ELECTRICAL DRIVES

UNIT IV
SYNCHRONOUS MOTOR DRIVES

1
Classifications of Synchronous
Motor
Wound field motor
(a)cylindrical rotor wound field motor
(b) salient pole rotor wound field motor
 Permanent magnet motor
 Synchronous reluctance motor
 Hysteresis motor
Synchronous Motors
 Construction

◦ Stator identical to that of a three-phase induction motor –

now called the “armature”

◦ Energize from a three-phase supply and develop the rotating

magnetic field

◦ Rotor has a DC voltage applied (excitation)

◦ Rotor could be a permanent-magnet type

 Operation

◦ Magnetic field of the rotor “locks” with the rotating

magnetic field – rotor turns at synchronous speed
Synchronous Motors

A synchronous motor is the same physical machine as a

generator, except that the direction of real power flow is
reversed
 Synchronous motors are used to convert electric power to
mechanical power
 Most synchronous motors are rated between 150 kW (200
hp) and 15 MW (20,000 hp) and turn at speed ranging from
150 to 1800 r/min. Consequently, these machines are used in
heavy industry
 At the other end of the power spectrum, we find tiny single-
phase synchronous motors used in control devices and
electric clocks

P, Q
Motor
Vt
Operation Principle
 The field current of a synchronous motor produces a steady-
state magnetic field BR
 A three-phase set of voltages is applied to the stator windings of
the motor, which produces a three-phase current flow in the
windings. This three-phase set of currents in the armature
winding produces a uniform rotating magnetic field of Bs
 Therefore, there are two magnetic fields present in the machine,
and the rotor field will tend to line up with the stator field, just
as two bar magnets will tend to line up if placed near each
other.
 Since the stator magnetic field is rotating, the rotor magnetic
field (and the rotor itself) will try to catch up
 The larger the angle between the two magnetic fields (up to
certain maximum), the greater the torque on the rotor of the
machine
Application of Synchronous Motors
Synchronous motors are usually used in large sizes because in small sizes
they are costlier as compared with induction machines. The principal
advantages of using synchronous machine are as follows:

◦ Power factor of synchronous machine can be controlled very easily by

controlling the field current.
◦ It has very high operating efficiency and constant speed.
◦ For operating speed less than about 500 rpm and for high-power
requirements (above 600KW) synchronous motor is cheaper than
induction motor.

In view of these advantages, synchronous motors are preferred for

driving the loads requiring high power at low speed; e.g; reciprocating
pumps and compressor, crushers, rolling mills, pulp grinders etc.
Types of Permanent Magnet
Synchronous motors
Based on nature of voltage induced in the stator
classified as
Sinusoid ally excited PMAC:
 Stator has distributed winding.
 Stator induced voltage has sinusoidal
waveform.

Trapezoid ally excited PMAC:

 Stator has concentrated winding.
 Stator induced voltage has trapezoidal
waveform.
 Trapezoid ally excited PMAC
OR BLDC

Kongunadu College of Engineering & Technology Permanent Magnet

Synchronous Motor
 Speed control of Trapezoidal
PMAC
According to the torque equation
torque is proportional to Id.
Regenerative braking mode
operation is obtained by reversing
phase currents.
This will also reverse the source
current Id.
Now power flow from the machine
to inverter and from inverter to dc
source.
Kongunadu College of Engineering & Technology Permanent Magnet
Synchronous Motor
 Speed control of Trapezoidal
PMAC

Kongunadu College of Engineering & Technology Permanent Magnet

Synchronous Motor
 Trapezoidally excited
PMAC

Kongunadu College of Engineering & Technology Permanent Magnet

Synchronous Motor
 BLDC vs. PMSM
BLDC PMSM
 Synchronous machine  Synchronous machine
 Fed with direct currents  Fed with sinusoidal currents
 Trapezoidal BEMF  Sinusoidal BEMF
 Stator Flux position commutation
 Continuous stator flux position
each 60 degrees variation

 Only two phases ON at the same time  Possible to have three phases ON at
the same time
 Torque ripple at commutations
 No torque ripple at commutations

Kongunadu College of Engineering & Technology Permanent Magnet

Synchronous Motor
SPEED CONTROL TECHNIQUES FOR PMSM

 Open loop volts/HZ speed control of synchronous

motors.
 Self control.
 Separate control.
 Attractive feature of a synchronous motor.
 Synchronous motor operating with square wave
inverter
 Synchronous motor operating with pwm inverter
 Brushless excitation of synchronous machine

13
 Open loop volts/Hz speed control of synchronous motors.
(Control of Synchronous Motors)

 Possible with variable frequency converter.

 Variable frequency synchronous motor can be
controlled to possesses the characteristics of a
separately excited dc motor. (E & V are
controlled in proportion to frequency in order to
keep air gap flux constant)

14
Open loop Volts/Hz speed control of synchronous
motors

15
open loop volts/hz speed control characteristics

16
Self control

A Synchronous motor in self controlled mode is

called “commutator less Dc motor”.
The frequency becomes the slave the speed.

