation of Sitched 'eluctance motor.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
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EE2403 Special Electrical Machines Department of EEE 2012-2013
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EE2403 Special Electrical Machines Department of EEE 2012-2013
C. Dra and e(plain tor!ue 5 speed characteristics of Sitched 'eluctance motor.
D. Discuss the ad#anta"es and disad#anta"es of Sitched 'eluctance motor.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
10. Discuss in detail the fre!uency of #ariation of the inductance of each phase indin" of Sitched 'eluctance
motor.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
UNIT I? PERMANENT MA=NET <RUSHLESS 9&C& MOTORS
PART - A
1. Why adF"sta*!e speed dri(es are preferred (er a fi;ed speed $tr%
The common reasons for preferrin" an ad?usta$le speed dri#es o#er a fi(ed speed motor areL
Ener"y sa#in" e.". 1an or pump flo process, 8elocity and position control e.". Electric train, porta$le tools,
ashin" machine, 7melioration of transientsL Startin" and stoppin" of motors produce sudden transients. ,t
can $e smoothened usin" ad?usta$le speed dri#es.
3. What is the str"#t"re f an adF"sta*!e speed dri(e syste$%
The "eneral structure of a motion control system or dri#e consists of the folloin" elementsL
The load, the motor, the poer electronic con#erter/ and the control.
4. Write *rief!y a*"t the #nstr"#tin and types f a <r"sh!ess 9C $a#hines&
*rushless +M machines are constructed ith the electric indin" on the stator and +Ms on the rotor.
There are se#eral con#entional +M machine confi"urations and other more no#el concepts concei#ed in recent
years to impro#e performance. The confi"uration of a +M machine and the relationship of the rotor to the stator
determine the "eometry and the shape of the rotatin" ma"netic field. +M machines in hich the ma"netic flu(
tra#els in the radial direction are classified as radial-flu( machines. They are cylindrical in shape, and the rotor
is usually located inside the stator $ut can also $e placed outside the stator. +M machines in hich the ma"netic
flu( tra#els in the a(ial direction are classified as a(ial-"ap machines. They can ha#e multiple dis2 or panca2e-
shaped rotors and stators. The stator-rotor-stator confi"uration is typical.
'. What are the ad(anta+es f PM $a#hine%
,n "eneral, +M machines ha#e a hi"her efficiency as a result of the passi#e, +M-$ased field e(citation.
+M machines ha#e the hi"hest poer density compared ith other types of electric machines, hich implies
that they are li"hter and occupy less space for a "i#en poer ratin". The amount of ma"net material that is
re!uired for a "i#en poer ratin" is a 2ey cost consideration. The cost of ma"net material is hi"h compared ith
the cost of the other materials used in electric motors, and desi"n attri$utes that minimi-e the re!uired amount
of ma"net material are important considerations in motor selection. The stators of +M machines are "enerally
fa$ricated in the same manner as induction machine stators/ hoe#er, modifications are sometimes necessary,
such as the desi"n of a stator lamination to accommodate hi"h flu( density.
). What are the types f PM $a#hines%
1. ,nterior +M Machine and 2. Surface mounted +M machine.
,. S5et#h different types f IPM $a#hines
-. S5et#h different types f S"rfa#e PM $a#hines.
.. 9is#"ss *rief!y a*"t the types f Per$anent Ma+nets "sed in e!e#tri#a! $a#hines&
PM strength and other key properties the #arious types of +Ms include the folloin"L
7lnicoaa family of ma"nets made from aluminum, nic2el, and co$alt characteri-ed $y e(cellent temperature
sta$ility, hi"h residual induction, and enou"h ener"y for a num$er of industrial and commercial applications.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
0eramicaa hard, lo-cost ferrite made of $arium and strontium ferrite ith e(cellent sta$ility. 0eramic
ma"nets tend to $e $rittle, hard, and resistant to corrosion.
