Electrical Machines and Power Electronics: ENEE4301

Electrical Machines and Power Electronics
ENEE4301
[email protected] Electrical Machine & Power Electronics ENEE 4301

Course Organization
Instructor : Dr. Ali Abdo

Office : Masri 119
Section : M,W 11:00 – 12:20 Masri 404
T,R 11:00 – 12:20 Aqaad 421
Textbook : Electric Machinery Fundamentals, Fifth Edition,

By Stephen J. Chapman

Course Organization
Textbook : Electric Machinery Fundamentals, Fifth Edition,
By Stephen J. Chapman
1) Introduction to Machinery Principles

2) Transformers
3) AC Machinery Fundamentals
4) Synchronous Generators
5) Induction Motors
6) DC Machinery Fundamentals
7) DC Motors and Generators
8) Introduction to Power Electronics

Course Organization
Grading:
Midterm Exam 35 %
Final Exam 40 %
Class Work 25 %
------------
100 %

Introduction to Machinery Principles
 Electric Machines  mechanical energy to electric energy or vice versa
 Mechanical energy  Electric energy : GENERATOR
 Electric energy  mechanical energy : MOTOR
Almost all practical motors and generators convert energy from one form to
another through the action of a magnetic field.
Only machines using magnetic fields to perform such conversions will be

considered in this course.

 When we talk about machines, another related device is the transformer.
A transformer is a device that converts ac electric energy at one voltage
level to ac electric energy at another voltage level.
 Transformers are usually studied together with generators and motors

because they operate on the same principle, the difference is just in the
action of a magnetic field to accomplish the change in voltage level.

Why are electric motors and generators so common?
 Electric power is a clean and efficient energy source that is easy to

transmit over long distances and easy to control.
 An electric motor does not require constant ventilation and fuel the way
that an internal-combustion engine does, so the motor is very well suited for
use in environments where the pollutants associated with combustion are
not desirable.

Rotational Motion, Newton’s Law and Power Relationship
Almost all electric machines rotate about an axis, called the shaft of the
machines. It is important to have a basic understanding of rotational motion.
Angular Position Ө - is the angle at which it is oriented, measured from some

arbitrary reference point. Its measurement units are in radians (rad) or in
degrees. It is similar to the linear concept of distance along a line.
Conventional notation: +ve value for counterclockwise

-ve value for clockwise rotation
Angular Velocity  - Angular velocity (or speed) is the rate of change in

angular position with respect to time.

Similar to the concept of standard velocity where:
dr
v (m/sec)
where: dt
r – distance traverse by the body
t – time taken to travel the distance r
For a rotating body, angular velocity is formulated as:

dq
 (rad/s)
dt
where:
q - Angular position/ angular distance traversed by the rotating body
t – time taken for the rotating body to traverse the specified distance,

The following symbols are used in out text book to describe angular velocity:
wm : angular velocity expressed in radians per second
fm : angular velocity expressed in revolutions per second
nm : angular velocity expressed in revolutions per minute
These measures of shaft speed are related to each other by the following
equations:
Angular acceleration,  - is defined as the rate of change in angular velocity

with respect to time. Its formulation is as shown:
d
 rad / s 2
dt

Torque (Twisting Force) 

The torque on an object is define as the product of the force applied on the
object and the smallest distance between the line of the action of force and
the axis of rotation.
  Force  perpendicular distance

 F  r sin q Direction
of rotation
rsinqrsinq

Newton’s Law of Rotation
where:
F  ma ( N or kg.m/sec^2)
F – net force applied
m – mass of object
a – resultant acceleration of object
Applying these concept for rotating bodies,
  J (Nm)
where:
 - Torque
J – moment of inertia
 - angular acceleration

Work (W)
Is defined as the application of Force through a distance.
- For linear motion

W  Fdr ( Joules OR foot-pounds)
Assuming that the direction of F is collinear (in the same direction) with the
direction of motion.
If F (force) is constant then:
W  Fr
- For rotational motion
W    dq
if  is constant, then W  q (Joules)

Power (P)
Is defined as rate of doing work. Hence,
dW (Watt) OR (Joules/s) OR
P hours power (1 hp = 746 watt )
dt OR foot-pounds/s
Assuming that force is constant and collinear with the direction of motion,
power is given by
Applying this for rotating bodies,
This equation can describe the mechanical power on the shaft of a motor or
generator.

