Lecture 1: Introduction to Electric Machines

Dr. Ton Duc Do, doduc.ton@nu.edu.kz

Winter 2018-2019
 Contents

• Introduction

• Modelling of DC Machine

• Operating Principle of AC Machine

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Introduction

3
 A Brief Introduction of Electric Machines
 The first electric machine was invented in 1830 by Jacobi. It is an DC machine.
 Then Tesla and Ferraris invented the Induction motor.
 60% of electricity is used to run electric machines.
 More than 80% are used for induction machines.
 However, Permanent magnet machines are replacing induction machines.

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 Electric Machine Drive System
 A modern electric machine system has
four components:
1. Electric machine
2. Power converter: rectifiers,
choppers, inverters,
cycloconverters
3. Controllers: matching the motor
and power converter to meet the
load requirements
4. Load

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 Electric Machine Classification
 DC machines:
1. Shunt
2. Series
3. Compound
4. Separate excited
5. Switched reluctant machines

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 Electric Machine Classification (cont’d)
 AC machines:
1. Induction
2. Wound rotor synchronous
3. Permanent magnet synchronous
4. Reluctant motors

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Electric Machine Classification (cont’d)

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 Electric machine selection
1. Cost
2. Thermal capacity
3. Efficiency
4. Torque-speed profile
5. Acceleration
6. Power density, volume of the motor
7. Ripple, cogging torque
8. Peak torque capability
9. Suitability for hazardous environment
10. Availability of spare parts

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 Trend in Development of Electric
machine Drive System
1. Shift DC  AC machine

2. Shift other type of AC machines 

permanent magnet machine

3. Manual operation  automatic

control system.

4. Simple controller  advanced /

intelligent controller

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 Principle
The direction of the magnetic field
surrounding the conductor can
be found using your
right hand

The Right Hand Rule

Position the thumb of your right hand

pointing in the direction of
conventional current (Positive to
Negative) and your fingers will wrap
around the conductor in the direction
of the induced magnetic field.
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 Principle (cont’d)
The Direction and Motion of an Induced Magnetic
Field in a Conductor

Current Coming Current Moving

Towards You Away From You
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 Principle (cont’d)
Current and Magnetism in a Coil

When current moves through a coiled conductor a circular

magnetic field is induced about the coil 13
 Principle (cont’d)
A Conductor in a Fixed A Current Carrying Conductor
Magnetic Field in a Fixed Magnetic Field

Force

Fixed Magnetic Field Induced Magnetic Field

(Due to current) 14
 Principle (cont’d)
Fleming's Left Hand Rule
Thumb = Direction of
Conductor Motion

Fore Finger = Direction of Fixed

Magnetic Field (N to S)

Middle Finger =
Conventional Current
Direction

Determines the direction of DC current carrying conductor in a fixed magnetic field

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 Principle (cont’d)
A conductor in a Fixed Magnetic Field

S
N
What is the direction of the Force acted on the
conductor?
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 Principle (cont’d)
Use the Left Hand Rule to Determine the Rotation Direction
of the Armatures in A and B

N Hint: You will have to turn

your left hand upside down
A for example A
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 Principle (cont’d)
Use the Left Hand Rule to Determine the Rotation Direction
of the Armatures in A and B

S
N Notice that when the current through the
B armature is reversed, it moves (Rotates) in
the opposite direction
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 Principle (cont’d)
Faraday’s law of electromagnetic induction

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 Principle (cont’d)
Voltage induced in a conductor

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 Principle (cont’d)
Lorentz force on a conductor

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 Principle (cont’d)
Lorentz force on a conductor (cont’d)

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Modelling of DC Machines

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 Modelling of DC machine

1. Field winding for excitation flux

2. Armature winding to generate torque through interaction with flux

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 Modelling of DC machine (cont’d)
 Each type has its own
torque-speed
characteristics
 Now, shunt and
separately excited
machines are most
widely used.

