ECTE324/8324: Power Engineering 1

Week 8
Lecture 8: Overview of Electrical Machines

Dr Rabiul Islam, Room 35.G34

Email: mrislam@uow.edu.au

Reference: Electric Energy – An Introduction, 3rd Edition, M. A. El-Sharkawi

Overview of Rotating Electrical Machines

• Most electric machines are dual-action electromechanical converters. The

machines that convert electrical energy into mechanical are called motors,
and the machines that convert mechanical energy into electrical are called
generators.
• Electric motors are probably the most used power devices anywhere. You can
find them in almost every equipment with mechanical movements from
children’s toys to spacecrafts.
• Refrigerators, washers, dryers, stoves, air conditioners, hair dryers,
computers, printers, clocks, electric toothbrushes, electric shavers, and fans
are some of the household devices that use motors.
• In the industrial and commercial sectors, motors are used in numerous
applications such as transportation vehicles, elevators, forklifts, blowers,
robots, actuators, electric and hybrid cars, machine tooling, paper mills,
cooking machines, medical tools, assembly lines, and conveyor belts.
• The computer hard disk, for example, has at least two motors and the
computer printer has at least four motors.

2
Overview of Rotating Electrical Machines

• In total, about 65% of the electrical energy in the United States is

consumed by electric motors, and over 99% of the energy produced by
utilities worldwide is produced by electrical generators.
• In stand-alone systems, such as aircrafts, ships and automobiles, the
generators are the main source of electric power for these mobile
systems.
• Electrical machines come in various sizes and power levels. Their
weights range from micrograms for motors installed inside silicon chips
to the 7700 ton for the generator built by the consortium from Hewitt,
Siemens, and General Electric for China’s Yangtze River Three Gorges
Hydraulic Power plant.
• The power capacity of the machines is also of a wide range, from
microwatts to more than 2 GW.

3
Overview of Rotating Electrical Machines
• This figure shows Australian electricity generation fuel mix in shares from 1993–94
to 2018–19 and calendar year 2019. Fossil fuels contributed 79 per cent of total
electricity generation in 2019, including coal (56%), gas (21%) and oil (2%).
Renewables contributed 21 per cent of total electricity generation in 2019,
specifically hydro (5%), wind (7%), and solar (7%).
• Most electricity producing sources use rotating generators to generate electricity

https://www.energy.gov.au/data/au
stralian-electricity-generation-fuel-
mix

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Guiding principles of rotating electric machines

 Faraday’s and Lenz’s laws

 Lorentz force equation
 ….. other electromagnetic theories/concepts/principles
have vital connections with rotating electric machines.
These help in the understanding, design, analysis,
construction and operation. These include: conductors
and dielectrics, capacitance, current and current density,
magnetic fields, Biot- Savart law, Ampere’s circuital law,
magnetic materials , permeability, magnetic circuits,
inductance, Maxwell’s equations, transmission lines

5
 6
Faraday’s law
6

Faraday’s law states that a voltage can be induced in

conductor or a conducting loop by a time varying magnetic
flux. The magnetic flux linking the loop is given by:

∅ = 𝐵𝐴 = 𝐵𝐿𝑥, where x and L are the sides of rectangle

forming the loop

According the Faraday’s law, the induced voltage e in the

loop is:
+ + + + + + +
𝑑∅ 𝑑(𝐵𝐿𝑥) 𝑑𝐵 L
𝑒 = = = Lx + + + + + + +
𝑑𝑡 𝑑𝑡 𝑑𝑡
+ + + + + + +
conducting loop
x
 7
Faraday’s law
7

Now replace one side of the conducting loop with a sliding

conductor.

∅ = 𝐵𝐴 = 𝐵𝐿𝑥, where x and L are the sides of rectangle forming

the loop

According the Faraday’s law, even in the case where B is

constant an induced voltage e in the loop can be established
according to: sliding conductor

𝑑∅ 𝑑(𝐵𝐿𝑥) 𝑑𝑥
𝑒 = = = 𝐵𝐿 + + + + + + +
𝑑𝑡 𝑑𝑡 𝑑𝑡
+ + + + + + + L
+ + + + + + +
conducting loop
x
 8
Lenz’s law
8

The Lenz’s law states that the current caused by the

induced voltage in a circuit will flow in a such a direction
that opposes the change of flux.

