Index

Note: Page numbers followed by f indicate figures and t indicate tables.

A

A.C. drive  See Induction motor; Reluctance motor; Stepping motor; Switched reluctance motor; Synchronous motor; Synchronous reluctance motor
A.C. motor  See Induction motor; Reluctance motor; Synchronous motor; Synchronous reluctance motor
Acoustic noise 83, 248
Active front end 76–77, 76f
Air cooling 85
Air-gap 10–11, 10f, 202–203, 318–319
Air-gap flux density 11–13, 12f, 171f, 181f, 183f, 208, 319–320
Angular acceleration 420
Angular frequency 212–213
Armature  See D.C. motor
Asynchronous motor  See Induction motor
Autotransformer starter  See Induction motor

B

Back e.m.f. 27
Base speed 72
Bearing currents 250–251
Bifilar winding 384–385
BIl  See Torque
Bipolar junction transistor (BJT) 45, 47, 81–82, 81f
Boost converter 51–52, 51f
Braking 422–423
dynamic 119
induction motor 
injection 217, 217f
plug reversal/plugging 216–217, 216f
regenerative 115–119, 115f
resistor circuit 75–76, 76f
Brushes 92
Brushless d.c. motor 307, 361
Brushless PM generators 367–368
Brushless PM motor 362, 366–367, 367f

C

Cage induction motor  See Induction motor
Cage rotor 176–178, 177f, 180, 181f, 183, 183f, 204–205, 204f
Capacitor-run induction motor 223–224, 224f
Chopper 
drive 398–399, 398–400f
power electronic switch 45
switching control 45
transistor 46–48, 46f, 86
Chopper-fed d.c. motor 
control arrangements 154
performance of 152–154, 153f
single-switch chopper 151–152
vs. thyristor-controlled rectifier 151
torque-speed characteristics 154
Closed-loop position control  See Control
Closed-loop speed control  See Control
Closed-loop torque control  See Control
Collector-emitter voltage 46–47, 82
Commutator  See also D.C. motor
axial length of 93
function of 92–93
operation 94–96
location 96, 96f
Compound wound 91
Constant flux 235, 235f
Constant power region  See Torque-speed curves
Constant rotor flux linkage 277–278, 277f
Constant stator current 275–276, 276f, 315–316
Constant torque load 416–421, 417–418f
Constant torque region  See Torque-speed curves
Continuous current mode, rectifier 57
Control  See also Field oriented control
a.c. drive  See Induction motor; Reluctance motor; Stepping motor; Switched reluctance motor; Synchronous motor; Synchronous reluctance motor
armature voltage feedback 151
current 146
d.c. drive  See D.C. drive
speed 148–150
torque 148, 247, 290, 291f
closely-coupled circuits, special property of 279–283, 280f
d.c. motor drive 148
direct 299–304
mechanism of 285–287, 286f
rotor flux 283–285, 283f
stator current and rotor flux reference angle 292, 292f
stator voltage and current, steady-state conditions 294, 294f
voltage phasor 293f
Controlled rectification 53–62
Conventional PWM inverter 74
Converter 
boost 51–52, 51f
discontinuous current 134f, 136–138, 136f, 138f
firing circuits 62
four-quadrant operation 140–141, 141f
output impedance 139–140
overlap 139–140
power factor 143–144, 143–144f
reversing drive 141–143, 141–142f
single-pulse 54–55, 54f
six-pulse 60–61
supply effects 143–144
twelve-pulse 60–61
two-pulse 55
voltage range 61–62
waveforms 83–85
Cooling 362
motor enclosures 424–425
switching devices 83–85
Coupled circuits 
closely-coupled circuits 279–283, 280f
induced e.m.f. and flux linkage 268–269
3-phase induction motor 271f
Coupling coefficient 281–282
Current source inverter (CSI) 243, 351, 354–356, 355f
Cycloconverter 77–79, 78–79f