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Modelling of DC machine (cont’d)

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 Modelling of DC machine (cont’d)
 Dynamic Equations

e is back electromotive force (EMF)

Va is terminal voltage
Te is torque
λf is linkage flux by the armature
Vf is applied voltage to the field winding
Ke is the back EMF constant
ωrm is rotating angular speed of the rotor
Ra is armature winding inductance
Vb is voltage drop by the brush
KT is the torque constant
Rf is the equivalent field winding resistance
Lf is the equivalent field winding inductance

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Analysis of Steady-State Operation

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 Analysis of Steady-State Operation
(Cont’d)
 Separately Excited Shunt Machine
From (2.9) to (2.11), we have

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 Analysis of Steady-State Operation
(Cont’d)
 Separately Excited Shunt Machine (cont’d)
For a stable operating point, the following condition should be met,
?????

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 Analysis of Steady-State Operation
(Cont’d)
 Separately Excited Shunt Machine (cont’d)
 λf1 >λf2 > λf3 • Reduce flux  increase speed
• To keep constant torque, armature current
needs to be increased increase losses

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 Analysis of Transient-State of DC
machine
 Separately Excited Shunt Machine

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 Analysis of Transient-State of DC
machine (Cont’d)
 Separately Excited Shunt Machine – Permanent magnet DC machine

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 Analysis of Transient-State of DC
machine (Cont’d)
 Separately Excited Shunt Machine – Permanent magnet DC machine (cont’d)
 Ra = 0, B = 0,  no damping component
 System oscilate without decaying with frequency

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 Analysis of Transient-State of DC
machine (Cont’d)
 Separately Excited Shunt Machine – Permanent magnet DC machine (cont’d)
 La = 0  torque is directly propotional to the voltage applied to the armature
winding.

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 Analysis of Transient-State of DC
machine (Cont’d)
 Separately Excited Shunt Machine (cont’d)
 Active damping for improving control performance

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Operating Principle of AC machines

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 Generating Rotating Magnetic Force
 Rotor of AC machines is spinned by the interaction of the magnetic material
of the rotor and the rotating magnetic force (MMF) generated by a stator
winding current.
 By applying balanced three-phase AC voltage to the three sets of windings
spatially apart by 120˚, rotating MMF can be produced.

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 Generating Rotating Magnetic Force
(cont’d)
 Total MFF with orientation with an MFF by a

 If the current is sinusoidal,

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Generating Rotating Magnetic Force
(cont’d)
 Equivalent Diagrams for
generating rotating MMF

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 Synchronous Reluctance Machine

(SynRM)
Rotor has an asymmetric shape with respect to rotating MMF,
 Rotor is rotated to minimize the reluctance,

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 Surface-Mounted Permanent Magnet
Synchronous Machine (SMPMSM)
 A set of permanent magnets is mounted on the surface of the rotor,
 Rotor is rotated to via the interaction with rotating MMF and the flux of
permanent magnet,

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Interior Permanent Magnet Synchronous
Machine (IPMSM)
 A set of permanent magnets is inserted inside of the rotor,
 Rotor is rotated to via the interaction with rotating MMF and the flux of
permanent magnet, and also to minimize the reluctance.

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 Wound Synchronous Machine
 For high-power machines, permanent magnet is replaced by wound
winding.

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 Induction Machine
 Stator is fed by AC current to generate rotating MMF
 Rotor is made of electric conductor
 When rotating MMF applied to rotor, a voltage is induced at the conductors
of the rotor  short-circuit currents flow in the conductors. These currents
again generate a rotating MMF.
 Interation between MMFs of rotor and stator spin the rotor.
 Unlike the synchronous machines, where speed of rotor is the same as the
speed of rotating MFF generated by stator, the speed of the rotor for
induction machine is always smaller than the speed of the rotating MFF.

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Induction Machine

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 References
1. Control of Electric Machine Drive Systems, S. K Sul, John Wiley & Sons,
2011.
2. Electrical Machines, Drives, and Power Systems, T. Wildi, Pearson
Education, 2002.
3. Understanding DC Motor Basics, [online: http://www.gearseds.com/]

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Any Questions?