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Design of a Compact Hysteresis Motor Used in a Gyroscope

Article  in  IEEE Transactions on Magnetics · October 2003

DOI: 10.1109/TMAG.2003.816726 · Source: IEEE Xplore

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IEEE TRANSACTIONS ON MAGNETICS, VOL. 39, NO. 5, SEPTEMBER 2003
Design of a Compact Hysteresis Motor
Used in a Gyroscope
K. R. Rajagopal, Senior Member, IEEE
Abstract—This paper presents the computer-aided design and
test results of a compact three-phase hysteresis synchronous motor
used as the drive motor of a gyroscope. Hysteresis motor is the
best choice for this application because of its compactness and re-
liability. Also, it has a self-starting capability and it does not re-
quire any position sensor and commutation circuits. The design of a
three-phase 32-V 400-Hz 6000-r/min hysteresis motor in full is pre-
sented. A computer program in MATLAB is created for the design
and analysis of the hysteresis motor and used extensively in this
work. The test results of the developed motor are fairly matching
with the computed values. Results of a detailed study conducted to
identify the harmonic torque components reveal that the net torque
available with a six-pulse inverter supply is only 92.89% of that
with a sinusoidal supply.
Index Terms—Gyroscope, hysteresis motor, motor, space appli-
cation, special motor.
I. INTRODUCTION
A DYNAMICALLY tuned gyroscope (DTG), which is an in-
ertial sensor for measuring the angular rate of a satellite
or launch vehicle, consists of a spin motor, a flexural suspen-
sion, a rotor, position sensors, and a permanent magnet (PM)
torquer. The spin motor provides a constant angular momentum
to the gyrorotor. Since the gyro is directly mounted on the launch
vehicle or satellite, the position sensors detect the angular dis-
placement of the gyrorotor due to change in angular rotation
of the satellite or launch vehicle. The PM torquer, which is a
torque-to-null mode actuator along the two axes of the gyro,
brings back the gyrorotor by precession to its initial position by
applying the required torque along the appropriate axis [1].
The motor used to rotate the rotor has to be a constant speed
motor. It must have a self-starting capability, higher starting
torque, and also a simple geometry. The hysteresis motor meets
all the above requirements. It can be regarded as a self-starting
synchronous motor. It starts by virtue of the hysteresis and eddy-
current losses induced in the rotor by the revolving field of
the stator windings. In its simplest form, the hysteresis motor
has a conventionally slotted and laminated stator wound with
polyphase winding. The active part of the rotor consists of a ho-
mogenous ring or sleeve of a hard magnetic material secured to
the shaft on a nonmagnetic hub. The rotor is perfectly round and
symmetrical and does not have any salient poles. At the starting
time both-eddy current and hysteresis torques will be present.
Once the motor picks up speed, eddy-current torque decreases.
Manuscript received January 13, 2003.
The author is with the Electrical Engineering Department, Indian Institute of
Technology, New Delhi 110016, India (e-mail: krrajagopal@ieee.org).
Digital Object Identifier 10.1109/TMAG.2003.816726
3013
Performance requirements of the motor
Selection of type of motor and its topology
Selection of materials
Solving magnetic circuits and finalizing motor
parameters
Optimising the parameters and prediction of
performance
Final design data
Fig. 1. Brief flow chart of the overall design and analysis procedure.
The hysteresis torque remains constant throughout the speed
range, zero to synchronous speed. Finally, at the synchronous
speed both these torques are absent and the motor runs essen-
tially as a PM motor.
The overall procedure involved in designing a compact hys-
teresis motor is briefly shown in Fig. 1. Initially, a design is
worked out for the required performance, and then based on
the design data, the equivalent circuit parameters are calculated.
Using these parameters, the performance of the motor is calcu-
lated. Finally, the design is tuned to have a compact motor with
the required performance.
II. DESIGN OF HYSTERESIS MOTOR
The design of the hysteresis motor involves mainly the se-
lection of the hysteresis material, number of stator poles, the
winding configuration, airgap dimensions, and stator lamination
geometry [2]. Fig. 2 shows a flow chart of the design procedure
adopted in this work. The motor used in the gyroscope will be
of miniature size. Considering the winding space available in
the motor, the field intensity achievable is expected to be of the
order of 100 Oe. The selection of hysteresis material in minia-
ture size motors with input power of less than 10 W and op-
erating magnetic field intensity of 100 Oe is governed by the
limitations of the input power rather than the volumetric effi-
ciency [3]. On this basis, the materials that can be selected for
operating with magnetic intensity of the order of 100 Oe are
"P6 alloy" and " 5 % Chrome Steel." CRGO 41 is selected as
3014 IEEE TRANSACTIONS ON MAGNETICS, VOL. 39, NO. 5, SEPTEMBER 2003

