Ee 402-Special Electric Machines

EE 402-SPECIAL ELECTRIC
MACHINES
Subeekrishna M P
Assistant Professor
Electrical and Electronics Engg. Dept.
MEA Engineering College
Tuesday, June 09, 202 Subeekrishna/APEE/MEACE 1

Syllabus
■ AC Servomotors
– construction – operation
■ DC servomotors
■ Stepper motor
– operation –types-modes of excitation
■ AC series motor
– Universal motor
– Hysteresis motor
■ Reluctance motor
– Switched reluctance motor
– Permanent magnet DC motor
■ Brushless DC motor
■ Linear motors
■ Linear induction motors.
Tuesday, June 0 Subeekrishna/APEE/MEACE 2
MODULE 1
AC Servomotors- Construction-principle of operation – performance
characteristics–damped AC servomotors – Drag cup servomotor –
applications. DC servomotors –field and armature controlled DC
servomotors – permanent magnet armature controlled –series split field
DC servomotor.

SERVO MOTORS
■ A servo system is one in which the output is some mechanical variable like
position, velocity or acceleration
■ Such systems are automatic control systems in which output is some mechanical
function such as controlling the position of the shaft, controlling angular speed of
the shaft etc.
■ A servo motor is one of the widely used variable speed drives in industrial
production and process automation and building technology worldwide.
■ A servo motor is a linear or rotary actuator that provides fast precision position
control for closed-loop position control applications.
■ Unlike large industrial motors, a servo motor is not used for continuous
energy conversion.
■ It have a high speed response due to low inertia and are designed with small
diameter and long rotor length.
■ Servo motors work on servo mechanism
– Servomechanism – A feedback control system which is used to control the

position of the object.
 Internally, a servo motor combines a motor, feedback circuit, controller

and other electronic circuit.

■ These motors are low power rating motors and can drive the load directly,
hence these motors are usually coupled to the load through a gear train
for power matching purpose.

■ Servo motor has an assembly of four things DC motor, gearing set,
control circuit and a position sensor.
■ DC Motor does not comprise of any assembly. Servo motor does not
rotate freely and continuously like DC motor.
■ Its rotation is limited to 180⁰ whereas DC motor rotates continuously.
■ Servo motors are used in robotic arms, legs or rudder control system and
toy cars. DC motors are used in fans, car wheels, etc

Feedback control system

Requirement of a Good Servomotor
The servomotors which used in feedback control systems must have the following
requirements :
■ 1. Linear relationship between electrical control signal and rotor speed, over a
wide range.
■ 2. Inertia of rotor should be as small as possible
(servomotor must stop running without any time delay, if control signal to it is
removed.)
■ For low inertia, it is designed with large length to diameter ratio, for rotors.

■ Compared to its frame size, the rotor of a servo motor has very small diameter
■ Its low diameter rotor only, the servomotor is distinguished from other motors in
practice.
■ 3. Its response should be very fast. For quickly changing error signals, it must
react with good response.
■ 4. It should be quickly reversible.
■ 5. It should have linear torque-speed characteristics.

■ 6. The output torque at any speed should be roughly proportional to the
applied control signal.
■ 7. Its operation should be stable without any oscillations or overshoots.

TYPES

Types of servomotors
■ The servomotors are basically classified depending upon the nature of the
electric supply used for its operation
■ Basic classification : a.c. servomotors and d.c. servomotors.
AC SERVOMOTOR
■ Most of the servomotors used in the low power servomechanism are a.c.
servomotors.
■ The a.c. servomotor is basically two phase induction motor.
■ The output power of a.c. servomotor varies from fraction of watts to few
hundred of watts. The operating frequency is 50 Hz to 400 Hz.
Servo Motor Applications
■ Used in application where precise and automatic control especially
position control is required.
– Widely used in radars, computers, robots, machine tools,tracking
system, process controllers etc.
– Inkjet printers and RC helicopters.
– To drive conveyors used in Industrial manufacturing and assembling
units to pass an object from one assembly station to another.
– Used in solar tracking system.
– DC servomotors are widely used in robots, toy cars and other
position controlled devices.

