EEEB283-Electric Machines and Drives Synchronous Motors

Chapter 6: Synchronous Motors

Synchronous motors are synchronous machines used to convert
electrical power to mechanical power.

6.1. Basic principles of motor operation

The basic principle of synchronous motor operation is that the rotor

“chases” the rotating stator magnetic field around in a circle, never quite
catching up with it.

How does it work?

• The rotor field current IF produces a steady-state magnetic field 𝐵�R

• A three-phase set of voltages applied to the stator produces a three-

phase current flow in the winding.

• These currents then produce a uniform rotating magnetic field

𝐵�S .
• Since there are two magnetic fields in the machine,

𝐵�R tends to with 𝐵�S .

Since 𝐵�S is rotating, 𝐵�R will constantly try to catch up, just
as the two magnets will tend to line up if placed near each
other.

The amount of torque depends on the angle between the two magnetic
fields.

Just like in the induction motor, the rotor “chases” the rotating 𝐵�S in a
circle but never quite catching up with it.

A two-pole
synchronous motor.

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EEEB283-Electric Machines and Drives Synchronous Motors

6.2. The speed of rotation of a synchronous machine

Synchronous motors usually supply power to loads that require a

constant speed.

The motor speed of rotation is locked to the applied frequency, so the

motor speed is constant regardless of the load.

Hence, the rate of rotation of magnetic fields in the machine is related

to the stator electrical frequency by:

where fe = electrical frequency, in Hz

nm = mechanical speed of magnetic field, in r/min
(equals speed of rotor for synchronous
machines)
P = number of poles

Hence for a synchronous

motor, its torque speed
characteristic is constant
speed as the induced torque
increases.

Hence, speed regulation SR

= 0%.

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6.3. The equivalent circuit of a synchronous motor

𝐸�A = internal generated voltage produced in one phase of a

synchronous motor.

𝑉�𝜙 = voltage at the stator winding terminals of the motor, i.e. input
voltage of a phase.

There will be differences between 𝐸�A and 𝑉�𝜙 due to:

a) self-inductance of the armature coils
b) resistance of the armature coils

Therefore, the full equivalent circuit of a three-phase synchronous

motor is shown below.

The full equivalent circuit of a three-phase synchronous motor.

The dc power source supplying the rotor field circuit is modelled by:
• the coil’s inductance LF and resistance RF in series.
• an adjustable resistor Radj that controls the flow of field current.

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The three phases can be either Y- or ∆- connected with the terminal

voltage found using:

𝑉T = √3𝑉𝜙

𝑉T = 𝑉𝜙

Ideally, the terminal voltage for all three phases should be identical
since we assume that the loads connected are balanced.

This leads to the use of a per-phase equivalent circuit:

The per-phase equivalent circuit of a three-phase synchronous motor.

6.4. The phasor diagram of a synchronous motor

The phasor diagram of a synchronous motor is a graphical

representation of the current �𝑰𝐀 and voltages in the motor which is
given by the following voltage equation:

𝑉�𝜙 = 𝐸�A + 𝑗𝑋S 𝐼A̅ + 𝑅A 𝐼A̅

The reference phasor (assumed to be at angle 0°) =

In real synchronous machines,

𝑋S ≫ 𝑅A

so RA is often neglected in the qualitative study of voltage variations.

For accurate numerical results, RA must be included.

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Assuming a lagging power factor:

In the motor, the quantity of 𝑗𝑋S 𝐼A̅ points from 𝐸�A to 𝑉�𝜙 . By observing
the magnetic firld diagram, in a motor, 𝐸�A lies behind 𝑉�𝜙 , and 𝐵�R lies
behind 𝐵�net .

6.5. The effect of load changes on a synchronous motor

If a load is attached to the synchronous motor’s shaft, the motor will

develop enough torque to keep both motor and load turning at
synchronous speed.

What happens when the load is changed?

