Electric motor

For other kinds of motors, see Motor (disambiguation). ed by electric power source type, internal construction,
For a railroad engine, see Electric locomotive.
application, type of motion output, and so on.
An electric motor is an electrical machine that converts
Electric motors are used to produce linear or rotary force
(torque), and should be distinguished from devices such
as magnetic solenoids and loudspeakers that convert electricity into motion but do not generate usable mechanical
powers, which are respectively referred to as actuators
and transducers.

Various electric motors, compared to 9 V battery.

Cutaway view through stator of induction motor.

electrical energy into mechanical energy. The reverse of

this would be the conversion of mechanical energy into
electrical energy and is done by an electric generator.

1 History

In normal motoring mode, most electric motors operate through the interaction between an electric motors
magnetic eld and winding currents to generate force
within the motor. In certain applications, such as in the
transportation industry with traction motors, electric motors can operate in both motoring and generating or braking modes to also produce electrical energy from mechanical energy.

Main article: History of the electric motor

1.1 Early motors

Perhaps the rst electric motors were simple electrostatic
devices created by the Scottish monk Andrew Gordon in
the 1740s.[2] The theoretical principle behind production
of mechanical force by the interactions of an electric current and a magnetic eld, Ampres force law, was discovered later by Andr-Marie Ampre in 1820. The conversion of electrical energy into mechanical energy by
electromagnetic means was demonstrated by the British
scientist Michael Faraday in 1821. A free-hanging wire
was dipped into a pool of mercury, on which a permanent
magnet (PM) was placed. When a current was passed
through the wire, the wire rotated around the magnet,
showing that the current gave rise to a close circular magnetic eld around the wire.[3] This motor is often demonstrated in physics experiments, brine substituting for toxic

Found in applications as diverse as industrial fans, blowers and pumps, machine tools, household appliances,
power tools, and disk drives, electric motors can be powered by direct current (DC) sources, such as from batteries, motor vehicles or rectiers, or by alternating current (AC) sources, such as from the power grid, inverters
or generators. Small motors may be found in electric
watches. General-purpose motors with highly standardized dimensions and characteristics provide convenient
mechanical power for industrial use. The largest of electric motors are used for ship propulsion, pipeline compression and pumped-storage applications with ratings
reaching 100 megawatts. Electric motors may be classi1

HISTORY

1.2 Success with DC motors

After many other more or less successful attempts with
relatively weak rotating and reciprocating apparatus the
German-speaking Prussian Moritz von Jacobi created the
rst real rotating electric motor in May 1834 that actually
developed a remarkable mechanical output power. His
motor set a world record which was improved only four
years later in September 1838 by Jacobi himself. His second motor was powerful enough to drive a boat with 14
people across a wide river. It was not until 1839/40 that
other developers worldwide managed to build motors of
similar and later also of higher performance.
The rst commutator DC electric motor capable of
turning machinery was invented by the British scientist William Sturgeon in 1832.[12] Following Sturgeons
work, a commutator-type direct-current electric motor
made with the intention of commercial use was built
[1]
Faradays electromagnetic experiment, 1821
by the American inventor Thomas Davenport, which he
patented in 1837. The motors ran at up to 600 revolutions
per minute, and powered machine tools and a printing
press.[13] Due to the high cost of primary battery power,
mercury. Though Barlows wheel was an early rene- the motors were commercially unsuccessful and Davenment to this Faraday demonstration, these and similar port went bankrupt. Several inventors followed Sturgeon
homopolar motors were to remain unsuited to practical in the development of DC motors but all encountered the
application until late in the century.
same battery power cost issues. No electricity distribution had been developed at the time. Like Sturgeons motor, there was no practical commercial market for these
motors.[14]
In 1855, Jedlik built a device using similar principles to
those used in his electromagnetic self-rotors that was capable of useful work.[5][11] He built a model electric vehicle that same year.[15]

Jedlik's electromagnetic self-rotor, 1827 (Museum of Applied

Arts, Budapest). The historic motor still works perfectly today.[4]

In 1827, Hungarian physicist nyos Jedlik started experimenting with electromagnetic coils. After Jedlik solved
the technical problems of the continuous rotation with
the invention of commutator, he called his early devices
electromagnetic self-rotors. Although they were used
only for instructional purposes, in 1828 Jedlik demonstrated the rst device to contain the three main components of practical DC motors: the stator, rotor and commutator. The device employed no permanent magnets,
as the magnetic elds of both the stationary and revolving
components were produced solely by the currents owing
through their windings.[5][6][7][8][9][10][11]

The rst commercially successful DC motors followed

the invention by Znobe Gramme who had in 1871 developed the anchor ring dynamo which solved the doubleT armature pulsating DC problem. In 1873, Gramme
found that this dynamo could be used as a motor, which
he demonstrated to great eect at exhibitions in Vienna
and Philadelphia by connecting two such DC motors at
a distance of up to 2 km away from each other, one as a
generator.[16] (See also 1873 : l'exprience dcisive [Decisive Workaround] .)
In 1886, Frank Julian Sprague invented the rst practical
DC motor, a non-sparking motor that maintained relatively constant speed under variable loads. Other Sprague
electric inventions about this time greatly improved grid
electric distribution (prior work done while employed by
Thomas Edison), allowed power from electric motors to
be returned to the electric grid, provided for electric distribution to trolleys via overhead wires and the trolley
pole, and provided controls systems for electric operations. This allowed Sprague to use electric motors to invent the rst electric trolley system in 188788 in Richmond VA, the electric elevator and control system in
1892, and the electric subway with independently pow-

3
ered centrally controlled cars, which were rst installed
in 1892 in Chicago by the South Side Elevated Railway
where it became popularly known as the L. Spragues
motor and related inventions led to an explosion of interest and use in electric motors for industry, while almost simultaneously another great inventor was developing its primary competitor, which would become much
more widespread. The development of electric motors of
acceptable eciency was delayed for several decades by
failure to recognize the extreme importance of a relatively
small air gap between rotor and stator. Ecient designs
have a comparatively small air gap.[17] [lower-alpha 1] The St.
Louis motor, long used in classrooms to illustrate motor
principles, is extremely inecient for the same reason, as
well as appearing nothing like a modern motor.[18]
Application of electric motors revolutionized industry.
Industrial processes were no longer limited by power
transmission using line shafts, belts, compressed air or
hydraulic pressure. Instead every machine could be
equipped with its own electric motor, providing easy control at the point of use, and improving power transmission eciency. Electric motors applied in agriculture
eliminated human and animal muscle power from such
tasks as handling grain or pumping water. Household
uses of electric motors reduced heavy labor in the home
and made higher standards of convenience, comfort and
safety possible. Today, electric motors stand for more
than half of the electric energy consumption in the US.[19]

