Professional Documents
Culture Documents
net/publication/241701467
CITATIONS READS
8 12,607
1 author:
Gojko Joksimovic
University of Montenegro
65 PUBLICATIONS 1,207 CITATIONS
SEE PROFILE
Some of the authors of this publication are also working on these related projects:
Induction motor efficiency improvement through optimal electromagnetic design solutions View project
All content following this page was uploaded by Gojko Joksimovic on 16 May 2014.
Gojko Joksimović
Montenegro
joxo@ac.me
Abstract One of the crucial parts of every electrical machines course is the introduction to the basic
elements of alternating current (AC) windings design. After introductory part regarding definition
of the full-pitch coil magnetomotive force (MMF), usually continues analysis based on fundamental
MMF harmonic. This paper presents winding function approach to the AC winding analysis.
Although this approach is well known and intensively used in the scientific circles, especially last
few years, author’s impression is that this approach is not sufficiently present in the education
process. This approach has at least two principal advantages over the conventional one. Firstly, it
takes into account exact MMF waveform i.e. all of the MMF space harmonics simultaneously.
Secondly, this approach is mainly computer oriented and on such a manner it promotes very
important aspect of electrical engineering education - an interdisciplinary approach. All of the basic
terms in the field as distribution factor, pitch factor, synchronous speed could be and are derived in
this paper, using winding function definition. Additionally, basic elements of Fourier’s analysis
using built-in MATLAB functions are described and its applications are illustrated.
Keywords Turns function, Winding function, MMF, distribution factor, pitch factor, Fourier
analysis
INTRODUCTION
With the advent of low-cost personal computers and various easily accessible software packages,
computer-aided teaching tools have become an essential part of both classroom lectures and
laboratory experiments in electrical machinery education [1]-[5]. These tools have particular
1
importance in those cases when it is not convenient to organize laboratory exercises as in the case
The fundamentals of Electric machines are taught at the University of Montenegro in two main
courses. The first course is an introductory course which covers the fundamental principles of
electromechanical energy conversion and transformers. The second one deals with rotational
electrical machines in depth. In the first course, one of the crucial parts is AC winding design and
analysis, one of the most difficult topics in electric machines for students to understand. This is why
a special attention must be given to this topic with extensive use of graphics and animation.
University of Montenegro was carried out last two years. After learning the materials in the
traditional manner, by presentation of slides and animation of rotating MMF wave, the students take
active participation in the modeling of the concrete winding in the MATLAB environment. During
the classroom lectures students have a chance to explore and look at real winding machine, too, Fig
1. The quality of this way of active participation in the educational process describes a high
The described approach facilitates students understanding of a very important concept in electric
machinery: spatial harmonics of MMF. It makes a good basis for distinguishing these from the
others, later introduced time harmonics of voltage or current. The described approach has the
2
following additional good side: it provides an animation of the rotating MMF wave. Spectral
analysis of rotating MMF wave at different instants of time assures students of a constant harmonic
content of the wave regardless of its different waveforms in different instants of time.
windings are place where electromotive force (emf) should be induced. In electrical motors,
primarily AC windings goal is to produce rotating MMF wave. In any case, AC windings have to be
designed on such a manner that induced EMF in the AC windings or produced rotating MMF wave
Keeping in mind that AC windings are a complex subject having a books dedicated to it, [6], [7],
and that are even today interesting from different point of views, [8]-[11], we will treat here first its
basics. Let’s look, for the beginning, the simplest form of the stator phase winding. It is a single
concentrated coil with Nn turns. Positions of coil’s sides along stator circumference are described by
θ2
A’
A
θ1
3 2’
C
2
4
1
3
Assuming uniform air-gap length i.e. neglecting existence of stator and rotor slots, as well as
∫ H ⋅ dl = ∫ J ⋅ dS
C S
(1)
where H(θ) is radial component of magnetic field intensity in the air gap at position described by
angle θ, g is air gap length, i is coil current and n(θ) is turns function, [12].
