2 Motors and Drives

2.
Motors and Drives

2.1. Introduction to Motors
In industrial plants, motors used for pumps, fans, compressors, refrigeration systems, and material handling systems account
for a significant portion of the total electricity consumption. In general, motors account for about 60% to 70% of the total
electricity consumption in most industrial plants.
Electrical motors are devices which convert electrical energy into mechanical work. They mainly consist of a stator (stationery
winding), rotor (rotating winding), enclosure, and mechanical bearings. Motors operate on the principle that "like" poles
(north–north or south–south) of magnets repel, while opposite poles (north–south) attract.
When a current carrying conductor is placed in a magnetic field, a magnetic field is produced around the conductor and a
force is exerted, as shown in Fig. 2.1. The direction of the force, from "Fleming's right-hand rule," states that when the thumb
and the first two fingers of the right hand are placed at right angles to each other and the forefinger is placed in the direction
of the magnetic field, the second finger points in the direction of the current and the thumb points in the direction of the force.
Figure 2.1 Direction of the force on a current-carrying conductor in a magnetic field.
If the current carrying conductor is looped as shown in Fig. 2.2, upward and downward forces will be exerted on the opposite
sides of the loop, resulting in the rotation of the coil. In actual motors, the rotor consists of many coils of conductors to form
magnetic poles which interact with the stator poles to provide continuous torque.
Figure 2.2 Direction of forces on a current-carrying loop placed in a magnetic field.
The magnetic fields in the stator and rotor of motors are generated using electromagnets or permanent magnets. The main
types of motors used in industrial plants are AC (alternating current) induction motors, DC (direct current) motors, and
synchronous motors.
2.1.1. AC Induction Motors
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In AC induction motors, an AC current applied to the stator creates a magnetic field in the stator winding. When the
conductors of the rotor cut the lines of flux, a current is induced in the rotor, creating a magnetic field which opposes the
magnetic field in the stator, resulting in the rotation of the rotor. A typical AC motor is shown in Fig. 2.3.
Figure 2.3 AC induction motor (courtesy of ABB).
The most common type of rotor used in AC induction motors is "squirrel cage," which has aluminum or copper rotor bars joined
at the ends by end rings (Fig. 2.4). The rotating magnetic field in the stator induces a voltage in the rotor bars, which causes a
current to flow through them. The rotor currents then generate a magnetic field, which interacts with the field in the stator.
The torque developed by the rotor depends on the resistance of the rotor. A high resistance results in a high starting torque
and vice versa.
Figure 2.4 Squirrel cage rotor.
The other common type of rotor is the "wound rotor" where wires are wound into rotor slots and are connected to external
resistors through slip rings, as shown in Fig. 2.5. The resistors are variable and are used to alter the rotor resistance and
thereby vary motor speed and torque.
Figure 2.5 Arrangement of a wound rotor with slip rings.
Squirrel cage rotors are generally preferred due to lower cost, whereas wound rotor motors are used for applications which
require a higher starting torque and speed variation.
2.1.2. DC Motors
In DC motors, direct current is passed through a rotor wire placed between wound or permanent magnets of the stator. DC
current is supplied to the rotor (while it is rotating) through a set of contacts, called a commutator, which are in contact with
stationary conductors called brushes. The electricity flow through the rotor coil creates a magnetic field. The direction of the
flow of current is changed twice every cycle, which changes the polarity of the rotor electromagnet. The rotor magnetic field
interacts with the wound or permanent magnet of the stator, which makes the rotor spin. A typical DC motor is shown in Fig.
2.6.
Figure 2.6 Arrangement of a DC motor (courtesy of ABB).
DC motors are generally more expensive than AC induction motors because of the need for a commutator, brushes, and rotor
winding. They are generally used only for special applications such as lifts and cranes, which require precise speed and torque
control.
DC motors are generally classified as series wound, shunt wound, or compound wound, based on the connection between the
armature (rotor) and field (stator) winding.
2.1.2.1. Series Wound
In series-wound DC motors, current flows in series through both the field and the armature windings as shown in Fig. 2.7.
Such motors have low-resistance field and armature circuits.
Figure 2.7 Arrangement of series-wound DC motors.
When the starting voltage is applied, the high current in the winding results in a strong magnetic field and therefore a high
starting torque.
Series-wound DC motors are used for applications such as cranes and hoists, which have high starting loads. As the speed–
torque characteristic curve in Fig. 2.8 shows, when the torque increases, the motor speed drops. Therefore, this type of motor
cannot be used for applications which require constant speed operation under variable load conditions.
Figure 2.8 Speed–torque characteristic for series-wound DC motors.
2.1.2.2. Shunt Wound

In shunt-wound DC motors, the field and armature windings are connected in parallel as shown in Fig. 2.9. The shunt field
winding is made up of many more turns of a small-gauge wire to increase its resistance when compared to the series-field
winding. As a result, the current flow through the field winding is lower.
Figure 2.9 Arrangement of shunt-wound DC motors.
Since the power supply is connected directly to the field winding, the field current is constant and the torque developed by the
motor depends on the armature current. Therefore, at start-up, the torque is low but reaches its maximum at full speed. These
motors are used for applications such as conveyors where despite variations in torque, a relatively constant operating speed
is required. The speed-torque characteristic curve for a shunt-wound motor is shown in Fig. 2.10.
Figure 2.10 Speed–torque characteristic for shunt-wound DC motors.
2.1.2.3. Compound Wound

Compound-wound DC motors have a combination of series and parallel wound field windings. One shunt field is connected in
parallel with the armature, while the other is connected in series with the armature as shown in Fig. 2.11. The shunt field
provides the advantage of constant speed, while the series field provides the ability to develop a high starting torque. Such
motors can handle sudden increase in load without great change in speed. The speed-torque characteristic curve for a
compound-wound motor is shown in Fig. 2.12.
Figure 2.11 Arrangement of compound-wound DC motors.
Figure 2.12 Speed–torque characteristic for compound-wound DC motors.
2.1.3. Permanent-Magnet Motors

