Modul

e4

I
mpor
tantquest
ions:
-

1.Expl
ainst
eppermot
or(6mar
ks)

2.Expl
ainconst
ruct
ionandwor
kingofuni
ver
sal
mot
or(
8mar
ks)

3.Br
ief
lyexpl
aint
heoper
ati
onofr
epul
sionmot
or(
7mar
ks)

4.Expl
aint
heconstr
uct
ionandwor
kingofper
manentcapaci
tormot
orwi
th
vect
ordi
agr
am( 8marks)

5.Wr
it
eshor
tnot
esonpr
int
edci
rcui
tmot
or(
7mar
ks)

6.Expl
aint
hewor
kingofv
ari
abl
erel
uct
ancest
eppermot
or(
6mar
ks)

7.Expl
aint
hewor
kingofhy
ster
esi
smot
or(
8mar
ks)

8.Expl
aintheconst
ruct
ionandwor
kingofcapaci
torst
arti
nduct
ionr
un
motor(
8marks)

9.Li
stoutt
heappl
i
cat
ionandadv
ant
ageofst
eppermot
or(
7mar
ks)

10.
Expl
aint
heconst
ruct
ionandwor
kingofACser
iesmot
or(
8mar
ks)

11.
Expl
ainspl
i
tphasemot
or(
7mar
ks)

12.
Expl
aint
heworkingofper
manentcapaci
tormot
orwi
thhel
pofci
rcui
tdi
agr
am
andvect
ordi
agram (7marks)

13.
Compar
espl
i
tphasemot
orandcapaci
torst
artmot
or(
7mar
ks)

14.
Descr
ibeaboutACser
vomot
or(
8mar
ks)

15.
Expl
aint
hewor
kingofFHPmot
or(
7mar
ks)

16.
Whatar
etheadv
ant
ageofpr
int
edci
rcui
tmot
or(
7)

1
7.Expl
ainwor
kingofPer
man
entMa
gne
tSt
epp
erMot
or(
8ma
rks
)

1
FHPMOTOR
Fr
act
ional
Hor
sePowermot
orsar
ecal
l
edasFHPmot
ors.

Thepowerr
ati
ngoft
hemot
ori
slesst
han1HP.

TheFHPmot
ori
ncl
ude

si
nglephasemot
ors,
ser
vicemot
ors,
steppermot
ors,
dcmot
ors,
uni
ver
sal
motor
s,etc.

1)EXPLAI
NTHEWORKI
NGOFREPULSI
ONMOTOR(
8MARKS)

• Repulsi
onMotori
saspeci
alki
ndofsi
ngl
ephaseACmot
orwhi
chwor
ksduet
o
therepul
si
onofsi
mil
arpol
es.

• Thestat
orofthi
smotori
ssuppli
edwi
th1phaseACsuppl
yandr
otorci
rcui
tis
shor
tedthr
oughcar
bonbrush.

Const
ruct
ionofRepul
sionMot
or:

• Themai
ncomponent
sofr
epul
sionmot
orar
est
ator
,rot
orandcommut
atorbr
ush.

• Thestat
orcarr
iesasingl
ephaseexci
ti
ngwi
ndi
ngsi
mil
art
othemai
nwi
ndi
ngof
si
ngl
ephaseinduct
ionmotor.

• Ther
otorhasdi
str
ibut
edDCwi
ndi
ngconnect
edt
othecommut
atoratoneend
j
ustl
i
keinDCmot or.

• Thecar
bonbr
ushesar
eshor
tci
rcui
tedont
hemsel
ves.

• thest
atorwi
ndi
nghav
esi
ngl
ephaseACwi
ndi
ngwhi
chpr
oducest
hewor
king
mmfintheai
rgap.

• Thebr
ushesonrot
orareshowntobeshort
ed.Astherot
orci
rcui
tisshor
ted,
the
rot
orr
ecei
vespowerf
rom stat
orbyt
ransf
ormeracti
on.

2
Pr
inci
ple

• Whenevershor
tci
rcui
tedcoi
li
splacedinACsinglephasef
iel
d,samepol
ari
ty
i
nducedinthecoi
lgettor
queduetotherepul
sioni
npoleandcoilmov
e

STEP1

• Letbr
ushaxi
salongthedi
rect
ionofmai
nfl
uxthenthecurr
entwi
l
lbeinducedi
n
thear
matur
e,thequart
ersofwhichwil
lpr
oducefourt
orquesasindi
cat
edby
thear
rows

• Thi
swi
l
lbeneut
ral
i
zeoneanot
herandt
het
otal
tor
quewi
l
lbezer
o

STEP2

• Lett
hebr
ushesbeper
pendi
cul
art
othemai
nfl
ux

• Thent
heemfi
nducedi
nthet
wohal
vesoft
hewi
ndi
ng

• Wil
lneut
ral
i
zeoneanot
herandar
mat
urewi
l
lnei
thercar
ryanycur
rentnor
pr
oduceanytor
que

3
STEP3

• Thebrushaxisbeangl
eincl
inedatanangl
eἀt ot
hedir
ect
ionoft
hemai
nfl
ux
thent
hetorquewil
lbeproducedinanyonedi
rect
ion

Byt
het
orqueT1

• Rever
singt
heDi
rect
ionofr
otat
ionwhi
l
eshi
ft
ingt
hebr
ushesi
nrev
erse
di
recti
on

• Mot
orget
smaxi
mum t
orquei
n18degr
eet
o20degr
ee

Adv
ant
ages

• St
art
ingt
orquei
shi
gh

• Goodspeedr
egul
ati
on

• Forsuddenheav
yloads,
thet
orquecanbedev
eloped.

• St
art
ingcur
rentwi
l
lber
educed

Di
sadv
ant
ages

Thedi
sadv
ant
agesofr
epul
sionmot
ori
ncl
udet
hef
oll
owi
ng.

• Spar
kswi
l
loccuratbr
ushes

4
 • Thepowerf
act
ori
sver
ylessatl
essspeed.

• Thespeedatno-
loadcondi
ti
oni
sext
remel
yhi
gh&unsaf
e

• Brushes&commutat
orexhaustqui
ckl
yduet
oheatgener
ati
on&ar
cingatt
he
assemblyoft
hebr
ush.

Appl
i
cat
ions

 Pr
int
ingpr
esses

 Ai
rcompr
essor
s

 Pumps&Fans

 Hi
gh-
speedl
i
fts

 Mi
xi
ngmachi
nes

 Pet
rol
pumps

2)
Expl
aint
heconst
ruct
ionandwor
kingofuni
ver
sal
mot
or(
8mar
ks)
• Auniver
salmotori
saspeci
alt
ypeofmot
orwhi
chi
sdesi
gnedt
orunonei
therDC
orsi
nglephaseACsuppl
y.

• Thesemotorsaregener
all
yseri
eswound(armatur
eandf
iel
dwi
ndi
ngar
ein
ser
ies)
,andhenceproducehi
ghstar
ti
ngtorque

• Mostoftheuni
ver
salmot
orsar
edesi
gnedt
o oper
ateathi
gherspeeds,
exceedi
ng3500RPM

• Ther
ear
etwobasi
cty
pesofuni
ver
sal
mot
or:

(
i)
compensat
edt
ypeand

(
ii
)uncompensat
edt
ype

Const
ruct
ionofUni
ver
sal
mot
or

• Const
ruct
ionofauni
ver
sal
mot
ori
sver
ysi
mil
art
otheconst
ruct
ionofaDC
machi
ne.

• I
tconsi
stsofastat
oronwhi
chf
iel
dpol
esar
emount
ed.Fi
eldcoi
l
sar
ewoundon
t
hefiel
dpoles.

5
 However,t
hewhol
emagnet
icpat
h(st
atorf
iel
dci
rcui
tandal
soar
mat
ure)i
s
l
aminated.

Lami
nat
ioni
snecessar
ytomi
nimi
zet
heeddycur
rent
swhi
chi
nducewhi
l
e
oper
ati
ngonAC.

• Ther
otaryarmat
ureisofwoundty
pehavi
ngst
rai
ghtorskewedsl
otsand
commutatorwi
thbrushesr
esti
ngoni
t.

• Thecommut
ati
ononACi
spoor
est.

• becauseoft
hecur
renti
nducedi
nthear
mat
urecoi
l
s.

• Fort
hatr
easonbr
ushesusedar
ehav
inghi
ghr
esi
stance.