Magnetic Field
magnetic fields are the fundamental mechanism by which energy is
converted from one form to another in motors, generators, and
transformers.
Basic principles:
1. A current-carrying wire produces a magnetic field in the area around it.
2. A time-changing magnetic field induces a voltage in a coil of wire if it

passes through that coil. (This is the basis of transformer action.)
3. A current-carrying wire in the presence of a magnetic field has a force

induced on it. (This is the basis of motor action.)
4. A moving wire in the presence of a magnetic field has a voltage

induced in it. (This is the basis of generator action.)

Production of a Magnetic Field
Ampere’s Law – the basic law governing the production of a magnetic field by a
current:
 H dl  I net
Where,
H is the magnetic field intensity produced by the current Inet
dl is a differential element of length along the path of integration.
H is measured in Ampere-turns per meter.
To better understanding the previous equation consider the following example:

Consider a current carrying conductor is wrapped around a ferromagnetic core
Applying Ampere’s law, the total amount of magnetic field induced will be
proportional to the amount of current flowing through the conductor wound
with N turns around the ferromagnetic material as shown. Since the core is
made of ferromagnetic material, it is assumed that a majority of the magnetic
field will be confined to the core.

 The path of integration in Ampere’s law is the mean path length of the core, lc
 The current passing within the path of integration Inet is then Ni,
 Since the coil of wires cuts the path of integration N times while carrying the
current i. Hence Ampere’s Law becomes,
Hlc  Ni
Ni
H  (Ampere turns per meter)
lc

Magnetic field intensity H is known as the effort required to induce a magnetic field.
 The strength of the magnetic field flux produced in the core also depends on
the material of the core. Thus,
B  H
B = magnetic flux density (webers per square meter, Tesla (T))
µ= magnetic permeability of material (Henrys per meter)
H = magnetic field intensity (ampere-turns per meter)

The constant  may be further expanded to include relative permeability which
can be defined as below:

r 
o
where:
o – permeability of free space 4 x 10-7 H/m (Henry/meter)
Note:
• permeability of air = permeability of free space.
• steels used in modern machines have r of 2000 to 6000.

In a core such as in the figure, 
B  H  ilc
CSA
N turns
mean path length, lc
Now, to measure the total flux (F) flowing in the ferromagnetic core, consideration
has to be made in terms of its cross sectional area (CSA). Therefore,
   BdA
A
Where: A – cross sectional area throughout the core

Assuming that the flux density in the ferromagnetic core is constant throughout
hence constant A, the equation simplifies to be:
  BA
Taking into account past derivation of B,
 NiA
 weber
lc

Magnetic Circuit
The current in a coil of wire wrapped around a core produces a magnetic flux in the
core. This is in some sense analogous to a voltage in an electric circuit producing a
current flow.
The analogy is as follows:

A 
+ +
V R F=Ni Reluctance, R
- -
(mmf)
Electric Circuit Magnetic Circuit

F is denoted as magnetomotive force (mmf) which is similar to Electromotive
force in an electrical circuit (emf).

Magnetic Circuit
The polarity of the mmf will determine the direction of flux. To easily determine the
direction of flux, the ‘right hand curl’ rule is utilised:
1) The direction of the curled fingers determines the current flow.

2) The resulting thumb direction will show the magnetic flux flow.

Magnetic Circuit
The element of R in the magnetic circuit analogy is similar in concept to the

electrical resistance.
It is basically the measure of material resistance to the flow of magnetic flux.
Reluctance in this analogy obeys the rule of electrical resistance

(Series and Parallel Rules).
Reluctance is measured in Ampere-turns per weber.