Construction:AC servomotor
■ A.c. servomotor is basically consists of a stator and a rotor.
■ The stator carries two windings, uniformly distributed and displaced by 90o
in space, from each other.
■ One winding is called as main winding or fixed winding or reference

winding.
■ The reference winding is excited by a constant voltage a.c. supply.

■ Second winding is called as control winding. It is excited by variable control
voltage, which is obtained from a servo amplifier

■ The winding are 90o away from each other
■ control voltage is 90o out of phase with respect to the voltage applied to the
reference winding. This is necessary to obtain rotating magnetic field.
Stator of a.c. servomotor

■ To reduce the loading on the amplifier, the input impedance i.e. the
impedance of the control winding is increased by using a tuning capacitor
in parallel with the control winding.
Rotor
The rotor is generally of two types. They are,
■ 1. Squirrel cage rotor
■ 2. Drag cup type rotor

Squirrel Cage Rotor
■ The usual squirrel cage rotor has aluminium bars which are shorted at the ends
with the help of the end rings.
■ The overall construction looks like a cage.
■ The construction is similar to the squirrel cage rotor used for the three phase
induction motors.
■ It has small diameter and large length. It reduces the inertia
■ Aluminium conductors are used to keep weight small.

■ Its resistance is high to keep torque-speed characteristics as linear as
possible
■ Air gap is kept very small which reduces the magnetisation current.
■ The cage type of rotor uses the skewed bars
Cage type rotor construction

■ To reduce the inertia further, a drag cup type of rotor construction is used. There
are two air gaps in this construction.
■ The drag cup is made up of non magnetic material like copper, aluminium or an
alloy
■ Slotted rotor laminations are present in this construction.
■ These are wound for as many number of poles as possible so that operating
speed of motor is very low.
■ This construction is used in very low power applications

Drag cup type rotor construction

Operating Principle
■ The operating principle of two phase a.c. servomotor is same as that of normal
three phase induction motor.
■ The control voltage applied to the control winding and the voltage applied to the
reference winding are 90o out of phase.
■ Hence the flux produces by current through control winding is also 90o out of
phase with respect to the flux produced by the current through the reference
winding.

 The resultant flux in the air gap is hence rotating flux sweeps over the rotor, the
e.m.f. gets induced in the rotor.
 In the two phase a.c. servomotors, the polarity of the control voltage determines
the direction of rotation.
 A change in the sign of the control voltage reverses the direction of rotation of
the motor.
 Since the reference voltage is constant, the torque and the angular speed are the
functions of the control voltage.

Torque-Speed Characteristics
A servomotor must have
■ Linear torque-speed characteristics
■ Slope of the torque-speed characteristics must be negative.
■ The characteristics must be parallel to one another for various values of

the control voltage applies.

■ In practice, design of the motor is so as to get almost linear torque-speed
characteristics.
■ A servomotor rotates only when a detectable error occurs at low voltage

and it rarely operates at high speeds.
■ Hence for a given value of control voltage, torque-speed characteristics

are almost linear.
■ Fig. below shows the torque-speed characteristics for various control

voltages.

Torque-speed characteristics of a.c servo motor
■ All the characteristics are equally spaced for equal increments of control
voltage

Performance Characteristics
■ The performance characteristics other than the torque-speed
characteristics of a two phase a.c. servomotor are shown in fig.
As torque developed increases, current drawn and the
power input increases. Power factors also improves upto
certain limit.
While the efficiency increases upto certain limit and then

Performance characteristics of a typical a.c. servomotor
starts decreasing.

Features of A.C. Servomotor
■ 1. Light in weight for quick response.
■ 2. Robust in construction.
■ 3. It is reliable and its operation is stable in nature.
■ 4. Smooth and noise free operation.
■ 5. Large torque to weight ratio.
■ 6. Large resistance to reactance ratio.

