Chapter six

Synchronous Machines
6.1 Basic Principle and Construction
6.2 Equivalent Circuit and Phase Diagram
6.3 Torque and Power in Terms of Load angle
Torque-angle curve
6.4 Circle Diagram and V-Curve
6.5 Starting Synchronous motors
6.6 Other Kinds of Machines
Chapter six
Synchronous Machines
Introductiontopolyphasesynchronousmachine
A synchronous machine is one
in which alternating current flows
in the armature winding, and dc
excitation is supplied to the field
winding. The armature winding is
almost invariably on the stator and
is usually a three-phase winding.
The field winding is on the rotor.
Thesearesomepicturesofsynchronousmachines:
Thesearesomepicturesofsynchronousmachines:
6.1BasicPrincipleandConstruction
A synchronous machine can only run at a speed
of n1=60f/p in the steady state.
6.1BasicPrincipleandConstruction
6.1.1Synchronousoperation
From chapter three, we know that the synchronous
speed produced by three phase windings would be n1=60f/p.
Example 6-1
A synchronous machine operates at 50Hz and runs at 300
r/min, calculate the number of salient poles in the rotor.
6.1.1Synchronousoperation
Solution:
1
60 f
n
p
=
1
60 3000
2 10
300
f
p
n
= = =
Assume a pair of N-S poles is
used to represent the behavior of a
rotating magnetic field mmf as shown
in the Figure 6-1 .It is easy to see
that for the machine to develop a
uniform torque, the armature
magnetic fields and the rotor dc field
must be rotating at same speed,
which means they are stationary with
respect to one another. Therefore,
there must be a physical movement
of the rotor at synchronous speed .
6.1.1Synchronousoperation
s
n
Figure 6-1 Principle of
synchronous machine
6.1.2MotoringandGeneratingOperation
6.1BasicPrincipleandConstruction
For a motor, the rotor is droved by
another motor, as shown in Fig 6-2. The
direction of the induced e.m.f. and current
in rotor would be out of the paper and the
torque on the conductor would be
counterclockwise; see also Fig6-2.
Figure 6-2 Motoring and
generating
For a generator, the stator is
forced left and the rotor is moved by
the reverse force .
U2
U1
W2
V1
W1
V2

-
-
-

-
N
S
n
Generating process
6.1.2MotoringandGeneratingOperation
See a generating process shown below:
6.1.2MotoringandGeneratingOperation
See the flash show a generating process :
6.1.2MotoringandGenerating
See the flash shown below that a synchronous machine
operate from generating to motoring.
6.1.3CylindricalRotorConstruction
In Cylindrical Rotor ,the air gap is
uniform ,and the rotor mmf may be
taken to be distributed sinusoidal in
space.
Such a rotor has a suitable
distributed and chorded 3-phase
winding and is excited with a direct
current ,usually with one phase
carrying the full value, and the other
two, half negative value each.
6.1BasicPrincipleandConstruction
6.1.4SalientPoleRotorConstruction
6.1BasicPrincipleandConstruction
The lower-speed synchronous
machine, hydro electric generators
for example, utilize salient-pole rotors.
In general use,4-pole
construction is quite common, but 2-
pole construction is only used in very
small machines.
Salient poles leave a large spare
for field windings, but in general give
a flux wave with pronounced lower-
order harmonics.
6.2EquivalentCircuitandPhaseDiagram
a F F F + =

0
- - -
+ = a E E E 0 1
6.2.1CylindricalRotor
a
F
0
F
: the mmf produced by stator winding
: the dc mmf produced by rotor winding
The induced voltages in the armature winding will be
and accordingly. Correspondingly we have: a E

0
E

where the resultant voltage is the emf produced by F.

