Showing posts with label Motors. Show all posts
Showing posts with label Motors. Show all posts

CLASSIFICATION OF MOTORS BY SPEED AND SERVICE



Speed classification of motor. Each electric motor possesses an inherent speed characteristic by which it can be classified in one of several groups. The following classification of speed characteristics is that adopted by the National Electrical Manufacturers Association (NEMA).

1. A constant-speed motor is one in which the speed of normal operation is constant or practically constant; for example, a synchronous motor, an induction motor with small slip, or a direct-current shunt-wound motor.

2. An adjustable-speed motor is one in which the speed can be controlled over a defined range, but when once adjusted remains practically unaffected by the load. Examples of adjustable-speed motors are: a direct-current shunt-wound motor with field resistance control designed for a considerable range of speed adjustments, or an alternating current motor controlled by an adjustable frequency power supply.

3. A multispeed motor is one which can be operated at any one of two or more definite speeds, each being practically independent of the load; for example, a direct-current motor with two armature windings or an induction motor with windings capable of various pole groupings. In the case of multispeed permanent-split capacitor and shadedpole motors, the speeds are dependent upon the load.

4. A varying-speed motor is one in which the speed varies with the load, ordinarily decreasing when the load increases, such as a series-wound or repulsion motor.

5. An adjustable varying-speed motor is one in which the speed can be adjusted gradually, but when once adjusted for a given load, will vary in considerable degree with change in load, such as a direct current compound-wound motor adjusted by field control or a wound-rotor induction motor with rheostatic speed control.

6. The base speed of an adjustable-speed motor is the lowest-rated speed obtained at rated load and rated voltage at the temperature rise specified in the rating.

Service classification of motors. Electric motors are classified into two groups, depending upon the type of service for which they are designed. General-purpose motors are those motors designed for general use without restriction to a particular application.

They meet certain specifications as standardized by NEMA. A definite-purpose motor is one which is designed in standard ratings and with standard operating characteristics for use under service conditions other than usual or for use on a particular type of application.

A special-purpose motor is one with special operating characteristics or special mechanical construction, or both, which is designed for a particular application and which does not meet the definition of a general-purpose or a definite-purpose motor.

TYPES OF ELECTRIC MOTORS BASIC INFORMATION AND TUTORIALS



Types of electric motors. Electric motors are manufactured in a number of different types. They may be divided into three main groups, depending upon the type of electric system from which they are designed to operate: dc, single-phase ac, and polyphase ac.

There are several types of motors in each one of these groups, constructed so that they produce different starting and running characteristics. The principal types of electric motors follow:

Direct-current
Shunt-wound
Straight shunt-wound
Stabilized shunt-wound
Series-wound
Compound-wound
Permanent magnet
Polyphase alternating-current

Induction
Squirrel-cage
Normal-torque, normal-starting-current
Normal-torque, low-starting-current
High-torque, low-starting-current
Low-torque, low-starting current
High-resistance-rotor
Automatic-start
Multispeed
Wound-rotor
Commutator, brush-shifting
Synchronous
Direct-current excited
Permanent-magnet
Reluctance
Single-phase alternating-current
Repulsion
Induction
Shading-pole–starting
Inductively split-phase–starting
Capacitor-type
Capacitor start
Permanent-split capacitor
Two-value capacitor
Repulsion-start, induction-run
Repulsion-induction
Series
Universal
Series-wound
Compensated series-wound

CAGE INDUCTION MOTOR BASIC INFORMATION AND TUTORIALS



This simplest form of ac induction motor or asynchronous motor is the basic, universal workhorse of industry. Its general construction is shown in Fig. 10.7. It is usually designed for fixed-speed operation, larger ratings having such features as deep rotor bars to limit

Direct on Line (DOL) starting currents. Electronic variable speed drive technology is able to provide the necessary variable voltage, current and frequency that the induction motor requires for efficient, dynamic and stable variable speed control.

Modern electronic control technology is able not only to render the ac induction motor satisfactory for many modern drive applications but also to extend greatly its application and enable users to take advantage of its low capital and maintenance costs. More striking still, microelectronic developments have made possible the highly dynamic operation of induction motors by the application of flux vector control.

The practical effect is that it is now possible to drive an ac induction motor in such a way as to obtain a dynamic performance in all respects better than could be obtained with a phase-controlled dc drive combination.


The stator winding of the standard industrial induction motor in the integral kilowatt range is three phase and is sinusoidally distributed. With a symmetrical three-phase supply connected to these windings, the resulting currents set up, in the air-gap between the stator and the rotor, a travelling wave magnetic field of constant magnitude and moving at synchronous speed.

The rotational speed of this field is f/p revolutions per second, where f is the supply frequency (hertz) and p is the number of pole pairs (a four-pole motor, for instance, having two pole pairs). It is more usual to express speed in revolutions per minute, as 60 f/p (rpm).

The emf generated in a rotor conductor is at a maximum in the region of maximum flux density and the emf generated in each single rotor conductor produces a current, the consequence being a force exerted on the rotor which tends to turn it in the direction of the flux rotation.

The higher the speed of the rotor, the lower the speed of the rotating stator flux field relative to the rotor winding, and therefore the smaller is the emf and the current generated in the rotor cage or winding.

The speed when the rotor turns at the same rate as that of the rotating field is known as synchronous speed and the rotor conductors are then stationary in relation to the rotating flux. This produces no emf and no rotor current and therefore no torque on the rotor.

Because of friction and windage the rotor cannot continue to rotate at synchronous speed; the speed must therefore fall and as it does so, rotor emf and current, and therefore torque, will increase until it matches that required by the losses and by any load on the motor shaft.

The difference in rotor speed relative to that of the rotating stator flux is known as the slip. It is usual to express slip as a percentage of the synchronous speed. Slip is closely proportional to torque from zero to full load.