Read the specifications of the

motor to be designed (Voltage,
Speed, Frequency and Rating)
Choose the materials to be used for
the motor (Rotor, Conductor,
Insulation, etc.)
Calculate the number of poles and
also the volume of the rotor
material
Assume minimum
innner radius for
the rotor
Calculate the outer radius
and the length from the
ratios
Calculate the airgap
length and the ratios
Increase the R2/R3and R1/R2
inner radius of
the rotor
/ Read t h e in p u t dia ta /
/ {stato r pa ra e t e rs, /
/ d im e n s io ns , m a t e ria 1 /
/ p ro p e rt ie s ,eitc . ) /
Calculation ofderived dimensions
(airgap length, m e a n diam eters of
hysteresis ring, airgap etc.)
C a Ic u la t i o n o f
r e lu e t a n c e f r o m
d im e n s io n s
Calculation ofinductance and
corresponding reactances from
r e lu c t a n c e
Calculation ofequivalent
r e s i s t a n c e s for e d d y
:urrent and parasitic losses
\| R1 - Stator inner radius
C a l c u l a t i o n o f m u Itip l i c a t i o n f a c t o r s
| R2 - Rotor outer radius needed forcalculation ofequivalent
| R3 - Rotor inner radius v o l t a g e d u e to h y s t e r e s i s ring

0 u tp u t a II ca l e u la t e d a n d g i v e n
equivalent circuit param eters
Calculate the flux/pole, thereby the
number of turns on the stator and the
maximum number of slots possible

