Fina - Ut-5 SSD

SYNCHRONOUS MOTOR DRIVES
In a synchronous motor, a 3-phase set of stator

currents produces a rotating magnetic field causing
the rotor magnetic field to align with it. The rotor
magnetic field is produced by a DC current applied to
the rotor winding.

Field windings are the windings producing the main
magnetic field (rotor windings for synchronous
machines); armature windings are the windings
where the main voltage is induced (stator windings
for synchronous machines).

Characteristics
High operating efficiency
Smooth constant starting & accelerating torque
Versatile power factor control
Constant speed
Considerably more expensive than induction motors
Zero starting torque
Types
Wound field
Permanent magnet
Synchronous Reluctance
Hysteresis Motors
Wound Field Syn. Motor
Cylindrical and salient pole rotor
Cylindrical Rotor
1.Higher Mechanical strength high power and high
speed applns.
2.In syn.machine, there is no stator induced
induction in the rotor and therefore, rotor mmf is
supplied exclusively by the field winding.Whereas in
I.M., the stator supplies the rotor excitation that
makes the machine pf always lagging.
Construction of synchronous
machines
The rotor of a synchronous machine is a large electromagnet. The magnetic poles can be
either salient (sticking out of rotor surface) or non-salient construction.
Non-salient-pole rotor: usually two- and four-pole rotors. Salient-pole rotor: four and
more poles.
Rotors are made laminated to reduce eddy current losses.
machines
Salient pole with field
windings
Salient pole without
field windings
observe laminations
A synchronous rotor with 8 salient poles
machines
Two common approaches are used to supply a DC current to the field circuits on the
rotating rotor:
1. Supply the DC power from an external DC
source to the rotor by means of slip rings
and brushes;

2. Supply the DC power from a special DC
power source mounted directly on the
shaft of the machine.
Slip rings are metal rings completely encircling the shaft of a machine but insulated from it.
One end of a DC rotor winding is connected to each of the two slip rings on the machines
shaft. Graphite-like carbon brushes connected to DC terminals ride on each slip ring
supplying DC voltage to field windings regardless the position or speed of the rotor.
machines
Slip rings
Brush
machines
Slip rings and brushes have certain disadvantages: increased friction and wear (therefore,
needed maintenance), brush voltage drop can introduce significant power losses. Still this
approach is used in most small synchronous machines.

On large generators and motors, brushless exciters are used.
A brushless exciter is a small AC generator whose field circuits are mounted on
the stator and armature circuits are mounted on the rotor shaft. The exciter
generators 3-phase output is rectified to DC by a 3-phase rectifier (mounted on
the shaft) and fed into the main DC field circuit. It is possible to adjust the field
current on the main machine by controlling the small DC field current of the
exciter generator (located on the stator).

Since no mechanical contact occurs between the rotor and the stator, exciters of this type
require much less maintenance.
machines
A brushless exciter: a low
3-phase current is
rectified and used to
supply the field circuit of
the exciter (located on
the stator). The output of
the exciters armature
circuit (on the rotor) is
rectified and used as the
field current of the main
machine.
Starting synchronous motors
Three basic approaches can be used to safely start a synchronous motor:

1. Reduce the speed of the stator magnetic field to a low enough value that the
rotor can accelerate and two magnetic fields lock in during one half-cycle of
field rotation. This can be achieved by reducing the frequency of the applied
electric power (which used to be difficult but can be done now).

2. Use an external prime mover to accelerate the synchronous motor up to
synchronous speed, go through the paralleling procedure, and bring the
machine on the line as a generator. Next, turning off the prime mover will
make the synchronous machine a motor.

3. Use damper windings or amortisseur windings the most popular.
Motor starting by amortisseur or
damper windings
Amortisseur (damper) windings are special bars laid
into notches carved in the rotor face and then shorted
out on each end by a large shorting ring.
damper windings
A diagram of a salient 2-pole rotor with an amortisseur
winding, with the shorting bars on the ends of the two
rotor pole faces connected by wires (not quite the
design of actual machines).
We assume initially that the
rotor windings are
disconnected and only a 3-
phase set of voltages are
applied to the stator.
As B
S
sweeps along in s counter-clockwise direction, it induces a
voltage in bars of the amortisseur winding:
At t = 0, assume that B
S
(stator
field) is vertical.
( )
ind
e v B l =
(7.88.1)
damper windings
Here v the velocity of the bar relative to the magnetic
field;
B magnetic flux density vector;
l length of conductor in the magnetic field.