(Electromagnetic concepts & applications, Prentice Hall, 199, p 295)

 9
Lorentz’s force – electromagnetic force
9

Force exerted on a current carrying conductor by a magnetic

field is given by the vector cross product (derived from the
general Lorentz force equation)
I

F = L (I x B)

In scalar form F = B I L sin 

L=length of wire carrying current I
 = angle between B and I

Note that the component of B which is parallel to I will not

produce any force whereas the component of B which is
perpendicular to I is the one that produces F.
Lorentz’s force – electromagnetic force
10

Electromagnetic force
The direction of force can also be established with the help
of the following arrangement: DOT on conductor means
current out of page
force

The current carrying conductor will move away from the

area where the field intensity is stronger

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 12
Torque production in rotating electric machines

Force on a single conductor

B
L-
length
I1 I2 F
I1

B  I1 F=BI2L
 13
Torque production in rotating electric machines

Torque produced on a coil pivoted on its axis

axis of coil
F

I2
I2
F

F = B I2 L (assuming the the coil sides will always see the same B - is
an assumption here!!)
Torque = 2 F r r = radius of the coil
 16
Torque production in rotating electric machines

Torque produced from a magnetic field point of view

F2
N
N S F1 finite torque
S

N S F1 finite torque

N S F1 no torque
N
S

F2
 17
Torque production in rotating electric machines

Torque produced from a magnetic field point of view

Torque (T) = K(a constant) . F1. F2 sin .

F2

F1
Maximum torque when  = 90° (an
important idea …..)
Fundamental working principle of a DC motor

Copper wire forming a

F1 closed loop attached
to the copper
I2 segments

I2
I2
F1
I2
Copper
segment carbon brush
(commutator)
• Field flux F 1 is set up by a direct current I1 flowing in a field winding (not shown) which
interacts with the current I2 (sets up F1).
• PMs can be used to produce F1
• Direction of force (torque) is maintained using the commutator (note the gap between
copper segments)
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Pictures of parts of a DC motor

Ref:
https://www.google.com.au/search?q=slip+rings+of+a+synchronous+generator&c
lient=firefox-
b&source=lnms&tbm=isch&sa=X&ved=0ahUKEwiSkZ3Yv8HTAhXClJQKHQfAB4kQ_
AUICCgB&biw=2560&bih=1259#imgrc=YFoPbLxMW2OJGM:
 24
Pictures of AC induction motor

stator

Rotor (squirrel cage)

 20
Fundamental working principle of an AC induction motor

• Before we explain how an ac machine rotates, we need to understand the concept of

rotating magnetic fields.
• A multiphase alternating current (ac) source produces a rotating magnetic field inside
ac motors, which causes the shaft of the motor to spin.
• If we apply a three-phase balanced voltage across the terminals of the windings, the
currents of the windings create balanced three-phase magnetic fields inside the tube.

Three-phase windings mounted on a stator, Airgap flux of the three phases.

which are shifted by 120° from each other.
 20
Fundamental working principle of an AC induction motor

Rotating airgap flux/rotating magnetic fields

• The total airgap flux is the phasor sum of all fluxes present in the airgap.
• Magnitude of the total flux in the airgap is constant and equal to 1.5 φmax.
• Angle of the total airgap flux changes with time.
• The flux in the aforementioned case is rotating in the clockwise direction. Total flux
in the airgap completes one revolution in every ac cycle (tow poles).
 20
Fundamental working principle of an AC induction motor

F2

F1 N S

stator
rotor

• Three phase currents in the three phase windings on stator produce a rotating
magnetic field F1 at a speed proportional to supply frequency.
• F1 cuts the short circuited conductors on rotor. The induced voltages would cause
currents to flow in rotor windings and will produce another rotating field F2. It
will be shown that this field also rotates at the same speed as F1.
 21
Fundamental working principle of an AC induction motor

F2

F1 N S

stator
rotor

• F1 and F2 would lock onto each other (zero relative speed) and rotate at a speed
(proportional to supply frequency) independent of the rotor speed (normally
slightly less than the speed of F1) and hence a net torque is produced
• If rotor speed catches up to speed of F1 then no flux cutting takes place and hence
torque disappears – hence the name induction motor.
 22
Number of poles of an AC induction motor

The concept of number of poles in the stator winding of an AC

motor

2 poles 4 poles

2𝜋𝑓
The angular speed rotation of F1 is 𝜔𝑠 = 𝑟𝑎𝑑/𝑠
𝑃
(2 )
120𝑓
Converted to revolutions per minute 𝑁𝑠 = 𝑃 rpm
 23
Number of poles of an AC induction motor

In a 50 Hz country, the maximum possible speeds of an

induction motor:

Number of poles Synchronous speed

(rpm)
2 3000
4 1500
6 1000
8 750

Only discrete changes in speed is possible by selecting an

induction motor having different pole numbers.