1erritesaa softer %non-sintered& #ersion of the ceramic ma"net. 6oest-cost ma"nets.
Samarium co$alt %Sm20o1B&aa rare-earth ma"net ith outstandin" ma"netic properties includin" hi"h
*3ma(, e(cellent thermal sta$ility, and e(cellent corrosion resistance. Samarium co$alt is formulated as
Sm0o@ %1L@ material& and Sm20o1B %2L1B material&. This ma"net is ell suited for applications demandin"
hi"h ma"netic stren"th in a hi"h temperature en#ironment.
0. What are the $ethds fr #ntainin+ the $a+nets in PM<L9C $tr%
7s the $ase speed increases, ma"net containment $ecomes a critical pro$lem. 1or a machine ith
surface-mounted ma"nets operatin" as a $rushless direct current motor %*D0M& ith trape-oidal $ac2-emf,
there are four optionsL )rap the ma"nets ith a suita$le *-sta"e, Encase the rotor in a non-ma"netic can, 4se
an ^inside-outside confi"uration_ in hich the stator is inside the structure containin" the ma"nets and rotor
laminations. The centrifu"al forces on the ma"nets are then restrained $y this structure, 4se an a(ial "ap
confi"uration. ,n this arran"ement, the stator and rotor are in the shape of a toroid. The armature current is in
the radial direction and the ma"nets are char"ed in the a(ial direction. The air "ap is in the a(ial direction and
the centrifu"al force on the ma"nets is in the radial direction. Thus a restrainin" rin" can $e used that does not
impact the air "ap #olume.
12. C$pare *r"sh!ess 9C $tr 6ith P&M& #$$"tatr $tr&
<r"sh!ess 9C $tr P&M& C$$"tatr $tr
1. Fo *rushes. Maintenance pro$lems %'1,, spar2in",
i"nition and fire accidents& eliminated.
2. More cross sectional a#aila$le for armature indin"s.
0onduction of heat throu"h the frame is impro#ed.
3. ,ncrease in electric loadin" is possi$le, pro#idin" a
"reater specific tor!ue. 3i"her efficiency.
4. Space sa#in", hi"her speed possi$le, ith reduced
inertia.
@. Ma(imum speed limited $y retention of ma"net
a"ainst centrifu"al force.
A. Shaft position sensor is a must.
B. 0omple( electronics for controller.
1. 0ommutator $ased D0 machines need car$on
$rushes, so spar2in" and ear and tear is un
a#oida$le.
2. 7rmature indin" is inside and the ma"net is
on the stator outside.
3. Efficiency less.
4. 0ommutator restricts speed.
@. Ma"net is on the stator. Fo pro$lem.
A. Fot mandatory.
B. Simple
11. What are the $des f peratin f the s/"are 6a(e <L9C $tr%
There are to modes of operationL 120 de"ree mode and 1C0 de"ree mode. The mode corresponds to
the conduction period of the sitches in the #olta"e source in#erter. Each sitch conducts for the period 120 or
1C0 de"ree as per the mode. 0ommutation from one conductin" de#ice to another ta2es place at e#ery A0 de"ree
inter#als.
13. Why the shape f the e$f 6a(efr$ f a <L9C is trapeEida!%
The ideal shape of the emf a#eform is rectan"ular. The effect of slottin" and frin"in" causes its
corner to $e rounded and hence the shape is trape-oidal ith flat top portion ith 120 de"ree
14. =i(e the e$f and tr/"e e/"atins f the s/"are 6a(e <L9C $tr&
The emf e!uation is "i#en $y E 9 2b; and the tor!ue e!uation is "i#en $y T 9 2b,. here 2 is the
armature constant dependin" on the num$er of turns in series per phase in the armature indin", ; is rotor
speed in rad : sec and b is the flu( % mainly contri$uted $y the +ermanent Ma"net on the rotor&. , is the load
current.