The bars at the top of the rotor are moving to the right
relative to the magnetic field: a voltage, with direction out
of page, will be induced. Similarly, the induced voltage is
into the page in the bottom bars. These voltages produce a
current flow out of the top bars and into the bottom bars
generating a winding magnetic field B
w
to the right. Two
magnetic fields will create a torque
ind W S
kB B t =
(7.89.1)
The resulting induced torque will be counter-clockwise.
damper windings
At t = 1/240 s, B
S
has rotated 90
0
while the rotor has barely moved.
Since v is parallel to B
S
, the voltage induced in the amortisseur
windings is zero, therefore, no current in wires create a zero-torque.
At t = 1/120 s, B
S
has rotated
another 90
0
and the rotor is still.
The voltages induced in the bars
create a current inducing a
magnetic field pointing to the left.
The torque is counter-clockwise.
Finally, at t = 3/240 s, no voltage is induced
in the amortisseur windings and, therefore,
the torque will be zero.
damper windings
We observe that the torque is either counter-clockwise or zero, but it is always
unidirectional. Since the net torque is nonzero, the motor will speed up.

However, the rotor will never reach the synchronous speed! If a rotor was running at the
synchronous speed, the speed of stator magnetic field B
S
would be the same as the speed
of the rotor and, therefore, no relative motion between the rotor and the stator magnetic
field. If there is no relative motion, no voltage is induced and, therefore, the torque will be
zero.

Instead, when the rotors speed is close to synchronous, the regular field current can be
turned on and the motor will operate normally. In real machines, field circuit are shorted
during starting. Therefore, if a machine has damper winding:
1. Disconnect the field windings from their DC power source and short them out;
2. Apply a 3-phase voltage to the stator and let the rotor to accelerate up to near-
synchronous speed. The motor should have no load on its shaft to enable motor speed
to approach the synchronous speed as closely as possible;
3. Connect the DC field circuit to its power source: the motor will lock at synchronous
speed and loads may be added to the shaft.
Synchronous machine ratings
The speed and power that can be obtained from a synchronous motor or generator are
limited. These limited values are called ratings of the machine. The purpose of ratings is to
protect the machine from damage. Typical ratings of synchronous machines are voltage,
speed, apparent power (kVA), power factor, field current and service factor.
1. Voltage, Speed, and Frequency
The rated frequency of a synchronous machine depends on the power system to which it
is connected. The commonly used frequencies are 50 Hz (Europe, Asia), 60 Hz (Americas),
and 400 Hz (special applications: aircraft, spacecraft, etc.). Once the operation frequency is
determined, only one rotational speed in possible for the given number of poles:
120
e
m
f
n
P
=
(7.93.1)
Load angle
The rotor poles are engaged with stator poles
and both run synchronously in the same
direction. As the load on the motor increases,
the rotor tends to fall back in phase by some
angle load angle. This value depends on the
load.
For load angle 0 to 180 degrees lagging ,
torque is +ve and load angle 0 to 180
degrees leading Torque is ve.
Synchronous machine with a cylindrical
round-rotor
Introduction
Permanent magnet synchronous motors have
the rotor winding replaced by permanent
magnets. These motors have several advantages
over synchronous motors with rotor field
windings, including:

Elimination of copper loss
Higher power density and efficiency
Lower rotor inertia
Larger airgaps possible because of larger
coercive force densities.
Introduction (contd)
Some disadvantages of the permanent magnet
synchronous motor are:

Loss of flexibility of field flux control
Cost of high flux density permanent magnets is
high
Magnetic characteristics change with time
Loss of magnetization above Curie temperature

Permanent Magnets
Advances in permanent magnetic materials over
the last several years have had a dramatic impact
on electric machines. Permanent magnet
materials have special characteristics which must
be taken into account in machine design. For
example, the highest performance permanent
magnets are brittle ceramics, some have chemical
sensitivities, all have temperature sensitivity, and
most have sensitivity to demagnetizing fields.
Proper machine design requires understanding
the materials well.
B-H Loop
A typical B-H loop for a permanent magnet is
shown below. The portion of the curve in which
permanent magnets are designed to operate in
motors is the top left quadrant. This segment is
referred to as the demagnetizing curve and is
shown on the next slide.