Assumption:
• The field current settings are unchanged.
• Synchronous motor operating initially with a leading power
factor (as in phasor diagram on next page).

As the load increases:

• The rotor will initially slow down.
• The torque angle δ becomes larger causing an increase in
induced torque.
• This will eventually speed the rotor back up to synchronous
speed but with a larger torque angle δ.

The overall effect is that the synchronous motor phasor diagram would
have a bigger torque angle δ as shown in the next page.

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Phasor diagram of a motor

operating at a leading power
factor.

The effect of an increase

in load on the operation
of a synchronous motor.

In terms of the internal generated voltage 𝐸�A ,

Its magnitude |𝐸�A | must be______________ with load changes.

Since the angle of δ increases, the distances proportional to power (EA

sin δ and IA cos θ ) will increase and 𝐸�A swings down further (on the
curve) with constant magnitude.

The phasor 𝑗𝑋S 𝐼A̅ must increase to reach from tip of 𝐸�A to 𝑉�𝜙 . Hence,
the armature current 𝐼A̅ also increases. Notice that the power factor
angle θ changes from leading to lagging.

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EEEB283-Electric Machines and Drives Synchronous Motors

Example 6-1 (pg. 353): A 208-V, 45-kVA, 0.8-PF-leading, ∆-connected,

60-Hz synchronous machine has a synchronous reactance of 2.5 Ω and a
negligible armature resistance. Its friction and windage losses are 1.5 kW
and its core losses are 1.0 kW. Initially, the shaft is supplying a 15-hp
load, and the motor’s power factor is 0.80 leading.
(a) Sketch the phasor diagram of this motor, and find the values of
IA, IL and EA.

(b) Assume that the shaft load is now increased to 30-hp. Sketch the
behaviour of the phasor diagram in response to this change.

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(c) Find IA, IL and EA after the load change. What is the new motor
power factor?

6.6. The effect of field current changes on a synchronous

motor

Assumption: The synchronous generator is rotating at synchronous

speed with a lagging load connected to it. The load remains
unchanged.

As the field current is increased:

• The magnitude of 𝐸�A will increase.

• Unfortunately, there are constraints set to the machine as such that

the power requirement is unchanged (power supplied by motor
changes only when shaft load changes).

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• At the same time, VT is kept constant by the power source

supplying the motor.

• Hence, the distances proportional to power ( EA sin δ and IA cos

θ ) on the phasor diagram must remain constant. Therefore, 𝐸�A
tends to slide across a horizontal limit (i.e. line of constant power)
as shown in the phasor diagram below for a lagging power factor
load.

The effect of an increase in field current on the operation of a synchronous

motor under lagging power factor conditions.

Notice that:
• As 𝐸�A increases, the magnitude of armature current 𝐼A̅ initially
decreases and then increases again.
• 𝐼A̅ will react to the changes in 𝐸�A as such that its angle changes
from a lagging power factor to a leading power factor.

Armature Motor acting Reactive power

current, 𝐼A̅ like: Q
Consumed by
Low 𝐸�A Lags 𝑉�𝜙 Inductive load
motor

Purely resistive
Medium 𝐸�A In phase with 𝑉�𝜙 -
circuit

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High 𝐸�A Leads 𝑉�𝜙 Capacitive load Supplied to the

system (i.e. motor
is consuming
–Q)

This characteristic can also be represented in the synchronous motor

as shown below:

Synchronous
motor V curves.

Several V curves are drawn, corresponding to different real power levels.

For each curve:

• Minimum 𝐼A̅ occurs at power factor (i.e. when

only real power is supplied by the motor)
• At any other point, some reactive power is supplied to or by the
motor as well as real power.