Wor
kingofuni
ver
sal
mot
or

• WhenDCcurrentf
lowsi
nthef
iel
dwi
ndi
ng,
itpr
oducesan
el
ect
romagnet
icf
iel
d.

• Thesamecur
rental
sof
lowsf
rom t
hear
mat
ureconduct
ors.

• Whenacur rentcar
ryi
ngconduct
ori
spl
acedi
nanel
ect
romagnet
icf
iel
d,i
t
exper
iencesamechani cal
for
ce.

• Duet
othi
smechani
cal
for
ce,
ort
orque,
ther
otorst
art
stor
otat
e.

• Thedi
rect
ionoft
hisf
orcei
sgi
venbyFl
emi
ng'
slef
thandr
ule.

• Whenf
edwi
thACsuppl
y,i
tst
il
lpr
oducesuni
dir
ect
ional
tor
que.

• Because,
armat
urewi
ndi
ngandf
iel
dwi
ndi
ngar
econnect
edi
nser
ies,
theyar
ein
samephase.

6
 • Hence,
aspol
ari
tyofACchangesperi
odical
ly
,thedir
ect
ionofcur
renti
n
ar
matur
eandfi
eldwindi
ngr
eversesatthesamet i
me.

• Thus,
dir
ect
ionofmagnet
icfi
eldandthedir
ectionofar
matur
ecurrentr
ever
sesi
n
suchawaythatt
hedi
rect
ionofforceexper
iencedbyarmat
ureconduct
ors
remai
nssame.

• Thus,
regar
dlessofACorDCsupply,
uni
ver
sal
mot
orwor
ksont
hesame
pri
nci
plet
hatDCseriesmot
orworks.

Speed/
loadchar
act
eri
sti
cs

Thespeedofauni
ver
sal
mot
ori
slowatf
ull
loadandv
eryhi
ghatnol
oad.

Usual
l
y,gear
str
ainsar
eusedt
ogett
her
equi
redspeedonr
equi
redl
oad.

Appl
i
cat
ionsofuni
ver
sal
mot
or

• Univ
ersal
motor
sf i
ndthei
ruseinvar
ioushomeappl
iancesl
i
kev
acuum cl
eaner
s,
dr
inkandfoodmixer
s,domesti
csewingmachi
neetc.

• Thehi
gherr
ati
nguni
ver
sal
mot
orsar
eusedi
npor
tabl
edr
il
ls,
blender
set
c.

4)explai
ntheworkingofper
manentmagnetcapaci
tormot
orwi
tht
hehel
p
ofcircui
tdiagr
am andandv ect
ordi
agr
am (8marks)

7
 • Thismot ori
salsocal
ledasacapacit
orrunmotori
nwhichal owcapacit
ori
s
connectedinseri
eswitht
hestart
ingwindi
ngandisnotremovedfr
om thecir
cui
t
eveninrunningcondi
ti
on.Duetothi
sarrangement
,cent
rif
ugalswi
tchisnot
requi
red.

• Heret
hecapaci
toriscapableofr
unningconti
nuously
.Thelowval
uecapaci
tor
pr
oducesmoreleadingphaseshi
ft,l
esstotal
start
ingcur
rent
.

• Hence,
thestar
ti
ngt or
queproducedbyt
hesemot
orswi
l
lbeconsi
der
abl
ylower
t
hanthatofcapaci
torstar
tmotor.

• I
nthi
s,theauxi
l
iar
ywindi
ngandcapaci
torremainsi
nci
rcui
tpermanent
lyand
pr
oduceanapproxi
matetwophaseoperat
ionatrat
edl
oadpoint
.

• Thi
swi
llr
esul
tbet
terpowerf
actorandeff
ici
ency
.Howev er
,thest
arti
ngtor
quei
s
muchl
owerint
hesemotors,
typi
call
yabout80percentoff
ulll
oadtor
que.

• Thesemot
orsar
eusedi
nexhaustandi
ntakef
ans,
uni
theat
ers,
blower
s,et
c.

5)
expl
aint
hewor
kingofhy
ster
esi
smot
or(
7mar
ks)
• AHyster
esisMot
ori
sasy
nchr
onousmot
orwi
thauni
for
m ai
rgapandwi
thout
DCexcit
ati
on.

• I
toper
atesbot
hinsi
ngl
eandt
hreephasesuppl
y.

• TheTorqueinaHyster
esi
sMot ori
sproducedduetohy
ster
esi
sandeddycurr
ent
i
nducedintherot
orbytheact
ionoftherot
ati
ngfl
uxofthest
atorwi
ndi
ngs.

Const
ruct
ionofSt
atorofHy
ster
esi
sMot
or

8
 • Thus,t
hestat
oroft
hemot
ori
sconnect
edei
thert
osi
ngl
esuppl
yort
othet
hree
phasesuppl
y.

• Thethr
eephasemotorpr
oducesmor
euni
for
mrot
ati
ngf
iel
dascompar
edt
othat
oft
hesingl
ephasesuppl
y.

• Thestat
orwindingoft
hesingl
e-phasehyst
eresi
smot
ori
smadeofper
manent
spl
i
tcapaci
torty
peorshadedpoletype.

Const
ruct
ionofRot
orofHy
ster
esi
sMot
or

• Therotoroft
hehyst
eresi
smotorconsi
stsofthecoreofalumi
nium orsome
othernon-
magnet
icmateri
alwhi
chcarr
iesalayerofspeci
almagneti
cmat er
ial
.

• Theout
erl
ayerhasanumberoft
hinr
ingsf
ormi
ngal
ami
nat
edr
otor
.

• Ther
otoroft
hemot
ori
sasmoot
hcy
li
nder
,andi
tdoesnotcar
ryanywi
ndi
ngs.

• Ther
ingi
smadeofhar
dchr
omeorcobal
tst
eel
hav
ingal
argehy
ster
esi
sloop

Oper
ati
onofaHy
ster
esi
sMot
or

• Whensuppl
yisgi
venappl
i
edt
othest
ator
,ar
otat
ingmagnet
icf
iel
dispr
oduced.

• Thi
smagnet
icf
iel
dmagnet
isest
her
otorr
ingandi
nducespol
ewi
thi
nit
.

9
 • Duetothehyst
eresi
slossi
nther
otor
,thei
nducedr
otorf
luxl
agsbehi
ndt
he
r
otat
ingst
atorf
lux.

• Theangl
eδbetweenthest
atormagnet
icf
iel
dBSandt
her
otormagnet
icf
iel
d
BRi
sresponsi
blef
ort
heproduct
ionoft
hetor
que.

• Theangl
eδdependsont
heshapeoft
hehy
ster
esi
sloop

• thevalueofCoer
civ
efor
ceandr
esi
dual
fluxdensi
tyoft
hemagnet
icmat
eri
al
shouldbelar
ge.

• Thest
atormagnet
icf
iel
dpr
oducesEddycur
rent
sint
her
otor
.

6)
explai
ntheconst
ruct
ionandwor
kingofcapaci
torst
arti
nduct
ionr
un
motor(8marks)
• Whenacapaci
tori
ssoi
ntr
oduced,
thev
olt
agel
agst
hecur
rentbysomephase
angl
e.

• Inthesemot
ors,t
henecessar
yphasedif
fer
encebetweentheI
sandI
mis
obt
ainedbyi
ntr
oduci
ngacapacit
orinser
ieswit
hthestar
terwi
ndi
ng.

• Thecapacit
orusedi
nthesemotor
sareofnonpol
ari
zedel
ectr
oly
ticty
peand
usual
l
yv i
si
bleasiti
smountedout
sidet
hemotorasasepar
ateunit
.

• Dur
ingst
art
ing,t
hecur
rentt
hroughthest
art
erwi
ndi
ngI
sleadst
hev
olt
ageV,
whi
chisappli
edacr
osstheci
rcui
t.

• Butthecur
rentt
hrought
hemai
nwi
ndi
ngI
m,st
il
ll
agst
heappl
i
edv
olt
ageV
acr
ossthecir
cui
t.

10
 • Thusmorethedi
ff
erencebet
weent
heI
sandI
m,bet
tert
her
esul
ti
ngr
otat
ing
magnet
icfi
eld

• Whenthemotorreachesabout75%oftheful
ll
oadspeed,thecent
ri
fugalswit
ch
Sopensandthusdisconnect
ingt
hestar
terwi
ndingandthecapaci
torfr
om the
mai
nwi ndi
ng.

• thephasedi
ff
erencebet
weenIm andIsi
sal
most80degr
eesasagai
nst30
degr
eesinaspl
it-
phasei
nduct
ionmotor.

