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 EE 8005 –
SPECIAL ELECTRICAL
MACHINES

Department : ELECTRICAL AND ELECTRONICS

ENGINEERING
Batch/Year : 2021 – 2022/III year

Created by : [Link],
Assistant Professor
R.M.K College of Engineering and
Technology
 EE 8005 –
SPECIAL ELECTRICAL
MACHINES

Department : ELECTRICAL AND ELECTRONICS ENGINEERING

Batch/Year : 2019 – 2023 / III year

Created by : [Link] M. [Link]

Department of Electrical & Electronics Engineering
R.M.K ENGINEERING COLLEGE
KAVARAIPETTAI
CHENNAI
Date: 10.05.2022
 Table of
Contents

SL NO Topics Page no.

1 Course Objectives 6

2 Pre Requisites 7

3 Syllabus 8

4 Course outcomes 9

5 CO- PO/PSO Mapping 12

6 Lecture Plan 13

7 Activity based learning 14

8 Lecture Notes 15

9 Link to Videos 62

10 e-book reference 63

11 Multiple Choice Questions 64

12 Assignments 71

13 Part A Question with answers 72

14 Part B Questions 75

15 Supportive online Certification courses 76

Real time Applications in day to day life and to Industry

16 77

17 Contents beyond the Syllabus 78

18 Assessment Schedule 79

19 Prescribed Text Books & Reference Books 80

20 Mini project suggessions as a case study 81

 COURSE OBJECTIVES

To impart knowledge on the following Topics

Steady state operation and transient dynamics of a motor
load system.
Analyze the operation of the converter/chopper fed dc drive,
both qualitatively and quantitatively.
Operation and performance of AC motor drives.
Analyze and design the current and speed controllers for a
closed loop solid state DC motor drive.
 COURSE OBJECTIVES

To impart knowledge on the following Topics

Steady state operation and transient dynamics of a motor
load system.

Analyze the operation of the converter/chopper fed dc drive,

both qualitatively and quantitatively.

Operation and performance of AC motor drives.

Analyze and design the current and speed controllers for a

closed loop solid state DC motor drive.
 PRE REQUISITES
EE8301 - Electrical Machines-I

EE8401 - Electrical Machines-II

EE8552 - Power Electronics

 SYLLABUS
EE8005 Special Electrical Machines Syllabus L T P C 3 0 0 3

UNIT I STEPPER MOTORS

Constructional features –Principle of operation –Types – Torque
predictions – Linear Analysis – Characteristics – Drive circuits –
Closed loop control – Concept of lead angle - Applications.

UNIT II SWITCHED RELUCTANCE MOTORS (SRM)

Constructional features –Principle of operation- Torque
prediction–Characteristics Steady state performance prediction
– Analytical Method – Power controllers – Control of SRM drive-
Sensor less operation of SRM – Applications.

UNIT III PERMANENT MAGNET BRUSHLESS D.C. MOTORS

Fundamentals of Permanent Magnets- Types- Principle of
operation- Magnetic circuit analysis- EMF and Torq ue
equations- Power Converter Circuits and their controllers -
Characteristics and control- Applications.

UNIT IV PERMANENT MAGNET SYNCHRONOUS MOTORS

(PMSM)
Constructional features -Principle of operation – EMF and
Torque equations - Sine wave motor with practical windings -
Phasor diagram - Power controllers – performance
characteristics -Digital controllers – Applications.

UNIT V OTHER SPECIAL MACHINES

Constructional features – Principle of operation and
Characteristics of Hysteresis motor- Synchronous Reluctance
Motor–Linear Induction motor-Repulsion motor- Applications.

TOTAL : 45 PERIODS
 COURSE OUTCOMES
Highest
Course Outcomes Cognitive
Level

C605.1 Ability to analyze and design controllers for special K2

Electrical Machines.

C605.2 Ability to acquire the knowledge on construction and K2

operation of stepper motor

C605.3 Ability to acquire the knowledge on construction and K2

operation of stepper switched reluctance motors.

C605.4 Ability to construction, principle of operation, switched K2

reluctance motors.

C605.5 Ability to acquire the knowledge on construction and K2

operation of permanent magnet brushless D.C. motors

C605.6 Ability to acquire the knowledge on construction and K3

operation of permanent magnet synchronous motors

C605.7 Ability to select a special Machine for a particular k3

[Link] a special Machine for a particular
application.
 PROGRAM OUTCOMES
[Link] knowledge: Apply the knowledge of mathematics, science, engineering
fundamentals, and an engineering specialization to the solution of complex engineering
problems.
[Link] analysis: Identify, formulate, review research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of
mathematics, natural sciences, and engineering sciences.
[Link]/development of solutions: Design solutions for complex engineering problems
and design system components or processes that meet the specified needs with
appropriate consideration for the public health and safety, and the cultural,societal, and
environmental considerations.
[Link] investigations of complex problems: Use research-based knowledge and
research methods including design of experiments, analysis and interpretation of data,
and synthesis of the information to provide valid conclusions.
[Link] tool usage: Create, select, and apply appropriate techniques, resources, and
modern engineering and IT tools including prediction and modeling to complex
engineering activities with an understanding of the limitations.
[Link] engineer and society: Apply reasoning informed by the contextual knowledge to
assess societal, health, safety, legal and cultural issues and the consequent
responsibilities relevant to the professional engineering practice.
[Link] and sustainability: Understand the impact of the professional
engineering solutions in societal and environmental contexts, and demonstrate the
knowledge of, and need for sustainable development.
[Link]: Apply ethical principles and commit to professional ethics and responsibilities
and norms of the engineering practice.
[Link] and team work: Function effectively as an individual, and as a member or
leader in diverse teams, and in multidisciplinary settings.
[Link]: Communicate effectively on complex engineering activities with the
engineering community and with society at large, such as, being able to comprehend
and write effective reports and design documentation, make effective presentations,
and give and receive clear instructions.
[Link] management and finance: Demonstrate knowledge and understanding of the
engineering and management principles and apply these to one’s own work, as a
member and leader in a team, to manage projects and in multidisciplinary
environments.
l. Life-long learning: Recognize the need for, and have the preparation and ability to
engage in independent and life-long learning in the broadest context of technological
change
PSO 1
Analyze, design and implement control, instrumentation and power systems for
satisfying industry needs.
PSO 2
Use modern tools and appropriate solutions for the real time problems for
promoting energy conservation and sustainability.
PSO 3
Possess the capacity to embrace new opportunities of emerging technologies,
leadership and teamwork opportunities, all affording sustainable engineering
career in Electrical and Electronics related fields.
 CO- PO/PSO Mapping
CO MAPPING OF COURSE OUTCOME WITH PROGRAM OUTCOME
PO1PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 P10 P11 P12 PSO 1PSO2PSO3PSO4