The most popular squirrel cage induction motor is of a 4-pole design. Its synchronous speed with a 50 Hz supply is therefore 60 f/p, or 1500 rpm. For a full-load operating slip of 3 per cent, the speed will then be (1 – s)60 f/p, or 1455 rpm.

BRUSHLESS SERVOMOTORS BASIC INFORMATION



A synchronous machine with permanent magnets on the rotor is the heart of the modern brushless servomotor drive. The motor stays in synchronism with the frequency of supply, though there is a limit to the maximum torque which can be developed before the rotor is forced out of synchronism, pull-out torque being typically between 1.5 and 4 times the continuously rated torque.

The torque–speed curve is therefore simply a vertical line. The industrial application of brushless servomotors has grown significantly for the following reasons:

● reduction of price of power conversion products
● establishment of advanced control of PWM inverters
● development of new, more powerful and easier to use permanent magnet materials
● the developing need for highly accurate position control
● the manufacture of all these components in a very compact form

They are, in principle, easy to control because the torque is generated in proportion to the current. In addition, they have high efficiency, and high dynamic responses can be achieved.

Brushless servomotors are often called brushless dc servomotors because their structure is different from that of dc servomotors. They rectify current by means of transistor switching within the associated drive or amplifier, instead of a commutator as used in dc servomotors.

Confusingly, they are also called ac servomotors because brushless servomotors of the synchronous type (with a permanent magnet rotor) detect the position of the rotational magnetic field to control the three-phase current of the armature. It is now widely recognized that brushless ac refers to a motor with a sinusoidal stator winding distribution which is designed for use on a sinusoidal or PWM inverter supply voltage.

Brushless dc refers to a motor with a trapezoidal stator winding distribution which is designed for use on a square wave or block commutation inverter supply voltage.

The brushless servomotor lacks the commutator of the dc motor, and has a device (the drive, sometimes referred to as the amplifier) for making the current flow according to the rotor position. In the dc motor, increasing the number of commutator segments reduces torque variation.

In the brushless motor, torque variation is reduced by making the coil three-phase and, in the steady state, by controlling the current of each phase into a sine wave.

SINGLE PHASE INDUCTION MOTOR TRANSIENTS BASIC INFORMATION



Single-phase induction motors undergo transients during starting, load perturbation or voltage sags etc. When inverter fed, in variable speed drives, transients occur even for mechanical steady state during commutation mode.

To investigate the transients, for orthogonal stator windings, the cross field (or d-q) model in stator coordinates is traditionally used. [1] In the absence of magnetic saturation, the motor parameters are constant.

Skin effect may be considered through a fictitious double cage on the rotor. The presence of magnetic saturation may be included in the d-q model through saturation curves and flux linkages as variables.

Even for sinusoidal input voltage, the currents may not be sinusoidal. The d-q model is capable of handling it. The magnetisation curves may be obtained either through special flux decay standstill tests in the d-q (m.a) axes (one at a time) or from FEM-in d.c. with zero rotor currents.

The same d-q model can handle nonsinusoidal input voltages such as those produced by a static power converter or by power grid polluted with harmonics by other loads nearby.

To deal with nonorthogonal windings on stator, a simplified equivalence with a d-q (orthogonal) winding system is worked out. Alternatively a multiple reference system + - model is used [3]

While the d - q model uses stator coordinates, which means a.c. During steady state, the multiple reference model uses + - synchronous reference systems which imply d.c. steady state quantities.

Consequently, for the investigation of stability, the frequency approach is typical to the d-q model while small deviation linearization approach may be applied with the multiple reference + - model.

Finally, to consider the number of stator and rotor slots-that is space flux harmonics-the winding function approach is preferred. [4] This way the torque/speed deep around 33% of no load ideal speed, the effect of the relative numbers of stator and rotor slots, broken bars, rotor skewing may be considered.

Still saturation remains a problem as superposition is used. A complete theory of single phase IM, valid both for steady-state and transients, may be approached only by a coupled FEM-circuit model, yet to be developed in an elegant computation time competitive software.  

TYPES OF MOTORS BASIC INFORMATION AND TUTORIALS



What Are The Different Type Of Motors?

Squirrel Cage Induction Motors
The squirrel cage induction motor is the most common type of large motor used in a thermal generating plant. Squirrel cage induction motors are very rugged and require very little maintenance.

Wound Rotor Induction Motors
The wound rotor induction motor has a rotor winding which is brought out of the motor through slip rings and brushes. While more flexible than a squire cage induction motor, the slip rings and brushes are an additional maintenance item. Wound rotor motors are only used in special applications in a power plant.

Synchronous Motors
Synchronous motors may be required in some applications. Large slow-speed, 1800 rpm or less may require a synchronous motor. A synchronous motor may used to supply VARs and improve voltage regulation. If the synchronous motor is going to be used as a VAR source, the field supply must be sized large enough to over-excite the field.

Direct Current Motors
Direct current motors are used primarily on emergency systems such as turbine lube oil and turbine turning gear. Direct current motors may also be used on some control valves.

Single-Phase Motors
Single-phase motors are fractional horsepower motors and are usually supplied with the equipment.

Motor Starting Limitations
The starting current for induction motors is about 6 times full load current. This must be taken into account when sizing transformers and should be part of the load flow analysis.

If the terminal voltage is allowed to drop too low, below 80%, the motor will stall. Methods of reduced voltage starting are available, but should be avoided if possible. The most reliable designs are the simplest.

WYE – DELTA MOTOR STARTER WIRING BASIC TUTORIALS



A common misapplication that is encountered is the improper sizing of the six motor leads between the still very popular wye-delta reduced voltage motor starter and the motor. This is best demonstrated by an example.

Assume that you have a 500-ton electrical centrifugal chiller operating at 460 V, three-phase, 60 Hz, with a nameplate rating of 588 full load amps (FLA).You would normally apply the correct factor of 125 percent required by NEC Article 440, to arrive at the required conductor ampacity: 588 × 1.25 = 735 ampacity for each of the three conductors.