1.3

in 1887, however, also described a shorted-windingrotor induction motor. George Westinghouse promptly
bought Teslas patents, employed Tesla to develop them,
and assigned C. F. Scott to help Tesla, Tesla leaving
for other pursuits in 1889.[23][30][33][34][35][36][37][38][39][40]
[41][42][43][44]
The constant speed AC induction motor was
found not to be suitable for street cars[24] but Westinghouse engineers successfully adapted it to power a mining operation in Telluride, Colorado in 1891.[45][46][47]
Steadfast in his promotion of three-phase development,
Mikhail Dolivo-Dobrovolsky invented the three-phase
cage-rotor induction motor in 1889 and the three-limb
transformer in 1890. This type of motor is now used
for the vast majority of commercial applications.[48][49]
However, he claimed that Teslas motor was not practical because of two-phase pulsations, which prompted him
to persist in his three-phase work.[50] Although Westinghouse achieved its rst practical induction motor in 1892
and developed a line of polyphase 60 hertz induction
motors in 1893, these early Westinghouse motors were
two-phase motors with wound rotors until B. G. Lamme
developed a rotating bar winding rotor.[37] The General
Electric Company began developing three-phase induction motors in 1891.[37] By 1896, General Electric and
Westinghouse signed a cross-licensing agreement for the
bar-winding-rotor design, later called the squirrel-cage
rotor.[37] Induction motor improvements owing from
these inventions and innovations were such that a 100
horsepower (HP) induction motor currently has the same
mounting dimensions as a 7.5 HP motor in 1897.[37]

Emergence of AC motors

In 1824, the French physicist Franois Arago formulated the existence of rotating magnetic elds, termed
Aragos rotations, which, by manually turning switches
on and o, Walter Baily demonstrated in 1879 as in
eect the rst primitive induction motor.[20][21] [22][23]
In the 1880s, many inventors were trying to develop
workable AC motors[24] because ACs advantages in
long distance high voltage transmission were counterbalanced by the inability to operate motors on AC. Practical rotating AC induction motors were independently
invented by Galileo Ferraris and Nikola Tesla, a working motor model having been demonstrated by the former in 1885 and by the latter in 1887. In 1888, the
Royal Academy of Science of Turin published Ferrariss
research detailing the foundations of motor operation
while however concluding that the apparatus based on
that principle could not be of any commercial importance as motor.[23][25][26][27][28][29][30][31][32][33][34][35][36]
In 1888, Tesla presented his paper A New System for Alternating Current Motors and Transformers to the AIEE
that described three patented two-phase four-stator-pole
motor types: one with a four-pole rotor forming a nonself-starting reluctance motor, another with a wound rotor forming a self-starting induction motor, and the third
a true synchronous motor with separately excited DC
supply to rotor winding. One of the patents Tesla led

2 Motor construction

Electric motor rotor (left) and stator (right)

2.1 Rotor
Main article: Rotor (electric)
In an electric motor the moving part is the rotor which
turns the shaft to deliver the mechanical power. The ro-

4 MAJOR CATEGORIES

tor usually has conductors laid into it which carry currents

that interact with the magnetic eld of the stator to generate the forces that turn the shaft. However, some rotors
carry permanent magnets, and the stator holds the conductors.

2.2

Stator

Main article: Stator

The stationary part is the stator, usually has either windings or permanent magnets. The stator is the stationary
part of the motors electromagnetic circuit. The stator
core is made up of many thin metal sheets, called laminations. Laminations are used to reduce energy losses
that would result if a solid core were used.

A toys small DC motor with its commutator

2.4

3 Motor supply and control

the revolving commutator, which causes required current

reversal and applies power to the machine in an optimal
manner as the rotor rotates from pole to pole.[52][53] In
absence of such current reversal, the motor would brake
to a stop. In light of signicant advances in the past few
decades due to improved technologies in electronic con2.3 Air gap
troller, sensorless control, induction motor, and permaIn between the rotor and stator is the air gap. The air gap nent magnet motor elds, electromechanically commuhas important eects, and is generally as small as pos- tated motors are increasingly being displaced by extersible, as a large gap has a strong negative eect on the nally commutated induction and permanent-magnet motors.
performance of an electric motor.

Windings

Main article: Windings

3.1 Motor supply

Windings are wires that are laid in coils, usually wrapped A DC motor is usually supplied through slip ring commuaround a laminated soft iron magnetic core so as to form tator as described above. AC motors commutation can
magnetic poles when energized with current.
be either slip ring commutator or externally commutated
Electric machines come in two basic magnet eld pole type, can be xed-speed or variable-speed control type,
congurations: salient-pole machine and nonsalient-pole and can be synchronous or asynchronous type. Universal
machine. In the salient-pole machine the poles magnetic motors can run on either AC or DC.
eld is produced by a winding wound around the pole below the pole face. In the nonsalient-pole, or distributed
eld, or round-rotor, machine, the winding is distributed 3.2 Motor control
in pole face slots.[51] A shaded-pole motor has a winding around part of the pole that delays the phase of the Fixed-speed controlled AC motors are provided with
direct-on-line or soft-start starters.
magnetic eld for that pole.
Some motors have conductors which consist of thicker Variable speed controlled AC motors are provided with
metal, such as bars or sheets of metal, usually copper, a range of dierent power inverter, variable-frequency
although sometimes aluminum is used. These are usually drive or electronic commutator technologies.
powered by electromagnetic induction.
The term electronic commutator is usually associated
with self-commutated brushless DC motor and switched
reluctance motor applications.

2.5

Commutator

Main article: Commutator (electric)

A commutator is a mechanism used to switch the input of 4 Major categories
most DC machines and certain AC machines consisting
of slip ring segments insulated from each other and from Electric motors operate on three dierent physical printhe electric motors shaft. The motors armature current ciples: magnetic, electrostatic and piezoelectric. By far
is supplied through the stationary brushes in contact with the most common is magnetic.

5
In magnetic motors, magnetic elds are formed in both
the rotor and the stator. The product between these two
elds gives rise to a force, and thus a torque on the motor shaft. One, or both, of these elds must be made to
change with the rotation of the motor. This is done by
switching the poles on and o at the right time, or varying the strength of the pole.
The main types are DC motors and AC motors, the former increasingly being displaced by the latter.
AC electric motors are either asynchronous or synchronous.
Once started, a synchronous motor requires synchronism
with the moving magnetic elds synchronous speed for
all normal torque conditions.

BLDC - Brushless DC
BLDM - Brushless DC motor
EC - Electronic commutator
PM - Permanent magnet
IPMSM - Interior permanent magnet synchronous
motor
PMSM - Permanent magnet synchronous motor
SPMSM - Surface permanent magnet synchronous
motor
SCIM - Squirrel-cage induction motor

In synchronous machines, the magnetic eld must be provided by means other than induction such as from separately excited windings or permanent magnets.

SRM - Switched reluctance motor

A fractional horsepower (FHP) motor has a rating below

about 1 horsepower (0.746 kW), or that is manufactured
with a standard frame size smaller than a standard 1 HP
motor. Many household and industrial motors are in the
fractional horsepower class.