17
Self-controlled synchronous motor drive
employing load commutated thyristor inverter
 Drive operating in true synchronous mode is shown in
Fig. Frequency command is applied to a voltage source
inverter through a delay circuit so that rotor speed is
able to track the c angel in frequency. A flux control
block changes stator voltage with frequency to maintain
a constant flux below rated speed and a constant
terminal voltage above rated speed. This scheme is
commonly used for the control of multiple synchronous
reluctance or permanent magnet motors in fiber
spinning, textile and paper mills where accurate speed
tracking between the motors is required.
 Basic features of self-controlled synchronous
machine

 The inverter, controller and absolute position encoder - act

as electronic commutator
 Electronic commutator replaces the mechanical commutators
and brushes (mechanical inverter) of traditional dc machine
 The flux phasor diagram rotate at synchronous speed

20
Self-controlled synchronous motor analogy

21
 Basic features of self-controlled synchronous
machine

 Control can modify the angle between the flux phasors

 Because of self-control, machine does not show any stability
or hunting problem of traditional synchronous machine
 The transient response is fast – similar to dc machine
 The rotor inertia is smaller than dc machine with high energy
magnet

22
Self Control Principle

 Commutation of the converter feeding the motor

is controlled through the rotor position information
from a shaft encoder.
 Under over excitation the motor voltages can be
employed to commutate the thyristors at the
inverter. Now the inverter becomes simple. But at
low speeds commutation assistance is required.
 Rotor position is sensed and the firing signals to the
devices are synchronized to the motor position.
 For every 600 rotation of the rotor a new device in the
sequence is fired.

23
 For rotation of the rotor by 2 pole pitches all the six
devices will receive firing pulses.
 Using this control the angle between the rotor and
the stator mmf (Torque Angle) can be controlled.
This is not possible in separately excited motor.
 Synchronous motor in self control is called as
Commutator less motor having the steady state
performance of the separately excited DC motor

24
 Separate control
 The speed is the slave the frequency
 Supply Frequency to the synchronous motor is controlled
from the inverter which receives its firing pulses from a
frequency controlled oscillator.
 The machine will exhibits conventional behavior.
 Up to base speed the motor operates at constant torque
and above base speed are obtained by clamping the
voltage at rated voltage. Frequency can be increased
and the motor operates in flux weakening region
.

25
Separate control block diagram

26
Draw backs of Separate control

Hunting
Poor dynamic Behavior.

27
closed loop control of load
commutated inverter
synchronous motor
• Shown in the fig..there are two
feedback loops.
• The outer loop is the speed loop while
inner loop is the current loop.

• The inner control loop are some

circuits are emplay only the speed
feedback.

• The motor is required to operate at a

desired speed but it has to meet the
load torque requirement ,which
depends on motor current Idc.
Speed sensing
• As shown in the fig..the terminal
voltage sensor senses the stator
voltage and generates a pulsed
waveform the frequency of which is
same as the machine induced
voltage.it is proportional to the speed
of the rotor.

• The speed error signal is applied to

the speed controller as shown in
figure..
Current sensing
The feedback signal is applied to
a comparator which compares it
with the current reference signal
produced by the speed
controller ,to produce Vc to the
control the firing angle of the
source side converter shown in
fig ..
 1.speed controller:
The speed controller is a (P+I) type
controller which produces an output
voltage proportional to the error
between the set or desired speed
and the actual speed.

The output of the speed control is

called as torque reference.
 2.current controller
This is also a controller which generates
the control voltage that decides the
firing angle of the converter.

The input to the current controller is the

error signal between the torque
reference signalat the output of speed
controller and the current feedback
signal.
 Properties
Used for the synchronous motor in
very large HP rating.
The load commutated inverter is
simple and has lower compared to
the inverter used in CSI -induction
motor drives .
The power switches used in the LCI
may not have the self commutation
capacity.
VSI fed Synchronous Motor
Drive
Different schemes of VSI fed
Synchronous Motor Drive
CSI fed Synchronous Motor
drive
Cycloconverter fed
Synchronous Motor drive
CSI fed Synchronous Motor
drive
CONSTANT MARGINAL
ANGLE CONTROL
 The operation of the inverter at the minimum safe
value of the margin angle gives the highest power
factor and the maximum torque per ampere of
the armature current, thus allowing the must
efficient rise of both the inverter and motor
 Fig shows the constant marginal angle control for a
wourid field motor drive employing a rotor position
encoder. The drive has an outer speed loop and an
inner current 1oop.The rotor position can be sensed
by using rotor position encoder.lt gives the actual
value of speed The signal is fed to the comparator.
This comparator comparer ‹»m and com* (ref value).

46
’he output of the comparator is fed to the
speed controller and current limiter.lt gives the
reference current value Id’. Id is the DC link
current. It is sensed by current sensor and fed
to the comparator. The comparator compares
Id and Id“. The output of the comparator is fed
to the current controller. It generates the
trigger pulses.
It is fed to the controlled rectifier circuit.in
addition ,it has on arrangement to produce
constant flux operation and constant margin
angJc control.
47
48
49
50
51