Electrical Machines

Lecture 04: Fundamentals of Rotating Machines

(Textbook Chapter 5)
Instructor: Dr. Jung-Uk Lim
MWF 12:00 pm 12:50 pm
Corley, Room 268
Class Website: http://faculty.atu.edu/jlim/machines.html

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Rotating Machines (1)

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Rotating Machines (2)

Rotating Machines
AC machines
Synchronous Machines
Mainly used as generators
Magnetic field current is supplied by a separate DC power source.

Induction Machines
Mainly used as motors
Field current is supplied by magnetic induction (transformer
action) into field windings.

DC Machines
DC Generators
DC Motors

This chapter deals with intuitive understanding rather than

numerical calculations about rotating magnetic field and
induced voltage in rotating machines.
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Rotating Machines (3)

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Rotating Machines (4)

Basic Terms
Mechanical Category
Rotor: The rotating part of an generator or motor
Stator: The stationary part of an generator or motor

Electrical Category
Armature: The power-producing component of an generator or motor.
The armature can be on either the rotor or the stator.
Field: The magnetic field component of an generator or motor. The
field can be on either the rotor or the stator and can be either an
electromagnet or a permanent magnet.

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Single-Phase Rotating Magnetic Field

Rotating magnetic field in a single-phase induction motor: http://www.youtube.com/watch?v=SX8FwfJ9_A4

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Three-Phase Rotating Magnetic Field (1)

If we have two magnets (a rotor, a stator) beside each

other, the rotor would rotate so that its magnetic field is
aligned with the stators magnetic field.
If we further had some way to make the stators magnetic
field rotate, the rotor would constantly chase the
stators magnetic field around in a circle, trying to catch up
and align itself with it.
How can a stator magnetic field be created and made to
rotate?
If a balanced three-phase set of currents, each of equal
magnitude and differing in phase by 120o, flows in a
three-phase winding, it will produce a rotating magnetic
field of constant magnitude.
See the next figures.
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Three-Phase Rotating Magnetic Field (2)

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Three-Phase Rotating Magnetic Field (3)

We apply a three-phase set of currents to the stator of the
figure and see what happens at specific instants of time.
iaa ' (t ) = IM sin wt , ibb ' (t ) = IM sin(wt - 120o ) , icc ' (t ) = IM sin(wt - 240o )

The current in coil aa produces the magnetic field intensity

of Haa ' (t ) = HM sin wt0o , where HM sin wt is the magnitude of the H
vector as a function of time, while 0o is the spatial angle of the
H vector.
The magnitude of the magnetic field intensity vector Haa(t)
varies sinusoidally in time, but the direction of Haa(t) is always
constant.
Similarly, Hbb(t) and Hcc(t) are given by
Hbb ' (t ) = HM sin(wt - 120o )120o ,

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Hcc ' (t ) = HM sin(wt - 240o )240o

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Three-Phase Rotating Magnetic Field (4)

The resulting magnetic flux densities are
Baa ' (t ) = BM sin wt0o
Bbb ' (t ) = BM sin(wt - 120o )120o
Bcc ' (t ) = BM sin(wt - 240o )240o , where BM = mHM .

For example, at time t = 0o,

Baa ' = 0 ,

Bbb ' = BM sin( -120o )120o ,

Bcc ' = BM sin( -240o )240o

and the total magnetic field, Bnet (0o) from all three coils added
together is given by
Bnet = Baa ' + Bbb ' + Bcc ' = 1.5 BM - 90o
* Derive it by yourself! Homework #1 (a)

The total magnetic flux density, Bnet (90o) at time t = 90o is

Bnet = BM0o + (-0.5 BM )120o + (-0.5 BM )240o = 1.5 BM0o

The resulting net magnetic field is shown in the next figure.

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Three-Phase Rotating Magnetic Field (5)

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Three-Phase Rotating Magnetic Field (6)

The total magnetic field is maintaining a constant magnitude while
rotating in a counter clockwise direction.
At any time t, the magnetic field will have the same magnitude 1.5BM,
and it will continue to rotate at angular velocity .
Mathematically, the total magnetic flux density Bnet is derived by
Bnet (t ) = Baa ' (t ) + Bbb ' (t ) + Bcc ' (t )
= BM sin wt0o + BM sin(wt - 120o )120o + BM sin(wt - 240o )240o

= BM sin wt - 0.5 BM sin(wt - 120o ) - 0.5 BM sin(wt - 240o ) +

3

3
o
o
j
BM sin(wt - 120 ) BM sin(wt - 240 )
2
2

by the angle-addition trigonometric identities,

* Derive it by yourself!
Homework #1 (b)

Bnet (t ) = (1.5 BM sin wt ) - j (1.5 BM cos wt )

The magnitude of the field is a constant 1.5BM and the angle

changes continually in a counterclockwise direction
at angular velocity .
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Three-Phase Rotating Magnetic Field (7)

Lets check this out with specific examples.

