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Chapter 4

Generalized Theory of Rotating Machines

4.1 Speed Voltages in Armature

Let 𝑀 be the mutual induction between DS and DR winding when they are aligned and 𝑖 be the
exciting current at particular instant in coil DS.

Figure 4.1 Coils DS and DR with different posi ons

𝑖 = 𝐼 cos (𝜔𝑡)

ψ =𝑀 𝑖 = 𝑀 𝐼 cos (𝜔𝑡)

Let the coil DR traverses an angle 𝜃 = 𝜔 𝑡 radians in 𝑡 seconds. The flux linkages with DR,

after t seconds is

𝜓 =𝜓 cos(𝜃 ) = 𝑀 𝐼 cos(𝜔𝑡) cos (𝜃 )

𝑑 𝑑 𝑑
𝑒 =− (𝜓 )=− 𝑀 𝑖 cos(𝜃 ) + 𝑀 cos(𝜃 ) 𝑖
𝑑𝑡 𝑑𝑡 𝑑𝑡
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𝑒 = 𝑀 𝐼 𝜔 cos (𝜔𝑡)sin (𝜃 ) + 𝑀 I ωcos(𝜃 )sin (𝜔𝑡)

𝜋 𝜋
𝑒 = 𝑀 𝐼 𝜔 cos(𝜔𝑡) cos 𝜃 − + 𝑀 I ω cos(𝜃 ) cos 𝜔𝑡 −
2 2

𝑒 =𝑒 (𝑅𝑜𝑡. ) + 𝑒 (𝑆𝑡𝑎𝑡. )

When 𝜃 = 270

𝑒 = −𝜔 𝜓

When 𝜃 = 0

𝑒 = −𝑝𝜓

Consider another field coil QS and an armature coil QR.𝜓 be the mutual flux linkage

Figure 4.2 Coils QS and QR

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When 𝜃 = 90

𝑒 =𝜔 𝜓

When 𝜃 = 0

𝑒 = −𝑝𝜓

4.2 Kron’s Primitive Machine

Fiq 4.3 Kron’s Machine

4.2.1 Voltage Equations

1.Stator field coil QS and DS

Vds = 𝑟𝑑𝑠 𝑖𝑑𝑠 + statically induced emf

V =𝑟 𝑖 + 𝑝𝜓

and, V =𝑟 𝑖 + 𝑝𝜓
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2.Rotor field coil QR and DR

V =𝑟 𝑖 + 𝑝𝜓 −𝜔 𝜓

and, V =𝑟 𝑖 + 𝑝𝜓 +𝜔 𝜓

3.Flux Linkages in stator and rotor winding

ψ =𝐿 𝑖 +𝑀 𝑖

ψ =𝐿 𝑖 +𝑀 𝑖

ψ =𝐿 𝑖 +𝑀 𝑖

ψ =𝐿 𝑖 +𝑀 𝑖

4.Replace flux linkage by currents

V =𝑟 𝑖 + 𝐿 𝑝𝑖 + 𝑀 𝑝𝑖

V =𝑟 𝑖 + 𝐿 𝑝𝑖 + 𝑀 𝑝𝑖

V =𝑟 𝑖 + 𝐿 𝑝𝑖 + 𝑀 𝑝𝑖 −𝜔 𝐿 𝑖 −𝜔 𝑀 𝑖

V =𝑟 𝑖 + 𝐿 𝑝𝑖 + 𝑀 𝑝𝑖 +𝜔 𝐿 𝑖 +𝜔 𝑀 𝑖

In Matrix form

𝑉 𝑟 +𝐿 𝑝 0 𝑀 𝑝 0 𝑖
⎡𝑉 ⎤ ⎡ 0 𝑟 +𝐿 𝑝 0 𝑀 𝑝 ⎤ 𝑖
⎢ ⎥=⎢ ⎥
⎢𝑉 ⎥ ⎢ 𝑀 𝑝 −𝜔 𝑀 𝑟 +𝐿 𝑝 −𝜔 𝐿 ⎥ 𝑖
⎣𝑉 ⎦ ⎣ 𝜔 𝑀 𝑀 𝑝 𝜔 𝐿 𝑟 + 𝐿 𝑝⎦ 𝑖
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The matrix can be re-written as

