Appendix A Concept of sinusoidal distributed windings

Electrical machines are designed in such a manner that the ux density distribution in the airgap due to a single phase winding is approximately sinusoidal. This appendix aims to make plausible the reason for this and the way in which this is realized. In this context the so-called sinusoidally distributed winding concept will be discussed. Figure A.1 represents an ITF based transformer or IRTF based electrical machine with a nite airgap g . A two-phase representation is shown with two n1 turn stator phase windings. The windings which carry the currents i1 , i1 respectively, are shown symbolically. This implies that the winding symbol shown on the airgap circumference represents the locations of the majority windings in each case, not the actual distribution, as will be discussed shortly. If we consider the winding initially, i.e. we only excite this winding with a current i1 , then the aim is to arrange the winding distribution of this phase in such a manner that the ux density in cos . Similarly, if we only excite the winding the airgap can be represented as B1 = B with a current i1 , a sinusoidal variation of the ux density should appear which is of the form sin . The relationship between phase currents and peak ux density values is of the B1 = B form B1 = Ci1 , B1 = Ci1 where C is a constant to be dened shortly. In space vector terms the following relationships hold i1 B1 = = i1 + ji1 1 + j B 1 B (A.1a) (A.1b)

Given that the current and ux density components are linked by a constant C , it is important to ensure that the following relationship holds, namely B1 = C i1
j

(A.2)

If for example the current is of the form i1 = i1 e then the ux density should be of the i1 ej for any value of and values of i1 which fall within the linear operating form B1 = C i1 cos , range of the machine. The space vector components are in this case of the form i1 = i1 sin . If we assume that the ux density distributions are indeed sinusoidal then the i1 = resultant ux density Bres in the airgap will be the sum of the contributions of both phases namely i1 cos cos + C i1 sin sin Bres ( ) = C
1 B 1 B

(A.3)

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FUNDAMENTALS OF ELECTRICAL DRIVES

Figure A.1.

Simplied ITF model, with nite airgap, no secondary winding shown

i1 cos ( ) which means that the resultant Expression (A.3) can also be written as Bres = C airgap ux density is again a sinusoidal waveform with its peak amplitude (for this example) at = , which is precisely the value which should appear in the event that expression (A.2) is used directly. It is instructive to consider the case where = s t, which implies that the currents i , i are sinusoidal waveforms with a frequency of s . Under these circumstances the location within the airgap where the resultant ux density is at its maximum is equal to = s t. A traveling wave exists in the airgap in this case, which has a rotational speed of s rad/s. Having established the importance of realizing a sinusoidal ux distribution in the airgap for each phase we will now examine how the distribution of the windings affects this goal. For this purpose it is instructive to consider the relationship between the ux density in the airgap at locations , + with the aid of gure A.2. If we consider a loop formed by the two contour sections and the ux density values at locations , + , then it is instructive to examine the sum of the magnetic potentials along the loop and the corresponding MMF enclosed by this loop. The MMF enclosed by the loop is taken to be of the form N i, where N represents all or part of the phase winding and i the phase current. The magnetic potentials in the red contour part of the loop are zero because the magnetic material is assumed to be magnetically ideal (zero magnetic potential). The remaining magnetic potential contributions when we traverse the loop in the anti-clockwise direction must be equal to the enclosed MMF which leads to g g B ( ) B ( + ) = N i o o

(A.4)

Expression (A.4) can also be rewritten in a more convenient form by introducing the variable N which represents the phase winding distribution per radian. Use of this variable n( ) =

Appendix A: Concept of sinusoidal distributed windings

329

Figure A.2. with equation (A.4) gives

Sectional view of phase winding and enlarged airgap

B ( + ) B ( ) g n( )i = o

(A.5)

which can be further developed by imposing the condition 0 which allows equation (A.5) to be written as dB ( ) g n ( ) i = d o

(A.6)

The left hand side of equation (A.6) represents the gradient of the ux density with respect to . An important observation of equation (A.6) is that a change in ux density in the airgap is linked to the presence of a non-zero n( )i term, hence we are able to construct the ux density in the airgap if we know (or choose) the winding distribution n( ) and phase current. Vice versa we can determine the required winding distribution needed to arrive at for example a sinusoidal ux density distribution. A second condition must also be considered when constructing the ux density plot around the entire airgap namely

B ( ) d = 0

(A.7)

Equation (A.7) basically states that the ux density versus angle distribution along the entire airgap of the machine cannot contain an non-zero average component. Two examples are considered below which demonstrate the use of equations (A.6) and (A.7). The rst example as shown in gure A.3 shows the winding distribution n( ) which corresponds to a so-called concentrated winding. This means that the entire number of N turns of the phase winding are concentrated in a single slot (per winding half) with width , hence N = N . The corresponding ux density distribution is in this case trapezoidal and not sinusoidal as required. The second example given by gure A.4 shows a distributed phase winding as often used in practical three-phase machines. In this case the phase winding is split into three parts (and three . The total number of windings slots (per winding half), spaced rad apart) hence, N = N 3 of the phase is again equal to N . The ux density plot which corresponds with the distributed

330

FUNDAMENTALS OF ELECTRICAL DRIVES

Figure A.3.