1
E

.
1 1 1
.
1
.
1
.
1 I jx r I E U + + =
6.2.1CylindricalRotor
According to the previous sections, the stator voltage
equation can be written as:
Where: r1 stator resistance
x1 stator leakage inductance
Equivalent circuit
If is omitted for the purpose of simple analysis, the
voltage equation is written as:
.
1 1
.
1
.
1 I jx E U + =
.
1 1
. .
0
.
1 I jx E E U a+ + =
. .
a a a I jx E =
s a x jI E I jx x jI E U
.
1
.
0
.
1 1
.
1
.
0
.
1 + = + + =
------synchronous reactance
o
X X X
a s
+ =
6.2.1CylindricalRotor
1 1
r I

6.2.1CylindricalRotor
The phasor diagram and equivalent circuit can be drawn below.
equivalent circuit `
phasor diagram
6.2.1CylindricalRotor
Example 6-2
A 500kw, 600r/min synchronous motor connected to a 3980V,
3-phase line generates an excitation voltage of 1790V (line to
neutral) when the dc exciting current is 25A. The synchronous
reactance is 22A and the torque angle between and is .
Calculate:
The value of .
The value of The ac line current.
The power factor of the motor.
The approximate power developed by the motor.
The approximate torque developed at the shaft.
0
E

0
E

1
U

30

1 s
jx I

V U 2300
3
3980
.
1 = =
It follows that is given by the phasor.
Z = 0 2300
.
1 U
.
0 E
Z = 30 1790
.
0 E
6.2.1CylindricalRotor
Solution:
a. The line-to-neutral voltage applied to the motor has a value
Let us select as the reference phasor, whose angle with
respect to the horizontal axis is assumed to be zero. Thus,
1
U

The equivalent circuit per phase is given below.

30 1790 0 2300
.
.
0
.
1 1 Z Z = = E U I jxs
)) 30 sin( ) 30 (cos( 1790 ) 0 sin 0 (cos 2300 + + = j
895 750 895 1550 2300 j j + = + =
Z = 50 1168
Thus, phasor has a value of 1168V and it leads phasor
by 50.
.
1 I jxs
.
1 U
6.2.1CylindricalRotor
We can get:
Z = 50 1168 22
.
I j
Z =
Z
Z
= 40 53
90 22
50 1168
.
I
The power factor is lagging because the current lags
behind the voltage.
b. The line current I is given by
6.2.1CylindricalRotor
Thus, phasor I has a value of 53A and it lags 40behind
phasor .
1
U

c. The power factor of the motor is given by the cosine of

the angle between the line-to-neutral voltage across the
motor terminals and current I. Hence,
1
U

Power factor = cos40= 0.766, or76.6%

d. Total active power input to the stator.
kW W
I U P L LN i
1 . 280 280142
40 cos 53 2300 3 40 cos 3
~ =
= =
6.2.1CylindricalRotor
Neglecting the and iron losses in the stator, the electrical
power transmitted across the airgap to the rotor is 280.1KW
R I
2
Nm
P
T 4458
600
1 . 280 9550
600
9550
=

=
Approximate torque:
6.2.2Salientrotorconstruction
6.2EquivalentCircuitandPhaseDiagram
q
d
aq
F
ad
F
a
F
f
F
For a salient rotor, the reactance varies with the rotor position.
In order to analysis this more complicated machine, the d-q
axis dual reaction principle is often used as stated below.
6.2.2Salientrotorconstruction
sin
a ad
F F = cos
a aq
F F =
. . .
aq ad a E E E + =
aq ad a F F F + =
aq
d aq
ad
d ad
X I j E
X I j E
. .
. .
=
=
When Fa in line with F0, the reactance is assumed as xad. When
Fa is vertical to F0,the reactance facing by Fa is represented by
xaq, therefore:
q
d
aq
F
ad
F
a
F
f
F
1 1
. . .
0
.
1 x jI E E E U aq ad + + + =
o x jI x jI x I j E aq q ad d 1
. .
0 + + + =
sin
.
1
.
I Id = cos
.
1
.
I Iq =
6.2.2Salientrotorconstruction
for ABC:
Z = ZA
1 1 1 sin sin x I x I AC BC d = = =
1 1 1 cos cos x I x I AC AB q = = =
1 1 1 x jI x jI x jI q d + = o
For cylindrical rotor machine, xd=xq=xs, so
1 1
. .
0
.
1
.
x jI x jI x I j x I j E U q d aq q ad d + + + + =
q q d d x I j x I j E
. .
0
.
+ + =
1 x x x ad d + =
1 x x x aq q + =
.
1
.
0
.
1 I jx E U s + =
So we have
6.2.2Salientrotorconstruction
Where