Permanent-magnet motors consist of a permanent magnet stator and a wound rotor as shown inFig. 2.13. The change in the
polarity of the magnetic field in the rotor is achieved by switching current between the coils using a commutator and brushes.
These motors have a good starting torque and lower motor losses.
Figure 2.13 Arrangement of permanent magnet DC motors.
2.1.4. Synchronous Motors

Synchronous motors have stator windings where an AC voltage is applied to produce a rotating magnetic field. A DC voltage is
supplied to the rotor via brushes to create a magnetic field, which interacts with the rotating magnetic field in the stator,
resulting in the rotation of the rotor. The arrangement and winding configuration of a synchronous motor are shown in Figs.
2.14 and 2.15. At steady state, the speed of the rotor is the same as the speed of the rotating magnetic field in the stator. As
the rotor does not rely on magnetic induction from the stator as in the case of AC induction motors, slip is not required to
produce torque. Therefore, motor speed is independent of load. Synchronous motors are used when a precise constant speed
is required.
Figure 2.14 Arrangement of a synchronous motor.
Figure 2.15 Arrangement of windings in a synchronous motor.
As synchronous motors are not self-starting, the rotor consists of a squirrel cage winding for starting as in induction motors
and wound field poles for operation at a synchronous speed. Since the rotor winding is excited by a DC supply, the field
excitation can be increased to provide a leading power factor (PF).
2.2. Speed of Motors
Speed of motors depends on the number of poles and frequency of the power supply and can be expressed as follows:
Example 2.1 Compute the synchronous speed for a four-pole motor operating on 50 Hz power supply.
Solution
2.3. Slip in Motors

The actual operating speed of induction motors is less than the synchronous speed. The difference is called "slip." If the rotor
rotates at the same speed as the stator magnetic field, the rotor conductors will appear to be "standing still" with respect to
the rotating field and no voltage will be induced in the rotor conductors (no current to produce torque). Normal-slip motors are
designed for a slip of about 5%. Motors with a high starting torque are designed for a slip of up to 20%.
Slip in motors can be expressed as follows:
Example 2.2 Compute the percentage of slip for a four-pole motor operating on 50 Hz power supply when the full-load motor speed is 1440
rpm.
Solution
Synchronous speed for a four-pole motor (from Example 2.1)
2.4. Motor Efficiency

Efficiency of a motor is a measure of how well it can convert the input power into useful work. Some devices such as electric
heaters can convert 100% of the power consumed into heat. However, in other devices such as motors, the total energy
consumed cannot be fully converted into usable energy as a certain portion is lost and is not recoverable, because it is
expended as losses associated with operating the device (Fig. 2.16). Therefore, it is necessary to provide more than 1 kW of
electrical power to produce 1 kW of mechanical output.
Figure 2.16 Definition of motor efficiency.
2.5. Losses in Motors

In motors, the energy that is lost is emitted in the form of heat. As shown in Fig. 2.17, motor losses can be categorized as
copper losses, iron (core) losses, friction and windage losses, and stray losses.
Figure 2.17 Losses in a typical motor.
The largest single loss in a motor is the resistance loss (I2R), which accounts for more than half of the losses. Resistance loss
occurs when current passes through the stator windings, rotor conductors, and end rings and is dissipated as heat.
The core losses are due to eddy currents and hysteresis. The magnetic field of the stator while inducing a voltage in the rotor
winding also induces a voltage in the iron core, resulting in current flows in the iron core (Fig. 2.18). These current flows are
called eddy currents and are dissipated as heat leading to losses. To minimize eddy current losses, the core is made up of
layers called laminations (sheets of steel) with insulation in between to confine eddy currents within each lamination (Fig.
2.19).
Figure 2.18 Eddy current in a solid iron core.
Figure 2.19 Eddy currents in a laminated iron core.
Hysteresis loss is due to residual magnetism in electromagnets. When a magnetic field is applied and later removed, the
magnetic flux density does not reach zero and a further magnetic field needs to be applied in the opposite direction to bring
the residual magnetism to zero. The path followed during the magnetization cycle is called the hysteresis loop. Materials that
have high magnetic retention are called "hard" magnetic materials, while those having lower magnetic retention are termed
"soft" magnetic materials. Typical hysteresis loops for "hard" and "soft" magnetic materials are shown in Fig. 2.20. When a
magnetic material is subjected to continuous cycling through this loop, energy is dissipated as heat. The thinner the
hysteresis loop, the lower the losses. For example, using silicon steel which is a "soft" magnetic material, the core losses can
be reduced by 10% to 25%.
Figure 2.20 Hysteresis loops for "hard" and "soft" magnetic materials.
Friction and windage losses are caused by bearing friction and air resistance (drag) of the motor cooling fans, respectively.
Other type of losses are stray losses which are mainly due to harmonic energy generated when the motor operates under load.
Losses in motors can also be categorized as load and no-load losses. Load losses are resistance losses and stray losses
which vary with load. No-load losses are core losses and friction and windage losses which remain constant regardless of the
load.
2.6. High-Efficiency Motors