1'& =i(e the e;pressin fr tr/"e speed #hara#teristi#s f <L9C $tr&
The emf e!uation is "i#en $y E 9 2b; and the tor!ue e!uation is "i#en $y T 9 2b,. E 9 8 - ,'
7t no load, , 9 0, so the no load speed ;
0
is "i#en $y ;
0
98: %2b& %Since at no load ,90, E9 89 2b ;
0
&
The stall tor!ue% motor at -ero speed& is "i#en $y T
0
9 2b,
0,
here ,
0
is the stall current. 7t -ero speed E 9 0 ,
89 ,
0
', ' 9 8: ,
0
, E 9 8- ',, Pb; 9 8 5 %8: ,
0
& , , 9 8%1-,: ,
0
& ; 9 %8:Pb&% 1-,: ,
0
& , 9 ;
0
%1-T: T
0
&
since T is proportional to ,. This is the e!uation descri$in" the tor!ue speed characteristics of *6D0 motor.
1)& C$pare 132 de+ree and 1.2 de+ree peratin f <L9C $tr&
The 1C0 de"ree ma"netic arc motor uses 120 de"ree mode of in#erter operation. The motor ith 120
de"ree ma"netic arc uses 1C0 de"ree mode of in#erter operation.
,n 1C0 de"ree mode of in#erter has 1.@ times copper losses $ut produce same tor!ue ith only 2:3 of ma"netic
material. Motor operation is less efficient.
1,& =i(e the e;pressin fr se!f and $"t"a! ind"#tan#es f a <L9C $tr&
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EE2403 Special Electrical Machines Department of EEE 2012-2013
Self inductance is "i#en $y 6
"
9 %X:i& 9 %Wc
0
F
2
lr
1
&:%2"_& here "_ 9 "Q \ l
m
: c
rec
, "Q 9 P
c
", F 9
Fum$er of conductors in the slot, , 9 current, l
m
9 ma"net len"th in radial direction , "Q 9 air "ap, "_ 9 air "ap
includin" radial thic2ness of the ma"net, c
rec
9 relati#e recoil permea$ility, Mutual inductance is "i#en $y M
"
9
- %1:3& 6
"
1-& What are the types f sensrs "sed 6ith PM<L9C $trs%
3all effect sensors are most commonly used for speed, position sensin" ith +M*6D0 motors.
.ptical Disc $ased sensors are also used. +resently rotor position sensors are a#oided $y usin" alternati#e
methods called as Sensorless control methods, hich uses terminal emf measurement, third harmonic #olta"e
measurement, flu( estimation and neuro 5 fu--y techni!ues etc.
1.& Why MOS@ET r I=<Ts are "sed in in(erters fr PM<L9C $trs%
These de#ices operate at #ery hi"h sitchin" fre!uencies for +)M method of operation. The duty
cycle of the +)M decides the a#era"e #olta"e applied to the motor and hence the speed is ad?usted. These
de#ices are easy to commutate $y usin" microprocessor or microcontroller $ased softare. %*ase dri#e&
10& Write the dyna$i# e/"atins f the PM<L9C $tr&
The dynamic model e!uations of +M*6D0 motor is "i#en $y di
a
:dt 9% #
an
5 ' i
a
5 e
a
%G& & : 6
di
$
:dt 9% #
$n
5 ' i
$
5 e
$
%G& & : 6 , di
c
:dt 9% #
cn
5 ' i
c
5 e
c
%G& & : 6 , d;:dt 9 Y T
e
5 T
l
5 * ; [ : d , dG:dt 9 + ; : 2
here the Tor!ue de#eloped is "i#en $y , T
e
9 %e
a
%G&i
a
\e
a
%G&i
$
\ e
a
%G& i
c
& : ; , T
6
9 6oad tor!ue applied, * is the
coefficient of friction and d is the moment of inertia.
