5-1

Chapter 5 : DC and AC
Electric Machines
I
Introduction

Machines used as motors for propulsion and

Machines used as motors for propulsion and
as generators for braking.
as generators for braking.

Can either be DC or AC machines

Can either be DC or AC machines

Instantaneous power rating can be much

Instantaneous power rating can be much
higher than rated power
higher than rated power

Capability to provide full torque even at low

Capability to provide full torque even at low
speeds
speeds
5-2
Chapter 5 : DC and AC
Electric Machines
Machine Types
Machine Types

DC good characteristics but large and DC good characteristics but large and giving giving
maintenance problems maintenance problems

AC!induction comple" control# but rugged and widely AC!induction comple" control# but rugged and widely
used used

$M high energy density# though costly and fault sensitive $M high energy density# though costly and fault sensitive

%& motors are larger %& motors are larger Cost implications are significant Cost implications are significant

'%& motors are smaller '%& motors are smaller $M motor performance may $M motor performance may
outweigh cost problem outweigh cost problem

()M e"cellent fault tolerance and ease of construction# ()M e"cellent fault tolerance and ease of construction#
requires comple" control requires comple" control
5-3
Chapter 5 : DC and AC
Electric Machines
%lectric Motor and IC %ngine )atings
Power Watts = Torque N m Speed rads/ s.
HP=
Torque ft lbs rpm
5252
Comparison Comparison
between ICE and between ICE and
electric motors: electric motors:
Note: Note:
5-
Chapter 5 : DC and AC
Electric Machines
%lectric Motor and IC %ngine )atings
*
)ated '$ of electric motor is derated
)ated '$ of electric motor is derated
*
+or short periods# motors can deliver , to -
+or short periods# motors can deliver , to -
times rated '$
times rated '$
*
Torque can be ma"imum under stall
Torque can be ma"imum under stall
conditions
conditions
*
IC% ma"imum '$ is derived under ideali.ed
IC% ma"imum '$ is derived under ideali.ed
lab conditions
lab conditions
*
Transmission is essential for IC% to match
Transmission is essential for IC% to match
vehicle speed
vehicle speed
*
%lectric motor can be directly coupled with
%lectric motor can be directly coupled with
a single gear.
a single gear.
5-5
Chapter 5 : DC and AC
Electric Machines
%&/'%& Motor )equirements

)equirements
)equirements
!
"le#ible dri$e control "le#ible dri$e control
!
"a%lt tolerance and r%&&edness "a%lt tolerance and r%&&edness
!
'i&h e((icienc) 'i&h e((icienc)
!
'i&h speed 'i&h speed
!
*ow aco%stic noise and EMI *ow aco%stic noise and EMI
!
+ide constant power re&ion +ide constant power re&ion
!
'i&h tor,%e to inertia and power to wei&ht ratios 'i&h tor,%e to inertia and power to wei&ht ratios
- *ar&e . *ar&e .
e e
/0 res%lts in &ood acceleration /0 res%lts in &ood acceleration
!
'i&h pea1 tor,%e capabilit) 2333-334 rated power5 'i&h pea1 tor,%e capabilit) 2333-334 rated power5
5-6
Chapter 5 : DC and AC
Electric Machines
DC Machines
DC Machines
Characteristics
Characteristics
!
+indin&s at the stator 2(ield5 and rotor 2armat%re5 +indin&s at the stator 2(ield5 and rotor 2armat%re5
prod%ce two mm(7s in ,%adrat%re and &enerate a *orent8 prod%ce two mm(7s in ,%adrat%re and &enerate a *orent8
(orce (orce
!
Can be operated in di((erent con(i&%rations9 dependin& on Can be operated in di((erent con(i&%rations9 dependin& on
the windin& connections the windin& connections
!
Eas) and (le#ible to control9 established man%(act%rin& Eas) and (le#ible to control9 established man%(act%rin&
technolo&) technolo&)
!
*ow ma#im%m speed9 br%sh maintenance9 important EMI *ow ma#im%m speed9 br%sh maintenance9 important EMI
iss%es and lar&e si8e iss%es and lar&e si8e
5-:
Chapter 5 : DC and AC
Electric Machines
(eparately e"cited DC machine
(eparately e"cited DC machine
Independent $olta&e and (ield controls are possible in this Independent $olta&e and (ield controls are possible in this
con(i&%ration con(i&%ration
5-;
Chapter 5 : DC and AC
Electric Machines
%lectrical Modeling
%lectrical Modeling
V
A
=R
A
i
A
L
AA
di
A
dt
e
A
e
A
=K
m
T
e
=Ki
A
V
F
=R
F
i
F
L
FF
di
F
dt
= f