D

D.C. drive 
armature voltage feedback 151
chopper-fed 151–154
closed-loop speed control 291, 291f
closed-loop torque control 298–299
control arrangements 144–151
analogue controlled-speed drive 145, 145f
current limits and protection 146–147
speed error amplifier, characteristics of 145–146, 146f
two-loop control 144–145
without current control 151
current limits and protection 146–147
general arrangement 42–43, 43f, 144–151
IR compensation 151
overall operating region 150
PI controllers 292–293
position control 156–158, 157f
reversing 142–143, 142f
servo 154–158
speed control 148–150
tacho loss protection 150
torque control 148
D.C. motor 
active length 24, 24–25f
armature reaction 109–110
‘armature’ winding 89–90
base speed 72, 107–109, 107f
battery supply 41, 43–44
braking, dynamic 119
classification 91
commutator  See Commutator
compensating windings 110
compound wound 91
constant power region 108
constant torque region 107–108
conventional (brushed) 89, 90f
discontinuous current 134f, 136–138, 136f, 138f
drives 131
dynamic behaviour 112–115
dynamic braking 119
electrical circuits 89
equivalent circuit 99–100, 100f
excitation systems 91, 92f
field weakening 107–109, 107f
four-quadrant operation 115–119, 115f, 140–141, 141f
vs. induction motors 161–162
ironless rotor 155–156, 156f
maximum output power 110–111
motional e.m.f. 96
no-load speed 101, 103f
performance calculation 101–103, 103f
power electronic drives 90
power range 89
printed armature 155
regenerative braking 115–119, 115f
reversal 117–119, 118f, 141–142, 141f
series-connected 119–120, 122–123, 122f
servo 155–156
shunt-connected 120–121, 121f
size 91
skewing 126
time-constants 112–115, 113f
torque and e.m.f. constants 98
torque-speed calculation 103–107, 103f
toy 126–127, 126f
transient behaviour 111–115
Deep bar rotor 205f, 206
Delta (mesh) connection 165–166, 166f, 194–195
Diode, freewheel/flywheel 49–50, 49f, 69–71, 75
Direct-axis inductance 321
Direct-on-line (DOL) starting  See Induction motor
Direct torque control (DTC) 247, 299–304
Discontinuous current 134f, 136–138, 136f, 138f
Distortion, supply 144, 426
Double cage rotor 205–206, 205f
Double converter reversing drive 142–143, 142f
Doubly-fed induction machine  See Induction motor, wound rotor
Duty cycle and rating 423–424, 424f
Dynamic braking 119
Dynamic torque control 
mechanism of 285–287, 286f
rotor flux 283–285, 283f

E

Effective inductance 281
Effective inertia 417, 419, 421
Electric circuit 8f, 9–10, 10f, 266–268, 267f, 270, 318–319, 336
Electric motors 
constant voltage operation 
analysis 35–36
behaviour with a mechanical load 32–34, 33f
behaviour with no mechanical load 30–32, 31f
efficiency 34–35, 37
relative magnitudes of V and E 34–35
steady speed 29
energy conversion 
power relationships 26–27
relative movement 24
stationary conditions 24–26, 24–25f
equivalent circuit 
Kirchoff’s law 28
motoring and generating 28–29
power equation 28
primitive machine 27, 28f
magnetic circuits 7
air-gap 10–11, 10f
air-gap flux density 11–13, 12f
d.c. motor from gapped C-core 14–15, 14f
electric circuit 8f, 9–10, 10f
flux density 9
flux pattern 7–8, 8f
magnetomotive force 9
multi-turn cylindrical coil 7–8, 8f
reluctance 11–13
saturation 13–14, 14f
steady current 7, 7f
operating temperature and cooling 36
power per unit volume 37
production of rotation 
energy-converting functions 2
force 1–2, 2f, 5–7
magnetic field 3–4, 3f
magnetic flux 3–4, 3f
magnetic flux density 4–5, 5f
rated voltage 37
short-term overload 38
size effects 37
torque per unit volume 36–37
torque production 15–19
Electromagnetic compatibility (EMC) 74, 252–253
Electromechanical time-constant 112, 114–115
Enclosures 424–425
Energy conversion 
power relationships 26–27
relative movement 24
stationary conditions 24–26, 24–25f
Energy optimisation, induction motor 220–222, 221f
Equivalent circuit 337
d.c. motor 99–100, 100f
excited-rotor and PM synchronous machine 329, 329f
Kirchoff’s law 28
motoring and generating 28–29
power equation 28
primitive machine 27, 28f
of supply system 192, 192f
Excitation 2, 91, 92f, 175, 226–227, 326
Excited rotor motor synchronous machine drive 310
synchronous motor  See Synchronous motor, control
External rotor resistance 220, 220f