32& What are the re!ati(e $erits and de$erits f *r"sh !ess 9C $tr dri(es%
MeritsL 0ommutator less motor , Specified electrical loadin" is $etter, 3eat can $e easily dissipated, Fo
spar2in" ta2es place due to $rush, Source of EM, is a#oided
DemeritsL 7$o#e 10 2), the cost of ma"net is increase, Due to centrifu"al force the ma"net may come out.
31& H6 the dire#tin f rtatin is re(ersed in #ase f PM<L9C $tr
The direction of rotation can $e re#ersed $y re#ersin" the lo"ic se!uences in +M*6D0 motor
33& What are the differen#e *et6een #n(entina! 9C $tr and PM<L9C $tr%
9C PM<L9C
*rushes are present *rushes are not present
Spar2in" may occur due to $rush Spar2in" ill not occur as $rush is not present
*rush tend to produce '11 '11 pro$lem does not occur
There is a need for $rush maintenance Fo need of $rush maintenance
34& Write the tr/"e and e$f e/"atin f s/"are 6a(e *r"sh!ess $tr
I lr N T lr N e
! ph e ! pn 1 1
4 , 2 = =
3'& What are the (ari"s 5inds f per$anent $a+nets%
There are $asically three different types of permanent ma"nets hich are used in small D0 motors
7lnico ma"nets, 1errite or ceramic ma"net, and 'are - earth ma"net %samarium 5 co$alt ma"net &
3)& <rin+ "t the differen#es *et6een #n(entina! and *r"sh!ess 9C $trs%
Description 0on#entional motors *rushless D0 motors
Mechanical structure 1ield ma"nets on the stator 1ield ma"nets on the rotor.
Similar to 70 synchronous motor.
Distincti#e features >uic2 response and e(cellent controlla$ility 6on" 5 lastin" Easy maintenance
0ommutation method Mechanical contact $eteen $rushes and
commutator
Electronic sitchin" usin" transistors
3,& Write the differen#e *et6een s/"are 6a(e PM<L and sine 6a(e PM<L $tr&
S!uare a#e +M*6 Sine a#e +M*6 motor
,t has rectan"ular distri$ution of
ma"netic flu( in the air "ap.
,t has sinusoidal or !uasi 5 sinusoidal distri$ution of ma"netic flu( in
the air "ap.
,t has rectan"ular current a#eforms. ,t has sinusoidal or !uasi 5 sinusoidal current a#eforms.
,t has concentrated stator indin" ,t has !uasi 5 sinusoidal distri$ution of stator indin" %conductors&
hich is short pitch and distri$uted or sometimes distri$uted in some
cases.
3-& Write the e;pressin f tr/"e e/"atin f a sine 6a(e PM<L $tr&
1or an ideal case
Nm N l r I T
s m
sin
2 2
3
1
=
and for the practical case
Nm I "
p
T
ph

sin
3
=
)here *
m
9 Ma(imum flu( density in the air "ap )$ : m
2
, l 9 a(ial len"th of the ma"netic path, m
F
s
9 stator poles,

9 tor!ue an"le , p 9 Fum$er of pole pairs


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EE2403 Special Electrical Machines Department of EEE 2012-2013
3.& Write the e;pressin fr ind"#ed e$f 8 phase f the sine 6a(e PM<L $tr&
1or an ideal case s m ph
N l r
p
"
1
2 2
1
=
and for the practical case
f N K "
ph w m ph

1 1
2 =
)here *
m
9 Ma(imum flu( density in the air "ap )$ : m
2
, l 9 a(ial len"th of
the ma"netic path, m, F
s
9 stator poles,

9 tor!ue an"le, p 9 Fum$er of pole pairs


3.& Write d6n the tr/"e e/"atin f per$anents $a+net syn#hrn"s $tr&
T 9 W *7rl sine
30& State the *Fe#ti(e f (e#tr #ntr! f per$anent $a+net syn#hrn"s $tr&
, 9 ,
d
\ ,
!
controllin" the +MSM ta2in" into consideration a$o#e mentioned aspects is 2non as #ector
control of +MSM.