VFD - Variable-frequency drive

Notes:
1. Rotation is independent of the frequency of the AC
voltage.

SyRM - Synchronous reluctance motor

WRIM - Wound-rotor induction motor

WRSM - Wound-rotor synchronous motor

5 Self-commutated motor
5.1 Brushed DC motor

2. Rotation is equal to synchronous speed (motor stator

Main article: DC motor
eld speed).
3. In SCIM xed-speed operation rotation is equal to
slip speed (synchronous speed less slip).

All self-commutated DC motors are by denition run on

DC electric power. Most DC motors are small PM types.
4. In non-slip energy recovery systems WRIM is usu- They contain a brushed internal mechanical commutation
ally used for motor starting but can be used to vary to reverse motor windings current in synchronism with
load speed.
rotation.[62]
5. Variable-speed operation.
5.1.1 Electrically excited DC motor
6. Whereas induction and synchronous motor drives
are typically with either six-step or sinusoidal waveMain article: Brushed DC electric motor
form output, BLDC motor drives are usually with
A commutated DC motor has a set of rotating windtrapezoidal current waveform; the behavior of both
ings wound on an armature mounted on a rotating shaft.
sinusoidal and trapezoidal PM machines is however
The shaft also carries the commutator, a long-lasting roidentical in terms of their fundamental aspects.[61]
tary electrical switch that periodically reverses the ow of
7. In variable-speed operation WRIM is used in slip current in the rotor windings as the shaft rotates. Thus,
energy recovery and double-fed induction machine every brushed DC motor has AC owing through its rotating windings. Current ows through one or more pairs
applications.
of brushes that bear on the commutator; the brushes con8. A cage winding is a shorted-circuited squirrel-cage nect an external source of electric power to the rotating
rotor, a wound winding is connected externally armature.
through slip rings.
The rotating armature consists of one or more coils of
9. Mostly single-phase with some three-phase.
wire wound around a laminated, magnetically soft ferromagnetic core. Current from the brushes ows through
Abbreviations:
the commutator and one winding of the armature, making
it a temporary magnet (an electromagnet). The magnetic
BLAC - Brushless AC
eld produced by the armature interacts with a stationary

SELF-COMMUTATED MOTOR

While most commutators are cylindrical, some are at

discs consisting of several segments (typically, at least
three) mounted on an insulator.
Large brushes are desired for a larger brush contact area
to maximize motor output, but small brushes are desired
for low mass to maximize the speed at which the motor can run without the brushes excessively bouncing and
sparking. (Small brushes are also desirable for lower
cost.) Stier brush springs can also be used to make
brushes of a given mass work at a higher speed, but at the
cost of greater friction losses (lower eciency) and accelerated brush and commutator wear. Therefore, DC motor brush design entails a trade-o between output power,
speed, and eciency/wear.
DC machines are dened as follows:[63]

Workings of a brushed electric motor with a two-pole rotor and

PM stator. (N and S designate polarities on the inside faces
of the magnets; the outside faces have opposite polarities.)

magnetic eld produced by either PMs or another winding a eld coil, as part of the motor frame. The force
between the two magnetic elds tends to rotate the motor
shaft. The commutator switches power to the coils as the
rotor turns, keeping the magnetic poles of the rotor from
ever fully aligning with the magnetic poles of the stator
eld, so that the rotor never stops (like a compass needle does), but rather keeps rotating as long as power is
applied.
Many of the limitations of the classic commutator DC
motor are due to the need for brushes to press against the
commutator. This creates friction. Sparks are created by
the brushes making and breaking circuits through the rotor coils as the brushes cross the insulating gaps between
commutator sections. Depending on the commutator design, this may include the brushes shorting together adjacent sections and hence coil ends momentarily while
crossing the gaps. Furthermore, the inductance of the rotor coils causes the voltage across each to rise when its
circuit is opened, increasing the sparking of the brushes.
This sparking limits the maximum speed of the machine,
as too-rapid sparking will overheat, erode, or even melt
the commutator. The current density per unit area of the
brushes, in combination with their resistivity, limits the
output of the motor. The making and breaking of electric contact also generates electrical noise; sparking generates RFI. Brushes eventually wear out and require replacement, and the commutator itself is subject to wear
and maintenance (on larger motors) or replacement (on
small motors). The commutator assembly on a large motor is a costly element, requiring precision assembly of
many parts. On small motors, the commutator is usually
permanently integrated into the rotor, so replacing it usually requires replacing the whole rotor.

Armature circuit - A winding where the load current is carried, such that can be either stationary or
rotating part of motor or generator.
Field circuit - A set of windings that produces a magnetic eld so that the electromagnetic induction can
take place in electric machines.
Commutation: A mechanical technique in which
rectication can be achieved, or from which DC can
be derived, in DC machines.

A: shunt B: series C: compound f = eld coil

There are ve types of brushed DC motor:

DC shunt-wound motor
DC series-wound motor
DC compound motor (two congurations):
Cumulative compound
Dierentially compounded
PM DC motor (not shown)
Separately excited (not shown).
5.1.2 Permanent magnet DC motor
Main article: Permanent-magnet electric motor

f1

f2

5.2

Electronic commutator (EC) motor

A PM motor does not have a eld winding on the sta- have several advantages over conventional motors:
tor frame, instead relying on PMs to provide the magnetic eld against which the rotor eld interacts to pro Compared to AC fans using shaded-pole motors,
duce torque. Compensating windings in series with the
they are very ecient, running much cooler than the
armature may be used on large motors to improve comequivalent AC motors. This cool operation leads to
mutation under load. Because this eld is xed, it cannot
much-improved life of the fans bearings.
be adjusted for speed control. PM elds (stators) are con Without a commutator to wear out, the life of a
venient in miniature motors to eliminate the power conBLDC motor can be signicantly longer compared
sumption of the eld winding. Most larger DC motors are
to a DC motor using brushes and a commutator.
of the dynamo type, which have stator windings. HisCommutation also tends to cause a great deal of
torically, PMs could not be made to retain high ux if they
electrical and RF noise; without a commutator or
were disassembled; eld windings were more practical to
brushes, a BLDC motor may be used in electrically
obtain the needed amount of ux. However, large PMs
sensitive devices like audio equipment or computare costly, as well as dangerous and dicult to assemble;
ers.
this favors wound elds for large machines.
To minimize overall weight and size, miniature PM motors may use high energy magnets made with neodymium
or other strategic elements; most such are neodymiumiron-boron alloy. With their higher ux density, electric
machines with high-energy PMs are at least competitive
with all optimally designed singly fed synchronous and
induction electric machines. Miniature motors resemble
the structure in the illustration, except that they have at
least three rotor poles (to ensure starting, regardless of
rotor position) and their outer housing is a steel tube that
magnetically links the exteriors of the curved eld magnets.

