Creating rotational

motion
In electric machines

BME VET

Definition
In the following we deal with
electromechanical converters.
In electric machines we use rotating
magnetic field to create rotational (or
linear) motion.
In this part we summarize knowledge
that is required to understand the
connection of rotating magnetic field
and rotational motion.
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Topology of rotating machines

z
z
z
z

2 magnetic field sources, interaction

stator and rotor
windings (coils, electromagnets): excitation
airgap
stator
rotor
airgap
axle

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Creating torque with magnets

The effect between two permanent
magnet (or two excited coils) if
the magnetic poles are the
same, see picture:
This arrangement is heteropolar
(alternating poles along the
perimeter).
The torque between the two
magnets is:

M sin

proportional to sinus of the

angle between the two
magnetic axis.

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Creating torque
Conclusion:
to reach M = constant we need
= constant.
This can be reached if the two
magnets stand or rotate with
the same angular frequency.
The later case means that the
magnets are relative standstill.
(Common solution:
current (and magnetic field) of
one (standing or rotating) coilsystem is generated by the
other (standing or rotating)
coil-system. )

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AC winding
AC windings are always
heteropolar.
Winding (coil) is placed like:
Winding sides are placed along
the surface of the stator or
the rotor.
Winding sides are connected
with end windings and so
create multiturn winding.

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AC winding
Symbol of winding:
axis

Axis of winding is the same as axis of the magnetic

field inside (generated by its current).
The dimensional relation of the current and the
magnetic field can be determined by the method of
right handed helix.

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AC winding
Winding sides are affixed by teeth and slots:
tooth
slot
airgap

If we put windings into slots we can reduce the airgap

between stator and rotor

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Meaning of induction vector

We want to create induction, voltage and current as close to
sinusoidal as possible in rotationg machines.

We need sinusoidal signals because we use multiphase

sinusoidal, symmetric system for which electric power is
constant.

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Meaning of induction vector

How can we represent a rotating sinusoidal magnetic wave with one
induction vector?
Axis of
machine
const

Endpoint
circle of
vector
Rotating
induction
vector

Conclusion: If the magnetic field (induction) is sinusoidal along the

surface, and if the multiphase currents are sinusoidal, then the
multiphase electric power and the torque on the axis of the machine
(the mechanical power) is constant in time.
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Field type: constant (unvarying) field

a)

b)

A coil excited by direct

current.

const

Coils arranged in 3-phase in

space (120 degrees) and
excited by DC.
Bresultant = 1,5 BA,
is also constant

const
Vector sum
(resultant)

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Field type: pulsating field

One coil excited by 1-phase alternating current.
project

Pulsating field is a standing wave which is the sum of two rotating

field (in case of linearity)
FERRARIS THEOREM: pulsating field can be broken into two
rotating field with same angular frequency and rotating in
opponent direction to each other. The amplitude of the rotating
fields is half of the pulsating field.

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Poles
p=

D
2p

Is called
Polar pitch

v = p g

electric

Relation between
electric (v) and
geometric (g) angle

geometric

p: number of pole pairs

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Field type: rotating field

To create rotating field we need:
multiphase coil system
and
multiphase current (excitation) system

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Field type: rotating field

Geometric axis
in space

currents of coils
in time

ahead in space

back in time
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Mathematical description
Induction wave of phase i:

Bi = Bi ( x , t ) = Bi (t ) Ti ( x )
where Bi(t) is time function,Ti(x) is geometric function.
Geometric distribution:
x
2

Ta ( x ) = cos 0
3
p
x
2

Tb ( x ) = cos 1
3
p
x
2
Tc ( x ) = cos 2
3
p
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Mathematical description
Time functions: B (t )=B cos t 0 2
a
m
1

Bb (t )=Bm cos 1t 1

Bc (t )=Bm cos 1t 2

EULER theorem:

cos =

e j + e j
2

Transferring cosine functions into exponential functions, for

example for phase b:

cos(1 t 2

e jt e j a 2 + e jt e j a
2
)=
3
2
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Mathematical description
Finally we get:

Btotal ( x,t )=Ba ( x, t )+Bb ( x,t )+Bc ( x,t )

IN CASE OF THREE PHASE:

In case of m phase:

3
x
Btotal ( x,t ) 3 = Bm cos(1t )
2
p

m
x
Btotal ( x,t ) m = Bm cos(1t )
2
p

Amplitude of resultant field in general:

Be ,max =

m
B1 f , max
2
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Properties of rotating field

I. Wave with constant angular speed along the surface.
If 1 = const, then the maximum point is:

1 t =

x = R 0 t

p=

2 R R
=
2p
p

1 t =

1 network angular frequency

0 angular freq of the field
R radius of stator or rotor

1 = p0

0 = 1

R 0t

R
p

0=
synchronous
angular freqency
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Properties of rotating field

II 0 is indepentent of phase number
m and n phase systems are equivalent if
m
n
Bm,max = Bn,max
2
2
In linear case

m Nm Im = n Nn In

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Properties of rotating field

III.

If we want torque we need the same pole number for

stator and rotor.
The two fields, Bst and Brot have to be in relative standstill:

0,st = 0,r

(1=const)

pst = prot
This is required to create torque in excited coil systems.
IV.

st

= rot

+ mech

So called frequency-requirement

where st B is stator and rot B is rotor field angular

frequency relative to stator or rotor.

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Creating sinusoidal field

To simplify calculation we lay the surface of stator or rotor to a flat plain.

Let us use the law of excition!

rot H = j

U
i

mag ,i

= H d l = Ik =
k

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Creating sinusoidal field

Let us use the law of excition!
Integral path goes through the
airgap, stator and rotor.
If we neglect magnetomotive
force inside iron (iron=) we
get the excitation along the
surface, in this case a
stepped curve.

U
i

mag ,i

= H d l = Ik =
k

x
Induction in airgap:

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Creating sinusoidal field

What happens if we use more
winding turns?
FIELD
more sinusoidal distribution
Advantageous
INDUCED VOLTAGE:
Lower, because there is phase
shift of induced voltage in turns
and the resultant voltage (vector
sum) is lower than the
arithmetic sum of the induced
voltages.
Disadvantageous

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Winding factor
On the left: resultant and induced voltage in case of q=3 turns.
Central and right: if we assume infinite number of turns q=. On the central
picture the coil of a phase is along 120 of the surface (we do not use
it), on the right 60.

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Winding factor

Winding factor:
e =

Ue
U1

e =

chord
arc

1 3

e = =

3

So the winding factor indicates how (the first harmonic of) the
induced voltage is reduced because of the distribution of the
winding
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Calculating induced voltage

N1 =

z1
2

N1 = turn ration/phase
z1=total number of conductors/phase,
zh=z1/Z

zh

ui (t ) = b( x) li v z1
U i ,eff =

U i ,max
2

1
Bmax li v z1
2

2
Baverage = Bmax

v = R 0 =

p p

if sinusoidal!

0 =

p
p
0 p = 1

1
4
p
U i ,eff = i ,max = Bave li 2f1 (2 N1 ) =
f1 N1 Baveli p = 4,44 f1 N1max
2
2 2
2 2

If q 1

U i ,eff =4,44 f1 N1 1 max

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Frequency-requirement

st

= rot

+ mech

This is the basis for all type of electric machines

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