Dire Dawa University Institute of Technology

College of Electrical and Computer Engineering

Electrical Drives
ECEg-5334

Chapter-4
Operating Principle & Control of Specialized
Electric Drives

2/8/2025 By: Minale B. 1

 Outline

− Brushless DC Motors
− Permanent Magnet Synchronous Motors
− Reluctance Motors
− Switched Reluctance Motors
− Stepper Motors

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 Introduction
▪ Specialized electric drives are designed for specific applications
that require:
− Precise control,
− High efficiency,
− Unique operating characteristics.
▪ These drives are widely used in industries like robotics,
aerospace, electric vehicles, medical devices & renewable
energy systems.
▪ Their operating principles vary depending on the type of motor
and the control strategy used.

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 Types of Specialized Electric Drives
▪ Servo Drives: Used in computer numerical control machines,
robotics, and automation.
− Employs feedback control for precise positioning and speed
regulation.
▪ Stepper Motor Drives: Used in open-loop control applications like
3D printers and positioning systems.
− Operates by energizing motor phases in a controlled sequence.
− High precision but low speed & torque compared to servo drives.
▪ Brushless DC Motor Drives: Common in EVs, drones & industrial
automation.
− Uses electronic commutation instead of mechanical brushes.
▪ Switched Reluctance Motor Drives: Suitable for high-speed
applications like vacuum cleaners and wind turbines.
− Relies on reluctance torque with a simple & robust construction.

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 Con’t
▪ Variable Frequency Drives: Used in HVAC, pumps, fans, and
industrial machinery.
− Adjusts speed and torque by varying supply frequency & voltage.
− Provides efficient energy use and smooth acceleration.
▪ Permanent Magnet Synchronous Motor Drives: Found in EVs,
aerospace, and high-performance applications.
− Uses permanent magnets for efficient torque production.

▪ Linear Motor Drives: Used in maglev trains, conveyor systems, and

precision manufacturing.
− Converts electrical energy directly into linear motion without
mechanical transmission.

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 Brushless DC Motors
▪ Brushless DC Motors: are widely used in various applications like
robotics, electric vehicles, drones & industrial automation systems
due to their high efficiency, low maintenance & superior speed-
torque characteristics.
− Unlike conventional DC motors, BLDC motors do not have brushes,
which makes them more reliable and efficient.
▪ Brushless DC motors are also known as electronically commutated
motors (EC motors).
− BLDC motor is a permanent magnet synchronous electric motor which
is driven by DC electricity and it accomplishes electronically controlled
commutation system.
− BLDC motors are also referred to as trapezoidal permanent magnet
motors.

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 BLDC Motor Components & Construction
▪ A BLDC motor has 3-main components:
− The stator,
− The rotor, and
− The Hall effect Sensor.

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 Con’t
▪ Stator:
− Is the stationary part of the motor that contains the windings.
− It provides a magnetic field that interacts with the rotor to
produce torque.
▪ Rotor:
− Is the rotating part of the motor containing permanent magnets.
− The magnets are arranged in a specific pattern, opposite to that
of the stator.
− The interaction between the magnetic fields of the stator and the
rotor produces rotational movement.
▪ Hall Effect Sensor:
− The Hall effect Sensor is the brain of the motor.
− Its function is to control the flow of current to the motor winding.
− The controller also senses the position of the rotor & adjusts the
current accordingly to ensure smooth and efficient operation.

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 Working Principle of BLDC Motor
▪ The working principle of BLDC motors is based on the
interaction between the magnetic fields of the stator and the
rotor.
▪ The stator produces a rotating magnetic field, which interacts
with the permanent magnets on the rotor, producing a torque
that causes the rotor to rotate.

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 Con’t
▪ The Hall Effect Sensor plays a crucial role for the operation of
the motor.
▪ It controls the flow of current to the motor windings based on
the position of the rotor.
▪ The controller senses the position of the rotor using sensors or
Hall effect devices mounted on the stator.
▪ These sensors detect the position of the magnets on the rotor
and send signals to the controller.
▪ Based on the signals from the sensors, the controller adjusts
the flow of current to the motor windings to ensure that the
magnetic fields of the stator and rotor are properly aligned.
▪ This ensures that the motor operates efficiently and smoothly,
without any loss of power or vibration.

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 Advantages of BLDC Motors
▪ BLDC motors offer several advantages over conventional DC
motors. Some of the advantages are:
▪ Higher Efficiency: BLDC motors are more efficient than
conventional DC motors due to the absence of brushes.
▪ Higher Power Density: BLDC motors have a higher power density
compared to conventional DC motors.
▪ Longer Lifespan: The absence of brushes in BLDC motors results in
less wear and tear, making them more reliable and durable.
▪ Low Maintenance: BLDC motors require less maintenance
compared to conventional DC motors.
− This results in lower maintenance costs and longer service life.

