Date 10-Oct-2017

Lecture-35 Torque from Salient Pole Synchronous Motor

SALIENT POLE SYNCHRONOUS MACHINE PHASOR DIAGRAM
V

jVd
jIqXq

δ E jIdXd
q-axis
θ Iq

Id I
Vq
d-axis

Phasor diagram of salient pole motor

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EXPRESSION FOR POWER AND TORQUE
 If we assume that there is no loss taking place inside the
machine then, the expression for the mechanical power output
becomes (was as stated in previous lecture) what is given
below:
𝑃𝑚 = 3𝑉𝐼 cos 𝜃
 We shall now resolve the component of current component
𝐼 cos 𝜃 along the direct and quadrature axis. From the phasor
diagram shown above we may write:
𝐼 cos 𝜃 = 𝐼𝑞 cos 𝛿 − 𝐼𝑑 sin 𝛿
 From the deductions done above we may now write the direct
and quadrature axis components of the current as:
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 From the phasor diagram we may note that V

the direct axis component of the voltage V

jVd
jIqXq

is given by: θ
δ
Iq
E jIdXd
q-axis

𝑉 sin 𝛿 = 𝑗𝑋𝑞 𝐼𝑞 Id I
Vq

d-axis
Since we are concerned about the
Phasor diagram of salient pole motor
magnitudes only we may write:
𝑉 sin 𝛿
𝐼𝑞 =
𝑋𝑞
Similarly for the quadrature axis component of the voltage V
we may write:
𝑉 cos 𝛿 = 𝐸 + 𝑗𝑋𝑑 𝐼𝑑

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And since we are concerned about the magnitudes only we
may further write:
𝑉 cos 𝛿 − 𝐸
𝐼𝑑 =
𝑋𝑑
Substituting in the above expression for 𝐼 cos 𝜃 we arrive at:
𝐼 cos 𝜃 = 𝐼𝑞 cos 𝛿 − 𝐼𝑑 sin 𝛿
𝑉 sin 𝛿 𝑉 cos 𝛿 − 𝐸
𝐼 cos 𝜃 = cos 𝛿 − sin 𝛿
𝑋𝑞 𝑋𝑑
Simplifying the above equation we get:
𝑉 sin 𝛿 𝑉 cos 𝛿 𝐸
𝐼 cos 𝜃 = cos 𝛿 − sin 𝛿 + sin 𝛿
𝑋𝑞 𝑋𝑑 𝑋𝑑

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 Using the trigonometric identity we write:
sin 2𝛿 = 2 sin 𝛿 cos 𝛿
𝑉(𝑋𝑑 − 𝑋𝑞 ) 𝐸
𝐼 cos 𝜃 = sin 𝛿 cos 𝛿 + sin 𝛿
𝑋𝑑 𝑋𝑞 𝑋𝑑
𝑉(𝑋𝑑 − 𝑋𝑞 ) 𝐸
𝐼 cos 𝜃 = sin 2𝛿 + sin 𝛿
2𝑋𝑑 𝑋𝑞 𝑋𝑑
Substituting the expression for 𝐼 cos 𝜃 in the expression for power:
𝑉(𝑋𝑑 − 𝑋𝑞 ) 𝐸
𝑃𝑚 = 3𝑉𝐼 cos 𝜃 = 3𝑉 [ sin 2𝛿 + sin 𝛿]
2𝑋𝑑 𝑋𝑞 𝑋𝑑
Thus the expression for output power becomes:

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 𝑉𝐸 𝑉 2 (𝑋𝑑 − 𝑋𝑞 )
𝑃𝑚 = 3 [ sin 𝛿 + sin 2𝛿]
𝑋𝑑 2𝑋𝑑 𝑋𝑞
And the torque is written as:
𝑃𝑚 3 𝑉𝐸 𝑉 2 (𝑋𝑑 − 𝑋𝑞 )
𝑇= = [ sin 𝛿 + sin 2𝛿]
𝜔𝑚𝑠 𝜔𝑚𝑠 𝑋𝑑 2𝑋𝑑 𝑋𝑞
We may note that the torque has two components:
1. The first component which is known as synchronous
torque and it is responsible for generation of the main or the
dominant component of torque. This component of torque is
proportional to the sin 𝛿.
2. The second component which is known as the reluctance
torque and it proportional to the sin 2𝛿.
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If we compare the torque produced by a salient pole and round
rotor motor we will notice a marginal difference as shown.

