Electric Machines CHARLES A. GROSS. Aubum University Auburn, Alabama, U.S.A. LßP) CRC Press Vv* / Taylor & Francis Croup. Boca Raton London New York

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1 Electric Machines CHARLES A. GROSS Aubum University Auburn, Alabama, U.S.A. LßP) CRC Press Vv* / Taylor & Francis Croup Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Group, an informa business

Contents Chapter 1 Basic Electromagnetic Concepts 1.1 Basic Magnetic Concepts 2 1.2 Magnetically Linear Systems: Magnetic Circuits 4 1.3 Voltage, Current, and Magnetic Field Interactions 8 1.

2 Contents Chapter 1 Basic Electromagnetic Concepts 1.1 Basic Magnetic Concepts Magnetically Linear Systems: Magnetic Circuits Voltage, Current, and Magnetic Field Interactions Magnetic Properties of Materials Nonlinear Magnetic Circuit Analysis Permanent Magnets Superconducting Magnets The Fundamental Translational EM Machine The Biot-Savart Law The Fundamental Rotational EM Machine Multiwinding EM Systems Leakage Flux The Concept of Ratings in EM Systems Summary 38 Problems 39 Chapter 2 Transformers 2.1 The Ideal n-winding Transformer Transformer Ratings and Per-Unit Scaling The Nonideal Three-Winding Transformer The Nonideal Two-Winding Transformer Transformer Efficiency and Voltage Regulation Practical Considerations The Autotransformer Operation of Transformers in Three-Phase Environments The Wye-Wye Scheme The Wye-Delta Scheme The Delta-Wye Scheme The Delta-Delta Scheme The Open Delta Scheme The Zig-Zag Scheme Sequence Circuit Models for Three-Phase Transformer Analysis Harmonics in Transformers Summary 74 Problems 75 Chapter 3 Basic Mechanical Considerations 3.1 Some General Perspectives Efficiency Load Torque-Speed Characteristics Constant Torque Loads (n = 0; T L = A 0 ) 84

3.3.2 Linear (First-Order) Torque Loads (n = 1; T L = AjwJ 85 3.3.3 Parabolic (Second-Order) Torque Loads (n = 2; T L = A 2 <D ) 85 3.3.4 The General nth-order Case (T L = A 0 + A^ + A 2 <w + + A ft> ) 86 3.

3 3.3.2 Linear (First-Order) Torque Loads (n = 1; T L = AjwJ Parabolic (Second-Order) Torque Loads (n = 2; T L = A 2 <D ) The General nth-order Case (T L = A 0 + A^ + A 2 <w + + A ft> ) The Constant Power Load Mass Polar Moment of Inertia Gearing Operating Modes Translational Systems A Comprehensive Example: The Elevator PrimeMovers Hydraulic Turbines Steam Turbines Gas Turbines Wind Turbines M-GSets Standalone Emergency Power Supplies Vehicular Electrical Systems Summary 107 Problems 108 Chapter 4 The Polyphase Induction Machine: Balanced Operation 4.1 Machine Construction Stator Design Rotor Design Stator Winding Layout The Rotating Magnetic Field Stator-Rotor Interactions Performance Analysis Using the Equivalent Circuit Equivalent Circuit Constants from Tests The DC Test The Blocked Rotor (BR) Test The No-Load (NL) Test Operating Modes: Motor, Generator, and Braking Dynamic Performance Cage Rotor Machines Thermal Considerations Summary 156 Problems 156 Chapter 5 Control of AC Motors 5.1 Control of the Load Torque-Speed Characteristic Control of the Motor Torque-Speed Characteristic Controlling Voltage and Frequency Power Semiconductor Switching Components The Power Semiconductor Diode The Power Semiconductor Thyristor The Insulated Gated Bipolar Junction Transistor Semiconductor Component Ratings The Single-Phase Inverter 170

5.6 The Three-Phase Inverter 174 5.7 AC to DC Conversion: Rectifiers 179 5.8 Three-Phase Rectifiers 182 5.9 Controlled Rectifiers 184 5.9.1 Controlled Thyristor Rectifiers 184 5.9.2 Controlled IGBT Rectifiers 185 5.

4 5.6 The Three-Phase Inverter AC to DC Conversion: Rectifiers Three-Phase Rectifiers Controlled Rectifiers Controlled Thyristor Rectifiers Controlled IGBT Rectifiers AC Motor Drives AC Motor Drives: Dynamic Performance Motor Reverse Performance The Cycloconverter Summary 193 Problems 195 Chapter 6 The Polyphase Induction Machine: Unbalanced Operation 6.1 Unbalanced Operation Positive Sequence Response Negative Sequence Response Zero Sequence Response Single Phasing Running Three-Phase Motors from Single-Phase Sources Operation on Nonsinusoidal Voltage The Two-Phase Induction Motor The Single-Phase Induction Motor The Single-Phase Induction Motor Operating on One Winding Equivalent Circuit Constants from Tests The DC Test The Blocked Rotor (BR) Tests The No-Load Test Dynamic Performance Summary 232 Problems 232 Chapter 7 The Polyphase Synchronous Machine: Balanced Operation 7.1 Machine Construction Stator Design Rotor Design, Evolution of the Machine Model from the Induction Machine Interaction of the Rotor and Stator Circuits: The Magnetization Characteristic The Nonsalient Pole Synchronous Machine: Generator Operation The Nonsalient Pole Synchronous Machine: Motor Operation The Salient Pole Synchronous Machine Synchronous Machine Constants from Tests The DC Test: R a The Open-Circuit Test: The Magnetization Characteristic and Field Resistance The Short-Circuit Test: X d The Slip Test: X, The No-Load Test: Rotational Losses The Zero-Power Factor Lagging Test: X t VeeCurves 268

