SRI KRISHNA COLLEGE OF

TECHNOLOGY
16EE304 ELECTRICAL MACHINES I

Prepared by
Dr. E. NandaKumar &
Mr.R.Sathish Kumar,
EEE, SKCT1
 UNIT-1

BASIC CONCEPTS OF ROTATING

MACHINES

2
Overview (First Day)

Laws of Electromagnetism
Principles of electromechanical energy conversion
Single and multiple excited systems
Rotating magnetic field
Generated voltage
Torque in wound rotor machine

3
Laws of Electromagnetism
Faradays Law

Lenzs Law

Flemings Right Hand rule

Flemings Left Hand rule

4
Faradays Law of Electromagnetic Induction
Whenever a conductor is placed in a
varying magnetic field an EMF gets
induced across the conductor (called as
induced emf), and if the conductor is a
closed circuit then induced current flows
through it.

Magnetic field can be varied by various methods -

1. By moving magnet
2. By moving the coil
3. By rotating the coil relative to magnetic field
5
 Lenzs Law
Lenz's law of electromagnetic induction states
that, when an emf is induced according to Faraday's law, the
polarity (direction) of that induced emf is such that it opposes
the cause of its production.

Thus, considering Lenz's law

E = -N (d/dt) (volts)

The negative sign shows that,

the direction of the induced emf
and the direction of change in
magnetic fields have opposite signs.
6
 Flemings Right Hand rule
This rule states Hold out the right hand with the first finger, second
finger and thumb at right angle to each other. If forefinger represents
the direction of the line of force, the thumb points in the direction of
motion or applied force, then second finger points in the direction of
the induced current.

7
 Flemings Left Hand rule
It states that whenever an current carrying conductor is placed inside
a magnetic field, a force acts on the conductor, in a direction
perpendicular to both the directions of the current and the magnetic
field.

8
Electromechanical Energy
Conversion (Second Day)

9
 Introduction
Electromechanical energy conversions use a
magnetic field as the medium of energy conversion

Electromechanical energy conversion device:

Converts electrical energy into mechanical energy
or
Converts mechanical energy into electrical energy.

10
Introduction
Three categories of electromechanical energy conversion
devices:

Transducers for low-energy conversion processing and

transporting.

Production of force or torque with limited mechanical motion like

electromagnets, relays, actuators, etc.

Continuous energy conversion devices like motors or generators

which are used for bulk energy conversion and utilization.

11
Energy Conversion Process
The principle of conservation of energy:

Energy can neither be created nor destroyed. It

can only be changed from one form to another.
Therefore total energy in a system is constant.

12
Energy Conversion Process
An electromechanical converter system has three
essential parts:

An electrical system (electric circuits such as windings)

A magnetic system (magnetic field in the magnetic

cores and air gaps)

A mechanical system (mechanically movable parts such

as a rotor in an electrical machine).
13
Energy in magnetic system

Consider a magnetic system of an attracted armature relay

shown below.

The resistance of the coil is shown by a series lumping

outside the coil which then is regarded as an ideal loss-less coil.

14
 Energy in magnetic system
The coil current causes magnetic flux to be established in the magnetic
circuit.

It is assumed that all the flux is confined to the iron core and therefore
links all the N turns creating the coil flux linkages of

The electric energy input into the ideal coil due to the flow of current i
in time dt is
15
 Energy in magnetic system
Assuming that the armature is held fixed at position x, all the input
energy is stored in the magnetic field. Thus

where dWf is the change in field energy in time dt.When the expression
for e in Eq. (4.2) is substituted in Eq. (4.5), we have

where F = Ni, the magnetomotive force (mmf ).