-
I
-
d
I
-
q
I
-
U
-
0
E
-
q q
x I j
-
d d
x I j

--Torque angle
u
u + =
--Power factor angle
--Inner power factor angle
6.3TorqueandPowerinTermsofLoad
angleTorqueanglecurve
6.3.1PowerbalanceandTorquebalance
EM cu P P P + = 1
2 0 P P PEM + =
O O O
0 1
1 1 1
E M
P P P
=
6.3.1PowerbalanceandTorquebalance
Divided by synchronous angular speed, becomes torque
equation.
0 2
T T T = +
Whereelectromagnetictorque.
Noloadtorque
Outputtorque
1 O
=
EM P
T
1
0
0
O
=
P
T
1
2
2
O
=
P
T
6.3.2TorqueangleCurve
Normally, capacity of synchronous machine is large and the
efficiency is high. So assume
( )
u u
u u
u

sin 3 cos 3
sin sin 3 cos cos 3
cos 3
cos 3
1 1
1 1 1 1
1 1
1 1 1
d q
M
I U I U
I U I U
I U
I U P P
+ =
+ =
=
= ~
- -
where: and are phase voltage and current.
1
U
1
I
6.3TorqueandPowerinTermsofLoad
angleTorqueanglecurve
6.3.2TorqueangleCurve
From phasor diagram of salient rotor SM
u
u
cos
sin
1 0
1
U E x I
U x I
d d
q q
=
=
so
d
d
x
U E
I
u cos
1 0

=
u u
u
u
u
u
2 sin
1 1
2
3
sin
3
sin
cos
3 cos
sin
3
2
1 0 1
1 0
1
1
1
|
|
.
|

\
|
+ =

+ =
d q d
d q
M
x x
U
x
E U
x
U E
U
x
U
U P
6.3.2TorqueangleCurve
so
u u 2 sin
1 1
2
3
sin
3
1
2
1
1
0 1
1
|
|
.
|

\
|

O
+
O
=
O
=
d q d
EM
x x
U
x
E U P
T
assume
u sin
3
'
1
0 1
O
=
d
x
E U
T
u 2 sin
1 1
2
3
' '
1
2
1
|
|
.
|

\
|

O
=
d q
x x
U
T
6.3.2TorqueangleCurve
If it is cylindrical rotor motor, the reactance will be ,
and the torque becomes:
u sin
3
1
0 1
s x
E U
T
O
=
s q d
x x x = =
torque-angle curve
6.3.3ThePhysicalMeaningoftheTorqueAngle
6.3TorqueandPowerinTermsofLoad
angleTorqueanglecurve
Torque angle is the angle between and . When
stator impedance drop is neglected, the is corresponding to
the angle between and . Then between the and .
u
1
U

0
E
0
F
F
1
E

0
E
u
When energizing current is increased, the voltage will be
increased as well. From the equation (6-19) we know that when
increases, the torque T will be increased.
0
E
6.3.3ThePhysicalMeaningoftheTorqueAngle
torque angle curve
6.3TorqueandPowerinTermsofLoad
angleTorqueanglecurve
6.3.4SteadyStateOperation
From the equation , the overloading ability can
be got :
1 0
max 1
1 0
1
3
1
3
sin
sin
d
N N
N
d
U E
T X
U E
T
X

u
u
O
= = =
O
max
N
T
T
=
Normally, = 2-3, so it can be calculated as
= 30 ~ 20
N
u
Stable operation