5.2
5.2.1

Electronic commutator (EC) motor

Brushless DC motor

Main article: Brushless DC electric motor

Some of the problems of the brushed DC motor are eliminated in the BLDC design. In this motor, the mechanical
rotating switch or commutator is replaced by an external electronic switch synchronised to the rotors position.
BLDC motors are typically 8590% ecient or more.
Eciency for a BLDC motor of up to 96.5% have been
reported,[64] whereas DC motors with brushgear are typically 7580% ecient.
The BLDC motors characteristic trapezoidal back-emf
waveform is derived partly from the stator windings being evenly distributed, and partly from the placement of
the rotors PMs. Also known as electronically commutated DC or inside out DC motors, the stator windings of
trapezoidal BLDC motors can be with single-phase, twophase or three-phase and use Hall eect sensors mounted
on their windings for rotor position sensing and low cost
closed-loop control of the electronic commutator.

The same Hall eect sensors that provide the commutation can also provide a convenient tachometer
signal for closed-loop control (servo-controlled) applications. In fans, the tachometer signal can be used
to derive a fan OK signal as well as provide running speed feedback.
The motor can be easily synchronized to an internal
or external clock, leading to precise speed control.
BLDC motors have no chance of sparking, unlike
brushed motors, making them better suited to environments with volatile chemicals and fuels. Also,
sparking generates ozone which can accumulate in
poorly ventilated buildings risking harm to occupants health.
BLDC motors are usually used in small equipment
such as computers and are generally used in fans to
get rid of unwanted heat.
They are also acoustically very quiet motors which
is an advantage if being used in equipment that is
aected by vibrations.
Modern BLDC motors range in power from a fraction
of a watt to many kilowatts. Larger BLDC motors up
to about 100 kW rating are used in electric vehicles.
They also nd signicant use in high-performance electric model aircraft.
5.2.2 Switched reluctance motor
Main article: Switched reluctance motor

The SRM has no brushes or PMs, and the rotor has no

electric currents. Instead, torque comes from a slight misalignment of poles on the rotor with poles on the stator.
BLDC motors are commonly used where precise speed The rotor aligns itself with the magnetic eld of the stacontrol is necessary, as in computer disk drives or in tor, while the stator eld stator windings are sequentially
video cassette recorders, the spindles within CD, CD- energized to rotate the stator eld.
ROM (etc.) drives, and mechanisms within oce prod- The magnetic ux created by the eld windings follows
ucts such as fans, laser printers and photocopiers. They the path of least magnetic reluctance, meaning the ux

EXTERNALLY COMMUTATED AC MACHINE

universal motor can operate well on AC because the current in both the eld and the armature coils (and hence the
resultant magnetic elds) will alternate (reverse polarity)
in synchronism, and hence the resulting mechanical force
will occur in a constant direction of rotation.
Operating at normal power line frequencies, universal
motors are often found in a range less than 1000 watts.
Universal motors also formed the basis of the traditional
railway traction motor in electric railways. In this application, the use of AC to power a motor originally designed to run on DC would lead to eciency losses due to
eddy current heating of their magnetic components, particularly the motor eld pole-pieces that, for DC, would
have used solid (un-laminated) iron and they are now
rarely used.

6/4 pole switched reluctance motor

will ow through poles of the rotor that are closest to the

energized poles of the stator, thereby magnetizing those
poles of the rotor and creating torque. As the rotor turns,
dierent windings will be energized, keeping the rotor
turning.
SRMs are now being used in some appliances.[65]

5.3

Universal AC-DC motor

Main article: Universal motor

A commutated electrically excited series or parallel

An advantage of the universal motor is that AC supplies

may be used on motors which have some characteristics
more common in DC motors, specically high starting
torque and very compact design if high running speeds are
used. The negative aspect is the maintenance and short
life problems caused by the commutator. Such motors are
used in devices such as food mixers and power tools which
are used only intermittently, and often have high startingtorque demands. Multiple taps on the eld coil provide
(imprecise) stepped speed control. Household blenders
that advertise many speeds frequently combine a eld coil
with several taps and a diode that can be inserted in series
with the motor (causing the motor to run on half-wave
rectied AC). Universal motors also lend themselves to
electronic speed control and, as such, are an ideal choice
for devices like domestic washing machines. The motor
can be used to agitate the drum (both forwards and in
reverse) by switching the eld winding with respect to the
armature.
Whereas SCIMs cannot turn a shaft faster than allowed
by the power line frequency, universal motors can run at
much higher speeds. This makes them useful for appliances such as blenders, vacuum cleaners, and hair dryers
where high speed and light weight are desirable. They
are also commonly used in portable power tools, such
as drills, sanders, circular and jig saws, where the motors characteristics work well. Many vacuum cleaner and
weed trimmer motors exceed 10,000 rpm, while many
similar miniature grinders exceed 30,000 rpm.

Modern low-cost universal motor, from a vacuum cleaner. Field

windings are dark copper-colored, toward the back, on both
sides. The rotors laminated core is gray metallic, with dark slots
for winding the coils. The commutator (partly hidden) has become dark from use; it is toward the front. The large brown
molded-plastic piece in the foreground supports the brush guides
and brushes (both sides), as well as the front motor bearing.

6 Externally commutated AC machine

Main article: AC motor

The design of AC induction and synchronous motors is

optimized for operation on single-phase or polyphase siwound motor is referred to as a universal motor because it nusoidal or quasi-sinusoidal waveform power such as supcan be designed to operate on both AC and DC power. A plied for xed-speed application from the AC power grid

6.1

Induction motor

or for variable-speed application from VFD controllers.

An AC motor has two parts: a stationary stator having
coils supplied with AC to produce a rotating magnetic
eld, and a rotor attached to the output shaft that is given
a torque by the rotating eld.

6.1

9
Motor speed can be changed because the torque curve of
the motor is eectively modied by the amount of resistance connected to the rotor circuit. Increasing the value
of resistance will move the speed of maximum torque
down. If the resistance connected to the rotor is increased
beyond the point where the maximum torque occurs at
zero speed, the torque will be further reduced.

Induction motor

When used with a load that has a torque curve that increases with speed, the motor will operate at the speed
Main article: Induction motor
where the torque developed by the motor is equal to the
load torque. Reducing the load will cause the motor to
speed up, and increasing the load will cause the motor
to slow down until the load and motor torque are equal.
6.1.1 Cage and wound rotor induction motor
Operated in this manner, the slip losses are dissipated in
the secondary resistors and can be very signicant. The
An induction motor is an asynchronous AC motor where
speed regulation and net eciency is also very poor.
power is transferred to the rotor by electromagnetic induction, much like transformer action. An induction motor resembles a rotating transformer, because the stator
(stationary part) is essentially the primary side of the
transformer and the rotor (rotating part) is the secondary
side. Polyphase induction motors are widely used in in6.1.2 Torque motor
dustry.
Induction motors may be further divided into Squirrel
Cage Induction Motors and Wound Rotor Induction Motors. SCIMs have a heavy winding made up of solid bars,
usually aluminum or copper, joined by rings at the ends of
the rotor. When one considers only the bars and rings as
a whole, they are much like an animals rotating exercise
cage, hence the name.

