Electrical Machine System

SYNCHRONOUS MOTOR

Dr. M. Julkarnain
Professor
Dept. of EEE
 Synchronous Motors
Outlines of lecture # 1
❖ Constructional details
❖ Characteristics Features
❖ Principles of Operation
❖ Video illustration on construction and operation of
synchronous motor
❖ Motor on no load and loaded conditions
❖ Equivalent circuits and phasor diagram
❖ Power flow within a synchronous machine
 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)

 Synchronous Motors

Construction
Cylindrical (Round) Rotor

Constructed from solid steel forging to withstand large

centrifugal stresses inherent in high-speed operation
Used for high speed, low inertia loads (low starting torque)
Salient-Pole Rotor
Excitation Windings
Salient-Pole Rotor
with shaft-mounted DC exciter
Need carbon brushes to make
contact with the commutator
Salient-Pole Rotor with brushless excitation
Synchronous Motor Starting

• Get motor to maximum

speed (usually with no
load)

• Energize the rotor with a

DC voltage
The VARISTOR or resistor in shunt with the field winding
prevents high voltage from being induced during locked-
rotor and acceleration.
The induced current helps to accelerate the rotor by
providing additional torque.
Brushless Excitation
How it works

• Frequency-sensitive Control circuit

• Looks at emf induced in the field
fr = sfs
• At locked-rotor, s=1, fr = fs
• Close SCR1 – block current from field
• Open SCR2 – connect discharge resistor across
the field
How it works (continued)

• As the speed approaches ns, fr gets small,

fr = sfs approaches 0
• Open SCR2 – disconnects the discharge resistor
• Close SCR1 – allows field current to flow
 Synchronous Motors

Characteristics Features:
• It runs either at synchronous speed or not at all i.e.
maintains a constant speed
• It is not inherently self-starting
• It is capable of being operated under a wide range
of power factors, both lagging and leading
 Synchronous Motors

Principles of Operation: (Explained in Two half cycle)

• Rotating magnetic flux produced at stator
• Similar poles repel each other
• Rotor try to rotate anticlockwise
 Synchronous Motors

Principles of Operation:
• Half a period later
• Rotor tends to rotate clockwise
• Due to continuous and rapid rotation of stator poles, the rotor is
subjected to a torque which is rapidly reversing.
• Rotor stationary
 Synchronous Motors

Principles of Operation:
• Rotor rotating clockwise with a
speed that it turns through one
pole-pitch by the time the stator
interchanges their positions.
• Rotor tends to rotate
unidirectional (clockwise)
• Magnetic field of the rotor
“locks” with the rotating
magnetic field – rotor turns at
synchronous speed
• Video link:
• [Link]
h?v=Vk2jDXxZIhs
 Synchronous Motors
Outlines of lecture # 2
❖ Video illustration on construction and operation of
synchronous motor
❖ Motor on no load and loaded conditions
❖ Equivalent circuits and phasor diagram
❖ Power flow within a synchronous machine
❖ Know about power developed by a synchronous motor
❖ Types of excitation
❖ Effect of excitations
 Synchronous Motors
Salient-Pole Motor operating at both no-load and loaded conditions

When a heavy load is applied the rotor may ‘hanging back’ due to the load imposed
on the machine. If the load becomes too great for a synchronous motor it
immediately pulls out of synchronism and stops.

Angle δ is the power angle, load angle, or torque angle

Rotating Field Flux and Counter-emf

• Rotating field flux f due to DC current in the rotor. A

“speed voltage”, “back-emf”, or “excitation voltage” Eb / Ef
is generated and acts in opposition to the applied voltage.

• Eb or Ef = nsfkf
Armature-Reaction Voltage

• Rotating armature flux, ar is caused by the

three-phase stator currents. The induced
speed voltage caused by the flux ar cutting
the rotor conductors.

• Ear = nsarka
Armature-Reaction Voltage (continued)

• Ear = nsarka
• ar proportional to armature current Ia
• Ear = (Ia)(jXar)
where Xar = armature reactance (Ω/phase)
 Synchronous Motors

Equivalent circuit per phase

• A synchronous motor is the same in all respects as a synchronous
generator, except that the direction of power flow is reversed.
• Therefore, the equivalent circuit of a synchronous motor is exactly
the same as the equivalent circuit of a synchronous generator,
except that the reference direction of lA is reversed.