C605.1 3 2 1 - - - - - - - - - 1 1 - -

C605.2 3 2 1 1 - - - - - - - - 1 1 - -

C605.3 3 2 1 1 - - - - - - - - 1 1 - -

C605.4 3 2 1 1 1 - - - - - - - 1 1 - -

C605.5 3 2 1 1 - - - - - - - - 1 1 - -

C605.6 2 2 1 - - - - - - - - - 2 1 - -

C605 3 2 1 1 - -- - - - - -- - 1 1 - -
 LECTURE PLAN

UNIT – I DRIVE CHARACTERISTICS

Resources
Delivery
Mode of
Lecture Date

Delivery
S. No

Pertaining

Taxonomy
Proposed
Periods
No. of
Topic

Actual
date

level
CO
1 1 09.03.2022
Constructional
CO1 K1 chalk & T1& R1
features
talk

2 1 10.03.2022
Principle of
CO1 K2 chalk & T1& R1
operation
talk

3 Types of stepper 1 12.03.2022

CO1 K2 chalk & T1& R1
motor talk

4 1 12.03.2022
Torque
CO1 K2 chalk & T1& R1
Prediction
talk

5 1 16.03.2022
Linear analysis CO1 K2 chalk & T2
talk

6 1 16.03.2022
Characteristics CO1 K2 chalk & T1 & T2
talk

7 1 17.03.2022
Driver Circuit CO1 K2 chalk & T1& R1
talk

8 1 19.3.2022
Closed Loop
Control CO1 K2 chalk & T1& R1
talk

9 1 19.3.2022
Lead angle
Control K2 chalk &
CO1 talk T1 & T2
 ACTIVITY BASED LEARNING
• Simulate the working operation of Stepper motor
with different modes at different angle with any
simulation software.

• Simulation of Stepper Motor to analyze the

performance with loadings using Mat lab Simulink.

• Collect some of the properties of copper and

aluminum in table form.
 PRE REQUISITES
EE8301- Electrical Machines-I
EE8401- Electrical Machines-II
EE8552-Power Electronics
 UNIT 5 – OTHER SPECIAL ELECTRICAL MACHINES

CONSTRUCTIONAL FEATURES – PRINCIPLE OF OPERATION AND CHARACTERISTICS OF

HYSTERESIS MOTOR- SYNCHRONOUS RELUCTANCE MOTOR–LINEAR INDUCTION MOTOR-
REPULSION MOTOR- APPLICATIONS.

5.1 HYSTERESIS MOTOR:

Hysteresis motor is defined as a synchronous motor that is having cylindrical rotor

and works on hysteresis losses induced in the rotor of hardened steel with high
retentivity.
It is a single phase motor and its rotor is made of ferromagnetic material with non
magnetic support over the shaft.

CONSTRUCTIONAL FEATURES OF HYSTERESIS MOTOR:

It consists of
1. Stator
2. Single phase stator winding
3. Rotor
4. Shaft
5. Shading coil
STATOR:

Stator of hysteresis motor is designed in a particular manner to produce

synchronous revolving field from single phase supply. Stator carries two windings, (a)
main winding (b) auxiliary winding. In another type of design of hysteresis motor the
stator holds the poles of shaded type.

ROTOR:

Rotor of hysteresis motor is made of magnetic material that has high hysteresis loss
property. Example of this type of materials is chrome, cobalt steel or alnico or alloy.
Hysteresis loss becomes high due to large area of hysteresis loop. Rotor does not
carry any winding or teeth. The magnetic cylindrical portion of the rotor is assembled
over shaft through arbor of non magnetic material like brass. Rotor is provided with
high resistance to reduce eddy current loss.

18
 Fig.5.1 cross sectional view of Hysteresis motor

Fig. 5.2 Hysteresis loop

Fig.5.3 Hysteresis motor

2
19
 Working Principle of Hysteresis Motor:
Starting behavior of a hysteresis motor is like a single phase induction
motor and running behavior is same as a synchronous motor.
Step by step its behavior can be realized in the working principle that is
given below.

At the Starting Condition,

 When stator is energized with single phase AC supply, rotating magnetic

field is produced in stator.

 To maintain the rotating magnetic field the main and auxiliary windings
must be supplied continuously at start as well as in running conditions.

 At the starting, by induction phenomenon, secondary voltage is induced in

the rotor by stator rotating magnetic field. Hence eddy current is generated
to flow in the rotor and it develops torque.

 Thus eddy current torque is developed along with the hysteresis torque in
the rotor. Hysteresis torque in the rotor develops as the rotor magnetic
material is with high hysteresis loss property and high retentivity.

 The rotor goes under the slip frequency before going to the steady state
running condition.

 So it can be said that when the rotor starts to rotate with the help of these
eddy current torque due to induction phenomenon, it behaves like a single
phase induction motor.

20
 At Steady State Running Condition,

 When the speed of the rotor reaches near about the synchronous speed,
the stator pulls the rotor into synchronism.

 At the condition of synchronism, the relative motion between stator field

and rotor field vanishes. So there is no further induction phenomenon to
continue. Hence no eddy current to generate in the rotor. Thus the torque
due to eddy-currents vanishes.