 𝐼A̅ lagging
𝑰𝐅 < 𝑰𝐅,𝐈𝐀 𝐦𝐢𝐧  motor is Q
 𝐸A cos 𝛿 < 𝑉∅
 motor is underexcited (small IF)

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EEEB283-Electric Machines and Drives Synchronous Motors

 𝐼A̅ leading
 motor is Q to the
𝑰𝐅 > 𝑰𝐅,𝐈𝐀 𝐦𝐢𝐧 power system
 𝐸A cos 𝛿 > 𝑉∅

 motor is overexcited (large IF)

This gives a possibility to utilise the synchronous motor as a power

factor correction tool since varying magnetic field would change the
motor from leading to lagging or vice versa.

Example 6-2 (pg. 357): The 208-V, 45-kVA, 0.8-PF-leading, ∆-

connected, 60-Hz synchronous machine of the previous example is
supplying a 15-hp load with an initial power factor of 0.85 lagging. The
current IF at these conditions is 4.0 A.

(a) Sketch the initial phasor diagram of this motor, and find the
values of IA and EA.

(b) If the motor’s flux is increased by 25%, sketch the new phasor
diagram of the motor. What are EA, IA and the power factor of the
motor now?

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The synchronous motor and power-factor correction

In a power system, low power factors means greater losses in the power
lines feeding it.

Most loads on a typical power system are induction motors with lagging
power factors.
Having one or more leading loads (overexcited synchronous motors)
in the system is useful because:
• It can supply reactive power Q for the lagging loads instead of
using a generator. Hence, reactive power doesn’t have to travel
over long, high-resistance transmission lines.
• This leads to reduction in transmission line current and power
system losses are much lower.
• This enables the use of lower current rating transmission lines
for a given rated power flow. Hence, reduces the costs of the
power system significantly.
• In addition, the use of overexcited synchronous motors increases
the motor maximum torque and reduces the chance of accidentally
exceeding the pullout torque.

Power factor correction – use of synchronous motors or other

equipment to increase the overall power factor of a power system.

Hence, if a synchronous motor is incorporated nearby a load which

require reactive power, the synchronous motor may be operated to inject
reactive power, hence maintaining stability and lowering high current
flow in the transmission line.

Synchronous motor provides power system

correction!

Example 6-3 (pg. 360):

The infinite bus in the figure below operates at 480 V. Load 1 is an

induction motor consuming 100 kW at 0.78 PF lagging, and load 2 is an
induction motor consuming 200 kW at 0.8 PF lagging. Load 3 is a
synchronous motor whose real power consumption is 150 kW.

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EEEB283-Electric Machines and Drives Synchronous Motors

(a) If the synchronous motor is adjusted to operate at 0.85 PF lagging,

what is the transmission line current in this system?

Real power (P) Reactive power (Q)

Load 1

Load 2

Load 3

Total

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(b) If the synchronous motor is adjusted to operate at 0.85 PF leading,

what is the transmission line current in this system?

(c) Assume the transmission line losses are given by PLL = 3IL2RL,
where LL stands for line losses. How do the transmission losses
compare in the two cases?

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EEEB283-Electric Machines and Drives Synchronous Motors

The synchronous capacitor or synchronous condenser

• Synchronous motor purchased to drive a load can be operated

overexcited to supply reactive power Q for a power system.
• Sometimes a synchronous motor is run without a load, simply for
power factor correction only. Hence, at no load, the phasor
diagram of a synchronous motor becomes:

No power being drawn from the motor

⇒ the distances proportional to power (EA sin δ and IA cos θ) are
zero.
From KVL, 𝑉�𝜙 = 𝐸�A + 𝑗𝑋S 𝐼A̅

⇒ the quantity 𝑗𝑋S 𝐼A̅ points to the left, and therefore the IA points
straight up.
• If 𝑉�𝜙 and 𝐼A̅ are examined, the voltage-current relationship looks
like that of a capacitor.
• An overexcited synchronous motor at no load looks like a large
capacitor to the power system.