Because there will be six conductors between the load side of the starter and the compressor motor terminals, the 735 ampacity is divided by two; you would select six conductors, each having an ampacity of not less than 368 A. Referring to NEC Article 310, Table 310-16 for insulated copper conductors at 75°C would result in the selection of 500-kcmil conductors.

This wire size is incorrect when used between the wye-delta starter and motor terminals. The problem is caused by a common failure to recognize that the motor may consist of a series of single-phase windings.

To permit the transition from wye-start to delta-run configuration, the motor is wound without internal connections. Each end of the three internal motor windings is brought out to a terminal, as shown in Figure 8.5.

FIGURE 8.5 Wye-to-delta internal motor windings brought out to terminals.

The motor windings are configured as required for either starting or running at the starter as shown in Figure 8.6, panels a and b, respectively. In the running-delta configuration, the field wiring from the load side of the starter to the compressor motor terminals consists of six conductors, electrically balancing the phases to each of the internal motor windings as described below in Figure 8.7.

FIGURE 8.6 Wye-start, delta-run motor winding configuration.

FIGURE 8.7 Field wiring between starter and motor in wye-start, delta-run configuration.

Note, for example, that motor winding T1 − T4 is connected to the line voltage across phase L1 − L2. It should be apparent that the windings within the motor are single phase- connected to the load side of the starter. Thus, the interconnecting field wiring between the starter and motor must be sized as though the motor were single-phase.

Electrical terminology simply describes this motor as being phase-connected, and the current carried by the interconnecting conductors as phase amps.

To correctly size the conductors between the motor starter and the motor, therefore, it is necessary to calculate the ampacity with the 125 percent feeder-sizing factor required by the NEC on a single-phase basis as follows:

Ampacity per terminal conductor = three-phase FLA × 1.25/1.73

For the example given:
Ampacity per terminal conductor = 588 × 1.25/1.73 = 424

Thus, it is clear that the current in the conductors between the starter and the motor on a single-phase basis is 58 percent of the three-phase value, not 50 percent as originally assumed, because the current in one phase of a three-phase system in the delta-connected winding is one divided by the square root of three due to the vector relationship.

In the original example, the conductors were sized for a minimum ampacity of 368 A.From the NEC, 500-kcmil copper conductors at 75°C have a maximum allowable ampacity of 380.The preceding calculation discloses that the conductors should be selected for not less than 424 ampacity.

Referring to the NEC again, 600-kcmil conductors have a maximum allowable ampacity of 420. In many cases, depending upon the interpretation of the local electrical inspector, 600 kcmil would be acceptable (usually within 3 percent is acceptable).

Five-hundred– kilocircular mil wire would not be. Almost needless to say, the conductors supplying the line side of the wye-delta starter are sized as conventional three-phase motor conductors.



INCREASING ENERGY EFFICIENCY OF ELECTRIC MACHINERY BASIC TUTORIALS



With increasing concern for both the supply and cost of energy comes a corresponding concern for efficiency in its use. Although electric energy can be converted to mechanical energy with great efficiency, achieving maximum efficiency requires both careful design of the electric machinery and proper matching of machine and intended application.

Clearly, one means to maximize the efficiency of an electric machine is to minimize its internal losses. For example, the winding I2R losses can be reduced by increasing the slot area so that more copper can be used, thus increasing the cross-sectional area of the windings and reducing the resistance.

Core loss can be reduced by decreasing the magnetic flux density in the iron of the machine. This can be done by increasing the volume of iron, but although the loss goes down in terms of watts per pound, the total volume of material (and hence the mass) is increased; depending on how the machine design is changed, there may be a point beyond which the losses actually begin to increase.

Similarly, for a given flux density, eddy-current losses can be reduced by using thinner iron laminations.

One can see that there are trade-offs involved here; machines of more efficient design generally require more material and thus are bigger and more costly. Users will generally choose the "lowest-cost" solution to a particular requirement; if the increased capital cost of a high-efficiency motor can be expected to be offset by energy savings over the expected lifetime of the machine, they will probably select the high-efficiency machine.

If not, users are very unlikely to select this option in spite of the increased efficiency. Similarly, some types of electric machines are inherently more efficient than others. For example, single-phase capacitor-start induction motors are relatively inexpensive and highly reliable, finding use in all sorts of small appliances, e.g., refrigerators, air conditioners, and fans.

Yet they are inherently less efficient than their three-phase counterparts. Modifications such as a capacitor-run feature can lead to greater efficiency in the single-phase induction motor, but they are expensive and often not economically justifiable.

To optimize the efficiency of use of electric machinery the machine must be properly matched to the application, both in terms of size and performance. Since typical induction motors tend to draw nearly constant reactive power, independent of load, and since this causes resistive losses in the supply lines, it is wise to pick the smallest-rating induction motor which can properly satisfy the requirements of a specific application.

Alternatively, capacitative power-factor correction may be used. Proper application of modern solid state control technology can also play an important role in optimizing both performance and efficiency.

There are, of course, practical limitations which affect the selection of the motor for any particular application. Chief among them is that motors are generally available only in certain standard sizes. For example, a typical manufacturer might make fractional-horsepower ac motors rated at 1/8 , 1/6 , 1/4 , 1/3 , 1/2 , 3/4 , and 1 hp(NEMAs tandard ratings).

This discrete selection thus limits the ability to fine tune a particular application; if the need is 0.8 hp, the user will undoubtedly end up buying a 1-hp device and settling for a somewhat lower than optimum efficiency. A custom-designed and manufactured 0.8-hp motor can be economically justified only if it is needed in large quantities.

It should be pointed out that an extremely common source of inefficiency in electric motor applications is the mismatch of the motor to its application. Even the most efficient 50-kW motors will be somewhat inefficient when driving a 20-kW load.

Yet mismatches of this type often occur in practice, due in great extent to the difficulty in characterizing operating loads and a tendency on the part of application engineers to be conservative to make sure that the system in question is guaranteed to operate in the face of design uncertainties. More careful attention to this issue can go a long way toward increasing the efficiency of energy use in electric machine applications.