Main article: Torque motor

A torque motor is a specialized form of electric motor

which can operate indenitely while stalled, that is, with
the rotor blocked from turning, without incurring damage. In this mode of operation, the motor will apply a
Currents induced into this winding provide the rotor mag- steady torque to the load (hence the name).
netic eld. The shape of the rotor bars determines the A common application of a torque motor would be the
speed-torque characteristics. At low speeds, the current supply- and take-up reel motors in a tape drive. In this
induced in the squirrel cage is nearly at line frequency application, driven from a low voltage, the characteristics
and tends to be in the outer parts of the rotor cage. As of these motors allow a relatively constant light tension
the motor accelerates, the slip frequency becomes lower, to be applied to the tape whether or not the capstan is
and more current is in the interior of the winding. By
feeding tape past the tape heads. Driven from a higher
shaping the bars to change the resistance of the winding voltage, (and so delivering a higher torque), the torque
portions in the interior and outer parts of the cage, eecmotors can also achieve fast-forward and rewind operatively a variable resistance is inserted in the rotor circuit. tion without requiring any additional mechanics such as
However, the majority of such motors have uniform bars.
gears or clutches. In the computer gaming world, torque
In a WRIM, the rotor winding is made of many turns of motors are used in force feedback steering wheels.
insulated wire and is connected to slip rings on the motor Another common application is the control of the throtshaft. An external resistor or other control devices can be tle of an internal combustion engine in conjunction with
connected in the rotor circuit. Resistors allow control of an electronic governor. In this usage, the motor works
the motor speed, although signicant power is dissipated against a return spring to move the throttle in accordance
in the external resistance. A converter can be fed from with the output of the governor. The latter monitors enthe rotor circuit and return the slip-frequency power that gine speed by counting electrical pulses from the ignition
would otherwise be wasted back into the power system system or from a magnetic pickup and, depending on the
through an inverter or separate motor-generator.
speed, makes small adjustments to the amount of current
The WRIM is used primarily to start a high inertia load
or a load that requires a very high starting torque across
the full speed range. By correctly selecting the resistors
used in the secondary resistance or slip ring starter, the
motor is able to produce maximum torque at a relatively
low supply current from zero speed to full speed. This
type of motor also oers controllable speed.

applied to the motor. If the engine starts to slow down relative to the desired speed, the current will be increased,
the motor will develop more torque, pulling against the
return spring and opening the throttle. Should the engine
run too fast, the governor will reduce the current being applied to the motor, causing the return spring to pull back
and close the throttle.

10

6.2

7 SPECIAL MAGNETIC MOTORS

Synchronous motor

A doubly fed motor allows for a smaller electronic converter but the cost of the rotor winding and slip rings
Main article: Synchronous motor
may oset the saving in the power electronics components. Diculties with controlling speed near syn[66]
A synchronous electric motor is an AC motor distin- chronous speed limit applications.
guished by a rotor spinning with coils passing magnets
at the same rate as the AC and resulting magnetic eld
which drives it. Another way of saying this is that it 7 Special magnetic motors
has zero slip under usual operating conditions. Contrast
this with an induction motor, which must slip to produce 7.1 Rotary
torque. One type of synchronous motor is like an induction motor except the rotor is excited by a DC eld. Slip 7.1.1 Ironless or coreless rotor motor
rings and brushes are used to conduct current to the rotor. The rotor poles connect to each other and move at
the same speed hence the name synchronous motor. Another type, for low load torque, has ats ground onto a
conventional squirrel-cage rotor to create discrete poles.
Yet another, such as made by Hammond for its pre-World
War II clocks, and in the older Hammond organs, has no
rotor windings and discrete poles. It is not self-starting.
The clock requires manual starting by a small knob on the
back, while the older Hammond organs had an auxiliary
starting motor connected by a spring-loaded manually operated switch.
Finally, hysteresis synchronous motors typically are (essentially) two-phase motors with a phase-shifting capacitor for one phase. They start like induction motors,
but when slip rate decreases suciently, the rotor (a
smooth cylinder) becomes temporarily magnetized. Its
distributed poles make it act like a PMSM. The rotor material, like that of a common nail, will stay magnetized,
but can also be demagnetized with little diculty. Once
running, the rotor poles stay in place; they do not drift.
Low-power synchronous timing motors (such as those for
traditional electric clocks) may have multi-pole PM external cup rotors, and use shading coils to provide starting torque. Telechron clock motors have shaded poles for
starting torque, and a two-spoke ring rotor that performs
like a discrete two-pole rotor.

6.3

Doubly fed electric machine

Main article: Doubly fed electric machine

Doubly fed electric motors have two independent multiphase winding sets, which contribute active (i.e., working) power to the energy conversion process, with at least
one of the winding sets electronically controlled for variable speed operation. Two independent multiphase winding sets (i.e., dual armature) are the maximum provided
in a single package without topology duplication. Doubly
fed electric motors are machines with an eective constant torque speed range that is twice synchronous speed
for a given frequency of excitation. This is twice the constant torque speed range as singly fed electric machines,
which have only one active winding set.

A Miniature Coreless Motor

Nothing in the principle of any of the motors described

above requires that the iron (steel) portions of the rotor
actually rotate. If the soft magnetic material of the rotor
is made in the form of a cylinder, then (except for the
eect of hysteresis) torque is exerted only on the windings of the electromagnets. Taking advantage of this fact
is the coreless or ironless DC motor, a specialized form
of a PM DC motor.[62] Optimized for rapid acceleration,
these motors have a rotor that is constructed without any
iron core. The rotor can take the form of a winding-lled
cylinder, or a self-supporting structure comprising only
the magnet wire and the bonding material. The rotor can
t inside the stator magnets; a magnetically soft stationary cylinder inside the rotor provides a return path for the
stator magnetic ux. A second arrangement has the rotor
winding basket surrounding the stator magnets. In that
design, the rotor ts inside a magnetically soft cylinder
that can serve as the housing for the motor, and likewise
provides a return path for the ux.
Because the rotor is much lighter in weight (mass) than a
conventional rotor formed from copper windings on steel
laminations, the rotor can accelerate much more rapidly,
often achieving a mechanical time constant under one
ms. This is especially true if the windings use aluminum
rather than the heavier copper. But because there is no
metal mass in the rotor to act as a heat sink, even small
coreless motors must often be cooled by forced air. Over-