The efficiency of motors depends on the size and normally ranges from about 78% to 93% for standard efficiency motors. In
addition to these standard motors, various premium-efficiency motors which operate at efficiency of about 3% to 7% higher
than the standard designs are also available.
In the USA, the National Electrical Manufacturers Association (NEMA) has set minimum ratings for standard- and premium-
efficiency motors. The NEMA premium-efficiency motors are much more efficient than standard-efficiency motors. They are
also more efficient than the EPACT (Energy Policy Act of 1992) compliant motors which are required to comply with ASHRAE
Standard 90.1, "Energy standard for buildings except low-rise residential buildings."
Similarly, the CEMEP (European Committee of Manufacturers of Electrical Machines and Power Electronics) and the European
Union (EU) have a motor efficiency classification: EFF1, EFF2, and EFF3 (EFF1 being the highest efficiency).
The International Electrotechnical Commission (IEC) also has introduced a new standard (IEC 60034-30) relating to energy-
efficient motors. This standard defines new efficiency classes for motors and harmonizes the current different requirements
for induction motor efficiency levels around the world.
IEC 60034-30 defines three IE (International Efficiency) classes: IE 1 (standard efficiency), IE 2 (high efficiency), and IE 3
(premium efficiency). Table 2.1 shows a comparison of the IE classes with the NEMA, EPACT, and EU ratings.
Table 2.1 Comparison Between Standards
Motor type IEC 60034-30 NEMA, EPACT & EU
Standard IE 1 Standard, EFF2
High efficiency IE 2 EPACT, EFF1
Premium efficiency IE 3 NEMA Premium
The minimum specified efficiency levels for IE1, IE 2, and IE 3 motors operating at 50 and 60 Hz for a selected range of motor
sizes are listed in Tables 2.2 and 2.3.
Table 2.2 Comparison Between IE 1, IE 2, and IE 3 Motors Operating at 50 Hz
Motor power (kW) Two poles Four poles Six poles
IE 1 IE 2 IE 3 IE 1 IE 2 IE 3 IE 1 IE 2 IE 3
0.75 72.1 77.4 80.7 72.1 79.6 82.5 70.0 75.9 78.9
5.5 84.7 87.0 89.2 84.7 87.7 89.6 83.1 86.0 88.0
11 87.6 89.4 91.2 87.6 89.8 91.4 86.4 88.7 90.3
22 89.9 91.3 92.7 89.9 91.6 93.0 89.2 90.9 92.2
37 91.2 92.5 93.7 91.2 92.7 93.9 90.8 92.2 93.3
45 91.7 92.9 94.0 91.7 93.1 94.2 91.4 92.7 93.7
55 92.1 93.2 94.3 92.1 93.5 94.6 91.9 93.1 94.1
75 92.7 93.8 94.7 92.7 94.0 95.0 92.6 93.7 94.6
110 93.3 94.3 95.2 93.3 94.5 95.4 93.3 94.3 95.1
Table 2.3 Comparison Between IE 1, IE 2, and IE 3 Motors Operating at 60 Hz
Motor power (kW) Two poles Four poles Six poles
IE 1 IE 2 IE 3 IE 1 IE 2 IE 3 IE 1 IE 2 IE 3
0.75 77.0 75.5 77.0 78.0 82.5 85.5 73.0 80.0 82.5
5.5 86.0 88.5 89.5 87.0 89.5 91.7 85.0 89.5 91.0
11 87.5 90.2 91.0 88.5 91.0 92.4 89.0 90.2 91.7
22 89.5 91.0 91.7 91.0 92.4 93.6 91.0 91.7 93.0
37 91.5 92.4 93.0 92.4 93.0 94.5 91.7 93.0 94.1
45 91.7 93.0 93.6 93.0 93.6 95.0 91.7 93.6 94.5
55 92.4 93.0 93.6 93.1 94.1 95.4 93.0 93.6 94.5
75 93.0 93.6 94.1 93.2 94.5 95.4 93.0 94.1 95.0
110 93.0 94.5 95.0 93.5 95.0 95.8 94.1 95.0 95.8
High-efficiency motors are designed to minimize losses by using various techniques and are summarized in Table 2.4.
Table 2.4 Techniques Used to Reduce Motor Losses
Type of loss Remediation
Stator resistance Using wire with lower resistance and improving stator slot design
losses
Rotor resistance Increasing size of aluminum conductor bars and end rings to reduce resistance and use of copper conductors in larger
losses motors
Hysteresis losses Using steel containing up to 4% silicon instead of normal carbon steel for the laminations and lengthening the core to
reduce magnetic flux density
Eddy current Using thinner laminations and increasing insulation between laminations
losses
Friction losses Bearings and seal selection to lower friction
Windage losses Fan selection and sizing to minimize drag
Stray losses Improving rotor slot geometry
2.7. Impact of Motor Loading on Efficiency

The operating efficiency of motors also depends on the loading. As Fig. 2.21 shows, motor efficiency is close to its full-load
efficiency when loaded above 40%, but drops significantly if the motor is loaded lower than this value. Therefore, if a motor is
loaded to less than about 40%, it should be considered for replacement with a correctly sized motor. However, care should be
taken to ensure that the replacement motor meets the starting torque required for a particular application, as in some
instances motors are "oversized" to overcome a high starting torque.
Figure 2.21 Motor efficiency vs. loading.
2.8. Estimating Motor Loading

Since motor operating efficiency is dependent on loading, it is necessary to know the loading of motors to ensure efficient
operation. Motor capacity is rated based on the output power, and therefore motor loading is the ratio of the actual motor
power output at the operating load to the rated capacity of the motor. Although it is possible to measure the output of motors
under laboratory test conditions, it is not practical to do so under actual operating conditions. Therefore, the loading of motors
generally needs to be estimated. Two common methods used for estimating the loading of motors are the "input method" and
the "slip method."
2.8.1. Input Method

Input method involves measuring the input power to the motor and multiplying it by the rated motor efficiency to estimate the
motor output power and loading as follows:
Since in this method the efficiency of the motor at the operating load is assumed to be the full-load efficiency, it may not
provide a good estimation when the motor is loaded below about 40% (when the efficiency drops significantly).
Example 2.3 The input power to a 55-kW motor is measured to be 42 kW. If the design motor efficiency is 89%, estimate the motor loading.
Solution
2.8.2. Slip Method

