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Principles and Applications of

Electrical Engineering
Seventh Edition
Chapter 15
Electric Machines

GIORGIO RIZZONI JAMES KEARNS

Credit: Denis Boussard

Copyright 2022 © McGraw Hill LLC. All rights reserved. No reproduction or distribution without the prior written consent of McGraw Hill LLC.
 15.1 Rotating Electric Machines

Components.
• Stator.
• Magnetic core, insulation,
and windings.
• Separated from rotor by air
gap.
• Rotor.
• Rotates inside the stator.
• Connects to mechanical
loads or prime mover.
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 Basic Classification of Electric Machines 1

Magnetizing (excitation) current.

• Serves the sole purpose of providing a
magnetic field, independent of the load.
• Winding is termed a field winding.
• Direct current; relatively low power.
Armature.
• Winding carries only the load current.
Generator converts mechanical energy to
electrical energy.
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 Basic Classification of Electric Machines 2

Motor converts electric energy to

mechanical form.
DC machines.
• Direct current in both stator and rotor.
Synchronous machines.
• Alternating current in one stator.
• Direct current in the rotor.
Induction machines.
• Alternating current in both stator and rotor.
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 Configurations of the Three Types of
Electric Machines
Table 15.1 Configurations of the three types of electric machines
Machine type Winding Winding type Location Current
DC Input and output Armature Rotor AC (winding)
DC (at brushes)
Magnetizing Field Stator DC
Synchronous Input and output Armature Stator AC
Magnetizing Field Rotor
Induction Input Primary Stator AC
Output Secondary Rotor AC

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 Performance Characteristics of Electric
Machines 1
Sources of energy loss in electric
machines.
• Electrical.
• Stray-load loss.
• Brush contact loss.
• Core.
• Hysteresis and eddy current losses.
• Mechanical.
• Friction and windage (air drag opposing motor
rotation).

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 Performance Characteristics of Electric
Machines 2
Electric motor performance.
• Torque-speed characteristic.
• Efficiency map.

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 Performance Characteristics of Electric
Machines 3
Information on electric machine nameplate.
• Type of device.
• Manufacturer.
• Rated voltage and frequency.
• Rated current and voltamperes.
• Rated speed and horsepower.
Regulation.
• Ability to maintain constant speed or voltage
faced with load variations.
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 Basic Operation of All Rotating Machines

Magnetic attraction and repulsion forces

generate mechanical torque.
Magnetic field can induce a voltage in the
machine windings (coils).
Requirements for energy conversion.
• Coupling field B.
• Armature winding that supports load current
and emf.

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 Magnetic Poles in Electric Machines 1

Attraction and repulsion at the poles

produce torque that accelerates the rotor.
• And a reaction torque on the stator.
Equal number of north and south poles.

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 Magnetic Poles in Electric Machines 2

Right hand rule.

• Determines direction of
magnetic flux.
If alternating current flows
into the stator:
• Direction of flux alternates.
Magnetic field in the stator
changes spatially and in
time.

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 15.2 Direct-Current Machines

Physical structure of DC machines.

• Armature circuit is on the rotor.
• Field winding is on the stator.
• Commutator.
• Mechanical switch.
• Keeps rotor poles consistently close to 90 degrees
with respect to fixed stator poles.

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 DC Machine Structure

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 Configuration of DC Machines 1

Separately excited DC machine.

• Field excitation providing the magnetizing
current supplied by an external source.
Self-excited DC machine.
• Field excitation derived from the armature
voltage.
Shunt-connected machine.
• Series resistor used to adjust the field current
independent of the armature voltage.

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 Configuration of DC Machines 2

Series-connected machine.
• Field connected in series with the armature.
• Field winding supports entire armature current.
• Rarely used, except in traction applications.
DC machine torque.
T = kT f I a for g = 90!
DC machine back emf.
Eb = ka fwm
•k
a called the armature constant.

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 DC Motor Steady-State Equations 1

Eb = ka fwm V
T = ka f I a N - m
• In a separately excited machine:
Vs = Eb - I a Ra V
Vf
f = kf If = kf
Rf
• In a shunt-connected machine:
Vs = Eb - I a Ra V
Va
f = fshunt = k f I f = k f
Rf
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 DC Motor Steady-State Equations 2

• In a series-connected machine:
Vs = Eb - I a Ra - I a R f V
f = fseries = k f I f = k f I a
• In a permanent-magnet machine:
Vs = Eb - I a Ra V
f = fPM = constant

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 DC Generator Steady-State Equations 1
Eb = ka fwm V
P Eb I a
T = = = ka f I a N-m
wm wm
• In a separately excited machine:
Vg = Eb - I a Ra V
Vf
f = kf If = kf Wb
Rf
• In a shunt-connected machine:
Vg = Eb - I a Ra V
Vg
f = fshunt = k f I f = k f Wb
Rf
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 DC Generator Steady-State Equations 2

• In a series-connected machine:
Vg = Eb - I a Ra - I a R f V
f = fseries = k f I f = k f I a Wb

• In a permanent-magnet machine:
Vg = Eb - I a Ra V
f = fPM = constant Wb

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 15.3 Direct-Current Motors

The shunt motor.