• Thusacapaci
tor
-starti
nduct
ion-
runmot
orpr
oducesabet
terr
otat
ingmagnet
ic
f
iel
dthant
hespli
t-phasemotors.

• i
nthecaseofcapaci
tor
-st
arti
nduct
ion-
runmot
ors,
theangl
ebet
weenI
sandI
m
i
s80degrees.

• Itisthenobvi
oust hattheincreaseintheangl
e(f
rom 30degr
eesto80degr
ees)
al
onei ncr
easesthestarti
ngt orquetonearl
ytwi
cetheval
uedevel
opedbya
standardspl
it
-phaseinductionmot or
.

7)
Expl
aint
heconst
ruct
ionandwor
kingofACser
iesmot
or(
8mar
ks)
• ACseriesmot
orsar
ealsoknownasthemodi
fi
edDCseri
esmot
orast
hei
r
const
ructi
oni
sver
ysimil
art
othatoft
heDCseri
esmotor

whenwegi
veanACsuppl
ytoDCser
iesmot
or

1.AnACsupplywillpr
oduceanunidi
rect
ionalt
orquebecausethedir
ecti
onofbot
h
thecur
rent
s(i
.e.armat
urecur
rentandfiel
dcurrent
)rev
ersesatthesameti
me.

2.Duetopresenceofal
ter
nati
ngcur r
ent
,eddycur
rentsarei
nducedintheyokeand
fi
eldcor
eswhi chr
esul
tsinexcessi
veheati
ngoftheyokeandfiel
dcores.

3.Duetothehi
ghinduct
anceoft
hef
iel
dandt
hear
mat
ureci
rcui
t,t
hepower
fact
orwoul
dbecomev er
ylow.

4.Ther
eisspar
kingatt
hebr
ushesoft
heDCser
iesmot
or.

11
 Reduceeddycur
rent

• Nowinor
dert
oreducetheeddycur
rent
sther
eisneedt
olami
nat
ethey
okeand
f
iel
dcor
e.Thi
sisourf
ir
stmodifi
cat
iontoDCseri
esmotor
.

wecani
mpr
ovepowerf
act
or

• Nowthepowerfactorisdi
rect
lyrel
atedt
oreactanceofthefiel
dandarmat
ure
cir
cui
tandwecanreducethef i
eldwindi
ngreactancebyreduci
ngthenumberof
tur
nsinthef
iel
dwinding

• onreduci
ngt
henumberoft
urns,
fiel
dmmfwi
l
ldecr
easeandduet
othi
stheai
r
gapfl
uxdecr
ease.

• Theoveral
lresul
toft
hisi
sthatt
her
eisanincr
easei
nthespeedoft
hemot
orbut
decr
easeinthemotort
orquewhi
chisnotdesi
red

• Onthebasi
soft
heusageofcompensat
ingwi
ndi
ngwehav
etwot
ypesofmot
or
andtheyar
ewri
tt
enbel
ow:

1.Conduct
ivel
ycompensat
edt
ypeofmot
ors.

2.I
nduct
ivel
ycompensat
edt
ypeofmot
ors.

Conduct
ivel
yCompensat
edTy
peofMot
ors

• Inthi
stypeofmot or
,thecompensat
ingwi
ndi
ngi
sconnect
edi
nser
ieswi
tht
he
armatur
ecircui
t.

• Thewindi
ngisputi
nthest
atorsl
ots.Theaxi
soft
hecompensat
ingwi
ndi
ngi
s
o
90 (el
ect
ri
cal
)wit
hmainfi
eldaxi
s.

I
nduct
ivel
yCompensat
edTy
peofMot
ors

12
 • t
hecompensat
ingwi
ndi
nghasnoi
nter
connect
ionwi
tht
hear
mat
ureci
rcui
tof
t
hemotor
.

• Inthi
scase,atr
ansformeracti
onwil
ltakepl
aceast
hearmatur
ewindi
ngwil
lact
aspri
marywindi
ngoft het
ransfor
merandthecompensat
ionwi
ndi
ngwill
act
sas
asecondar
ywinding.

• Thecurr
enti
nthecompensati
ngwi
ndi
ngwi
l
lbei
nphaseopposi
ti
ont
othe
cur
renti
nthearmat
urewindi
ng.

Themot
orhasnumer
ousappl
i
cat
ions

1.Por
tabl
edr
il
ls,

2.hai
rdr
yer
s,

3.t
abl
efans,

4.ki
tchenappl
i
ances,

8)
expl
aint
heoper
ati
onofspl
i
tphasei
nduct
ionmot
or(
7mar
ks)

13
• st
atorcar
ri
esonemor
ewi
ndi
ngcal
l
edaux
il
iar
ywi
ndi
ngorst
art
ingwi
ndi
ng.

• Theauxil
i
arywindi
ngcar
ri
esaser
iesr
esi
stancesucht
hati
tsi
mpedancei
shi
ghl
y
resi
sti
vei
nnature.

• Themai
nwi
ndi
ngi
sinduct
ivei
nnat
ure.

Let I
m =Cur
rentt
hroughmai
nwi
ndi
ng

and I
st=Cur
rentt
hroughauxi
l
iar
ywi
ndi
ng

• Asmainwindi
ngisinduct
ive,
cur
rentI
mlagsv
olt
agebyVbyalar
geangle
Φm whi
l
eIsti
salmostinphaseinVasauxil
iar
ywi
ndingi
shi
ghl
yresi
sti
ve.

• Thusthr
eeexist
saphasedif
ferenceofαbet
weenthetwocur
rent
sandhence
bet
weent het
wof l
uxespr
oducedbythetwocur
rent
s.Thi
sisshowni
nthe
Fi
g.1(
c).

• Theresul
tantofthesetwofl
uxesi
sarot
atingmagnet
icfi
eld.Duet
othi
s,t
he
st
art
ingtorque,whichact
sonlyi
nonedi
recti
oni
sproduced.

• Theauxi
l
iar
ywi
ndi
nghasacent
ri
fugal
swi
tchi
nser
ieswi
thi
t.

• Whenmot orgatheraspeedupto75to80%ofthesy
nchronousspeed,
centr
if
ugal
switchgetsopenedmechani
cal
lyandi
nrunni
ngconditi
onauxi
l
iar
y
windi
ngremai
nsoutoft hecir
cui
t.

• Somot
orr
unsonl
yst
atorwi
ndi
ng.

• Soauxi
l
iar
ywi
ndi
ngi
sdesi
gnedf
orshor
tti
meusewhi
l
ethemai
nwi
ndi
ngi
s

14
 desi
gnedf
orcont
inuoususe.

• Ast
hecur
rentImandar
espli
tt
edf
rom eachot
herbyangl
e'α'
atst
art
,themot
or
i
scommonlycall
edspl
i
tphasemotor
.

Thet
orque-
speedchar
act
eri
sti
csofspl
i
tphasemot
orsi
sgi
ven

Appl
i
cat
ions

• Thesemot
orshav
elowst
art
ingcur
rentandmoder
atest
art
ingt
orque.

• Thesear
eusedforeasi
lyst
art
edl
oadsli
kefans,blower
s,gr
inder
s,cent
ri
fugal
pumps,washi
ngmachines,
oil
bur
ners,
off
iceequipmentset
c.

• Thesear
eav
ail
abl
eint
her
angeof1/
120t
o1/
2kW.

9)Capaci
tor
-st
artCapaci
tor
-r
unI
nduct
ionMot
or(
8mar
ks)

• (
1)st
art
ingwi
ndi
ngandmai
nwi
ndi
nghav
eequal
numberoft
urns,
and

• (
2)acapaci
tori
sconnect
edi
nser
ieswi
tht
hest
art
ingwi
ndi
ngasshown
ndi
i agram bel
ow.

15
 • TheCapaci
torSt
artCapaci
torRunMotorhasacager
otor
,andi
tsst
atorhast
wo
windi
ngsknownasMai nandAuxil
i
aryWindi
ngs.

• Thet
wowi
ndi
ngsar
edi
spl
aced90degr
eesi
nspace.

• Ther
earetwocapaci
torsi
nthismethodonei
susedatt
het
imeoft
hest
art
ing
andi
sknownasstart
ingcapaci
tor
.

• Theotheronei
susedf
orcont
inuousr
unni
ngoft
hemot
orandi
sknownasRUN
capaci
tor
.

