EEL532:

Analysis of Electrical Machines

3 Credits (3-0-0)
Objectives:
1. To get acquainted with mathematical modeling of
synchronous and induction machine.
2. To learn dynamics of speed control of AC machines
Course outcomes:
Students able to
1. Design the induction machine for starting, accelerating and
breaking time with respect to rotor resistance.
2. Analyze of different types of control theories of Induction and
Synchronous machines.
3. Model and simulate AC machines for advanced studies.
4. Utilize BLDC and SRM motors.
 Syllabus:
Elements of generalized theory Basic two pole machine, Transformer and
speed voltages in the armature, Kron’s primitive machine, Analysis of Electric
Machines.
Linear transformation in machines-Invariance of power, transformation from a
displayed brush axis, Reference theory Transformation from 3 phases–to-2
phase, (α- and d-q transformation), Physical concept of Park’s
transformation. Transformation between reference frames.
Poly-phase Induction Machines- Mathematical Modelling of Induction
Machines. Voltage and torque equations in machine variables, Linearized
equations of induction and synchronous machines, Small displacement
stability- Eigen values, Reduced order equations of induction and synchronous
machines.
Analysis of steady state and dynamic operation of Induction Motor. Control
theories of motor-Scalar and vector control of induction and synchronous
machine, Direct torque control of induction and synchronous machine.
Operation and Control of special machines-Basic operation and control of
BLDC, PMBLDC and SRM motors.
Text Books:
1. P. C. Krause, Oreg Wasynczuk, Scott D. Sudhoff, “Analysis of Electric
Machinery and drive systems” , IEEE Press,2002.
2. P. S. Bhimbra, “Generalized Theory of Electrical Machines”, Khanna
Publications.

Reference Books:
1. Werner Leonhard, “Control of Electrical Drives", Springer; 3rd
edition,2001.
2. D. P. Sen Gupta and J. W. Lynn, “Electrical Machine Dynamics”,
The Macmillan Press,1980.
3. T.J.E Miller, “Brushless permanent Magnet & Reluctance Motor Drives”,
Clarendom press, Oxford1989.
4. Kenjo T and Nagamoris “Permanent Magnet & brushless Dc motor”,
Clarendon press, Oxford,1989.
 DC Machines = AC Machines + Commutator

Differences in Design and Construction

But for Analysis ( steady state and Transient)

Better to use Generalized Equations

In 1930, Park developed Two-Axis (d, q) equations
for Syn M/c
The d and q reference frame – also associated
with
Blondel,
Doherty and,
Nickle
Park’s idea – developed by Gabriel Kron for all
rotating m/cs
He related electrical and mechanical equations
for n - dimensions
Kron’s equations simplified by Gibbs and
Karapetoff

This unified theory is called as Generalized

Theory of all rotating electrical machines
or
Generalized Machine
or
Kron’s Primitive Machine
or
Two Axis Model
Conventions:
In the development of this theory certain
conventions have been adapted
1. Two Pole Machine

N N
+ + + +
+ +
● ●
+ +
S ● ●
S ● ●
● ●
+ + + ●
●
●

N S
Conventions:
In the development of this theory certain
conventions have been adapted
1. Two Pole Machine
Distribution of current and flux of one pole pair
REPEATS itself for another pole pair
Therefore, any m/c can
N be replaced by
equivalent TWO POLE
+ + + m/cs
●
●
Same electrical and
S ● ●
S mechanical angles
●
+ + +
●
But actual numbers
must be considered for
torque (increased)
and speed (decreased)
N calculations
2. d and q axes
Axis of field winding is called d axis or Direct Axis
Generally drawn Horizontal
The axis 900 away from d axis, is called q axis or
Quadrature Axis
It is drawn Vertical
For N pole, upper
conductor should be
of DOT polarity
●
+