POWER FACTOR IN AC MACHINES BASIC AND TUTORIALS



The power factor at which ac machines operate is an economically important feature because of the cost of reactive kilovoltamperes. Low power factor adversely affects system operation in three principal ways.

(1) Generators, transformers, and transmission equipment are rated in terms of kVA rather than Kw because their losses and heating are very nearly determined by voltage and current regardless of power factor.

The physical size and cost of ac apparatus are roughly proportional to kVA rating. The investment in generators, transformers, and transmission equipment for supplying a given useful amount of active power therefore is roughly inversely proportional to the power factor.

(2) Low power factor means more current and greater 12 R losses in the generating and transmitting equipment.

(3) A further disadvantage is poor voltage regulation.

Factors influencing reactive-kVA requirements in motors can be visualized readily in terms of the relationship of these requirements to the establishment of magnetic flux. As in any electromagnetic device, the resultant flux necessary for motor operation must be established by a magnetizing component of current.

It makes no difference either in the magnetic circuit or in the fundamental energy conversion process whether this magnetizing current be carried by the rotor or stator winding, just as it makes no basic difference in a transformer which winding carries the exciting current. In some cases, part of it is supplied from each winding.

If all or part of the magnetizing current is supplied by an ac winding, the input to that winding must include lagging reactive kVA, because magnetizing current lags voltage drop by 90 °. In effect, the lagging reactive kVA set up flux in the motor.

The only possible source of excitation in an induction motor is the stator input. The induction motor therefore must operate at a lagging power factor. This power factor is very low at no load and increases to about 85 to 90 percent at full load, the improvement being caused by the increased real-power requirements with increasing load.

With a synchronous motor, there are two possible sources of excitation: alternating current in the armature or direct current in the field winding. If the field current is just sufficient to supply the necessary mmf, no magnetizing-current component or reactive kVA are needed in the armature and the motor operates at unity power factor.

If the field current is less, i.e., the motor is underexcited, the deficit in mmf must be made up by the armature and the motor operates at a lagging power factor. If the field current is greater, i.e., the motor is overexcited, the excess mmf must be counterbalanced in the armature and a leading component of current is present; the motor then operates at a leading power factor.

Because magnetizing current must be supplied to inductive loads such as transformers and induction motors, the ability of overexcited synchronous motors to supply lagging current is a highly desirable feature which may have considerable economic importance. In effect, overexcited synchronous motors act as generators of lagging reactive kilovoltamperes and thereby relieve the power source of the necessity for supplying this component.

They thus may perform the same function as a local capacitor installation. Sometimes unloaded synchronous machines are installed in power systems solely for power-factor correction or for control of reactive-kVA flow. Such machines, called synchronous condensers, may be more economical in the larger sizes than static capacitors.

Both synchronous and induction machines may become self-excited when a sufficiently heavy capacitive load is present in their stator circuits. The capacitive current then furnishes the excitation and may cause serious overvoltage or excessive transient torques.

Because of the inherent capacitance of transmission lines, the problem may arise when synchronous generators are energizing long unloaded or lightly loaded lines. The use of shunt reactors at the sending end of the line to compensate the capacitive current is sometimes necessary.

For induction motors, it is normal practice to avoid self-excitation by limiting the size of any parallel capacitor when the motor and capacitor are switched as a unit.

SELF-STARTING SYNCHRONOUS-RELUCTANCE MOTORS BASIC INFORMATION



Any one of the induction-motor types described above can be made into a self-starting synchronous reluctance motor.

Anything which makes the reluctance of the air gap a function of the angular position of the rotor with respect to the stator coil axis will produce reluctance torque when the rotor is revolving at synchronous speed.

For example, suppose some of the teeth are removed from a squirrel-cage rotor, leaving the bars and end tings intact, as in an ordinary squirrel-cage induction motor. Figure 9.9a shows a lamination for such a rotor designed for use with a four-pole stator.

The stator may be polyphase or any one of the single-phase types described above. The motor will start as an induction motor and at light loads will speed up to a small value of slip.

The reluctance torque arises from the tendency of the rotor to try to align itself in the minimum reluctance position with respect to the synchronously revolving forward air-gap flux wave.

At a small slip, this torque alternates slowly in direction; the rotor is accelerated during a positive half cycle of the torque variation and decelerated during the succeeding negative half cycle.

If the moment of inertia of the rotor and its mechanical load are sufficiently small, the rotor will be accelerated from slip speed up to synchronous speed during an accelerating half cycle of the reluctance torque. The rotor will then pull into synchronism and continue to run at synchronous speed.

The presence of any backward-revolving stator flux wave will produce torque ripple and additional losses, but synchronous operation will be maintained provided the load torque is not excessive.

A typical torque-speed characteristic for a split-phase-start synchronousreluctance motor is shown in Fig. 9.9b. Notice the high values of induction-motor torque.

The reason for this is that in order to obtain satisfactory synchronous-motor characteristics, it has been found necessary to build synchronous reluctance motors in frames which would be suitable for induction motors of two or three times their synchronous-motor rating.

Also notice that the principal effect of the salient-pole rotor on the induction-motor characteristic is at standstill, where considerable "cogging" is evident; i.e., the torque varies considerably with rotor position.

Figure 9.9 Rotor punching for four-pole synchronous-reluctance motor and typical torque-speed characteristic.

SPLIT PHASE MOTORS BASIC INFORMATION AND TUTORIALS



Split-phase motors have two stator windings, a main winding (also referred to as the run winding) which we will refer to with the subscript 'main' and an auxiliary winding (also referred to as the start winding) which we will refer to with the subscript 'aux'.

As in a two-phase motor, the axes of these windings are displaced 90 electrical degrees in space, and they are connected as shown in Fig. 9.3a. The auxiliary winding has a higher resistance-to-reactance ratio than the main winding, with the result that the two currents will be out of phase, as indicated in the phasor diagram of Fig. 9.3b, which is representative of conditions at starting.