• Thi
smot
ori
sal
soknownasTwoVal
ueCapaci
torMot
or

Wor
king

• Ther
ear
etwocapaci
tor
sint
hismot
orr
epr
esent
edbyCSandCR.

• Att
hest
art
ing,
thet
wocapaci
tor
sar
econnect
edi
npar
all
el.

• TheCapaci
torCsi
stheSt
art
ingcapaci
tori
sshor
tti
mer
ated.

• I
tisal
mostel
ect
rol
yti
c.

• Al
argeamountofcur
renti
drequi
redt
oobt
aint
hest
art
ingt
orque.

• Ther
efor
e,t
hev
alueoft
hecapaci
ti
ver
eact
anceXshoul
dbel
owi
nthest
art
ing
wi
ndi
ng.

• Si
nce,
XA=1/
2πf
CA,
thev
alueoft
hest
art
ingcapaci
torshoul
dbel
arge

• Therat
edli
necurr
enti
ssmal
l
ert
hant
hest
art
ingcur
rentatt
henor
mal
oper
ati
ng
condi
ti
onofthemotor
.

• Hence,
thev
alueoft
hecapaci
ti
ver
eact
anceshoul
dbel
arge.

16
 • Si
nce,
XR=1/
2πf
CR,t
hev
alueoft
her
uncapaci
torshoul
dbesmal
l

• Asthemotorreachest
heratedspeed,t
hestar
ti
ngcapaci
torCsi
sdi
sconnect
ed
fr
om theci
rcui
tbyacentr
if
ugalswitchSc.

• Thecapaci
torCRi
sconnect
edper
manent
lyi
ntheci
rcui
tandt
husi
tisknownas
RUNCapaci
tor.

• Ther
uncapaci
tori
slongt
imer
atedandi
smadeofoi
lfi
l
ledpaper

Thef
igur
ebel
owshowst
hePhasorDi
agr
am oft
heCapaci
torSt
artCapaci
torRunMot
or.

• Fig(
a)showsthephasordi
agr
am whenatt
hest
art
ingbot
hthecapaci
torar
ein
thecir
cui
tandϕ>90⁰ .

• Fig(b)showst
hephasorwhent
hest
art
ingcapaci
tori
sdi
sconnect
ed,
andϕ
becomesequalt
o90⁰.

TheTor
queSpeedChar
act
eri
sti
cofaTwoVal
ueCapaci
torMot
ori
sshownbel
ow

• Thi
sty
peofmot
ori
squi
etandsmoot
hrunni
ng.

• Theyhav
ehi
gheref
fi
ciencyt
hant
hemot
orst
hatr
unont
hemai
nwi
ndi
ngsonl
y.

• Theyar
eusedf
orl
oadsofhi
gheri
ner
ti
arequi
ri
ngf
requentst
art
swher
ethe

17
 maxi
mum pul
l
-outt
orqueandef
fi
ciencyr
equi
redar
ehi
gher
.

• TheTwoValueCapacit
orMot
orsar
eusedi
npumpi
ngequi
pment
,ref
ri
ger
ati
on,
ai
rcompr
essors,
etc.

10)ShadedPol
eInduct
ionMot
or(
8mar
ks)

• Thismotordoesn’
tuseanyauxi
li
arywi
ndingorev
enitdoesn’
thav
ear ot
ati
ng
fi
eld,
butafiel
dthatsweepsacr
ossthepolef
acesisenought
odriv
ethemot or
.

• Sot
hef
iel
dmov
esf
rom onesi
deoft
hepol
etoanot
hersi
deoft
hepol
e.

• Alt
hought hesemotor
sar eofsmal l
rati
ngs,i
neff
ici
entandhavelowstar
ti
ng
tor
que,theseareusedinav ari
etyofappli
cati
onsduetoitsoutst
andi
ngfeat
ures
l
ikeruggedness,l
owini
tialcost,
smal l
sizeandsimpleconst
ructi
on.

• Ashadedpol
emotorconsi
stsofastat
orhav
ingsal
i
entpol
es(
orpr
oject
ed
pol
es)
,andarot
orofsqui
rr
elcagety
pe.

• I
nthi
s,st
atori
sconst
ruct
edi
naspeci
alwayt
opr
oducemov
ingmagnet
icf
iel
d.

• St
atorpolesar
eexcit
edwi
thi
tsownexci
ti
ngcoi
l
sbyt
aki
ngt
hesuppl
yfr
om a
si
nglephasesuppl
y.

•
Eachsal
i
entpol
eisdi
vi
dedi
ntot
wopar
ts;
shadedandun-
shaded.

• shadi
ngcoi
li
splacedi
sgeneral
l
yt er
medasshadedpar
toft
hepol
eand
r
emaini
ngport
ioni
scal
ledasun-shadedpar
t

• Whenanalter
nat
ingsuppl
yisgi
vent
othest
atorcoi
l
s,anal
ter
nat
ingf
luxwi
l
lbe
pr
oduced.

18
 • Thedistri
but
ionoff
luxi
nthepol
efacear
eai
sinf
luencedbyt
hepr
esenceof
coppershadi
ngband.

Letusconsi
dert
hethreei
nst
ant
s,t
1,t
2,andt
3ofal
ter
nat
ingf
luxf
oranhal
fcy
cleoft
he
fl
uxasshowninfi
gure.

Ati
nst
antt
=t1,
• t
her
ateofchangeoff
lux(
ri
sing)i
sver
yhi
gh.

• Duetothi
sfl
ux,anemfisinducedi
nt hecoppershadi
ngbandandast
hecopper
shadi
ngbandisshor
ted,
currentci
rculat
esthr
oughit.

• Thi
scausescur
rentt
ocr
eat
eit
sownf
iel
d.

• Accordi
ngtoLenz’sl
aw,thecur
rentthr
oughcoppershadi
ngbandopposest
he
cause,i
.e.
,ri
seofsuppl
ycurr
ent(andhencer
iseofmainfl
ux).

• Ther
efor
ethef
luxpr
oducedbyshadi
ngr
ingopposest
hemainf
lux.Sotherei
s
weakeni
ngoff
luxi
ntheshadedpar
twhi
l
ecrowdingoffl
uxi
nun-shadedpart
.

• Sotheaxi
sofov
eral
lfl
uxshi
ft
stonon-
shadedpar
toft
hepol
easshowni
nthe
f
igur
e.

19
Ati
nst
antt
=t2,
• therat
eofri
seoff
luxi
sal
mostzer
o,andhencev
eryl
i
ttl
eemfi
sinducedi
nthe
shadedband..

• I
tresult
snegl
igi
bleshadedr
ingf
luxandhencet
her
eisnomuchaf
fecton
di
stri
buti
onofmainflux.

• Ther
efor
e,thedi
str
ibut
ionoffl
uxisunif
orm andt
heov
eral
lfl
uxaxi
sli
esatt
he
cent
erofthepol
easshowni nfi
gure.

Ati
nst
antt
=t3,
• therat
eofchangeoff
lux(
decr
easi
ng)i
sver
yhi
gh,
andi
nducesemfi
ncopper
shadi
ngband.

• Thefluxproducedbytheshadingri
ngisnowopposesthecauseaccor
dingto
Lennz’sl
aw.Her e,
thecauseisdecr
easingf
lux
,andopposi
ngmeansi t
sdirect
ion
i
ssameast hatofmainflux
.

• Hence,
thi
sfl
uxst
rengt
henst
hemai
nfl
ux.

• Sother
ewi
l
lbecr
owdi
ngoff
luxi
ntheshadedpar
tcompar
edt
othenonshaded
par
t.

• Duet ot
hisover
allf
luxaxisshif
tst
othemi ddleofshadedpart
.Thi
ssequencewill
repeatf
ornegat
ivecy cl
etooandconsequentlyitpr
oducemovingmagneticfi
eld
forever
ycyclef
rom nonshadedpartofthepol etoshadedpar
tofthepole.Due
tothisf
iel
d,motorproducesthest
art
ingtorque.

• Thi
sst
art
ingt
orquei
slowabout40t
o50per
centoff
ull
loadt
orque.

Appl
i
cat
ion

Therefore,
thesemot orsareusedinlowstar
ti
ngt
orqueappl
icati
onssuchas
fans,
toymot ors,bl
owers,hai
rdryer
s,phot
ocopymachi
nes,f
ilm pr
oject
ors,
adver
tisi
ngdisplays,
etc.