 At the time of rotor’s rotation at the synchronous speed, rotating magnetic

field flux in the stator produces poles on the rotor by induction; they are
named as north (N) and south (S) poles. Thus rotor behaves as a
permanent magnet having rotor axis as the induced magnetic axis.

 For high residual magnetism or retentivity the rotor pole strength remains
sustainable or unchanged. Again higher the retentivity, higher is the
hysteresis torque and the hysteresis torque is independent of the rotor
speed always. The high retentivity enables the continuous magnetic locking
between stator and rotor and thus the motor rotates at synchronous speed.

 The maximum work done to establish the hysteresis losses under the
magnetization cycle in the rotor is equal to the surface area inside B-H
hysteresis curve.

 In lower load torque, the needed work done to rotate the rotor is equal to
maximum magnetizing work of hysteresis phenomenon available already in
the rotor. So induced magnetic pole axis always follows the rotating
magnetic field axis of stator without any lag angle.

 But when the load torque is sufficiently high, the maximum magnetizing
work in rotor by hysteresis phenomenon cannot fulfill the work done need
to rotate the rotor.

 So the induced magnetic field axis or rotor pole axis lags the rotating
magnetic field axis of the stator at an angle δh. Hence the rotor pole axis
tries to catch up the stator magnetic field axis.

4
21
 If the load torque is increased, this lagging angle will be increased up to
δmax before dropping below the synchronous condition.

 The rotor poles are attracted towards the moving stator poles and runs at
synchronous speed.

 As there is no slip at steady state running condition, only hysteresis

torque is present to keep the rotor running at synchronous speed and it
behaves like a synchronous motor.

Hysteresis Power Loss (Ph) in Hysteresis Motor:

Hysteresis power loss in the rotor of the hysteresis motor is given by

Where,

fr is the frequency of flux reversal in the rotor (Hz)

Bmax is the maximum value of flux density in the air gap (T)
Ph is the heat-power loss due to hysteresis (W)
kh is the hysteresis constant

5
22
Equation of Hysteresis Torque in the Hysteresis Motor:

From the equation of the hysteresis torque, it is clear that hysteresis torque
is independent of frequency and speed.

6
23
Torque-Speed Characteristics of Hysteresis Motor:

We know that constant Hysteresis Torque occurs in the hysteresis motor.

This constant valued torque allows the motor to synchronize any load it can
accelerate. The normal operating range is mentioned with dark vertical line.

Torque - Speed Characteristics:

The torque is almost constant from starting to running condition. At starting

condition the starting torque is the eddy current torque along with the
hysteresis torque. But in the running condition net running torque means
only the hysteresis torque.

7
24
 Starting Torque of the Hysteresis Motor:

Suppose ΦS is the stator flux at synchronous speed.

Φr is the rotor flux.

Due to hysteresis effect, Φr lags ΦS at an angle α.

Then the starting torque produced is given by

K is the proportional constant.

Types of Hysteresis Motors:

There are various types of hysteresis motor by construction. They are

[Link] hysteresis motors: It has cylindrical rotor.

[Link] hysteresis motors: It has annular ring shaped rotor.

[Link]-Field hysteresis motor: It has rotor supported by a ring of non

magnetic material with zero magnetic permeability.

[Link]-Field hysteresis motor: It has rotor supported by a ring of magnetic material

with infinite magnetic permeability.

8
25
Advantages of Hysteresis Motor:

As no teeth and no winding in rotor, no mechanical vibrations take place

during its operation.

Its operation is quiet and noiseless as there is no vibration.

It is suitable to accelerate inertia loads.

Multi-speed operation can be achieved by employing gear train.

Disadvantages of Hysteresis Motor:

Hysteresis motor has poor output that is one-quarter of output of an

induction motor with same dimension.

Low efficiency

Low torque.

Low power factor

This type of motor is available in very small size only.

Applications of Hysteresis Motors:

Sound producing equipment,

Sound recording instruments,

High quality record players,

Timing devices

Electric clocks,

Teleprinters

9
26
5.2 SYNCHRONOUS RELUCTANCE MOTORS

5.2.1. CONSTRUCTION OF SYNCHRONOUS RELUCTANCE MOTOR

The structure of reluctance motor is same as that of salient pole
synchronous machine as shown in fig. The rotor does not have any field
winding .The stator has three phase symmetrical winding, which creates
sinusoidal rotating magnetic field in the air gap, and the reluctance torque
is developed because the induced magnetic field in the rotor has a
tendency to cause the rotor to align with the stator field at a minimum
reluctance position.
The rotor of the modern reluctance machine is designed with iron
laminations in the axial direction separated by non-magnetic material. The
performance of the reluctance motor may approach that of induction
machine. With high saliency ratio a power factor oh 0.8 can be reached.
The efficiency of a reluctance machine may be higher than an induction
motor because there is no rotor copper loss. Because of inherent
simplicity, robustness of construction and low cost.
The synchronous reluctance motor has no synchronous starting torque and
runs up from stand still by induction action. There is an auxiliary starting
winding. This has increased the pull out torque, the power factor and the
efficiency.
Synchronous reluctance motor is designed for high power applications. It
can broadly be classified into
(i) Axially laminated and
(ii) Radially laminated.

Fig:5.4 Idealized Three Phase Four Pole Synchronous Machine (Salient Pole)

10
 Fig:5.5 Cross Section of Synchronous Reluctance Motor.

Fig:5.6 cross section of axially laminated

Reluctance motors can deliver very high power density at low cost,
making them ideal for many applications. Disadvantages are high torque
ripple (the difference between maximum and minimum torque during
one revolution) when operated at low speed, and noise caused by
torque ripple. Until the early twenty-first century their use was limited by
the complexity of designing and controlling them. These challenges are
being overcome by advances in the theory, by the use of sophisticated
computer design tools, and by the use of low-cost embedded systems
for control, typically based on microcontrollers using control algorithms
and real-time computing to tailor drive waveforms according to rotor
position and current or voltage feedback. Before the development of
large-scale integrated circuits the control electronics would have been
prohibitively costly.

