OPEN COURSE

o2.3 EEE EXP7

Electrical rotating
machines
Part 1 - General
information

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1 - Electrical rotating machines

Table of contents
1 - Electrical rotating machines : general information
This course gives a general overview on the three main families of electrical rotating
machines : DC, synchronous and induction.
1.1 - A brief History
1.2 - Constitution and operation
1.3 - Reminders of electromagnetism
1.4 - Power conversion
1.5 - Classification and use

2 - Three-phase induction machines

In chapter 2, we are going to spend much time on the 3 phase induction (asynchronous)
motors, which represent the great majority of all the motors in use in the world.

3 - Synchronous machines and alternators

Chapter 3 will highlight the operation of synchronous alternators, which generate
electricity on the grid

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1 - Electrical rotating machines
1.1 - A brief History
In 1820, the Dane Hans Christian Oersted discovered that an electric
current flowing through a conductor deflects a magnetic needle,
highlighting the action of an electric current on a magnetic field. In
the following months, the Frenchman André-Marie Ampère proposed an
electrodynamic theory on the circulation of particle electric currents, and
laid the foundations of electromagnetism. Soon, the electromagnet was
invented and perfected by several scientists, including the American
Joseph Henry.

Oersted's experience and Ampère's

deductions (video in french)

Faraday : electricity and magnetism

(video in french)

In the 1830s, the Englishman Michael Faraday discovered

the phenomenon of induction, the precursor to the
invention of the dynamo and the electric motor:
variations in magnetic fields make it possible to
create electric currents ! This discovery will lead to
Faraday's law, completed by the work of Lenz and Weber 3/13
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:
1 - Electrical rotating machines
1.1 - A brief History
Following the development of the
electromagnet and the first
dynamo tests, electrical
machines were perfected and
marketed from the 1870s
onwards:

Direct current machines

(1870/80s) :
➢ Zenobe Gramme, Thomas
Edison (and their
engineers !)
➢ 1st DC power plant (thermal)
: Manhattan, 1882, 100 kW

Alternating current machines

(1880/90s) :
➢ Nikola Tesla, Mikhaël Dolivo-
Dobrovolsky, Galileo Ferraris
➢ George Westinghouse (and his
engineers!)
➢ 1st AC power plant (hydraulic) :
Niagara Falls, 1896, 3700 kW
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1 - Electrical rotating machines
1.1 - A brief History

DC MACHINES AC INDUCTION AC SYNCHRONOUS

MACHINES MACHINES

Although technology evolved during the 20th century, the basic principles of
these three families of machines are still in use today. The major
change came with the development of power electronics in the 1970s,
allowing for more flexible and efficient control of these machines.

For more details about electromagnetism history, please refer to oP Expert Time :
Prominent Historical Figures

Gaulard&Gibbs’s Tesla’s Multi-phase Edison’s Light Gramme’s Direct current

transformer - 1884 alternator - 1888 Bulb - 1979 machine - 1871 5
1 - Electrical rotating machines
1.1 - A brief History : notes

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1 - Electrical rotating machines
1.2 - Constitution and operation
❖ Although they don’t connect the same way (DC, Electromagnetic laws
monophase AC or mutliphase AC) and don’t have the
basic principles :
same mechanical characteristics, all rotating electrical
➔ Ampere (Biot / Savart)
machines operate on the same main principles:
➔ Laplace
- Electromagnetic induction (Ampere and
➔ Lenz / Faraday
Lenz/Faraday’s laws)
- Electromagnetic forces (Laplace's law)

❖ They all consist of two main parts:

- the inductor or field, which generates the "excitation" magnetic field. It can be a
permanent magnet or an electromagnet.
- the armature, where currents flow in coils or bars. These currents also create a
magnetic field, which interacts with the inductor.

Direct current machine: field at stator, Three-phase synchronous machine: field

at rotor, armature at stator 7
armature at rotor
1 - Electrical rotating machines
1.2 - Constitution and operation

❖ They all have by construction a fixed part (the stator) and a rotating part (the
rotor). Depending on the type of machine, the field and armature can be placed either
on the stator or on the rotor (see examples above).

❖ They are all reversible : they can operate as motors (conversion of electrical into
mechanical energy) or as generators (conversion of mechanical into electrical
energy).
The three videos below illustrate the operation of a DC machine, a synchronous machine and
an induction machine as motors.

How does a DC motor work How does a synchronous moto How does an induction mot
r work or work

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1 - Electrical rotating machines
1.2 - Constitution and operation

Example : constitution of a DC Machine

Frame
A DC machine include several mechanical
and electrical parts Field
o Inductor (stator), windings
o Rotor,
o Armatures, Pole piece
o brushes.