From Fig 2 it is obvious that by changing the position θ of the closed loop side 2 (this closed loop
takes part in the Ampere’s circuital law), turns function could be defined on following manner:
N θ1 < θ ≤ θ2
n(θ ) = n (3)
0 for other θ
∫ B ⋅ dS = 0
S
(4)
µ 0 ∫ H ⋅ dS = 0 (5)
S
or,
l 2π
∫ ∫ H ⋅ rdθdz = 0
0 0
(6)
Assuming that H does not depend on the axial coordinate, above expression is equal to,
2π
∫ H ⋅ dθ = 0
0
(7)
2π
1
2π ∫0
H ⋅ dθ = 0 (8)
4
From (2) and (8) follows,
2π
1 i
∫ H (0 ) + ⋅ n(θ ) dθ = 0 (9)
2π 0 g
2π
i
H (0 ) + n(θ )dθ = 0
2πg ∫0
(10)
i
H (0 ) = − ⋅ n(θ) (11)
g
where n(θ) is the mean value of the turns function. From (11) and (2) follows:
where,
is winding function, [13], [14]. Obviously, winding function is nothing else but MMF per unit
current. In further text terms winding function and MMF per unit current will be used
αm
N n 1 − 2π θ1 < θ ≤ θ2
N (θ) =
(15)
− N α m for rest of θ
2π
n
For a full-pitch coil, in a two pole machine (p=1), for adopted system of reference, Fig 3, turns and
5
π 3π
N <θ≤
n A (θ) = n 2 2 (16)
0 for other θ
Nn π 3π
2 <θ≤
N A (θ) =
2 2 (17)
− N n for other θ
2
Fig 3 show placement of coil along the stator circumference, turns function profile, winding
function profile together with two the most significant space-harmonics as well as coefficients of
A’
3
C
2
4
1 θ
a) b)
Fig. 3. a) Cross section view, b) Turns function, winding function along with two the most significant higher space-
harmonics and Fourier expansion of winding function for a full-pitch coil in a two pole machine (p=1). Coil has 10
turns.
Obviously, only odd higher space-harmonics are present in Fourier series of winding function. The
fundamental space-harmonic amplitude is 6.37 turns, Fig 2b, i.e. 4/π higher than the winding
4 Nn
MMFA max 1 (θ ) = I 2 (18)
π 2
6
where I is the alternating current rms value. Higher space-harmonic of order ν has ν times smaller
4 1 Nn
MMFA max ν (θ ) = I 2 (19)
πν 2
Turns and winding function for full pitch coil as well as Fourier expansion of winding function
given on Fig 3 could be easily defined using following few rows written in MATLAB:
i=1;
for teta=0:dx:2*pi-dx,
if((teta>pi/2)&(teta<=3*pi/2)),
na(i)=nn;
else
na(i)=0;
end;
i=i+1;
end;
clear i
Na=na-mean(na);
% Fourier expansion
F_series=2*abs(fft(Na)/H);
stem(F_series(2:30),’filled’)
It should have in mind following two facts: 1) in order to obtain exact discrete Fourier transform,
number of samples in 2π must be power of two, i.e. H=2n where n is an integer; 2) first element in
Fourier expansion is coefficient equal to the mean value of the winding function and this element is
Fig 4 shows cross section view of the machine as well as turns and winding function for a full-pitch
coil winding in a four pole machine, p=2. Two full-pitched coils (in a four pole machine full-pitch
coil has a pitch αm=π/2 rad) are series connected. Total turns and winding function of phase
7
winding is simply the sum of the turns and winding functions of every single coil in the winding.
By other words, superposition is allowed because infinitely permeable iron was assumed. Now, the
fundamental harmonic is second order harmonic (p), third harmonic is sixth order harmonic (3p)
4 NA
MMFA max 1 (θ) = I 2 (20)
π 2p
where NA is the total number of turns in the phase winding. The amplitude of the MMF higher
4 1 NA
MMFA max ν (θ) = I 2 (21)
π ν 2p
A1’
A1
A2
3
C
2
4
A2’ 1 θ
a) b)
Fig. 4. a) Cross section view, b) Turns function, winding function along with two the most significant higher-space
harmonics and Fourier expansion of winding function of two series connected full-pitch coils (A1-A1’ and A2-A2’) in four
Fourier analysis showed that the air gap MMF produced by a full-pitch coil(s) consists of
8
components. In the design of the AC windings, serious efforts are made to distribute the coils
making up the windings so as to minimize the higher-order harmonic components and to produce an
air-gap MMF wave which consists predominantly of the space-fundamental sinusoidal component.
three-phase machine occupies one third of stator slots along the circumference of the machine. Fig
5 shows such one phase winding in a two pole machine which stator has S=18 slots. It means that
one phase winding occupy six slots, three under one and three under other pole.
A3
A2
A1
’ A1
’
A2
A’3
a) b)
Fig. 5. a) Cross section view, b) Turns function, winding function along with the two most significant higher-space
harmonics and the Fourier expansion of distributed winding consists of three series connected full-pitch coils (A1-A1’,
A2-A2’ and A3-A3’ ) in two pole (p=1) machine. Every single coil has Nn=10 turns, NA=30.