Series Reluctance,
Req = R1 + R2 + R3 + ….
Parallel Reluctance, 1 1 1 1
    ...
Req R1 R2 R3
Magnetic Circuit
The inverse of electrical resistance is conductance (G) which is a measure of
conductivity of a material.
Hence the inverse of reluctance is known as permeance, P where it

represents the degree at which the material permits the flow of
magnetic flux.
 NiA
P
1 Also 
R lc
 since  
F A
 Ni
R lc
  FP A
F
lc
A lc
P  ,R
lc A

Inaccuracy in the magnetic circuit approach
By using the magnetic circuit approach, it simplifies calculations related to the
magnetic field in a ferromagnetic material, however, this approach has inaccuracy.
Possible reason of inaccuracy is due to:
1) Assumes that all flux are confined within the core, but in reality a
small fraction of the flux escapes from the core into the surrounding
low-permeability air, and this flux is called leakage flux.
2) Assumes a certain mean path length and cross sectional area (CSA)
of the core is not accurate especially at the corners.
3) In ferromagnetic materials, the permeability varies with the amount

of flux already in the material. The material permeability is not N
constant hence there is an existence of non-linearity of permeability.
4) For ferromagnetic core which has air gaps, there are fringing effects
that should be taken into account as shown:
S

Example 1-1
A ferromagnetic core is shown.
Three sides of this core are of
uniform width, while the fourth side
is somewhat thinner. The depth of
the core (into the page) is 10cm, and
the other dimensions are shown in
the figure. There is a 200 turn coil
wrapped around the left side of the
core.
Assuming relative permeability r of
2500, how much flux will be
produced by a 1 A input current?

Example 1-1
NiA
Solution:
c 3 sides of the core have the same csa,
while the 4th side has a different area.
 A Thus the core can be divided into 2
regions:
lc (1) the single thinner side
(2) the other 3 sides taken together
 A The magnetic circuit corresponding to
this core:
lc
A lc
,R
lc A
Solve Examples 1-1, 1-2, 1-3 in the book

Example 1-2
Figure shows a ferromagnetic core whose
mean path length is 40cm. There is a small gap
of 0.05cm in the structure of the otherwise
whole core. The csa of the core is 12cm2, the
relative permeability of the core is 4000, and
the coil of wire on the core has 400 turns.
Assume that fringing in the air gap increases
the effective csa of the gap by 5%. Given this
information, find
the total reluctance of the flux path (iron plus
air gap)
the current required to produce a flux density
of 0.5T in the air gap.
Solution:
The magnetic circuit corresponding to this core is
shown below:

Magnetic Behaviour of Ferromagnetic Materials
 For magnetic materials, a much larger value of B is produced in these

materials than in free space.
 Therefore, the permeability of magnetic materials is much higher than µo.
 However, the permeability is not linear anymore but does depend on the
current over a wide range.
The concept of magnetic permeability corresponds to the ability of the

material to permit the flow of magnetic flux through it.
In electrical machines and electromechanical devices a somewhat linear

relationship between B and I is desired, which is normally approached by
limiting the current.

Look at the magnetization curve and B-H curve.
Saturation region
knee
unsaturated region
Note: The curve corresponds to an increase of DC current flow through a coil

wrapped around the ferromagnetic core
When the flux produced in the core is plotted versus the mmf producing it. This plot
is called a saturation curve or a magnetization curve.
A small increase in the mmf produces a huge increase in the resulting flux. After a
certain point, further increases in the mmf produce relatively smaller increases in
the flux. Finally, there will be no change at all as you increase mmf further.

 Advantage of using a ferromagnetic material for cores in electric machines
and transformers is that one gets more flux for a given mmf than with air
(free space).
 If the resulting flux has to be proportional to the mmf, then the core must
be operated in the unsaturated region.
 Generators and motors depend on magnetic flux to produce voltage and
torque, so they need as much flux as possible. So, they operate near the
knee of the magnetization curve (flux not linearly related to the mmf).
This non-linearity as a result gives peculiar behaviours to machines.
 As magnetizing intensity H increased, the relative permeability first
increases and then starts to drop off.