■ 7. No brushes or slip rings are required. Hence maintenance free.
■ 8. Driving circuits are simple to design.
■ 9. The negative slope of the torque-slip characteristics adds more friction

improving the damping.
■ This improves the stability of the motor. This features is called internal
electric damping of two phase a.c. servomotor

Drag cup servo motor
■ The stator of the Two Phase AC Servo Motor has the two distributed
windings and are displaced from each other by 90 degrees electrical.
■ One winding is known as a Reference or Fixed Phase, which is supplied

from a constant voltage source.
■ The other one is known as Control Phase,
and it is provided with a variable voltage.

■ Control phase is usually supplied from a servo amplifier.
■ The speed and torque of the rotor are controlled by the phase difference
between the control voltage and the reference phase voltage.
■ By reversing the phase difference from leading to lagging or vice versa,

the direction of the rotation of the rotor can be reversed.

■ The torque speed characteristic of the two phase AC servomotor is shown in the
figure above
■ The negative slope represents a high rotor resistance and provides the motor with
positive damping for better stability.
■ The curve is linear for almost various control voltages.
■ The response of the motor to a light control signal is improved by reducing the
weight and inertia of the motor in a design Drag Cup Servo motor

■ The rotor of the Drag cup servo motor is made of a thin cup of the
nonmagnetic conducting material.
■ A stationary iron core is placed in the middle of the conducting cup. This
arrangement completes the magnetic circuit

■ As the rotor of the motor is made of thin material, its resistance will be high, which
results in the high starting torque.
Applications of A.C. Servomotor
■ Ac position control system:
Application of a.c. servomotor : A.C. position control system

■ Here load position is to be maintained constant
■ Driving motor used is two phase a.c. servomotor
■ The potentiometer arrangement compares the actual position with the reference
position to generate the error voltage.
■ The error voltage is given to amplifier which generates control voltage . This
voltage is applied to the control winding of two phase a.c.servomotor.
■ This control the torque and in turn controls the output position of the load.
■ As driving motor is a.c. servomotor, the system is called as a.c. position control
system

The other applications of a.c. servomotors are,
■ 1. Instrument servos
■ 2. Process controllers
■ 3. Robotics
■ 4. Self balancing recorders
■ 5. Machine tools
■ And is preferred for number of other applications in which precise angular

motion is necessary.

D.C. SERVOMOTORS
■ The d.c. servomotors is more or less same as normal d.c. motor.(some
constructional differences)
■ All d.c. servomotors are essentially separately excited type. This ensures
the linear nature of torque-speed characteristics.

Basic Working Principle
 The d.c. servomotor is basically a torque transducer which converts electrical
energy into the mechanical energy.
 The torque developed on the motor shaft is directly proportional to the field
flux and the armature current.
Tm=KmΦIa …….(1) where Tm = Motor Torque
Km = Proportionally torque constant Φ = Field flux and
Ia = Armature current
 In addition to the torque developed, when armature conductors rotate in the
field flux, they cut the flux and e.m.f. gets induced in the armature.
 This e.m.f. is called as back e.m.f. in case of d.c. motors. It is directly
proportional to the shaft velocity ωm rad/sec.

Em=KbΦωm …..(2)
where Eb = Back e.m.f.
and Kb = Back e.m.f. constant ωm = Motor angular speed in rad/sec
 As back e.m.f. opposes the supply voltage, the voltage equation of the d.c. motor
is given by
V=Eb+IaRa ….(3)
where V = Supply voltage

Ra = Armature resistance
The equations (1), (2) and (3) form the basis of d.c. servomotor operation.

Basic Classification
■ The d.c. servomotors are classified as
1. Variable magnetic flux motors i.e. field controlled motors.
2. Constant magnetic flux motors i.e. armature controlled motors.
Field controlled d.c. Servomotor

■ The electrical signal is externally applied to the field winding.
■ Hence current through the field winding is controlled, inturn controlling the
flux.
■ This motor is also known as separately excited motor or variable magnetic

flux motor
■ In a control system, the error signal is generated by a controller by comparing

the actual output with the reference input.
■ If an error signal is not enough to drive the d.c. motor. Hence it is amplified by
an amplifier called servo amplifier