2/8/2025 By: Minale B. 11

 Applications of Brushless DC Motor
▪ Brushless DC motors use for a wide variety of application
requirements such as:
▪ Computer hard drives and DVD/CD players
▪ Electric vehicles, hybrid vehicles, and electric bicycles
▪ Industrial robots, CNC machine tools, and simple belt driven
systems
▪ Washing machines, compressors and dryers
▪ Fans, pumps and blowers.

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 Permanent Magnet Synchronous Motors
▪ The permanent magnet synchronous motors are one of the
types of AC synchronous motors, where the field is excited by
permanent magnets that generate sinusoidal back EMF.
▪ It contains a rotor and stator same as that of an induction
motor, but a permanent magnet is used as a rotor to create a
magnetic field.
▪ Hence there is no need to wound field winding on the rotor.
▪ It is also known as a 3-phase brushless permanent sine wave
motor.
▪ The permanent magnet synchronous motor diagram is shown
below.

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 Con’t
▪ The permanent magnet synchronous motors are very efficient,
brushless, very fast, safe, and give high dynamic performance
when compared to the conventional motors.
▪ It produces smooth torque, low noise and mainly used for high-
speed applications like robotics.
▪ It is a 3-phase AC synchronous motor that runs at synchronous
speed with the applied AC source.

2/8/2025 By: Minale B. 14

 PMSM Components & Construction
▪ PMSM is an AC synchronous motor driven by 3-phase
controlled AC supply. Figure below shows a split view of a
typical PMSM.

▪ The PMSM has a stationary part stator & a rotating part rotor.
▪ Stator: The stator has a three-phase winding, similar to an
induction motor, which creates a rotating magnetic field (RMF)
when AC power is supplied.
▪ Rotor: The rotor contains permanent magnets that produce
their own constant magnetic field.
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 Working Principle of PMSM
▪ The PMSM working principle is similar to the synchronous
motor.
▪ It depends on the rotating magnetic field that generates
electromotive force at synchronous speed.
▪ When the stator winding is energized by feeding a 3-phase
supply, a rotating magnetic field is created in between the air
gaps.
▪ This produces the torque when the rotor field poles hold the
rotating magnetic field at synchronous speed and the rotor
rotates continuously.
▪ As these motors are not self-starting motors, it is necessary to
provide a variable frequency power supply.

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 Con’t
▪ PMSM Motor

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 EMF and Torque Equation PMSM
▪ In a synchronous machine, the average EMF induced per phase
is called dynamic induces EMF in a synchronous motor, the flux
cut by each conductor per revolution is Pϕ Weber.
▪ Then the time taken to complete one revolution is 60/N sec.
▪ The average EMF induced per conductor can be calculated by
using:
▪ Where; Tph = Zph / 2. Therefore, the average EMF per phase is,
Ep= 4 x ϕ x Tph x PN/120 = 4ϕfTph
• Where Tph = no. Of turns connected in series per phase
• ϕ = flux/pole in weber
• P= no. Of poles
• F= frequency in Hz
• Zph= no. Of conductors connected in series per phase. = Zph/3

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 Con’t
▪ The EMF equation depends on the coils and the conductors on
the stator.
▪ For this motor, distribution factor Kd and pitch factor Kp is also
considered.
Hence, E = 4 x ϕ x f x Tph xKd x Kp
▪ The torque equation of a permanent magnet synchronous
motor is given by:

T = (3 x Eph x Iph x sinβ)/ωm

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 Advantages of PMSM
▪ The advantages of PMSM include,
− Provides higher efficiency at high speeds
− Available in small sizes at different packages
− Maintenance & installation is easy than an induction motor
− Capable of maintaining full torque at low speeds.
− High efficiency and reliability
− Gives smooth torque and dynamic performance

2/8/2025 By: Minale B. 20

 Applications
▪ The permanent magnet synchronous motors applications are:
− Air conditioners, Refrigerators, AC compressors
− Washing machines, which are direct-drive
− Automotive electrical power steering
− Machine tools
− Large power systems to improve leading & lagging power factor
− Control of traction, Data storage units & Servo drives
− Industrial applications like robotics, aerospace, and many more.

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 Differences between PMSM VS BLDC
PMSM BLDC
• These are brushless AC synchronous • These are brushless DC
motors motors
• Torque ripples are absent • Torque ripples are present
• Performance efficiency is high • Performance efficiency is low
• More efficient • Less efficient
• Used in industrial applications, • Used in electronic steering
automobiles, servo motors, robotics, power systems, HVAC
train drives, etc. systems, hybrid train drives.
• Produces low noise • Produces high noise.