Apply KCL
 Synchronous Motors

Equivalent circuit (three phase)

 Synchronous Motors
Equivalent Circuit of a Synchronous Motor Armature (One Phase)
 Synchronous Motors

Phasor Diagram for one phase of a Synchronous Motor Armature

𝛂
𝛟
 Synchronous Motors
Synchronous-Motor Power Equation
• In most cases, the armature resistance is much
smaller than the synchronous reactance, so the
synchronous impedance Zs is approximately equal
to jXs .
 Synchronous Motors

The Equivalent-Circuit and Phasor Diagram

𝐼𝑎 𝐼𝑎 𝑋𝑠 𝐶𝑜𝑠𝜙

𝜶
V 𝝓 𝝓 𝐸𝑏 𝑆𝑖𝑛𝛼
 Synchronous Motors
Power flow within a synchronous machine
 Synchronous Motors
Power flow within a synchronous machine
 Synchronous Motors
Power flow within a synchronous machine
 Synchronous Motors

Motor on load with Constant Excitation

• A back emf Eb is produced in the stator by the rotor flux which opposes
applied voltage V.
• Eb depends on rotor excitation. Net voltage is vector difference of V and Eb.

No load, no losses No load, has losses On load, has losses

Eb=V, Motor intake Eb is falls back by an Load angle/coupling angle
is zero. Just floats angle. Resultant voltage increases, Resultant voltage
ER and current Ia increase and motor draws an
increase armature current;
power factor decrease
 Power developed by a synchronous motor

IaXscos𝛟 = Ebsin𝜶
.➪ VIaXscos𝛟 = EbVsin𝜶 Neglecting armature reactance
equivalent ckt and vector
EbV
➪ VIacos𝛟 = sin𝜶 diagram
Xs
Now,
VIacos𝛟 = Motor power input/phase

EbV
So, Pi = sin𝜶 per phase
Xs
EbV
Pi = 3 sin𝜶 for three phase
Xs

Since, Cu losses neglected; Pi = Pm

EV
Pm = 3 b sin𝜶 for three phase
Xs
 Power developed by a synchronous motor

Since, Cu losses neglected; Pi = Pm

Again 𝑃𝑚 = 𝜔𝜏𝑔 Neglecting armature reactance
2𝜋𝑁𝑠 equivalent ckt and vector
𝑃𝑚 = 𝜏 diagram
60 𝑔
60𝑃𝑚
𝜏𝑔 =
2𝜋𝑁𝑠
Gross torque developed by the
𝑃
motor, 𝑇𝑔 = 9.55 𝑚 N-m
𝑁𝑠
 Power developed by a synchronous motor
Problem-1
 Synchronous Motors with different excitation

TYPES OF MACHINE EXCITATION

Eb = V Called normal excitation.

Synchronous motor supplies all magnetizing
current to transfer power across air gap.

Eb < V Called underexcited.

Synchronous motor requires reactive
power from system to transfer power
across air gap. (Lagging PF)

Eb > V Called overexcited. Synchronous

motor has surplus of reactive power. Supplies 36
vars to power system. (leading PF)
Synchronous Motors with different excitation

Leading PF

37
Synchronous Motors with different excitation

38
 Synchronous Motors
Outlines of lecture # 3
❖ Understand effect of increased load with constant excitation
❖ Relation between electrical degree vs mechanical degrees
in synchronous machines
❖ Mathematical illustrations on effect of increased load with
constant excitation
 Effect of increased load with constant excitation
Excitation is constant; Ra negligible compared to Xs
Normal excitation (Eb = V )

Motor is running with light load so that 𝜶1 , 𝐸𝑅1 ,

𝐼𝑎1 , and 𝛟1 is small. 𝛂1
𝛟1

Now, load is increased. For meeting this extra

load motor must develop more torque by drawing
more armature current. Actually, following will be
happened:
(i) Rotor falls back in phase i.e. load angle
increases to 𝜶2
(ii) 𝐸𝑅1 increases considerable to new value 𝐸𝑅2
(iii) 𝐼𝑎1 increases to new value 𝐼𝑎2 ; thereby 𝛂2
increasing the torque developed by the motor
(iv) 𝛟1 increases to 𝛟2 , so that power factor 𝛟2
40
decreases from 𝐶𝑜𝑠𝛟1 to 𝐶𝑜𝑠𝛟2
 Effect of increased load with constant excitation
Excitation is constant; Ra negligible compared to Xs
Normal excitation (Eb = V )

𝛂2
𝛂1 𝛟1
𝛟2

41
 Effect of increased load with constant excitation
Excitation is constant; Ra negligible compared to Xs
Under excitation (Eb < V )

42
 Effect of increased load with constant excitation
Excitation is constant; Ra negligible compared to Xs
Under excitation (Eb < V )

43
 Effect of increased load with constant excitation
Excitation is constant; Ra negligible compared to Xs
Under excitation (Eb < V )
Armature current
increases and power
factor angle decreases.