F

Fans, cooling 85, 85f
Fan type load 416, 422, 422f
Faraday’s law 269
Ferrite magnet 91–92
Field oriented control 261
circuit modelling 270–272
coupled circuits, induced e.m.f. and flux linkage 268–269
rotor currents 272
self and mutual inductance 269–270
direct torque control 299–304
dynamic torque control 
closely-coupled circuits, special property of 279–283, 280f
mechanism of 285–287, 286f
rotor flux 283–285, 283f
graphical approach 261–262
implementation of 287
acceleration 295–297, 295f, 297f
PWM controller/vector modulator 287–290, 288–290f
rotor flux angle 297–299
torque control scheme 290–294, 291–294f
transient operation 294, 295f
induction motors  See Induction motors, control
PM synchronous motor  See Synchronous motor, control
reference frames, transformation of 265–266, 266f
reluctance motor  See Synchronous motor, control
space phasor representation, of m.m.f. waves 262–265, 263–264f
steady-state torque, current-fed conditions 273–274, 273f
stator current, flux and torque components of 278–279, 278f
torque vs. slip frequency 275–278, 276–277f
synchronous motor  See Synchronous motor, control
transient and steady-states, in electric circuits 266–268, 267f
Field weakening 107–109, 107f, 347–349, 348f
Firing angle 54f, 56f, 57, 58f, 60f, 78
Flashover, d.c. motor 92–93
Flux 
amplitude 232–233, 235
components of stator current 278–279, 278f
constant 235f
control 292, 301–304
density 3f, 4
air-gap 11–13, 12f
iron magnetic circuit 4, 5f
linkage 268–269, 275, 276–277f, 277–278
rotating 232
rotor 283–285, 283f
wave 163–165
Flux-cutting 27
Four-quadrant operation 115–119, 115f
Fractional-slot windings 170–171
Freewheel diode 49–50, 69–71, 75
Frequency control 66f, 71
Full load 345, 346f
Fully-controlled converter 53
single-phase 55–59, 55–56f, 58–59f
three-phase 60–61, 60f
use of 61
Fundamental power factor 256

G

Generating 
d.c. machine 115
induction motor 
doubly-fed induction machine, for wind power generation 213–215, 214f
region 210–211, 210f
self-excited induction generator 211–213, 213f
synchronous machine 353

H

Harmonic currents, utility supply 
actual magnitudes 253
basic 12-pulse rectifier arrangement 255, 255f
current waveform, spectrum of 252, 253f, 255f
3-phase drive 253–254f, 254–255
rectifier loading 254
Hazardous environments 229, 244
Heatsink 85, 85f
High inertia loads, overheating 202
High inertia PM motor 363–364, 363f
Hybrid stepping motor 382–385, 383–385f
Hysteresis motors 312–313