2/8/2025 By: Minale B. 22

 Reluctance Motor
▪ A reluctance motor is a type of synchronous motor that
operates based on the principle of magnetic reluctance.
▪ It does not have any windings or permanent magnets on the
rotor; instead, it relies on the tendency of magnetic flux to
follow a low-reluctance path, causing the rotor to align with the
rotating magnetic field of the stator.

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 Construction Reluctance Motor
▪ A reluctance motor consists of the following main parts:
▪ Stator: Similar to that of an induction motor, the stator is
wound with three-phase windings. It produces a rotating magnetic
field when energized.
▪ Rotor: The rotor is made of steel with specially designed salient
poles.
− Reluctance motor does not have rotor windings or
permanent magnets.
− The rotor is designed with areas of high and low magnetic
reluctance to align with the stator field.
▪ Air Gap: Exists between the stator & rotor, influencing the
torque X-tics.
▪ End-ring: Used to support the rotor & ensure smooth rotation.

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 Working Principle of Reluctance Motor
▪ A reluctance motor works by using magnetic reluctance to
cause a rotor to align with a magnetic field, which produces
torque. This causes the rotor to rotate continuously.
− When the stator windings are energized it create magnetic field.
− This magnetic field induces magnetic poles in the rotor.
− The rotor aligns itself with a magnetic field & produces torque.
− As the rotor moves, the magnetic field changes & the rotor aligns
itself with the new magnetic field configuration.
− This process repeats, causing the rotor to rotate continuously.

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Advantages & Disadvantages of Reluctance Motor

Advantages
− Simple Construction (No windings or magnets on the rotor).
− High Efficiency (Especially in synchronous reluctance motors).
− Cost-Effective (Compared to permanent magnet motors).
− Reliable and Robust (No brushes, slip rings, or permanent
magnets that can degrade).
Disadvantages
− Requires a Controller (For switched reluctance motors).
− Torque Pulsations (Due to rotor saliency).
− Low Starting Torque (Without additional means such as cage
winding).

2/8/2025 By: Minale B. 26

 Switched Reluctance Motor
▪ A Switched Reluctance Motor (SRM) is a type of electric motor
that operates based on the principle of variable reluctance.
▪ It has a salient pole rotor without any windings or magnets, and
the torque is generated by electronically switching the stator
windings in a controlled sequence.

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 Difference Between RM and SRM
RM Vs SRM

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 Stepper Motor
▪ A Stepper Motor is a type of brushless DC electric motor that
moves in discrete steps rather than continuous rotation.
▪ It converts electrical pulses into precise mechanical motion,
making it ideal for applications requiring accurate positioning
and speed control.

2/8/2025 By: Minale B. 29

 Construction of Stepper Motor
▪ A stepper motor consists of two main components:
▪ Stator: Contains multiple electromagnetic coils arranged in a circular
pattern. When energized in a specific sequence, these coils generate
a rotating magnetic field.
▪ Rotor: The rotor can be made of permanent magnets, soft iron, or a
combination of both. It aligns with the stator’s magnetic field and
moves in discrete steps.
▪ Bearings & Housing: Bearings ensure smooth rotation, while the
housing holds the entire assembly.

2/8/2025 By: Minale B. 30

 Working Principle of Stepper Motor
▪ A SM operates based on the principle of electromagnetism, where a
rotating magnetic field created by sequentially energizing stator coils
causes the rotor (with permanent magnets) to rotate in discrete
steps, allowing for precise position control by regulating the
sequence of energized coils; essentially, the rotor aligns itself with
the magnetic field produced by the energized stator coil, resulting in
a step-by-step rotation when the current is switched between
different coils in a specific order.

2/8/2025 By: Minale B. 31

 Advantages & Disadvantages of Stepper Motors
▪ Advantages of Stepper Motors
− Precise Positioning: Moves in accurate steps without feedback.
− High Reliability: No brushes, reducing maintenance.
− Good Low-Speed Torque: Performs well at low speeds.
− Easy Digital Control: Works well with microcontrollers& drivers.
▪ Disadvantages of Stepper Motors
− Power Consumption – Even when stationary, it consumes power.
− Torque Drops at High Speed – Efficiency reduces at high RPM.
− Resonance Issues – May vibrate at certain frequencies.

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 Applications of Stepper Motors
− Computer Numerical Control (CNC) Machine: Precise movement
for cutting and engraving.
− 3D Printers: Accurate layer-by-layer printing.
− Robotics: Position control in robotic arms.
− Medical Equipment: Used in precision instruments like MRI
scanners.
− Automotive: Controls speedometers, fuel injectors & HVAC
systems.

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 Thank You!
Q?

2/8/2025 By: Minale B. 34