Since the auxiliary-winding current iaux leads the main-winding current Imain, the stator field first reaches a maximum along the axis of the auxiliary winding and then somewhat later in time reaches a maximum along the axis of the main winding.

The winding currents are equivalent to unbalanced two-phase currents, and the motor is equivalent to an unbalanced two-phase motor. The result is a rotating stator field which causes the motor to start.

After the motor starts, the auxiliary winding is disconnected, usually by means of a centrifugal switch that operates at about 75 percent of synchronous speed. The simple way to obtain the high resistance to-reactance ratio for the auxiliary winding is to wind it with smaller wire than the main winding, a permissible procedure because this winding operates only during starting.

Its reactance can be reduced somewhat by placing it in the tops of the slots. A typical torque-speed characteristic for such a motor is shown in Fig. 9.3c.

Split-phase motors have moderate starting torque with low starting current. Typical applications include fans, blowers, centrifugal pumps, and office equipment. Typical ratings are 50 to 500 watts; in this range they are the lowest-cost motors available.

Figure 9.3 Split-phase motor: (a) connections, (b) phasor diagram at starting, and (c) typical torque speed characteristic.

MOTOR TORQUE DEFINITIONS BASIC AND TUTORIALS



The torques described in the following paragraphs are listed in the Standards. The minimum values are given in Table 20-1.


∗The torque values with other than rated voltage applied are approximately equal to the rated voltage values multiplied by the ratio of the actual voltage to rated voltage in the case of the pull-out torque, and multiplied by the square of this ratio in the case of the locked-rotor and pull-in torque. †With rated excitation current applied.

Locked-rotor torque is the minimum torque, which the synchronous motor will develop at rest for all angular positions of the rotor, with rated voltage at rated frequency applied.

Pull-in torque is the maximum constant-load torque under which the motor will pull into synchronism, at rated voltage and frequency, when its rated field current is applied. Whether the motor can pull the load into step from the slip running on the damper windings depends on the speed-torque character of the load and the total inertia of the revolving parts.

A typical relationship between maximum slip and percent of normal Wk2 for pulling into step is shown in Fig. 20-11. Table 20-1 specifies minimum values of pull-in torque with the motor loaded with normal Wk2; these values are given below. (See also Table 20-1.)
 

FIGURE 20-11 Typical relationship between load inertia and maximum slip for pulling synchronous motors into step.

Nominal pull-in torque is the value at 95% of synchronous speed, with rated voltage at rated frequency applied, when the motor is running on the damper windings.

Pull-out torque is the maximum sustained torque which the motor will develop at synchronous speed for 1 min, with rated voltage at rated frequency applied, and with rated field current.

In addition, the pull-up torque is defined as the minimum torque developed between standstill and the pull-in point. This torque must exceed the load torque by a sufficient margin to assure satisfactory acceleration of the load during starting.

The reluctance torque is a component of the total torque when the motor is operating synchronously. It results from the saliency of the poles and is a manifestation of the poles attempting to align themselves with the air-gap magnetic field. It can account for up to 30% of the pull-out torque.

The synchronous torque is the total steady-state torque available, with field excitation applied, to drive the motor and the load at synchronous speed. The maximum value as the motor is loaded is the pull-out torque, developed as a power angle A = 90 DEG.


DC SERVOMOTORS AND TRACTION MOTORS BASIC TUTORIALS



DC servomotors are high-performance motors normally used as prime movers in computers, numerically controlled machinery, or other applications where starts and stops must be made quickly and accurately.

Servomotors have lightweight, low-inertia armatures that respond quickly to excitation-voltage changes. In addition, very low armature inductance in these motors results in a low electrical time constant (typically 0.05 to 1.5 ms) that further sharpens motor response to command signals.

Servomotors include permanent-magnet, printed-circuit, and moving-coil (or shell) motors. The rotor of a shell motor consists of a cylindrical shell of copper or aluminum wire coils. The wire rotates in a magnetic field in the annular space between magnetic pole pieces and a stationary iron core.

The field is provided by cast Alnico magnets whose magnetic axis is radial. The motor may have 2, 4, or 6 poles.

Each of these basic types has its own characteristics, such as inertia, physical shape, cost, shaft resonance, shaft configuration, speed, and weight. Although these motors have similar torque ratings, their physical and electrical constants vary considerably.

The choice of a motor may be as simple as fitting one into the space available. However, this is generally not the case since most servosystems are very complex.

DC Traction Motors. These are dc series motors typically rated 140 hp, 310 V, 2500 r/min. Four motors are used in each transit car, two on each axle.

The power supply is 600 to 1000 V dc from the third rail, which is powered by 2500- to 5000-kW rectifier sets in rectifier substations located along the track. Starting and speed control are by either a cam controller or a chopper controller on board the transit car.

POWER SUPPLIES FOR DC MOTORS BASIC INFORMATION AND TUTORIALS



Power supplies to dc motors may be batteries, a dc generator, or rectifiers. The permanent-magnet and miniature motors use battery power supplies. Large integral-horsepower dc motors such as rolling-mill motors use dc generators as the power supply. Most fractional-horsepower and integral-horsepower dc motors operate with rectifier power supplies. Some of the types of rectifier power supplies are as follows:

1. Single-phase, half-wave
2. Single-phase, half-wave, back rectifier
3. Single-phase, half-wave, alternating-current voltage controlled
4. Single-phase, full-wave, firing angle controlled
5. Single-phase, full-wave, firing angle controlled, back rectifier
6. Three-phase, half-wave, voltage controlled
7. Three-phase, half-wave, firing angle controlled

The NEMA standard letter designations of dc motor test power supplies are as follows:

Power supply A—dc generator
Power supply C—3-phase 6-pulse controlled rectifier (230 V L-L, 60 Hz)
Power supply D—3-phase 6-pulse controlled rectifier (with three thyristors and three diodes)
with free-wheeling diode (230/460 V L-L, 60 Hz)
Power supply E—3-phase 3-pulse controlled rectifier (460 V L-L, 60 Hz)
Power supply K—1-phase full-wave controlled rectifier with free-wheeling diode (230/115 V, 60 Hz)

When a direct-current integral-horsepower motor is operated from a rectified alternating-current supply, its performance may differ materially from that of the same motor when operated from a low ripple direct-current source of supply, such as a generator or a battery. The pulsating voltage and current waveforms may increase temperature rise and noise and adversely affect commutation and efficiency.