DAMPER WINDINGS
 Some synchronous motors have an additional winding located
on the pole-face.
 These windings are known as damper windings or amortisseur
windings on the rotor.
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 These windings are done with the help of squirrel cage bars.

 There are two purposes of these windings.

1. Damping out the oscillations;
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 2. Used for starting of the synchronous motor
 The synchronous motor will not produce any torque if the rotor
is standstill, since the torque produced is a synchronous
torque.
 However, the motor needs to be started from an idle condition.
 When the machine is idle the field windings are not excited.
 The damper winding works in a similar fashion as an induction
motor. Hence, when a three phase supply is produced the
rotating MMF appears in the airgap which produces a current
in damper windings.
 The motor starts as an induction motor and as it picks up
speed and comes close to the synchronous speed, at this
instant the excitation is applied to the field winding of rotor and
the synchronous torque appears and motor gets synchronised.
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 When the machine speed comes close to synchronous speed
and the field excitation is applied and the motor pulls into
synchronism.
 Hence this is called the pull-in torque.
 The field excitation should be applied at the right instant of
time when the poles are in correct position.
 If the excitation is applied at wrong instant then pole-slip will
take place causing heavy currents drawn from the stator
winding.
 The process is known as synchronising.
 The correct instant of synchronisation is when the angle 𝛿 = 0.
 If the angle 𝛿 > 180° the torque becomes negative and may
cause pole slips.

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Steady State Stability Limit
 In order to analyse the stability let us consider the expression
for torque:
For a salient pole machine:
𝑃𝑚 3 𝑉𝐸 𝑉 2 (𝑋𝑑 − 𝑋𝑞 )
𝑇= = [ sin 𝛿 + sin 2𝛿]
𝜔𝑚𝑠 𝜔𝑚𝑠 𝑋𝑑 2𝑋𝑑 𝑋𝑞
For a round rotor machine:
𝑃𝑚 3 𝑉𝐸
𝑇= = sin 𝛿
𝜔𝑚𝑠 𝜔𝑚𝑠 𝑋𝑑
The above expression may be put in simple terms as:
𝑇 = 𝑇𝑚𝑎𝑥 sin 𝛿

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 3 𝑉𝐸
Where 𝑇𝑚𝑎𝑥 =
𝜔𝑚𝑠 𝑋𝑑

The T-δ characteristics is shown in the figure.

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 After the process of synchronisation with the mains supply, if a
load is gradually applied to the synchronous motor shaft the
load angle will increase.
 When the load torque 𝑇𝐿 is gradually increased till the
maximum torque 𝑇𝑚𝑎𝑥 the load-angle δ reaches the maximum
value that is 90°.
 Any further increase in the load torque will lead the motor to
loose synchronism.
 Thus the limit of steady state stability is when 𝛿 = 90°.

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SYNCHRONOUS GENERATOR OPERATION
 When the load torque is negative, or, in other words when the
machine no longer function as a motor supplying a load torque
by is actually being driven by a prime mover the situation is
that of a generator.
 A synchronous motor can also
enter into a generator operation.
 Under such operating condition
the load angle δ becomes
negative and the torque also
becomes negative. The load
angle characteristic is shown in
the figure.

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Variable Speed Operation
 Similar to an induction motor the synchronous motors can also
be operated as a variable frequency drive by varying the
frequency and the voltage.
 When the frequency is changed the synchronous speed also
changes.
 While changing the speed below the rated speed a constant
ratio of 𝑉/𝑓 is maintained. This results in constant pull out
torque.
 The field excitation is kept constant.

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 For the speed of operation higher than the rated speed the
voltage is kept constant at rated voltage and the frequency is
increased. This results in reduced pull out torque.


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