7.1

Rotary

11

heating might be an issue for coreless DC motor designs. stan(s) of magnetic tape drives in the burgeoning comAmong these types are the disc-rotor types, described in puter industry, where minimal time to reach operating
speed and minimal stopping distance were critical. Panmore detail in the next section.
cake motors are still widely used in high-performance
Vibrator motors for cellular phones are sometimes tiny servo-controlled systems, robotic systems, industrial aucylindrical PM eld types, but there are also disc-shaped tomation and medical devices. Due to the variety of contypes which have a thin multipolar disc eld magnet, and structions now available, the technology is used in applian intentionally unbalanced molded-plastic rotor struc- cations from high temperature military to low cost pump
ture with two bonded coreless coils. Metal brushes and and basic servos.
a at commutator switch power to the rotor coils.
Related limited-travel actuators have no core and a
bonded coil placed between the poles of high-ux thin
PMs. These are the fast head positioners for rigid-disk
(hard disk) drives. Although the contemporary design diers considerably from that of loudspeakers, it is
still loosely (and incorrectly) referred to as a voice coil
structure, because some earlier rigid-disk-drive heads
moved in straight lines, and had a drive structure much
like that of a loudspeaker.
7.1.2

Pancake or axial rotor motor

A rather unusual motor design, the printed armature or

pancake motor has the windings shaped as a disc running
between arrays of high-ux magnets. The magnets are arranged in a circle facing the rotor with space in between to
form an axial air gap.[67] This design is commonly known
as the pancake motor because of its extremely at prole,
although the technology has had many brand names since
its inception, such as ServoDisc.

7.1.3 Servo motor

Main article: Servo motor
A servomotor is a motor, very often sold as a complete
module, which is used within a position-control or speedcontrol feedback control system mainly control valves,
such as motor operated control valves. Servomotors are
used in applications such as machine tools, pen plotters,
and other process systems. Motors intended for use in a
servomechanism must have well-documented characteristics for speed, torque, and power. The speed vs. torque
curve is quite important and is high ratio for a servo motor. Dynamic response characteristics such as winding
inductance and rotor inertia are also important; these factors limit the overall performance of the servomechanism loop. Large, powerful, but slow-responding servo
loops may use conventional AC or DC motors and drive
systems with position or speed feedback on the motor.
As dynamic response requirements increase, more specialized motor designs such as coreless motors are used.
AC motors superior power density and acceleration characteristics compared to that of DC motors tends to favor PM synchronous, BLDC, induction, and SRM drive
applications.[67]

The printed armature (originally formed on a printed circuit board) in a printed armature motor is made from
punched copper sheets that are laminated together using advanced composites to form a thin rigid disc. The
printed armature has a unique construction in the brushed
motor world in that it does not have a separate ring com- A servo system diers from some stepper motor applicamutator. The brushes run directly on the armature surface tions in that the position feedback is continuous while the
making the whole design very compact.
motor is running; a stepper system relies on the motor not
An alternative manufacturing method is to use wound to miss steps for short term accuracy, although a stepcopper wire laid at with a central conventional com- per system may include a home switch or other element
mutator, in a ower and petal shape. The windings are to provide long-term stability of control.[68] For instance,
typically stabilized by being impregnated with electrical when a typical dot matrix computer printer starts up, its
epoxy potting systems. These are lled epoxies that have controller makes the print head stepper motor drive to its
moderate mixed viscosity and a long gel time. They are left-hand limit, where a position sensor denes home pohighlighted by low shrinkage and low exotherm, and are sition and stops stepping. As long as power is on, a biditypically UL 1446 recognized as a potting compound in- rectional counter in the printers microprocessor keeps
track of print-head position.
sulated with 180 C, Class H rating.
The unique advantage of ironless DC motors is that there
is no cogging (torque variations caused by changing attraction between the iron and the magnets). Parasitic
eddy currents cannot form in the rotor as it is totally ironless, although iron rotors are laminated. This can greatly
improve eciency, but variable-speed controllers must
use a higher switching rate (>40 kHz) or DC because of
the decreased electromagnetic induction.

7.1.4 Stepper motor

Main article: Stepper motor

Stepper motors are a type of motor frequently used when
precise rotations are required. In a stepper motor an internal rotor containing PMs or a magnetically soft rotor with
salient poles is controlled by a set of external magnets that
These motors were originally invented to drive the cap- are switched electronically. A stepper motor may also be

12

A stepper motor with a soft iron rotor, with active windings

shown. In 'A' the active windings tend to hold the rotor in position. In 'B' a dierent set of windings are carrying a current,
which generates torque and rotation.

thought of as a cross between a DC electric motor and

a rotary solenoid. As each coil is energized in turn, the
rotor aligns itself with the magnetic eld produced by the
energized eld winding. Unlike a synchronous motor, in
its application, the stepper motor may not rotate continuously; instead, it stepsstarts and then quickly stops
againfrom one position to the next as eld windings are
energized and de-energized in sequence. Depending on
the sequence, the rotor may turn forwards or backwards,
and it may change direction, stop, speed up or slow down
arbitrarily at any time.
Simple stepper motor drivers entirely energize or entirely de-energize the eld windings, leading the rotor to
cog to a limited number of positions; more sophisticated drivers can proportionally control the power to the
eld windings, allowing the rotors to position between the
cog points and thereby rotate extremely smoothly. This
mode of operation is often called microstepping. Computer controlled stepper motors are one of the most versatile forms of positioning systems, particularly when part
of a digital servo-controlled system.

ELECTROMAGNETISM

dicular to the magnetic lines of force.)

Stepper motors were and still are often used in computer printers, optical scanners, and digital photocopiers
to move the optical scanning element, the print head carriage (of dot matrix and inkjet printers), and the platen
or feed rollers. Likewise, many computer plotters (which
since the early 1990s have been replaced with largeformat inkjet and laser printers) used rotary stepper motors for pen and platen movement; the typical alternatives
here were either linear stepper motors or servomotors
with closed-loop analog control systems.
So-called quartz analog wristwatches contain the smallest
commonplace stepping motors; they have one coil, draw
very little power, and have a PM rotor. The same kind
of motor drives battery-powered quartz clocks. Some of
these watches, such as chronographs, contain more than
one stepping motor.
Closely related in design to three-phase AC synchronous
motors, stepper motors and SRMs are classied as variable reluctance motor type.[69] Stepper motors were and
still are often used in computer printers, optical scanners,
and computer numerical control (CNC) machines such as
routers, plasma cutters and CNC lathes.

7.2 Linear motor

Main article: Linear motor
A linear motor is essentially any electric motor that has
been unrolled so that, instead of producing a torque (rotation), it produces a straight-line force along its length.