Because of these effects, direct-current motors must be designed or specially selected to operate on the particular type of rectified supply to be used. Armature-current form factor and ripple are two important parameters to be specified for motors which are required to operate with rectifier power supplies.

The form factor is defined as the ratio of the rms value to the average value of the armature currents. Recommended rated form factors vary from 2.0 for 1-phase half-wave rectifier supplies to 1.1 for 3 phase full-wave rectifier supplies (see NEMA MG1-14.60).

Because the letters used to identify the power supplies in common use have been chosen in alphabetical order of increasing magnitude of ripple current, a motor rated on the basis of one of these power supplies may be used on any power supply designed by a lower letter of the alphabet. For example, a motor rated on the basis of an E power supply may be used on a C or D power supply.   

ELECTRIC MOTOR STANDARDS BASIC INFORMATION AND TUTORIALS



Motors and generators are required to meet various industry and national standards and in some instances specific local codes and customer specifications. The more important of these standards may be briefly described as follows:

1. NEMA Standards are voluntary standards of the National Electrical Manufacturers Association and represent general practice in the industry. They define a product, process, or procedure with reference to nomenclature composition, construction, dimensions, tolerances, operating characteristics, performance, quality, rating, and testing. Specifically, they cover such matters as frame sizes, torque classifications, and basis of rating.

2. IEEE Standards (AIEE) concern fundamentals such as basic standards for temperature rise, rating methods, classification of insulating materials, and test codes.

3. USA Standards are national standards established by the United States of America Standards Institute, which represents manufacturers, distributors, consumers, and others concerned. USA Standards may be sponsored by any responsible body and may become national standards only if a consensus of those having substantial interest is reached.

Standards may cover a wide variety of subjects such as dimensions, specifications of materials, methods of test, performance, and definition of terms. USA Standards frequently are those previously adopted by and sponsored by NEMA, IEEE, etc. The chief motor and generator standard of USASI is C50, “Rotating Machinery,” which is substantially in agreement with current NEMA Standards.

4. National Electrical Code is a USA Standard sponsored by the National Fire Protection Association for the purpose of safeguarding persons and buildings from electrical hazards arising from the use of electricity for light, heat, power, and other purposes. It covers wiring methods and materials, protection of branch circuits, motors and control, grounding, and recommendations, regarding suitable equipment for each classification.

5. Underwriters’Laboratories, Inc. is an independent testing organization, which examines and tests devices, systems, and materials with particular reference to life, fire, and casualty hazards. It develops standards for motor and control for hazardous locations through cooperation with manufacturers.

It has several different services by which a manufacturer can indicate compliance with Underwriters’ Laboratories Standards. Such services are utilized on motors only in the case of explosion proof and dust-ignition proof motors where label service is used to indicate to code enforcing authorities that motors have been inspected to determine their adherence to Underwriters’ Laboratories Standards for motors for hazardous locations.

6. Federal Specification CC-M-641 for integral-horsepower ac motors has been issued by the federal government to cover standard motors for general government uses. Standard motors meet these specifications, but other Federal Specifications issued by various branches of the government for specific use may require special designs.

7. World Standards. Standards similar to our NEMA Standards have been established in other countries. The most significant are

a. IEC (International Electrochemical Commission) Standard 72-1, Part 1
b. German Standard DIN 42673
c. British Standard BSI-2960, Part 2
These standards specify dimensions, classes of insulation, and in some cases horsepower ratings.

PERMANENT MAGNET DC MOTORS BASIC INFORMATION



Permanent-magnet (PM) motors are available in fractional and low integral-horsepower sizes. They have several advantages over field-wound types.

Excitation power supplies and associated wiring are not needed. Reliability is improved, since there are no exciting field coils to fail, and there is no likelihood of overspeed due to loss of field.

Efficiency and cooling are improved by elimination of power loss in an exciting field. And the torque versus-current characteristic is more nearly linear. Finally a PM motor may be used where a totally enclosed motor is required for a continuous-excitation duty cycle.

Temperature effects depend on the kind of magnet material used. Integral-horsepower motors with Alnico-type magnets are affected less by temperature than those with ceramic magnets because flux is constant.

Ceramic magnets ordinarily used in fractional-horsepower motors have characteristics that vary about as much with temperature as do the shunt fields of excited machines.

Disadvantages are the absence of field control and special speed-torque characteristics. Overloads may cause partial demagnetization that changes motor speed and torque characteristics until magnetization is fully restored.

Generally, an integral-horsepower PM motor is somewhat larger and more expensive than an equivalent shunt-wound motor, but total system cost may be less.

A PM motor is a compromise between compound-wound and series-wound motors. It has better starting torque, but approximately half the no-load speed of a series motor.

In applications where compound motors are traditionally used, the PM motor could be considered where slightly higher efficiency and greater overload capacity are needed. In series-motor applications, cost consideration may influence the decision to switch.

For example, in frame sizes under 5-in diameter the series motor is more economical. But in sizes larger than 5 in, the series motor costs more in high volumes. And the PM motor in these larger sizes challenges the series motor with its high torques and low no-load speed.

HYSTERESIS MOTORS BASIC INFORMATION AND TUTORIALS



By constructing the secondary core of an induction motor of hardened magnet steel, in place of the usual annealed low-loss silicon-steel laminations, the secondary hysteresis loss can be greatly magnified, producing effective synchronous motor action.