I

IC classification 425
Inductance 
direct-axis 321
effective 281
energy in 50
mutual 269–270, 273–274, 298
quadrature-axis 321
self 269–270
waveforms 280–281, 280f
Induction motor 188, 189f, 191
autotransformer starter 195–196, 195f
braking 
injection 217, 217f
plug reversal/plugging 216–217, 216f
cage rotor 176–178, 177f
capacitor-run 223–224, 224f
current-slip relationship 188, 189f
vs. d.c. motor 161–162
excitation power and VA 175
external characteristics 163
field oriented control of 
circuit modelling 268–272
dynamic torque control 279–287
implementation of 287–299
reference frames, transformation of 265–266, 266f
space phasor representation, of m.m.f. waves 262–265, 263–264f
flux reduction, by rotor currents 185–187
four-pole motor 
defines 164
flux pattern in 163–164, 164f
generating 
doubly-fed induction machine 213–215, 214f
region 210–211, 210f
self-excited induction generator 211–213, 213f
in industrial society 161
inverter-fed drives 240–247
acoustic noise 248
bearing currents 250–251
‘inverter grade,’ 251–252
iron loss 250
long inverter-motor cables 248–249
motor insulation 248–249
and motor protection 257–258
rotor copper loss 249
shaft-mounted external cooling fan 251f
stator copper loss 249
leakage reactance 182
magnetising current 172–173, 175–176, 176f, 185, 187–188, 187f
pole number 164–166, 165t, 169, 171–173, 180
power factor control and energy optimisation 220–222, 221f
resistance/reactance starter 196
rotating magnetic field  See Rotating magnetic field
rotor induced e.m.f. and current 
frequency 179
instantaneous sinusoidal pattern 179, 180f
pattern of 179, 180f
rate 179
variation 179, 179f
run-up and stable operating regions 
harmonic effects, skewing 200–202, 201f
high inertia loads, overheating 202
speed-time curves 199, 199f
steady-state rotor losses and efficiency 202–203
steady-state stability 203, 203f
unloaded motor 199, 200f
single-phase 222
capacitor run motors 223–224, 224f
principle of operation 222–223
shaded pole motors 224–225, 225f
split-phase motors 224, 224f
skewed rotor bars 201f
slip  See Slip
solid-state soft starting 196–198, 197f
speed control 
high resistance rotor 219, 219f
low resistance rotor 219, 219f
pole-changing motors 218–219
slip energy recovery 220
wound-rotor motors 220, 220f
star/delta (wye/mesh) starter 194–195
starting 
autotransformer starter 195–196, 195f
direct-on-line/direct-to-line starting 193–194
inductive load, output voltage 192–193, 193f
load current 192
low fault level 194
low-power applications 191
resistance/reactance starter 196
resistive load, output voltage 192–193, 193f
short circuit current 193
star/delta (wye/mesh) starter 194–195
stiff supplies 193–194
supply system effects 192, 192f
variable-frequency inverter 198
voltage source 192
stator current 
locus of 188, 188f
resultant 187–188, 187f
‘work’ component 187, 187f
steady-state behaviour 162
torque production 176–184
torque-speed curve 204
cage rotor 204–205, 204f
double cage and deep bar rotors 205–207, 205f, 207f
injection braking 217, 217f
plug reversal 216, 216f
slipring motors, starting and run-up of 207–208, 207f
supply voltage, influence of 208–209, 208f
two-layer winding 166–167
utility-fed 191, 193–194, 196, 198, 207, 211–212, 217, 220
utility supply effects 
harmonic currents 252–256, 253–256f
power factor 256–257
variable-frequency inverter 198
variable frequency operation of 
constant torque and constant power regions 235–236, 236f
four quadrant capability 237–239, 238–239f
limitations 237
speed control scheme 231, 231f
steady-state operation 232–233
torque-speed characteristics 234–235, 234f
voltage control of high-resistance 219, 219f
wound rotor 177–178, 178f
Inductive reactance 330
Industrial PM motors 364–365, 364f
Inertia 
matching 421
PM motor 363–364, 363f
referred 419, 421
Injection braking 217, 217f
Insulated gate bipolar transistor (IGBT) 41, 45, 62, 73, 80, 81f, 82
Integral-slot windings 170
Intermittent operation 411
International Electrotechnical Committee (IEC) standards 425
Inverter  See Power converter; Inverter-fed induction motor drives
Inverter-fed induction motor drives 
constant torque and constant power regions 235–236, 236f
current source induction motor drives 243–244, 243f
induction motor 
acoustic noise 248
bearing currents 250–251
‘inverter grade,’ 251–252
iron loss 250
long inverter-motor cables 248–249
motor insulation 248–249
and motor protection 257–258
rotor copper loss 249
shaft-mounted external cooling fan 251f
stator copper loss 249
multi-level 73–75, 74f
output voltage control 65–70, 66–68f
performance of 
closed-loop control 245t, 246–247
field orientation and direct torque control 247, 247f
maximum torque 245
minimum supply frequency 245
open-loop control 245t, 246
speed loop response 245
speed recovery time 245
torque response 245
PWM voltage source inverter 240f
actual voltage and current waveforms 242, 243f
MOSFET switching devices 240–241
output waveform 242
voltage and current waveforms 242, 243f
single-phase 62–65, 62–65f
switching devices 
bipolar junction transistor 81–82
circuit symbols for 81f
IGBT 82
MOSFET 82
turned ON and OFF feature 80–81
Wide Band Gap devices 81
three-phase 70–73, 71–72f
IP classification 425
IR compensation 151
Ironless rotor motor 155–156, 156f

K

Kirchoff’s voltage law 272

L

Laminations 132–133, 133f, 170–171, 175–176, 177f
Leakage flux 172, 186–187
Leakage reactance 172, 188
Load 
angle 333–335, 339
fan type 416, 422, 422f
pump type 416, 422
torque 194, 199, 203, 238, 344, 388f
Load commutated inverter (LCI) 353

