1/7/2013

10.1 The Universal Motor

The Universal Motor

The universal motor is essentially the series or
shunt DC motor. However, it can be operated
on a single-phase AC power source.

Recall from Chapter 8:

ind = KIA (8-49)

When the polarity of the voltage applied to a

shunt or series DC motor is reversed, both
direction of field flux () and the direction of
armature current (IA) reverse, and resulting
induced torque continues in the same
direction as before

2
 1/7/2013

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.

2. The peak voltage of an AC system is 2

times its RMS value. The magnetic saturation
could occur near the peak current, lowering
the magnetic flux of the motor for a given
current. The induced torque is partially
reduced for a given speed. 5

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.

However, it is compact, light weight and gives more

torque/amp than any other single-phase motor.

Typical applications for this motor are vacuum cleaners,

drills, similar portable tools, and kitchen appliances.

3
 1/7/2013

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.

2. The peak voltage of an AC system is 2

times its RMS value. The magnetic saturation
could occur near the peak current, lowering
the magnetic flux of the motor for a given
current. The induced torque is partially
reduced for a given speed. 5

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.

However, it is compact, light weight and gives more

torque/amp than any other single-phase motor.

Typical applications for this motor are vacuum cleaners,

drills, similar portable tools, and kitchen appliances.

3
 1/7/2013

Speed Control of Universal

Motors
Similar to the DC series motor, the speed of universal
motor is increased when the RMS input voltage is
increased.

10.2 Introduction to Single-Phase

Induction Motors

4
 1/7/2013

Introduction to Single-Phase
Induction Motors
The single-phase induction motor has
only one phase winding sinusoidally
distributed.

The magnetic field in a single-phase

induction motor does not rotate.
Instead, it pulses getting larger first
and then smaller, but always remaining
in the same direction during the half
cycle. Thus, there is no starting
torque.
ind = k (BR BS) (4-58)
ind = k BRBS sin
= k BRBS sin 180o = 0
where is angle between BR and BS. 9

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

2. Cross-field theory of single-phase

induction motor

10

5
 1/7/2013

Introduction to Single-Phase
Induction Motors
The single-phase induction motor has
only one phase winding sinusoidally
distributed.

The magnetic field in a single-phase

induction motor does not rotate.
Instead, it pulses getting larger first
and then smaller, but always remaining
in the same direction during the half
cycle. Thus, there is no starting
torque.
ind = k (BR BS) (4-58)
ind = k BRBS sin
= k BRBS sin 180o = 0
where is angle between BR and BS. 9

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

2. Cross-field theory of single-phase

induction motor

10

5
 1/7/2013

The Double-Revolving-Field Theory

of Single-Phase Induction Motors
The double-revolving-field theory of single-phase induction motor
basically states that a stationary pulsating magnetic field can
resolved into two rotating magnetic fields, each of equal magnitude
but rotating in opposite direction.

The induction motor responds to each magnetic field separately, and

the net torque in the machine will be the sum of the torque due to
each of the two magnetic fields.

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

The Double-Revolving-Field Theory

of Single-Phase Induction Motors

BS = Bmax j (t=0)

BS = 0 (t=90o)

BS(t) = (Bmax cos t)j (10-1)

= BCW(t) + BCCW(t) (10-4)

BS = -Bmax j (t=180o) BS = 0 (t=270o)

12

6
 1/7/2013

The Double-Revolving-Field Theory

of Single-Phase Induction Motors
The double-revolving-field theory of single-phase induction motor
basically states that a stationary pulsating magnetic field can
resolved into two rotating magnetic fields, each of equal magnitude
but rotating in opposite direction.

The induction motor responds to each magnetic field separately, and

the net torque in the machine will be the sum of the torque due to
each of the two magnetic fields.