Fig:5.7 cross section of radially laminated

11
The stator consists of multiple projecting (salient) electromagnet poles,
similar to a wound field brushed DC motor. The rotor consists of soft
magnetic material, such as laminated silicon steel, which has multiple
projections acting as salient magnetic poles through magnetic
reluctance. The number of rotor poles is typically less than the number
of stator poles, which minimizes torque ripple and prevents the poles
from all aligning simultaneously—a position which cannot generate
torque.
When a rotor pole is equidistant from the two adjacent stator poles, the
rotor pole is said to be in the "fully unaligned position". This is the
position of maximum magnetic reluctance for the rotor pole. In the
"aligned position", two (or more) rotor poles are fully aligned with two
(or more) stator poles, (which mean the rotor poles completely face the
stator poles) and is a position of minimum reluctance.
When a stator pole is energized, the rotor torque is in the direction that
will reduce reluctance. Thus the nearest rotor pole is pulled from the
unaligned position into alignment with the stator field (a position of less
reluctance). (This is the same effect used by a solenoid, or when picking
up ferromagnetic metal with a magnet.) In order to sustain rotation, the
stator field must rotate in advance of the rotor poles, thus constantly
"pulling" the rotor along. Some motor variants will run on 3-phase AC
power (see the synchronous reluctance variant below). Most modern
designs are of the switched reluctance type, because electronic
commutation gives significant control advantages for motor starting,
speed control, and smooth operation (low torque ripple).
Dual-rotor layouts provide more torque at lower price per volume or per
mass. [The inductance of each phase winding in the motor will vary with
position, because the reluctance also varies with position. This presents
a control systems challenge.

Applications
 Some washing machine designs.
 Control rod drive mechanisms of nuclear reactors.
 The Dyson Digital Motor used in some products produced by the
Dyson company.

12
5.2.2 ROTOR DESIGN
[Link] Salient rotor (Segmental) Salient rotor shape such that the
quadrature air gap is much larger than the direct air gap. This yields
relatively small Ld/Lq ratio in the range of 2.3.

Fig.5.8 Salient rotor

Salient rotor design is as shown. The low Ld. /Lqratios are largely the
result of circulating flux in the pole faces of the rotor. However the
ruggedness and simplicity of the rotor structure has encouraged for high
speed applications.
[Link] Radially Laminated Rotor (Flux Barrier) Another approach is to
use laminations with flux barriers punched into the steel for a 4 pole
machine. The flux barriers and the central hole of the lamination
required for the shaft weaken the rotor structurally and thus make this
approach a poor choice for high speed design.

Fig.5.8 Radially Laminated Rotor

[Link] Axially Laminated Rotor

Fig:5.9 Axially Laminated Rotor

13
Two pole phase axially laminated rotor with a Ld. /Lq ratio of 20, the
maximum efficiency is 94% has been reported in the literature. It is
observed that torque ripple and iron losses are more axially laminated
rotor than radially laminated rotor.
Another rotor design as shown in fig. The rotor consists of alternating
layers of ferromagnetic and non-magnetic steel. If choose the thickness
of the steel such that the pitch of the ferromagnetic rotor segments
matched the slot pitch of the stator. The ferromagnetic rotor segments
always see a stator tooth pitch regardless of the angle of rotation of the
rotor. This is done to maximize flux variations and hence iron losses in
the rotor.

Fig 5.10 New rotor design

Special rotor laminations make it possible to produce the same number
of reluctance path as there are magnetic poles in the stator.
Synchronous speed is achieved as the poles lock in step with magnetic
poles of the rotating stator field and cause the stator to run at the same
speed as the rotating fields. The rotor is pressures with end rings similar
to induction motor .Stator winding are similar to squirrel cage induction
motor.
5.3 WORKING OF SYNCHRONOUS RELUCTANCE MOTOR
In order to understand the working of synchronous reluctance motor,
when a piece of magnetic material is located in a magnetic field, a force
acts on the material tending to bring it into the desert portion of the
field. The force tends to align the specimen of the material in such a
way that the reluctance of the magnetic path that passes through the
material will be minimum.
When supply is given to the stator winding, the revolving magnetic field
will exert reluctance torque on the unsymmetrical rotor tending to align
the salient pole axis of the rotor with the axis of the revolving magnetic
field, because in this position, the reluctance of the magnetic path would
be minimum. If the reluctance torque is sufficient to start the motor and
its load, the rotor will pull into step with the revolving field and continue
to run at the speed of the revolving field. Actually the motor starts as an
induction motor and after it has reached its maximum speed as an
induction motor, the reluctance torque pulls its rotor into step with the
revolving field, motor now runs as synchronous motor by virtue of its
saliency.
14
 Reluctance motors have approximately one third the HP rating they
would have as induction motors with cylindrical rotors. Although the
ratio may be increased to 9one half by proper design of the field
windings, power factor and efficiency are poorer than for the equivalent
induction motor. Reluctance motors are subject to cogging, since the
locked rotor torque varies with the rotor position, but the effect may be
minimized by skewing the rotor bars and by not having the number of
poles.

Fig5.11 Rotor Position due to Revolving Magnetic Field

Primary Design Considerations - Synchronous Reluctance Motor

PRIMARY DESIGN CONSIDERATIONS

 High output power capability.

 Ability of the rotor to with stand high speeds.
 Negligible zero torque spinning losses.
 High reliability.
 High efficiency.
 Low cost.

(a) Power factor:

The maximum achievable power factor PFmax of a synchronous reluctance

machine given as

PFmax = Ld/Lq - 1/ Ld/Lq + 1

Higher Ld/Lq ratio yield higher power factors, which corresponds to reduced
I 2 R losses and reduced volt ampere ratings of the inverter driving the
machine.

