ECE330

Power Circuits and Electromechanics

Dr. Nam Nguyen-Quang

Fall 2016

http://www4.hcmut.edu.vn/~nqnam/lecture.php

Lecture 8 1

Synchronous machines – Introduction

Synchronous machines are mainly used as three-phase generators in power

systems. Power can vary from a few kVA to 1100 MVA.

A three-phase winding is located on the stator (stationary part) and a rotor

(spinning part) with a DC excitation winding is rotated by a prime mover. Smaller
machines can use permanent magnets to create the rotor magnetic field.

The machine’s speed is directly proportional to the frequency of stator voltage

or current, and is independent to loading condition.

The lecture will be limited to fundamental concepts of deriving torque

expressions and sinusoidal steady-state operation using an equivalent circuit.
Single-phase and two-phase rotating machines will be briefly introduced as basis
for analyzing the operation of three-phase machines.

Lecture 8 2
Single-phase rotating machine

Consider the machine in Fig. 6.1, with distributed stator and rotor windings.
Flux linkages are found to be

λ s = N s2 L0 i s + N s N r L0 (1 − 2θ π )ir = Ls i s + Lsr (θ )ir

λ r = N s N r L0 (1 − 2θ π )i s + N r2 L0 ir = Lsr (θ )i s + Lr ir
The two windings can be viewed as two coupled coils, with co-energy given by

Ls i s2 + Lr ir2 + Lsr (θ )i s i r
1 1
Wm' =
2 2
Torque of electric origin can be calculated as

∂Wm' dL (θ )
T =
e
= is ir sr = −is ir M sin (θ )
∂θ dθ
where fundamental component of Lsr(θ) is Mcos(θ).
Lecture 8 3

Single-phase rotating machine (cont.)

Dynamic model of the machine (Fig. 6.3)

dλ dλ d 2θ dθ
v s = i s Rs + s v r = i r Rr + r J 2 + Kθ + B =Te +T m
dt dt dt dt
where Tm is an externally applied torque in the direction of positive θ.

In the sinusoidal steady state, the mechanical power is

pm = T eω m = −ω m I s I r M cos(ω s t ) cos(ω r t )sin (θ )

Assuming the frequency condition is satisfied, the average power is,

pm (av ) = − ωm I s I r sin (γ ) 4
γ is a constant so that θ = ωmt + γ. The resultant torque is a pulsating one, with
power varying between zero and a peak value. This can be eleminated by
adding one winding on both the stator and rotor, yielding two-phase machine.

Lecture 8 4
Two-phase rotating machine
Consider the two-phase machine in Fig. 6.4, with simplified stator and rotor
windings as shown. The two stator windings have no mutual coupling, similarly
to the two rotor windings. Co-energy can be determined from the flux linkages
(see text book). The torque of electric origin is given by

∂Wm'
T =e
= M [(iar ibs − ias ibr ) cos(θ ) − (ias iar + ibr ibs )sin (θ )]
∂θ
When balanced two-phase currents are applied the balanced two-phase
windings, a constant power is created without any alternating components.

p m = T eω m = −ω m I r I s M sin [(ω m − ω s + ω r )t + γ ]
By having two coils 900 apart and phase currents 900 (electrical) apart, a
single-frequency condition is created, and p m = −ω m I r I s M sin (γ )

Lecture 8 5

Three-phase synchronous machine

Consider a salient-pole three-phase machine with 2 poles (Fig. 6.7). Salient

pole machines are used in low-speed hydro-generators and low-power single-
phase synchronous motors. Distributed stator coils are used to create sinusoidal
mmfs around the periphery.

Lecture 8 6
Three-phase stator winding

Close-up view

Three-phase stator winding

Lecture 8 7

Salient-pole and round rotors

Salient-pole rotor will not be considered further here. For round rotor, the torque
of electric origin is given by

∂Wm' dM ar dM br dM cr
T =
e
= ia ir + ib i r + ic i r
∂θ dθ dθ dθ
( ) (
= −ia ir M sin (θ ) − ib ir M sin θ − 120 − ic ir M sin θ + 120 0
0
)

Lecture 8 8
Real salient-pole rotor

Close-up view of a rotor pole

Rotor of a slow-speed
synchronous machine

Lecture 8 9

Round rotor case

Under a balanced three-phase current source excitation condition, with
constant rotor current, the torque can be expressed as

− I m I r M 3 sin (θ − ωs t ) − I m I r M 3 sin (ωmt + γ − ωs t )

Te = =
2 2
where θ = ωmt + γ. The torque will have an average value if ωm = ωs, which is
called synchronous speed.

