MTS 231 Actuating System

Dr. Basharat Ullah

Week 14

Department of Mechatronics
College of Electrical and Mechanical
Engineering
Rotation Speed of Synchronous Generator
❑ By the definition, synchronous generators produce electricity whose frequency is
synchronized with the mechanical rotational speed.
𝑛𝑚 𝑃
𝑓𝑒 =
120

Where
𝑓𝑒 is the electrical frequency, Hz;
𝑛𝑚 is mechanical speed of magnetic field (rotor speed for synchronous machine),
rpm;
P is the number of poles.
Parallel Operation of Synchronous Generators
❑ Most of synchronous generators are operating in parallel with other synchronous
generators to supply power to the same power system. Obvious advantages of
this arrangement are:
❑ Several generators can supply a bigger load;
❑ A failure of a single generator does not result in a total power loss to the load
increasing reliability of the power system;
❑ Individual generators may be removed from the power system for maintenance
without shutting down the load;
❑ A single generator not operating at near full load might be quite inefficient. While
having several generators in parallel, it is possible to turn off some of them when
operating the rest at near full-load condition.
Parallel Operation of Synchronous Generators
❑ Closing the switch at an arbitrary moment can severely damage both generators!
❑ If voltages are not exactly the same in both lines (i.e. in a and a’, b and b’ etc.), a
very large current will flow when the switch is closed. Therefore, to avoid this,
voltages coming from both generators must be exactly the same. Therefore, the
following conditions must be met:
❑ The rms line voltages of the two generators must
be equal.
❑ The two generators must have the same phase
sequence.
❑ The phase angles of two a phases must be equal.

❑ The frequency of the oncoming generator must be slightly higher than the
frequency of the running system.
General Procedure for Paralleling Generators
❑ Adjust the field current of the oncoming generator to
make its terminal voltage equal to the line voltage of
the system (use a voltmeter).
❑ Compare the phase sequences of the oncoming
generator and the running system. This can be done by
different ways:
o Connect a small induction motor to the terminals of the oncoming generator and
then to the terminals of the running system. If the motor rotates in the same
direction, the phase sequence is the same;
o Connect three light bulbs across the open terminals of the switch. As the phase
changes between the two generators, light bulbs get brighter (large phase
difference) or dimmer (small phase difference). If all three bulbs get bright and
dark together, both generators have the same phase sequences.
General Procedure for Paralleling Generators

❖ If phase sequences are different, two of the conductors on the oncoming

generator must be reversed.
o The frequency of the oncoming generator is adjusted to be slightly higher than
the system’s frequency.
o Turn on the switch connecting G2 to the system when phase angles are equal.
❑ A more accurate way is to use a synchroscope – a
meter measuring the difference in phase angles
between two a phases.
❑ However, a synchroscope does not check the phase
sequence since it only measures the phase difference
in one phase.
Questions?
Lecture 28
Synchronous Motor
❑ The field current 𝐼𝐹 of the motor produces a steady-state rotor magnetic field 𝐵𝑅 .
❑ A 3-phase set of currents in an armature winding produces a uniform rotating
magnetic field 𝐵𝑆 .
❑ Two magnetic fields are present in the machine, and the rotor field tends to align
with the stator magnetic field.
❑ Since the stator magnetic field is rotating,
the rotor magnetic field will try to catch up
pulling the rotor.
❑ The larger the angle between two magnetic
fields (up to a certain maximum), the greater
the torque on the rotor of the machine.
Synchronous Motor Equivalent Circuit
❑ Kirchhoff’s voltage law equation:
𝑉𝜙 = 𝐸𝐴 + 𝑗𝑋𝑆 𝐼𝐴 + 𝑅𝐴 𝐼𝐴
❑ Therefore, the internal generated voltage is
𝐸𝐴 = 𝑉𝜙 − 𝑗𝑋𝑆 𝐼𝐴 − 𝑅𝐴 𝐼𝐴
❑ The induced torque is
𝜏𝑖𝑛𝑑 = 𝑘𝐵𝑅 × 𝐵𝑛𝑒𝑡
❑ Usually, synchronous motors are connected to large power systems (infinite bus);
therefore, their terminal voltage and system frequency are constant regardless
the motor load.
❑ Since the motor speed is locked to the electrical frequency, the speed should be
constant regardless the load.
Synchronous Motor Equivalent Circuit
❑ The steady-state speed of the motor is constant from no-load to the maximum
torque that motor can supply (pullout torque). Therefore, the speed regulation of
synchronous motor is 0%.
❑ The induced torque is 𝜏𝑖𝑛𝑑 = 𝑘𝐵𝑅 𝐵𝑛𝑒𝑡 sin 𝛿
or
3𝑉𝜙 𝐸𝐴
𝜏𝑖𝑛𝑑 = sin 𝛿
𝜔𝑚 𝑋𝑆