M

Magnetic circuits 7, 233, 406
air-gap 10–11, 10f
air-gap flux density 11–13, 12f
electric circuit 8f, 9–10, 10f
Fleming’s left hand rule 5, 6f
flux density 9
flux pattern 7–8, 8f
magnetomotive force 9
in motors 14–15, 14f
multi-turn cylindrical coil 7–8, 8f
parallel go and return circuit 7, 8f
reluctance 11–13
saturation 13–14, 14f
Magnetic field 3–4, 3f
operating d.c. motor 92
rotating  See Rotating magnetic field
Magnetic flux 3–5, 3f, 5f, 269, 343–344
Magnetic Ohm’s law 9
Magnetising reactance 281
Magnetomotive force (m.m.f.) 9
Matrix converter 79–80, 80f
Maxwell stress method 325
Medium-power converter 72f, 85
Mercury arc rectifier 131
Mesh (delta) connection 194–195
Miniature d.c. motor 126, 126f
MOSFET (Metal oxide semiconductor field effect transistor) 41, 45, 81–82, 81f, 87, 240–241
Motional e.m.f. 27
Motor 
conventional (brushed) d.c. 89, 90f
current waveforms 134–136, 197f
induction  See Induction motor
insulation 248–249
ironless rotor 155–156, 156f
magnetic circuits 14–15, 14f
printed armature 155
protection 257–258
servo 155–156
stepping motor  See Stepping motor
switched reluctance  See Switched reluctance (SR) motor drives
synchronous  See Synchronous motor
toy 126–127, 126f
universal 123–124
Multi-level inverter 
advantages 74
disadvantages 74–75
switching frequencies 73
topologies 73, 74f
Multi-pole stator windings 370
Mutual flux linkage 269
Mutual inductance 269–270, 273–274, 298

N

Nd-Fe-B magnets 91–92
Noise, acoustic 83, 248
No-load speed 101–102, 103f, 105, 107, 109, 122–123

O

Open drip proof (ODP) 425
Output power 22–23
Overlap, rectifier 139–140, 139f
Over-modulated condition 67–68
Overvoltage protection, switching 48–51, 49f

P

Permanent magnet (PM) synchronous motor 
advantages of 311
high inertia 363–364, 363f
servo motors 362–363, 363f
brushless PM generators 367–368
brushless PM motor 366–367, 367f
drives 
control 359–360, 359f
power circuit 358, 358f
equivalent circuit 329f
fractional slot windings 370–372
high pole number, advantages of 368–369, 369f
industrial 364–365, 364f
performance characteristics 365–366, 366f
phasor diagram 
flux and voltage triangles 343
full torque, at base speed 345, 346f
general diagram 342–343, 343f
magnet flux 343–344
stator current 344
stator phasor equation 343
4-pole surface-mounted and 10-pole buried/interior types 311, 311f
segmented core and concentrated windings 369–370, 370f
torque production 
external magnetic circuit 318
magnet and stator flux waves 318
utility-fed 335–336
Permeability of free space 11–12
Plug reversal and plug braking 216–217, 216f
Pole amplitude modulation (PAM) 218–219
Pole-changing induction motor 218–219
Pole number 164–166, 165t, 169, 171–173, 180, 368–369, 369f
Position control 156–158, 157f
Power circuit 
d.c. motor drive 132
induction motor drive 243–244
synchronous motor drives 
excited rotor motor 352–354, 352f, 354f
permanent magnet motor 358, 358f
reluctance motor 360
three-phase inverter 71f
Power converter 408–409
Power density (specific output power) 23
Power electronic converters, motor drives 
characteristics 43
cooling of switching devices, thermal resistance 83–85
cycloconverter 77–79, 78–79f
direct converter, a.c. from a.c. 
cycloconverter 77–79, 78–79f
matrix converter 79–80, 80f
forced-air cooling 85, 85f
function 42
general arrangement 42–43, 43f
heatsinks arrangement 85, 85f
inversion, a.c. from d.c. 
active front end 76–77, 76f
braking 75–76, 76f
definition 62
multi-level inverter 73–75, 74f
output voltage control 65–70, 66–68f
single-phase inverter 62–65, 62–65f
three-phase inverter 70–73, 71–72f
inverter switching devices 80–81
BJT 81–82, 81f
IGBT 82
MOSFET 82
matrix converter 77, 79–80, 80f
PWM (pulse width modulation)  See Pulse width modulation
rectifier, d.c. from a.c. 53–62
firing circuits 62
output voltage range 61–62
single-phase fully-controlled converter 55–59, 55–56f, 58–59f
single pulse rectifier 54–55, 54f
three-phase fully-controlled converter 60–61, 60f
thyristor 53–54, 53f
voltage control  See Voltage control
waveforms 83–85
Power factor 
converter 143–144
d.c. drive 143
induction motor 188, 220–222, 221f, 256–257
synchronous motor 331–335
Power output 22–23
Power semiconductor devices 41
Primary magnetic constant 11–12
Printed armature motor 155
Programmable logic controllers (PLC) 376
Proportional and integral (PI) controllers 292–293
Pull-in torque 402, 402f
Pull-out torque 234–235
induction motor 203
stepping motor 393–401
synchronous machine 309
Pulse width modulation (PWM) 45, 47, 66, 66–67f, 70–71, 74, 76, 230f
controller/vector modulator 
angle reference 290, 290f
voltage phasor 288–289, 288–289f
voltage source inverter 240–242, 240f, 243f, 250
waveform 248
Pump type load 416