15
(b) Copper loss and core loss:

Copper loss = 3 I2Rs

= 3V2Rs/(Rs2 +ω2LdLq)2 { Rs2 + Rs ω(Ld-Lq)

sin2Ȣ }+ω2 [Ld2+Lq2/2 – Lq2 – Ld2/2 cos 2Ȣ ]
Where
Rs – Stator resistance
Ld ,Lq - direct and quadrature inductance

The core losses are calculated corresponding to the fundamental

component of flux density in the stator iron core. There will also be
significant core losses in the stator and rotor due to the winding and slot
harmonics. The losses are difficult to estimate reliably.
TORQUE – SPEED CHARACTERISTICS

The torque speed characteristic of synchronous reluctance motor is

shown in fig. The motor starts at anywhere from 300 to 400 percent of its
full load torque (depending on the rotor position of the unsymmetrical rotor
with respect to the field winding) as a two phase motor. As a result of the
magnetic rotating field created by a starting and running winding displaced
90° in both space and time.
At about ¾th of the synchronous speed a centrifugal switch opens
the starting winding and the motor continues to develop a single phase
torque produced by its running winding only. As it approaches synchronous
speed, the reluctance torque is sufficient to pull the rotor into synchronism
with the pulsating single phase field. The motor operates at constant speed
up to a little over 20% of its full load torque. If it is loaded beyond the
value of pull out torque, it will continue to operate as a single phase
induction motor up to 500% of its rated speed.

Fig:5.12 Torque Vs Speed

16
Application Characteristics:
 Comparable power density but better efficiency than induction motor.
 Slightly lower power factor than induction motor.
 Slightly small field weakening range than induction motor.
 High cost than induction motor but lower than any type of PM motors.
 Need speed synchronization to inverter out frequency by rotor position
sensor sensor less control.
 Sensor less control is much easier due to motor saliency.
 By adding squirrel cage induction motor to synchronous reluctance
motor one obtains line starting reluctance moors.
 Line started reluctance motors can be parallel with open loop control if
the load does not change suddenly.
 Other combinations are possible such as adding PM for improved
performance
 Rotor design for best manufacturability is still being optimized
especially for high speed applications.

Advantages
 There is no concern with demagnetization; hence synchronous
reluctance machines are inherently more reliable than PM machines.
 There need not be any exciting field as torque is zero, thus eliminating
electromagnetic spinning losses.
 Synchronous reluctance machine rotors can be constructed entirely
from high strength, low cost materials.
Disadvantages
 High cost than induction Motor.
 Need Speed synchronization to invertor output frequency by using
rotor position sensor and sensor less control.
 Compared to induction motor it is slightly heavier and has low power
factor.
 By increasing the saliency ratio Lds/Lqs, the power factor can be
improved.

17
APPLICATIONS OF SYNCHRONIZATION
o Metering Pumps.
o Auxiliary time Mechanism.
o Wrapping and folding Machines.
o Proportioning Devices on Pumps or conveyors.
o Synthetic fibre manufacturing equipment.
o Processing continuous sheet or film material.

18
5.3 Linear Induction Motor

5.3.1 INTRODUCTION
Linear Electric Motors belong to the group of Special electrical machines
that convert electrical energy into mechanical energy of translator motion.
Linear Electric motors can be classified as follows
• Induction motors
• DC motors
• Synchronous motors including reluctance and stepper motors
• Oscillatory motors
• Hybrid motors
The Linear motors (LM) are very effective drive mechanisms for
transportation and actuation systems. The high power linear motors are
used in rapid transportation, baggage handling, conveyors, crane drives,
theme park rides and flexible manufacturing systems. The low power ones
are used in robotics, gate control, guided trajectories and stage and curtain
movement. NASA envisions the use of such motors in launching space
crafts in future.
5.3.2 APPLICATION OF LINEAR ELECTRIC MOTORS
Linear motors potentially have unlimited applications. Some of them are
listed below
• Conveyor Systems
• Material handling and storage
• People movers (Elevators)
• Liquid metal pumping
• Machine tools operation
• Operation of sliding doors
Before the advent of linear motors, rotary motors with rotary to linear
converters of some kind were used to produce linear motions. The most
obvious advantage of a linear motor is that it has no gears and requires no
mechanical rotary to linear converters. Thus compared with rotary motors
with mechanical gears, and similar devices, the linear motor is robust and
more reliable.

19
5.3.3 LINEAR INDUCTION MOTORS
Linear Induction motor is a conventional development of conventional
three phase induction machine. Instead of rotary motion in a three phase
conventional induction motor rectilinear motion is obtained in a linear
induction motor. “Whenever a relative motion occurs between the field
and short circuited conductors, currents are induced in them which results
in electro-magnetic forces and under the influence of these forces,
according to Lenz’s law the conductors try to move in such a way as to
eliminate the induced currents” In this case the field movement is linear
and so is the conductor movement.
Imaginary Process of Obtaining LIM
The imaginary process of “cutting” and “unrolling” rotary counterpart
is illustrated in Figure:5.13

5.13 Imaginary process of obtaining LIM

20
5.3.4 Construction of LIM
The three phase winding can be obtained by cutting the stator winding
along the plane AA’ perpendicular to the paper as shown in the figure
5.14 (a) and developing it as shown in the figure 5.14 (b) The
secondary or rotor of the linear induction motor consists of plate of
copper or aluminium.
A linear induction machine in its simplest form consists of a field system
having a 3 phase distributed winding placed in slots as shown in the
figure 5.15 (Short single primary)
The field system may be single or double primary system. The
secondary of this type of induction machine is normally a conducting
plate made of either copper or aluminum in which interaction currents
are induced.

Fig 5.15 Linear Induction Motor

Depending upon the use, the linear induction machine can be one of the
following three types
Short Primary
The primary is short and the secondary is long as shown in the figure
5.15. This type is useful when the total distance to be travelled is large.
In this type over heating of rotor is eliminated because of the
continuous movement of the primary over cold part of the rotor, leaving
behind the heated part. In this case primary moves and the secondary
are stationary.
Short Secondary
The secondary is short in comparison with primary as shown in the
figure 5.16. This type is useful when the travel is limited. It must be
light. The long primary and short secondary has the following
drawbacks:
• Long primary is uneconomical as it requires a long three phase primary
windings to be wound.
• Only that part of the primary windings which are adjacent the
secondary are effective at any one time.