Linear motors are most commonly induction motors or

stepper motors. Linear motors are commonly found in
many roller-coasters where the rapid motion of the motorless railcar is controlled by the rail. They are also used
in maglev trains, where the train ies over the ground.
Stepper motors can be rotated to a specic angle in On a smaller scale, the 1978 era HP 7225A pen plotter
stepper motors to move the pen along the
discrete steps with ease, and hence stepper motors are used two linear[70]
X
and
Y
axes.
used for read/write head positioning in computer oppy
diskette drives. They were used for the same purpose in
pre-gigabyte era computer disk drives, where the precision and speed they oered was adequate for the correct 8 Comparison by major categories
positioning of the read/write head of a hard disk drive.
As drive density increased, the precision and speed limitations of stepper motors made them obsolete for hard 9 Electromagnetism
drivesthe precision limitation made them unusable,
and the speed limitation made them uncompetitivethus
9.1 Force and torque
newer hard disk drives use voice coil-based head actuator systems. (The term voice coil in this connection is
historic; it refers to the structure in a typical (cone type) The fundamental purpose of the vast majority of the
loudspeaker. This structure was used for a while to posi- worlds electric motors is to electromagnetically induce
tion the heads. Modern drives have a pivoted coil mount; relative movement in an air gap between a stator and rothe coil swings back and forth, something like a blade of tor to produce useful torque or linear force.
a rotating fan. Nevertheless, like a voice coil, modern According Lorentz force law the force of a winding conactuator coil conductors (the magnet wire) move perpen- ductor can be given simply by:

9.4

Losses

13

induced in them. This voltage tends to oppose the motor supply voltage and so is called "back electromotive
F = I B
force (emf)". The voltage is proportional to the running
speed of the motor. The back emf of the motor, plus the
or more generally, to handle conductors with any geom- voltage drop across the winding internal resistance and
etry:
brushes, must equal the voltage at the brushes. This provides the fundamental mechanism of speed regulation in
a DC motor. If the mechanical load increases, the motor
F=JB
slows down; a lower back emf results, and more current is
drawn from the supply. This increased current provides
The most general approaches to calculating the forces in the additional torque to balance the new load.[81]
motors use tensors.[79]
In AC machines, it is sometimes useful to consider a back
emf source within the machine; this is of particular concern for close speed regulation of induction motors on
9.2 Power
VFDs, for example.[81]
Where rpm is shaft speed and T is torque, a motors mechanical power output P is given by,[80]
in British units with T expressed in foot-pounds,

Pem =

9.4 Losses
Motor losses are mainly due to resistive losses in windings, core losses and mechanical losses in bearings, and
aerodynamic losses, particularly where cooling fans are
present, also occur.

rpm T
5252

in SI units with shaft speed expressed in radians per sec- Losses also occur in commutation, mechanical commutaond, and T expressed in newton-meters,
tors spark, and electronic commutators and also dissipate
heat.
Pem = speed T

9.5 Eciency

For a linear motor, with force F expressed in newtons and

To calculate a motors eciency, the mechanical output
velocity v expressed in meters per second,
power is divided by the electrical input power:
Pem = F v
=

Pm
Pe

In an asynchronous or induction motor, the relationship

between motor speed and air gap power is, neglecting skin
where is energy conversion eciency, Pe is electrical
eect, given by the following:
input power, and Pm is mechanical output power:
Pairgap =

Rr
s

Ir2 , where

R - rotor resistance
I2 - square of current induced in
the rotor
s - motor slip; ie, dierence between synchronous speed and slip
speed, which provides the relative
movement needed for current induction in the rotor.

9.3

Back emf

Main article: Electromotive force

Pe = IV
Pm = T
where V is input voltage, I is input current, T is output
torque, and is output angular velocity. It is possible to
derive analytically the point of maximum eciency. It is
typically at less than 1/2 the stall torque.
Various regulatory authorities in many countries have introduced and implemented legislation to encourage the
manufacture and use of higher eciency electric motors.

9.6 Goodness factor

Since the armature windings of a direct-current motor Main article: Goodness factor
are moving through a magnetic eld, they have a voltage

14

10

PERFORMANCE PARAMETERS

Professor Eric Laithwaite[82] proposed a metric to de- Capacity for bursts of torque should not be confused
termine the 'goodness of an electric motor:[83] G = with eld weakening capability. Field weakening allows
Am Ae

an electric machine to operate beyond the designed freresistancereluctance =

lm le
quency of excitation. Field weakening is done when the
Where:
maximum speed cannot be reached by increasing the applied voltage. This applies to only motors with current
controlled elds and therefore cannot be achieved with
G
PM motors.
Electric machines without a transformer circuit topology,
such as that of WRSMs or PMSMs, cannot realize bursts
of torque higher than the maximum designed torque withlm , le
out saturating the magnetic core and rendering any in
crease in current as useless. Furthermore, the PM assembly of PMSMs can be irreparably damaged, if bursts of

torque exceeding the maximum operating torque rating

From this, he showed that the most ecient motors are are attempted.
likely to have relatively large magnetic poles. However, Electric machines with a transformer circuit topology,
the equation only directly relates to non PM motors.
such as induction machines, induction doubly fed electric machines, and induction or synchronous wound-rotor
doubly fed (WRDF) machines, exhibit very high bursts of
torque because the emf-induced active current on either
10 Performance parameters
side of the transformer oppose each other and thus contribute nothing to the transformer coupled magnetic core
10.1 Torque capability of motor types
ux density, which would otherwise lead to core saturation.
All the electromagnetic motors, and that includes the
types mentioned here derive the torque from the vec- Electric machines that rely on induction or asynchronous
tor product of the interacting elds. For calculating the principles short-circuit one port of the transformer circuit
torque it is necessary to know the elds in the air gap . and as a result, the reactive impedance of the transformer
Once these have been established by mathematical anyl- circuit becomes dominant as slip increases, which limits
ysis using FEA or other tools the torque may be calcu- the magnitude of active (i.e., real) current. Still, bursts of
lated as the integral of all the vectors of force multiplied torque that are two to three times higher than the maxiby the radius of each vector. The current owing in the mum design torque are realizable.
windings is producing the elds and for a motor using The brushless wound-rotor synchronous doubly fed
a magnetic material the eld is not linearilly proprtional (BWRSDF) machine is the only electric machine with
to the current. This makes the calculation dicult but a truly dual ported transformer circuit topology (i.e.,
a computer can do the many calculations needed. Once both ports independently excited with no short-circuited
this is done a gure relating the current to the torque can port).[84] The dual ported transformer circuit topology is
be used as a useful parameter for motor selection. The known to be unstable and requires a multiphase slip-ringmaximum torque for a motor will depend on the max- brush assembly to propagate limited power to the rotor
imum current although this will usually be .only usable winding set. If a precision means were available to instanuntil thermal considerations take precedence. When op- taneously control torque angle and slip for synchronous
timally designed within a given core saturation constraint operation during motoring or generating while simultaneand for a given active current (i.e., torque current), volt- ously providing brushless power to the rotor winding set,
age, pole-pair number, excitation frequency (i.e., syn- the active current of the BWRSDF machine would be inchronous speed), and air-gap ux density, all categories dependent of the reactive impedance of the transformer
of electric motors or generators will exhibit virtually the circuit and bursts of torque signicantly higher than the
same maximum continuous shaft torque (i.e., operating maximum operating torque and far beyond the practical
torque) within a given air-gap area with winding slots and capability of any other type of electric machine would be
back-iron depth, which determines the physical size of realizable. Torque bursts greater than eight times operatelectromagnetic core. Some applications require bursts ing torque have been calculated.
of torque beyond the maximum operating torque, such
as short bursts of torque to accelerate an electric vehicle
from standstill. Always limited by magnetic core satura- 10.2 Continuous torque density
tion or safe operating temperature rise and voltage, the
capacity for torque bursts beyond the maximum oper- The continuous torque density of conventional electric
ating torque diers signicantly between categories of machines is determined by the size of the air-gap area and
electric motors or generators.
the back-iron depth, which are determined by the power
Am , Ae

15
rating of the armature winding set, the speed of the machine, and the achievable air-gap ux density before core
saturation. Despite the high coercivity of neodymium or
samarium-cobalt PMs, continuous torque density is virtually the same amongst electric machines with optimally
designed armature winding sets. Continuous torque density relates to method of cooling and permissible period
of operation before destruction by overheating of windings or PM damage.

