Plan

Electrical Motors : technologies and

driving electronics

 Introduction : Electrical Machine Principle

• Different Motors
DC Motor (Brush)
AC Motors :
 Synchronous Motor
DC Brushless Motor
Stepper Motor
 AC Induction Motor
• Drivers : Vector or scalar control
• Specific problems in High temperature High pressure
• Summary
 Electrical Machine Principle

L L

   
  
I   
F  I. L  B LL
Emf  B. L  S
N II SS
B B
S BB
FS

The Motor: Transform electrical The Generator : Transform

power into mechanical power mechanical power into electrical
power

Po u tp u t Po u tp u t
Efficiency  
Pin p u t Po u tp u t   losses
 DC Motor (Brush)

IR
Is

UR Emf, R, L

Electrical characteristics
 v  k  Is & Tm  k   v  Ir

Tm E v  k    v 
 v  cst
 v  cst

Ur  R.Ir

Ir k Ir
 DC Motor (Brush)

IR
Is

UR Emf, R, L

Pro’s and Con’s

Simple control
Now used for low power applications in air
It needs a commutator and brushes (wear and high level of
maintenance.
The brushes of a dc motor have several limitations: brush life, brush
residue, maximum speed, and electrical noise generated.
Low level of reliability
 AC Motors

Hs  Hs  e js Hr  Hr  e jr

Tm  k  Hs  Hr  sin  r  s t  

Tm  0   r  s

Synchronous Machine Asynchronous Machine

r  0   s   r  s
r  s  s
Synchronous Motors DC Brushless Motor

Magnet
Magnetic field detector
Magnetic field W1
W3
detector : H1 H3

-Hall element N
S
-optical sensors H2
W2 VDC
(phototransistors)
-Resolver Tr 1 Tr 2 Tr 3

Ev
Tm  k   Is  cos  Vs
  j.Ls..Is
 Ev
Is  Rs.Is
 DC Brushless Motor
DC Brushless Motor control

Converter Inverter

PWM switches

Speed corrector
PWM
Current Position sensor
control
 DC Brushless Motor

Pro’s and Con’s

It is reliable
The motor torque is proportional to the current, allowing a full
torque control
The efficiency can reach 80 %
The angular velocity is high

It is driven in close loop mode, allowing a complete monitoring

and control (torque and speed).
It requires a motor resolver.
The driver electronics is complex.
Synchronous Motor Stepper Motor
 Stepper Motor
Motor Control Strategy

Phase 3 Phase 2

V
Controller Board This figure shows one full
Phase 3 t
cycle for an input of 40
0V
Hz (period = 25 ms) on
25 ms each motor wire
referenced to ground.
V
Phase 2 The rotor speed is defined by
t
Phase 1 0V 6 * 40Hz = 240
steps/second.
V 1200 rpm
Phase 1
t Therefore the
0V pulse rate is 240 PPS

Step 1 2 3 4 5 6

Rotor pole
S N S N S N S N S N S N
3 2 3 2
Direction of the
magnetic field
generated by the
stator
2 3 1 2 3 1 2 3 1 2 3 1 n s
Stator phase s n
(t) rotor

0 30  180  360 
1 1
Motor step … 1 2 3 4 5 6 1 2 3 4 5 6 …

Number of poles: NP = 4 poles

 Stepper Motor

Pro’s and Con’s Pulse Rate/rotor speed

Operating point

Torque

Holding Torque

It is driven in open loop

.
The driver for this type of motor is simple

It can be used for low speed and low torque applications

The efficiency is as 14 %
 AC Induction Motor

The rotor of an induction motor consists of windings or more often a copper

squirrel cage

The stator flux speed

s

The rotor speed

s  
The slip ratio S
s
 AC Induction Motor
AC Induction Motor simple phase
Variable field Two fields, rotating in opposite direction
B=B1+B2
Tm

s  
S
s
S
1 0

Tm

S
1 0

Efficiency  40%
 AC Induction Motor

AC Induction Motor three phases

Ev 2 Rr / g
Tm  k  
s Rr / g   Nr  s 
2 2

Tm
Stable field
The maximum torque
Tmax Rr1
2
k  Ev 
Rr2>Rr1

Stable field T max   

Nr  s 
To

Rr
S max 
S
1 Smax 0 Nr  s
 AC Induction Motor
Scalar control system for driving Asynchronous Motors

Power
Rotating speed
2
sensor k  Ev 
Inverter T max   
Nr  s 
PWM

Ev
If  cst & r  cst
s

Tm  T max  cst
 AC Induction Motor

Scalar control system for driving Asynchronous Motors

Ev

Scalar method not accurate enough at very low speed

(RS.Is large at start)
 AC Induction Motor

Pro’s and Con’s

Non linear behavior during saturation effect
Asynchronous behavior
Resistor rotor is large
The principal advantages for AC motor are its robustness and its price
(1/6 the price of a DC Brushless).
Scalar control method too much limited.
New methods such as ``Vector control`` has been successfully
introduced for motor control
 AC Induction Motor

Vector control interest in driving Motors

 d 
I d  k 2   r  Tr  r 
 dt  DC motor (Brush) electrical
characteristics
T  k 1 . r .I q
 AC Induction Motor
Vector control interest in driving Motors

• Full motor torque capability at low speed

• Better dynamic behavior
• Higher efficiency up to 80 %, for each operating point in a wide speed
range
• High reliability
 Specific problems of the OFS applications

 High temperature, High pressure, shocks & vibrations

 Limited size and limited available power
 Price constrains

 Motor modeling necessary to evaluate and optimize motor performances

(HT, HP)
 Electrical insulation (quality of the winding, type of resin…know how
necessary)
 Choice of oil is important
 Reliability/lifetime
 Specific problems of the OFS applications
Failure Example :

The breakdown of the Polyimide insulated copper wire when it is attacked by well bore fluid.
The insulation degenerates and causes electrical short circuit failure of the wire coils.
 Summary

• Comparative chart
Motor type DC Brushless Stepper DC Brush Ac Induction
Three phase

Price of Motor 9000 $ 8000 $ The cheapest 1600 $

(without the EL (CDA Intercop) (CDA (CDA Intercop)
driver) Intercop)

Output Torque High power Low power Low power High power
Output Power High torque Low torque Low torque High torque and
and High speed and Low speed and Low speed High speed
 Summary

DC Brushless Stepper DC Brush Ac Induction

Three phase

Efficiency 76  14  20  at low Up to 80 
with power (PMIT).
associated Much better
driver (in T) for high power
Control Closed Loop Open loop Open loop Closed Loop
complexity System System System System
A real time It’s a simple Simple control A real time
control of the control, if the control of the
motor: load torque is motor:
- Operate with small - Operate with
the required compared to the required
torque output motor torque
- Insure the torque - Insure the
control of the control of the
motor current motor current
 Summary

DC Brushless Stepper DC Brush Ac Induction

Three phase

Driver Complex Simple Simple Complex

Electronics
Complexity

Reliability Good Medium Weak Good

Motor Via a revolver Not possible Not possible Via a resolver

Position