What other technique you can think of which will allow speed
variation?
 23
AC induction motor: Power Analysis

Powers flow of induction motor

The linear AC induction motor

Wheeled linear induction motor (WLIM)

The LIM is similar to the rotating induction motor except that the LIM has a flat structure instead of
the cylindrical structure of the rotating motor. Consider the rotating induction motor on the left side.
If you imagine that we can cut the motor along the dashed line and flatten the machine, we will get
the wheeled linear induction motor (WLIM) on the right side of the figure, which can now be used to
propel a train. In this case, the rotor is the track of the train, and the stator is the train’s engine. The
stator of the LIM is called primary circuit, and the rotor is called secondary circuit. In rotating
motors, the separation between the rotor and stator is maintained by the ball bearings of the rotor’s
shaft. In WLIMs, the separation is maintained by the wheels of the train.

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The linear AC induction motor

Relative speed of rotating induction motor

For the rotating induction motors on the left side of the Figure, when the stator is anchored and the
rotor is allowed to rotate freely, the speed of the rotor is in the same direction as the speed of the
magnetic field. However, if you hold the rotor stationary and allow the stator to spin, the stator rotates
in the direction opposite to the synchronous speed of the field as shown on the right side of the
Figure. Similarly, for the LIM, the primary circuit moves opposite to the synchronous speed of the
field.
The linear AC induction motor

Motion of linear
induction motor

Let us consider the train that is powered by the WLIM in the Figure. The primary windings are mounted
under the floor of the train’s compartment which is called bogie. The secondary windings consist of
metal alloy bars embedded along the track’s guideway and are perpendicular to the track. They are
called reaction plates. The length of the secondary circuit is the length of the track itself. The train is
energized through a power line alongside the track or above it. The power line can either be direct
current (dc) or alternating current (ac). The train taps its energy from the power line through brushes
that are always in contact with the line. A converter is mounted on the vehicle to convert the waveform
of the power line into balanced multiphase waveforms with variable voltage and frequency. The three-
phase current of the LIM produces a magnetic field traveling in the direction shown in the Figure. The
train itself moves opposite to the direction of the magnetic field.
Magnetically Levitated Induction Motor

One of the main limitations of the WLIM is the

friction between the wheels and the track.
Besides the extra power consumption, the
friction limits the maximum speed of the
vehicle as well as its maximum acceleration
and deceleration. The magnetically levitated
induction motor (Maglev) allows the vehicle to
magnetically levitate with virtually no friction
between the bogie of the vehicle
(undercarriage) and the track. The technology
is based on having magnetic poles on the track
that are similar to the magnetic poles on the
bogie of the vehicle (both are North or South).
These poles repel each other and the bogie then
levitates.
Concept of Maglev for space launcher. (Courtesy of
NASA Marshall Space Flight Center, Huntsville, AL.)
Magnetic force is developed in the magnetic coils along the track to repel the bogie of the vehicle. The
magnetic coils are excited by a separate source when the vehicle approaches them, thus keeping the vehicle
levitated along the track. Hence, a Maglev train can achieve very high speeds and very smooth rides
because the vehicle essentially flies. In addition, the Maglev trains can climb steep hills that regular trains
cannot reach. With the current technology, a Maglev train can speed up to 600 km/h, which is much faster
than any other ground transportation system.
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The linear Machine – Ocean Wave Energy Conversion

•The ocean is one of the biggest sources of the renewable energy

sources (RESs)
•The total wave power is estimated 10 TW in the ocean, which can
contribute the total electrical power generation in the world

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The linear Machine – Ocean Wave Energy Converter (WEC)

The float changes its position in vertical direction. When sea waves come,
the float sinks because of increase of the weight of the water above, while
the pressure of the air in the cylinder increases and vice versa. In the
power buoy, the bobbing motion of the float is linearly moved; the wave
energy is extracted which is further converted into electrical power.

The point absorber is basically a

floating body which vertically moves to
each other relatively owing to the wave
action using the change in the wave
height at a single point for WEC. The
relative up and down motion caused
by passing waves is utilized to drive
hydraulic or electromechanical energy
converters for power generation.

O. Farrok, Rabiul Islam, et al., "Oceanic Wave Energy Conversion by a Novel Permanent Magnet Linear Generator Capable 30of
Preventing Demagnetization," IEEE Transactions on Industry Applications, vol. 54, no. 6, pp. 6005-6014, Nov.-Dec. 2018.
 30
Synchronous motor

Hybrid electric vehicle uses PMSM

A synchronous machine is a dual action device; it
can be used as a generator or motor. As a motor, the
synchronous machine is very popular in applications
that demand constant and precise speeds such as
electric clocks, movie cameras, tractions, uniform
actuations, gate and governor controls, constant feed
industrial processes, and many others. The rotor is
made of an electric magnet that is excited externally
by a separate dc source.
 31
Fundamental working principle of synchronous motor