7.8 The Synchronous Generator Operating in a Utility Environment 269 7.8.1 PrimeMovers 269 7.8.2 Excitation Systems 270 7.8.3 Capability Curves 272 7.8.3.1 Stator Thermal Limits 273 7.8.3.2 Rotor Thermal Limits 273 7.

5 7.8 The Synchronous Generator Operating in a Utility Environment PrimeMovers Excitation Systems Capability Curves Stator Thermal Limits Rotor Thermal Limits End-Region Hearing Steady-State Stability Limits Boiler Thermal Limits Pumped Storage Permanent Magnetic Synchronous Machines The Polyphase Synchronous-Reluctance Machine The Brushless DC Motor Summary 282 Problems 282 Chapter 8 The Polyphase Synchronous Machine: The General Coupled Circuit Model 8.1 The General Coupled Circuit Model of the Synchronous Machine The Odq Transformation Powers and Torques in the OdqFDQ Model The OdqFDQ Model Using Generator Sign Conventions Balanced Three-Phase Constant Speed Generator Performance Per-Unit Scaling as Applied to Synchronous Machines The Tee Equivalent Circuits OdqFDQU Constants Derived from Manufacturer's Data OdqFDQU Model Performance Summary 322 Problems 323 Chapter 9 The DC Machine 9.1 Machine Construction Stator Design Rotor (Armature) Design The Lap Winding The Wave Winding Generation of DC Voltage The DC Machine Model: Generator Operation The DC Machine Model: Motor Operation Speed Control of DC Motors Field Control Armature Control Four Quadrant Operation Reversing DC Motors DC Machine Constants from Tests The DC Test: R a The Transient Test: L a The Open-Circuit Test: The Magnetization Characteristic and Field Resistance The No-Load Test: Rotational Losses 348

9.7 DC Motor Drives: Half-Wave Converters 348 9.7.1 The Half-Wave Diode DC Motor Drive 349 9.7.2 The Half-Wave Thyristor DC Motor Drive 350 9.7.3 The Half-Wave IGBT DC Motor Drive 352 9.

6 9.7 DC Motor Drives: Half-Wave Converters The Half-Wave Diode DC Motor Drive The Half-Wave Thyristor DC Motor Drive The Half-Wave IGBT DC Motor Drive DC Motor Drives: Full-Wave Converters The Full-Wave Diode DC Motor Drive The Full-Wave Thyristor DC Motor Drive The Six-Step Three-Phase Thyristor DC Motor Drive Four-Quadrant Performance DC Motor Dynamic Performance An Elevator Application A More General DC Machine Model Summary 366 Problems 366 Chapter 10 Translational Electromechanical Machines 10.1 Linear Induction Machine Construction Primary Design Secondary Design Electromagnetic Levitation Electrodynamic Levitation Linear Induction Machine Modeling: The Equivalent Circuit The High Speed Rail (HSR) Application Linear Synchronous Machine Construction Linear Synchronous Machine Armature Design Linear Synchronous Machine Field Design Linear Synchronous Machine Nonsalient Pole Model Linear Electromechanical Machine Applications in Elevators Summary 393 Problems 394 Chapter 11 Special Purpose Machines and Sensors 11.1 The Universal Motor The Shaded Pole Motor The Hysteresis Motor The Stepper Motor Encoders Resolvers Microelectromechanical Systems Summary 410 Problems 411 Epilogue 413 Appendix A: Units and Conversion Factors 415 Appendix B: A Review of Electrical Circuit Concepts B.l DC Circuit Concepts 420 B.2 AC Circuit Concepts 421 B.3 Balanced Three-Phase AC Circuit Concepts 424 B.4 Symmetrical Components 427

7 Appendix C: Harmonie Concepts C.l Basic Concepts 431 C.2 Coefficient Calculations 432 C.3 Rms (Effective) Values 433 C.4 Symmetries 434 C.5 Spectral Plots 434 C.6 Response of Linear Circuits to Nonsinusoidal Excitation 437 References in Electric Machines, Transformers, and Power Electronics 439 Index 445

Contents. Review of Electric Circuitd. Preface ;

Contents. Review of Electric Circuitd. Preface ; Preface ; Chapter 1 Review of Electric Circuitd 1.1 Introduction, 1 1.2 Direct Circuit Current, 1 1.2.1 Voltage, 3 1.2.2 Power, 3 1.2.3 Ohm's Law, 5 1.2.4 KirchhofTs Laws, 5 1.2.4.1 Kirchhoff s Current