𝑉 𝑟 0 0 0 𝐿 𝑝 0 𝑀 𝑝 0 0 0 0 0
⎡𝑉 ⎤ ⎡0 𝑟 0 0 ⎤ ⎡ 0 𝐿 𝑝 0 𝑀 𝑝 ⎤ 0 0 0 0
⎢ ⎥=⎢ ⎥𝑖 + ⎢ ⎥𝑖 + 𝜔 𝑖
⎢𝑉 ⎥ ⎢0 0 𝑟 0 ⎥ ⎢𝑀 𝑝 0 𝐿 𝑝 0 ⎥ 0 −𝑀 0 −𝐿
⎣𝑉 ⎦ ⎣0 0 0 𝑟 ⎦ ⎣ 0 𝑀 𝑝 0 𝐿 𝑝⎦ 𝑀 0 𝐿 0

𝑣 = [𝑅]𝑖 + [𝐿]𝑝𝑖 + 𝜔 [𝐺]𝑖

Pre multiply both sides by 𝑖

𝑖 𝑣 = 𝑖 [𝑅]𝑖 + 𝑖 [𝐿]𝑝𝑖 + 𝜔 𝑖 [𝐺]𝑖

RHS

Term 1:

𝑖 [𝑅]𝑖 = 𝑖 𝑟 + 𝑖 𝑟 + 𝑖 𝑟 + 𝑖 𝑟 = Electrical loss of the system

Term 2:

𝑖 [𝐿]𝑝𝑖 = Power associated with magnetic field

Term 3:

𝜔 𝑖 [𝐺]𝑖 = Mechanical output of the system

𝑃 = 𝜔 𝑖 [𝐺]𝑖 = 𝑇 𝜔

𝑃 𝑃
𝑇 = = 𝑖 [𝐺]𝑖
𝜔 2

𝑃
𝑇 = 𝑀 𝑖 𝑖 −𝑀 𝑖 𝑖 + 𝐿 −𝐿 𝑖 𝑖
2
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4.3 Seperately excited d.c. Machine

Fiq 4.4 DC Machine

𝑉 𝑟 +𝐿 𝑝 0 𝑖
𝑉 = 𝜔 𝑀 𝑟 +𝐿 𝑝 𝑖

Notice that 𝑖 = 0 and 𝑖 =0

0 0
𝐺=
𝑀 0

𝑃 𝑃 𝑃 0 0 𝑖
𝑇 = = 𝑖 [𝐺]𝑖 = 𝑖 𝑖
𝜔 2 2 𝑀 0 𝑖

𝑃 𝑃
𝑇 = 𝑀 𝑖 𝑖 = 𝑀 𝑖 𝑖
2 2

𝑑𝜔
=𝐽 + 𝐵𝜔 +𝑇
𝑑𝑡

𝐽 𝑑𝜔 𝐵
= + 𝜔 +𝑇
𝑃 𝑑𝑡 𝑃
2 2
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4.3.1 Matlab Simulation

Fiq 4.4 Velocity

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Fiq 4.5 Armature Current

Fiq 4.6 Electromagne c Torque

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4.4 Series d.c machine

Fiq 4.7 Series Machine

4.4.1 Linear transformation in Electrical Machines

i =𝑖

and 𝑖 =𝑖

i 1
which gives i = 𝑖
1

Also 𝑉 =𝑉 +𝑉

1 𝑉
which gives 𝑉 = 𝑉
1

Hence

𝑖 = 𝐶𝑖

𝐶 𝑉 =𝑉
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𝑉 = [𝑍 ]𝑖

Pre multiply both sides by 𝐶

𝐶 𝑉 =𝐶 𝑍 𝐶𝑖

𝑟 +𝐿 𝑝 0 1
𝑉 = 𝑉 = [1 1] 𝑖
𝑀 𝜔 𝑟 +𝐿 𝑝 1

𝑉 = 𝑟 + 𝑟 𝑖 + 𝑀 𝜔 𝑖 + 𝐿 + 𝐿 𝑝𝑖

𝑃 𝑃
𝑇 = 𝑖 [𝐺]𝑖 = 𝑖 𝐶 [𝐺]𝐶𝑖
2 2

𝑃 0 0 1 𝑃
𝑇 = 𝑖 [1 1] 𝑖 = 𝑖 𝑀
2 𝑀 0 1 2
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4.4.1 Matlab Simulation

Fiq 4.8 Velocity

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Fiq 4.9 Electromagne c Torque

Fiq 4.10 Armature Current