The energy absorbed by the field for finite change in flux linkages for
flux is obtained from Eq. (4.6) as

16
 Energy in magnetic system
The energy absorbed by the magnetic system to establish flux (or flux
linkages ) from initial zero flux is

The i- relationship for various

values of x is indicated in
this graph

17
 Energy in magnetic system
if is the independent variable or as

if i is the independent variable

Therefore, the field energy (Eq. (4.8)) is in general a function of two

variables,

18
 Energy in magnetic system
A new term, co-energy is now defined as

Linear Case (Third Day)

Electromechanical energy conversion devices are built with

air-gaps in the magnetic circuit which serve to separate the
stationary and moving members.

As a result the i- relationship of the magnetic circuit is almost

linear

19
 Energy in magnetic system
Assuming linearity, it follows from Eq. (4.8) or Fig. 4.3 that

In the linear case the inductance L is independent of i but is a function

of configuration x.

Thus the field energy is a special function of two independent

variables and x, i.e.

20
 Energy in magnetic system
The field energy is distributed throughout the space occupied by the
field.
Assuming no losses and constant permeability, the energy density of the
field is

For the linear case it easily follows from Eq. (4.11) that co-energy is
numerically equal to energy, i.e.

Also in terms of the coil inductance

or in general
21
 Energy in magnetic system
The expression for co-energy density is

which for the linear case becomes

22
Single excited system

23
 Single excited system
The field produces a mechanical force Ff in the direction indicated
which drives the mechanical system.

The mechanical work done by the field when the armature moves a
distance dx in positive direction is

Mechanical energy output = electrical energy input increase in field

energy

From Eq. (4.10)

24
 Single excited system (4th Day)
Substituting for dWf from Eq. (4.22) in Eq. (4.21), we have

Or

and

from Eq. (4.23)

This expression for mechanical force developed applies when i is an

independent variable, i.e. it is a current excited system 25

 Single excited system
If (l, x) are taken as independent variables,

Substituting Eq. (4.26) in Eq. (4.21)

and

In this form of expression for the mechanical force of field origin, is

the independent variable, i.e. it is a voltage-controlled system
26
 Single excited system
Direction of Mechanical Force Developed

The mechanical force produced by the field acts in a direction

to reduce field energy

The system seeks a position of minimum field energy.

Similarly, it can be concluded from Eq. (4.25) that the system

seeks a position of maximum co-energy.

The force acts in a direction to increase x thereby reducing the

magnetic circuit reluctance and increasing the coil inductance.

27
 Single excited system
Determination of Mechanical Force
Nonlinear case
the derivative must be determined numerically or
graphically by assuming a small increment x.Thus

Linear case
From Eq. (4.17)

28
 Single excited system
Determination of Mechanical Force

Alternatively from Eq. (4.14)

Also from Eq. (4.12)

It follows from Eq. (4.33) that the force acts in a direction to

reduce reluctance of the magnetic system

29
 Single excited system Mechanical Energy
When the armature in Fig. 4.4 is allowed to move from position xa to xb
with the coil current remaining constant at io, the mechanical energy output is

In each case electrical energy input is

30
 Single excited system Mechanical Energy

For the linear case, it follows from the geometry of

Fig. 4.5(b) that

Which means that half the electrical energy

input gets stored in the field and the other half
is output as mechanical energy.

31
 Single excited system Mechanical Energy
Let now the armature in Fig. 4.4 be allowed to move from xa and xb with
coil flux linkage remaining constant. Integrating Eq. (4.29),

32
 Single excited system Mechanical Energy

In each case

For the linear case

For to remain constant, the armature must

move from xa to xb in zero time.

Since there is no electrical input, the mechanical

energy output is drawn from the field energy

33
Single excited system Mechanical Energy

34
Flow of Energy in Electromechanical Devices
(5th Day)

35
Flow of Energy in Electromechanical Devices

36
Multiple excited system

Electro-mechanical transducers require two excitations -

One excitation establishes a magnetic field of specified

strength

Other excitation produces the desired signal (electrical or

mechanical).