Q

Quadrature-axis inductance 321
Quasi-steady-state 200

R

Reactance starter, induction motor 196
Rectification, controlled 53–62
Referred inertia 419, 421
Regenerative braking 115–119
Regenerative operation 422–423
Reluctance 
air-gap 10, 10f
air-gap flux density 11–13, 12f
magnetic Ohm’s law 9
torque 310–313, 319, 325–328, 340, 375, 380–381, 393, 405–406
Reluctance (synchronous) motor 311, 312f, 318–319
drives 
control 361, 361f
drive package 360, 360f
power circuit 360
torque production 319
air-gap flux density 319–320
direct-axis inductance 321
double-frequency function 325
non-sinusoidal flux density wave 321
2-pole sinusoidally-distributed stator winding 319, 319f
position 321–322
quadrature-axis inductance 321
radial flux density wave 320
resultant flux linkage 323–324
sinusoidal stator m.m.f. 321
space phasors 322, 323f
static torque 320, 320f
stator current distribution 323–324
stator flux linkage 323–324
utility-fed 
d-axis inductance 338
higher reluctance path 337
in-phase component of current 337–338
load torque 338
low reluctance path 337
resultant flux linkage 337–338
stator m.m.f. 338
supply voltage and frequency 337–338
terminal voltages and currents 337
time phasor diagrams 336–337, 336f, 339
Resistance 
starting 
d.c. motor 121
induction motor 196
thermal 83–85
Resistor drive 397
Resonant frequency 212–213
Reversal 
d.c. motor 93–94
double converter drive 142–143, 142f
full speed regenerative 117–119, 118f
single converter drive 141–142, 141f
R.M.S. power rating 424f
Rotating magnetic field 
air-gap flux 171–172
direction 171
flux wave 163–165
four-pole winding 169–170, 170f
leakage flux 172
magnitude of flux wave 172–175, 174f
mechanism 163
phase-winding 
coils layout 166, 167f
eight-pole two-layer winding 169, 169f
single-layer winding 166, 167f
two-layer winding 168, 168f
production 165–166, 166f
resultant three-phase field 169–171, 170f
synchronous speed 165, 165t
travelling flux wave 165
Rotor 
cage 176–178, 177f, 180, 181f, 183, 183f, 204–205, 204f
current 272, 275, 281, 297, 332–333
deep bar 205f, 206
double cage 205–206, 205f
energy-conversion efficiency of 202
flux angle 297–299
flux linkage 275, 276–277f, 277–278
flux vector 274
wound 177–178, 178f, 207, 207f, 213, 214f, 220, 220f