21
 Fig 5.16 Short Secondary Type

Two Field Systems

There are two field (Primary) systems, one on either side of the
secondary as shown in the figure 5.16. It is often used as it minimizes
the leakage flux and avoids magnetic attraction between the moving
parts and the reaction rail which exists in earlier two types.

Fig 5.16 Two Field System

Depending upon the particular requirements either member can be the stator,
the other being the rotor

• The ferromagnetic plate, in a single primary system, is usually placed on the

other side of the conducting plate to provide a path of low reluctance to the
main flux. The ferromagnetic plate however gets attracted towards the
primary when the field is energized. Consequently unequal gap length results
on the two sides of the plate. Double primary system can be used to overcome
this problem.

• The use of the motor decides which of the two primary and secondary will
be shorter in length compared to the other. The primary is made shorter than
secondary when the operating distance is large (Since winding a very long 3
phase primary is costly proposition) and the short secondary is used when the
operating distance is limited.

22
5.3.5 Working Principle
When a three phase primary winding of the motor is energized from
a balanced three phase source, a magnetic field moving in a straight
line from one end to other at a linear synchronous speed Vs is
produced. The linear synchronous speed Vs is given as

Where f is the supply frequency and τ is the pole pitch in metes. The
interaction of magnetic fields with the current induced in the secondary
exerts a thrust on the secondary to move in the same direction if the
primary is held stationary. Alternatively if the secondary is stationary
and the primary is free to move, the primary moves in the direction
opposite to that of the magnetic field. The relative speed of the stator
and rotor is

Where s is the slip and the relative speed between the moving field
and the secondary is sVs. The slip is therefore given by

On the line of conventional three phase induction motor, the power and
thrust in a linear induction motor can be expressed. The air gap power
Pg is given by

And developed power Pr is given by

The developed thrust Fm is therefore given by

The speed thrust characteristics of a linear induction motor is shown in

the figure 5.5. It is similar to the speed torque characteristics of a three
phase conventional induction motor. The speed of the linear induction
motor decreases rapidly with the increasing thrust. For this reason the
linear induction motor often operate at low slip, resulting a relatively low
efficiency.
Because of open ended construction of linear induction motor, it displays
a peculiar effect known as end effect. This effect can be grouped into
static end effect and dynamic end effect. In static end effect the mutual
inductance of the phase windings are not equal to one another. This
leads to asymmetric flux distribution in the air gap and gives rise to
unequal induced voltages in the phase winding. The dynamic end effect
occurs due to the relative motion between primary and secondary. As
the primary moves over the secondary at every instant, a new
secondary conductor is coming under the leading edge of the primary,
while one old secondary conductor is leaving the trailing edge of the
primary. The conductor coming under the leading edge opposes the
magnetic flux in the air gap, while the conductor leaving the trailing
edge tries to maintain the flux. Therefore the flux distribution in the air
gap is distorted. The flux is weaker in the leading edge region as
compared to the trailing edge. It also leads to braking action especially
at lower values of slip.

24
5.4 Repulsion Motor

Repulsion Motor is a special kind of single phase AC motor which works

due to the repulsion of similar poles. The stator of this motor is supplied
with 1 phase AC supply and rotor circuit is shorted through carbon
brush.
5.4.1 Construction
The main components of repulsion motor are stator, rotor and
commutator brush assembly. The stator carries a single phase
exciting winding similar to the main winding of single phase
induction motor. The rotor has distributed DC winding connected to
the commutator at one end just like in DC motor. The carbon brushes
are short circuited on themselves.

In the above figure, the stator winding have single phase AC winding
which produces the working mmf in the air gap. The brushes on rotor
are shown to be shorted. As the rotor circuit is shorted, the rotor
receives power from stator by transformer action.
Working Principle
The basic principle behind the working of repulsion motor is that “similar
poles repel each other.” This means two North poles will repel each
other. Similarly, two South poles will repel each other.
When the stator winding of repulsion motor is supplied with single phase
AC, it produces a magnetic flux along the direct axis as shown in figure
above by arrow mark. This magnetic flux when link with the rotor
winding, creates an emf. Due to this emf, a rotor current is produced.
This rotor current in turn produces a magnetic flux which is directed
along the brush axis due to commutator assembly. Due to the
interaction of stator and rotor produced fluxes, an electromagnetic
torque is produced. Let us discuss this aspect in detail.

25
In the above figure, the angle α between the stator produced field and
brush axis is 90°. This means, the brush axis is in quadrature with the
direct. Under this condition, there will not be any mutual induction between
the stator and rotor windings. Therefore, no emf and hence no rotor
current is produced. Thus no electromagnetic torque is developed.

This means that motor will not run when α = 90°. As the stator produced
flux is unaffected by the zero rotor mmf, this condition is similar to the
open circuit transformer. This is the reason, the brush position of α = 90°
is called open-circuit, no-load, high impedance or neutral position.

Let us now consider the case when α = 0° as shown in figure below.

In this condition, a maximum emf is induced across the brushes. This is

because, the rotor and stator magnetic flux coincides and hence there is
a perfect mutual coupling between them. Since the electromagnetic torque
T is given as
Te = k (Stator Field Strength) (Rotor Field Strength) Sinα
where is k is a constant.

25
No electromagnetic torque is developed as α = 0°. Thus in repulsion
motor, no electromagnetic torque is developed when the angle between
the stator and rotor magnetic flux axis is either 0 or 90°.
But actually the brush axis occupies a position somewhere in between α
= 0° and α = 90° as shown in figure below.

If the stator produced flux is assumed to be directed from A to B, then

rotor produced flux must also have a component in a direction opposite
to stator produced flux. This is just because of Lenz’s Law. Therefore the
rotor flux will be directed from C to D. Notice that it cannot be directed
from D to C otherwise it will have a flux component directed toward A to
B which is violation of Lenz’s Law.
Since stator flux is toward A to B, South Pole (S1) is generated at A.
Similarly South Pole (S2) is generated on rotor at C. Since similar poles
repel each other, S1 will repel S2. Due to this repulsion between the like
poles, motor will rotate in clockwise direction. This is the reason; this
motor is called Repulsion Motor. It is clear from the above figure and
discussion that, the direction of rotation of repulsion motor can be
reversed by simply changing the brush axis to the other side of filed
winding (stator winding).