Increasing torque
increases 

Increases the
voltage drop
between VT and Ef.
44

More active power enters the motor to maintain speed and develop
the new value of torque
 Effect of increased load with constant excitation
Excitation is constant; Ra negligible compared to Xs
Over excitation (Eb > V )

45
 Effect of increased load with constant excitation
Over excitation (EA > V𝛟 )
The internal generated voltage EA is equal to 𝐾𝛟𝛚 and so depends on only the field current in the
machine and the speed of the machine. Here, field current and speed are constant. Therefore, EA
must be constant as the load changes. The distances proportional to power (EAsin𝛅 and IAcos𝛉) will
increase, but the magnitude of EA must remain constant. As the load increases, EA swings down in the
manner shown in the Figure. As EA swings down further and further, the quantity jXSIA has to increase
to reach from the tip of EA to V𝛟 and therefore the armature current IA also increases. Notice that the
power factor angle 𝛉 changes too, becoming less and less leading and then more and more lagging.

46
Effect of increased load with constant excitation

47
 Electrical degree vs mechanical degrees in synchronous
machines

Electrical power/torque angle measurement is related to the

rotor phase shift by the following formula

𝑃
𝜶𝑒 = 𝜶𝑚 .
2

Where: 𝜶e = phase shift in electrical degrees

𝜶m = mechanical phase shift in the rotating magnetic
field of the rotor

Magnetic poles of synchronous and induction motors are 180

electrical degrees apart.

48
 Effect of increased load with constant excitation
Problem-2

49
 Effect of increased load with constant excitation
Problem-2 (continue)
 Effect of increased load with constant excitation
Problem-2 (continue)
 Effect of increased load with constant excitation
Problem-2 (continue)
 Effect of increased load with constant excitation
Problem-3
 Effect of increased load with constant excitation
Problem-3 (continue)
 Effect of increased load with constant excitation
Problem-3 (continue)

Resultant phasor diagram

 Effect of increased load with constant excitation
Problem-3 (continue)
 Effect of increased load with constant excitation
Problem-3 (continue)
 Effect of increased load with constant excitation
Problem-3 (continue)
 Synchronous Motors
Outlines of lecture # 5
❖ Understand effect of changing excitation with constant load
❖ Effect of changing field current
❖ Mathematical illustrations on effect of changing field current
❖ Illustration of Power Factor Improvement/Correction
❖ Mathematical illustrations on Power Factor Correction
❖ Synchronous Capacitor
❖ Comparison between synchronous and induction motor
❖ Applications of synchronous motor
 Effect of changing excitation with constant load

Suppose a synchronous motor is

operating with normal excitation
(Eb = V ) at unity p.f. with a given
load. If Ra is negligible as compared
to XS, then Ia lags ER by 90º and is in
phase with V because p.f. is unity.
The armature is drawing a power
of [Link] per phase which is enough to
meet the mechanical load on the
motor.

Now, let us discuss the effect of

decreasing or increasing the field
excitation when the load applied to
the motor remains constant. 60
 Effect of changing excitation with constant load

Excitation decreased:
Due to decrease in excitation, back e.m.f. is
reduced to Eb1 at the same load angle 𝜶1. The
resultant voltage ER1 causes a lagging
armature current Ia1 to flow. Even though Ia1 is
larger than Ia in magnitude it is incapable of
producing necessary power VIa for carrying
the constant load because Ia1cos𝛟1
component is less than Ia so that
VIa1cos𝛟1 < VIa.

Hence, it becomes necessary for load angle

to increase from 𝜶1 to 𝜶2. It increases resultant
voltage from ER1 to ER2. Consequently,
armature current increases to Ia2 whose in-
phase component produces enough power (V
Ia2 cos𝛟2) to meet the constant load on the 61
motor.
 Effect of changing excitation with constant load
Excitation Increased:
The effect of increasing field excitation is
shown in Fig. (c) where increased Eb1 is shown
at the original load angle 𝜶1. The resultant
voltage ER1 causes a leading current Ia1 whose
in-phase component is larger than Ia. Hence,
armature develops more power than the load
on the motor. Accordingly, load
angle decreases from 𝜶1 to 𝜶2 which
decreases resultant voltage from ER1 to ER2.
Consequently, armature current decreases
from Ia1 to Ia2 whose in-phase component Ia2
cos𝛟2 = Ia. In that case, armature develops
power sufficient to carry the constant load on
the motor.