PART <
1. Deri#e the tor!ue and EM1 e!uations of the permanent ma"net $rushless D0 motor.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
2. )hat are the differences $eteen mechanical and electronic commutatorH
6ess spar2, easy to control, less maintenance, more efficient, small in si-e %compact&
3. )hat are the ad#anta"es and disad#anta"es of *rushless D0 motor dri#esH
3i"h poer density, si-e, a$sence of $rushes, no spar2in" and less maintenance, more efficient than
con#entional Dc motor, hi"h speed
Dra$ac2s
+resence of ma"nets
Temperature limit
7"ein"
4. Dra the dia"ram of mechanical commutator. E(plain the operation of the same.
@. S2etch the structure of controller for permanent ma"net $rushless D0 motor and e(plain the functions of
#arious $loc2s.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
A. E(plain in detail the #arious rotor position sensors used in permanent ma"net $rushless D0 motor.
B. S2etch tor!ue 5 speed characteristics of a permanent ma"net $rushless D0 motor.
C. Dra the dia"ram of electronic commutator. E(plain the operation of the same.
D. E(plain in detail the ma"netic circuit analysis of $rushless D0 motor on open circuit.
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EE2403 Special Electrical Machines Department of EEE 2012-2013
10. Discuss in detail the #arious dri#in" circuits used in permanent ma"net $rushless D0 motor.
33
EE2403 Special Electrical Machines Department of EEE 2012-2013
UNIT ? PERMANENT MA=NET SYNCHRONOUS MOTORS
PART - A
1& C$pare PMSM and PM<L9C $trs&
PM <r"sh!ess 9C $tr PMSM
1. 'ectan"ular distri$ution of ma"netic flu( in
the air "ap.
2. 'ectan"ular current a#eforms.
3. concentrated stator indin"s.
1. Sinusoidal or !uasi5sinusoidal distri$ution of ma"netic flu(
in the air "ap.
2. Sinusoidal or !uasi-sinusoidal current a#eforms.
3. >uasi-sinusoidal distri$ution of stator conductors. %short
pitched and distri$uted or concentric stator indin"s&
3& =i(e the e;pressin fr tr/"e and e$f f a PMSM $tr&
T 9 %3:2& , f2 Y W r
1
l < F
s
sin%e&[:2, here e is the tor!ue an"le \#e for motorin",
E
ph
9 Y2 W %2
1
F
ph
& g
M1
f [ : f2
4& C$pare the perfr$an#e f PMSM 6ith <L9C $tr&
)ith e!ual r.m.s. phase currents the tor!ue of the s!uare a#e motor e(ceeds that of sine a#e motor
$y a factor 1.4B. )ith e!ual pea2 currents the factor is 1.2B. 1or the same flu(-density flu( per pole of a s!uare
a#e motor e(ceeds that of a sine a#e motor $y a factor W:2. S!uare a#e motor has a sli"htly $etter
utili-ation of the pea2 current capa$ility of the con#erter sitches. ,n +MSM three de#ices conduct at a time
%1C0 de"ree mode of in#erter&, here as in *6D0 only to de#ices conduct at a time in 120 de"ree mode.
'& What is $eant *y fie!d riented #ntr! f PMSM%
,n "eneral for field oriented control the stator currents are transformed into a frame of reference
mo#in" ith the rotor flu(. ,n the +MSM the rotor flu( is stationary relati#e to the rotor. The rotor flu( is
therefore defined $y the mechanical an"le of rotation h, this is o$tained from a rotor position sensor. Thus, the
control is much easier to implement than in the case of induction motor.