26
Torque Equation of Repulsion Motor:
From the above discussion, it is quite clear that for production of
electromagnetic torque in repulsion motor, the brush position must not
be along the direct axis or quadrature axis. In general, the brush
occupies some intermediate position. But for the sake of simplicity, we
will assume bush axis vertical and will shift stator field axis at some
intermediate position as shown in figure below. This has no effect on the
operation and calculation of motor but greatly reduces the calculation
effort.

In the above figure, the field axis is making an angle of α with the brush
axis. If Is and N s are the stator filed current and effective number of
stator turns then stator mmf IsNs is directed along its axis as shown in
above figure. This stator field is now replaced by two fictitious stator
coils F and T such that stator mmf IsNs remain unchanged in magnitude
as well as direction.
The number of turns Nt of coil T can be found as below.
Mmf of coil T = IsNt
Component of stator mmf along the brush axis = IsNsCosα
IsNt = IsNsCosα
Nt = NsCosα
Similarly, the number of turns of coil F is given as
Nf = NsSinα

27
Since the magnetic axis of rotor winding and coil T coincides, all the flux
produced by coil T will link with the rotor winding. This means that the
rotor mmf will be equal to the mmf of coil T as per lenz’s law. Therefore,
Rotor mmf = mmf of coil T
= IsNt
= IsNsCosα
Now, the electromagnetic torque
Te = k (Stator Field Strength) (Rotor Field Strength) Sinα
where is k is a constant.
= k (IsNs)(IsNsCosα)Sinα
= (k/2)(IsNs)2(2CosαSinα)
= (k/2)(IsNs)2Sin2α …. [Sin2α = 2CosαSinα]
Therefore, the torque in repulsion motor is given as
Te = (k/2)(IsNs)2Sin2α

From the torque equation of repulsion motor, it is clear that maximum

torque is achieved when stator and rotor magnetic axis are displaced
from each other by 45°.
The variation of current and torque with respect to different positions of
brush is shown below.
Following points regarding must be noted from the above curve:
Rotor current is maximum when the brush axis and direct axis
coincides.
Rotor current is zero when the brush occupies a position in quadrature
with the direct axis.
Maximum torque in repulsion motor is achieved when stator and rotor
field axis are 45° apart.

Uses:
Repulsion motor is used for loads requiring high starting torque such as
hoists, lifts etc.

29
 Video Links
[Link] Topic Link

1. Construction and working [Link]

principle of Repulsion Motor v=XUL28S9vZlw

2. Application of Linear Induction [Link]

motor v=IGX6_B_AbmQ

48
E-Book LINKS

E-book for reference

1. Linear Induction Motor

[Link]
WIZ2avV/view?usp=sharing
2. Synchronous Reluctance Motor Design
[Link]
OZqON/view?usp=sharing

49
 MCQ
1. Linear induction motor is used in
A. traction.
B. magnetic attraction
C. mechanical workshops.
D. textile mills.
Ans: A
2. The secondary of a linear induction motor normally consists of a
(a) concentrated single phase winding.
(b) distributed single phase winding.
(c) solid conducting plate.
(d) distributed three phase winding
Ans : C
3. For which of the applications a reluctance motor is preferred
[Link] shavers
[Link]
[Link] and timing devices
[Link] and hoists
Ans :C
4. A reluctance motor
[Link] self-starting
[Link] constant speed motor
[Link] no D.C. excitation
D. All of the above
Ans: D
5. Reluctance motors are
[Link] excited
[Link] excited
[Link] of the above
[Link] of the above
Ans: A
 Assignments
 Derive the torque developed in Synchronous Reluctance
Motor .

 Explain the working principle of Repulsion Motor Used in

any suitable application

51
 Mini Project

[Link] based on LIM Automatic sliding door

2. To construct working model of Synchronous

Reluctance Motor
Refer : [Link]
_Lfa980

3. To construct New model of Repulsion Motor

Refer : [Link]
M0Q21E2uXbmwo-
wGqUByCenftbRZUy/view?usp=sharing
 PART -A
1What is a synchronous reluctance motor?
A reluctance motor that utilizes an ac rotating field, which allows for the
possibility of extremely smooth torque and good operation to low speeds.

[Link] are the types of rotor in synchronous reluctance motor?

1. Salient rotor
2. Radially laminated rotor
3. Axially laminated rotor

[Link] some applications of synchronous reluctance motor.

1. Fiber-spinning mills
2. Industrial process equipment
3. Metering pumps
4. Wrapping and folding machines

[Link] are the advantages of increasing Ld/Lq ratio in synchronous

reluctance motor?
1. Motor power factor increases.
2. I2R losses reduced.
3. Reduced volt-ampere ratings of the inverter driving the machine.

5. Compare synchronous reluctance motor and induction motor.

Synchronous reluctance motor Induction motor

1. Better efficiency Efficiency is low compared with
synchronous reluctance motor.

Lowcost
2. Highcost

High power factor.

3. Low power factor.

Used for high power application.

4. Used for low and medium power
application.

30
6. Write down the torque equation of synchronous reluctance motor.

Where, V = supply voltage,  = load angle,

s = synchronous speed, Xsd, Xsq = synchronous reactances of d and q axis

7. Draw the torque-angle characteristics of synchronous reluctance motor.

8. Draw the speed-torque characteristics of synchronous reluctance motor.

9. Draw the steady-state phasor diagram of synchronous reluctance motor.

31
10. Mention some advantages and disadvantages of synchronous reluctance
motor?
Advantages:
1. There is no concern with demagnetization, hence synchronous reluctance.
2. There need be no excitation field at zero torque, thus eliminating
electromagnetic spinning losses.
3. Synchronous reluctance machine rotors can be constructed entirely from
high strength, low-cost materials.
Disadvantages:
1. Compared to induction motor it is slightly heavier and has low power
factor. But increasing the saliency ratio , the power factor can be improved.
2. High cost than induction motor.
3. Need speed synchronization to inverter output frequency by using rotor
position sensor and sensor less control.