S

Salient permanent magnet motor  See Synchronous motor
Salient pole synchronous motor  See Synchronous motor
Selection, motor and drive 411
drive characteristics 
d.c. and a.c. drives, advantages and disadvantages of 413–415, 416f
maximum speed and speed range 415–417
types of drive 413–415, 415f
general application considerations 
dimensional standards 425
duty cycle and rating 423–424, 424f
enclosures and cooling 424–425
regenerative operation and braking 422–423
supply interaction and harmonics 426
load requirements, torque-speed characteristics 417
constant-torque load 417–421, 417–418f
fan and pump loads 422, 422f
inertia matching 421
power ratings and capabilities 
brushless PM motor drives 412, 413f
d.c. motor drives 412, 412f
direct converter drives 412, 414f
excited rotor synchronous motor drives 412, 413f
induction motor drives 412, 413f
slip energy recovery 412, 414f
soft starter 412, 414f
stepping motor drives 412, 414f
switched reluctance drives 412, 414f
Self-excited d.c. generator 124–125, 125f
Self-excited induction generator 211–213, 213f
Self inductance 269–270
Separately-excited motor 89–90
Series d.c. motor 122–123, 122f
Servo drives 154–158
Servo motors 362–363, 363f
Shaded-pole induction motor 224–225, 225f
Shoot-through fault 71
Shunt d.c. motor 120–121, 121f
Single converter reversing drive 141–142, 141f
Single-phase induction motor 222
capacitor run motors 223–224, 224f
principle of operation 222–223
shaded pole motors 224–225, 225f
split-phase motors 224, 224f
Single-phase inverter 
harmonic components 63, 64f
operation 62–63, 62f
output voltage waveforms 63, 63f
steady state current waveforms 64–65, 65f
Slewing, stepping motor 379–380
Slip 
energy recovery 220, 414f
frequency 179, 179f, 186
high value 186–188
large 182–183, 183–184f
low condition 186–187
negative 184, 185f
small 180–182, 181–182f
speed 178, 186
of zero speed 178
Slipring induction motor 207–208, 207f
Slipring rotor 177–178, 178f
Snubbing 83
Solid-state soft starting, induction motor 196–198, 197f
Space harmonics 200–201, 201f, 321
Specific loadings 18f, 19–21
Specific power 23, 362, 368
Specific torque 37
Speed control 
conventional d.c. drive 131
induction motor 
high-resistance cage motors, voltage control of 219, 219f
pole-changing motors 218–219
slip energy recovery 220
wound-rotor motors 220, 220f
series d.c. motor 122
shunt d.c. motor 121
universal motor 124
Split-phase induction motor 224, 224f
Squirrel cage 176–177
Stalling 203
Star connection 165–166, 166f
Star/delta starter 194–195
Starting methods, induction motor  See Induction motor
Stator current 344
component of 298
constant 275–276, 276f, 315–316
Stator flux 301–304, 302–303f, 323–324
Stator space phasor 334
Stator voltage 213f, 219f, 221f
Steady-state characteristics 
d.c. motors 
armature reaction 109–110
armature voltage 100
base speed 107–109, 107f
field weakening 107–109, 107f
maximum output power 110–111
no-load speed 101
performance calculation 101–103
torque-speed relationship 103–107, 104f
stepping motor 
drive, requirements of 391–393, 392f
pull-out torque, constant-current conditions 393–394
Steady-state operation 232–233, 303, 317
Step-down/buck converter 51
Stepping motor 376, 385–386, 412, 414f
bifilar winding 384–385
dampers 401
drive circuits and pull-out torque-speed curves 
constant current (chopper) drive 398–399, 398–400f
constant voltage drive 395–396, 396f
current-forced drive 396–398, 397f
resonances and instability 399–401, 400f
high-speed running and ramping 378–380
motor characteristics 
half stepping 389–390, 390f
holding torque 388–389
mini-stepping 390–391
single-stepping 387–388
static torque–displacement curves 386–387, 386f
step division 390–391
step position error 388, 388f
open-loop position control 377, 377f, 379f
principle of motor operation 381
hybrid (permanent magnet) 382–385, 383–385f
variable-reluctance 381–382, 381f
steady-state characteristics 
drive, requirements of 391–393, 392f
pull-out torque, constant-current conditions 393–394
step angle 385
step pulses and motor response, generation of 377–378, 378f
transient performance 
optimum acceleration and closed-loop control 403–404
pull-in torque 402, 402f
step response 401–402
Step-up/boost converter 51–52
Supply distortion 144, 426
Switched reluctance (SR) motor drives 404, 405f, 412, 414f
power converter and overall drive characteristics 408–409
principle of operation 404–406, 405f
torque prediction and control 406–408, 407f
Switching control, chopper 45
Switching devices 80–82
Synchronous motor 349–351
control 308–309
excited rotor motor 310–311, 310f
hysteresis motor 312–313
permanent magnet motor 311, 311f
reluctance motor 311–312, 312f
salient PM motor 326–329, 361, 412
synchronous reluctance motor 360, 375, 380–381, 412
performance of permanent magnet motors 361–368
2-pole cylindrical 310, 310f
2-pole salient pole 310, 310f
steady-state torque-speed curve 310f
torque production 313
excited rotor motor 313–317, 314f, 316f
permanent magnet motor 318
reluctance motor 318–325, 319–320f, 323–324f
salient permanent magnet motor 326–329, 327–328f
salient pole 325–326, 326f
utility-fed 309, 329
equivalent circuit 329, 329f
excited rotor motor 330–335
permanent magnet motor 335–336
reluctance motor 336–339, 336f
salient pole motor 339–340, 340f
starting 340–341
variable frequency operation of 341–342
phasor diagram, of permanent magnet motor 342–344, 343f
variable speed and load conditions 345–349
Synchronous motor drives 
excited rotor motor 
control 357–358, 357f
current source inverter 354–356, 355f
large high power variable speed 352
power circuit and basic operation 352–354, 352f, 354f
starting 356
permanent magnet motor 
control 359–360, 359f
power circuit 358, 358f
reluctance motor 
control 361, 361f
drive package 360, 360f
power circuit 360
salient permanent magnet motor 361
torque angle 351f
Synchronous speed 165, 165t, 178–179, 181, 184, 186