At t = 0o, Bnet (t ) = - j1.5BM = 1.5BM - 90o

At t = 90o , Bnet (t ) = 1.5BM = 1.5BM0o
At t = 180o, Bnet (t ) = j1.5BM = 1.5BM90o
At t = 270o , Bnet (t ) = -1.5BM = 1.5BM180o

In the right-side figure, it can be found

that the magnetic poles complete one
mechanical rotation around the stator
surface for each electrical cycle of the
applied current.
Therefore, the mechanical speed of
rotation of the magnetic field in
revolutions per second (rpm) is equal to
the electric frequency in hertz:
fe = fm and e = m (Two Poles)
The windings on the two-pole stator
occur in the order (counterclockwise)
a-c-b-a-c-b (= Electrical 360o).
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Three-Phase Rotating Magnetic Field (8)

MATLAB Code
to illustrate three-phase
rotating magnetic field
(All angles are given in radians)

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% M-file to illustrate the rotating magnetic field

% produced by a three-phase stator.
% Set up the basic conditions
bmax = 1; % Normalize bmax to 1
freq = 60; % 60 Hz
w = 2*pi*freq; % angluar velocity (rad/s)
% First, generate the three component magnetic fields
t = 0:1/6000:1/60;
Baa = sin(w*t) .* (cos(0) + j*sin(0));
Bbb = sin(w*t-2*pi/3) .* (cos(2*pi/3) + j*sin(2*pi/3));
Bcc = sin(w*t+2*pi/3) .* (cos(-2*pi/3) + j*sin(-2*pi/3));
% Calculate Bnet
Bnet = Baa + Bbb + Bcc;
% Calculate a circle representing the expected maximum value of Bnet
circle = 1.5 * (cos(w*t) + j*sin(w*t));
% Plot the magnitude and direction of the resulting magnetic fields.
% Note that Baa is black, Bbb is blue, Bcc is magenta, and Bnet is red.
for ii = 1:length(t)
% Plot the reference circle
plot(circle,'k');
hold on;
% Plot the four magnetic fields
plot([0 real(Baa(ii))],[0 imag(Baa(ii))],'k','LineWidth',2);
plot([0 real(Bbb(ii))],[0 imag(Bbb(ii))],'b','LineWidth',2);
plot([0 real(Bcc(ii))],[0 imag(Bcc(ii))],'m','LineWidth',2);
plot([0 real(Bnet(ii))],[0 imag(Bnet(ii))],'r','LineWidth',3);
axis square;
axis([-2 2 -2 2]);
drawnow;
hold off;
end

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Three-Phase Rotating Magnetic Field (9)

When two sets of three- phase
currents is applied to this stator,
two Ns and two Ss are produced as
shown in the right-side figure.

Since one electrical cycle is 360o and the mechanical motion is 180o,
the relationship between e and m in this stator is e = 2m.
The electrical frequency of the current is twice the mechanical
frequency of rotation: fe = 2fm and e = 2m (Four Poles)
If the number of magnetic poles on an AC machine stator is P,
the electrical and mechanical quantities on the stator are related by
qe =
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P
qm ,
2

fe =

P
P
fm and we = wm (P poles)
2
2
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Three-Phase Rotating Magnetic Field (10)

Reversing the direction of field rotation
If the current in any two of the three coils is swapped, the direction of
the magnetic fields rotation will be reversed. This means that it is
possible to reverse the direction of rotation of an AC motor just by
switching the connections on any two of the three coils.
If phase bb and cc are switched, then the resulting flux density Bnet is
given by
Bnet (t ) = Baa ' (t ) + Bbb ' (t ) + Bcc ' (t )
= BM sin wt0o + BM sin(wt - 240o )120o + BM sin(wt - 120o )240o

= BM sin wt - 0.5 BM sin(wt - 240o ) - 0.5 BM sin(wt - 120o ) +

3

3
j
BM sin(wt - 240o ) BM sin(wt - 120o )
2
2

= (1.5 BM sin wt ) + j (1.5 BM cos wt ) It rotates in a clockwise direction.

Switching the currents in two stator phases reverses the direction of

magnetic field rotation in an AC machine.
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Homework #1

1. Derivations
(a) Shown on Page 10
(b) Shown on Page 12

2. Modify the MATLAB code given on page 14 by

swapping phase bb current for phase cc current
so that the direction of magnetic fields rotation is reversed.
Print out your MATLAB commands with your result figure and turn in
the hardcopy of them with your Bnet (t) calculations of part (A) .

This computer assignment is due by October 18, Friday.

5% of the final grade.
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Generated Voltage in Rotating Machines (1)

Lets move on to the generator action in AC machines!

Just as a three-phase set of currents in a stator can produce a rotating
magnetic field (Motor Action), a rotating magnetic field can produce a
three-phase set of voltages in the coils of a stator (Generator Action).