Energy Losses in Ferromagnetic Core
Hysteresis losses
Notice that the amount of flux present in the core depends not only on the amount
of current applied to the windings of the core, but also on the previous history of the
flux in the core.
This dependence on the preceding flux history and the resulting failure to retrace
flux paths is called hysteresis.

(a) Magnetic domains oriented randomly. (b) Magnetic domains lined

up in the presence of an external magnetic field.
The hysteresis loss in an iron core is the energy required to accomplish the
reorientation of domains during each cycle of the alternating current
applied to the core. It is proportional to hysteresis loop and cause heat in
the core.

FARADAY’S LAW – Induced Voltage from a Time-Changing
Magnetic Field
- It is the basis of transformer operation.

- Faraday's law states that if a flux passes through a turn of a coil of wire, a
voltage will be induced in the turn of wire that is directly proportional to the rate
of change in the flux with respect to time.
d
eind 
dt
- If there is N number of turns in the coil with the same amount of flux flowing
through it, hence:
d
eind   N
dt
where:
N – number of turns of wire in coil.

Note the negative sign at the previous equations which is in accordance to Lenz’
Law which states:
‘The direction of the build-up voltage in the coil is as such that if the coils were
short circuited, it would produce current that would cause a flux opposing the
original flux change.’

 If the flux shown is increasing in strength, then the voltage built up in the
coil will tend to establish a flux that will oppose the increase.
 A current flowing as shown in the figure would produce a flux opposing the
increase.
 So, the voltage on the coil must be built up with the polarity required to
drive the current through the external circuit. So, -eind

 In calculations we can omit the minus because it indicates only the physical
consideration.
 If there was a leakage flux out of the core, then each turn might have a
slightly different flux.
Now consider the induced voltage in the ith turn of the coil, di
ei 
dt
N
eind   ei
Since there is N number of turns, the
equation above may be rewritten into,
i 1
N
d i

i 1 dt
d N 
   i 
dt  i 1 

Flux linkage - 
The equation above may be rewritten into,
d
eind 
dt
where  (flux linkage) is defined as: N
   i (Weber-turns)
i 1
 Faraday’s law is the fundamental property of magnetic fields involved

in transformer operation.
 Lenz’s Law in transformers is used to predict the polarity of the

voltages induced in transformer windings.

Eddy current: the time changing flux also induces a voltage in the core, which
causes eddy currents to flow within the core.
these currents pass through the core (resistive core) causing energy loss
called eddy current losses.

Production of Induced Force on a Wire (motor action principle)
A current carrying wire present in a uniform magnetic field of flux density

B, would produce a force on the conductor/wire.
Dependent upon the direction of the surrounding magnetic field, the force
induced is given by:
F  i l  B 
where:
i – represents the current flow in the conductor
l – length of wire, with direction of l defined to be in the direction of current
flow
B – magnetic field density vector

The direction of the force is given by the right-hand rule.
Thump
Thumb
(resultant force) F
Index
Index Finger
(current direction) Middle I
B
Middle
Finger
(Magnetic Flux Direction)
Right Hand Rule
The induced force formula shown earlier is true if the current carrying conductor
is perpendicular to the direction of the magnetic field. If the current carrying
conductor is positioned at an angle to the magnetic field, the formula is
F  ilB sin q
modified to be as follows:
Where: q - angle between the conductor and the direction of the magnetic
field.
Example 1-6
The figure shows a wire carrying a current in the presence of a magnetic
field. The magnetic flux density is 0.25T, directed into the page. If the wire
is 1m long and carries 0.5A of current in the direction from the top of the
page to the bottom, what are the magnitude and direction of the force
induced on the wire?