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

The Double-Revolving-Field Theory

of Single-Phase Induction Motors

BS = Bmax j (t=0)

BS = 0 (t=90o)

BS(t) = (Bmax cos t)j (10-1)

= BCW(t) + BCCW(t) (10-4)

BS = -Bmax j (t=180o) BS = 0 (t=270o)

12

6
 1/7/2013

The Double-Revolving-Field Theory

of Single-Phase Induction Motors
No Starting torque
Forward and reverse magnetic
fields are produced by the same
current.
Both magnetic fields rotate in
the opposite direction.
Then, each magnetic field
produces own induced torque at
rotor.
The net induced torque is the
sum of the induced torques
produced by these two magnetic
fields.
As a result, there is no starting
torque in the motor.

13

The Cross-Field Theory of Single-

Phase Induction Motors
The cross-field theory of single-phase induction motor is concerned
with the voltages and currents that the stationary stator magnetic
field can induce in the bars of the rotor when the rotor is moving.
Rotor voltage is induced in such as
way that its flux opposes the BS (see
plane of maximum rotor voltage)

Because of rotors high reactance, the

induced rotor current lags the rotor
voltage by almost 90o.

Since the rotor is rotating in clockwise

direction, at a certain time, thus the
plane of maximum rotor current leads
the plane of maximum rotor voltage by
90o in space.

Finally, the BR is produced by IR as

shown. 14

7
 1/7/2013

The Double-Revolving-Field Theory

of Single-Phase Induction Motors
No Starting torque
Forward and reverse magnetic
fields are produced by the same
current.
Both magnetic fields rotate in
the opposite direction.
Then, each magnetic field
produces own induced torque at
rotor.
The net induced torque is the
sum of the induced torques
produced by these two magnetic
fields.
As a result, there is no starting
torque in the motor.

13

The Cross-Field Theory of Single-

Phase Induction Motors
The cross-field theory of single-phase induction motor is concerned
with the voltages and currents that the stationary stator magnetic
field can induce in the bars of the rotor when the rotor is moving.
Rotor voltage is induced in such as
way that its flux opposes the BS (see
plane of maximum rotor voltage)

Because of rotors high reactance, the

induced rotor current lags the rotor
voltage by almost 90o.

Since the rotor is rotating in clockwise

direction, at a certain time, thus the
plane of maximum rotor current leads
the plane of maximum rotor voltage by
90o in space.

Finally, the BR is produced by IR as

shown. 14

7
 1/7/2013

The Cross-Field Theory of Single-

Phase Induction Motors
BS = |BS|sin(t) 90o
BR = |BR|sin(t-90o) -90o
where |BR|<|BS| due to losses in the rotor, and = 80o.

BS = 0
BR = 0 BS = 0

BR = 0 BS = 0 Bnet is rotating in a
counterclockwise
direction.

15

10.3 Starting Single-Phase

Induction Motors

8
 1/7/2013

Starting Single-Phase Induction

Motors
As previously explained, the single-phase induction
motor has no intrinsic starting torque. There are
three techniques commonly used to start this type
of motor.

1. Split-phase windings
2. Capacitor-type windings
3. Shaded stator poles

All three starting techniques are methods of making

one of two revolving magnetic fields in the motor
stronger than the other, giving the motor an initial
nudge in one direction or the other. 17

Split-Phase Windings
Main winding (big wire):
RM/XM low
IM nearly lags VAC by 90o
Main and auxiliary windings are
placed 90 electrical degree apart
the stator of the motor.

Designed to switch out at some

set speed.

Auxiliary winding (small wire):

RA/XA high
IA nearly in phase VAC

18

9
 1/7/2013

Starting Single-Phase Induction

Motors
As previously explained, the single-phase induction
motor has no intrinsic starting torque. There are
three techniques commonly used to start this type
of motor.

1. Split-phase windings
2. Capacitor-type windings
3. Shaded stator poles

All three starting techniques are methods of making

one of two revolving magnetic fields in the motor
stronger than the other, giving the motor an initial
nudge in one direction or the other. 17

Split-Phase Windings
Main winding (big wire):
RM/XM low
IM nearly lags VAC by 90o
Main and auxiliary windings are
placed 90 electrical degree apart
the stator of the motor.