20
 • Duetoabsenceofcent
ri
fugalswit
cht
heconstr
uct
ioni
ssi
mpl
eandr
obustbut
thi
sty
peofmot orhasalotoflami
nat
ionas:

• Thest
art
ingt
orquei
spoor
.

• Thepowerf
act
ori
sver
ylow.
2
• Duet
oI R,
copperl
ossesi
ntheshadi
ngr
ingt
heef
fi
ciencyi
sver
ylow.

• Thespeedrever
sali
sverydiff
icul
t.Toachievet
hespeedrever
sal
,theaddit
ional
setofshadi
ngri
ngsisrequi
red.Byopeningonesetandclosi
ngother,
dir
ection
canberever
sedbutthemethodi scomplicat
edandexpensi
ve.

• Thesizeandpowerr
atingoft
hesemotor
sisver
ysmal
l
.Thesemot
orsar
e
usual
l
yavail
abl
einarangeof1/300t
o1/20kW.

11)
Speedcont
rol
ofsi
ngl
ephasei
nduct
ionmot
or(
7mar
ks)

21
 • Thevari
abl
evol
tageforspeedcontr
olofsmallsi
zemotor
smai
nlyf
orsi
ngl
e
phasecanbeobtai
nedbythefol
lowingmethodsgiv
enbel
ow.

1.Byconnect
inganext
ernal
resi
stancei
nthest
atorci
rcui
toft
hemot
or.

2.Byusi
nganAut
otr
ansf
ormer
.

3.Byusi
ngaThy
rist
orv
olt
agecont
rol
l
er

4.Byusi
ngaTr
iacCont
rol
l
er

Thy
rist
orv
olt
agecont
rol
l
er

• Thev
olt
agev
ari
acv
ari
est
hest
atorv
olt
age

• Pr
act
ical
l
ytwoSCRsconnect
edi
nant
ipar
all
eli
susedasav
olt
agev
ari
ac

• Forposi
ti
vehal
fcy
cle,
Pisposi
ti
vehenceSCRT1get
str
igger
edwhi
l
eT2r
emai
n
OFF

• St
atorcur
rentI
sfl
owsi
ndownwar
dsdi
rect
ion

• Fornegat
ivehal
fcy
cle,
Nisposi
ti
veandPi
snegat
ive

• HenceSCRT2t
ri
gger
edwhi
l
eT1r
emai
nOFF

• Hencest
atorcur
rentI
sfl
owsupwar
dsdi
rect
ion

22
 • Nowbycontrol
li
ngt
hef
ir
ingangl
eofSCRsT1andT2,
theav
eragest
atorv
olt
age
canbecont
roll
ed

• Thust
hespeedoft
hei
nduct
ionmot
orcanbecont
rol
l
ed

12)Rel
uct
anceMot
or(
7mar
ks)
• Asingl
ephasesynchr
onousRel
uct
anceMot
ori
sbasi
cal
l
ythesameast
hesi
ngl
e
cagety
peinduct
ionmotor
.

• Thest
atoroft
hemotorhast
hemainandauxil
i
arywindi
ng.Thest
atoroft
he
si
ngl
ephaserel
uct
anceandi
nduct
ionmotoraresame.

• Therot
orofareluct
ancemotorisasquir
rel
cagewit
hsomerotorteethr
emov
ed
i
nthecert
ainpl
acestoprov
idethedesi
rednumberofsal
i
entr
otorpoles.

• t
eet
hhav
ebeenr
emov
edi
nfourl
ocat
ionst
opr
oducea4pol
est
ruct
ure.

• Thetwoendr i
ngsar
eshortcir
cui
ted.Whent
hestat
ori
sconnect
edt
oasi
ngl
e
phasesuppl
y,t
hemotorst
artsasasingl
ephasei
nduct
ionmotor
.

• Acentri
fugalswit
chdisconnect
stheauxil
i
arywindingassoonast hespeedof
themotorreachesabout75%ofthesynchronousspeed.Themotorcontinuest
o
speedupasasi ngl
ephasemot orwi
ththemai nwindi
nginoper
ation.

• Areluct
ancemotortor
queisproducedduetot
hetendencyofther
otort
oal
ign
i
tselfi
nthemini
mum reluct
anceposit
ion,
whenthespeedofthemotori
scl
ose
t
ot hesynchr
onousspeed.

• Thus,t
herot
orpullsi
nsynchr
oni
sm.Thel
oadi
ner
ti
ashoul
dbewi
thi
nthel
i
mit
s,
forpr
operef
fect
iveness.

• Atsynchr
oni
sm,theinduct
iont
orquedi
sappear
s,butt
her
otorr
emai
nsi
n
synchr
oni
sm duetosynchr
onousrel
uct
ancetor
que.

23
Tor
queSpeedChar
act
eri
sti
c

Appl
i
cat
ionsofaRel
uct
anceMot
or

• Thev
ari
ousappl
i
cat
ionsoft
heRel
uct
anceMot
orar
easf
oll
ows:
-

• Si
mpl
econst
ruct
ionast
her
eisnosl
i
pri
ngs,
nobr
ushesandnoDCf
iel
d
wi
ndi
ngs)
.

• Lowcost

• Mai
ntenancei
seasy
.

• Itisusedformanyconstantspeedappl
icat
ionssuchasel
ect
ri
ccl
ockt
imer
,
signal
ingdevi
ces,
recordi
nginstrument
setc.

24
13)Cl
assi
fi
cat
ionofsi
ngl
eofsi
ngl
ephasei
nduct
ionmot
or(
7mar
ks)

14)Pr
i
nte
dCi
r
cui
tBoa
rd(
PCB)Mot
or(
6ma
rks
)

Constr
ucti
on
 Th erotorwi
ndingsar
eprint
ed,st
ampedorwel dedontoat
hin,di
scshapedgl
ass
fi
breci
rcui
tboardwhichr
otatesi
ntheairgapbetweenpai
rsofpermanent
magnetsarr
angedaroundtheperi
pher
yoft hedi
sk.

 Themagnetsarear
rangedalter
nat
ivel
ynort
handsout
hsot hatt
hemagneti
c
fi
eldsi
ntheai
rgapsofadjacentmagnetpai
rsar
einopposi
tedir
ect
ions.

 Themagnetsarehel
dinplacebytwoir
onendcapsi
nacompact"
pancake"
shapedbl
ocktocomplet
et hemagnet
icci
rcui
t.

 Curr
enti
sf edtot
herot
orwindi
ngsvi
abrushest
hroughpr
eci
ousmet
al
commutatorsegment
spri
ntedonthedi
sc.

25
 Rot
or

 Oper
ati
ngPr
inci
ple

Themagnet i
cf i
eldisaxialandt hecurr
entflowsr adial
l
yfrom theaxi stotheedgeof
thedi scandbackagai n.
At angentialfor
ceont hedi skiscreat
edbyt hecur r
entpassingthrought he
magnet i
cf i
eldsintheai rgapsbet weent hepolepairsoftheper manentmagnet s.
Sot hatther etur
ncur rentdoesnotcancel outtheef f
ectoftheout goingcur r
ent
,the
returnwir eisphysicall
ysepar at
edordisplacedtoonesi defrom theout goingwire
byt hewi dthofthemagnet .Inthi
swayi tint
eractswiththemagnet i
cf i
eldofthe
adjacentmagnetwhi chisint heoppositedirect
ionandt husrei
nf orcesthe
tangent i
al f
orceont hedi sk.

26
 Adv
ant
age
sofPr
i
nte
dCi
r
cui
tBoa
rdMot
or
Thev
ari
ousadv
ant
agesoft
hePCBmot
orar
easf
oll
ows:
-

 Themot orprovidesqui ckaccel erat

ionandretardation.Astheinert
iaofthemotoris
ver
ylowandt herefor
e, theratiooftorqueandi nerti
aisv er
yhigh.
 Therotordoesnotcont ainiron,thust hear
mat ureinductanceislow.
 Thelowerinduct anceoft hemot orreducessparkingandasar esul
tli
feofbr
ushesis
i
ncreased.
 Coggingtorqueisabsentbecauseoft henon-magnet icrot
or.
 APCBmot orhasahi ghov erloadcur r
entcapacity.
 Thereisanegl i
giblearmat urereactionandfluxdistortionandhencethespeedtorque
cur
veoft hemot orislinear.