)& What are the inherent ad(anta+es f (aria*!e re!"#tan#e $tr%
Simple in construction due to a$sence of rotor indin"s and or ma"nets and the use of small num$er of
concentrated stator coils similar to the field coils of a D0 motor, Efficient motor coolin", Suita$le for
sustained hi"h speed operations, 6o motor inertia and hi"h tor!ue : ei"ht rotor
,& Write the e;pressin fr the se!f and syn#hrn"s rea#tan#e f PMSM
The sum of the ma"neti-in" and lea2a"e reactance define synchronous reactance.
l # $
% % % + =
, <
s
9 Synchronous reactance, <
M
9 Ma"neti-in" reactance, <
l
9 6ea2a"e reactance
-& <rin+ "t the differen#es *et6een syn#hrn"s and Ind"#tin $tr%
Syn#hrn"s $tr Ind"#tin $tr
,t is not a self startin" one and some e(ternal means are re!uired ,t has "ot self startin" tor!ue
'e!uires D0 e(citation or +M Does not re!uired D0 e(citation
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EE2403 Special Electrical Machines Department of EEE 2012-2013
Speed control not possi$le Speed can $e controlled $ut to small ran"e
,t can $e operated under ide ran"e of poer factor $oth la" and
lead
,t operates at only la""in" poer factor
hich $ecomes #ery simple for li"ht load
More complicated and costly More simple and less cost
.& What are the app!i#atins f syn#hrn"s $tr%
4sed in poer houses and su$ station in parallel to the $us $ar to impro#e the poer factor, 4sed in te(tile
mills, ru$$er mills, minin" and the $i" industry, 1ans, *loers centrifu"al pumps
0& What are the app!i#atins f PM<L9C and PMSM $trs%
+M*6D0L %6o ratin" application&turn ta$le dri#es for record players, 3ard disc dri#es, 6o cost instruments,
Small fans for coolin" electronic e!uipment, %3i"h ratin" application&7ir craft, Satellite system, Traction
system %in future&
12& What are ad(anta+es and disad(anta+es f PMSM%
Ad(anta+es: Elimination of field copper loss, 3i"h poer density, 6oer rotor inertia, 'o$ust construction of
rotor, 3i"h efficiency 9isad(anta+es: 6oss of fle(i$ilities of field flu( control, Dema"neti-ation effect, 3i"h
cost
14. What are the feat"res f per$anent $a+net syn#hrn"s $tr%
'o$ust, compact and less ei"ht, Fo field current or rotor current in +MSM, unli2e in induction motor,
0opper loss due to current flo hich is lar"est loss in motors is a$out half that of induction motor,
3i"h efficiency.
12. What are the app!i#atins f PMSM%
+MSM are used in lo to medium poer %up to se#eral hundred 3+& 7pplications, 1i$er spinnin" mills
'ollin" mills, 0ement mills, Ship propeller, Electric 8ehicles, Ser#o and ro$otic dri#es, Starters : "enerator for
air craft en"ine
14& E;p!ain the differen#e *et6een syn#hrn"s $tr and PMSM
Syn#hrn"s Mtr PMSM
3 phase 70 or si( step #olta"e or current source
in#erter is used as supply
3 phase sine a#e ac or +)M ac is used as supply
This type of motor is used in #ery lar"e compressor and
fan dri#es
3ere it is used in lo inte"ral 3+ industries dri#es,
fi$er spinnin" mills.
1'& What are disad(anta+es f PMSM re!ati(e t the #$$"tatr $tr%
Feed for shaft position sensin", ,ncreased comple(ion in the electronic controller
1)& What are the ass"$ptins $ade in deri(atin f e$f e/"atin fr PMSM%
1lu( density distri$ution in the air "ap is sinusoidal, 'otor rotates ith an uniform an"ular #elocity of ;
m
% rad:sec&, 7rmature indin" consists of full pitched, concentrated similarly located coils of e!ual num$er of
turns
1,& What are the ad(anta+es f !ad #$$"tatin%
,t does not re!uire commutation circuits, 1re!uency of operation can $e hi"her, ,t can operate poer le#els
$eyond the capa$ility of forced commutation.