Turns and winding function of phase A winding could be easily obtained by summing turns and
winding functions of individual coils. As it is clear from Fig 5, resultant MMF profile of distributed
full-pitch winding has trapezoid like shape what is much closer to the sinusoid than before, Figs 3
and 4. However, amplitude of the resultant winding function is not three times as greater than
before, but somewhat smaller as it could be easily concluded observing the coefficients of the
9
Fourier series. The reason for that is in the space displacement of individual coils. The winding
distribution factor Kd just define this ratio: per definition, distribution factor is ratio of the resultant
MMF space-harmonic amplitude and sum of the MMF space-harmonics amplitudes of the
constituent coils (ratio of vector and algebraic sum of constituent coil’s MMFs):
For the fundamental space harmonic, ν=1, from Fourier expansions, Figs 3 and 5:
These results are in good correlation with results obtained from the well known analytical
α π
sin νq1 sin ν
K dν = 2
= 2m
(23)
α
q1 sin ν q1 sin ν π
2
2mq1
where m is number of phases, q1 is number of slots per pole per phase and α is an electrical angle,
π π
sin sin
Kd1 = 2⋅3 = 6 = 0.9598
π π
3 ⋅ sin 3 ⋅ sin
2⋅3⋅3 18
π 5π
sin 5 sin
2 ⋅ 3 = 6 = 0.2176
Kd5 =
π 5π
3 ⋅ sin 5 3 ⋅ sin
2⋅3⋅3 18
10
Having in mind definition of distribution factor, resultant distributed phase winding MMF space-
4 1 N A K dν
MMFA max ν (θ) = I 2 (24)
π ν 2p
Three-phase machine has a three distributed windings on the stator. Phase windings are identical
but shifted in space for 2π/3p mechanical degrees. One phase winding in a three-phase machine
occupies one third of number of stator slots under one pole, Fig 6.
’
C3 C’2
B1 C’1
B2 A3
B3 A2
A1
’ A1
A2
’
B’3
A’3 B’2
C1 B’1
C2 C3
a) b)
Fig. 6. a) Cross section view, b) Winding functions of phase windings. Every phase winding consists of three series
connected full-pitch coils. Two pole machine, p=1. Every single coil has 10 turns.
Winding functions i.e. MMFs per unit current for such machine is given on Fig 6. In order to obtain
the resultant MMF wave, care must be taken about instantaneous value of phase currents. As it is
well known, through the three-phase windings flows phase shifted currents. At one instant of time,
say t1=5ms, Fig 7, phase current ia has a value ia=1A while other two phase currents are
11
ib=ic=−0.5A. Resultant MMF wave could be obtained by multiplying phase winding functions with
i.e.
i.e.
3
MMFS _ t2 =10ms = (N b − N c ) (28)
2
Fig. 7. Three-phase, 50Hz, unit currents. Phase current rms value is 1/√2=0.707A.
The resultant MMF profiles at these two instant of time are shown on Fig 8. Obviously, positions of
the maximal values of resultant MMFs are shifted in space, i.e. resultant MMF wave is not fixed in
space: actually it is rotating MMF wave. Rotating speed could be easily found from the following
considerations: at t1=5ms maximal value of the rotating MMF is at position described by the axes of
phase winding A, i.e. θt1=2000. At t2=10ms, maximal value of the rotating MMF is at position
12
π
angle 2900 − 2000 900
[rad ] 4π rad rad 2πrad rev
ns = = = = 2 = = 2πf = f = 60 f (29)
time t 2 − t1 T
[s ] T [s ] 2T s s 1
min min
4 4 60
More generally, in case of machine with p pole pairs, synchronous speed is p times smaller:
Hence, resultant MMF wave rotate with synchronous speed, having different waveforms in every
different instant of time. However, regardless of shape of the MMF profile at different instants of
time, Fourier’s expansion of the MMF is always the same. Spectral content of the presented MMF
Fig. 8. Resultant rotating MMF wave in two different instants of time, t1=5ms and t2=10ms and Fourier expansion of
13
For difference from the phase windings, resultant rotating MMF wave does not contain any odd
space harmonic which is integer multiply of three. By other words, all MMF space-harmonics
ν = 6k + 1 (31)
where k=0,±1,±2,… From (31) follows that symmetrical three phase winding supplied from
symmetrical three-phase voltage supply contains fundamental ν=1, fifth ν=−5th, seventh 7th,
eleventh −11th etc. space harmonics. Minus sign means inverse rotating MMF wave. Synchronous
speed of νth space-harmonic is ν times smaller than the synchronous speed of the fundamental one,
As it one can conclude from the Fig 8, noteworthy higher space harmonics are 5th and 7th, so called
phase belt harmonics which are direct consequence of trapezoidal shape of the phase winding
MMF. However, the most significant higher space harmonics are, so called, slot harmonics, of
order S/p±1. In analyzed case it is 17th and 19th space harmonics. They are direct consequence of the
discrete nature of the winding i.e. conductor placement in the slots. These harmonics on the best
manner fills the “gaps” in the stepwise shape of resultant MMF wave.