Examine them with a

single-turn coil as
shown in the rightside figure.
Then expand the
results to a general
three-phase stator.

stator coil
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Generated Voltage in Rotating Machines (2)

Assume that a rotor with a sinusoidally distributed magnetic field
rotates in the center of a stationary coil.
We further assume that the magnitude of the flux density B in the air
gap between the rotor and the stator varies sinusoidally with
mechanical angle, while its direction is always radially outward.

http://www.youtube.com/watch?v=Uc2R35K1Ak0
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Generated Voltage in Rotating Machines (3)

The magnitude of the flux density vector at a point around the

rotor is B = BM cos a , where a is the angle from the direction of
peak flux intensity.
Since the rotor is rotating within the stator at an angular velocity
wm, the magnitude of the flux density vector at any angle a
around the stator is B = BM cos(wmt - a ) .
The voltage induced in a wire is eind = (v B) l
(Flemings Right-Hand Rule)
where v is the velocity of the wire relative to the magnetic field,
B is the magnetic flux density vector and
l is the length of conductor in the magnetic field.
However, this equation was derived for a moving wire in a
stationary magnetic field. In this situation, the wire is stationary
and the magnetic field rotates.
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Generated Voltage in Rotating Machines (4)

The total voltage induced in the coil will be sum of the voltages
induced in each of its four sides. These voltages are
Segment ab (a = 1800):

eba = (v B ) l = vBl = -v BM cos(wm t - 180o ) l = -vBM l cos(wm t - 180o ).

Segment bc and da: Induced voltage will be zero, since (v B) ^ l.

Recall ecb = ead = (v B) l = 0.
Segment cd (a = 00):
edc = (v B ) l = vBl = v(BM cos wm t ) l = vBM l cos wm t

Therefore, the total voltage on the coil is given by

eind = eba + ecb + edc + ead = eba + edc = -vBM l cos(wm t - 180o ) + vBM l cos wm t
= 2v BM l cos wm t = 2(rwm) BM l cos wm t = 2r lBMwm cos wm t

since the velocity of the end conductor is v = rwm .

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Generated Voltage in Rotating Machines (5)

The flux passing through the coil can be expressed as f = 2rlBM ,
while m = e = for a two-pole stator, so the induced voltage can be
expressed as eind = (2r lBM )wm cos wm t = fw cos w t (a single - turn coil)
If the coil in the stator has NC turns of wire, then the total induced
voltage of the coil will be eind = NCf w cos w t (N turns of wires in the coil)
Notice that the voltage induced in the stator of this simple AC machine
winding is sinusoidal.
The amplitude of the induced voltage depends on
Flux in the machine,
Angular velocity of the rotor,
A constant related to the machine structure (Nc in this case).

If the reference direction for had been rotated by 90o, we would

have had a sint term instead of cos t in the above equation.
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Generated Voltage in Rotating Machines (6)

Induced voltage in a three-phase set of coils

In 3-phase coils, each of NC turns,
placed around the rotor magnetic
field, the induced in each coil will
have the same magnitude and
phases differing by 1200:
eaa ' = NC f w cos wt
ebb ' = NC f w cos(wt - 120o )
ecc ' = NC f w cos(wt - 240o )

Therefore, a 3-phase set of

currents generates a uniform
rotating magnetic field in the stator,
and the uniform rotating magnetic
field induces a 3-phase set of
voltages in the stator.
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Generated Voltage in Rotating Machines (7)

The rms Voltage in a 3-phase Stator

Peak voltage in any phase of a 3-phase stator: E max = NC f wm
For a 2-pole stator, wm = we = w = 2p f , thus, E max = 2p N C f f
Therefore, the rms voltage of any phase of 3-phase stator:
E rms =

2p
NC f f = 4.44 NC f f
2

The rms voltage at the terminals of the machine will depend

on whether the stator is Y-connected or -connected.
If the machine is Y-connected,
then the terminal voltage will be 3 times Erms.
If the machine is -connected,
then the terminal voltage will just be equal to Erms.
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AC Machine Power Flows and Losses

The efficiency of an AC machine:

h=

Pout
Pin - Ploss
100% =
100%
Pin
Pin

The losses in AC machines

Electrical or Copper Losses (I2R losses): The resistive heating losses in the
stator (armature) and rotor (field) windings of the machine
Stator Copper Losses in a 3-phase AC machine: PSCL = 3I A2 RA
Rotor Copper Losses of a synchronous AC machine: PRCL = 3I F2 RF

Core Losses : Hysteresis losses + Eddy current losses.

Mechanical Losses
Friction Losses: caused by the friction of the bearings
Windage Losses: caused by the friction between the moving parts of the
machine and the air inside the motors casing.

Stray (Miscellaneous) Losses: These are the losses that cannot be classified
in any of the previous categories. They are usually due to inaccuracies in
modeling. For many machines, stray losses are assumed as 1% of full load.
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The Power-Flow Diagram

One of the most convenient techniques for accounting
for power losses in a machine is the power-flow diagram.
AC Generators
The mechanical power is
input, and then all losses
but cupper are subtracted.
The remaining power Pconv
is ideally converted to
electricity: Pconv = tind wm

AC Motors
Power flow diagram is
simply reversed.

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Chapter Exam #3 (Replaced by Quiz)

October 18, Friday at 12:30pm

For 15 minutes
Lecture note #4
All questions are all about basic concepts of power
engineering and AC rotational machines.
Problem Types

Fill-in-the blanks
One-sentence description.

No calculator is required.
No equation paper is required.
Any sort of cheating wont be tolerated.
5% of the final grade

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