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1Challenge the future
Overview Electrical Machines and
Drives
• 7-9 1: Introduction, Maxwell’s equations, magnetic circuits
• 11-9 1.2-3: Magnetic circuits, Principles
• 14-9 3-4.2: Principles, DC machines
• 18-9 4.3-4.7: DC machines and drives
• 21-9 5.2-5.6: IM introduction, IM principles
• 25-9 Guest lecture Emile Brink
• 28-9 5.8-5.10: IM equivalent circuits and characteristics
• 2-10 5.13-6.3: IM drives, SM
• 5-10 6.4-6.13: SM, PMACM
• 12-10 6.14-8.3: PMACM, other machines
• 19-10: rest, questions
• 9-11: exam
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2Challenge the future
DC Machines
• Introduction, construction (4.2)
• Principle of operation and basic calculations (4.2)
• air gap flux density (1.1)
• armature turn voltage and commutation (4.2.2)
• armature windings (4.2.3)
• total armature voltage (4.2.4)
• torque (4.2.5)
• magnetisation curve (4.2.6)
• Armature reaction, interpoles, compensating winding (4.3)
• Characteristics, means to control speed (4.4)
• DC machine drives (4.5)
• PMDC machines / PCB machines (4.6, 4.7)
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3Challenge the future
Assumptions for calculations
• steady state (mechanical and electrical)
• the air gap is so small that the flux density does not change in
radial direction
• the air gap is so small that the flux density crosses the air gap
perpendicular
• iron losses are negligible
• the magnetic permeability of iron is infinite
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4Challenge the future
Air gap flux density
• The field winding around one pole has Nf turns and carries a
current If
• Calculate the air gap flux density between the poles and the rotor
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5Challenge the future
Flux density
g
ffg l
INB 0µ
=
ffgg INlH 22 =
d dm mC S
H s J n Aτ⋅ = ⋅∫ ∫∫� �� �
�
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6Challenge the future
Flux density
• Sketch flux linkage of a turn on the rotor
• Calculate the maximum voltage induced in turn from Faraday’s law
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7Challenge the future
Armature turn
voltage
vlBlrBt
lrBt
lrB
rBt
l
AnBtt
eeS
t
)(2)(2d
d)(
d
d)(
d)(d
d
dd
d
d
d
θωθ
θπθθθ
θθ
λ
πθ
θ
==
+−=
−=
⋅==
∫
∫∫+
��
At θ=0, the flux linkage is minimum
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8Challenge the future
Commutator as
rectifier
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9Challenge the future
Commutation
Commutating coil in interpolar region: no induced voltage
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10Challenge the future
Armature windings
• English: turn, coil, winding
• Dutch: winding, spoel, wikkeling
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11Challenge the future
Mechanical and electrical angles
2e m
pθ θ=2e m
pω ω=
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12Challenge the future
DC Machines
• Introduction, construction (4.2)
• Principle of operation and basic calculations (4.2)
• air gap flux density (1.1)
• armature turn voltage and commutation (4.2.2)
• armature windings (4.2.3)
• total armature voltage (4.2.4)
• torque (4.2.5)
• magnetisation curve (4.2.6)
• Armature reaction, interpoles, compensating winding (4.3)
• Characteristics, means to control speed (4.4)
• DC machine drives (4.5)
• PMDC machines / PCB machines (4.6, 4.7)
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13Challenge the future
Armature voltage
)(2 θω Blre mt =
)(2 θω Blre mt =
)(2
d)(d/2
0
θπθθπ
Brlp
rBlAnBp
==⋅=Φ ∫∫∫��
mt
pe ω
πΦ=
mamta Ka
Npe
a
NE ωω
πΦ=Φ==
An armature winding has N turnswith a parallel pathsand therefore N/a series-connected turnsFor the turn voltage, we found
The average is lower:
Flux per pole
Using this, the turn voltage is given by
Therefore
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14Challenge the future
Voltage and torque from power
balance
d
da
a a m
IU RI L K
tω= + + Φ
Cu f mechP P P P= + +
2 d
da
a a a a a m
IP UI RI I L I K
tω= = + + Φ
Power balance:
Therefore
mecha a
m
PT K I
ω= = Φ
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15Challenge the future
Electromagnetic torque from Lorenz
a
IlBlIBF a
cc )()( θθ ==
a
IrlBrFT a
cc )(θ==
aa
c Ia
p
a
IrlBT Φ==
πθ
2)(
aaac IKIa
NpTNT Φ=Φ==
π2
aaaamm IEIKTP =Φ== ωω
Lorenz force gives the same result as power balance.