By comparison the amplitudes of the MMF space-harmonics from Fig 5 and Fig 8, it is easy to
conclude that the rotating MMF space-harmonic amplitude is 1.5 times higher than amplitude of the
3 3 4 1 N A K dν 3 1 N A K dν
MMFS max ν = MMFphase max ν (θ ) = I 2= I 2 (33)
2 2 π ν 2p πν p
3 1 N A K dν 3 1 30 ⋅ 0.96 1 3
MMFS max 1 = I 2= ⋅ ⋅ 2 = 30 ⋅ 0.96 = 27.52 Aturns
πν p π 1 1 2 π
14
m m 1 N A K dν
MMFS max ν = MMFphase max ν (θ) = I 2 (34)
2 πν p
An additional measure taken in order to further upgrade the rotating MMF waveform closer to the
sinusoid is use of the short-pitch coils. However, in order to use short-pitch coils, stator phase
winding must be placed in two layers along the stator circumference, i.e. short-pitch coil must have
one its side placed in one slot in one, say, bottom layer but other side must be placed in other slot in
top layer. On this way double-layer winding is obtained. Using short-pitched coils, with adequate
coil pitch, some of the higher space-harmonics in the resultant rotating MMF waveform could be
Let’s look at the following example: Fig 9 shows double layer three-phase stator winding. Every
single coil in the phase windings is a short pitch coil. Shortening of the coil is one stator slot pitch.
Now, instead of three coils in one phase winding, Fig 6, six shorted-pitch coils makes one phase
winding. In order that comparison with the previously analyzed case could be possible, every single
Phase winding from Fig 9 one could observe on a following manner: the phase winding is organized
in two layers, and every layer, observed individually, is layer with full-pitch coils. But, two layers
are shifted in space for one stator slot pitch – shortening of the coil. Therefore, resultant phase
MMF, on the harmonic basis, could be seen as a vector sum of the layer’s MMF. Here is
conveniently to introduce other winding factor, chord or pitch factor, as ratio of vector and
β β β
MMF1 cos + MMF2 cos 2 MMF cos
K p1 = 2 2 = 2 = cos β (35)
MMF1 + MMF2 2 MMF 2
where β is an electrical angle which describe the shortening of the coil pitch.
15
6 5
7 4
8 3
9 2
10 1
11 18
12 17
13 16
14 15
Fig. 9. Double layer three-phase winding. Two pole machine, p=1. Shortening of the coil is one stator slot pitch.
y
π − β = kπ = π (36)
τp
y π
K p1 = sin (37)
τp 2
y π
K pν = sin ν (38)
τp 2
By taking into account just defined pitch factor, amplitude of the rotating MMF space-harmonic, in
3 1 K pν K dν N phase 3 1 K ν N phase
MMFS max ν = I 2= I 2 (39)
πν p πν p
where Kν is winding factor which include distribution and pitch factor, Kν=Kdν⋅Kpν. In many
N eff ⋅ I
MMFS max ν = 1.35 (40)
ν⋅ p
16
where Neff=Kν⋅Nphase is so called number of effective turns per phase.
Rotating MMF waveshape for two different instant of time and for winding from Fig 9 is given on
Fig 10. Fourier’s coefficients for the space harmonics are also given. For one stator slot pitch
8π
K p1 = sin = 0.9848
92
K d 1 = 0.96
and somewhat is smaller than in a case of full-pitch windings, due to the pitch factor. This result is
in close agreement with results obtained numerically, from Fourier’s expansion of the resultant
MMF wave, Fig 10. However, the main result of short-pitch coils using is in the attenuation of 5th
and 7th space harmonics in the rotating MMF wave. Namely, in order to cancel out 5th harmonic
y π y π 2
K p 5 = sin 5 =0⇒5 = κπ ⇒ y = κτ p (41)
τp 2 τp 2 5
where κ is an integer, κ=0,1,2,… and κ must be chosen so that coil pitch y is first number smaller of
the pole pitch expressed in number of stator slots. For analyzed winding, τp=9 slots, so, the
2 36
y= ⋅ κ ⋅ 9 κ→
=2
= 7. 2
5 5
17
Fig. 10. Rotating MMF wave at two different instants of time and corresponding Fourier’s coefficients. Two pole
As coil pitch must be an integer, possible solutions are y=7 or y=8. Obviously, for any choice, 5th
space harmonic could not be eliminated but for y=7 it will be significantly reduced. Similarly, for
y π y π 2
K p 7 = sin 7 =0⇒7 = κπ ⇒ y = κτ p (42)
τp 2 τp 2 7
2 54
y= ⋅ κ ⋅ 9 κ→
=3
= 7.71
7 7
Again, y could be 7 or 8 and, again, 7th space harmonic could be only attenuated, especially for y=8,
but not absolutely eliminated from the MMF wave. If coils with 7 stator slot pitch are chosen, 5th
harmonic will be much attenuated than 7th. Inversely, if coils with 8 stator slot pitch are chosen, 7th
space harmonic will be much attenuated than 5th. In analyzed case study, coils with 8 stator slot
18
pitch are used (one stator slot pitch shortening), so 7th space harmonic will be much more attenuated
than 5th, as could be easily concluded by comparison of MMF wave spectrum from Figs 8 and 10.
