10/11/2022

Basics of
Electric Drives
Lecture 9
Prof. Elisabetta Tedeschi

BSc in Industrial Engineering

Academic year 2022 -2023

University of Trento
Dept. of Industrial Engineering

Lecture 9 - Outline
Main topic: “PMSM: torque production mechanism + exercise +
Introduction to the asynchronous machines (induction machine)”
- Power balance & torque production in permanent magnet synchronous machines
- Exercise on permanent magnet synchronous motor
- Asynchronous machine: characteristics and structure
- Operation under sinusoidal conditions

Learning objectives:
- To understand the torque production mechanism in PMSM and the machine operation
under sinusoidal conditions
- To understand the uses, structure and operation of an asynchronous machine
- To understand the origin of the rotating magnetic field in the asynchronous machines (for
different values of the rotor speed)
- To know the implications of asynchronous machine’s operation under sinusoidal
conditions

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Electro-mechanical conversion
The basic mechanism of electro-mechanical
conversion in synchronous machines is that of
electro-dynamic circuits

The torque is created by the interaction between

two magnetically coupled, independent
circuits/subsystems, i.e. the magnetic field
(created by the magnets) and the rotating
magnetic field created by the stator currents

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Stator power balance

Power balance can be derived from each phase
voltage equation, multiplying it by the
corresponding phase current
Instantaneous power
absorbed by the motor

𝑢𝑎 𝑖𝑎 + 𝑢𝑏 𝑖𝑏 + 𝑢𝑐 𝑖𝑐
𝑑 1 2
= 𝑅(𝑖𝑎2 + 𝑖𝑏2 + 𝑖𝑐2 ) + [ L(𝑖 + 𝑖𝑏2 + 𝑖𝑐2 )] + 𝑒𝑎 𝑖𝑎 + 𝑒𝑏 𝑖𝑏 + 𝑒𝑐 𝑖𝑐
𝑑𝑡 2 𝑎

Dissipated power Power used to Electro-mechanical

(Joule effect) change the magnetic power (converted from
energy electrical to mechanical)

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Electro-mechanical conversion
The electromechanical power can be expressed as:
𝑇𝜔𝑚𝑒 And substituting the expression
𝑒𝑎 𝑖𝑎 + 𝑒𝑏 𝑖𝑏 + 𝑒𝑐 𝑖𝑐 = 𝑇𝜔𝑚 = obtained for the emfs
𝑝
𝜋 𝜋 2𝜋 𝜋 4𝜋
𝑇 = 𝑝Λ𝑚𝑔 [𝑖𝑎 𝑐𝑜𝑠 Θ𝑚𝑒 + + 𝑖𝑏 𝑐𝑜𝑠 Θ𝑚𝑒 + − + 𝑖𝑐 𝑐𝑜𝑠 Θ𝑚𝑒 + − ]
2 2 3 2 3
𝜋
𝑖𝑎 𝑡 = 𝐼𝑀 (𝑡) 𝑐𝑜𝑠 Θ𝑚𝑒 + −Ψ
2
𝜋 2𝜋 Y Is the
𝑖𝑏 𝑡 = 𝐼𝑀 (𝑡) 𝑐𝑜𝑠 Θ𝑚𝑒 + − Ψ − phase shift
with 2 3
(delay) of
𝜋 4𝜋
𝑖𝑐 𝑡 = 𝐼𝑀 (𝑡) 𝑐𝑜𝑠 Θ𝑚𝑒 + − Ψ − the currents
2 3
with respect
to emfs
3
𝑇 = 𝑝Λ𝑚𝑔 𝐼𝑀 𝑡 cos(Ψ)
2