Since the amount of slip in a motor is proportional to the load, the operating speed of a motor increases at lower load (lower
slip). Therefore, the operating speed of a motor can be used to estimate its loading as follows:
where Ss = synchronous speed, S = actual motor operating speed, and Sr = rated motor speed.
Example 2.4 The motor operating speed and rated full-load speed of a two-pole motor are 2920 and 2870 rpm, respectively. Estimate the motor
loading using the slip method.
Solution
2.9. Economics of Energy-Efficient Motors

High-efficiency motors consume less energy than standard-efficiency motors due to the lower input power required to
produce the same output, resulting in lower energy cost. However, the economic viability of using high-efficiency motors
instead of standard-efficiency motors depends on the cost associated with the actual application. In general, there are the
following three main types of applications:
Replacement of an existing standard-efficiency motor with a high-efficiency motor
Replacement of a defective motor with a new high-efficiency motor
Use of a high-efficiency motor for a new installation
The economics for the above three applications can be quite different. For the first application where an existing motor is to
be replaced, the full cost of the new high-efficiency motor has to be considered. In comparison, for the third application of a
new installation, only the incremental cost for the high-efficiency motor (compared to the cost of a standard-efficiency motor)
needs to be considered. Similarly, for the application where a defective motor is to be replaced, the incremental cost and
possible drop in efficiency due to the repair need to be taken into account.
Some of the reasons for possible drop in motor efficiency after repair are damage to laminations while stripping the motor
and damage to the iron core due to high temperatures experienced during failure. Possible efficiency losses due to the poor
quality of rewinding are indicated in Table 2.5.
Table 2.5 Efficiency Drop Due to Poor Rewinding
Motor power (kW) Possible reduction in motor efficiency (%)
7.5 5–6
37.3 4
75 2–3
150 <2
Some of the factors that affect the economic viability of different applications are summarized with brief explanations in
Table 2.6.
Table 2.6 Factors Affecting the Economic Viability of Using High-Efficiency Motors
Factor Impact on economic viability
Efficiency of The lower the efficiency of the existing motor, the higher the energy savings.
the existing
motor
Motor The longer the operating hours, the higher the energy savings.
operating
hours
Motor loading If the loading of the existing motor is low, it would result in poor motor operating efficiency. A correctly sized new motor
would result in much better efficiency and higher savings.
Electricity The higher the tariff, the higher the savings.

tariff
Age of the The older the existing motor, the justification to replace will be stronger due to the fact that the remaining motor life would be
existing motor short and there would be a drop in efficiency due to aging.
Cost of the The lower the cost of the new high efficiency motor, the higher the return on investment.
new high-
efficiency
motor
Financial If financial incentives from authorities or utility companies are available to offset part of the cost of the new motor, better will
incentives be the resulting return on investment.
Drop in When a motor is defective and needs to be repaired, the possible drop in efficiency due to the repair and the cost of the repair
efficiency due need to be considered. The higher the repair cost and higher the drop in efficiency, the stronger the justification for using a
to repairs higher efficiency motor.
The following examples illustrate the economics associated with each type of application.
Example 2.5 A 22-kW motor of 88% efficiency is used for an application which requires it to operate 12 hours a day and 365 days a year.
Calculate the savings that will result if this motor is replaced with a premium-efficiency motor of 93% efficiency. Assume that the motor is
operating at its rated capacity. Estimate the simple payback period if the cost of the new motor is $3,000 and the average electricity tariff is
$0.15/kWh.
Solution
Therefore,
Example 2.6 The stator winding of a 55-kW motor which operates 18 hours a day and 250 days a year is defective. The cost of repairing the
defective motor is $4,000. However, the efficiency of the motor is expected to drop by 1% from its rated efficiency of 89% after the repair.
Calculate the energy and cost savings that will result if this motor is replaced with a premium-efficiency motor of 93% efficiency rather than
repairing it. Assume that the motor is operating at its rated capacity. Estimate the simple payback period for replacing the defective motor with
the premium-efficiency motor (93% efficiency) if the cost of the premium-efficiency motor is $10,000 and the average electricity tariff is
$0.15/kWh.
Solution
Example 2.7 A 37-kW motor with a rated efficiency of 90% is selected for a new fan installation, which is expected to run 24 hours a day and
365 days a year. Calculate the savings in input power to the motor that can be achieved for this application if a premium-efficiency motor with
94% efficiency is used. Assume that the motor is operating at the rated capacity.
If the cost of the originally selected motor and the premium-efficiency motor is $7000 and $8500, respectively, calculate the simple payback
period for using the premium-efficiency motor rather than the originally selected motor for this application. Take the electricity tariff to be
$0.15/kWh.
Solution
2.10. Input Power Supply to Motors

Since motor windings are inductive coils, there are two components of power. One is the actual power absorbed by the motor
to do useful work called real power (or active power) and the other, the reactive power, is used for magnetizing the magnetic
elements. The apparent power is the vector sum of the reactive and active power as shown in Fig. 2.22 and is normally
computed in kVA (product of volts and amperes divided by 1000).
Figure 2.22 Vector diagram for power.
PF is the ratio of the active power to the apparent power. PF ranges from 0 to 1.0. The highest PF of 1.0 is achieved if there is
no reactive power as in the case of totally resistive loads.
2.10.1. Input Power
For a balanced load (Fig. 2.23),
Figure 2.23 Power supply to a three-phase motor.
Example 2.8 The following data have been measured for a motor using a power meter. Compute the input power to the motor.
Solution
2.10.2. Supply Voltage