Usually, coil pitch is chosen in such a way to attenuate 5th and 7th space harmonic simultaneously,
2 1
y= κτ p = κτ p (43)
6 3
together with additional condition, that κ must be chosen on a such way that coil pitch y is slightly
smaller than the pole pitch. Condition (43) could be alternatively defined as,
τp 5
y = τp − = τp (44)
6 6
However, from Figs 8 and 10 it should be observed that shortening of the coils have no any impact
on the intensity of the slot harmonics! Coil, regardless of its pitch, must begin in one slot and end in
the other, and therefore the coil’s spacing is an integral multiple of the basic spacing causing slot
CONCLUSIONS
A winding function approach for AC winding analysis is presented. This approach has at least two
principal advantages over conventional one. Firstly, it takes into account all of the MMF space
harmonics simultaneously, i.e. exact MMF waveform. Secondly, this approach is mainly computer
oriented and on such manner it promotes very important aspect of electrical engineering education -
an interdisciplinary approach. All of the basic terms in the field as distribution factor, pitch factor,
synchronous speed are derived in this paper using winding function approach. Additionally, basic
elements of Fourier’s analysis using built-in MATLAB functions are described and its applications
are illustrated. This approach could be easily implemented for analysis of fractional slot windings as
19
REFERENCES
[1] A.F. Zobaa, T.A. Boghdady, “Integration into undergraduate courses of transformer tests using
[2] S. Ayasun, G. Karbeyaz, “DC Motor Speed Control Methods Using MATLAB/Simulink and
[3] S. Ayasun, C. Nwankpa, “Induction Motor Tests Using MATLAB/Simulink and Their
[4] Y.N. Anagreh, I.M. Al-Refae’e, “Teaching the self-excited induction generator using
MATLAB”, International Journal of Electrical Engineering Education, Vol. 40, No.1, pp.55-65,
January 2003.
[5] J. Cathey, Electric Machines: Analysis and Design Applying MATLAB, McGraw Hill, 2001.
[6] H. Sequenz, The windings of electrical machines, Vol. 3, A.C. Machines, Springer Verlag,
[7] M.M. Liwschitz-Garik, Winding of alternating current machines, van Nostrand Publications,
1950.
[8] A. Demenko, “Description of electrical machine windings in the finite element space”,
Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM, pp. 717-
720, 2008.
20
[10] D. A. Kocabas, A. F. Mergen, “A novel method to reduce the effects of space harmonics in
alternating current machines”, International Symposium on Industrial Electronics, ISIE, pp. 692-
697, 2008.
[11] H. Xueliang, D. Qiang, H. Minqiang, “A Novel Exact and Universal Approach for Calculating
the Differential Leakage Related to Harmonic Waves in AC Electric Motors”, IEEE Transactions
[12] N.L. Schmitz, D.W. Novotny, Introductory electromechanics, Ronald Press, 1965.
[13] R.B. Robinson, “Inductance coefficient of rotating machines expressed in terms of winding
space harmonics”, Proc. Inst. Elec. Eng, Vol. 111, No. 4, pp. 769-774, 1964.
[14] T.A. Lipo, Theory and control of synchronous machines, ECE 511 lecture notes, University of
Wisconsin-Madison
[15] A.E.Fitzgerald, C. Kingsley, S.D. Umans, Electric machinery, McGraw Hill Professional, 2002
[16] I. Boldea, S.A. Nasar, The induction machine handbook, CRC Press, 2002
[17] P.C.Sen, Principles of electrical machines and power electronics, Wiley, 1996
[18] P.Cochran, Polyphase induction motors – analysis, design and application, CRC Press, 1989
21