❖ Stator called « Inductor »

It’s at the origin of magnetic flux circulation,

created by one or several windings, Armature winding
or by permanent magnet.
bearings
Motor shaft
❖ Rotor, usually named « armature »

Wound rotor connected to the current

source by the group collectors-brushes.
Current inside rotor windings slot collector
is called induced current

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1 - Electrical rotating machines
1.2 - Constitution and operation
❖ Collector and brushes

Collectors (copper blades) and brushes (usually in graphite) is dual : it allows an

electrical connection between stator (stationary) and rotor (rotating).
Moreover, it allows switching between all of the windings and the direct current
source (it is sometimes called ‘mechanical’ rectifier or “rotating” rectifier).

collector brushes
Collector Bruhses

Armature

Pôle Nord

Inductor
Pôle Sud

“Ainsi font les petits moteurs” / “That's

what small motors do" - TV series
“Voyage en électricité” (video in french)
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1 - Electrical rotating machines
1.2 - Constitution and operation : notes

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1 - Electrical rotating machines
1.3 - Reminder of electromagnetism
Electromagnetic laws basic principles :
➔ Principle 1 : magnetic induction (Ampere - Biot / Savart’s laws)
➔ Principle 2 : electromagnetic force (Laplace’s law)
➔ Principle 3 : electromagnetic flux and emf (Lenz / Faraday’s law)

For more details about physical principles, please refer to oP Expert Time : Electromagnetism

❖ Principle 1 : Magnetic Induction

A current creates a magnetic field, like a magnet. This field flows through
magnetic force lines that surround the electrical conductor (its orientation may be
given by the rule of the corkscrew or the right hand).

When a conductor is traversed by a current, it produces a magnetic field capable

of deflecting the needle of a compass. This magnetic field represents a zone of
influence of this current on other currents and magnets.

> Magnetic Induction field : B in Tesla (T) 12

1 - Electrical rotating machines
1.3 - Reminder of electromagnetism

❖ Principle 1 : Magnetic Induction

Biot / Savart law :

Inductance :

Air inductance : low induction (μr ≈ 1) Ferromagnetic inductance: high induction (μr
High magnetic leakages ≈ 1000)
Less magnetic leakages

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1 - Electrical rotating machines
1.3 - Reminder of electromagnetism

❖ Principle 2 : Laplace Law

A conductor in which an electric current, placed in a magnetic field, is subjected
to a force perpendicular to the current direction and the magnetic field.

Example : Laplace forces applied to a

single rotating spire in DC machine

Electromagnetic force : F in newton [N]

B : Flux density [T]
: conductor length [m]
I : Current[A]
: angle between

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1 - Electrical rotating machines
1.3 - Reminder of electromagnetism

❖ Principle 2 : Laplace Law

Determine the electromagnetic force which is applied on the iron bar (L=1,5m),
flowing a current equal to 200A. The bar is located into a magnetic field produce
by permanent magnet (B=0,5T) :

o When the bar is perpendicular to magnetic field lines

o When the bar is parallel to magnetic field lines

Nb: if then (max force)

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1 - Electrical rotating machines
1.3 - Reminder of electromagnetism

❖ Principle 3 : Magnetic flux - Lenz / Faraday Laws

The magnetic flux Φ corresponds to magnetic induction quantities intercepted by
a closed electrical circuit.
This magnetic flux Φ in weber (Wb)

B : Flux density [T]

S : cross-sectionnal of magnetic core [m2]
α : angle between B and N (normale of the surface)

An electrical circuit, subject to a variable magnetic flux, produce a voltage

(Lenz's law), named “electromotive force” :

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1 - Electrical rotating machines
1.3 - Reminder of electromagnetism

❖ Principle 3 : Magnetic Magnetic flux - Lenz / Faraday Laws

Let's take the most classic example of the single-phase permanent magnet
synchronous alternator : a magnet rotating in front of a coil of N spires.
armature

inductor
e
o Considering a constant rotational speed Ω, determine an expression of the RMS
value E of the electromotive force e(t) :

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1 - Electrical rotating machines
1.3 - Reminder of electromagnetism

➢ Example of the DC machine, important to remember

In a DC Machine the rotor, turning inside the magnetic field created by the
inductor Φ (Webers, Wb), is submitted to a variable flux. According to Faraday’s
law, this variable flux creates an electromotive force (fem or emf) E (Volt, V).

On a motor operation, Emf E depends on :

- maximal magnetic flux Φ (Wb)
- rotation speed Ω (rad/s) or N (tr/min), with : Ω = π.N / 30
- K coefficient, constant of speed, depending on the motor design and units
used.

In a DC machine operating at constant flux,

the emf is proportional to the rotation speed.

Note : This relationship is directly applicable for DC and synchronous machines

(more complicated for induction machines). Here we have treated a simple case,
but it can be completed by other parameters (such as the number of pairs of poles
p, the number of winding paths...) which play on the expression of constant K.

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1 - Electrical rotating machines
1.3 - Reminder of electromagnetism

❖ Example
The electromotive force E of an independently excited DC motor is 210 V at 1,500
rpm.

What would be the emf E for a rotation frequency of 1,000 rpm, considering constant
flux ?

