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Institute of Mechatronics and Information Systems
Control and Driving Systems
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Institute of Mechatronics and Information Systems
Lecture programme:
1. Fundamentals of electromagnetic phenomena in electromechanic energy conversion
2. Structure and operating principle of modern electrical
machines used in driving systems
3. Power supplies – voltage and frequency converters
4. Control modes for chosen mechanical drive parameters
5. Parasitic phenomena
6. Advantages and disadvantages of various driving system
configurations
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Institute of Mechatronics and Information Systems
Structure and operating principle of modern
electrical machines used in driving systems
1.
2.
3.
4.
5.
Transformer
Direct current machine
Induction machine
Synchronous machine
Special configurations
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Institute of Mechatronics and Information Systems
Synchronous machine
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Institute of Mechatronics and Information Systems
Synchronous machine
Cylindrical rotor (turbo-generator)
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Institute of Mechatronics and Information Systems
Synchronous machine
Turbo-generator stator
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Institute of Mechatronics and Information Systems
Synchronous machine
Hydro-generator (salient pole rotor)
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Institute of Mechatronics and Information Systems
Synchronous machine
Salient pole rotor (hydro-generator)
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Institute of Mechatronics and Information Systems
Synchronous machine
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Institute of Mechatronics and Information Systems
Synchronous motor
Surface mounted permanent magnet rotor
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Institute of Mechatronics and Information Systems
Synchronous motor rotor
Permanent magnet configurations
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Institute of Mechatronics and Information Systems
Synchronous motor
Phasor graph for a cylindrical rotor
I a Xa
I a Xa
IaRa
Ef
Ee
U
I
f
a
e
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Institute of Mechatronics and Information Systems
Synchronous motor
Phasor graph for a salient pole rotor
Ed
I a Xa
IaRa
Ef
Eq
Ee
U
I
f
a
e
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Institute of Mechatronics and Information Systems
Synchronous motor
Torque determination from a simplified phasor graph
I a Xs

P
m
M

UI cos 
 s 2n s
U
I a Xs cos   Ef sin 
m UEf
M
sin 
2n s X s
Ef
I
 
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Institute of Mechatronics and Information Systems
Synchronous motor
Torque – cylindrical rotor
3
2
M/MN [-]
1
MOTOR
0
-180
-150
-120
-90
-60
GENERATOR
-30
0
30
60
90
120
150
180
-1
-2
-3
d [°]
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Institute of Mechatronics and Information Systems
Synchronous motor – cylindrical rotor
Constant voltage, constant excitation, varying power
I a Xs
Ef
U
I

GENERATOR
MOTOR
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Institute of Mechatronics and Information Systems
Synchronous motor – cylindrical rotor
Constant voltage, constant excitation, varying power
U
I a Xs
Ef

GENERATOR
I
MOTOR
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Institute of Mechatronics and Information Systems
Synchronous motor
Salient pole rotor – reluctance change
MOTOR
GENERATOR
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Institute of Mechatronics and Information Systems
Synchronous motor
Torque – salient pole rotor
3
2
M/MN [-]
1
MOTOR
0
-180
-150
-120
-90
-60
GENERATOR
-30
0
30
60
90
120
150
180
-1
-2
-3
d [°]
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Institute of Mechatronics and Information Systems
Synchronous motor – salient pole rotor
Constant voltage, constant excitation, varying power
I d Xd
Ef
I q Xq
U
I
GENERATOR
UNSTABLE
 I
q
Id
MOTOR
UNSTABLE
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Institute of Mechatronics and Information Systems
Synchronous motor
Power factor
INDUCTIVE
CAPACITIVE
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Institute of Mechatronics and Information Systems
Synchronous motor
V - curves
UNSTABLE
INDUCTIVE
CAPACITIVE
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Institute of Mechatronics and Information Systems
Synchronous motor
Synchronization
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Institute of Mechatronics and Information Systems
Synchronous motor
Start-up procedures
1. Auxiliary machine
2. Asynchronous start-up
3. Varying frequency and voltage
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Institute of Mechatronics and Information Systems
Synchronous motor
Asynchronous start-up procedure:
1. shunting the field winding with a resistor
2. asynchronous start-up with reduced voltage
3. switching to nominal voltage
4. disconnecting the shunting resistor
5. energising the field winding
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Institute of Mechatronics and Information Systems
Synchronous reluctance motor
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Institute of Mechatronics and Information Systems
Synchronous reluctance motor
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Institute of Mechatronics and Information Systems
Switched reluctance motor
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Institute of Mechatronics and Information Systems
Switched reluctance motor
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Institute of Mechatronics and Information Systems
Switched stepper motor
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Institute of Mechatronics and Information Systems
Switched stepper motor
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Institute of Mechatronics and Information Systems
Switched stepper motor
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Institute of Mechatronics and Information Systems
Thank You
for Your attention
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