i
F

Armature Circuit
Armature Circuit
+ield Circuit
+ield Circuit
5-<
Chapter 5 : DC and AC
Electric Machines
Magnetic modeling
Magnetic modeling
=asic e,%ations: =asic e,%ations: B=H
=
3

r

3
=>13
:
Non linear characteristics with h)steresis e((ect: Non linear characteristics with h)steresis e((ect:
Appro!imatio" Appro!imatio"
Magnetic Characteristics
Magnetic Characteristics
5-13
Chapter 5 : DC and AC
Electric Machines
Torque!speed characteristics
Torque!speed characteristics

m
=
V
A
K

R
A
K
2
T
e
.or,%e-speed e,%ation: .or,%e-speed e,%ation:
DC Motor Characteristics
DC Motor Characteristics
-
?peed tor,%e characteristics is controlled b) $ar)in&
armat%re $olta&e and/or (ield c%rrent
5-11
Chapter 5 : DC and AC
Electric Machines
V
A
=R
A
#
A

K
m

V
A
=
R
A
K
T

K
m

or
m

K
2

2
V
A
KR
A
T

=3
@peratin& point @peratin& point: : V V $s. $s. at operatin& point at operatin& point: :
0perating $oint
0perating $oint
-
"or a &i$en 2.
A
9A5 point9 there can se$eral
armat%re $olta&e or (ield c%rrent
5-12
Chapter 5 : DC and AC
Electric Machines
Three!$hase AC Machines
Three!$hase AC Machines
1inding Configuration
1inding Configuration
3-phase windin&: 3-phase windin&: ?in%soidal distrib%tion: ?in%soidal distrib%tion:
5-13
Chapter 5 : DC and AC
Electric Machines

Armature is stationary as opposed to

Armature is stationary as opposed to
DC machines
DC machines

)otor circuit generates e"citation

)otor circuit generates e"citation

Can be of two types# induction or

Can be of two types# induction or
synchronous machines
synchronous machines

2o commutator or brushes in the case

2o commutator or brushes in the case
of ac machines
of ac machines
AC Machines
AC Machines
5-1
Chapter 5 : DC and AC
Electric Machines
"or sin%soidall) distrib%ted windin&: "or sin%soidall) distrib%ted windin&:
Ma&netomoti$e (orce: Ma&netomoti$e (orce:
1inding and MM+
1inding and MM+
5-15
Chapter 5 : DC and AC
Electric Machines
Bhase a windin&: Bhase a windin&: Bhase a mm(: Bhase a mm(:
3!$ole Machine
3!$ole Machine
5-16
Chapter 5 : DC and AC
Electric Machines
&ettori di (pa.io 4 sistema di coordinate
&ettori di (pa.io 4 sistema di coordinate

0



?ia (,t) la distribuzione della densit
angolare di corrente relativa ad un
elemento di macchina nel suo riferimento.
Dalla teoria delle macchine elettriche9 possiamo
deri$are la (,t) dalla conoscenza della
tensione magnetica (,t) secondo la
legge:

5 9 2
5 9 2
t
t
la (,t5 sarC %na distrib%8ione a &radino. CiD9
indica %na distrib%8ione di densitC lineare di
corrente l%n&o la peri(eria di macchina di tipo
imp%lsi$o:

m
$
$ % $
i & p t
2
1
5 2 5 9 2
5 1 2 5 1 2
2
1 2
$
m
$
m
$

5-1:
Chapter 5 : DC and AC
Electric Machines
Distribu.ione di corrente
Distribu.ione di corrente
$ %
m
$
i & $
m
p t