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Electro-mechanical conversion
3
𝑇 = 𝑝Λ𝑚𝑔 𝐼𝑀 𝑡 cos(Ψ)
Remarks: 2
• Zero currents implies zero torque
• With a set of sinusoidal currents the torque is independent on Θ𝑚𝑒
• The torque can be controlled by IM ,
• Being Y the delay of the currents with respect to emfs), and for a
given IM the torque is max for Y= 0o or 180o
• This means that max torque is achieved with currents phase
displaced by 90 degrees with respect to the corresponding flux
linkages

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Exercise on permanent magnet

synchronous motor

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Induction machine
(asynchronous machine)

Typical use:
Adjustable speed drives e.g. in pumps,
compressors, fans etc. for the process
industry. Electric traction, including EV
Servo-drives in machine tools, robotics etc.
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Induction machine
(asynchronous machine)
Principle of operation: the electro-
mechanical conversion is based on the
principle of induction systems, as a direct
application of the rotating magnetic field

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Induction machine
(asynchronous machine)
2-
poles
Stator: it is the static part
in laminated
ferromagnetic material,
axis
where the three phase
phase conductors are wounded,
rotor a
being distributed in the
stator slots. The 3 phases
Source: Zigliotto
have the same conductors’
The stator winding structure is number and distribution,
exactly the same as the one
used for permanent magnet but space-displaced by
synchronous machines 2p/3
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Induction machine
(asynchronous machine)
Rotor: it is the rotating
part in laminated
ferromagnetic material. It
can be similar to the
Source:www.industrial-electronics.com/
stator structure (i.e.
wound rotor) or it can be
realized by aluminum bars
short circuited by end-
rings (i.e squirrel cage
Source: www.polytechnichub.com/
rotor)
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Induction machine
(asynchronous machine)
Rotor: In the case of wound
rotor, it is built with the
same number of poles as
the stator. Similarly, the
structure of the squirrel
Wound rotor - Source: Festo Didactic Ltee/Ltd
cage rotor inherently
behaves as an equivalent
three phase winding of the
same type and with the
same number of poles as
the stator
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Rotating magnetic field Reminder from

the PMSM lecture

Assuming to supply current to phase a, due to the geometry

of the winding we get a sinusoidal distribution of the
magnetic flux density, Ba, in the air gap, x
Applying Integration
path
Ampere’s law, axis of the
magnet
permanent
using 𝜀 as magnets

axis angular axis

phase a
phase
rotor a coordinate rotor
𝑁𝑐 𝜀 =
𝜇0 𝑁𝑐 𝜀 𝑖𝑎 turns
𝐵𝑎 𝜀 = Source: Zigliotto
2𝑥
Isotropic rotor is
used in induction
machines. It avoids
dependency on
rotor position 𝜃𝑚

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Rotating magnetic field Reminder from

prior lectures

Assuming that 𝑁𝑐 𝜀 varies with co-sinusoidal law

with respect to 𝜀 (i.e. in space), and at each
instant, t, we have a generic current, i(t)
𝐵𝑎 𝑡, 𝜀 = 𝑘𝑖𝑎 𝑡 cos(𝜀)
𝐵𝑏 𝑡, 𝜀 = 𝑘𝑖𝑏 𝑡 cos 𝜀 − 2𝜋/3
𝐵𝑐 𝑡, 𝜀 = 𝑘𝑖𝑐 𝑡 cos(𝜀 − 4𝜋/3)
With k accounting for the airgap and n. of turns
Total magnetic flux density:
1 1 3 3
𝐵𝑎𝑏𝑐 𝑡, 𝜀 = 𝑘(𝑖𝑎 − 2 𝑖𝑏 − 2 𝑖𝑐 ) cos(𝜀) + 𝑘 𝑖 − 𝑖 sin 𝜀
2 𝑏 2 𝑐
3
𝐵𝑎𝑏𝑐 𝑡, 𝜀 = 2kIM cos(wt- 𝜀)