The performance of motors depends on the supply voltage. Therefore, motors are rated to operate at a particular supply
voltage, and if the supply voltage deviates by more than ±10% from the rated voltage, it can significantly affect the
performance of the motor.
If the supply voltage to the motor is below the rated value, a higher current will be drawn by the motor to produce the torque
required by the load. Similarly, when the supply voltage increases, the magnetizing current increases, leading to saturation of
the core iron, overheating, and higher current draw. Hence, both lower and higher supply voltages result in higher resistance
(I2R) losses for the stator and rotor of the motor and a drop in motor efficiency, as shown in Fig. 2.24. From the figure, it
should also be noted that motor torque varies based on the square of the applied voltage. Therefore, a 10% drop in voltage
results in a torque reduction of about 20%.
Figure 2.24 Variation in torque and motor efficiency.
In addition, unbalance in voltage between the different phases could also occur. Voltage unbalance at the motor windings
causes the phase currents to be unbalanced, resulting in higher losses, overheating of the motor, and reduced life.
It is generally recommended for the voltage unbalance between the phases to be less than 1%. If the unbalance in voltage is
more than 1%, derating of motors is required to avoid damage.
NEMA defines voltage unbalance as follows:
Example 2.9 Compute the voltage deviation based on the following measured data:
Solution
2.10.3. Power Factor

2.10.3. Power Factor
As described earlier, PF is the ratio of the real power to the apparent power. Induction motors typically operate at a PF of
about 0.85. A low PF leads to higher line losses, in addition to resulting in penalty charges from the utility companies. When
the PF is low, higher line currents are required to meet the real power load, resulting in higher resistance (I2R) losses.
Poorly loaded motors, due to oversizing or during idling, can also have a low PF. Since PF is the ratio of active power to
apparent power, it can also be expressed as the ratio of active power to the vector sum of the active power and reactive
power.
At low loading, the active power drops but the reactive power remains almost constant, resulting in a lower PF.
A low PF can be improved by installing capacitors in parallel to the load to reduce the reactive power. The leading capacitive
current is used to offset the lagging inductive current, as shown in Fig. 2.25.
Figure 2.25 Vector diagrams showing improvement in PF.
The PF correction can be "static correction" where capacitors are connected at each load (Fig. 2.26) or "bulk correction" where
capacitors are connected at the distribution boards (Fig. 2.27).
Figure 2.26 Static PF correction.
Figure 2.27 Bulk PF correction.
Example 2.10 Consider an industrial plant which is operating at an active power demand of 1500 kW and an apparent power demand of 1850
kVA. Estimate the present PF. Thereafter, calculate the kVAr rating of a suitable capacitive load that should be added to improve the PF to 0.9.
Solution Before PF correction (refer to Fig. 2.28):
Figure 2.28 Vector diagram before PF correction.
After PF correction (refer to Fig. 2.29):
Figure 2.29 Vector diagram after PF correction.
The capacitive load required for improving the PF can also be estimated using multiplier factors available in reference tables.
An example of such data is shown in Table 2.7 where the intersection of the current PF and desired PF provides the multiplier
factor to compute the capacitive load per kW.
Table 2.7 Power Factor Correction Multiplier Values
Original PF Desired power factor
0.8 0.85 0.9 0.95 1.0
0.70 0.270 0.400 0.536 0.692 1.02
0.75 0.132 0.262 0.398 0.553 0.882
0.80 0.000 0.130 0.266 0.421 0.750
0.85 0.000 0.000 0.135 0.291 0.620
0.90 0.000 0.000 0.000 0.156 0.484
0.95 0.000 0.000 0.000 0.000 0.329
1.0 0.000 0.000 0.000 0.000 0.000
Example 2.11 Compute the capacitive load required to improve the PF from 0.7 to 0.85 for an active power load of 500 kW.
Solution From Table 2.7 , the intersection of the present PF of 0.7 and desired PF of 0.85 indicates that the multiplier is 0.4.
Therefore, the capacitive load is 500 kW × 0.4 = 200 KVAr.
2.11. Maintenance of Motors

Proper maintenance is required to ensure reliability and good performance of motors. Motors can be allowed to operate until
they break down but, this would result in disruptions to operations and high cost to repair them. To avoid breakdowns and
unplanned stoppages, preventative maintenance programs are used for motors.
Preventive maintenance programs for motors involve tasks such as periodic lubrication of bearings, cleaning, replacement of
rubber components of drive couplings, belts, and replacement of bearings.
In addition to preventive maintenance programs, predictive maintenance programs where periodically various measurements
are taken and the data analyzed to predict any impending failure are also used for critical equipment. Typical data collected in
a predictive maintenance program for motors include vibration levels, motor temperature, and resistance of the motor
windings.
Some good maintenance practices for motors are listed below.
2.11.1. Lubrication
Generally, high-capacity motors require periodic greasing of bearings. However, since contaminated grease can lead to
bearing failures, it is essential to ensure that the fittings are cleaned prior to injecting grease.
Overgreasing should be prevented as it leads to increased friction, resulting in bearing failure. Excess grease can also leak
onto the motor windings, which can cause failure.
Care should be taken to ensure that the correct type of grease recommended by the manufacturer is used.
2.11.2. Cleaning
Regular cleaning of motors is essential as dirt can enter the motor and attack the insulation, as well as contaminate lubricants
and damage bearings. Also, dirt buildup on the motor enclosure and fan cover can lead to the motor operating at a higher
temperature, which will reduce the efficiency of the motor and its operating life.
If the airflow at the fan discharge is weak, it may indicate that the internal passages are blocked. The motor should then be
taken out of service and cleaned.
Severe corrosion may indicate deterioration of internal surfaces. Such motors should also be checked, cleaned, and painted
where necessary.
2.11.3. Motor Temperature

High motor temperature leads to failure and is an indication of other motor problems. Some of the common reasons for high
motor temperature are a wrong selection of motors (undersizing of motor or wrong motor starting torque characteristics) and
overloading of the motor. In addition, poor cooling due to dirt accumulation and damage to the cooling fan can also result in a
high motor operating temperature.
Excessive heat can damage the insulation, which shortens the winding life (and therefore motor life). Therefore, the motor
operating temperature should be checked periodically.
2.11.4. Voltage Testing