• Adjusts to load variations by changing speed
to preserve power balance.
• Speed change about same magnitude as voltage
drop (typically about 10 percent).
T - w curve for a shunt motor.

Vs - I a Ra Vs Ra T
wm = = -
kaf kaf ( ka f )2

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 Series Motors

The flux is established solely by the series

current flowing through the armature.
T - w curve for series DC motor.
Vs2
T = ka k S
( kawm kS + RT )
2

Speed increases when the load torque is

reduced.
• If load were disconnected, speed could
increase to dangerous levels.
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 Permanent-Magnet (PM) DC Motors

Stator’s magnetic field produced by

suitably located poles made of magnetic
materials.
• No need to provide field excitation.
T - w curve for PM DC motor.
Vs T Ra
wm = - kT , PM
ka , PM ka , PM

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 PM Motor Circuit Model and Torque-Speed
Curve

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 Comparison of Field-Wound and PM DC
Motors
PM motor advantages.
• Smaller and lighter than wound motors for a
given power rating.
• Greater efficiency – no field winding losses.
• Linear speed-torque characteristic.
• Easy rotation reversal.
Disadvantages of PM motors.
• Can become demagnetized.
• Greater variability in performance.
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 DC Drives and DC Motor Speed Control

Constant-torque loads.
• Examples: conveyors, extruders, and surface
winders.
Constant horsepower over speed range.
• Example: machine tool spindles (such as a
lathe).
Variable-torque loads.
• Examples: centrifugal pumps, some fans, and
all loads that use a flywheel.

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 15.4 Direct-Current Generators

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 15.5 Alternating-Current Machines 1

Vast majority of industrial

applications.
Speed of rotating
magnetic field is
determined by:
• Frequency of the
excitation current f.
• Number of poles present
in the stator p.

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 15.5 Alternating-Current Machines 2

• Synchronous speed.

120 f 2p nS 2p ´ 2 f
ns = r/min or ws = =
p 60 p

• Magnitude of the torque produced is a

function of the angle γ between the stator
and rotor magnetic fields.

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 15.6 The Alternator (Synchronous
Generator)
One of the most common AC machines.
Field winding is on the rotor.
• Connection is made by means of brushes.
Rotor field obtained by a direct current
provided to the rotor winding.
• Or by permanent magnets.
Rotor connected to mechanical power
source.

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 Figures 15.28 and 15.29

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 15.7 The Synchronous Motor

AC excitation to the armature generates a

magnetic field in the air gap between
stator and rotor.
• Results in a mechanical torque.
Synchronous motor torque (cylindrical
rotor).
T = kiS ( t ) I f sin ( g )
where γ is angle between the stator and
rotor fields.

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 Per-Phase Circuit Model

• X S is the synchronous
reactance.
VS = Eb + I S ( RS + j X S )
• Motor power for each
phase.
Pout = wS T = VS I S cos (q )

T : developed torque
θ : angle between the
stator voltage and current,
VS and I S .
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 15.8 The Induction Motor

Most widely used electric machine.

Rotor features.
• No separate excitation required.
• Squirrel cage or wound arrangements.
• No external electrical connection required.
Induction motor operates at a speed
dependent on the load.

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 Performance of Induction Motors 1

Description of curve
points.
• A: Starting
(breakaway) torque.
• B: Pull-up torque.
• C: Breakdown
torque.
• D: 150% torque.
• E: Rated torque.
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 Performance of Induction Motors 2

• T - w equation for
induction machine.
1 mVS2 RR /s
T=
we ( RS + RR /s ) + ( X S + X R )
2 2

• Characteristics of
several classes of
motors shown at right.

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 Performance of Induction Motors 3

Motor selection considerations.

• Speed range.
• Starting and running torque.
• Acceleration characteristics.
• Deceleration characteristics.
• Duty cycle.
• Thermal properties.

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 AC Motor Speed and Torque Control

AC machines constrained to near fixed-

speed operation when supplied by a
constant-frequency source.
Several methods exist to provide limited
speed control in AC induction machines.
• Vary the number of poles.
• Change the slip by changing the motor torque
through a change in motor voltage.
• Connect the rotor slip rings to resistors.
• Use a variable-frequency supply.

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 15.9 Electric Motor Drives

Four possible modes of

an electronic drive.
• Quadrants I and III.
• Power supplied by the drive
and absorbed by the load.
• Quadrants II and IV.
• Power absorbed by the drive
and supplied by the load.

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 DC-DC Converter

Converts a fixed DC supply to a variable

DC supply.
• Useful for speed control of a DC motor.
• Torque proportional to the current supplied to
the motor armature.
Mechanical power of a DC motor will have
same sign as electrical power of its drive.

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 Step-Down Chopper

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 Step-Up Chopper

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 Inverters (DC-AC Converters)

Variable-speed drives for AC motors

require:
• Multiphase variable-frequency, variable-
voltage supply.
Voltage source inverter.
• Converts output of a fixed DC supply to a
variable-frequency AC supply.

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 Voltage Source Inverter Circuit and
Waveforms

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