T

Tacho feedback 150–151, 157–158, 158f
Tacho-generator 144–145
Temperature rise 423
Thermal resistance 83–85
Three-phase autotransformer 195
Three-phase inverter 
characteristics 70
line-line voltages 71
power-circuit configuration 70, 71f
PWM switching strategies 71
square wave operation 71, 72f
Thyristor/SCR 41, 53–56, 53f, 59–60, 60f, 77–78, 84–85
Torque 
angle 339, 348–351, 351f
BIl 14f, 15, 17, 25–26, 30, 127, 275, 313–316, 319–321, 323–325, 342, 350–351, 362, 375–376
constant, d.c. motor 98
control  See Control
current-carrying conductors 15–16, 15f
in d.c. machine 91–96, 92f
detent 382–383
lifting magnets 14f, 16
maximum 245
motor volume 19
parameters 19
power density (specific output power) 23
power output 22–23
rotor volume 21
specific loadings 18f, 19–21
production 235, 313
d.c. motor 91–96
excited rotor motor 313–317, 314f, 316f
induction motor 176–184
permanent magnet motor 318
reluctance motor 318–325, 319–320f, 323–324f
salient permanent magnet motor 326–329, 327–328f
salient pole synchronous motor 325–326, 326f
radial force 16–17
reluctance 380–381
response 245
rotor 16–17
vs. slip frequency 
constant rotor flux linkage 277–278, 277f
constant stator current 275–276, 276f
stiffness 234
tangential electromagnetic force 14f, 15, 17
Torque-speed curves 
acceleration and deceleration trajectories in 237, 238f
constant power region 
a.c. drive 72
d.c. drive 106, 108, 236
constant torque region 
a.c. drive 72
d.c. drive 107–108
constant V/f ratio (induction motor) 234f
4 quadrant 237–239
high speed operation 
a.c. drive 413–415
d.c. drive 413–415
load characteristics 198–199, 198f
rotor parameters, influence of 
cage rotor 204–205, 204f
double cage and deep bar rotors 205–207, 205f, 207f
slipring motors, starting and run-up of 207–208, 207f
space harmonics 201f
stable operating region 203f
stepping motor 394–401
supply voltage, influence of 208–209, 208f
Total effective self flux linkage 269
Totally enclosed fan cooled (TEFC) 425
Toy motors 126–127, 126f
Transient behaviour 29, 32, 111–115
Transient-free transition 286f
Transistor chopper 46–48, 46f, 86
Transistor switching 46
Triac control 124
Two-layer winding 168–169, 169–170f

U

Universal motor 123–124
Utility-fed induction motor  See Induction motor
Utility-fed synchronous motor  See Synchronous motor
Utility supply  See Harmonic currents

V

Variable-frequency inverter 161, 198
Variable reluctance (VR) stepping motor 381–382, 381f
Vector control  See Field oriented control
VFD  See Induction motor; Synchronous motor; Synchronous reluctance motor; Reluctance motor; Stepping motor; Switched reluctance motor
Viscously-coupled inertia 401
Voltage boost 234
Voltage control  See also Power electronic converters
d.c. output from d.c. supply 43–52
boost converter 51–52, 51f
chopper control of inductive load 48–51, 49f
methods for constant-voltage source 43–45, 44f
switching control 45
transistor chopper 46–48, 46f
inverter 65–70, 66–68f
output 
amplitude control 67, 67f
commutation process 67, 68f
continuous current condition 67
generating PWM waveforms 66
over-modulated condition 67–68
principles 66, 66f
Voltage source inverter (VSI)  See Induction motor; Reluctance motor; Stepping motor; Switched reluctance motor; Synchronous motor; Synchronous reluctance motor
Voltage to frequency (V/f) ratio  See Induction motor

W

Ward-Leonard sets 131
Washdown duty 425
Wide Band Gap (WBG) devices 47–48, 70, 81
Winding 
induction motor 166–169, 167–169f
10-pole, 3-phase winding in 12 slots 371–372
resistance 332
two-layer 168–169, 169–170f
Wound rotor induction motor  See Induction motor
Wye (star) connection 165–166, 166f
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