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16Challenge the future
Magnetic circuit
Which part saturates first?Why?
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17Challenge the future
Magnetization curve
Why is this not a straight line?Why does it not start from zero?
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18Challenge the future
DC Machines
• Introduction, construction (4.2)
• Principle of operation and basic calculations (4.2)
• Armature reaction, interpoles, compensating winding (4.3)
• Characteristics, means to control speed (4.4)
• DC machine drives (4.5)
• PMDC machines / PCB machines (4.6, 4.7)
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19Challenge the future
Armature reaction
• Section 4.3 (Sen) has the title “DC generators”
• DC machines are hardly used as generators
• The operating principles are the same in motoring and
generating
• Therefore, we only look at constructional aspects of DC
machines discussed in 4.3, which are present in DC motors as
well as in DC generators:
• compensating winding (Dutch: compensatiewikkeling)
• interpoles (Dutch: hulppolen)
• Both are related to armature reaction
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20Challenge the future
Armature reaction
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21Challenge the future
Consequences
armature
reaction
• Saturation
• Commutation problems
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22Challenge the future
Compensation winding
• Saturation problem reduced
• Expensive; only applied in machines that are often heavily loaded.
Why in these machines?
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23Challenge the future
Interpoles
Armature reaction
produces a flux
density in the
interpolar region, so
that a voltage is
induced in the
commutating coil.
This voltage opposes
commutation.
Interpoles reverse the
direction of this flux
density to induce a
voltage that
accelerates
commutation.
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24Challenge the future
DC Machines
• Introduction, construction (4.2)
• Principle of operation and basic calculations (4.2)
• Armature reaction, interpoles, compensating winding (4.3)
• Characteristics, means to control speed (4.4)
• Connections of DC machines
• Separately excited DC machine
• Series connected DC machine
• DC machine drives (4.5)
• PMDC machines / PCB machines (4.6, 4.7)
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25Challenge the future
Connections of DC machines
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26Challenge the future
Separately excited DC machines
How to control speed?
Calculate no-load speed and stall torque.
Φ= ama KE ωaa IKT Φ=
aaat EIRU +=
Pole flux does not depend on armature voltage and load
2)( Φ−
Φ=
Φ−
Φ=
a
a
aa
aa
am K
TR
K
U
K
IR
K
Uω
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27Challenge the future
Torque speed characteristic
• Where are motor, generator and plugging operation?• Speed control by means of
• Voltage control: what happens if the voltage is increased?• Field control: what happens if the current is increased?• Resistance control: old-fashioned
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28Challenge the future
Voltage control
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29Challenge the future
Field control
Are the characteristics of (c) parallel?
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30Challenge the future
Series DC machine (universal motor)
What happens to the speed when the torque is zero?
21 aaaa IKKIKT =Φ=aIK1=Φ Neglecting saturation!
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31Challenge the future
Series DC motor
11
t am
aa
U R
K KK K Tω = ± −
21
2
12
1 )( maa
taaaaa KKR
UKKIKKIKT
ω+==Φ=
maa
ta KKR
UI
ω1+=
maaaamaaaaaat IKKIRKIREIRU ωω 1+=Φ+=+=
21 aaaa IKKIKT =Φ=
aIK1=Φ
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32Challenge the future
DC machines
• Introduction, construction (4.2)
• Principle of operation and basic calculations (4.2)
• Armature reaction, interpoles, compensating winding (4.3)
• Characteristics, means to control speed (4.4)
• DC machine drives (4.5)
• Ward-Leonard system
• Power electronics (Rectifier, Chopper)
• Closed loop control
• PMDC machines / PCB machines (4.6, 4.7)
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33Challenge the future
Overview Electrical Machines and
Drives
• 7-9 1: Introduction, Maxwell’s equations, magnetic circuits
• 11-9 1.2-3: Magnetic circuits, Principles
• 14-9 3-4.2: Principles, DC machines
• 18-9 4.3-4.7: DC machines and drives
• 21-9 5.2-5.6: IM introduction, IM principles
• 25-9 Guest lecture Emile Brink
• 28-9 5.8-5.10: IM equivalent circuits and characteristics
• 2-10 5.13-6.3: IM drives, SM
• 5-10 6.4-6.13: SM, PMACM
• 12-10 6.14-8.3: PMACM, other machines
• 19-10: rest, questions
• 9-11: exam