Lez15 ElectricMachines AC

Elettrotecnica ed Elettronica Applicata
Electrical machines AC machines
Prof. Riccardo Enrico Zich

2
Outline
1. Introduction
1. Basic concept of DC machines and limits
2. Rotating magnetic field
2. Synchronous machines
1. Geometry
2. Mechanical behaviour
3. Electrical modelling
4. Performances
3. Induction motors
1. Geometry and basic principles
3
Outline
1. Introduction
3. Induction motors

4
1.1 Recap of DC machines
Electrical machines:
System to make electro-mechanical energy conversion
Mechanical -> Electrical Generator

Electrical -> Mechanical Motor
Electrical machines are reversible

5
All electrical machines convert energy. They can be
considerated as a electro-mechanical 2-port
I
Electric
V T
Machine
The equations that drive the coupling are:
=
=
6
DC machines:
They have two circuits:

armature circuit
excitation circuit
The excitation circuit is placed on the stator and it generates

a magnetic field that is constant.
The Faradays law says that:

=

To have a voltage with a static magnetic field the coil must
rotate
7
DC machines limit:
Presence of brushes:
Lightening
Fragile
Need of DC current
Difficult energy transportation
Problems with DC switch

8
Outline
1. Introduction
3. Induction motors

9
1.2 Rotating magnetic field
Using AC polyphase current it is possible to create a
rotating magnetic field.
The use of three phase current is an optimal compromise

between uniformity of performances and costs.
It is possible to generate a rotating magnetic field with three

coils distributed in the space with three phase current

10
The three currents are:
1 = cos( )
2 = cos( + )
3 = cos( )
Where
2
=
3

11
Taking three coils:
The three coils are disposed in the a

space with an angle of 120
b x x c
Each coil passes a current.
All the currents generate a magnetic c b

flux proportional to the current x
itself. a

12
The fluxes produced are:
1 = cos( ) a
2 = cos( + ) b x x c
3 = cos( )
c b
All these fluxes are vectors oriented x
in the space. a
It is possible to represent them as
phasors.

13
The fluxes produced are:
1 = 1 0 a
2 = 2 b x x c
3 = 3
c b
x
Given these definitions, it is possible
to evaluate the total flux: a
= 1 + 2 + 3

14
It is possible to express the modules
of the three fluxes with the Euler
notation: a
+
1 =
2 b x c
( +)
+ ( +)
x

2 =
2
( ) + ( )
3 = c b
2
x
a
With this notation it is possible to
calculate the total flux with respect
to the others.

15
The total flux is:
= 1 + 2 + 3 =
= 1 0 + 2 + 3 =
+ 0 ( +) + ( +)
= +
2 2
() + ()
+ =
2

= + 0 + +
2
+ + +

16

+ 0 + +
2
+ + + =
0
= + +
2
+ 0 + +
Finally
3
=
2
That represent a magnetic flux with constant module
rotating in the space with angular speed

17
We have demonstrated that using three phase current
passing in three coils distributed in the space it is
possible to obtain a magnetic flux rotating in the space.
3
=
2
It is easy to demonstrate that it is possible to change the

direction of the rotation just changing the sign of two
currents.

18
Outline
1. Introduction
1. Geometry
4. Performances
3. Induction motors

19
2.1 Synchronous machines
The AC machines can be divided into two groups
depending on the geometry and of the feeding of the
rotor.
Synchronous machines have the rotor fed by DC current.

It is possible to substitute the ferromagnetic material and
its coil with a permanent magnet

20
2.1 Synchronous machines
Synchronous machines have the rotor fed by DC current.
It is possible to have two different configurations of the
rotor:
salient poles
cylindrical rotor

21
Outline
1. Introduction
1. Geometry
4. Performances
3. Induction motors

22
2.2 Mechanical behavior
It is possible to model both the rotor and the stator as two
rotating magnetic fields.
Stator:
=
Rotor:
=
Where is the rotating speed of the rotor

23
Given the two magnetic fields, it is possible to define the
torque:
a
=
b x x c
The product can be rewritten as:

= sin b
c
x
Where is the angle between a

the two magnetic fields and
= ()

24
It is possible to write as function of the two rotating
speeds:
a
= +
So the expression of the torque b x c
x
becomes:

= sin +
c b
x
At this point it is possible to a
evaluate the average torque:
T
< > =

25
The average torque is: a

T
< > =
b x x c

So:
c b
= 0, x
<> a
0, =
To have a net torque the two magnetic fields should

rotate at the same speed: this is the synchronous
speed called

26
It is possible to change the synchronous speed from the
electrical frequency with a net torque changing the
numbers of poles of the machine.
The poles of the machines are the number of north and

south poles of the rotor or of the stator.
The poles of the stator are always equal to the poles of

the rotor.

27
The number of poles of the stator depends on how many
times appears the coil of all the phases.
The number of poles of the rotor depends on the

geometry of the rotor.

28
In a machine with poles, it is possible to write that:

=
2

=
2 2
In power production slow rotating machines (as wind

turbine) have a huge number of poles to keep the
electrical frequency constant.

29
We had written that:
=
a
That means:
b x x c
= sin +
For a synchronous machine: c b

x
= sin a

30
We had written that:
=
a
It is possible to define the total
magnetic field:
b x x c
= +
c b
From this expression:
x
a
=

31
The torque is defined as:
=
a
From the expression of the total
magnetic field, it is possible to
write: b x x c
=

Using this expression in the torque c b

formulation: x
a
=

32
Given:
=
Doing some math:
= =
So:
=
Defining the angle between the rotor and the net a
magnetic field:
= sin b x x
c

c b
x
a
33
=
The angle between the rotor and the net magnetic field
() is called torque angle or power angle.
a
b x x c

c b
x
a
The power angle is the shift angle given from the
machine in the phasor electric diagram.