Demagnetizing Curve

Demagnetizing Curve (contd)
The remnant flux density B
r
will be available if
the magnet is short-circuited. However, with an
air gap there will be some demagnetization
resulting in the no-load operating point, B.
Slope of no-load line is smaller with a larger air
gap. With current flowing in the stator, there is
further demagnetization of the permanent
magnet causing the operating point to shift to
C at full load.
Demagnetizing Curve (contd)
Transients or machine faults can lead to a worst-
case demagnetization as shown which results in
permanent demagnetization of the permanent
magnet. The recoil line following the transient is
shown and shows a reduced flux density
compared to the original line. It is clearly
important to control the operation of the
magnets to keep the operating point away from
this worst-case demagnetization condition.
Permanent Magnetic Materials
Alnico - good properties but too low a coercive
force and too square a B-H loop => permanent
demagnetization occurs easily

Ferrites (Barium and Strontium) - low cost,
moderately high service temperature (400C),
and straight line demagnetization curve.
However, B
r
is low => machine volume and size
needs to be large.
Permanent Magnet Materials
(contd)
Samarium-Cobalt (Sm-Co) - very good
properties but very expensive (because
Samarium is rare)
Neodymium-Iron-Boron (Nd-Fe-B) - very
good properties except the Curie
temperature is only 150C

Permanent Magnet Materials
(contd)

PM Motor Construction
There are two types of permanent magnet motor
structures:
1) Surface PM machines
- sinusoidal and trapezoidal
2) Interior PM machines
- regular and transverse

Circuit Model of PM Motor (contd)
Based on the recoil line, we can write:

where P
rc
, the permeance, is the slope of
the line. From this equation we can write:
0
0
( )
rc
P
F F
|
=

0 r rc
P F | =
Equivalent Circuit Model of PM
Motor
Rearranging the slope equation, we get:

This equation suggests the following equivalent
circuit for a permanent magnet:

0
rc
F F
P
|
=
Motor (contd)
It can be shown that the mmf, flux and
permeance are the mathematical duals of
current, voltage, and inductance,
respectively. Therefore, the following
electrical equivalent circuits can be used to
represent the magnetic circuit:

Motor (contd)
We can now use this equivalent circuit of the
permanent magnets on the rotor and the
previous equivalent equivalent circuits of the
synchronous motor to develop a set of qd0
equivalent circuits for the permanent
magnet synchronous motor. Assuming the
PM synchronous motor has damper cage
windings but no g winding, the qd0
equivalent circuits are as shown on the next
slide.
Motor (contd)

Motor (contd)
Here the PM magnet inductance L
rc
can be
lumped with the common d-axis mutual
inductance of the stator and damper windings,
and the combined d-axis mutual inductance
indicated by L
md
. Also, the current i
m
is the
equivalent magnetizing current for the
permanent magnet referred to the stator side.
qd0 Equations for Permanent
Magnet Synchronous Motor
The qd0 equations for a permanent magnet
motor are given in the table below:

(contd)

(contd)
The developed electromagnetic torque expression
has three components:
1) A reluctance component (which is negative for
L
d
<L
q
)
2) An induction component (which is asynchronous
torque)
3) An excitation component from the field of the
permanent magnet.
(contd)
The mutual flux linkages in the q- and d-axes
may be expressed by:

The winding currents can be expressed (as before)
as:

'
( )
mq mq q kq
L i i = +
' '
( )
md md d m kd
L i i i = + +
q mq
q
ls
i
L

=
d md
d
ls
i
L

=
'
'
'
kq mq
kq
lkq
i
L

=
'
'
'
kd md
kd
lkd
i
L

=
(contd)
Combining these equations gives:

where .

Similar expressions for
mq
and L
MQ
can be
written for the q-axis.
'
'
'
d kd
md MD m
ls lkd
L i
L L

| |
= + +
|
\ .
'
1 1 1 1
MD ls lkd md
L L L L
= + +
(contd)
Under steady state conditions where e=e
e
as in the
case of E
f
in the wound field synchronous motor,
we can express e
e
m
or x
md
i
m

by E
m
, the
permanent magnets excitation voltage on the
stator side. If the stator resistance is neglected and
the E
f
term in the earlier torque expression
replaced by E
m
, the torque of a permanent magnet
synchronous motor in terms of the rms phase
voltage V
a
at its terminal can be written as:
2
1 1
3 sin sin 2
2
a m
e a
e d q d
V E P
T V
X X X
o o
e
(
| |
| |
= +
( |
|
|
( \ .
\ .