Designed to switch out at some

set speed.

Auxiliary winding (small wire):

RA/XA high
IA nearly in phase VAC

18

9
 1/7/2013

Split-Phase Windings

As a result, IA leads IM

Since IA leads IM, so the magnetic

field BA peaks before the main
magnetic field BM.

So, there is a net counterclockwise

rotation in the magnetic field.

19

Split-Phase Windings
As a result, the auxiliary winding
makes one of the oppositely rotating
stator magnetic fields larger than
the other one.
The auxiliary winding also
provides a net starting torque for
the motor.
The direction of rotation of the
motor is determined by whether the
space angle of magnetic field from
the auxiliary winding is 90o ahead or
90o behind the angle of the main
winding.

The direction of rotation of the

motor can be reversed by switching
the connections of the auxiliary
winding while leaving the main
windings connections unchanged.

20

10
 1/7/2013

Split-Phase Windings

As a result, IA leads IM

Since IA leads IM, so the magnetic

field BA peaks before the main
magnetic field BM.

So, there is a net counterclockwise

rotation in the magnetic field.

19

Split-Phase Windings
As a result, the auxiliary winding
makes one of the oppositely rotating
stator magnetic fields larger than
the other one.
The auxiliary winding also
provides a net starting torque for
the motor.
The direction of rotation of the
motor is determined by whether the
space angle of magnetic field from
the auxiliary winding is 90o ahead or
90o behind the angle of the main
winding.

The direction of rotation of the

motor can be reversed by switching
the connections of the auxiliary
winding while leaving the main
windings connections unchanged.

20

10
 1/7/2013

Capacitor-Start Motors

In the split-phase motors, there are still both

magnetic fields rotating oppositely during starting
because IA leads IM not exactly 90o.

As a result, there are two induced torque

(generated by these two oppositely rotating
magnetic fields) in the opposite ways, causing the
low net starting torque.

Thus, the capacitor-start motors are designed to

increase the starting torque in the split-phase
motors. 21

Capacitor-Start Motors
By proper selection of C size, IA
leads IM by 90o with the same
magnitude.

When IA leads IM by 90o, there is

only a single uniform rotating stator
magnetic field, causing the increase
of the starting torque.

22

11
 1/7/2013

Capacitor-Start Motors

In the split-phase motors, there are still both

magnetic fields rotating oppositely during starting
because IA leads IM not exactly 90o.

As a result, there are two induced torque

(generated by these two oppositely rotating
magnetic fields) in the opposite ways, causing the
low net starting torque.

Thus, the capacitor-start motors are designed to

increase the starting torque in the split-phase
motors. 21

Capacitor-Start Motors
By proper selection of C size, IA
leads IM by 90o with the same
magnitude.

When IA leads IM by 90o, there is

only a single uniform rotating stator
magnetic field, causing the increase
of the starting torque.

22

11
 1/7/2013

Permanent Split-Capacitor Motors

In this type, the capacitor is left
permanently. No centrifugal switch.

At normal loads, they are more

efficient, higher power factor, and
smoother torque than ordinary
single-phase induction motors.

However, there is a tradeoff

between the large starting torque
and best running conditions
according to the capacitor size.

Because the capacitor cannot

balance the currents under both
starting (high current) and running
(low current) conditions.
23

Permanent Capacitor-Start,
Capacitor-Run (Two-Value Capacitor)
Motors

To get the best performance

under both starting and running
conditions, two capacitors are used,
calling as capacitor-start and
capacitor-run.

The large capacitor is present in

the circuit during starting, when it
ensures that the currents in the
main and auxiliary windings are
roughly balanced, yielding very high
starting torque.

24

12
 1/7/2013

Permanent Split-Capacitor Motors

In this type, the capacitor is left
permanently. No centrifugal switch.