● lower conductor
●

●
+ +

S should be of CROSS
N
●

+ + polarity
●
+

Similarly for S pole

●
+

N
2. d and q xes

For q-axis upwards, change the polarities of rotor

winding
q- Axis

● +
●

+
+

●
●
+ +

● + d- Axis
●

● +
●

+
+

●
●
+

N
3 . Representation of single winding
by single coil
Single Winding – Single Circuit -
Represented by a Single Coil
Rotor winding / Coil is shown inside the Circle
Stator winding / Coil is shown outside the Circle
q
Capital letters Arm coil – Q-axis
are used to Arm coil – Rotor
repesent coils QR A
DS
Field coil - F d
F
Armature coil - A

Field coil – D-axis

Field coil – Stator
N
4 . Positive Direction of Current and Flux
Current in the lead near to the centre
Flux radially outwards

QR A
DS
d
F

N
5 . Positive Direction of Rotation and Torque
Rotation - clockwise
Torque Positive for Clockwise rotation

QR A
ωr DS
d
F

N
6 . Capital Letters and Lower case Letters
L – Total ( Self) Inductance, l – Leakage Inductance
X – Total Inductance, x – Leakage Reactance
v – Voltage Applied i – Current flowing into coil
vi – Power flowing into the coil – Motor operation
q
vf = vds va=vqr=Armature voltage
= Field voltage -
QR A vqr
ωr iqr + DS
d
if = ids F
= Field current
i ds

ia=iqr=Armature
N current + v -
7 . Dot Marking
Polarity marking
Same as that of circuit analysis

-
QR A vqr
ωr ● i + DS
qr
● d
F
ids

N + v -
 Basic Two Pole Machine and Diagram
1. Commutator Machines
All DC machines are having commutator
Some of AC m/cs are also fitted with Commutator
Commutator - mechanical rectifier - generator
Commutator - mechanical inverter - motor
Commutator segments are connected to armature
Over the commutator brushes are installed
1. Consider separately excited DC motor
 q

N ● S d
●
 q

N ● S d
●

As the armature rotates

Arm MMF does not change
So commutator wdg behaves as a stationary wgd
It is called as PSEUDO stationary Coil or
QUASI stationary Coil
The properties of this coil are
 q q

● QR iqr vqr
ωr DS
N ● S d d
●
ids
Fig.: Schematic
diagram of Separately
vds
Excited DC Motor Fig.: Basic Two pole
diagram of Separately
Excited DC Motor

Properties:
1. Current produces stationary field in space
2. Rotational voltage can be induced in the coil
 +
Ia
A

Va F FF

AA
If
N-
+ -
Vf

Fig.: Schematic diagram of

Separately Excited DC Motor
 Basic Two Pole Machine and Diagram
1. Commutator Machines
2. DC Shunt Machine
IL Ia IL Ia
+ +
If If
A A
F
OR
F FF
N FF
AA AA
- -

Fig.: Schematic diagram of DC

Shunt Motor
 q

QR iqr vqr
ωr DS
d

ids

vds
Fig.: Basic Two Pole diagram of
DC Shunt Motor
 Basic Two Pole Machine and Diagram
1. Commutator Machines
3. DC Compound machine
IL IL
+ +
Ia Y YY Ia
If If
A A
F
OR
F FF
N Y YY
AA AA FF
- -
Fig.: Schematic diagram of
DC Compound Motor
Two windings are on field pole
Series and shunt
 q

QR iqr vqr
ωr DS DSE
d

ids idse

vds vdse

Fig.: Basic Two pole diagram of DC

Compound Motor
4. DC Shunt machine with Interpole Wdg

In the direction of
rotation MAIN pole Q axis
N Interpole
comes FIRST

N N ● S D axis
●

S Interpole

Fig.: Schematic Diagram DC Shunt machine with

Interpole Wdg
 + L A
F H HH

F A

FF AA
N
-
Fig.: Schematic Diagram DC Shunt machine with
Interpole Wdg
 q
QS vqs
iqs
QR iqr vqr
ωr DS
d

Interpole winding
is along Q – axis
ids
and on stator
vds
Fig.: Basic Two Pole Diagram of DC Shunt machine
with Interpole Wdg
5. DC Shunt machine with Interpole and
Compensating Wdgs