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1 - Electrical rotating machines
1.3 - Reminder of electromagnetism : notes

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 1 - Electrical rotating machines
1.4 - Power conversion
All electrical machines convert electrical energies into mechanical energies and
inversely : reversibility
Motor operation

Electrical Electric machines Mechanical

Generator operation
❖ Power flow :
Stator

Transmission C(N.m)
Ω(Rad/s)
Rotor
Airgaps
Motor Generator
Pelec=k.U.I Pmeca=C.Ω Pmeca=C.Ω Pelec=k.U.I

Magnetic Joule Mechanical Mechanical Joule Magnetic

Losses Losses Losses Losses Losse Losses
( Pf ) ( Pj ) ( Pm ) ( Pm ) s ( Pf )
( Pj )
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1 - Electrical rotating machines
1.4 - Power conversion

❖ Efficiency
With an efficiency η always strictly inferior to 1, the machine presents losses. The
study and minimization of these losses according to the type of machine is an
important issue in electrical engineering.

Motor Generator

❖ Electrical point of view

From the electrical side, the machine absorbs or forwards electrical power,
where the coefficient k depends on the type of machine : Pelec=k.U.I
Examples :
- permanent magnets DC machine : Pelec= U.I (U being the RMS compound voltage,

- three-phase induction machine : Pelec= √3 U.I cosφ I being the RMS line current)

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1 - Electrical rotating machines
1.4 - Power conversion

❖ Mechanical point of view

From the mechanical side, the machine absorbs or forwards mechanical power,
where C (or T) is the useful torque (in N.m) and Ω the rotation speed (in rad/s)
of the machine : Pmeca=C.Ω

Ω = π.N / 30
We can also replace Ω with the rotation speed N (in rpm) :

All types of rotating machines are Backward Forward

generator motor
characterised mechanically by their
Pmeca < 0 Pmeca > 0
torque/speed characteristics. These
features have 4 operating quadrants.
The four quadrants highlight the
reversibility of the machine, for the Backward Forward
motor generator
direction of rotation and for the torque. Pmeca > 0 Pmeca < 0

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1 - Electrical rotating machines
1.4 - Power conversion
Examples of torque/speed characteristics in quadrant n°1 (forward, motor) :
DC machine - independent Synchronous machine Induction machine
excitation

n°1 n°1 n°1

n°4 n°4 n°4

By central symmetry, these curves extend into quadrant n°4 (forward, generator).

For example, this is what happens during the braking of an electric vehicle : the torque
changes sign and the machine becomes a generator. However, in order to exploit the
electrical energy produced during this phase (to recharge the battery), remember that
the electronic control of the machine must also be reversible. 24
1 - Electrical rotating machines
1.4 - Power conversion

❖ Electromagnetical point of view

Considering a motor operation : with the exception of losses, the electrical power
received will be turned into mechanical power on the motor shaft. The conversion of
energy takes place through an electromagnetical energy concentrated inside the airgap
between stator and rotor.

Electrical Motor Electomag operation Mechanical

netical
Example of a
permanent Pem= Cem.Ω = E.I Pmeca=C.Ω
magnet DC
Pelec= U.I
motor

We can see that the power flow of the machine highlights the electromagnetic power
Pem , showing the electromagnetic torque Cem (from a mechanical point of vue) and
the emf E (from an electrical point of vue).

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1 - Electrical rotating machines
1.4 - Power conversion : notes

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1 - Electrical rotating machines
1.5 - Classification and use
Note : The DC or AC type of the Electrical rotating Special machines
machine refers to its power machines
supply mode, not its internal
operating technology. Stepper motors
Reluctance motors
Flat airgap motors
...
DC machines universal motors AC machines

DC Brushless
(synchronous + Synchronous
Brushed Induction machines
integrated multi-phase machines
inverter)

Excitation Permanent excitation

Wound
Permanent (independant, magnets (wound Squirrel
rotor
magnets series, shunt, (PMSM - rotor - cage
(brushed)
compound) brushless) brushed)
single-phase or three-phase machines

Note : As the term "brushless" literally means "without brushes", it could apply to several types of motors (like the squirrel
cage induction ones). By convention, it is reserved for permanent magnets synchronous machines (PMSM), including 27
the “DC connected” ones : in this case, the motor integrates an electronic polyphase inverter.
 1 - Electrical rotating machines
1.5 - Classification and use
domestic sector industry and energy transport sector
sector
universal
three-phase induction PMSM - brushless
motors
Vacuum cleaners, motors motors
food processors, everywhere ! Railway traction
portable tools Conveyors, machine tools, (replacing high torque DC
presses, pumps, overhead motors), electric cars
single-phase cranes...
“DC brushless”
induction PMSM - ac motors
motors brushless motors Drones, assisted
Large household Position control, specific bicycles, new modes
appliances, industrial processes of individual mobility
ventilation, air
conditioning DC series or indep.
excitation motors DC series motors
permanent endangered ! High- Automotive electricity :
magnets DC torque lifting: port cranes, engine starter
motors gantry cranes
Toys, small permanent magnet
robotics DC motors
Wound rotor
Automotive electricity :
DC stepper alternators window lifters, wipers
Power generation
motors plants, up to 1400 MW
small robotics Wound rotor
Wind energy alternators
“DC brushless” machines Automotive electricity :
motors Several types, both alternators
Hard-disks, DVD synchronous PMSM and
players induction (double fed) 28
Note : non-exhaustive list
1 - Electrical rotating machines
1.5 - Classification and use : notes

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