At normal loads, they are more

efficient, higher power factor, and
smoother torque than ordinary
single-phase induction motors.

However, there is a tradeoff

between the large starting torque
and best running conditions
according to the capacitor size.

Because the capacitor cannot

balance the currents under both
starting (high current) and running
(low current) conditions.
23

Permanent Capacitor-Start,
Capacitor-Run (Two-Value Capacitor)
Motors

To get the best performance

under both starting and running
conditions, two capacitors are used,
calling as capacitor-start and
capacitor-run.

The large capacitor is present in

the circuit during starting, when it
ensures that the currents in the
main and auxiliary windings are
roughly balanced, yielding very high
starting torque.

24

12
 1/7/2013

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

Ranking of single-phase induction motors in terms of

starting and running characteristics,

1. Capacitor-start, capacitor-run motor (most

expensive)
2. Capacitor-start motor
3. Permanent split-capacitor motor
4. Split-phase motor
5. Shaded-pole motor (least expensive)

26

13
 1/7/2013

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

Ranking of single-phase induction motors in terms of

starting and running characteristics,

1. Capacitor-start, capacitor-run motor (most

expensive)
2. Capacitor-start motor
3. Permanent split-capacitor motor
4. Split-phase motor
5. Shaded-pole motor (least expensive)

26

13
 1/7/2013

10.4 Speed Control of Single-

Phase Induction Motors

Speed Control of Single-Phase

Induction Motors

For squirrel-cage rotor motors, the speed

control techniques are

Vary the stator frequency

Change the number of poles
Change the applied terminal voltage
(commonly used)

28

14
 1/7/2013

10.5 The Circuit Model of a

Single-Phase Induction Motor

Circuit Analysis with the Single-Phase

Induction Motor Equivalent Circuit (At
Standstill condition)
The equivalent circuit is developed
basing on the double-revolving-field
theory.
Only main winding is considered in
the equivalent circuit.
At standstill, the equivalent circuit of
the motor looks like the one of
single-phase transformer.
The pulsating air-gap flux can be
resolved into two equal and opposite
magnetic fields.
As a result, it is possible to split the
rotor equivalent circuit into two
sections, each one corresponding to
the effects of one of the magnetic
fields.
30

15

Circuit Analysis with the Single-Phase
Induction Motor Equivalent Circuit (At
Running condition)
For the forward rotating magnetic field
(nsunc), the difference between the
rotor speed and the speed of
forward magnetic field is the slip,
s = (nsync-nm)/nsync
Power-Flow Diagram of a Single-
Phase Induction Motor
1/7/2013
For the reverse rotating magnetic field
(-nsync), the difference between the
rotor speed and the speed of
reverse magnetic field is the slip
(-nsync-nm)/(-nsync)
= (nsync+nm)/nsync
= (nsync-nsync)/nsync+(nsync+nm)/nsync
= (2nsync -nsunc + nm)/nsync
= 2-(nsync-nm)/nsync
= 2-s
31
32
16

Circuit Analysis with the Single-Phase
Induction Motor Equivalent Circuit (At
Running condition)
For the forward rotating magnetic field
(nsunc), the difference between the
rotor speed and the speed of
forward magnetic field is the slip,
s = (nsync-nm)/nsync
Power-Flow Diagram of a Single-
Phase Induction Motor
1/7/2013
For the reverse rotating magnetic field
(-nsync), the difference between the
rotor speed and the speed of
reverse magnetic field is the slip
(-nsync-nm)/(-nsync)
= (nsync+nm)/nsync
= (nsync-nsync)/nsync+(nsync+nm)/nsync
= (2nsync -nsunc + nm)/nsync
= 2-(nsync-nm)/nsync
= 2-s
31
32
16
 1/7/2013

Circuit Analysis with the Single-Phase

Induction Motor Equivalent Circuit (At
Running condition)

The forward impedance:

ZF = RF + jXF = (R2/s+jX2)(jXM)/[(R2/s+jX2)+jXM] (10-5)

The reverse impedance:

ZB = RB + jXB = (R2/(2-s)+jX2)(jXM)/[(R2/(2-s)+jX2)+jXM] (10-6)

The stator current:

I1 = V/(R1+jX1+0.5ZF+0.5ZB) (10-7)
33

Powers and Torques in a Single-

Phase Induction Motor
Air-gap power for the forward magnetic field:
PAG,F = I12(0.5 RF) (10-8)

Air-gap power for the reverse magnetic field:

PAG,B = I12(0.5 RB) (10-9)

Total air-gap power in a single-phase induction motor:

PAG = PAG,F PAG,B (10-10)

Induced torque in a single-phase induction motor:

ind = PAG/sync (10-11)

Rotor copper losses in a single-phase induction motor:

PRCL = PRCL,F + PRCL,B (10-12)

34

17
 1/7/2013

Circuit Analysis with the Single-Phase

Induction Motor Equivalent Circuit (At
Running condition)

The forward impedance:

ZF = RF + jXF = (R2/s+jX2)(jXM)/[(R2/s+jX2)+jXM] (10-5)

The reverse impedance:

ZB = RB + jXB = (R2/(2-s)+jX2)(jXM)/[(R2/(2-s)+jX2)+jXM] (10-6)

The stator current:

I1 = V/(R1+jX1+0.5ZF+0.5ZB) (10-7)
33

Powers and Torques in a Single-

Phase Induction Motor
Air-gap power for the forward magnetic field:
PAG,F = I12(0.5 RF) (10-8)

Air-gap power for the reverse magnetic field:

PAG,B = I12(0.5 RB) (10-9)

Total air-gap power in a single-phase induction motor:

PAG = PAG,F PAG,B (10-10)

Induced torque in a single-phase induction motor:

ind = PAG/sync (10-11)

Rotor copper losses in a single-phase induction motor:

PRCL = PRCL,F + PRCL,B (10-12)

34

17
 1/7/2013

Powers and Torques in a Single-

Phase Induction Motor
Forward rotor copper losses:
PRCL,F = sPAG,F (10-13)

Reverse rotor copper losses:

PRCL,B = sPAG,B (10-14)

Total converted power in a single-phase induction motor:

Pconv = indm (10-15)
= ind(1-s)sync (10-16)
= (1-s)PAG (10-17)
Note: PAG = indsync (see equation (10-11)).

Output power in a single-phase induction motor:

Pout = Pconv Pcore PF&W Pstray
35

Example Problem

Example 10-1 on page 663

36

18
Example10.1
A1/3hp,110V,60Hz,sixpole,splitphaseinduction
motorhasthefollowingimpedances:
R1 =1.52,X1 =2.10,XM =58.2
R2 =3.13,X2 =1.56
Thecorelossesofthismotorare35W,andthe
friction,windage,andstraylossesare16W.Themotor
isoperatingattheratedvoltageandfrequencywithits
startingwindingopen,andthemotorsslipis5%.Find
thefollowingquantitiesinthemotoratthese
conditions:
(a)speedinrpm,(b)statorcurrent,(c)statorpf(d)Pin,
(e)PAG,(f)Pconv,(g)ind,(h)Pout,(i)load,(j)efficiency.
 1/7/2013

10.6 Other Types of Motors

Reluctance Motors
Stator structure: same as AC machine (single-phase or three-phase
windings), producing the rotating stator magnetic field.

Rotor structure: the iron salient pole.

The reluctance torque is induced in such a

way that BR line up with BS.
It is a type of the synchronous machine,
rotating at the synchronous speed.
Like the synchronous motor, it has no
starting torque.
Therefore, the amortisseur winding for
starting could be used in the reluctance motor
as well, so called self-starting reluctance
motor

38

19
 1/7/2013

Hysteresis Motors
Stator structure: same as AC machine (single-phase or three-phase
windings), producing the rotating stator magnetic field.