■ This is applied to the field winding. With the help of constant current source, the
armature current is maintained constant.
■ When there is change in the voltage applied to the field winding Vf, the current
through field winding changes.
■ This changes the flux produced by the field winding responsible for the change in
the motor characteristics.
■ The motor has large Lf/Rf ratio where Lf is the field inductance and Rf is and is
the field resistance.
■ Due to this the time constant of the motor is high. Control signals hence field
controlled d.c. servomotor is uncommon in practice.
Features of Field Controlled D.C. Servomotor
It has following features :
■ 1. It is preferred for small rated motors
■ 2. It has large field inductance to resistance ratio.
■ The ratio of inductance to resistances determines the time constant and hence
the time constant of field controlled d.c. servomotor is large.
■ 3. The overall operation is an open loop system.
■ 4. The control circuit is simple to design.

Armature controlled d.c. Servomotor
■ In a armature controlled d.c. servomotor, the control signal available from the
servo amplifier is applied to the armature of the motor.
■ The field winding is supplied with constant current hence the flux remains
constant. So these motors are also called as constant magnetic flux motors.
■ It is easy to keep field current constant rather than armature current. This is
because presence of back e.m.f. in the armature.

Armature controlled d.c. motor

■ In some case constant field is obtained with the help of permanent magnets.
■ A control signal Va (t) available from the servo amplifier, is applied to the
armature.
■ This signal is based on the feedback information, supplied to the controller. Due
to this, armature current Ia changes which in turn changes the torque produced.
■ This changes the output of the motor as per the requirement. As flux is kept
constant, the torque developed is proportional to the armature current.

Features of Armature Controlled D.C. Motor
■ 1. It is suitable for large rated motors.

■ 2. The value of armature inductance is small. Hence its time constant is small.
Hence motor can give quick response to the changes in the control signal.
■ 3. The overall operation is a closed loop system.
■ 4. The back e.m.f. provides internal damping which makes the motor operation
more stable.
■ 5. The efficiency and overall performance is better than field controlled motor.

Series split field DC servomotor
■ The D,C. series motor with split field (small fractional kW) may be operated as a
separately excited field-controlled motor
The armature may be supplied from a constant

current source.
•A typical torque curve shows the following:
– High stall torque;
Stall torque is the torque produced by a mechanical
device whose output rotational speed is zero
– Rapid reduction in torque with increase in

speed,

Series split field DC servomotor
 Split series motor are the dc series motor

with split-field rated with some fractional
kilowatt .
 This type of motor can operate as a
separately excited field-controlled
 The armature is supplied with a constant
current source.
 Split series motor has a typical torque-speed
curve . This curve denotes high stall torque
and a rapid reduction in torque with increase
in speed.
 This results in good damping.

Permanent Magnet DC Servo Motor
■ Field is a permanent magnet here so Field control is not possible in the case of
permanent magnet DC motor
■ Working principle is similar to that of armature controlled motor.
■ Permanent magnet servo and induction motor had performance areas that overlap
eachother but are not a replacement for one another
■ A permanent magnet servomotor is a synchronous motor with feedback for

commutation, velocity and position information
■ Permanent magnet motor can result in a greater torque density than an equivalent
induction system
■ Rotor size is typically smaller than the similar power induction
counterpart.
■ Here Change the magnetic fields around the motor to create rotation.
■ The motor will be exactly synchronous to the field since both push and
pull the constant flux from the magnet can be obtained.
■ It will be less sensitive to the air gap of the rotor to armature as well.
■ In the case of timing and multiple axis coordination, permanent magnet

motors more precisely control the position-time closed loop requirements
than comparable induction motors and needed mechanics

■ If we need to maintain a constant velocity with a large load and very high
power (>50HP), the induction motor would likely be a better choice.
■ If the mass of the motor, dynamic performance, or torque density be

important decision factors, then the choice favors the PM servo.

Characteristics of a d.c. Servomotor
■ The torque-speed characteristics of a d.c. motor basically describes the
static torque producing capability of the motor with respect to applied
voltage and motor speed.
From this equation,the graph of Tm against

ωm is a Straight line which is dropping in
nature, for constant value of Va .
Km = Motor constant
ωm = Speed in rad/sec
Torque-speed characteristics of d.c. servomotor Va = Applied armature voltage

■ Slope m is,
■ The slope of such characteristics is negative

Other Performance Characteristics
■ As torque developed increases, the current and
power input increases while the efficiency increases
upto certain limit and then starts decreasing.