❑ The maximum pullout torque occurs when δ = 90° :

3𝑉𝜙 𝐸𝐴
𝜏𝑚𝑎𝑥 = 𝑘𝐵𝑅 𝐵𝑛𝑒𝑡 =
𝜔𝑚 𝑋𝑆

❑ Normal full-load torques are much less than that (usually, about 3 times smaller).
Synchronous Motor Equivalent Circuit
❑ When the torque on the shaft of a synchronous motor exceeds the pullout
torque, the rotor can no longer remain locked to the stator and net magnetic
fields. It starts to slip behind them.
❑ As the motor slows down, the stator magnetic field “laps” it repeatedly, and the
direction of the induced torque in the rotor reverses with each pass. As a result,
huge torque surges of alternating direction cause the motor vibrate severely. The
loss of synchronization after the pullout torque is exceeded is known as slipping
poles.
Starting Synchronous Motors
❑ Three basic approaches can be used to safely start a synchronous motor:
❑ Reduce the speed of the stator magnetic field to a low enough value that the
rotor can accelerate and two magnetic fields lock in during one half-cycle of field
rotation. This can be achieved by reducing the frequency of the applied electric
power (which used to be difficult but can be done now).
❑ Use an external prime mover to accelerate the synchronous motor up to
synchronous speed, go through the paralleling procedure, and bring the machine
on the line as a generator. Next, turning off the prime mover will make the
synchronous machine a motor.
❑ Use damper windings or amortisseur windings – the most popular.
Starting Synchronous Motors
❑ Amortisseur (damper) windings are special bars laid into notches carved in the
rotor face and then shorted out on each end by a large shorting ring.
Starting Synchronous Motors
❑ When the rotor’s speed is close to synchronous, the regular field current can be
turned on and the motor will operate normally.
❑ In real machines, field circuit are shorted during starting. Therefore, if a machine
has damper winding:
❑ Disconnect the field windings from their DC power source and short them out;
❑ Apply a 3-phase voltage to the stator and let the rotor to accelerate up to near-
synchronous speed. The motor should have no load on its shaft to enable motor
speed to approach the synchronous speed as closely as possible;
❑ Connect the DC field circuit to its power source: the motor will lock at
synchronous speed and loads may be added to the shaft.
Induction Motor
❑ Amortisseur windings work so well that a motor could be built without the
synchronous motor’s main dc field circuit at all.
❑ A machine with only a continuous set of amortisseur windings is called an
induction machine.
❑ Such machines are called induction machines because the rotor voltage (which
produces the rotor current and the rotor magnetic field) is induced in the rotor
windings rather than being physically connected by wires.
❑ The distinguishing feature of an induction motor is that no dc field current is
required to run the machine.
❑ Although it is possible to use an induction machine as either a motor or a
generator, it has many disadvantages as a generator and so is only used as a
generator in special applications. For this reason, induction machines are usually
referred to as induction motors.
Induction Motor
❑ Externally excited generators: regenerative breaking of hoists driven by the three
phase induction motors.
❑ Self excited generators are used in the wind mills.
Construction of Induction Motor

Small cage rotor induction motor Large cage rotor induction motor
Construction of Induction Motor
❑ An induction motor has the same physical stator as a synchronous machine, with
a different rotor construction.
❑ There are two different types of induction motor rotors: One is called a cage
rotor, while the other is called a wound rotor.
❑ A cage induction motor rotor consists of a series of conducting bars laid into slots
carved in the face of the rotor and shorted at either end by large shorting rings.
❑ This design is referred to as a cage rotor because the conductors, if examined by
themselves, would look like one of the exercise wheels that squirrels or hamsters
run on.
❑ A wound rotor has a complete set of three-phase windings that are similar to the
windings on the stator.
Construction of Induction Motor
❑ The three phases of the rotor windings are usually Y-connected, and the ends of
the three rotor wires are tied to slip rings on the rotor’s shaft.
❑ The rotor windings are shorted through brushes riding on the slip rings.
❑ Wound-rotor induction motors therefore have their rotor currents accessible at
the stator brushes, where they can be examined and where extra resistance can
be inserted into the rotor circuit.
❑ Wound-rotor induction motors are more expensive than cage induction motors,
and they require much more maintenance because of the wear associated with
their brushes and slip rings.
❑ As a result, wound-rotor induction motors are rarely used.
Construction of Induction Motor
Basic Induction Motor Concepts
❑ Induction motor operation is basically the same as that of amortisseur windings
on synchronous motors.
❑ A three-phase set of voltages has been applied to the stator, and a three-phase
set of stator currents is flowing.
❑ These currents produce a magnetic field 𝐵𝑆 , which is rotating in a
counterclockwise direction.
❑ The speed of the magnetic field’s rotation is given by
❑ This rotating magnetic field 𝐵𝑆 passes over the rotor bars and induces a voltage in
them.