F2

F1 N S

stator
rotor

The three-phase currents of the stator produce a rotating magnetic field, F1 at the synchronous speed,
exactly like the induction machine. The magnetic field of the rotor, F2 which is stationary with
respect to the rotor, aligns itself with the rotating field, thus spinning the rotor at the synchronous
speed. This is similar to having two magnets; if one is moving, the other follows at the same speed.
 33
Fundamental working principle of synchronous motor

F2

F1 N S

stator
rotor

• F1 and F2 have to lock onto each other. When this is the case
rotor will rotate at a speed (proportional to supply frequency, i.e.
of F1) and hence a net torque is produced. Any thoughts on how
you would ensure that F1 and F2 lock onto each other?
• Unlike in the induction motor both F1 and F2 as well as the rotor
turn at the same speed (proportional to supply frequency)
Generators

Direct current, induction and Synchronous

motors can also be used as generators

DC machine: rotor is driven using a prime mover

Induction machine: rotor is driven by a prime mover (eg. wind

turbine), need a mechanism to set up the magnetic flux (eg.
Shunt capacitors)

Synchronous machine: rotor is driven using a prime mover (all

large coal/hydro/gas power station generators are of this type)
AC synchronous generator

Stator Rotor Slip rings

Stator and rotor of a synchronous generator in Grand Coulee Dam.
(Courtesy of the U.S. Bureau of Reclamation, Washington, DC.)

The synchronous generator is the most used machine for generating electricity. Power plants use
synchronous generators to convert the mechanical power of the turbine into electrical power. A
single generator can be built to produce over 2 GW of electric power.
AC synchronous generator

The stator of the synchronous

machine is similar to the stator of the
induction motor; it consists of three-
phase windings mounted
symmetrically inside the stator core.
The winding of the rotor of the
synchronous machine is excited by an
external dc source through a slip ring.
The rotor winding, produces a
stationary flux with respect to the
rotor; that is, the rotor is an electric
magnet.

The rotor is assembled inside the stator. Two sets of ball bearings are used on both ends of the rotor to
allow the rotor to spin freely inside the stator. The rotor of the synchronous generator is connected to a
prime mover such as a hydro or thermal turbine. When the turbine spins the rotor of the synchronous
generator, the magnetic field cuts the stator windings, thus inducing sinusoidal voltages across the
stator windings. Since the three stator windings are equally spaced from each other, the induced
voltages across the phase windings are shifted by 120° from each other as shown on the right side of
the Figure. The frequency of the induced voltage is dependent on the speed of the rotor.

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Electrical Machines – Wind Power Generation

Offshore winds tend to

flow at higher speeds

Offshore breezes can be

stronger in afternoons

Can save land rental

expenses

104 GW by 2015

A photograph of Anholt offshore wind power plant was

officially inaugurated in September 2013.

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37
Electrical Machines – Wind Power Generation

A 10 MW permanent
magnet direct driven
generator is above 300 t
and its diameter is larger
than 10 m

The weight and volume

of a 0.69/33 kV 2.6 MVA
transformer are in the
range of 6-8 t and 5-9 m3,
respectively

Installation cost takes up

20% of the capital cost

M. R. Islam, Y. G. Guo, and J. G. Zhu, “Power Converters for Medium Voltage Networks,” Green Energy and Technology38Series, Springer-
Verlag GmbH, Heidelberg, Germany, October 2014, ISBN 978-3-662-44528-0, DOI 10.1007/978-3-662-44529-7.
 38
Electrical Machines – Wind Power Generation

Generator and
transformer are installed
at a height of 80 m

Foundation size of a
2.3 MW wind turbine is
314 m2 and weight is
2000 t or more

Installation cost takes

A photograph of installation process of offshore wind power
up 20% of the capital
plant with the vessel Aeolus.
cost

39
Electrical Machines – Wind Power Generation

Superconducting field winding, Copper armature

winding, Generator diameter is about 5 m, Weight:
150-180 tonnes, Efficiency is about 96%

SeaTitan 10 MW wind turbine.

M. R. Islam, Y. G. Guo, and J. G. Zhu, “A review of offshore wind turbine nacelle: Technical challenges, and research and developmental
40 trends,”
Renewable and Sustainable Energy Reviews, vol. 33, pp. 161-176, May 2014.
 40
Electrical Machines – Wind Power Generation

Superconducting field
winding

Superconducting
armature winding

Fully superconducting
generator

More torque dense

Fully superconducting generator based 10 MW
wind turbine by Advanced Magnetic Lab (AML).

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 Questions?

Dr Rabiul Islam
mrislam@uow.edu.au