6.4CircleDiagramandVCurve
The component in stator winding will be determined by
the value of the excitation current in rotor winding,
which will be explained in the circle diagram, when the
load varies.
A synchronous motor must produce the equivalent
torque to balance its mechanical load to keep running,
therefore the developed torque is depend on the load.
0
E
f
i
6.4CircleDiagramandVCurve
.
a I
.
1 I
.
b I
.
p I
.
1 U
.
0 E

.
1 I jxc
Circle diagram
.
a I
.
1 I
.
1 I
.
p I
.
b I
.
b I
.
0 E
.
1 U
Different excitation for same load
6.4.1CircleDiagram
6.4.1CircleDiagram
When is kept at constant, and the load is varying, then
from the equation (6-4), it can be got that;
0
E
0 1
1 a b
c c
E U
I I I
jx jx

= + = +

Where is a constant on the condition of
stator voltage unchanged. And
1 1
a
c c
U U
I j
jx x
= =
0
b
c
jE
I
x
=

If the is kept unchanged, is a constant, then

when the load is varying, the output power will change with
the load and the active component of the current will
change to meet the requirement of the load.
b
I

0
E C =

2
P
P
I
6.4.1CircleDiagram
From the Figure shown below, we can see that when is
constant, the dashed line is the trace of and its active
component is the project to the phasor .
b
I

1
I

P
I
1
U

Circle diagram
6.4CircleDiagramandVCurve
6.4.2VCurveLoadConstant
When load is constant, the active component of the stator
current is constant as well, then the stator current trace with the
excitation current varying will be like the dotted line in the
Figure shown below.
P
I
Different excitation for same load
6.4.2VCurveLoadConstant
The broken line locus in the Figure above corresponds to
the minimum armature current at various loads; i.e. excitation
adjusted to give unity power factor.
V curve of a synchronous machine
6.5StartingSynchronousmotors
Three basic approaches can be used to safely start a
synchronous motor:
1.Motor starting by using amortisseur windings
Amortisseur windings
6.5StartingSynchronousmotors
2.Motor Starting by Reducing Electrical Frequency
3. Motor Starting with an External Prime Mover
6.6OtherKindsofMachines
6.6.1PermanentMagnetmachine
6.6.1PermanentMagnetmachine
The rotor of a permanent magnet machine, with some
permanent magnet arrangement on, can be salient, like in the
Figure (a), and nonsalient like in the Figure (b).
The rotor of permanent magnet machine
( a ) ( b )
6.6.1PermanentMagnetmachine
Controlled by an inverter, the permanent magnet motor
drive system has the advantages of :
1. Relatively high efficiency.
2. Long life and high reliability.
3. Little or no maintenance.
4. Very little RF noise compared to a dc motor with brushes.
5. Very high speeds are possible (greater than 50,000 r/min).
The principal disadvantage is that a brushless dc motor is
more expensive than a comparable brush dc motor.
6.6OtherKindsofMachines
6.6.2StepperMotor
These motors are used in many control systems, since the
position of a shaft or other piece of machinery can be
controlled precisely with them.
6.6.2StepperMotor
A simple stepper motor and its associated control unit are
shown below.
Stepper motor
6.6.2StepperMotor
A simple stepper motors associated control unit are shown
below.
Control circuit
6.6OtherKindsofMachines
6.6.3SwitchedReluctanceMotor
6.6OtherKindsofMachines
6.6.4HybridStepperMotor
6.6.4HybridStepperMotor
1. From the Figure below, it is easy to see that the rotor has
two parts, displaced by 1/2 teeth pitch with each other.
Hybrid stepper motor
2. 2-ph windings are arranged as in the Figure shown below.
6.6.4HybridStepperMotor
Hybrid stepper motor
6.6.4HybridStepperMotor
3. Energinzing sequence can be: phase A positive phase
B positive phase A negative phase B negative, to make
one cycle; then phase A positive again.
4. Each cycle moves rotor to rotate one tooth pitch.
5. Waveform can be sinusoidal or dc pulsed.
6. Teeth on the rotor can be smaller to have the step angle
smaller.
A typical example for this kind of motor has 50 teeth on
each rotor section, therefore there are 200 steps per
revolution.