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Spring 2004
Generic Electric Motor
Below figure shows cartoon of induction
motor. Most (but not all) machines have
this structure.
Ref: J.L. Kirtley, Jr. MIT Course 6.11s (June 2003)Course Notes
Generic Electric Motor (cont’d)
P
ω e = ω m = pω m electrical rads./sec.
2
P N N ωm
frequency of f = =p =p Hz
induced voltage 2 60 60 2π
where P= # of poles
p=# of pole pairs and
N=synchronous speed of rotor (rpm)
Flux per Pole
Consider a sinusoidally distributed flux
density, B(θe)=Bpkcos θe. The flux per pole
is given by:
πe /2 4
φ pole =∫ B pk cosθ elRdθ m = B pk lR
−π e / 2 P
Induced Voltage
1 2 αs 2 αs αs αs
kd = cos θ e + + cos θ e − + 2 cosθ e + cosθ e −
2 2 2 2 2
αs
= cos
2
Effect of Short-Pitching
Consider a layout of windings that are short-
pitched by one slot angle. Let’s consider this
to be made of four fictitious full-pitch coils:
(a1,-a3), (a4,-a2), (a2,-a1) and (a3,-a4).
Effect of Short-Pitching (cont’d)
The fundamental mmf component from
these 4 fictitious full-pitch coils is given by:
Fa = Fa1, − a 3 + Fa 4, − a 2 + Fa 3, − a 4 + Fa 2, − a1
4 1 1
= nc i cosθ e + cos(θ e − α s ) + cos(θ e + α s )
π 2 2
4 4 2 αs
= nc i cosθ e (1 + cos α s ) = nc i cos θ e cos
π π 2
Effect of Short-Pitching (cont’d)
Comparing this expression to:
4
Fa = 2nc ik d k p cosθ e
π
and allowing for the distribution of the four
full-pitch coils by a kd of cos(αs/2), the
factor due to the short-pitching by one slot
angle is given by:
αs
k p = cos
2
Effect of Short-Pitching (cont’d)
4 n pole
Fa1 = ik w cosθ e
π 2
Effect of Short-Pitching (cont’d)
Assuming total phase turns Nph in the P-
pole machine are divided equally among
P/2 pole-pair regions, number of turns per
pole-pair = Nph/P. In terms of Nph,
fundamental mmf is:
4 N ph k w
Fa1 = i cosθ e
π P
P α +π / 2 4 µ 0 N effs 2
λrs = N effr l ∫ is cosθ e Rdθ e
2 α −π / 2 π g 2 P
4 µ0
= N effr N effs lRis cos α
π g
λrs 4 µ 0
∴ Lrs = = N effr N effs lR cos α
is π g
Rotating Fields
The fundamental component of space mmf
for a single-phase winding carrying a
sinusoidal current i=Iacosωt is given by:
Fa1 = Fm1 cos ωt cosθ a
4 N ph
where Fm1 = π k w P I a is the peak value
of the fundamental mmf and θa is the
electrical angle measured in the counter-
clockwise direction from the winding axis.
Rotating Fields (cont’d)
This equation may be rewritten as:
1 1
Fa1 = Fm1 cos(θ a − ωt ) + Fm1 cos(θ a + ωt )
2 2
Two interpretations:
1) pulsating standing wave
2) two counter-revolving mmf waves of
half the amplitude of the resultant;
forward component rotates counter-
clockwise, reverse component rotates
clockwise.
Rotating Fields (cont’d)
Rotating Fields (cont’d)
In a three-phase machine the axes of the
windings are spaced 2π/3 apart. Assuming
balanced operation (phase currents are of
same magnitude) the currents are given by:
ia = I m cos ωt
2π
ib = I m cos(ωt − )
3
2π
ic = I m cos(ωt + )
3
Rotating Fields (cont’d)
The fundamental airgap mmfs of the three
phases are given (in terms of θa) by:
1 1
Fa1 = Fm1 cos(θ a − ωt ) + Fm1 cos(θ a + ωt )
2 2
1 1 4π
Fb1 = Fm1 cos(θ a − ωt ) + Fm1 cos(θ a + ωt − )
2 2 3
1 1 4π
Fc1 = Fm1 cos(θ a − ωt ) + Fm1 cos(θ a + ωt + )
2 2 3
Rotating Fields (cont’d)
T= |i =cons tan t
∂θ m
The co-energy is the complement of the
field energy:
Wfld’ = λi - Wfld
Torque in a Uniform Airgap Machine
(cont’d)