Supply voltage to motors should not deviate by more than ±10% of the design nominal voltage. High deviations in voltage can
lead to decreased motor efficiency and a shorter motor life. Similarly, unbalanced phase voltages can lead to high rotor
currents, resulting in higher temperatures and high motor losses. Therefore, regular voltage measurements when the motor is
operating can help identify problems and ensure efficient operation.
2.11.5. Insulation Testing

Periodic resistance testing of motor insulation in predictive maintenance programs can help identify degradation of insulation.
The most common insulation test is a "megger test" which involves injecting a DC voltage of 500 to 1000 V to the motor and
testing the resistance of the insulation. NEMA standards require a minimum resistance to ground of 1 MΩ/kV of rating plus 1
MΩ at 40oC ambient conditions. Motors in good condition will normally show readings of more than 50 MΩ. Low readings
indicate a reduction in insulation resistance, which can be a result of moisture ingress, deterioration from age, or excessive
heat.
Measured data can be trended to indicate a deterioration of motor windings. Where required, motors can be taken out of
service and sent for cleaning and baking to avoid the need for a complete rewinding.
Such testing is specially required for motors that operate in wet, corrosive, and hot environments.
2.11.6. Vibration
Motor vibration can be caused by misalignment of the motor shaft, loose mountings, unbalanced rotor, or damaged bearings.
Motor vibration sometimes can also be transmitted from the driven load. Vibration can cause damage to winding by
loosening, cracking, or abrasion. Vibration can also lead to premature bearing failure.
Therefore, motor vibration levels should be monitored periodically and trended to indicate potential problems so that they can
be rectified before causing damage.
2.11.7. Alignment
It is important to ensure that the motor shaft and the shaft of the driven load are aligned as misalignment can lead to
vibration, noise, damage to coupling, premature failure of bearings, as well as lower transmission efficiency.
Ideal alignment is achieved when the centerlines of the motor shaft and driven load are in line with each other. There are three
basic types of misalignment, as shown in Fig. 2.30. Angular misalignment occurs when the motor shaft is at an angle to the
shaft of the driven load, while parallel misalignment occurs when the centerlines of the two shafts are parallel to each other.
Combination misalignment occurs when both angular and parallel misalignments are present.
Figure 2.30 Types of shaft misalignment.
2.12. Motor Drives

A typical motor-driven system is shown in Fig. 2.31 where a transmission drive system is normally installed between the
motor and the driven load. The main reasons why a transmission drive system is used include the following:
Aligning the motor and the load
Increasing the torque
Changing the speed of rotation
Changing the direction of rotation
Absorbing the impact of fluctuating or shock loads
Figure 2.31 Arrangement of a typical motor-driven system.
The most commonly used types of transmission drive systems are as follows:
Couplings
Belt drives
Gear drives
Chain and sprockets
2.12.1. Couplings
In some applications, the motor torque is directly transmitted to the load through a coupling. Couplings can be rigid type or
flexible type. Rigid couplings do not allow misalignment between the motor shaft and load shaft. Two common types of rigid
couplings are sleeve type and flange type (Fig. 2.32). Sleeve-type couplings consist of a tube with an internal keyway to match
those on the motor shaft and load shaft and tapped holes for locking of the sleeve. Flange couplings consist of two flanges
mounted on the motor shaft and load shaft and connected together by a number of bolts.
Figure 2.32 Rigid couplings.
Common types of flexible couplings used are pin, spider, and fluid couplings. Pin couplings are similar to the rigid flange
couplings but use pins with rubber bushes, instead of bolts, to allow some degree of flexibility.
Spider couplings have two halves of coupling with a number of lugs on each, mounted on the motor shaft and load shaft (Fig.
2.33). The coupling halves are joined together with a rubber insert with "legs" to fit between the lugs on the two sides. This
type of couplings also allows some misalignment and can absorb some of the vibration between the motor and the load.
Figure 2.33 Arrangement of a spider coupling.
Fluid couplings consist of a housing with two sets of vanes and a hydraulic fluid. When the motor shaft rotates, the set of drive
vanes rotates and acts as a pump to pump the hydraulic fluid, which results in the rotation of the driven set of vanes
connected to the load shaft. The highest efficiency possible for hydraulic couplings is about 94%.
2.12.2. Belt Drives

Many applications of motors in buildings and industrial plants, such as fans, compressors, and conveying systems, use belt
drives. They consist of pulleys on the shafts of the motor and load and one or more belts to convey the torque from the motor
to the load. Since belt drives are relatively flexible, they are able to allow some misalignment between the two shafts. Belt
drives also allow change in rotation speed between the motor and the load by changing the diameter of the two pulleys. Belt
drives are relatively efficient and require little maintenance.
There are different types of belt drives and the most common types are discussed below.
2.12.2.1. V-belts
V-belts are trapezoidal in cross-section (Fig. 2.34) and fit into grooves on the respective pulleys. Usually, multiple belts are
used depending on the load transmission requirements. The efficiency of V-belt drives depends on factors such as design,
pulley sizing, and torque, but generally have a high efficiency ranging from 95% to 98%. However, the efficiency drops
significantly when belt slippage occurs due to belt wear. Therefore, periodically, the belt drives need to be checked and
retensioned increasing the distance between the two pulleys or replacing the belts.
Figure 2.34 Common types of belts.
2.12.2.2. Cogged Belts

Cogged belts are similar to V-belts but have additional slots perpendicular to the belt to reduce the bending resistance of the
belt. The transmission efficiency of cogged belts is about 2% higher than that of standard V-belts.
2.12.2.3. Synchronous Belts
Synchronous belts, which are also called timing belts, are "toothed" (Fig. 2.34) and fit into matching toothed-drive sprockets.
Synchronous belts operate at an efficiency of about 98% and are able to maintain the efficiency at high torque conditions as
their design prevents belt slippage (unlike in V-belt drives). Synchronous belts can operate in wet and oily conditions without
slipping but cannot be used for shock loads.
2.12.3. Gear Drives