Ap
pli
cat
i
onsoft
hePr
i
nte
dCi
r
cui
tBoa
rdMot
or
Thecharacter
ist
icsoft
hePCBmot or
,i.
e.t
hehightorqueandi
ner
ti
arat
iomakest
he
motorsuit
ableforcont
rol
l
ingappl
i
cati
ons.Thevar
ioususageoft
hemotori
sasfol
lows:
-

 Usedi
nhigh-speedtapereaders.
 PCBmotorisusedinX- Yrecorder
s,poi
nttopoi
ntt
ool
posi
tioner
.
 Usedi
nrobotsandot herservodri
ves.
 I
tisal
sosuit
ableforheavy-dutydr
ivessuchasl
awnmowers.

15)Ser
voMot
ors(
7mar
ks)

Aser
vomot ori
sali
nearorr
otar
yactuat
orthatpr
ovi
desf
astpr
eci
sionposi
ti
oncont
rol
f
orcl
osed-
loopposi
ti
oncontr
olappl
i
cati
ons.

Unli
kelargeindust
ri
almot
ors,
aser
vomot
ori
snotusedf
orcont
inuousener
gy
conv
ersion.

Ser
vomot or
shav eahighspeedresponseduet
olowi
ner
ti
aandar
edesi
gnedwi
th
small
diameterandlongrot
orlengt
h.

Servomotor
sworkonser
vomechani
sm t
hatusesposi
ti
onf
eedbackt
ocont
rol
the
speedandfi
nal
posi
ti
onofthemotor
.

Inter
nall
y,aserv
omot
orcombi
nesamot
or,
feedbackci
rcui
t,cont
rol
l
erandot
her
elect
roni
ccircui
t.

I
tusesencoderorspeedsensort
opr
ovi
despeedf
eedbackandposi
ti
on.

27
Thi
sfeedbacksignali
scompar
edwithinputcommandpositi
on(desi
redposi
ti
onoft he
motorcor
respondingtoal
oad)
,andproducestheer
rorsi
gnal(i
fther
eexi
stadiff
erence
bet
weenthem) .

Theer
rorsi
gnal
avai
l
abl
eatt
heout
putofer
rordet
ect
ori
snotenought
odr
ivet
hemot
or.

Sotheerr
ordet
ect
orfol
lowedbyaservoampli
fi
errai
sesthevol
tageandpowerl
evel
of
theer
rorsi
gnal
andthentur
nstheshaf
tofthemotortodesi
redposit
ion.

28
Ty
pesofSer
voMot
ors

Basi
cal
ly
,servomot or
sarecl
assi
fiedint
oACandDCser
vomot
orsdependi
ngupont
he
nat
ureofsupplyusedfori
tsoper
ation.

Brushedper
manentmagnetDCservomot
orsar
eusedf
orsi
mpl
eappl
i
cat
ionsowi
ngt
o
thei
rcost
,ef
fici
encyandsi
mpl
ici
ty.

15)
DCSer
voMot
ors(
8mar
ks)

ADCser vomotorconsi
stsofasmal
lDCmotor,feedbackpotent
iometer
,gear
box,
motordri
veel
ectroni
cci
rcui
tandel
ect
roni
cfeedbackcontrol
loop.Iti
smoreorless
si
milart
othenormalDCmot or.

Thestatoroft
hemotorconsi
stsofacy
li
ndr
ical
frameandt
hemagneti
sat
tachedt
o
thei
nsideofthef
rame.

29
 DCServoMotor
Ther ot
orconsist
sofbrushandshaft.Acommutatorandar
otormetalsuppor
ti
ng
frameareattachedtotheout
sideoftheshaf
tandthearmat
urewindi
ngiscoil
edint
he
rotormetalsupport
ingfr
ame.

Abrushi
sbuil
twithanarmat
urecoi
l t
hatsuppl
iesthecurr
entt
ot hecommut at
or.Att
he
backoft
heshaft
,adetect
ori
sbuil
tintotherot
orinordert
odetectther
otat
ionspeed.

Wit
hthisconst
ruct
ion,i
tissi
mpl
etodesignacontr
oll
erusi
ngsimpl
ecir
cuit
rybecause
t
hetorqueispr
oporti
onaltot
heamountofcur
rentfl
owthrought
hearmatur
e.

Andalsot
hei nstantaneouspolar
it
yofthecont
rolv
olt
agedecidesthedir
ect
ionof
tor
quedevelopedbyt hemot or
.TypesofDCservomotorsincl
udeseri
esmot or
s,shunt
contr
olmotor,spli
tseriesmotor,
andpermanentmagnetshuntmotor.

Wor
kingPr
inci
pleofDCSer
voMot
or

ADCser
vomot
ori
sanassembl
yoff
ourmaj
orcomponent
s,

1.namel
yaDCmot
or,

2.aposi
ti
onsensi
ngdev
ice,

30
 3.agearassembl
y,

4.andacont
rol
cir
cui
t.

ADCr efer
encevol
tageissett
ot hev
aluecor
respondingtothedesi
redoutput
.Thi
s
vol
tagecanbeappliedbyusi
nganotherpot
enti
omet er,
cont
rolpul
sewidthtovol
tage
conver
ter,
orthr
ought i
mersdependi
ngonthecontrolcir
cui
try
.

Thedi
alonthepot
ent
iometerpr
oducesacor
respondi
ngv
olt
agewhi
chi
sthenappl
i
ed
asoneoft
heinput
stoerr
oramplif
ier
.

Insomecircui
ts,acont
rolpul
seisusedt
oproduceDCref
erencevol
tagecorr
espondi
ng
todesi
redpositi
onorspeedofthemotorandi
tisappl
i
edtoapulsewidthtovol
tage
conver
ter
.

I
nt hi
sconvert
er,t
hecapacit
orstart
schargi
ngataconstantr
atewhenthepul
sehi
gh.
Thenthechargeonthecapacitori
sfedtothebuf
ferampli
fi
erwhenthepul
seisl
owand
thi
schargeisfur
therappl
i
edt otheerr
orampli
fi
er.

Sothelengt
hoft hepul
sedecidesthev
olt
ageappl
iedatt
heer
rorampl
i
fierasadesi
red
vol
tagetoproducethedesi
redspeedorposi
ti
on.

I
ndigi
talcontr
ol,
micr
opr
ocessorormicr
ocont
rol
lerareusedforgener
ati
ngt
hePWM
pl
usesintermsofdut
ycycl
estoproducemoreaccuratecont
rolsi
gnal
s.

31
Thef eedbacksignalcorrespondi
ngt othepresentposi
tionoftheloadisobt ai
nedby
usingaposi ti
onsensor.Thissensorisnormal l
yapotent i
ometerthatproducesthe
voltagecorrespondi
ngt otheabsoluteangleofthemot orshaftthroughgear
mechani sm.Thent hefeedbackvoltagevalueisappli
edatt heinputoferr
orampl i
fi
er
(compar at
or).

Theer r
orampl i
fi
erisanegativ
efeedbackamplif
ieranditreducesthedi
fference
betweeni t
sinputs.I
tcomparesthevolt
agerel
atedtocur r
entpositi
onofthemot or
(obtai
nedbypot enti
ometer)wit
hdesir
edvolt
ager el
atedtodesiredposi
ti
onoft he
motor( obt
ainedbypulsewidthtovol
tageconverter
),andproducestheerroreit
hera
positi
veornegativevol
tage.

Thi
serr
orvol
tagei
sappli
edtothear
mat ur
eoft
hemot
or.I
ftheer
rori
smor
e,t
hemor
e
out
puti
sappl
iedtothemotorar
mature.

Aslongaserr
orexi
sts,theamplif
ierampl
if
iestheerrorv
olt
ageandcorrespondi
ngly
powersthear
mature.Themot orr
otatest
il
ltheerr
orbecomeszero.I
ftheer r
ori
s
negati
ve,t
hearmat
urev ol
tagerever
sesandhencet hearmat
urer
otat
esi ntheopposit
e
di
recti
on.

16)ACSer
voMot
ors(
8mar
ks)

ACserv
omotorsarebasi
cal
lyt
wo-phasesquir
relcagei
nducti
onmot or
sandar
eused
forl
owpowerappl
i
cati
ons.Nowadays,t
hreephasesqui
rrel
cageinducti
onmot
orshav
e
beenmodi
fi
edsuchthatt
heycanbeusedi nhi
ghpowerservosystems.

Themaindif
ferencebetweenastandar
dspli
t-
phasei
nducti
onmotorandACmot ori
s
thatt
hesqui
rrelcagerot
orofaservomotorhasmadewiththi
nnerconduct
ingbars,
so
thatt
hemotorresist
anceishi
gher

Basedont
heconst
ruct
iont
her
ear
etwodi
sti
nctt
ypesofACser
vomot
ors,
theyar
e

 sy
nchr
onoust
ypeACser
vomot
orand

 i
nduct
iont
ypeACser
vomot
or.