Example: concentrated winding, N = N

Figure A.4.

Example: distributed winding,N =

N 3

winding is a step forward in terms of representing a sinusoidal function. The ideal case would according to equation (A.6) require a n( )i representation of the form n ( ) i = g B sin ( ) o

(A.8)

represents the peak value of the desired ux density function B ( ) = B cos ( ). in which B Equation (A.8) shows that the winding distribution needs to be sinusoidal. The practical implementation of equation (A.8) would require a large number of slots with varying number of turns placed in each slot. This is not realistic given the need to typically house three phase windings, hence in practice the three slot distribution shown in gure A.4 is normally used and provides a ux density versus angle distribution which is sufciently sinusoidal.

Appendix A: Concept of sinusoidal distributed windings

331

In conclusion it is important to consider the relationship between phase ux-linkage and circuit ux values. The phase circuit ux (for the phase) is of the form
2

m =
2

B ( ) d

(A.9)

which for a concentrated winding corresponds to a ux-linkage value 1 = N m . If a distributed winding is used then not all the circuit ux is linked with all the distributed winding components in which case the ux-linkage is given as 1 = Ne m , where Ne represents the effective number of turns.

Appendix B Generic module library

The generic modules used in this book are presented in this section. In addition to the generic representation an example of a corresponding transfer function (for the module in question) is provided. Transfer functions given, are in space vector and/or scalar format. Some modules, such as for example the ITF module, can be used in scalar or space vector format. However, some functions, such as for example the IRTF module, can only be used with space vectors.

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FUNDAMENTALS OF ELECTRICAL DRIVES

Appendix B: Generic module library

335

336

FUNDAMENTALS OF ELECTRICAL DRIVES

Appendix B: Generic module library

337

338

FUNDAMENTALS OF ELECTRICAL DRIVES

Appendix B: Generic module library

339

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FUNDAMENTALS OF ELECTRICAL DRIVES

References

B odefeld, Th. and Sequenz, H. (1962). Elektrische Machinen. Springer-Verlag, 6th edition. Holmes, D.G. (1997). A generalised approach to modulation and control of hard switched converters. PhD thesis, Department of Electrical and Computer engineering, Monash University, Australia. Hughes, A. (1994). Electric Motors and Drives. Newnes. Leonhard, W. (1990). Control of Electrical Drives. Springer-Verlag, Berlin Heidelberg New York Tokyo, 2 edition. Mathworks, The (2000). Matlab, simulink. WWW.MATHWORKS.COM. Miller, T. J. E. (1989). Brushless Permanent-Magnet and Reluctance Motor Drives. Number 21 in Monographs in Electrical and Electronic Engineering. Oxford Science Publications. Mohan, N. (2001). Advanced Electrical Drives, Analysis, Control and Modeling using Simulink. MNPERE, Minneapolis, USA. Svensson, T. (1988). On modulation and control of electronic power converters. Technical Report 186, Chalmers University of Technology, School of Electrical and Computer engineering. van Duijsen, P.J. (2005). Simulation research, caspoc 2005. WWW.CASPOC.COM. Veltman, A. (1994). The Fish Method: interaction between AC-machines and Switching Power Converters. PhD thesis, Department of Electrical Engineering, Delft University of Technology, the Netherlands.

Index

actuators, 2, 33 airgap, 18, 19, 22, 25, 50, 170, 175, 183, 239 algebraic loop, 57, 254 alternative differentiator module, 155 Amp` ere, A. H., 265 amplitude invariant, 87, 88 armature, 269, 273 armature reaction, 271 asymmetrically sampled, 305 asynchronous, 169, 233, 237, 246, 266 bar magnet, 13, 14 bipolar, 296, 305, 314, 316, 318 Blondel diagram, 201, 205, 207 braking, 3 brushes, 194, 267 brushless machines, 195 building block, 9, 10, 169, 297, 302 Carter, 25 cartesian, 153 Caspoc, 7 classical, 5, 169, 179 commutator, 265, 267270, 279 commutator segments, 271, 272, 284 comparator, 302, 311 compensation winding, 269 complex plane, 34, 36 control algorithm, 6, 7 convention, 8, 172, 201 conversion module, 186 converter, 6, 7, 75, 76, 104, 169, 193, 195, 296 302, 304306, 310, 314316, 318, 323 converter switch, 299, 301, 302 Cumming, J. S., 265 current control, 295, 318 current density, 22, 23 current sensor, 296