Synchronous motors are sometimes used solely for PF correction. These

machines had shafts that did not even come through the frame of the
motor – no load can be connected to them even if one wanted to do so.
Such special-purpose synchronous motors were often called synchronous
condensers or synchronous capacitors (condenser is an old name for
capacitor)

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The V curve and phasor diagram for a synchronous capacitor is shown:

• Since the real power supplied to the machine = 0 (except for

• losses), at unity PF the current IA=0.
• As the field current is increased above unity PF point, the line
current (and the reactive power supplied by the motor) increases in
a nearly linear fashion until saturation is reached.

6.7. Starting synchronous motors

In explaining the behaviour of a synchronous motor under steady state

conditions, the motor was always assumed to be initially turning at
synchronous speed.

But how did the motors get to synchronous speed in the first place since it
has no net starting torque?

To understand the starting problem, refer to the figures below showing a

60-Hz synchronous motor at the moment power is applied to the stator
windings. The rotor is stationary, therefore the magnetic field 𝐵�R is
stationary. The stator magnetic field 𝐵�S is starting to sweep around the
motor at synchronous speed.

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EEEB283-Electric Machines and Drives Synchronous Motors

At t = 0 s,
o 𝐵�R and 𝐵�S are exactly lined up.
o 𝝉𝐢𝐧𝐝 = 𝟎.

At t = 1/240 s,
o Rotor has barely moved.
o 𝐵�S has rotated to the left.
o 𝐵�R and 𝐵�S are 90° apart.
o 𝝉𝐢𝐧𝐝 = maximum in counterclockwise
direction.

At t = 1/120 s,
o 𝐵�R and 𝐵�S are 180° apart.
o 𝝉𝐢𝐧𝐝 = 𝟎.

At t = 3/240 s,
o 𝐵�S has points to the right.
o 𝝉𝐢𝐧𝐝 = maximum in clockwise direction.

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EEEB283-Electric Machines and Drives Synchronous Motors

At t = 1/60 s,
o 𝐵�R and 𝐵�S are exactly lined up again.
o 𝝉𝐢𝐧𝐝 = 𝟎.

t = 1/ 60 s

Hence, during one electrical cycle, torque direction goes from

counterclockwise to clockwise and average starting torque is zero, i.e.
the synchronous motor cannot start by itself.

As a result, the motor will vibrate heavily and could overheat.

There are three basic approaches to safely start a synchronous motor:

1) Reduced speed of stator magnetic field – the aim is to reduce it
slow enough as such that the rotor will accelerate and lock in with
the stator magnetic field during ½ a cycle.
2) Use an external prime mover to accelerate the synchronous motor
up to synchronous speed.
3) Use damper windings or amortisseur windings.

Motor starting by reducing electrical frequency

The idea is to let the stator magnetic field rotate slow enough as such
that the rotor has time to lock on to the stator magnetic field.

After lock on, the speed of stator magnetic fields can be increased to
operating speed by gradually increasing fe to the normal 50- or 60-Hz
value.

This is done using power electronics technology, i.e. the rectifier-

inverter or the cycloconverter which can convert a constant input
frequency to any desired output frequency.

When operating at speed lower than rated speed, the motor terminal
voltage must also be reduced (roughly linearly with applied frequency)
to keep the stator current at safe levels.

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EEEB283-Electric Machines and Drives Synchronous Motors

Motor starting with an external prime mover

This is a very straightforward method. The steps involved are:

1. Attach the synchronous motor to an external starting motor.
2. Bring the machine up to full speed with the external motor.
3. Then, parallel the synchronous machine with its power system as a
generator.
4. Then detach the starting motor from the shaft of the machine.
5. Hence, the machine shaft slows down causing the rotor magnetic
field 𝐵�R to fall behind 𝐵�net and the synchronous machine starts to
act as a motor.
6. Once paralleling is completed, the motor can be loaded down in an
ordinary fashion.

Most large synchronous motors have brushless exciters which can act as
the starting motors.

For many medium-size to large synchronous motors, starting through

an external motor or using the exciter may be the only option, because
the power systems they are connected to may not be able to handle the
large starting currents needed if the amortisseur winding approach is
used.