Sy
nchr
onous-
typeACser
vomot
or

I
tconsi
stofst
atorandr
otor
.

Thest
atorconsi
stsofacy
li
ndr
ical
frameandst
atorcor
e.

32
Thear
matur
ecoil
woundar
oundthest
atorcor
eandthecoi
lendi
sconnect
edt
owi
tha
l
eadwir
ethr
oughwhi
chcur
renti
sprov
idedtothemot
or.

Ther
otorconsi
stsofapermanentmagnetandhencet
heydonotr
elyonACi
nduct
ion
ty
perot
orthathascur
renti
nducedint
oit
.

Andhencethesear
eal
socal
l
edasbr
ushl
essser
vomot
orsbecauseofst
ruct
ural
char
act
eri
sti
cs.

Synchronous-t
ypeACser vomotor
Whenthest at
orfi
eldi
sexcit
ed,therotorfoll
owst herot
ati
ngmagnet i
cfi
eldofthe
stat
oratthesynchr
onousspeed.Ifthestatorfi
eldstops,t
herot
oralsostops.Withthi
s
permanentmagnetrot
or,norotorcurr
entisneededandhencel essheatisproduced.

Also,t
hesemot orshavehighef
fici
encyduetotheabsenceofrot
orcurr
ent.I
nordert
o
knowt heposit
ionofrotorwi
threspectt
ostat
or,anencoderi
splacedontherot
orandit
actsasaf eedbacktothemotorcontrol
l
er.

Thei
nduct
ion-
typeACser
vomot
or

st
ruct
urei
sident
ical
wit
hthatofgener
almot
or.I
nthi
smot
or,
stat
orconsi
stsofst
ator

33
core,ar
maturewi
ndingandl
eadwi
re,
whi
ler
otorconsi
stsofshaf
tandt
her
otorcor
e
thatbui
ltwi
thaconduct
orassi
mil
art
osqui
rr
elcagerot
or.

Theworkingpri
nci
pleoft
hisser
vomot ori
ssi
mi l
artothenormali
nduct
ionmot
or.Agai
n
thecont
roll
ermustknowtheexactposi
ti
onoftherotorusi
ngencoderf
orpr
eci
sespeed
andposi
tioncontr
ol.

Wor
kingPr
inci
pleofACSer
voMot
or

Inthi
s,t
her
eferenceinputatwhicht
hemot orshaf
thastomai nt
ainatacert
ainposi
ti
on
i
sgi v
entot
her ot
orofsy nchr
ogeneratorasmechanicali
nputtheta.Thi
srot
oris
connect
edt
ot heelectr
icali
nputatr
atedv ol
tageatafi
xedfrequency.

Thet hreestatort
erminalsofasynchrogenerat
orareconnect
edcorrespondingl
ytothe
terminalsofcontroltr
ansfor
mer.Theangularposi
ti
onofthetwo-phasemot oris
transmittedtotherotorofcont
roltr
ansfor
merthroughgeartr
ainarr
angementandi t
representsthecontrolcondi
ti
onalpha.

Ini
ti
all
y,t
her
eexistadif
fer
encebetweenthesynchr
ogener
atorshaftposi
ti
onand
contr
oltr
ansfor
mershaftposi
ti
on.Thiserr
ori
srefl
ect
edasthevolt
ageacrossthe
contr
oltr
ansfor
mer.Thi
serrorvol
tageisappl
i
edtotheser
voampl i
fi
erandthentothe

34
cont
rol
phaseoft
hemot
or.

Witht
hecontr
olvol
tage,t
herot
orofthemotorr
otat
esinrequir
eddir
ect
ionti
l
ltheerr
or
becomeszer
o.Thisishowthedesi
redshaf
tposi
ti
onisensuredinACservomotor
s.

Alt
ernat
ivel
y,modernACserv
odriv
esareembeddedcontr
oller
sli
kePLCs,
micropr
ocessorsandmicr
ocont
rol
ler
stoachi
evevar
iabl
efrequencyandv
ari
abl
e
vol
tageinordertodr
ivet
hemotor.

Mostl
y,pul
sewidthmodul
ati
onandPr opor
ti
onal
-I
ntegr
al-
Deriv
ati
ve( PID)t
echni
ques
ar
eusedt ocont
rolt
hedesi
redf
requencyandvol
tage.Theblockdiagram ofACserv
o
motorsyst
em usi
ngprogr
ammablelogiccont
rol
l
ers,posi
ti
onandser vocontrol
l
ersi
s
gi
venbelow.

35
17)Di
ff
erencebet
weent
heDCandACSer
voMot
ors(
6mar
ks)

DCSERVOMOTOR ACSERVOMOTOR

I
tdel
i
ver
shi
ghpowerout
put Del
i
ver
slowout
putofabout0.
5W t
o100W

I
thasmor
est
abi
l
itypr
obl
ems I
thasl
essst
abl
epr
obl
ems

I
trequi
resf
requentmai
ntenancedue I
trequi
resl
essmai
ntenanceduet
otheabsenceof

t
othepr
esenceofcommut
ator commut
ator

I
tpr
ovi
deshi
ghef
fi
ci
ency Theef
fi
ciencyofACser
vomot
ori
slessandi
sabout5

t
o20%

Thel
i
feofDCser
vomot
ordependson Thel
i
feofACser
vomot
ordependsonbear
ingl
i
fe

t
hel
i
feonbr
ushl
i
fe

I
tincl
udesper
manentmagneti
nit
s Thesy
nchr
onoust
ypeACser
vomot
oruses

const
ruct
ion per
manentmagnetwhi
l
einduct
iont
ypedoesn’
t

36
 DCSERVOMOTOR ACSERVOMOTOR

r
equi
rei
t.

Thesemot
orsar
eusedf
orhi
ghpower Thesemot
orsar
eusedf
orl
owpowerappl
i
cat
ions

appl
i
cat
ions

18)Ty
pesofst
eppermot
or(
6mar
ks)

37
19)st
eppermot
or(
7mar
ks)

Ast
eppersy
stem consi
stoft
hreebasi
cel
ement

1)
Indexer
s(Cont
rol
l
er)

2)
Dri
ver
s(Ampl
i
fier
s)

3)
StepperMot
or

I
ndexer
s

i
sami
cropr
ocessorcapabl
eofgener
ati
ngst
eppul
se

 Si
gnal
fort
hedr
iver

 Per
for
m commandf
act
ions

Dr
iver
s

 Thedriverconver
tthei
ndexercommandsi
gnal
int
othepower
necessarytoenergi
est
hemot or

 Thedi
ff
erentv
olt
age,
cur
rent
,const
ruct
ional
technol
ogy

 Notal
ldr
iver
ssui
tabl
etor
unal
lmot
ors

Oper
ati
ngpr
inci
pleofst
eppermot
or

 St
eppermot
orwor
kont
hepr
inci
pleofel
ect
romagnet
ism

38
  Ther
eissof
tir
onormagnet
icr
otorshaf
tsur
roundedbyt
he
el
ect
romagnet
icst
ator

 Whent
hest
atorener
giest
her
otormov
ies

 Thi
swayt
hest
atorar
eener
giessequencet
orot
atet
hemot
or

Consi
deri
ngaser i
essolenoidorelect
romagnetarr
aignedinaci
rcl
eanda
i
ronbar(r
otor)
,whenthosesolenoidenergi
esinsequencethemmf
devel
opedi nt
hem int
racttheir
onbarcausesi tt
oturneit
hercl
ockwi
seor
ant
icl
ockwisedir
ecti
on,dependingontheswitchi
ngsequence

St
eppermot
ort
orque

1)Pul
li
ntor
que

39
Wheni
tisoper
atedwi
thoutaccel
erat
ion

Pul
ltor
quemustov
ercomef
ri
cti
onandi
ner
ti
a

Themot
orst
art
ed/
stoppedi
nst
ant
aneousl
y

2)Pul
loutt
orque

Accel
erat
ingt
hemot
ort
othedesi
redspeedandt
orque

3)
Det
entt
orque

Synchronouselectr
icmotorusi
ngper
manentmagnethasar
esonant
posit
iontoholdingthet
orquewhennotdr
ivenel
ect
ri
cal
ly

19)Var
iabl
erel
uct
ancest
eppermot
or(
8mar
ks)

Const
ruct
ionofVar
iabl
eRel
uct
anceSt
epperMot
or

 I
tconsi
stsofawoundst
atorandasof
tir
onmul
ti
-t
oot
hrot
or.
 Thest
atorhasast
ackofsi
l
iconst
eell
ami
nat
ionsonwhi
chst
atorwi
ndi
ngsar
e
wound.Usual
l
y,i
tiswoundf
ort
hreephaseswhi
char
edi
str
ibut
edbet
weent
he
pol
epai
rs.