Solution
Direction of F is given by the right hand rule  to the right
F  ilB sin q
= (0.5A)(1.0)m(0.25T) sin 90o
= 0.125 N
Therefore F=0.125 N directed to the right

Production of Induced voltage on a conductor (Generator action principle)
 If a conductor moves or ‘cuts’ through a magnetic field, voltage will be induced
between the terminals of the conductor.
 The magnitude of the induced voltage is dependent upon the velocity of the
wire assuming that the magnetic field is constant. This can be summarised in
terms of formulation as shown:
eind = (v x B) l
where:
v – velocity of the wire
B – magnetic field density
l – length of the wire in the magnetic field
 Note: The value of l (length) is dependent upon the angle at which the wire
cuts through the magnetic field. Hence a more complete formula will be as
follows:
eind = (v x B)l cosѳ
where:
q - smallest angle between the conductor and the direction of (v x B)
The induction of voltages in a wire moving in a magnetic field is fundamental to
the operation of all types of generators.
Example 1.8
The figure shows a conductor moving with a velocity of 5m/s to the right in the
presence of a magnetic field. The flux density is 0.5T into the page, and the wire is
1m length, oriented as shown. What are the magnitude and polarity of the resulting
induced voltage?

Solution:
direction of vxB is up and voltage polarity is as shown since positive voltage
polarity is in the direction of vxB
eind = (v x B) l= (vBsin 90o) l cos 0o

= 5( m/s)(0.5T) (1.0m)=2.5V
Induced voltage is 2.5V, positive at top of wire
Positive voltage
polarity is in the
direction of vxB

The Linear DC Machine
Linear DC machine is the simplest form of DC machine which is easy to
understand, and it operates according to the same principles and exhibits the
same behaviour as motors and generators. Consider the following:
Switch B
rails
R
+
eind
VB -
Battery
Bar of conductor
Equations needed to understand linear DC machines are as follows:
 Production of Force on a current carrying conductor in presence of

F  i l  B 
magnetic field

 Voltage induced on a current carrying conductor moving in a magnetic

field
eind = (v x B) l
 Kirchoff’s voltage law
VB  iR  eind  0
VB  eind  iR  0
 Newton’s Law for motion

Fnet = ma

Starting the Linear DC Machine
 To start the machine, the switch is closed.

 Current will flow in the circuit and the equation can be derived from Kirchoff’s law:
Since ,V B  iR  e ind
V B  e ind
 i 
R
 At this moment, eind is 0 due to no movement of the wire (the bar is at rest).

 As the current flows down through the bar, a force will be induced on the bar.
F  i (l  B )
Direction of movement: Right
 ilB sin 90
 ilB
 When the bar starts to move, its velocity will increase, and a voltage appears
across the bar.
eind  (v  B)l Direction of induced potential: positive upwards
 vBl sin 90

 vlB

 The voltage now reduces the current flowing in the bar, since by Kirchhoff's voltage law
V B  e ind 
i 
R
 Eventually; the bar will reach a constant steady-state speed where the net force on the
bar is zero. This occurs when eind has risen all the way up to equal VB. This is given by:
VB  eind  vsteady state Bl

VB
 vsteady state 
Bl

Summarization of the starting of linear DC machine is sketched in the figures

below:

To summarize, at starting, the linear dc machine behaves as follows:

1.Closing the switch produces a current flow i = VB /R.
2.The current flow produces a force on the bar given by F = ilB.
3.The bar accelerates to the right, producing an induced voltage eind as it speeds up.
4.This induced voltage reduces the current flow
V B  e ind 
i 
R
5.The induced force is thus decreased (F = i↓lB) until eventually F =0. At that point
6. eind = VB ,i= 0, and the bar moves at a constant no- load speed vss= VB /BI.
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The Linear DC Machine as a Motor
 Assume the linear machine is initially running at the no-load steady state
condition.
 What happen when an external load is applied? See figure below:
 A force Fload is applied to the bar opposing the direction of motion. Since the
bar was initially at steady state, application of the force Fload will result in a net
force on the bar in the direction opposite the direction of motion.
Fnet  Fload  Find

 Thus, the bar will slow down (the resulting acceleration a = Fnet/m is negative). As
soon as that happen, the induced voltage on the bar drops
(eind = v↓ Bl).
 When the induced voltage drops, the current flow in the bar will rise
VB  eind 
i 
R
 Thus, the induced force will rise too.
(Find↑ = i↑ lB)
 Final result  the induced force will rise until it is equal and opposite to the load
force, and the bar again travels in steady state condition, but at a lower speed.