Motor starting by using amortisseur windings

This is the most popular way to start a synchronous motor.

Amortisseur (or damper) windings are special bars laid into notches
carved in the face of a synchronous motor’s rotor which are shorted at
each ends by a large shorting ring.

A rotor field pole for a

synchronous machine showing
amortisseur windings in the
pole face.

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EEEB283-Electric Machines and Drives Synchronous Motors

To understand what the amortisseur windings does to the synchronous

motor, the simplified salient two-pole rotor shown in the figure below is
examined.

A simplified diagram of a salient

two-pole machine showing
amortisseur windings.

It shows the shorting bars at the

ends of the two rotor pole faces
connected by wires. (This is not
quite the way normal machines
are constructed, but it is useful
when used to understand how
the windings work.)

Assumptions:
• Initially the main rotor field winding is disconnected.
• A three-phase set of voltages is applied to the stator of the
machine.

t=0s o Assume that is vertical and sweeps along in

a counterclockwise direction.

o 𝐵�S induces voltage in the bars of the

amortisseur winding given by:

𝑒ind = (𝑣̅ × 𝐵�) ⋅ 𝑙 ̅

where 𝑣̅ = velocity of the bars relative to the

magnetic field

o At the top bars, 𝑣̅ is to the right. Hence, 𝑒ind

is out of page.

o At the bottom bars, 𝑣̅ is to the left. Hence,

𝑒ind is into of page.

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EEEB283-Electric Machines and Drives Synchronous Motors

o This causes current to flow and results in a

winding magnetic field 𝐵�W pointing to the
right.

o Thus, counterclockwise torque is produced

on the bars (and rotor).

t = 1/240 s
o 𝐵�S has rotated by 90°.

o The rotor has barely moved (it can’t speed

up in such a short time)

o eind = 0 (because 𝑣̅ parallel to 𝐵�)

o Thus, no current flows in windings and

induced torque is zero.

t = 1/120 s
o 𝐵�S has rotated by 90° and rotor still has not
moved.

o eind is out of page in bottom bars and is into

the page in the top bars.

o This causes current to flow and results in a

winding magnetic field 𝐵�W pointing to the
left.

o Thus, counterclockwise torque is produced

on the bars (and rotor).
t = 3/240 s

o The condition of the rotor is exactly as at

t = 1/240s, hence induced torque is zero.

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Notice that the torque induced is always unidirectional and the net
torque is non-zero, the motor’s rotor speeds up.

The final effect of this starting method is that the rotor will spin at near
synchronous speed. Once it is near synchronous speed, the field
windings need to be switched on to enable the rotor to lock on to the
stator magnetic field.

In a real machine, field windings are not open-circuited during starting

procedure to avoid very high voltages from occurring if they were left
open-circuited.

When field windings are short-circuited:

• No dangerous voltages are produced.
• Current will also be induced in them by the rotating 𝐵�S which
contributes extra starting torque to the motor.

To summarise, the procedure required to start a synchronous motor

having amortisseur windings is:
1. Disconnect field windings from their dc power source and short
them out.

2. Apply a three-phase voltage to the stator of the motor, and let

the rotor accelerate up to near-synchronous speed.

3. Connect the dc field circuit to its power source. After this is

done, the motor will lock into step at synchronous speed, and
loads may be added to its shaft.

The effect of amortisseur windings on motor stability

The advantage of this starting method is that it tends to dampen out the
load or other transients on the machine.

If rotor speed = nsync, no voltage is induced in amortisseur windings.

If rotor speed < nsync, voltage is induced in the windings due to relative
motion between rotor and stator magnetic field. Hence, current flows in
the amortisseur winding and a field is created. This field which interacts
with the stator field to produce a torque that tends to speed up the
machine.

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If rotor speed > nsync, a torque is produced that tends to slow down the
machine.

Hence, the amortisseur windings may act as a dampening effect to slow

down a fast machines and to speed up slow machines.

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