Such hysteresis motors, having smooth rotor surfaces without secondary teeth or windings, give extremely uniform torque, are practically noiseless, and give substantially the same torque from standstill all the way up to synchronous speed.

A hysteresis motor is a true synchronous motor, with its load torque produced by an angular shift between the axis of rotating primary mmf and the axis of secondary magnetization. When the load torque exceeds the maximum hysteresis torque, the secondary magnetization axis slips on the rotor, giving the same effect as a friction brake set for a fixed torque.

Despite the interesting characteristics of this type of motor, it is limited to small sizes, because of the inherently small torque derivable from hysteresis losses.

Only moderate flux densities are practicable, owing to the excessive excitation losses required to produce high densities in hard magnet steel, and, therefore, about 20 W/lb of rotor magnet steel represents the maximum useful synchronous power on 60 Hz.

Hysteresis motors have found an important use for phonograph-motor drives, their synchronous speed enabling a governor to be dispensed with and freedom from tone waver to be secured.

The Telechron motor, which is so widely used for operating electric clocks, also operates on the hysteresis-motor principle. In the Telechron motor, a 2-pole rotating field is produced in a cylindrical air space, and into this space is introduced a sealed thin-metal cylinder containing a shaft carrying one or more hardened magnet-steel disks, driving a gear train.

The 60-Hz magnetic field causes the steel disks to revolve at 3600 r/min, driving through the gears a low-speed shaft, usually 1 r/min, which merges from the sealed cylinder through a closely fitting bushing designed to minimize oil leakage.

Although the magnetic field has to cross a very considerable air-gap length and pass through the tin walls of the metal cylinder, the power required to drive a well-designed clock is so small that sample output is obtained with only about 2-W input for ordinary household-clock sizes.

The hysteresis motor has been displaced for phonograph and tape-reel drives by the transistor-driven brushless dc motor. It has been displaced for electric clocks by solid-state circuits with digital readout.

SYNCHRONOUS INDUCTION MOTORS BASIC INFORMATION AND TUTORIALS



There are three types of motors that can start and run as induction motors yet can lock into the supply frequency and run as synchronous motors as well. They are (1) the wound-rotor motor with dc exciter (2) the permanent-magnet (PM) synchronous motor, and (3) the reluctance-synchronous motor.

The latter two types have been used primarily with adjustable frequency inverter power supplies. In Europe, wound-rotor induction motors have often been provided with low-voltage dc exciters that supply direct current to the rotor, making them operate as synchronous machines.

With secondary rheostats for starting, such a motor gives the low starting current and high torque of the wound-rotor induction motor and an improved power factor under load.

Several different forms of these synchronous induction motors have been proposed, but they have not shown any net advantage over usual salient-pole synchronous or induction machines and are very seldom used in the United States.

  
FIGURE 20-44 Cross section of (a) a conventional PM synchronous motor and (b) a reluctance synchronous motor.

The PM synchronous motor is shown in Fig. 20-44a. The construction is the same as that of an ordinary squirrel-cage motor (either single or polyphase), except that the depth of rotor core below the squirrel cage bars is very shallow, just enough to carry the rotor flux under locked-rotor conditions.

Inside this shallow rotor core is placed a permanent magnet, fully magnetized. The rotor core serves as a keeper, so that the rotor is not demagnetized by removing it from the stator. In starting, the rotor flux is confined to the laminated core.

As the speed rises, the rotor frequency decreases and the rotor flux builds up, creating a pulsating torque with the field of the magnet, as when a synchronous motor is being synchronized after the dc field has been applied. As the motor approaches full speed, therefore, the ac impressed field locks into step with the field of the magnet and the machine runs as a synchronous motor. The absence of rotor I2R loss, the synchronous speed operation, and the high efficiency and power factor make the motor very attractive for special applications, such as high-frequency spinning motors.

When many such motors are supplied from a high-frequency source, the kVA requirements are reduced to perhaps 50% of those needed for usual induction motor types, with consequent large savings.

If the rotor surface of a P-pole squirrel-cage motor is cut away at symmetrically spaced points, forming P salient poles, the motor will accelerate to full speed as an induction motor and then lock into step and operate as a synchronous motor.

The synchronizing torque is due to the change in reluctance and, therefore, in stored magnetic energy, when the air-gap flux moves from the low- into the high-reluctance region. Such motors are often used in small-horsepower sizes, when synchronous operation is required, but they have inherently low pull out torque and low power factor, and also poor efficiency, and therefore require larger frames than the same horsepower induction motor.

The PM synchronous motor has superior performance in every way, except possibly cost. A cross section of the reluctance-synchronous motor is shown in Fig. 20-44b. These motors are available up to about 5 hp.

If the number of rotor salients is nP, instead of P, and if the P-pole motor winding is arranged to also produce a field of (n - 1)P or (n - 1)P poles, the motor may lock into step at a subsynchronous speed and run as a subsynchronous motor. For the P-pole fundamental mmf, acting on the varying rotor permeance will create (n + 1)P and (n - 1) P-pole fields from this case, and these will lock into step with the independently produced (n - 1)P- or (n + 1)P-pole field, when the rotor speed is such as to make the two harmonic fields turn at the same speed in the same direction.

It is difficult to provide much torque in such subsynchronous motors, and their use is therefore limited to very small sizes, such as may be used in small timer or instrument motors.

SHELL TYPE MOTORS BASIC INFORMATION AND TUTORIALS



These motors consist of stators and rotors only, without shafts, end shields, bearings, or conventional frame (Fig. 20-39). The rotors are mounted directly on a shaft of the driven machine, which must also include a suitable support for the stator and a ventilating arrangement.  


FIGURE 20-39 Cross section of shell-type motor.

The motors are built with relatively small outside diameters but may be slightly longer than standard machines. Furthermore, horsepower ratings over a rather wide range are built in each frame diameter, the ratings for the different diameters overlapping slightly.