Rotor structure: the iron non-salient (smooth cylindrical) pole.

The rotating magnetic field appearing in the

machine magnetizes the metal of the rotor.
Then, the induced poles are occurred within
the rotor.
The torque is induced because BR lags BS
(>0) due to the large hystersis loss of the
rotor material.
It is also a type of the synchronous
machine, rotating at the synchronous speed.

39

Stepper Motors
Stator structure: the stator windings are concentrated (not sinusoidally
distributed like AC machine).

Rotor structure: the salient permanent-magnet or reluctance iron pole.

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)

40

20
 1/7/2013

Hysteresis Motors
Stator structure: same as AC machine (single-phase or three-phase
windings), producing the rotating stator magnetic field.

Rotor structure: the iron non-salient (smooth cylindrical) pole.

The rotating magnetic field appearing in the

machine magnetizes the metal of the rotor.
Then, the induced poles are occurred within
the rotor.
The torque is induced because BR lags BS
(>0) due to the large hystersis loss of the
rotor material.
It is also a type of the synchronous
machine, rotating at the synchronous speed.

39

Stepper Motors
Stator structure: the stator windings are concentrated (not sinusoidally
distributed like AC machine).

Rotor structure: the salient permanent-magnet or reluctance iron pole.

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)

40

20
 1/7/2013

Stepper Motors

Rotor
position

0o
60o
120o
180o
240o
300o

41

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

42

21
 1/7/2013

Stepper Motors

Rotor
position

0o
60o
120o
180o
240o
300o

41

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

42

21
 1/7/2013

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 this case, each phase is energized by either VDC or VDC (2

combinations) while other two phases are not energized. So, there are 6
combinations for energizing three phases.

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

Substituting ne into equation (10-19b), yields

nm = (1/3P)npulses (10-20)

43

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.

Substituting ne into equation (10-19b), the mechanical speed in rpm is

finally
nm = (1/NP)npulses (10-21)

Note: nm = (2/P)ne (10-19b)

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

Given npulses = 1200 pulses/min and P = 2, and N = 3, then

nm = (1/(2*3))*1200 = 200 rpm
44

22
 1/7/2013

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 this case, each phase is energized by either VDC or VDC (2

combinations) while other two phases are not energized. So, there are 6
combinations for energizing three phases.

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

Substituting ne into equation (10-19b), yields

nm = (1/3P)npulses (10-20)

43

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.

Substituting ne into equation (10-19b), the mechanical speed in rpm is

finally
nm = (1/NP)npulses (10-21)

Note: nm = (2/P)ne (10-19b)

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

Given npulses = 1200 pulses/min and P = 2, and N = 3, then

nm = (1/(2*3))*1200 = 200 rpm
44

22
Example10.2
Athreephasepermanentmagnetstepper
motorrequiredforoneparticularapplication
mustbecapableofcontrollingthepositionof
ashaftinstepsof7.5,anditmustbecapable
ofrunningatspeedsofupto300rpm.
(a) Howmanypolesmustthismotorhave?
(b) Atwhatratemustcontrolpulsesbe
receivedinthemotorscontrolunitifitis
tobedrivenat300rpm?
 1/7/2013

Example Problem

Example 10-2 on page 674

45

Brushless DC Motors
Stator structure: the stator windings (three-, four-, or more- phases) are
concentrated (not sinusoidally distributed like AC machine).

Rotor structure: the non-salient permanent-magnet pole

This motor has advantages over

conventional DC motors due to the
elimination of brushes and
commutators.
The driving operation of this motor
requires the rotor position.
The basic components of a
brushless DC motor are permanent-
magnet rotor, stator windings, rotor
4-phase brushless DC motor position sensor (i.e., Hall elements),
and electronic drive and control
circuits.
46

23
 1/7/2013

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.

47

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.

48

24
 1/7/2013

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.

47

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.

48

24