10.3

Continuous power density

The continuous power density is determined by the product of the continuous torque density and the constant
torque speed range of the electric machine.

whereby the material produces acoustic or ultrasonic vibrations in order to produce a linear or rotary motion. In
one mechanism, the elongation in a single plane is used
to make a series stretches and position holds, similar to
the way a caterpillar moves.
An electrically powered spacecraft propulsion system
uses electric motor technology to propel spacecraft in
outer space, most systems being based on electrically
powering propellant to high speed, with some systems being based on electrodynamic tethers principles of propulsion to the magnetosphere.[85]

13 See also
Electric generator

11

Standards

The following are major design and manufacturing standards covering electric motors:
International Electrotechnical Commission: IEC
60034 Rotating Electrical Machines
National Electrical Manufacturers Association:
MG-1 Motors and Generators
Underwriters Laboratories: UL 1004 - Standard for
Electric Motors

12

Non-magnetic motors

Main articles: Electrostatic motor, Piezoelectric motor

and Electrically powered spacecraft propulsion
An electrostatic motor is based on the attraction and repulsion of electric charge. Usually, electrostatic motors
are the dual of conventional coil-based motors. They
typically require a high voltage power supply, although
very small motors employ lower voltages. Conventional
electric motors instead employ magnetic attraction and
repulsion, and require high current at low voltages. In
the 1750s, the rst electrostatic motors were developed
by Benjamin Franklin and Andrew Gordon. Today the
electrostatic motor nds frequent use in micro-electromechanical systems (MEMS) where their drive voltages
are below 100 volts, and where moving, charged plates
are far easier to fabricate than coils and iron cores. Also,
the molecular machinery which runs living cells is often
based on linear and rotary electrostatic motors.
A piezoelectric motor or piezo motor is a type of electric
motor based upon the change in shape of a piezoelectric
material when an electric eld is applied. Piezoelectric motors make use of the converse piezoelectric eect

Goodness factor
Motor capacitor

14 Notes
[1] Ganot provides a superb illustration of one such early electric motor designed by Froment.[17]
[2] The term 'electronic commutator motor' (ECM) is identied with the heating, ventilation and air-conditioning
(HVAC) industry, the distinction between BLDC and
BLAC being in this context seen as a function of degree
of ECM drive complexity with BLDC drives typically
being with simple single-phase scalar-controlled voltageregulated trapezoidal current waveform output involving
surface PM motor construction and BLAC drives tending towards more complex three-phase vector-controlled
current-regulated sinusoidal waveform involving interior
PM motor construction.[59]
[3] The universal and repulsion motors are part of a
class of motors known as AC commutator motors,
which also includes the following now largely obsolete motor types: Single-phase - straight and compensated series motors, railway motor; three-phase - various repulsion motor types, brush-shifting series motor,
brush-shifting polyphase shunt or Schrage motor, FynnWeichsel motor.[60]

15 References
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Quarterly Journal of Science, Literature and the Arts
(Royal Institution of Great Britain) XII: 7496 (IX). Retrieved 12 February 2013.
[2] Tom McInally, The Sixth Scottish University. The Scots
Colleges Abroad: 1575 to 1799 (Brill, Leiden, 2012) p.
115

16

[3] The Development of the Electric Motor,. Early Electric

Motors. SparkMuseum. Retrieved 12 February 2013.
[4] The rst dinamo?". travelhungary.com. Retrieved 12
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[5] Guillemin, Amde; 'Le Magntisme et l'lectricite'
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[6] Heller, Augustus (April 1896).
Anianus JedNature (Norman Lockyer) 53 (1379): 516.
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[7] Blundel, Stephen J. (2012). Magnetism A Very Short Introduction. Oxford University Press. p. 36. ISBN 978-019-960120-2.
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[9] Elektrische Chronologie. Elektrisiermaschinen im 18.
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[10] History of Batteries (inter alia)". Electropaedia. June 9,
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[14] Nye, David E. (1990). Electrifying America: Social Meanings of a New Technology. The MIT Press. ISBN 978-0262-64030-5.
[15] Exhibition on the History of Hungarian Science. Retrieved 13 February 2013.

15

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[22] Baily, Walter (June 28, 1879). A Mode of Producing
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18

EXTERNAL LINKS

16 Bibliography
Fink, Donald G.; Beaty, H. Wayne, Standard Handbook for Electrical Engineers, '14th ed., McGrawHill, 1999, ISBN 0-07-022005-0.
Houston, Edwin J.; Kennelly, Arthur, Recent Types
of Dynamo-Electric Machinery, American Technical Book Company 1897, published by P.F. Collier
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Rosenblatt, Jack; Friedman, M. Harold, Direct and
Alternating Current Machinery, 2nd ed., McGrawHill, 1963

17 Further reading
Bedford, B.D.; Hoft, R.G. (1964). Principles of Inverter Circuits. New York: Wiley. ISBN 0-47106134-4.
Bose, Bimal K. (2006). Power Electronics and Motor Drives : Advances and Trends. Academic Press.
ISBN 978-0-12-088405-6.
Chiasson, John (2005).
Modeling and HighPerformance Control of Electric Machines (Online
ed.). Wiley. ISBN 0-471-68449-X.
Fitzgerald, A.E.; Kingsley, Charles , Jr.; Umans,
Stephen D. (2003). Electric Machinery (6th ed.).
McGraw-Hill. pp. 688 pages. ISBN 978-0-07366009-7.
Pelly, B.R. (1971). Thyristor Phase-Controlled Converters and Cycloconverters : Operation, Control,
and Performance. Wiley-Interscience. ISBN 9780-471-67790-1.
Stlting, H. D.; Kallenbach, E.; Amrhein, W. (eds.)
(2008). Handbook of Fractional-Horsepower Drives
(Online ed.). Springer. ISBN 978-3-540-73128-3.

18 External links
SparkMuseum: Early Electric Motors
The Invention of the Electric Motor 1800 to 1893,
hosted by Karlsrushe Institute of Technologys Martin Doppelbauer
Electric Motors and Generators, a U. of NSW
Physclips multimedia resource
IEA 4E - Ecient Electrical End-Use Equipment.
iPES Rotating Magnetic Field, animation

19

19
19.1

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