Q axis Interpole Polarity of

Compensating N compensating
wdg
+ wdg is opposite
+
●
to armature wdg
+

N S
+
● D axis
N +
+
+ ●

S Interpole

Fig.: Schematic Diagram DC Shunt machine with

Interpole and Compensating Wdgs
 + L A
F H HH C

CC
F A

FF AA
N
-
Fig.: Schematic Diagram DC Shunt machine with
Interpole and Compensating Wdgs
 q
QS vqs
iqs
QR iqr vqr
ωr DS DC
d

Compensating
winding is along
ids idc
d – axis and on
stator vds vdc
Fig.: Basic Two Pole Diagram of DC Shunt machine
with Interpole and Compensating Wdg
6. Amplidyne: 1. Field 2. Compensating wdg
3. Four Brushes
4. Arm wdg along d-axis
5. Arm wdg along q-axis - Shorted
C

A B

Fig.: Schematic Diagram Amplidyne

 q
AB coil along D axis CD coil along Q axis
and on rotor = DR and on rotor = QR

QR iqr vqr
ωr DS DC
d
DR
idr
ids idc

vdr vds vdc

Fig.: Basic Two Pole Diagram of Amplidyne

7. Metadyne: If Compensating wdg is OMMITED
then it is Metadyne
1. Field 2. Four Brushes
C 3. Arm wdg along d-axis
4. Arm wdg along q-axis - Shorted
A B

Fig.: Schematic Diagram Metadyne

 q
AB coil along D axis CD coil along Q axis
and on rotor = DR and on rotor = QR

QR iqr vqr
ωr DS
d
DR
idr
ids

vdr vds

Fig.: Basic Two Pole Diagram of Metadyne

8. Single phase AC series motor
Stator – Single phase wdg
Rotor – Armature wdg
Both are connected in series
q

QR iqr vqr
ωr DS
d

AC or DC ids

vds
Fig.: Schematic Diagram and its Basic Two
Pole Diagram of Single ph AC Series Motor
9. Repulsion Motor:
Stator – Single phase wdg
Rotor – short circuited armature wdg
Rotor wdg displaced from stator
wdg by an angle α
q

α ωr DS
AR d
iar
ids
var vds
Fig.: Schematic Diagram and its Basic Two
Pole Diagram of Repulsion Motor
Basic Two Pole Machine and Diagram
2. Synchronous Machines
1. Without Damper bar or Wdg
Consider Field wdg on stator similar to DC m/cs
Three phase armature wdg on rotor

N A S D axis
C

Fig.: Schematic Diagram of Synchronous Motor

 2. Synchronous Machines
Three phase to
1. Without Damper bar or Wdg two phase
q conversion
vc q

B ib vb QR iqr vqr
ic DS ωr DS d
S d
ωr A
DR
C ids idr
ia ids
va vdr vds
vds
Fig.: Basic Two Pole Diagram of Synchronous
Machine without Damper bar or Wdg
 2. Synchronous Machines
2. With Damper bar or Wdg
Field – stator 3 ph armature – rotor
Damper bar are similar to rotor of Squirrel cage
Induction Motor
But housed at pole shoe on the stator
End Ring

N A S D axis
C

Fig.: Schematic Diagram of Synchronous Motor

There are so many closed circuits
So many coils
Basic two pole diagram will be complicated
Hence for simplicity it is considered that
damper bar are having TWO COILS
One along D axis, KD and second along Q axis, KQ
on stator
 q
KQ ikq vkq
vc
B ib vb
ic DS KDSS
S d
ωr A
C ids ikd
ia

va vds vkd

Fig.: Basic Two Pole Diagram of Synchronous

Machine with Damper bar or Wdg
Three phase to q Now damper
two phase
conversion
KQ ikq vkq bars = Two Coils

QR iqr vqr
DS KDSS
S d
DR
idr ids ikd

vdr vds vkd

Fig.: Basic Two Pole Diagram of Synchronous

Machine with Damper bar or Wdg
In general the basic two pole machine
diagram can be drawn, by knowing

1. Stator and rotor configuration

2. Salient pole member being taken as stationary
3. The winding arrangement
4. Position of brushes on rotor,
two brushes means one coil