Hence, we find that variations in the

62
excitation of a synchronous motor running
with a given load produce variations in
its load angle only
 Effect of changing excitation with constant load
Field current (Excitation) Increased:
Now, increase its field current and see what
happens to the motor. Note that an increase in
field current increases the magnitude of EA but
does not affect the real power supplied by the
motor. The change in IF does not affect the
shaft speed nm, and since the load attached to
the shaft is unchanged, the real power supplied
is unchanged.
VT is also constant. The distances proportional
to power on the phasor diagram (EAsin𝛅 and
IAcos𝛉) must therefore be constant. When the
field current is increased, EA must increase, but
it can only do so by sliding out along the line of
constant power.

63
 Effect of changing field current
Field current (Excitation) Increased:
Notice that as the value of EA increases, the
magnitude of the armature current IA first
decreases and then increases again. At low EA,
the armature current is lagging, and the motor
is an inductive load. It is acting like an
inductor-resistor combination, consuming
reactive power Q.
As the field current is increased, the armature
current eventually lines up with V¢. and the
motor looks purely resistive.
As the field current is increased further, the
armature current becomes leading, and the
motor becomes a capacitive load. It is now
acting like a capacitor-resistor combination,
consuming negative reactive power -Q or,
alternatively, supplying reactive power Q to the
64
system.
 Effect of changing field current
Field current (Excitation) Increased:
A plot of IA versus IF for a synchronous motor is
shown in the figure. Such a plot is called a
synchronous motor V curve, for the obvious
reason that it is shaped like the letter V.
The minimum armature current occurs at unity
power factor, when only real power is being
supplied to the motor.
For field currents less than the value giving
minimum lA, the armature current is lagging,
consuming Q.
For field currents greater than the value giving
the minimum lA' the armature current is leading,
supplying Q to the power system as a capacitor
would.

Therefore, by controlling the field current of a

synchronous motor, the reactive power 65
supplied to or consumed by the power system
can be controlled.
 Effect of increasing excitation with constant load
Problem-4
 Effect of increasing excitation with constant load
Problem-4 (continue)
 Effect of increasing excitation with constant load
Problem-4 (continue)
 Effect of increasing excitation with constant load
Problem-4 (continue)
 Effect of increasing excitation with constant load
Problem-4 (continue)
 Φ
Φ
Power Factor Improvement/Correction
Φ and Power Triangle
Power Factor Φ
I cos ø
Φ
a
O V
Consider an inductive circuit taking a lagging
current I from supply voltage V; the angle of ø

lag being Φ. I sin ø

The circuit current I can be resolved into two I

perpendicular components; [Link]Φ in phase

with V and [Link]Φ, 90 degree out of phase b
with V.
The [Link]Φ is known as active or wattful (a)Phasor diagram
component, where as component [Link]Φ is
ø VI cos ø A
called the reactive or wattles component. O
Φ
ø ø
The analysis of power factor can also made Φ
in terms of power drawn by the ø a.c circuit. VI sin ø
VI
Lets consider the power triangle OAB

OA = VI cosΦ, active power in kW

B
AB = VI sinΦ, reactive power in kVAR
OB = VI apparent power in kVA
Φ (b) Power Triangle
 Φ

Φ Power Factor Improvement/Correction

The power triangle OAB is for the power
factor cosΦ1, where as power triangle Φ – Φ
OAC is for the improved power factor
cosΦ2. It may be seen that active power kW A
(OA) does not change with power factor O ø1 ø2
improvement. However, the lagging kVAR2
kVAR of the loadΦ is reduced by the
Φ power factor correction equipment, thus C
Φ the power factor to cosΦ2.
improving kVAR1
Knowing the leading kVAR supplied by
the power factor correction equipment,
Φ
the desired results can be obtained. B
Φ
Leading kVAR supplied by p.f correction
equipment

=kVAR1- kVAR2 = kW(tanΦ1 –tanΦ2)

Synchronous Capacitor
Synchronous Capacitor
 Power Factor Improvement/Correction
Problem-5
 Power Factor Improvement/Correction
Problem-5 (continue)
 Power Factor Improvement/Correction
Problem-5 (continue)
 Power Factor Improvement/Correction
Problem-5 (continue)
 Power Factor Improvement/Correction
Problem-5 (continue)
 Power Factor Improvement/Correction
Problem-5 (continue)
 Starting Methods of synchronous motor

The starting procedure is as follows:

• The line voltage is applied to the armature (stator)

terminals and the field circuit is left unexcited. Motor
starts as an induction motor and while it reaches
nearly 95% of its synchronous speed, the d.c. field is
excited. At that moment the stator and rotor poles get
engaged or interlocked with each other and hence pull
the motor into synchronism.
 Starting Methods of synchronous motor

Challenges:
• At the beginning, when voltage is applied, the rotor is
stationary. The rotating field of the stator winding induces a
very large emf in the rotor during the starting period.
Hence, the rotor windings have to be highly insulated
for withstanding such voltages.