37
Multiple excited system

38
 Multiple excited system
The system can be described in either of the two sets of three
independent variables; (1, 2, ) or (i1, i2, ). In terms of the first set

where the field energy is given by

Analogous to Eq. (4.28)

39
Multiple excited system

40
 Multiple excited system
If currents are used to describe the system state

where the co-energy is given by

In the linear case

where inductances are functions of angle

41
 ENERGY CONVERSION VIA ELECTRIC FIELD

Electromechanical energy conversion via the electric field is

analogous to the magnetic field case.

Charge in the electric field is analogous to flux linkages.

42
 ENERGY CONVERSION VIA ELECTRIC FIELD

The electric energy input to the ideal condenser gets stored in the
electric field so that

The total field energy is

and

where A = plate area and 0 = permittivity of free space. Thus Wf, the field
energy is a function of two independent variables q and x

43
ENERGY CONVERSION VIA ELECTRIC FIELD

The field energy can also be written as

The energy density in the electric field can be expressed as

44
 ENERGY CONVERSION VIA ELECTRIC FIELD
(6th Day)
Let the movable plate of the device be now permitted to move under
the action of the electric field force Ff.

Mechanical energy output (work done by the field force)

= electric energy input increase in the field energy

Let us choose (v, x) as independent variables.Then q = q(v, x)

And

45
 ENERGY CONVERSION VIA ELECTRIC FIELD

Substituting Eqs (4.85) and (4.86) in Eq. (4.84) and reorganizing

Since v and x are independent variables, the coefficient of dv in Eq. (4.87)

must be zero. Hence

Defining co-eneregy as

the electric field force Ff can be written as

46
 ENERGY CONVERSION VIA ELECTRIC FIELD
If instead (q, x) are taken as independent variables

Substituting in Eq. (4.84)

Since v and q are independent variables, the coefficient of dq in Eq. (4.92)

must be zero. Hence Eq. (4.92) gives

From Eqs (4.89) and (4.79), the coenergy* can be written as

47
 ENERGY CONVERSION VIA ELECTRIC FIELD

For a linear system q = Cv

The co-energy density is given by

48
 ROTATING MAGNETIC FIELD (7th Day)
It is a magnetic field that has moving polarities in which its opposite
poles rotate about a central point or axis.

Consider the three phases of an ac winding are carrying balanced

alternating currents

Three pulsating mmf waves are now set up in the air-gap which have a
time phase difference of 120 from each other.

These mmfs are oriented in space along the magnetic axes of phases
a, b and c

49
 ROTATING MAGNETIC FIELD

Since the magnetic axes are located 120 apart in space from each
other, the three mmfs can be expressed mathematically as

50
 ROTATING MAGNETIC FIELD
The resulting mmf wave which is the sum of the three pulsating mmf
waves is

It simplifies trigonometrically to

Recognizing that

It is found from Eq. (5.43) that the resultant mmf is distributed in both
space and time.

It, therefore, rotates in the air-gap at a constant speed of rad(elect.)/s.

51
 ROTATING MAGNETIC FIELD
The peak value of the resultant mmf is

Using the value of Fm from Eq. (5.37)

At t = 0, i.e. when the a phase current has maximum positive value, it

follows from Eq. (5.43) that

The speed of the rotating mmf is

52
ROTATING MAGNETIC FIELD

53
ROTATING MAGNETIC FIELD

54
ROTATING MAGNETIC FIELD

55
ROTATING MAGNETIC FIELD

56
 ROTATING MAGNETIC FIELD

where g is the length of the machine air-gap

57
 Derivation of generated voltage in DC generator
Now, according to Faradays law of induction, the induced, emf of the armature
conductor is denoted by e which is equal to rate of flux linkage. Therefore,

Induced emf of one conductor is

Let us suppose there are Z total numbers of conductor in a generator, and arranged in
such a manner that all parallel paths are always in series.