,
_

2
1
5 1 2 5 9 2

'
(p'
'
e t

.
5 9 2
Applichiamo lo sviluppo in serie di Fourier
Ricordando che il periodo della funzione T=2p,
e uindi che la pulsazione della fondamentale

!
"p, i coefficienti
h
sono ottenuti come segue:

,
_

1
1
]
1

,
_

m
$
(p'
$ %
(p'
p
m
$
$ %
T
('p
'
d e $
m
p i &
p
d e i & $
m
p
p
d e f
T
2
1
2
3
2
3
2
1
3
5 1 2
2
5 1 2
2
5 2
1

5-1;
Chapter 5 : DC and AC
Electric Machines
&ettori di spa.io
&ettori di spa.io
#alla teoria delle distribuzioni (teorema del campionamento)
possiamo calcolare l$integrale precedente: il prodotto della di #irac
concentrata nei punti
p-/p(k-1) per una qualsiasi funzione f() pari alla f(p- (k-1)/p)
cio alla funzione originaria campionata nei punti in cui concentrato
l$impulso.
%egue uindi:

m
$
$
m
('
$ % '
e i &
p
2
3
5 1 2
2

&a precedente sommatoria va separata tra correnti uscenti

e correnti entranti. Rispetto al riferimento esse saranno
sfasate spazialmente di radianti elettrici ('p radianti
meccanici):

1
1
]
1

+
m
$
$
m
('
$ %
(
m
$
$
m
('
$
m
$
$
m
('
$ % '
e i &
p
e e i e i &
p
1
5 1 2
2
1
5 1 2
2
1
5 1 2
2
2
2
5 2
2

5-1<
Chapter 5 : DC and AC
Electric Machines
&ettori di spa.io
&ettori di spa.io
i

%
m
$
$
m
(p
$ %
&
p
m e i &
p

2
1
5 1 2
2
1

m
$
$
m
(
$
e i
1
5 1 2
2
3
2

i

,
_

+ +

3

3
3
2
2 1
3
2
( (
e i e i i i
( )
( )
( )
2
3 2 1
2
3 2 1
2
3 2 1
3
2
3
2
3
2
a i a i i
a a
a ) a ) )
+ +
+ +
+ +
i

v

#ove i il vettore di spazio associato alla terna
di correnti di alimentazione, definito uindi come
5-23
Chapter 5 : DC and AC
Electric Machines
Characteristics
Characteristics

Bro$ides a simple and e((icient wa) o( representin& Bro$ides a simple and e((icient wa) o( representin&
sin%soidall) space distrib%ted $ariables sin%soidall) space distrib%ted $ariables

?imilar to the %se o( phasors ?imilar to the %se o( phasors

Ei$es a compact wa) o( representin& machine Ei$es a compact wa) o( representin& machine
e,%ations e,%ations

"acilitates the con$ersion (rom a 3-phase s)stem to a "acilitates the con$ersion (rom a 3-phase s)stem to a
2-phase s)stem 2-phase s)stem
(pace &ector )epresentation
(pace &ector )epresentation
5-21
Chapter 5 : DC and AC
Electric Machines
)iferimenti di Clarke e di $ark
)iferimenti di Clarke e di $ark
Riferimento di (lar)e: %istema di assi cartesiani ,
solidali con lo statore
Riferimento cartesiano il cui asse d ruotato
rispetto al riferimento di (lar)e di un angolo
5-22
Chapter 5 : DC and AC
Electric Machines
Trasforma.ione di
Trasforma.ione di
$ark
$ark
[ ]
1
1
1
]
1

1
1
1
]
1

1
1
1
]
1

1
1
1
]
1

3 3 3
1 3 3
3 cos sin
3 sin cos
3
2
*
*
*
R
*
*
*
*
*
*
dq
q
d

[ ]
dq
R

[ ]
3
T
Moltiplicando la matrice di rotazione
per quella che rappresenta la trasformazione di Clarke
si ottiene la trasformazione di Park
( ) [ ]
1
1
]
1