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Induction machine: operation

under sinusoidal conditions
Hp: Wound rotor (1st case) If the stator is supplied by three
phase balanced currents with ang.
Rotor with same n. of poles as freq. ws and the rotor rotates at
the stator wm (< w0 = ws/p) , a rotating field
Rotor is open (i.e. ir=0) with pulsation w0 is produced at
the airgap.
Hence the rotating field rotates
with respect to the rotor with
(mechanical) speed w0 –wm which
is equal to sw0 defining the slip s
Then the (open) rotor as: SLIP SPEED
windings experience a set w − wm n0 − n ws − wme
of 3 induced emfs with s= 0 = =
SLIP w0 n0 ws
pulsation wr= sws

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Induction machine: operation

under sinusoidal conditions
When rotor windings are closed, there is the
Hp: Wound rotor (1st case) circulation of three phase balanced currents
Rotor with same n. of poles as with ang. freq. wr =sws. Their amplitude
depends on the amplitude of the induced emfs
the stator and the impedance of the rotor circuit
Rotor is closed (i.e. ir≠0) Such rotor currents also create a rotating
magnetic field (with the same number of poles
as the one of the stator currents) that rotates
at sw0 (respect to the rotor). This means it
rotates at sw0 +wm=w0 -wm+wm =w0 with respect
to the stator
This means that the rotating fields produced by
stator and rotor currents are synchronous and
fixed with respect to each other.
This generates a constant interaction and a
constant torque, which, for wm <w0 , acts
sustaining the rotor’s rotation
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Induction machine: operation

under sinusoidal conditions
When rotor windings are closed, there is the
If wm= 0 (still rotor) -> s=1: pulsation of
rotor current is the same as stator circulation of three phase balanced currents
currents, ws with ang. freq. wr =sws. Their amplitude
If wm < 0 (rotor moves opposite to the
depends on the amplitude of the induced emfs
direction of stator rotating field) -> s>1 and the impedance of the rotor circuit
The rotor produced magnetic field
rotates at speed higher than w0 Such rotor currents also create a rotating
remaining synchronous to the stator magnetic field (with the same number of poles
one
as the one of the stator currents) that rotates
If wm > w 0 (rotor moves in the at sw0 (respect to the rotor). This means it
direction of the stator rotating field, rotates at sw0 +wm=w0 -wm+wm =w0 with respect
quicker than the field) -> s<0 . Then
the rotor currents created have an to the stator
inverse sequence. The corresponding
rotating field moves backwards, so This means that the rotating fields produced by
that it is still fixed with respect to the stator and rotor currents are synchronous and
one created by stator
fixed with respect to each other.
If wm = w 0 there is no slip, hence no This generates a constant interaction and a
induced currents in the rotor windings
constant torque, which, for wm <w0 , acts
sustaining the rotor’s rotation
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Induction machine: operation

under sinusoidal conditions
The resulting rotating (total) magnetic field at the airgap is the sum
of those produced by the stator and rotor (which are fixed with
respect to each other)
The asynchronous machine resembles the operation of a transformer
[hence the name “induction machine”] where the stator constitutes
the primary circuit, and the rotor is the secondary circuit
In the induction machine, however, there is the additional frequency
transformation (depending on the slip), which is associated to an
electro-mechanical energy conversion
The observations above are strictly valid under sinusoidal conditions
with currents of constant amplitude and frequency. More generally,
in dynamic (non-sinusoidal) conditions, stator and rotor fields have
variable intensity and speed, with varying reciprocal position
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Induction machine: operation

under sinusoidal conditions
Take-aways:
The speed of the rotating magnetic field, 60 f
n0[rpm], is determined by the frequency of n0 =
p
the stator currents, f (and the machine
pole pairs, p):
In an induction motor, the rotor speed, n, n0 − n = s n0
is lower than the speed of the rotating
magnetic field, by a factor, s, called, slip
(s is in the order of 6-7% for small motors, 3% for bigger
machines)
Varying the supply frequency of the IM (i.e. using an
inverter) allows to vary its speed
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Lecture 9:
Reference material

Lecture slides

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