Here, Z = total numbers of conductor

A = number of parallel paths
Then, Z/A = number of conductors connected in series
We know that induced emf in each path is same across the line
Therefore, Induced emf of DC generator
E = emf of one conductor number of conductor connected in series. 58
 Derivation of generated voltage in DC generator
Induced emf of DC generator is

Simple wave wound generator - Number of parallel paths are

only 2 = A
Therefore, Induced emf for wave type of winding generator is

Simple lap-wound generator - Number of parallel paths is equal to

number of conductors in one path i.e. P = A
Therefore, Induced emf for lap-wound generator is

59
 Derivation of generated voltage in AC generator
(8th Day)
Consider following
= flux per pole in wb
P = Number of poles
Ns = Synchronous speed in rpm
f = frequency of induced emf in Hz
Z = total number of stator conductors
Zph = conductors per phase connected in series
Tph = Number of turns per phase

Assuming concentrated winding, considering one

conductor placed in a slot
60
Derivation of generated voltage in AC generator
According to Faraday's Law electromagnetic induction, the
average value of emf induced per conductor in one revolution
eavg = d /dt

eavg = Change of Flux in one revolution/ Time taken for

one revolution
Change of Flux in one revolution = p x

Time taken for one revolution = 60/Ns seconds.

Hence eavg = (p x ) / ( 60/Ns) = p x x Ns / 60

We know f = PNs /120, PNs /60 = 2f

Hence eavg = 2 f volts
61
Derivation of generated voltage in AC generator
Hence average emf per turn = 2 x 2 f volts = 4f volts
If there are Tph, number of turns per phase connected in series,
then average emf induced in Tph turns is
Eph,avg = Tph x eavg = 4 f Tph volts
Hence RMS value of emf induced E = 1.11 x Eph, avg
= 1.11 x 4 f Tph volts
= 4.44 f Tph volts
Eph,avg= 4.44 f Tph volts
This is the general emf equation for the machine having
concentrated and full pitched winding. In practice, alternators
will have short pitched winding and hence coil span will not
be 180o(degrees), but on or two slots short than the full pitch.

62
Derivation of generated voltage in AC generator

If we assume effect of Kd= Distribution factor

Kc or KP = Cos /2

Eph,avg= 4.44Kc Kd f Tph volts

This is the actual available voltage equation of an

alternator per phase.
If alternator or AC Generator is Star Connected as usually
the case, then the Line Voltage is 3 times the phase
voltage.

63
 Torque in Round Rotor Machines (9th Day)
Certain underlying assumptions are made at this stage:

Stator and rotor mmfs are sinusoidal space waves; this is

sufficiently ensured by distributed windings.

Rotor is cylindrical (non-salient pole) so that the air-gap is

uniform throughout.

The air-gap is narrow so that flux established in it is radial

The field intensity H along any radial path is constant in the

air-gap. The mmf across the air-gap at any space point is

64
 Torque in Round Rotor Machines
where g is the radial air-gap
length.

Reluctance of the iron path

of flux is assumed negligible.

As a consequence of
assumptions 1-3, a sinusoidal
space mmf wave produces a
sinusoidal flux density wave in
space in phase with it.

Most of the resultant flux is

common to both stator and rotor
windings, i.e. it is mutual flux.
65
Torque in Round Rotor Machines
Let F1 and F2 be the peak values of the spatial sinusoidal mmf
waves of the stator and rotor respectively

For a 2-pole machine, the angle between their respective

positive peaks being denoted by .

Using trigonometric relations, it easily follows that the peak

value of the resultant mmf is

66
 Torque in Round Rotor Machines
Since the reluctance of the iron path is negligible, the peak value
of the resultant field intensity is

67
 Torque in Round Rotor Machines
where D is the mean diameter at air-gap and 1= rotor length = stator
length,The total co-energy of the field is then

68
Torque in Round Rotor Machine
With reference to the geometry of Fig. 5.34(b) it is found that

The torque expression of Eq. (5.51) can therefore be expressed

two more alternative forms,

69
 Torque in Round Rotor Machines
An alternative and more useful form of the torque expression is
in terms of the resultant flux/pole

The effective permeance /pole relates the peak value of sinusoidal mmf
wave and the flux/pole created by it. 70