11. Write down any two properties of synchronous reluctance motor.

1. High output power capability.
2. Ability of the rotor to withstand high speeds.
3. Negligible zero-torque spinning losses.
4. High reliability.
12. What is reluctance torque in synchronous reluctance motor?
The torque exerted by the reluctance motor because of the tendency of the
salient poles to align themselves in the minimum reluctance position. This
torque is called reluctance torque.
13. What are the design considerations in synchronous reluctance motor?
1. Power factor
2. Copper loss and core loss
3. Cost
[Link]
14. What are the main advantages of synchronous reluctance motor?
1) Freedom from permanent magnet
2) Ability to maintain full load torque at zero speed
3) A wide speed range at constant power.
15. What is Vernier Motor?
It is an unexcited reluctance type synchronous motor the peculiar feature of
this motor is that small displacement of the rotor products a large displacement
of the axis of maximum and minimum permeance.
[Link] down any two properties of synchronous reluctance motor.
The synchronous reluctance motor is not self starting without the squirrel cage.
During run up it behaves as an induction motor but as it approaches
synchronous speed, the reluctance torque takes over and the motor locks into
synchronous speed.
[Link] the application of Vernier Motor.
The Vernier motor is mainly used where require low speed and high torque.
1) Direct Drive applications
2) High Torque at low speed applications.
18. What are the types of rotor available in synchronous reluctance motor?
1) Cage rotor for line start.
2) Cageless-rotors for variable speed.
19. Give the difference between synchronous reluctance motor and switched
reluctance motor.
SYRM
The motor has the same number of poles on stator and rotor.
The stator of SYRM is cylindrical type with distributed winding.
The stator has a smooth slot for slotting
Excitation is a set of 3 phase balanced sine wave current.
SRM
1) In order to have starting capability and bi-directional control, the motor of a
SRM has lesser pole than the stator.
2) The stator of SRM has salient poles with concentrated coils like on d.c motor.
3) Like a d.c motor, the stator and rotor have salient poles.
4) Excitation is a sequence of current pulse applied.
 PART -B

1. Give a detailed technical note on the variable reluctance motor and

the advantages.
[Link] the performance of the synchronous reluctance motor with
neat phasor diagram.
3. Draw and explain the phasor diagram of synchronous reluctance
motor.
4. Explain the construction and operation of axial and radial flux
machines. Discuss the advantages and disadvantages of each
construction.
5. Differentiate between axial and radial airgap synchronous reluctance
motors. Compare the performance of synchronous reluctance motor with
switched reluctance motor.
6. Summarize the design considerations of synchronous reluctance
motor.
7. A three phase 230V,60Hz,4 pole star connected synchronous
reluctance motor with negligible armature resistance has Xsd = 22.5ohm
and Xsq = [Link] load torque is [Link] voltage frequency
ratio is maintained constant at rated value. If the supply frequency is
60Hz,determine (i) torque angle (ii) line current (iii)input power factor
8. Describe the constructional features and operation of variable
reluctance synchronous reluctance motor.
9. Explain with neat diagram, the construction, working principle and
types of synchronous reluctance motor.
10. Explain the torque speed characteristics of synchronous reluctance
motor in detail.
11. Discuss the main advantages and disadvantages of synchronous
reluctance motor.
12. Discuss the various applications of synchronous reluctance motor.
13. Describe circle diagram and torque–speed characteristics of
synchronous reluctance motor.
14. Explain the working of linear induction motor and also write its
applications.
15. Describe briefly about the repulsion motor.
16. Summarize the constructional details, principle of operation and the
application of Hysteresis motor.
17. Summarize applications of linear induction motor and repulsion
motor.
 ONLINE CERTIFICATION COURSE
COURSERA
TOPIC - Motors and Motor Control Circuits
[Link]
WEEK 1 - AC Motor Designs
WEEK 2 - AC Motor Control
WEEK 3 - DC Motors
WEEK 4 - DC Motor Control and Stepper Motors

SWAYAM
[Link]
14030
Electrical Machines (IITD)
Indian Institute of Technology Delhi and NPTEL via Swayam

Link to learn
[Link]
 REAL TIME APPLICATION
1. [Link]
actuator-applications
2. [Link]
number=28
3. [Link]
application-examples/
4. [Link]
 CONTENT BEYOND DYLLABUS

[Link] Topic Outcome

1 Construction and working of Able to view and

LIM motor in electric traction design winding in
future

[Link]
atch?v=AFVI7ZAMJ0I
 Assessment Schedule
( Proposed Date & Actual Date)

Proposed Actual
[Link] Activities
Date Date
Commencement of
1 First Internal 06/04/2022 06/04/2022
Assessment Tests
Commencement of
2 Second Internal 09/05/2022 09/05/2022
Assessment Tests

Commencement of
3 02/06/2022 02/06/2022
Model Examination
TEXT BOOKS:
TEXT BOOKS:
• [Link], ‘Special Electrical Machines’, Universities
Press (India) Private Limited, 2008.
• T. Kenjo, ‘Stepping Motors and Their Microprocessor
Controls’, Clarendon Press London, 1984
• E.G. Janardanan, ‘Special electrical machines’, PHI learning
Private Limited, Delhi, 2014.

REFERENCES
1. [Link], ‘Switched Reluctance Motor Drives –
Modeling, Simulation, Analysis, Design and Application’, CRC
Press, New York, 2001.
2. T. Kenjo and S. Nagamori, ‘Permanent Magnet and
Brushless DC Motors’, Clarendon Press, London, 1988.
3. [Link],‘Brushless Permanent-Magnet and Reluctance
Motor Drives’, Oxford University Press, 1989.
4. [Link], ‘Special Electrical Machines’, Lakshmi
Publications, 2013.