Calculate the number of

conductors/slot, therby the
number of turns per phase Fig. 3. Flow chart of the procedure for calculation of the equivalent circuit
parameters of the motor.
Calculate the gauge of of the conductor and
size with insulation, current density and the
height of the slot
at 24. The slot area is designed to accommodate 65 turns of 35
Calculate the yoke height from the SWG enameled copper wire.
allowable flux density limit and then
caclulate the outer diameter of the
motor
Since the acceleration torque forms the major requirement of
Output all the design
this motor, higher starting torque is necessary. Usually, in these
specifications of the motor applications, a dual voltage excitation method will be used. A
higher voltage will be used for starting and, thereafter, a re-
duced voltage will be employed during the normal running. A
six-pulse inverter with the input voltage of 40 V dc will drive
Fig. 2. Flow chart of the design procedure.
the motor during starting and, thereafter, during the normal run-
ning, this voltage will be reduced to 24 V. Accordingly, the fun-
the stator stack material and the lamination thickness is taken as damental rms voltages will be 31.2 and 18.7 V during starting
0.27 mm. and running, respectively. The final design data of the motor are
The rotor of the gyroscope has to be run at 6000 r/min, and the given as follows:
standard inverter frequency is 400 Hz. Therefore, the number of
poles must be eight. The parasitic losses associated with the hys- Supply voltage at starting/running: 31.2 V/18.7 V
teresis ring are the major factors that influence the performance, Frequency: 400 Hz
especially the efficiency of the motor. The parasitic losses may Phase current at starting/running: 0.17 A/0.102 A
be subdivided into the flux parasitic loss and the MMF para- Input power at starting/running: 6.2 W/ 2.3 W
sitic loss. The MMF parasitic loss is caused by the space har- Number of poles: 8
monics due to nonsinusoidal distribution of conductors in the Number of coils/pole/phase: 1
winding. To reduce this, obviously, the winding must be sinu- Number of turns/coil: 65 turns
soidally distributed. To satisfy this condition for an eight-pole Gauge of winding wire: 35 S.W.G.
motor, a large diameter has to be selected, which will eventu-
Phase resistance: 19 fi
ally do away with the compactness of the motor. Considering
Outer diameter of the stator: 55 mm
the fact that the MMF parasitic loss is small compared to the
Inner diameter of the stator: 30.2 mm
flux parasitic loss and the present design windings are not dis-
Outer diameter of hysteresis ring: 29.9 mm
tributed sinusoidally, one coil/pole/phase is selected.
Inner diameter of hysteresis ring: 27.8 mm
In the conventional motors, the airgap is selected from the Stack length: 5 mm.
MMF considerations. However, in the hysteresis motor, it is de-
termined by the parasitic loss considerations. Flux parasitic loss From the design data of the motor its equivalent circuit pa-
is due to the undulations of the airgap flux density on account rameters can be calculated by following the procedure given in
of open slots of the stator. Increasing the airgap can reduce this Fig. 3. A computer program is developed in MATLAB for the
effect. In the present design, closed slots are preferred with the design and analysis of the hysteresis motor. The equivalent cir-
nominal airgap of 0.15 mm. The number of slots has been fixed cuits of the hysteresis motor given in [4]—[7] are utilized in this
RAJAGOPAL: DESIGN OF A COMPACT HYSTERESIS MOTOR USED IN A GYROSCOPE
24 NOS.
equispaced slots
\
Fig. 4. Stator slots.
55 mm dia.-
Stator stack
Potting for the winding
Fig. 5. Diagram of wound stator with potting.
Fig. 6. Cross-sectional view of the developed gyroscope. 1. Gyro rotor 2.
Flexural suspension. 3. Pick-off. 4. Torquer coil. 5. Permanent magnet rings. 6.
Hysteresis motor stator. 7. Hysteresis motor rotor.
work. The design has been analyzed and tuned using this pro-
gram to make the motor a compact one delivering the required
performance.
III. FABRICATION AND TESTING
A DTG with the hysteresis motor as per the final design has
been fabricated. Fig. 4 shows the type of stator slots and Fig. 5
shows a diagram of the wound stator with potting on the wind-
ings. Fig. 6 gives a cross-sectional diagram of the developed
gyroscope with the designed hysteresis motor. A comparison of
the test results of the developed motor with the computed values
is given in Table I. It can be seen from this table that the mea-
View publication stats
3015
TABLE I
COMPUTED AND MEASURED PERFORMANCE OF DESIGNED HYSTERESIS
MOTOR AT NORMAL RUNNING
Item Computed Measured
Input power (W) 2.30 2.23
Output power (W) 1.45 1.34
Efficiency (%) 63.04 60.09
Phase Current (A) 0.102 0.111
Power factor 0.696 0.620
sured efficiency of the motor is 60.09% against the calculated
value of 63.04%. The difference canbe attributed to variations in
the actual properties of the hysteresis material used in the rotor
and also to measurement errors. Low efficiency and low-power
factorare the major drawbacks of the hysteresis motor compared
to other conventional motors.
An experiment with a purely sinusoidal supply of 31.2 V,
which is equal to the fundamental of the six-pulse inverter
output having 40-V dc input, has been conducted and it is seen
that the torque developed is greater by about 9%. Detailed
analysis had revealed that with a six-pulse inverter supply, the
harmonics ofthe order of 5,11,1/5,1/11,5/7,5,13, etc., act in a
negative direction resulting in negative torques; also, harmonics
ofthe order of 7, 13, 1/7, 1/13, 5/11, 7/13, etc., act in positive
direction resulting in positive torques, the net result being a
reduction of 7.11% of the torque. It is therefore advisable to
have a sinusoidal supply for the hysteresis motor used in very
sensitive applications like gyroscopes. A pulsewidth-modulated
inverter can be employed with selective harmonic elimination.
IV. CONCLUSION
Design, analysis, and development of a compact three-phase
hysteresis motor used as the drive motor of a gyroscope are
discussed in this paper. Performance of the developed motor
closely matches with the computed values, which establishes
the correctness of the developed design and analysis program.
In a hysteresis motor, since the stator also does the magnetiza-
tion of the rotor, the power factor is poor. The application of a
six-pulse inverter output as the input ofthe hysteresis motor re-
sults in positive and negative harmonic torques, the net result
being reduction of the developed torque by 7.11%.
REFERENCES
[1] J. P. Gilmore and J. Feldman, "Gyroscope in torque-to-balance strap
down application,"/. Spacecraft, vol. 7, pp. 1075-1082, Sept. 1970.
[2] A. W. Lawrence, "The design of an advanced strap down gyroscope,"
Hamilton Standard, HSER 5579, Feb. 1970.
[3] S. Ramakrishnan, "Hysteresis synchronous motor for dry tuned gyro and
conical horizon sensor," ISRO Rep.12.81, 1981.
[4] M. R. Harris, J. E. Brown, B. C. McDermott, and P. T. Jowett, "Aspects
of performance of small hysteresis motors," in Inst. Elect. Eng. Conf.
Proc, 1989, CD-202, pp. 103-105.
[5] S. Miyari and T. Kataoka, "Basic analysis of hysteresis motors consid-
ering eddy current effect," Elec. Eng. Jpn., vol. 86, no. 6, pp. 67-77,
1966.
[6] M. A. Rahman, M. A. Copeland, and G. R. Slemon, "An analysis ofthe
hysteresis motor III—Parasitic losses," IEEE Trans. Power App. Syst.,
vol. PAS-88, pp. 954-960, Apr. 1969.
[7] M. A. Rahman, "Analytical models for poly-phase hysteresis motor,"
IEEE Trans. Power App. Syst, vol. PAS-92, pp. 237-242, Apr. 1973.