34
Outline
1. Introduction
1. Geometry
4. Performances
3. Induction motors

35
2.3 Electrical modeling
It is possible to give an electrical model:
for each phase

for all the phases
Usually the model of each phase is the one used to

analyse the behaviour of the machine.

36
The model of each phase is:
Stator:
Rotor:

37
It is possible to use the KVL:

= + +
Neglecting ( _):
= +

38
= +
It is possible to draw this equation in the phasor diagram:
From the phasor diagram, it is possible to say that:
sin = cos

39
= +
sin = cos
At this point it is possible to calculate the electrical power

of the machine:
= cos
Finally:

= cos

This is the power of each phase.

40
The electrical model of all the three phases combined is:

41
Outline
1. Introduction
1. Geometry
4. Performances
3. Induction motors

42
2.4 Performances
It is possible to do some considerations on the power of
the synchronous machine.
The mechanical power is:
= = sin
The electrical power is:

= 3 cos = 3 cos


43
2.4 Performances
= = sin

= 3 cos = 3 cos


44
Outline
1. Introduction
3. Induction motors
3. Performances

45
3.1 Induction motors
Induction machines are used almost always as motors
due to the fact that the quality of the generated power
is not good enough.
The limits of the synchronous machines that are solved

by the induction motors are:
Need of two feeding systems;

Need of DC current

46
Stator geometry is the same of synchronous machines: it
generate the same rotating magnetic field.
The rotor is made by a set of coils not fed.

47
The stator generates a magnetic flux.
The coils of the rotors can see a time varying magnetic

field. So:
This means that a voltage potential is induced in the

rotor and this voltage generates a current that
generates a magnetic field.

48
If the rotor and the rotating field of the stator have
different rotating speed, so a potential is induced:
If the magnetic field of the stator has the same speed of

the rotor, the magnetic flux concatenated does not vary
on time, so no potential is induced and the magnetic
field of the rotor is null.
This is why these machines are also called

asynchronous machines.

49
It is important to remember that:
The rotor and the magnetic field of the stator must

have different speed to have a induced magnetic
field.
The magnetic field of the stator and the magnetic field

of the rotor must have the same speed to have a net
torque (the proof is the same seen for synchronous
machines).

50
Due to the fact that The rotor and the magnetic field of
the stator must have different speed, it is possible to
define a slip speed:
This slip speed is important because it is possible to

model the machine using this parameter and so to
have the performance as function of the slip speed.

51
Outline
1. Introduction
3. Induction motors
3. Performances

52
The model of these motors is a mix between the model of
a synchronous machine and of a real transformer.
The model of one phase is:

53
The voltage on the rotor is:

=
The rotor inductance is:
= 2 = 2 = 0

54
The voltage on the rotor is:

=
The rotor inductance is:
= 2 = 2 = 0
So the current induced in the rotor is:

= = =
+ + +


55
It is possible to reflect all the quantities of the secondary

to the primary:
=
2 = 2 0
2 = 2

=


56
Having reflected all the quantities to the primary the
electrical model becomes:
This is an impedance circuit in which it is possible to

evaluate the equivalent impedance

57
Knowing , it is possible to calculate:

=

So:
= cos
is the nominal tension of the motor and P is the per
phase power.

58
Outline
1. Introduction
3. Induction motors
3. Performances

59
3.3 Performances
We have calculated:
= cos
So:
2
3 3
= = 2

+ + + 2

With this kind of motors it is possible to get different

performances changing the design.

60
3.3 Performances
The torque is:
2
3 3
= = 2
2
+ + +

The torque curve is:

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Elettrotecnica ed Elettronica Applicata

Electrical machines AC machines

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

System to make electro-mechanical energy conversion

Mechanical -> Electrical Generator

Electrical machines are reversible

Prof. Riccardo Enrico Zich

The equations that drive the coupling are:

They have two circuits:

The excitation circuit is placed on the stator and it generates

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

The use of three phase current is an optimal compromise

It is possible to generate a rotating magnetic field with three

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

The three coils are disposed in the a

All the currents generate a magnetic c b

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

It is easy to demonstrate that it is possible to change the

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Synchronous machines have the rotor fed by DC current.

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Where is the rotating speed of the rotor

Prof. Riccardo Enrico Zich

Where is the angle between a

Prof. Riccardo Enrico Zich

The average torque is: a

To have a net torque the two magnetic fields should

Prof. Riccardo Enrico Zich

The poles of the machines are the number of north and

The poles of the stator are always equal to the poles of

Prof. Riccardo Enrico Zich

The number of poles of the rotor depends on the

Prof. Riccardo Enrico Zich

In power production slow rotating machines (as wind

Prof. Riccardo Enrico Zich

For a synchronous machine: c b

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Using this expression in the torque c b

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

for each phase

Usually the model of each phase is the one used to

Prof. Riccardo Enrico Zich

Prof. Riccardo Enrico Zich

It is possible to use the KVL:

Prof. Riccardo Enrico Zich

It is possible to draw this equation in the phasor diagram:

From the phasor diagram, it is possible to say that:

Prof. Riccardo Enrico Zich

At this point it is possible to calculate the electrical power

Prof. Riccardo Enrico Zich