 Thenumberofpol
esonst
atort
husf
ormedi
sequalt
oanev
enmul
ti
pleoft
he
numberofphasesf
orwhi
chwi
ndi
ngsar
ewoundedonst
ator
.

 I
nthef
igur
ebel
ow,
thest
atorhas12equal
l
yspacedpr
oject
ingpol
eswher
eeach
pol
eiswoundwi
thanexci
ti
ngcoi
l
.
 Theset
hreephasesar
eener
gizedf
rom ofaDCsour
cewi
tht
hehel
pofsol
i
d
st
ateswi
tches.

40
 Ther
otorcar
ri
esnowi
ndi
ngsandi
sofsal
i
entpol
ety
pemadeent
ir
elyofsl
ott
ed
st
eel
lami
nat
ions.

 Ther
otorpol
e’
spr
oject
edt
eet
hhav
ethesamewi
dthast
hatofst
atort
eet
h.

 Thenumberofpol
esonst
atordi
ff
erst
othatofr
otorpol
es,whi
chpr
ovi
dest
he
abi
l
ityt
osel
fst
artandbi
dir
ect
ional
rot
ati
onoft
hemot
or

 Ther
elat
ionofr
otorpol
esi
nter
msofst
atorpol
esf
orat
hreephasest
epper
mot
ori
sgi
venas,

 Nr=Ns±(
Ns/q)
.

 Her
eNs(
stat
orpol
e)=12,

 andq(
numberofphase)
=3,

 andhenceNr
(rot
orpol
e)=12±(
12/3)=16or8.An8-
pol
econst
ruct
ionr
otor
wi
thoutanyexci
tat
ioni
sil
l
ust
rat
edbel
ow.

41
Thest
eppermot
orwor
ksont
hepr
inci
plet
hatt
her
otoral
i
gnsi
napar
ti
cul
ar
posi
ti
onwi
tht
het
eet
hoft
heexci
tat
ionpol
einamagnet
icci
rcui
twher
ein
mi
nimum r
eluct
ancepat
hexi
st.
Whenev
erpoweri
sappl
i
edt
othemot
orandbyexci
ti
ngapar
ti
cul
arwi
ndi
ng,i
t
pr
oducesi
tsmagnet
icf
iel
danddev
elopsi
tsownmagnet
icpol
es.
Duet
other
esi
dual
magnet
ism i
nther
otormagnetpol
es,
itwi
l
lcauset
her
otort
o
mov
einsuchaposi
ti
onsoast
oachi
evemi
nimum r
eluct
anceposi
ti
onandhence
onesetofpol
esofr
otoral
i
gnswi
tht
heener
gizedsetofpol
esoft
hest
ator
.
Att
hisposi
ti
on,t
heaxi
soft
hest
atormagnet
icf
iel
dmat
cheswi
tht
heaxi
s
passi
ngt
hroughanyt
womagnet
icpol
esoft
her
otor
.
Whent
her
otoral
i
gnswi
thst
atorpol
es,
ithasenoughmagnet
icf
orcet
ohol
dthe
shaf
tfr
om mov
ingt
othenextposi
ti
on,ei
theri
ncl
ockwi
seorcount
ercl
ockwi
se
di
rect
ion.

Consi
dert
heschemat
icdi
agr
am ofa3-
phase,
6st
atorpol
esand4r
otort
eet
his
showni
nfi
gur
ebel
ow.Whent
hephaseA-
A’i
ssuppl
i
edwi
thaDCsuppl
yby
cl
osi
ngt
heswi
tch-
1,t
hewi
ndi
ngbecomeamagnetwhi
chr
esul
tsonet
oot
h
becomeNor
thandot
herSout
h.Sot
hest
atormagnet
icaxi
sli
esal
ongt
hese
pol
es.Duet
othef
orceofat
tract
ion,st
atorcoi
lNor
thPol
eat
tr
act
snear
estr
otor
t
oot
hofopposi
tepol
ari
ty,
i.
e.,
Sout
handSout
hPol
eat
tr
actnear
estr
otort
oot
hof
opposi
tepol
ari
ty,i
.e.
,Nor
th.Ther
otort
henadj
ust
stoi
tsmi
nimum r
eluct
ance

42
posi
ti
onwher
ether
otormagnet
icaxi
sexact
lymat
cheswi
thst
atormagnet
icaxi
s.

Whent
hephaseB-
B’i
sener
gizedbycl
osi
ngswi
tch-
2keepi
ngphaseA-
A’r
emai
n
de-
ener
gizedbyopeni
ngswi
tch-
1,wi
ndi
ngB-
B’wi
l
lpr
oducet
hemagnet
icf
lux
andhencet
hest
atormagnet
icaxi
sshi
ft
sal
ongt
hepol
est
husf
ormedbyi
t.
Hencet
her
otorshi
ft
stot
hel
eastr
eluct
ancewi
thmagnet
izedst
atort
eet
hand
r
otat
est
hroughanangl
eof30degr
eesi
nthecl
ockwi
sedi
rect
ion

When t
he swi
tch-
3is ener
gized af
teropeni
ng swi
tch-
2,t
he phase CC’i
s
ener
gized,
ther
otort
eet
hal
i
gnwi
thnewposi
ti
onbymov
ingt
hroughanaddi
ti
onal
angl
eof30degr
ees.Byt
hisway
,ther
otormov
escl
ockwi
seorcount
ercl
ockwi
se
di
rect
ionbysuccessi
vel
yexci
ti
ngst
atorwi
ndi
ngsi
napar
ti
cul
arsequence.The
st
epangl
eoft
his3-
phase4-
pol
erot
ort
eet
hst
eppermot
ori
sexpr
essedas,
360/
(
4×3)=30degr
ees(
asst
epangl
e=360/Nr×q)
.

Thest
epangl
ecanbef
urt
herr
educedbyi
ncr
easi
ngt
henumberofpol
esont
he
st
atorandr
otor
,insuchcasemot
orsar
eof
tenwoundwi
thaddi
ti
onalphase
wi
ndi
ngs.Thi
scanal
sobeachi
evedbyaadopt
ingdi
ff
erentconst
ruct
ionof

43
 st
eppermot
orssuchasmul
ti
stackar
rangementandr
educt
iongearmechani
sm

2
0)Pe
rma
nen
tMa
gne
tSt
epp
erMot
or(
8ma
rks
)

Therotorconsi
stsofpermanentmagnetpolesofhighretent
ivi
tyst
eeland
i
s cy l
i
ndri
calin shape.The concentrat
ing windings on diamet
ri
call
y
opposit
epolesareconnect
edinser
iestoform atwophasewi ndingonthe
stat
or.

Therotorpolesali
gnwiththestatorteethdependi
ngontheexci
tati
onof
thewinding.ThetwocoilsAA’connect edinseri
estofor
m awi ndi
ngof
PhaseA.Si mil
arl
ythetwocoilBB’isconnectedinser
iesf
ormi
ngaphase
Bwindings.Thef i
gur
ebelowshows4/ 2PolePermanentMagnetStepper
Motor.

44
I
nfigur
e(a)
thecurr
entf
lowsst
artt
otheendofphaseA

Thesout hpoleoftherotorisatt
ract
edbyt hest
atorphaseA.Thus,t
he
magneticaxi
softhestatorandrot
orcoinci
deandα=0⁰
i
nt hef
igure(b)
thecur
rentfl
owsfrom thestar
ttotheendatphaseB.
t
hewi
ndi
ngsofphaseAdoesnotcar
ryanycur
rent
Thest atorpoleat t
ract
st herotorpoleandther
otormov
esby90⁰i
nthe
clockwisedir
ect i
on.Hereα=90⁰
Thef i
gure(c)
thecurrentfl
owst hephaseA’
Ther otormov esclockwisedir
ectionandtheα=180⁰
Intheabov efigure(d)
thecurrentfl
owsphaseB’ .90
therotormov esclockwisedir
ect i
onandα=270⁰

45
46