1-& Write d6n the e;pressins fr p6er inp"t f a PMSM%
+oer input 9 3E
!
,
a
\ 3,
a
2
'
a
1.& Write d6n the e;pressins fr tr/"e f a PMSM%
T 9 3E,sin e : ;
m
F-m
10& What are the feat"res f #!sed- !p speed #ntr! f !ad #$$"tated in(erter fed syn#hrn"s
$tr dri(e%
3i"her efficiency, 1our !uadrant operation ith re"eneration $ra2in" is possi$le, 3i"her poer ratin"s and run
at hi"h speeds % A000 rpm&
32& Write d6n the e$f e;pressins f PMSM%
E
ph
9 4.44 f i
m
P
1
T
ph
#olts, This is the rms #alue of induced emf per phase, here f 9 1re!uency in
3ert-, i
m
9 flu( per pole, P
1
9 )indin" factor, T
ph
9 Turns per phase
31& What is !ad #$$"tatin%
0ommutation of thyristors $y induced #olta"es of load is 2non as ^load commutation_. 3ere, fre!uency of
operation is hi"her and it does not re!uire commutation circuits.
33& What is $eant *y s!t!ess $tr%
,n slotless motor, the stator teeth are remo#ed and resultin" space is partially filled ith addition copper.
34& 9istin+"ish *et6een se!f #ntr! and (e#tr #ntr! f PMSM%
S&N& Se!f #ntr! ?e#tr #ntr!
1. Dynamic performance is poor Dynamic performance is $etter
2. 0ontrol circuit is simple 0ontrol circuit is comple(
3@
EE2403 Special Electrical Machines Department of EEE 2012-2013
3'& State the t6 #!assifi#atins f PMSM%
Sinusoidal +MSM, Trape-oidal +MSM
3)& Write d6n the e;pressins fr the se!f and syn#hrn"s rea#tan#e f PMSM%
<
s
9 %3 W c
0
F
s
2
l r
1
;& : C p
2
"
2
j
3,& 9ifferentiate *et6een $e#hani#a! and e!e#trni# #$$"tatrs f per$anent $a+net *r"sh!ess 9C
$trs&
Mechanical commutator Electronic commutator
0ommutator arran"ement is located in the rotor 0ommutator arran"ement is located in the stator
Shaft position sensin" is inherent in the arran"ement ,t re!uires a separate rotor position sensor
Fo. of commutator se"ments are #ery hi"h Fo. of sitchin" de#ices is limited to A
Spar2in" ta2es place There is no spar2in"
3-& Na$e the t6 #$$"tatrs "sed in the p6er #ntr!!ers f per$anent $a+net *r"sh!ess 9C $trs&
Mechanical and electronic commutators
PART <
1. Deri#e the EM1 and tor!ue e!uation of *6+M Sine a#e motor.
3A
EE2403 Special Electrical Machines Department of EEE 2012-2013
2. E(plain the microprocessor $ased control of permanent ma"net synchronous motors ith a neat $loc2
dia"ram.
3B
EE2403 Special Electrical Machines Department of EEE 2012-2013
3. E(plain in detail the #ector control of permanent ma"net synchronous motor.
4. )ith neat s2etch, discuss the tor!ue 5 speed characteristics of +MSM.
@. )hat are the differences in the constructional features of +M*6D0 and +MSMH
A. Dra and e(plain the phasor dia"ram of permanent ma"net synchronous motor.
3C
EE2403 Special Electrical Machines Department of EEE 2012-2013
B. )ith a neat dia"ram, e(plain the operation of poer of controller for permanent ma"net synchronous motor.
3D
EE2403 Special Electrical Machines Department of EEE 2012-2013
C. E(plain circle dia"ram of permanent ma"net synchronous motor.
40
EE2403 Special Electrical Machines Department of EEE 2012-2013
41

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