Servomotor components

Applications of dc servomotor
■ Due to the advantages of closed loop operation, armature controlled d.c. servomotors is more
preferred than field controlled d.c. servomotor.
■ Servostabilizer

■ The stabilizer is a device which keeps the output voltage constant, accepting a
variable voltage
■ In a servo stabilizer there is a transformer whose secondary can be smoothly

tapped using a servomotor drive.
 The servomotor drives the shaft and controls the position of tap on the secondary
as per the control signal, to keep the output
 Armature controlled d.c. servomotor is used here
■ Any change in the secondary voltage is fed back to the error detector. The error
signal is generated, comparing it with a reference input..

■ This is given to the controller which decides proper controlling action.
■ If the signal from the controller is not enough to drive the servomotor,
then the signal is amplified and then given to the armature of the
servomotor, which in turn adjusts the tapping on the secondary to keep
voltage constant
Position Control System

■ Here it is required to keep the position of the load constant
■ A system where output position is kept constant is called as position control system.
■ The output position is sensed and fedback to the potentiometer used as an error detector.
■ For any change in the output position θL, the potentiometer generates an error signal
proportional to the difference θr and θL.
■ Here θr is the reference position corresponding to the ideal output position.
■ Error signal is given to the amplifier and the output of the amplifier is given to the
armature of a d.c. motor
■ The d.c. motor maintains the output shaft position constant. The entire scheme is called
d.c. position control system

other applications of d.c. servomotors
■ 1. Air craft control systems
■ 2. Electromechanical actuators
■ 3. Process controllers
■ 4. Robotics
■ 5. Machine Tools

Comparison Between A.C. and D.C. servomotors

Comparison Between armature Controlled and Field Controlled D.C. Servomotors

Ee 402-Special Electric Machines

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EE 402-SPECIAL ELECTRIC

Tuesday, June 09, 202 Subeekrishna/APEE/MEACE 1

Tuesday, June 0 Subeekrishna/APEE/MEACE 3

■ Servo motors work on servo mechanism

– Servomechanism – A feedback control system which is used to control the

 Internally, a servo motor combines a motor, feedback circuit, controller

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■ Its rotation is limited to 180⁰ whereas DC motor rotates continuously.

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■ 2. Inertia of rotor should be as small as possible

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■ 4. It should be quickly reversible.

■ 5. It should have linear torque-speed characteristics.

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■ 7. Its operation should be stable without any oscillations or overshoots.

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■ Basic classification : a.c. servomotors and d.c. servomotors.

■ The a.c. servomotor is basically two phase induction motor.

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■ A.c. servomotor is basically consists of a stator and a rotor.

■ One winding is called as main winding or fixed winding or reference

■ The reference winding is excited by a constant voltage a.c. supply.

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Stator of a.c. servomotor

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■ 1. Squirrel cage rotor

■ 2. Drag cup type rotor

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■ The overall construction looks like a cage.

■ It has small diameter and large length. It reduces the inertia

■ Aluminium conductors are used to keep weight small.

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■ The cage type of rotor uses the skewed bars

Cage type rotor construction

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■ Slotted rotor laminations are present in this construction.

■ This construction is used in very low power applications

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■ Linear torque-speed characteristics

■ Slope of the torque-speed characteristics must be negative.

■ The characteristics must be parallel to one another for various values of

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■ A servomotor rotates only when a detectable error occurs at low voltage

■ Hence for a given value of control voltage, torque-speed characteristics

■ Fig. below shows the torque-speed characteristics for various control

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As torque developed increases, current drawn and the

power input increases. Power factors also improves upto

While the efficiency increases upto certain limit and then

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■ 3. It is reliable and its operation is stable in nature.

■ 4. Smooth and noise free operation.

■ 5. Large torque to weight ratio.

■ 6. Large resistance to reactance ratio.

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■ 8. Driving circuits are simple to design.