Gear drives consist of two or more intermeshing gear wheels between the drive system and the load. The main applications of
gear drives include changing speed, increasing torque, and changing the direction of rotation.
Some of the common types of gears are as follows:
Spur gears
Helical gears
Bevel gears
Worm gears
Spur gear drives consist of gear wheels with straight teeth parallel to the axis of rotation, which mesh together to transmit
torque (Fig. 2.35). They are able to change the speed, torque, and direction of rotation.
Figure 2.35 Common types of gears.
Helical gears are similar to spur gears but with angled teeth to enable gradual engagement of the teeth during rotation, which
results in smoother operation.
Bevel gears consist of two gear wheels shaped like cones but with the tips removed. They are mounted on shafts which can
be at different angles relative to each other (except 0° and 180o), depending on the number of teeth on the two gears.
Worm gears consist of a drive worm (screw) and a driven wheel (Fig. 2.35). Worm gears can reduce speed, transmit high
torque, and change the direction of rotation between the drive and driven shafts by 90o. Worm gears are self-locking as the
rotational transmission can only take place in one direction because the wheel cannot turn the worm.
Losses in gear drives arise mainly due to friction losses that take place when the gears mesh. Friction losses depend on
factors such as tooth profile, speed reduction, and coefficient of friction of gear material.
Typical efficiency of different gears is shown in Table 2.8. As can be seen from the table, gear drives generally have a good
efficiency of between 98% and 99%, except for worm gears which can have efficiency as low as 20% at high gear ratios and
low speeds.
Table 2.8 Efficiency of Gears
Type of gear Typical efficiency (%)
Spur 98–99
Helical 98–99
Bevel 98–99
Worm 20–98
2.13. Variable-Frequency Drives

2.13.1. Introduction
Motor-driven systems are generally designed to operate at maximum load conditions. However, the majority of systems
operate at their full load only for short periods of time. This often results in many systems operating inefficiently for long
periods of time.
Some examples of such operations are as follows:
Water distribution pumps
Cooling tower fans
Air compressors
Refrigeration equipment
Ventilation fans
The efficiency of such systems can be improved by varying their capacity to match actual load requirements, which can be
achieved by modulating the speed of motors using variable-frequency drives (VFDs). A typical VFD is shown in Fig. 2.36.
Figure 2.36 A typical VFD unit (Danfoss VLT¯ HVAC Drive, courtesy of Danfoss).
2.13.2. Components of a VFD

As explained earlier in Sec. 2.2, the speed of motors depends on the number of poles and frequency of the power supply
where
Therefore, for a motor with a fixed number of poles, the speed can be varied by changing the frequency of the power supply.
A VFD (sometimes called VSD or variable speed drive) is an electronic unit which provides infinitely variable control of the
speed of three-phase AC motors by converting the fixed mains voltage and frequency into variable quantities (Fig. 2.37). It has
no moving parts and uses a rectifier which is connected to the mains supply to generate a pulsating DC voltage and direct
current, which is then passed to an inverter to generate the frequency of the motor voltage.
Figure 2.37 Operation of a VFD unit.
The two main techniques used for generating the required output frequency are pulse amplitude modulation (PAM) and pulse
width modulation (PWM). In PAM, the amplitude of the voltage pulse is varied, while in PWM, the width of the voltage pulse is
varied to generate the required frequency. PWM inverters are generally considered to be more efficient than PAM type.
The configuration of a typical VFD is shown in Fig. 2.38. The main components of a VFD are the rectifier, inverter, intermediate
circuit, and control circuit.
Figure 2.38 Configuration of a typical VFD.
The main functions of each component are listed below.
2.13.2.1. Rectifier
It converts the AC to DC. The arrangement of a three-phase rectifier is shown inFig. 2.39.
Figure 2.39 Arrangement of a three-phase rectifier.
2.13.2.2. Intermediate Circuit

The intermediate circuit, also called DC bus or DC link, stabilizes or smoothens the pulsating DC voltage and reduces the
feedback of harmonics to the mains supply.
The circuit mainly consists of an inductor and capacitor (Fig. 2.40) to filter any AC component from the DC waveform.
Figure 2.40 Arrangement of an intermediate circuit.
2.13.2.3. Inverter
The inverter converts the filtered DC voltage into a pulsating DC waveform. By varying the output of the inverter, the pulsating
DC waveform is used to simulate an AC waveform with variable voltage and frequency.
The inverter normally uses insulated-gate bipolar transistors (IGBTs) to switch on and off the DC voltage.
2.13.2.4. Control Circuit

It controls the operation of the VFD, including firing of the rectifiers and transistors.
A simplified arrangement of a three-phase VFD showing the interconnection between the different components is shown in
Fig. 2.41.
Figure 2.41 Simplified arrangement of a three-phase VFD.
2.13.3. Features of VFDs

Today's VFDs come with many built-in functions and features which make them go beyond being devices to vary the voltage
and frequency of the power supply to motors. VFDs are able to take different forms of inputs, which can be processed by the
built-in controller, while various outputs can also be provided for monitoring by external systems.
The main types of inputs and outputs are listed below.
2.13.3.1. Digital Inputs

Digital inputs are used to interface the VFD with start/stop push button switches, selector switches, and relay contacts from
various control circuits.
2.13.3.2. Digital Outputs

2.13.3.2. Digital Outputs
They are relay outputs, called "dry contacts," which are used to switch external devices such as solenoids, alarms, and pilot
lights.
2.13.3.3. Analog Inputs

Analog inputs are normally voltage (0–10 V DC) or current (4–20 mA) from external sources such as sensors, which can be
used for controlling the output from the drive. Most VFDs can also take direct input from sensors such as RTDs (resistance
temperature detectors).
2.13.3.4. Analog Outputs