T e = − I m I r M sin (γ ) = − I a I r M sin (γ )
3 3
2 2
Since synchronous speed ωm is equal to the electrical frequency ωs (rad/s)

2πn s
ωm = = 2πf
60
where ns is the synchronous speed in revolution per minute (rpm).
Lecture 8 10
Voltage in steady-state
Voltage of phase a in steady-state

3 MI r
Va = j L0 ω s I a + j ω s e jγ = jx s I a + E ar
2 2
The equivalent circuit with corresponding phasor diagram in motor mode are
shown below. δ is defined as torque angle from Va to Ear.
jxs
PT Pm

Elec. Mech.
Ia Va
Va Ear jxsIa

γ
δ Ear
Ia
Similarly for phase b and phase c.
Lecture 8 11

Power in terms of voltages

The current is given by
Va − E ar
Ia =
jx s
Under balanced condition, total power is
(
PT = 3Pa = 3 Re E ar I a* )
Taking Va as reference, and consider E ar = E ar ∠δ
3E V ∠(π 2 + δ ) 3E V sin (δ )
PT =
3
xs
(
Re jE ar ∠δ × Va ∠0 0 = ar a )
xs
= − ar a
xs
Expression for torque
PT PT 3E arVa sin (δ )
Te = = =−
ωm ωs xsω s
With motor operation, PT > 0, we must have δ < 0.

Lecture 8 12
Synchronous generator
KVL for the equivalent circuit below gives

Va = − jx s I a + E ar or E ar = Va + jx s I a
Current and power can be easily obtained

E − Va  Va ∠0 0 × E ar ∠(− δ )  3Va E ar sin (δ )

I a = ar PT = 3 Re =

jx s  − jx s  xs
jxs PT Pm
Ear
Elec. Mech.
Ia
jxsIa
Va Ear δ
θ Va
Ia

Lecture 8 13

Example 6.1
A three-phase wye-connected 60 Hz synchronous machine with two-poles has
synchronous reactance xs = 5 Ω/phase. The machine, while operating as a motor,
takes a current of 30 A and the voltage per phase is 254 V at a PF of 0.8 leading.
Find Ear and Te. If the machine has windage, friction, and core losses of 400 W,
what is the useful shaft torque? What is the efficiency?

jxs
Ia

θ
Ia
δ Va
Va Ear jxsIa

Ear

Lecture 8 14
Example 6.3
Suppose the field current Ir is adjusted so that the total power is the same as in
example 6.2 and the PF is unity at the same input voltage. Find the new stator
current and Ear.

PT 18286
Ia = = = 24 A
( )
3Va cos 00 3 × 254

jxs E ar = 254 − j120 = 280.9∠ − 25.8 0 V

Ia Ia Va
Va Ear δ
jxsIa

Ear

Lecture 8 15

Example 6.4
A two-pole, three-phase, wye-connected synchronous machine has
synchronous reactance xs = 2 Ω per phase. The machine is operating as a
generator delivering power at a voltage of 1905 V per phase. The current is 350 A
and the PF of the load is 0.8 lagging. Find Ear, δ, and the torque of electric origin.

( )
E ar = 1905 + j 2 350∠ − 36.87 0 = 2391∠13.54 0 V
3E arVa sin (δ ) 3 × 2391× 1905 × 0.23416
Te = = = 42440 N.m
xsω s 2 × 377
Ear

jxs
Ia jxsIa
δ
Va Ear
θ Va
Ia

Lecture 8 16
Multi-pole machines
The number of poles in a machine is defined by the configuration of the
magnetic field pattern. Consider the rotor in Fig. 6.24(a). With one coil, there are
two poles to pass when going round the periphery.

For the rotor in Fig. 6.24(b), four poles can be seen when going round the
periphery. The rotating field will complete two cycles (7200) in one mechanical
revolution of 3600. This means
ω elec = 2ω mech
In general, for machines with p pole pairs, ωelec = ωs = pωmech
where ωs is the synchronous frequency in electrical rad/s. And the relationship
between synchronous frequency f (in Hz) and synchronous mechanical speed ns
is 60 f
ns =
p
Lecture 8 17

Example 6.5
A three-phase, 60 Hz, six-pole, wye-connected synchronous generator is driven
by a turbine that delivers 16910 W to the shaft. The friction and windage losses
are 500 W. The field current is adjusted so that the voltage Ear proportional to field
current on a per phase basis is Ear = 355 V. The generator supplies a load at 440
V (line-to-line). Find speed, Ear, Ia phasors and real and reactive power output of
the generator. Synchronous reactance xs = 5 Ω.

Lecture 8 18
Power factor improvement
A synchronous motor can receive electrical power at either a leading or lagging
PF. This feature can be used to improve the overall PF of the grid where the
synchronous motor is connected to.

In practice, a synchronous compensator is a motor with no load, and variable

excitation. Under this condition, from the expression of power, Earsinδ must be
constant (due to constant active power drawn from the supply), leading to the
below phasor diagram.
Va
Therefore, when increasing
I’a
excitation, current magnitude jxsIa jxsI’a
and displacement angle between
Ia
Va and Ia decreases (or PF
increases). Ear E’ar
Lecture 8 19

Example 6.7
A three-phase wye-connected load of 1500 kW at 0.8 PF lagging is connected
to a three-phase supply with a line-line voltage of 1732 V. A synchronous motor
with no load is connected across the load to improve the PF to unity. Find the
current taken by the synchronous motor.

Lecture 8 20