• When full line voltage is switched on to the armature at rest,

a very large current, usually 5 to 7 times the full-load
armature current is drawn by the motor. In some cases, this
may not be objectionable but where it is, the applied voltage
at starting, is reduced by using auto- transformers. Usually, a
value of 50% to 80% of the full-line voltage is satisfactory.
 Starting Methods of synchronous motor

Challenges:
• For reducing the supply voltage, the switches S1 are closed
and S2 are kept open. When the motor has been speeded-up,
S2 are closed and S1 opened to cut out the transformers.
 Starting Methods of synchronous motor

Summary of the starting procedure:

While starting a modern synchronous motor provided with damper
windings, following procedure is adopted.
1. First, main field winding is short-circuited.
2. Reduced voltage with the help of auto-transformers is applied
across stator terminals. The motor starts up.
3. When it reaches a steady speed (as judged by its sound), a
weak d.c. excitation is applied by removing the short-circuit on
the main field winding. If excitation is sufficient, then the
machine will be pulled into synchronism.
4. Full supply voltage is applied across stator terminals by cutting
out the auto-transformers.
5. The motor may be operated at any desired power factor by
changing the d.c. excitation.
Comparison between synchronous and induction motor
• A three phase Synchronous motor is a doubly excited machine, whereas
an induction motor is a single excited machine.

• The armature winding of the Synchronous motor is energized

from an AC source and its field winding from a DC source. The
stator winding of Induction Motor is energized from an AC source.

• Synchronous Motor always runs at synchronous speed, and the

speed of the motor is independent of load, but an induction motor
always runs less than the synchronous speed. If the load
increased the speed of the induction motor decreases.

• The induction motor has self-starting torque whereas the

synchronous motor is not self starting. It has to be run up to
synchronous speed by any means before it can be synchronized
to AC supply.
Comparison between synchronous and induction motor
• A synchronous motor can be operated with lagging and leading
power by changing its excitation. An induction motor operates
only at a lagging power factor. At high loads, the power factor of
the induction motor becomes very poor.

• The Synchronous Motor can be used for power factor correction

in addition to the supplying torque to drive mechanical loads
whereas an induction motor is used for driving mechanical loads
only.

• The synchronous motor is more efficient than an induction motor

of the same output and voltage rating.

• A synchronous motor is costlier than an induction motor of the

same output and voltage rating.
 Applications of synchronous motor
Synchronous Motors are basically used for the following
applications:
• Power Factor Correction
• Voltage Regulation
• Constant Torque and constant Speed Drive

Power factor corrections: Synchronous motor is used as synchronous

condenser for power factor correction or improvement. Synchronous
condenser is an over-excited synchronous motor without having any
mechanical load connected to its shaft. A synchronous condenser when
connected to supply mains takes leading current and hence delivers the
reactive power. This reactive power delivered by the synchronous
condenser is absorbed by the connected induction motors and thus the
supply line is relieved from carrying reactive power. In this way, the overall
power factor is improved. Use of synchronous condenser for power factor
improvement is advantageous as the amount of reactive power generation
can varied by the adjustment of field excitation. This is not possible with
static capacitors.
 Applications of synchronous motor
Voltage regulation: It is used at the end of transmission line for
voltage regulation. Though this method is obsolete now and various
electronic devices like STATCOM are employed for this purpose.

Constant Torque and constant Speed Drive: Due to higher

efficiency as compared to 3 phase induction motor and constant
speed irrespective of load variation, it is used for constant speed
drives. Some typical applications of synchronous motor are in
compressor motor in Oil & Gas industry, centrifugal pumps,
reciprocating pumps etc.
A synchronous motor is also used in household applications. It is
used in microwave oven, clock, tape players etc. In microwave oven,
it is used to rotate the turn table.
References
All slides are prepared from following Ref.
• Stephen J. Chapman, Electric Machinery Fundamentals,
Fifth edition.
• B. L. Thereja and A. K. Thereja, Electrical Technology,
Volume 2.