Electrical Machines

Lecture_ 10: Fractional Kilowatt

Motors
Instructor : Dr. Eltaib Said Elmubarak
 Quick Recap
• Performance of a single-phase induction
• Analysis of the circuit model of the motor
• Electrical Power Flow Calculation
 Learning Objectives
By the end of this lecture students will be
familiar with
• Servomotor that used in the control
applications
• Stepper motor which used in digitally
controlled position control systems in open
loop mode.
Two Phase Servo motor
• For a low-power (a few hundred watts) control
application, a 2-phase (balanced) servomotor
is ideally suited as it can be driven by means
of a relatively rugged (drift-free) ac amplifier.
• The motor torque can be easily controlled by
varying the magnitude of the ac voltage
applied to the control phase (phase a) of the
motor as shown in the following figure.
• While the second phase called the reference
phase (phase m) is excited at a fixed-voltage
synchronous ac voltage (both the voltages must
• be drawn from the same source). The control
phase voltage is shifted in phase by 90° from
the reference phase voltage by means of
phase-shifting networks included in voltage
amplification stages of the amplifier.
• The motor torque gets reversed by phase
reversal of the control phase voltage.
• For linear stable operation, the torque-speed
characteristic of a servo-motor must be linear
• with negative slope (torque reducing with
increasing speed).
• The torque speed characteristic of a normally
designed induction motor is highly nonlinear and
the characteristic is unstable for normal loads in
the region from zero speed to speed at
breakdown torque.
• This indeed is the useful region of operation of a
servomotor employed in position control
systems.
• The desired linear characteristic is obtained in
a servo motor by designing a rotor with high
resistance so that the maximum torque occurs
at a slip of – 0.5 or so.
• The high resistance also imparts another
important desirable feature to the
servomotor, i.e. it does not develop a single-
phasing torque which would disturb the
control characteristic of the motor.
• The torque-speed characteristics of a
servomotor for various per unit values of
phase a voltage are drawn in the following
figure.
• If the reference phase voltage is Vm <0°, the
control phase voltage is

• Now
• Thus the motor is excited with a special kind
of voltage unbalance–angular phase
difference of 90° is maintained while the
magnitude of phase a voltage varies.
• The corresponding torque-speed
characteristics are nearly linear with respect
to motor speed and voltage of phase a.
• Based on the linearity assumption, the
following relation is obtained
• (*)
• Where

• Also
• (**)
• where J = motor inertia, and f0 = motor
viscous friction.
• Laplace transforming Eq. (*) and (**), the
• motor transfer function can be written as

• Where
• Ac servomotor offers several advantages over
its dc counterpart—the use of a drift-free ac
amplifier in control circuitry, low rotor inertia
(faster response), rugged maintenance-free
rotor construction, no brushes contacting
commutator segments, etc.
• The rotor can withstand higher temperature
as it does not involve any insulation.
Stepper Motor
• The stepper motor is a special type of
synchronous motor which is designed to rotate
through a specific angle (called a step) for each
electrical pulse received by its control unit.
• Typical step sizes are 7.5°, 15° or larger.
• The stepper motor is used in digitally controlled
position control systems in open loop mode.
• The input command is in the form of a train of
pulses to turn a shaft through a specified
angle.
• There are two advantages in using stepper
motors.
• One is their compatibility with digital systems
and secondly no sensors are needed for
position and speed sensing as these are
directly obtained by counting input pulses
• and periodic counting if speed information is
needed
• Stepper motors have a wide range of
applications; paper feed motors in typewriters
and printers, positioning of print heads, pens
in XY-plotters, recording heads in computer
disk drives and in positioning of work tables
and tools in numerically controlled machining
equipment.
• The range of applications of these motors is
increasing as these motors are becoming
available in larger power ratings and with
reducing cost.
• Elementary operation of a four-phase stepper
motor with a two-pole rotor can be illustrated
through the diagram of the following figure.
• Let us assume that the rotor is permanent
magnet excited.
• Such a rotor aligns with the axis of the stator
field with torque being proportional to the
• sin θ , θ being the angle of displacement
between the rotor axis and stator field axis.
• The torque-angle characteristics is drawn in
figure (a) with phase a excited and also with
phase b excited.
• It is easily observed that the stable position of
the rotor corresponds to that angle at which
the torque is zero and is positive for smaller
angles and negative for larger angles.
• Thus with phase a excited, the stable (or
locked) position is θ = 0° but not θ = 180°
(unstable) and the torque has a maximum
positive value at θ = – 90°.
• It is therefore easily concluded that each
• excitation pattern of phases corresponds to a
unique position of the rotor.
• Therefore the excitation sequence a, b, c, d,
a…. causes the rotor to move in positive
sequence in steps of 90°.
• With rotor in position θ = 0 and a and b both
excited the rotor will move to 45°, which is a
stable position (net torque due to a and b zero
and torque-angle slope negative).
• So excitation sequence a, a+ b, b, b+ c,
c…….make the rotor to move forward in steps
of 45°.
• Patterns for phase winding excitations can be
easily visualized for steps of 22.5°, 11.25°, and
smaller per pulse input to the circuit.
• Another feature of a PM stepper motor is that,
when excited, it seeks a preferred position
which offers advantage in certain applications.
• Consider now that the rotor (projecting pole)
is made of just ferromagnetic material (no
permanent magnet).
• The device now behaves as a variable-
reluctance motor.
• The ferromagnetic rotor seeks the position
which presents minimum reluctance to the
stator field, i.e. the rotor axis aligns itself to
the stator field axis.
• In the previous figure representing the
elementary diagram of stepper motor with
phase a excited, this happens at θ = 0° as well
as θ = 180° in which positions the torque on
the rotor is zero. At θ = 90° the rotor presents
infinite reluctance to the phase ‘a’ axis and so
the torque has also a zero there.
• Thus the rotor torque is a function of sin 2θ as
drawn in figure b.
• For a reluctance stepper motor there are two
possible stable positions for a given excitation
or set of excitations.
Type of stepper motor
a) variable-reluctance stepper
b) permanent magnet stepper motor.
c) Hybrid stepper motor