1
1
1
1
1
1
]
1

,
_

,
_

,
_

,
_

1
1
]
1

1
1
1
1
1
1
]
1

1
1
1
]
1

1
1
1
]
1

3
2
1
3
3
2
1
3
2
1
2
1
2
1
3
2
sin
3
2
sin sin
3
2
cos
3
2
cos cos
3
2
2
1
2
1
2
1
2
3
2
3
3
2
1
2
1
1
1 3 3
3 cos sin
3 sin cos
3
2
*
*
*
T
*
*
*
*
*
*
dq
q
d

5-23
Chapter 5 : DC and AC
Electric Machines
Trasforma.ione inversa
Trasforma.ione inversa
{ }
3 1 3 2 3 2 1 1
5 2
2
3
5 2
2
1
2
3
3
2
i i i i ( i i i i e e

'

1
]
1

+ + + i
{ }
{ }
3 2
2
3 3
Fe
Fe
i i a
i i a


i
i
[ ]
1
1
1
]
1

1
]
1

1
1
1
]
1

1
1
]
1

1
]
1

3
2
1
3
3
2
1
2
3
2
1
2
1
2
1
1
3
2
i
i
i
S
i
i
i
i
a a
i
i i
{ }
3 3
3
2
3
i ) e P
i i i
+ i v

5-2
Chapter 5 : DC and AC
Electric Machines
[ ] [ ] [ ]
ab%
* T *
*
*
*
*
*
*

1
1
1
]
1

1
1
1
1
1
1
]
1

1
1
1
]
1

3 3
3
2
1
3
2
1
2
1
2
1
2
3
2
3
3
2
1
2
1
1
3
2

Adoperando la notazione complessa, si pu scrivere in maniera

equivalente:

gG*

+j *

5 2
2
3
5 2
2
1
3
2
3 2 3 2 1
* * ( * * * + +
,
( )
3 2 1 3
3
1
* * * * + +
Trasforma.ione di Clarke
Trasforma.ione di Clarke
5-25
Chapter 5 : DC and AC
Electric Machines
-
?pace $ector (or a balanced set o( 3-phase $ariables has a ?pace $ector (or a balanced set o( 3-phase $ariables has a
ma&nit%de 3/2 times &reater than the ma&nit%de o( the ma&nit%de 3/2 times &reater than the ma&nit%de o( the
phase $ariables phase $ariables
-
.he amplit%de o( the space $ector is constant (or a .he amplit%de o( the space $ector is constant (or a
balanced set o( $ariables9 b%t the phase an&le is a balanced set o( $ariables9 b%t the phase an&le is a
(%nction o( time. (%nction o( time.
-
.here is a %ni,%e set o( $ectors that wo%ld s%m %p to .here is a %ni,%e set o( $ectors that wo%ld s%m %p to
&i$e the res%ltant space $ector. &i$e the res%ltant space $ector.
-
.he m%ltiplication o( 2/3 in the pre$io%s (i&%re .he m%ltiplication o( 2/3 in the pre$io%s (i&%re
represents the relationship between the ma&nit%de o( the represents the relationship between the ma&nit%de o( the
space $ector and the pea1 ma&nit%de o( the time $ar)in& space $ector and the pea1 ma&nit%de o( the time $ar)in&
phase sin%soid. phase sin%soid.
And the (l%#-densit): And the (l%#-densit):
5-26
Chapter 5 : DC and AC
Electric Machines
Types of AC Machines
Types of AC Machines
Fotor mm( &eneration techni,%e characteri8es an AC machine Fotor mm( &eneration techni,%e characteri8es an AC machine
?)nchrono%s machines rotate at s)nchrono%s speedH rotor mm( is ?)nchrono%s machines rotate at s)nchrono%s speedH rotor mm( is
prod%ced either b) electroma&net 2%sed in %tilit) power &eneration5 or prod%ced either b) electroma&net 2%sed in %tilit) power &eneration5 or
permanent ma&net 2can ha$e EI/'EI applications5 permanent ma&net 2can ha$e EI/'EI applications5
Ind%ction machine rotor mm( is ind%ced b) the stator c%rrents9 and Ind%ction machine rotor mm( is ind%ced b) the stator c%rrents9 and
rotates at a speed close to9 b%t di((erent than the s)nchrono%s speed rotates at a speed close to9 b%t di((erent than the s)nchrono%s speed
5-2:
Chapter 5 : DC and AC
Electric Machines
Induction Machines
Induction Machines
Two rotor configurations are possible
Two rotor configurations are possible