Analog outputs are provided to external devices to monitor parameters such as the current and speed of the drive.
Figure 2.42 shows a typical speed control system for a pump using the line pressure as the input. The pressure sensor
provides an analog input such as 0 to 10 V DC or 4 to 20 mA from its transmitter to the VFD controller. The controller uses this
input to compare with the required set-point to vary the speed of the pump.
Figure 2.42 Typical arrangement of a VFD used for pump speed control.
2.13.3.5. Adjustable Parameters

Various parameters used to operate a VFD are user-adjustable so that they can be set to meet the specific needs of each
system. Some common parameters that can be user defined are as follows:
Minimum and maximum speeds
Control set-points
Ramp-up and ramp-down rates
PID (proportional, integral, and derivative) values for control
2.13.3.6. Performance Parameters

The performance of most VFDs can also be monitored during operation. The monitoring can be either local, using the display
panel on the VFD, or external, using the communication port of the drive. Some typical performance parameters that can be
monitored are as given below:
Speed (frequency)
Current
Voltage
Power factor
Power (kW)
Cumulative energy consumption (kWh)
Cumulative running hours
2.13.4. Selection and Installation

2.13.4.1. Type of Drive
Right selection and installation is important for ensuring problem-free operation of VFDs. The drive unit should be selected
based on the load characteristics. For most loads such as pumps and fans, the load torque reduces when speed reduces and,
therefore, variable-torque drives can be used. However, for applications such as conveyors and traction drives, torque remains
constant, irrespective of speed, and, hence, constant-torque drives are required.
2.13.4.2. Location
The installation location is also important to ensure the reliability and performance of VFDs. Drive units generate heat during
operation and therefore need to be installed in a location where adequate ventilation is available. In addition, the location
should be dry and relatively clean (free of dust and corrosive elements).
Another important aspect of VFD installation is the distance between the drive unit and the motor. Maximum allowable cable
length between the drive and motor is usually specified by the drive manufacturer and should not be exceeded to prevent
high-voltage spikes which can damage the motor.
2.13.4.3. Line Reactors

Line reactors, which are essentially inductors, are often installed before or after the drive to stabilize the current waveform
and reduce harmonic distortion (Fig. 2.43). When installed before the drive, they help to stabilize the waveform of the current
supplied to the drive, which may be distorted by nonlinear loads. Since VFDs generate harmonics when converting AC to DC
and DC back to AC, line reactors installed between the drive and motor help smoothen the waveform by absorbing line spikes
and filling voltage sags.
Figure 2.43 Arrangement of line reactors.

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2.

Motors and Drives

Figure 2.1 Direction of the force on a current-carrying conductor in a magnetic field.

Figure 2.2 Direction of forces on a current-carrying loop placed in a magnetic field.

2.1.1. AC Induction Motors

Figure 2.3 AC induction motor (courtesy of ABB).

Figure 2.4 Squirrel cage rotor.

Figure 2.6 Arrangement of a DC motor (courtesy of ABB).

2.1.2.1. Series Wound

Figure 2.7 Arrangement of series-wound DC motors.

Figure 2.8 Speed–torque characteristic for series-wound DC motors.

2.1.2.2. Shunt Wound

Figure 2.9 Arrangement of shunt-wound DC motors.

Figure 2.10 Speed–torque characteristic for shunt-wound DC motors.

2.1.2.3. Compound Wound

Figure 2.12 Speed–torque characteristic for compound-wound DC motors.

2.1.3. Permanent-Magnet Motors

2.1.4. Synchronous Motors

Figure 2.14 Arrangement of a synchronous motor.

Figure 2.15 Arrangement of windings in a synchronous motor.

2.3. Slip in Motors

Slip in motors can be expressed as follows:

Synchronous speed for a four-pole motor (from Example 2.1)

2.4. Motor Efficiency

2.5. Losses in Motors

Figure 2.17 Losses in a typical motor.

Figure 2.19 Eddy currents in a laminated iron core.

2.6. High-Efficiency Motors

Table 2.1 Comparison Between Standards

Motor type IEC 60034-30 NEMA, EPACT & EU

Standard IE 1 Standard, EFF2

High efficiency IE 2 EPACT, EFF1

Premium efficiency IE 3 NEMA Premium

Motor power (kW) Two poles Four poles Six poles

11 87.6 89.4 91.2 87.6 89.8 91.4 86.4 88.7 90.3

22 89.9 91.3 92.7 89.9 91.6 93.0 89.2 90.9 92.2

37 91.2 92.5 93.7 91.2 92.7 93.9 90.8 92.2 93.3

45 91.7 92.9 94.0 91.7 93.1 94.2 91.4 92.7 93.7

55 92.1 93.2 94.3 92.1 93.5 94.6 91.9 93.1 94.1

75 92.7 93.8 94.7 92.7 94.0 95.0 92.6 93.7 94.6

Table 2.3 Comparison Between IE 1, IE 2, and IE 3 Motors Operating at 60 Hz

Motor power (kW) Two poles Four poles Six poles

11 87.5 90.2 91.0 88.5 91.0 92.4 89.0 90.2 91.7

22 89.5 91.0 91.7 91.0 92.4 93.6 91.0 91.7 93.0

37 91.5 92.4 93.0 92.4 93.0 94.5 91.7 93.0 94.1

45 91.7 93.0 93.6 93.0 93.6 95.0 91.7 93.6 94.5

55 92.4 93.0 93.6 93.1 94.1 95.4 93.0 93.6 94.5

75 93.0 93.6 94.1 93.2 94.5 95.4 93.0 94.1 95.0

Type of loss Remediation

Friction losses Bearings and seal selection to lower friction

Windage losses Fan selection and sizing to minimize drag

Stray losses Improving rotor slot geometry

2.7. Impact of Motor Loading on Efficiency

Figure 2.21 Motor efficiency vs. loading.

2.8. Estimating Motor Loading

2.8.1. Input Method

2.8.2. Slip Method

2.9. Economics of Energy-Efficient Motors

Replacement of an existing standard-efficiency motor with a high-efficiency motor