damper winding, 197 Davenport, T, 265 DC machine, 272 delta connected, 80, 84, 93, 9597, 102, 103, 145, 146 discrete, 297, 308310 double edged, 306 drives, 24, 6, 12, 30, 193, 243, 266 DSP, 6, 7, 296 efciency, 2, 6 electro-magnetic interaction, 29 energy, 3, 5, 75, 122, 124, 125, 172, 173 falling edge, 300 Faraday, M., 265 feed-forward, 309, 321 eld current, 195, 203, 218 nite-element, 7 ux density, 1316, 18, 20, 23 ux lines, 1316, 25 ux-linkage, 1922, 32, 47, 50, 61, 152, 153, 156, 171 four parameter model, 185 four-quadrant, 2 fringing, 14, 17, 18, 25 generator, 5, 169, 203, 204, 209, 222, 244 generic model, 9, 295, 319 grid, 6, 75 half bridge converter, 306, 314 Heyland diagram, 242, 244247 Holmes, G., 305 Hopkinson, 16, 20, 50 Hughes, A., 12, 193, 194 idle mode, 296 imaginary power, 124

344
incremental ux, 30, 298, 300, 304, 316 inductance, 20, 21, 31, 32, 273 induction machine, 231 inertia, 174, 211 iron losses, 67 IRTF, 169, 173, 197, 271 ITF, 45, 48, 49, 149 Kirchhoff, 76, 81 leakage inductance, 55, 56, 58 Leonhard, W., 10 linear-motors, 23 load, 3, 5, 211, 234, 276, 286, 287, 296 load angle, 195, 201 load torque, 211 logic signal, 297 Lorentz, 12, 173 m-le, 36, 41, 65 machine sizing, 22, 23 magnetic circuit, 14, 16, 20, 45, 46, 50 magnetic eld, 12, 13, 17, 22, 182, 195, 231, 265 magnetic poles, 181 magnetizing inductance, 50, 51, 58, 183 MATLAB, 7 maximum output power point, 208 micro-processor, 6, 296, 298 Miller, T. J. E., 23 modulator, 6, 7, 296, 298, 301, 303, 304, 306, 307, 310, 311, 313, 314, 316, 318 motoring, 204, 208, 233, 240 multi-pole, 182, 183 mutual inductance, 60, 61 neutral, 76 no-load, 2, 67, 233, 276 non-linear, 21, 29, 33, 39, 42 non-salient, 197, 201 Oersted, H. C., 265 permanent magnet, 195, 222, 267 permeability, 16, 17, 29, 45, 46, 50 phasor, 3335 polar, 153 pole-pair, 181 power factor, 124, 203, 204, 208, 244 power invariant, 8789 power supply, 4, 6, 14, 194 predictive dead-beat, 307, 321 primary, 4550 primary referred, 51, 52, 61 proportional, 309, 319 proportional-integral, 309 pull-out slip, 241, 243 PWM, 300, 301

FUNDAMENTALS OF ELECTRICAL DRIVES

quasi-stationary, 268 quasi-steady-state, 179 reactive power, 124, 125, 127, 132134, 137, 218 real power, 124, 131, 132 reference incremental ux, 298, 306, 320 regenerative, 3 reluctance, 16, 17, 20, 50, 51, 175 rising edge, 299, 306 robots, 1 rotating ux vector, 178, 195 rotating reference frame, 180 rotor, 170, 171, 195, 231 rotor angle, 173 rotor speed, 178, 195, 233 sampling interval, 298300, 306, 307 saturation, 19, 21, 23, 32, 33, 38 saw tooth, 301, 311 Schweigger, J. C. S., 265 secondary, 4548, 152 self inductance, 19, 29, 61 sensors, 57 separately excited DC, 277 series wound DC, 278 set-point, 307 shear-stress, 23 shoot-through mode, 296 shunt DC machine, 277 simplied model, 196, 235, 240, 268 Simpson, 308 Simulink, 36 sinusoidal, 33, 34, 53, 178, 200 sinusoidal distributed, 185, 327 slip, 233, 238241 slipring machine, 232 slipring/brush, 194, 195, 267 space vector, 84 speed condition, 179 squirrel cage, 231 stable operation, 208 star connected, 76, 91, 102, 103, 109 star point, 76 stationary reference frame, 180 stator, 170, 171, 175, 193, 266 steady-state, 276 Sturgeon, S, 265 supply voltage, 84, 100, 296, 302304, 310, 316 switching point, 299, 301 symbolic model, 32 synchronous, 169, 193197, 201, 231, 267 synchronous speed, 211, 239 Tesla, N, 231 three inductance model, 57

Index
three-phase, 75, 76, 84, 103, 121, 136, 149, 193, 195 toroidal, 29, 45 torque, 172, 173, 175 traction drives, 277 transformer, 45, 46, 49, 50, 149, 157, 169 triangular function, 304 two inductance model, 57, 59, 60, 157, 183 two-phase, 84, 183 uni-polar, 295, 296, 300, 301, 307 universal DC machine, 278 universal machine, 267 V/f drive, 243 Vector to RMS module, 136 Veltman, A., 169 Westinghouse, 231 winding ratio, 47, 63, 174 wye connected, 76

345

zero sequence, 81, 89, 91, 93, 96, 97, 99, 104 zero-order hold, 310