?,%irrel ca&e rotors are widel) %sed beca%se o( ?,%irrel ca&e rotors are widel) %sed beca%se o(
their r%&&edness and low cost their r%&&edness and low cost

+o%nd rotors9 which can be connected to an +o%nd rotors9 which can be connected to an
e#ternal circ%it e#ternal circ%it
Squirrel %a*e Squirrel %a*e
%o"fi*uratio" %o"fi*uratio"
5-2;
Chapter 5 : DC and AC
Electric Machines
?tator and rotor electrical circ%its: ?tator and rotor electrical circ%its:
(tator and )otor Circuits
(tator and )otor Circuits
5-2<
Chapter 5 : DC and AC
Electric Machines

?tator has sin%soidall) distrib%ted windin&s ?tator has sin%soidall) distrib%ted windin&s

=alanced sin%soidal c%rrents ind%ce a rotatin& stator (ield =alanced sin%soidal c%rrents ind%ce a rotatin& stator (ield

C%rrents (low in the short-circ%ited rotor windin&s and C%rrents (low in the short-circ%ited rotor windin&s and
ind%ce rotor mm( i( the di((erence in speed between stator ind%ce rotor mm( i( the di((erence in speed between stator
and rotor is non-8ero and rotor is non-8ero

@peration is then comparable to that o( a trans(ormer @peration is then comparable to that o( a trans(ormer

Interaction o( stator and rotor mm(7s prod%ce tor,%e Interaction o( stator and rotor mm(7s prod%ce tor,%e
Induction Machine 0peration
Induction Machine 0peration
5-33
Chapter 5 : DC and AC
Electric Machines
Modello in un riferimento qualsiasi
Modello in un riferimento qualsiasi
{ }

'

+
+
+ +
+ +
3 1 3
3 1 3
J
2
3
5 2
r r r
s s s
s s e
r
L e
s m r r r
r m s s s
r r b
r
r r r
s b
s
s s s
i
dt
d
L )
i
dt
d
L )
m p ,
dt
d
- , ,
L L
L L
(p
dt
d
R
(p
dt
d
R
i
i i
i i

i v

i v

5-31
Chapter 5 : DC and AC
Electric Machines
Motor %s%all) operated at low slip to ha$e a more linear Motor %s%all) operated at low slip to ha$e a more linear
characteristic and ma#imi8e e((icienc) characteristic and ma#imi8e e((icienc)
(peed!Torque Characteristics
(peed!Torque Characteristics
5-32
Chapter 5 : DC and AC
Electric Machines
At rated (l%#: At rated (l%#:
$
,
=. rl
N
S
2
T
e
=$
,

B
ms

#
r
/
where where

i
r
0
t =

F
r
N
S
/ 2

#
r
/
=$
r

B
ms

slip And (rom And (rom we &et we &et

T
e
=$
m
$
r

B
ms
2

slip
(implified Torque %"pression
(implified Torque %"pression
5-33
Chapter 5 : DC and AC
Electric Machines
Two main possibilities
Two main possibilities

