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Chapter 10
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Torque-Speed Characteristic
The torque-speed characteristic of a universal
motor is different from one of the same
machine operating from DC voltage for two
reasons:
1. The armature and field windings have quite
large reactance (as a function of frequency).
So, the voltage drop across these reactances
are large. Thus, the EA = K is smaller for a
given input voltage. Then, the motor speed
is slower for a given IA and ind.
Applications of Universal
Motors
The universal motor has the sharply drooping torque-speed
characteristic of a DC series motor (EA significantly
reduced), so it is not suitable for constant-speed
applications.
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Introduction to Single-Phase
Induction Motors
The single-phase induction motor has
only one phase winding sinusoidally
distributed.
Introduction to Single-Phase
Induction Motors
However, once the rotor begins to
turn, an induced torque will be
produced in it. There are two basic
theories which explain why a
torque is produced in the rotor
once it is turning.
1. Double-revolving-field theory of
single-phase induction motor
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The flux density of the stationary magnetic field produced by the stator
current is given by
BS(t) = (Bmax cos t)j (10-1)
= BCW(t) + BCCW(t) (10-4)
Clockwise-rotating:
BCW(t) = (0.5Bmaxcos t)j + (0.5Bmaxsin t)i (10-2)
Counterclockwise-rotating:
BCCW(t) = (0.5Bmaxcos t)j - (0.5Bmaxsin t)i (10-3) 11
BS = Bmax j (t=0)
BS = 0 (t=90o)
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BS = 0
BR = 0 BS = 0
BR = 0 BS = 0 Bnet is rotating in a
counterclockwise
direction.
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1. Split-phase windings
2. Capacitor-type windings
3. Shaded stator poles
Split-Phase Windings
Main and auxiliary windings are
Main winding (big wire): placed 90 electrical degree apart
RM/XM low the stator of the motor.
IM nearly lags VAC by 90o
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Split-Phase Windings
As a result, IA leads IM
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Split-Phase Windings
As a result, the auxiliary winding
makes one of the oppositely rotating
stator magnetic fields larger than The direction of rotation of the
the other one. motor is determined by whether the
The auxiliary winding also space angle of magnetic field from
provides a net starting torque for the auxiliary winding is 90o ahead or
the motor. 90o behind the angle of the main
winding.
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Capacitor-Start Motors
Capacitor-Start Motors
By proper selection of C size, IA
leads IM by 90o with the same
magnitude.
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Permanent Capacitor-Start,
Capacitor-Run (Two-Value Capacitor)
Motors
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Shaded-Pole Motors
There is only main winding, no
auxiliary windings.
Instead, the motor has salient poles
and one portion of each pole is
surrounded by a short-circuited coil
called a shading coil.
The induced current in the shading
coil causes the magnetic field within
the pole, causing the slight imbalance
between two oppositely rotating
stator magnetic fields.
Then, the starting torque is
produced due to the such imbalance
of two oppositely rotating stator
magnetic fields.
Shaded-pole motor produce less
starting torque, less efficient, higher
slip, and cheaper than any other type
of single-phase induction motor. 25
Comparison of Single-Phase
Induction Motors
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Example Problem
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Reluctance Motors
Stator structure: same as AC machine (single-phase or three-phase
windings), producing the rotating stator magnetic field.
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Hysteresis Motors
Stator structure: same as AC machine (single-phase or three-phase
windings), producing the rotating stator magnetic field.
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Stepper Motors
Stator structure: the stator windings are concentrated (not sinusoidally
distributed like AC machine).
2-pole, 3-phase
Y-connected This type of motor is designed to
stepper motor rotate a specific number of degrees
for every electric pulse received by the
control unit (e.g., 7.5o , 15o per pulse).
The mechanical angle corresponds
to the electrical angle as follows:
m = (2/P)e (10-18)
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Stepper Motors
Rotor
position
0o
60o
120o
180o
240o
300o
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Stepper Motors
Pulse number 1 (va = VDC) Pulse number 1 (va = VDC) Pulse number 2 (vc = -VDC)
Initial rotor position 0o Rotor position = 0o Rotor position = 60o
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Stepper Motors
The mechanical speed corresponds to the electrical speed as follows:
m = (2/P) e (10-19a)
nm = (2/P)ne (10-19b)
In other words, there are 6 pulses per electrical revolution. With the
given number of pulses per minute (npulses), the electrical speed in rpm
is therefore
ne = npulses/6 rpm
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Stepper Motors
Generally, for N-phases, there are 2N pulses per one electrical
revolution. Thus, the electrical speed in rpm becomes
ne = npulses/(2N) rpm
where npulses = number of pulses per minute.
For example, if the control system sends 1200 pulses per minute to the
2-pole, 3-phase stepper motor, then the speed of motor will be
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Example Problem
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Brushless DC Motors
Stator structure: the stator windings (three-, four-, or more- phases) are
concentrated (not sinusoidally distributed like AC machine).
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Brushless DC Motors
45o For 4-phases, there are 8 states per
electrical period.
Phase A
180o Each state takes the electrical
degree of 45o (=360o/8).
Since both VDC and VDC are applied
Phase B to the phase windings, so the motor is
essentially AC motor, current flowing
both directions (not confused by its
Phase C name !!).
This operation is called as one-
phase on because there is only one-
Phase D phase winding is energized at all time.
The operation could be two-phase
360o
on, i.e., two windings are energized at
all time.
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Brushless DC Motors
180o
Hall A
Since the motor is 4-phases,
Phase A
there are 4 Hall sensors (1 Hall
45o sensor per phase).
Hall B Each Hall sensor is placed the
Phase B electrical degree of 45o
(=180o/4) apart of each other.
Hall C The stator voltages are
Phase C supplied according to the Hall
45o signals.
Hall D When the Hall sensors are not
Phase D
used to detect the rotor position,
we call such drive system as
360o sensorless.
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