❑ It is the relative motion of the rotor compared to the stator magnetic field that
produces induced voltage in a rotor bar.
Basic Induction Motor Concepts
❑ Finally, since the induced torque in the machine is given by

❑ If the induction motor’s rotor were turning at synchronous speed, then the rotor
bars would be stationary relative to the magnetic field and there would be no
induced voltage.
❑ If 𝑒𝑖𝑛𝑑 were equal to 0, then there would be no rotor current and no rotor
magnetic field.
❑ With no rotor magnetic field, the induced torque would be zero, and the rotor
would slow down as a result of friction losses.
❑ An induction motor can thus speed up to near-synchronous speed, but it can
never exactly reach synchronous speed.
The Concept of Rotor Slip
❑ The voltage induced in a rotor bar of an induction motor depends on the speed
of the rotor relative to the magnetic fields.
❑ Since the behavior of an induction motor depends on the rotor’s voltage and
current, it is often more logical to talk about this relative speed.
❑ Two terms are commonly used to define the relative motion of the rotor and the
magnetic fields.
❑ One is slip speed, defined as the difference between synchronous speed and
rotor speed;
❑ The other term used to describe the relative motion is slip, which is the relative
speed expressed on a per-unit or a percentage basis;
The Concept of Rotor Slip
❑ Notice that if the rotor turns at synchronous speed, s = 0, while if the rotor is
stationary, s = 1.
❑ All normal motor speeds fall somewhere between those two limits.
❑ It is possible to express the mechanical speed of the rotor shaft in terms of
synchronous speed and slip.
The Electrical Frequency on the Rotor
❑ An induction motor works by inducing voltages and currents in the rotor of the
machine, and for that reason it has sometimes been called a rotating transformer.
❑ Like a transformer, the primary (stator) induces a voltage in the secondary (rotor),
but unlike a transformer, the secondary frequency is not necessarily the same as
the primary frequency.
❑ If the rotor of a motor is locked so that it cannot move, then the rotor will have
the same frequency as the stator.
❑ On the other hand, if the rotor turns at synchronous speed, the frequency on the
rotor will be zero.
Example 6.1
❑ A 208-V 10-hp, four-pole, 60-Hz, Y-connected induction motor has a full-load slip
of 5 percent.
❑ (a) What is the synchronous speed of this motor?
❑ (b) What is the rotor speed of this motor at the rated load?
❑ (c) What is the rotor frequency of this motor at the rated load?
❑ (d) What is the shaft torque of this motor at the rated load?
Losses and the Power-Flow Diagram
❑ An induction motor can be basically described as a rotating transformer. Its input
is a three-phase system of voltages and currents.
❑ The secondary windings in an induction motor (the rotor) are shorted out, so no
electrical output exists from normal induction motors. Instead, the output is
mechanical.
Example 6.2
❑ A 480-V 60-Hz, 50-hp, three-phase induction motor is drawing 60 A at 0.85 PF
lagging. The stator copper losses are 2 kW, and the rotor copper losses are 700 W.
The friction and windage losses are 600 W, the core losses are 1800 W, and the
stray losses are negligible. Find the following quantities:
❑ (a) The air-gap power PAG
❑ (b) The power converted Pconv
❑ (c) The output power Pout
❑ (d) The efficiency of the motor
Example 6.4
❑ A two-pole, 50-Hz induction motor supplies 15 kW to a load at a speed of 2950
r/min.
❑ (a) What is the motor’s slip?
❑ (b) What is the induced torque in the motor in N • m under these conditions?
❑ (c) What will the operating speed of the motor be if its torque is doubled?
❑ (d) How much power will be supplied by the motor when the torque is doubled?
Questions?