?tator terminal $olta&e control ?tator terminal $olta&e control

?tator (re,%enc) control ?tator (re,%enc) control

A power electronics con$erter is %s%all) re,%ired A power electronics con$erter is %s%all) re,%ired
(peed Control Methods
(peed Control Methods
5-3
Chapter 5 : DC and AC
Electric Machines
Iariable stator $olta&e at (i#ed (re,%enc): Iariable stator $olta&e at (i#ed (re,%enc):
Torque1speed profile Torque1speed profile
5-35
Chapter 5 : DC and AC
Electric Machines
Iariable (re,%enc) b%t constant I/( ratio: Iariable (re,%enc) b%t constant I/( ratio:
Torque1speed profile Torque1speed profile
5-36
Chapter 5 : DC and AC
Electric Machines
Common mode o( operation: Common mode o( operation:
,otor dri)e ,otor dri)e
Torque1speed Torque1speed
operati"* e")elop operati"* e")elop
5-3:
Chapter 5 : DC and AC
Electric Machines
)egenerating
)egenerating
5raking
5raking

"eat%re o( electric machines9 allows the re&eneration o( "eat%re o( electric machines9 allows the re&eneration o(
1inetic ener&) bac1 to the electrical (orm d%rin& bra1in& 1inetic ener&) bac1 to the electrical (orm d%rin& bra1in&
operations operations

Mechanical bra1es still re,%ired (or short transients Mechanical bra1es still re,%ired (or short transients

E#tends the ran&e o( the $ehicle %p to 154 E#tends the ran&e o( the $ehicle %p to 154

Ind%ction machine is operated at ne&ati$e slip Ind%ction machine is operated at ne&ati$e slip

Bart o( the (o%r-,%adrant operation re,%ired b) EI/'EI Bart o( the (o%r-,%adrant operation re,%ired b) EI/'EI
5-3;
Chapter 5 : DC and AC
Electric Machines
An e#ample o( bra1in&: An e#ample o( bra1in&:
5-3<
Chapter 5 : DC and AC
Electric Machines
Cenni di dimensionamento
Cenni di dimensionamento

Chapter 5 : DC and AC
Electric Machines
Considera.ioni di progetto
Considera.ioni di progetto
$er le macchine rotanti la
$er le macchine rotanti la
poten.a di dimensionamento 6
poten.a di dimensionamento 6
sempre una poten.a elettrica#
sempre una poten.a elettrica#
assorbita od erogata a seconda
assorbita od erogata a seconda
che la macchina sia un motore
che la macchina sia un motore
od un generatore# ed 6 la
od un generatore# ed 6 la
poten.a apparente nel caso di
poten.a apparente nel caso di
corrente alternata
corrente alternata

Chapter 5 : DC and AC
Electric Machines
Dimensioni principali
Dimensioni principali
D Diametro
D Diametro
$asso polare
$asso polare
7 lunghe..a del pacco lamiere
7 lunghe..a del pacco lamiere
8 Densit9 di corrente lineare
8 Densit9 di corrente lineare
2
2
p

3
2
N #
K
2

Chapter 5 : DC and AC
Electric Machines
Dimensionamento
Dimensionamento
$oten.a di
$oten.a di
dimensionamento
dimensionamento
+lusso per polo
+lusso per polo
Tensione indotta
Tensione indotta
3
d
S 3#
2
2
med ,a! ,a!
2L 2L
B L B B
p p

2 .
2
3 f N fN



Chapter 5 : DC and AC
Electric Machines
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Chapter 5 : DC and AC
Electric Machines
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Chapter 5 : DC and AC
Electric Machines

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Chapter 5 : DC and AC
Electric Machines
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Chapter 5 : DC and AC
Electric Machines
Conclusioni
Conclusioni
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7a poten.a di traferro (
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di una macchina
di una macchina
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elettrica si puD esprimere come
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5
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valore massimo dellE indu.ione
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magnetica al traferro#
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densit9 lineare di
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corrente di armatura#
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D diametro
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alesaggio#
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lunghe..a attiva di macchina.
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Chapter 5 : DC and AC
Electric Machines
Conclusioni
Conclusioni
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2elle macchine tradi.ionali# la
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profondit9 di cava di eccita.ione
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sono limitate dalla
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satura.ione dei denti. Fna
macchina che non presenta alcuna
macchina che non presenta alcuna
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dentatura non risente# invece# di
questi vincoli.
questi vincoli.