Although a great many of the motors used are for operation at standard commercial frequencies giving speeds up to 3600 r/min (on 60 Hz), they are frequently supplied for operation at higher frequencies and correspondingly higher speeds.

Frequencies up to 2000 Hz with a corresponding 2-pole motor speed of 120,000 r/min have been used, but the more common “high” frequencies range from 60 to 240 Hz, giving 2-pole motor speeds up to 14,400 r/min.

Shell-type motors are used principally on machine tools and woodworking machinery. Their relatively small physical size facilitates a compact design with maximum flexibility in arrangement of machine parts.

The small diameter of the motors is of particular value, since it allows close spacing of spindle shafts. The wide range of ratings available in each diameter reduces the cost of providing suitable mountings for the motors.

Motors of similar mechanical construction but with special insulation are used in hermetically sealed refrigeration and air-conditioning compressors, where the motor runs in an atmosphere of refrigerating gas.

The insulation must neither harm nor be harmed by the refrigerant and, so that the refrigerant may be kept clean and dry, must not trap moisture or dirt.

Dimensions. NEMA has standardized mounting dimensions for various types of motors, those standardized for polyphase induction motors covering ratings from 1 to 125 hp (at 1800 r/min). For convenience each set of standardized dimensions has been assigned a frame number, and the various ratings of motors have been assigned frame numbers from the series.

Any motor offered by a manufacturer having a frame number from this series will have the corresponding standardized mounting dimensions. These are listed in NEMA Motor and Generator Standard, Publ. MG1-1987.

WOUND MOTORS STARTING TYPES BASIC INFORMATION



Wound-rotor motors are invariably started on full voltage but with external resistance in the secondary circuit. Ordinarily sufficient resistance is provided to give 100% torque at standstill, which means that 100% current will be drawn from the line. If a higher torque is required to start the load, less external resistance must be used, and the current drawn is proportionately higher.

As the motor accelerates, the external secondary resistance is short-circuited in one or more steps. The locked-rotor values in Table 20-8 are generally recognized as the minimum needed by motor designers to obtain the required torque characteristics for general-purpose motors.

  
Squirrel-cage motors with these values are usually acceptable for full-voltage starting on power lines and also on combined light and power secondaries of 208 or 230 V, if manually controlled (infrequently started). In the case of automatically controlled (frequently started) equipment, with 208- or 230-V motors supplied from combined light and power secondaries, current-reducing starters to reduce the current to about 65% of these values may be required, unless consultation with the power company indicates that the available system capacity will permit use of full-voltage starting. In any case, consultations with the power company for motor applications above 25 hp are advisable.

Autotransformer starters (compensators) are the most popular of any reduced-voltage type. They have the advantage that the ratio of torque developed by the motor to the current drawn from the line remains substantially the same as for full-voltage starting.

The motor torque and the current drawn from the line (neglecting the magnetizing current of the autotransformer) are both reduced in proportion to the square of the voltage impressed on the motor. The magnetizing current of the autotransformer generally does not exceed 25% of motor full-load current. Normally, the motor accelerates nearly to full speed on the reduced-voltage connection and is then transferred to full voltage.

Since the circuit to the motor is opened and then immediately reclosed, a transient inrush of current occurs which may be of much greater magnitude than the current normally drawn by the motor at the speed at which the transfer is made. This transient inrush, however, is of such extremely short duration that it does not produce an objectionable voltage disturbance on the average power system.

Standard autotransformer starters are provided with 65% and 80% voltage taps in sizes up to 50 hp and with 50%, 65%, and 80% voltage taps in the larger sizes. “Part-winding” starting is being more widely used for reducing starting current. This involves arranging the stator winding so that, by use of adequate control devices, one part of the stator winding is first energized and subsequently the remainder of the winding is energized in one or more steps.

The purpose is to reduce the initial values of the starting current drawn and/or the starting torque developed by the motor. The usual arrangement involves energizing one-half the stator winding on the first step, resulting in approximately 50% of normal locked-rotor torque and approximately 60% of normal locked-rotor current. While this torque may be insufficient to start the motor in some applications, it permits drawing full-winding starting current from the system in two increments.

Another method is to connect two-thirds of the winding on the first step, by using a 4-pole contactor, in which case the motor should accelerate promptly to full speed. The remaining third of the winding is then connected by closing a second contactor with only two poles.

Resistor-type reduced-voltage starters are sometimes used. They have the disadvantage that the current drawn from the line is reduced in direct ratio to the impressed voltage, while the torque developed by the motor is reduced as the square of this voltage.

The resistor is short-circuited, either all at once or in steps, when the motor comes up to speed. The circuit for the motor is not broken in transferring to full voltage, as is the case with the autotransformer starter. These features make the resistor-type starter adapted for use where “increment-type” starting current restrictions exist.

With the resistor-type starter, the contactors, which short-circuit the resistors as well as the line contactors, must carry the full current of the motor, whereas in part-winding starting, the contactors for the two parts of the winding each carry only half the total current.

Reactor-type reduced-voltage starters are sometimes used on larger motors, most frequently on high voltage motors (2300 V or above), where oil circuit breakers are necessary to provide sufficient current-interrupting capacity. In such cases, the reactor and starting circuit breaker are placed in the neutral of the motor. The breaker can then be of low-interrupting capacity, since the fault current at this point is limited by the reactance of the motor windings.

Wye-delta starting, though quite common abroad, is used in the United States primarily for refrigeration compressors. This starter consists of a switching arrangement that transfers the motor winding from Y for starting to delta for running.

The current drawn and the torque developed by the motor are thus reduced to only one-third their full voltage values. This very low torque, the extra contactors required, and the current inrush when the circuit is reclosed on delta make this scheme less attractive than others.

Motors are frequently supplied from power systems consisting of complex networks for which calculation of the voltage drop would be difficult. The voltage drop may be estimated, however, if the short-circuit kVA is known at the point of power delivery.

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