 Now, there is an induced force in the direction of motion and power is being
converted from electrical to mechanical form to keep the bar moving.
 The power converted is

Pconv = eind I = Find v
 An amount of electric power equal to eind I is consumed and is replaced by
the mechanical power Find v  MOTOR
 The power converted in a real rotating motor is:

Pconv = τind ω

The Linear DC Machine as a Generator
• Assume the linear machine is operating under no-load steady-state condition. A force
in the direction of motion is applied.
• The applied force will cause the bar to accelerate in the direction of motion, and the
velocity v will increase.
• So; eind = v ↑ Bl will increase and will be larger than VB.
• When eind > VB the current reverses direction.
• Since the current now flows up through the bar, it induces a force in the bar (Find = ilB
to the left). This induced force opposes the applied force on the bar.

The Linear DC Machine as a Generator
• End result  the induced force will be equal and opposite to the applied force, and
the bar will move at a higher speed than before. The linear machine is now converting
mechanical power (Findv) to electrical power (eind i)  GENERATOR
• The amount of power converted : Pconv = τind ω
NOTE:
 The same machine acts as both motor and generator. The only difference is
whether the externally applied force is in the direction of motion (generator) or
opposite to the direction of motion (motor).
 Electrically, eind > VB  Generator

eind < VB  Motor
 The machine was a generator when it moved rapidly and a motor when it moved
more slowly. But, whether it was a motor or a generator, it always moved in the
same direction.

Starting problems with the Linear Machine
• This machine is supplied by a 250V dc
source and internal resistance R is 0.1
ohm.
• At starting, the speed of the bar is
zero, eind = 0. The current flow at start
is: V 250
istart  B
  2500 A
R 0.1
• This current is very high (10x in excess
of the rated current).
• How to prevent?  insert an extra
resistance into the circuit during
starting to limit current flow until eind
builds up enough to limit it, as shown
here:

Solve Example 1-10 in text book
Homework:
1.6, 1.17, 1.21, and 1.22.

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Electrical Machines and Power Electronics

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Instructor : Dr. Ali Abdo

Textbook : Electric Machinery Fundamentals, Fifth Edition,

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1) Introduction to Machinery Principles

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 Electric Machines  mechanical energy to electric energy or vice versa

 Mechanical energy  Electric energy : GENERATOR

 Electric energy  mechanical energy : MOTOR

Only machines using magnetic fields to perform such conversions will be

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 Transformers are usually studied together with generators and motors

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Why are electric motors and generators so common?

 Electric power is a clean and efficient energy source that is easy to

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Angular Position Ө - is the angle at which it is oriented, measured from some

Conventional notation: +ve value for counterclockwise

Angular Velocity  - Angular velocity (or speed) is the rate of change in

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For a rotating body, angular velocity is formulated as:

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Angular acceleration,  - is defined as the rate of change in angular velocity

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Torque (Twisting Force) 

  Force  perpendicular distance

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Newton’s Law of Rotation

Applying these concept for rotating bodies,

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if  is constant, then W  q (Joules)

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Applying this for rotating bodies,

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2. A time-changing magnetic field induces a voltage in a coil of wire if it

3. A current-carrying wire in the presence of a magnetic field has a force

4. A moving wire in the presence of a magnetic field has a voltage

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To better understanding the previous equation consider the following example:

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[email protected] Electrical Machine & Power Electronics ENEE 4301

[email protected] Electrical Machine & Power Electronics ENEE 4301

[email protected] Electrical Machine & Power Electronics ENEE 4301

[email protected] Electrical Machine & Power Electronics ENEE 4301

In a core such as in the figure, 

mean path length, lc

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Taking into account past derivation of B,

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The analogy is as follows:

Electric Circuit Magnetic Circuit

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1) The direction of the curled fingers determines the current flow.

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The element of R in the magnetic circuit analogy is similar in concept to the

Reluctance in this analogy obeys the rule of electrical resistance