Trapezoidal Surface Magnet
Motor
A trapezoidal surface permanent magnet motor is
the same as a sinusoidal PM motor except the
3u winding has a concentrated full-pitch
distribution instead of a sinusoidal distribution.

Trapezoidal Surface Magnet Motor
(contd)
This 2-pole motor has a gap in the rotor
magnets to reduce flux fringing effects and the
stator has 4 slots per phase winding per pole.
As the machine rotates the flux linkage will
vary linearly except when the magnet gap
passes through the phase axis. If the machine
is driven by a prime mover, the stator phase
voltages will have a trapezoidal wave shape as
shown on the next slide.
(contd)

(contd)
An electronic inverter is required to establish a
six-step current wave to generate torque. With
the help of an inverter and an absolute-
position sensor mounted on the shaft, both
sinusoidal and trapezoidal SPM motors can
serve as brushless dc motors (although the
trapezoidal SPM motor gives closer dc
machine-like performance).
Synchronous Reluctance Motor
A synchronous reluctance motor has the same
structure as that of a salient pole synchronous
motor except that it does not have a field
winding on the rotor.
(contd)
The stator has a 3u, symmetrical winding which
creates a sinusoidal rotating field in the air gap.
This causes a reluctance torque to be created on
the rotor because the magnetic field induced in
the rotor causes it to align with the stator field in
a minimum reluctance position. The torque
developed in this type of motor can be expressed
as:
2
( )
3 sin 2
2 2
ds qs
e s
ds qs
L L
P
T
L L
o
| |
| |
=
|
|
|
\ .
\ .
(contd)
The reluctance torque stability limit can be seen to
occur at (see figure below).
/ 4 o t =
(contd)
Iron laminations separated by non-magnetic
materials increases reluctance flux in the q
e
-axis.
With proper design, the reluctance motor
performance can approach that of an induction
motor, although it is slightly heavier and has a
lower power factor. Their low cost and robustness
has seen them increasingly used for low power
applications, such as in fiber-spinning mills.
Variable Reluctance Motors
A variable reluctance motor has double saliency,
i.e. both the rotor and stator have saliency. There
are two groups of variable reluctance motors:
stepper motors and switched reluctance motors.
Stepper motors are not suitable for variable speed
drives.

Ref: A. Hughes, Electric Motors and Drives, 2nd. Edn. Newnes
Switched Reluctance Motors
The structure of a switched reluctance motor is
shown below. This is a 4-phase machine with 4
stator-pole pairs and 3 rotor-pole pairs (8/6
motor). The rotor has neither windings nor
permanent magnets.

(contd)
The stator poles have concentrated winding
rather than sinusoidal winding. Each stator-
pole pair winding is excited by a converter
phase, until the corresponding rotor pole-pair
is aligned and is then de-energized. The stator-
pole pairs are sequentially excited using a rotor
position encoder for timing.
(contd)
The inductance of a stator-pole pair and
corresponding phase currents as a function of
angular position is shown below.
(contd)
Applying the stator pulse when the inductance
profile has positive slope induces forward
motoring torque.

Applying the stator pulse during the time that
the inductance profile has negative slope
induces regenerative braking torque.

A single phase is excited every 60 with four
consecutive phases excited at 15 intervals.
(contd)
The torque is given by:

where m=inductance slope and
i=instantaneous current.
2
1
2
e
T mi =
(contd)
Switched reluctance motors are growing in
popularity because of their simple design and
robustness of construction. They also offer the
advantages of only having to provide positive
currents, simplifying the inverter design. Also,
shoot-through faults are not an issue because each
of the main switching devices is connected in series
with a motor winding. However, the drawbacks of
this type of motor are the pulsating nature of their
torque and they can be acoustically noisy (although
improved mechanical design has mitigated this
problem.)
ADVANTAGES AND DISADVANTAGES OF
BLDC MOTOR

Fina - Ut-5 SSD

Încărcat de

Informații document

Descriere originală:

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Fina - Ut-5 SSD

Încărcat de

Drepturi de autor:

Formate disponibile

SYNCHRONOUS MOTOR DRIVES

In a synchronous motor, a 3-phase set of stator

S-ar putea să vă placă și