Synchronous Motor

Drives
Presented By
Saksham Bhardwaj
 CONTENTS
01 Synchronous Motor 02 Types of Synchronous Motor

03 Starting of Synchronous Motor 04 Braking of Synchronous Motor

Power and Torque Equations Control of Synchronous

05 06 Motor
of Synchronous Motor
 CHAPTER-01

Synchronous Motor
 Synchronous Motor
• A Synchronous Motor is an electromechanical
conversion machine which converts electrical
energy into mechanical energy.
• It runs at a constant speed which is the
Synchronous Speed (Ns).
���� ���
�� =
�
Or �� =
�

• It is a doubly-excited machine whose rotor is

excited by DC Supply and stator is excited by
3-Phase AC Supply.
Features of Synchronous Motor

• It runs either at Synchronous Speed or not at all.

• The speed is independent of load.
• It is not self-starting and hence requires
additional arrangements for starting purpose.
• It can be operated under wide range of power
factors for both lagging and leading.
• It will stall if, while running, the load torque is
increased beyond the maximum torque that
machine can develop
 CHAPTER-02

Types of Synchronous Motor

 Types of Synchronous Motor

Synchronous Motor are generally classified on the basis on Field

Excitation they are given which can be described as:

1. DC Excited Synchronous Motors: These motors use a

direct current (DC) supply to excite the rotor windings,
creating a strong magnetic field.

2. Non-Excited Synchronous Motors: These motors use a

permanent magnet or special rotor design to create a
magnetic field, requiring no external DC excitation.
 DC Excited Synchronous Motor
DC Excited Synchronous Motors, uses a specialized DC source
to excite the rotor winding via slip ring and brush arrangement.
Generally, these types of motors are classified based on the
rotor construction as given below:
1. Salient Pole: Poles project outwards from the surface. They
feature a non-uniform air gap, with the gap smallest under
the pole centers.
2. Cylindrical(Non-Salient Pole): The rotor has a smooth
cylindrical surface with no projecting poles, resulting in a
uniform air gap. Slots are cut into the surface to insert
windings.
DC Excited Synchronous Motor

a) Salient Pole Rotor b) Cylindrical Rotor

DC Excited Synchronous Motor
a) Salient Pole Rotor b) Cylindrical Rotor
Non-Excited Synchronous Motor
Non-Excited Synchronous Motors, use special arrangement through which
the rotor is magnetized by the external stator field rather than an internal
electrical [Link] types of motors are classified as:

1. Reluctance Motors: These operate on the principle of magnetic

reluctance. The rotor aligns itself with the stator's rotating magnetic field
to complete the path of minimum reluctance.
2. Hysteresis Motors: These utilize a smooth, cylindrical rotor made of
high-coercivity permanent magnet material (like cobalt steel). Torque is
produced by the hysteresis effect.
3. Permanent Magnet Synchronous Motors (PMSM): These use
permanent magnets embedded in or mounted on the rotor to create a
constant magnetic flux. They are highly efficient for small rating motors.
 Non-Excited Synchronous Motor

Reluctance Motor Hysteresis Motor Permanent Magent

 CHAPTER-03

Starting of Synchronous Motor

 Starting of Synchronous Motor

The rotor of Synchronous Motor have high inertia and the

magnetic field of stator varies continuously at synchronous
speed due to which rotor is unable to catch it, due to this
Synchronous Motors and not Self-Starting.

Thus they require special arrangement for starting at certain

speed and once they reach a speed near to synchronous speed
they are pulled in to synchronism such that the rotor field is
magnetically locked with the stator field and rotor runs at
synchrounous speed.
 Starting of Synchronous Motor

Synchronous Motor can be started by following methods and

once the speed reach close to synchronous speed the motor is
pulled in synchronism and run independently.
• External Prime Mover(Pony Motor): A small motor is used
to bring the synchronous machine to synchronous speed.
Then it is connected to grid as alternator.
• Damper Winding: The synchronous motor is run as
induction motor with the help of damper winding.
• Variable Frequency Drives: It can gradually increase the
frequency from zero so the rotor can keep pace from the start.
 CHAPTER-04

Braking of Synchronous Motor

 Braking of Synchronous Motor
1. Regenerative Braking: For a motor to act in generating mode the speed
of rotor must be greater than Ns , because E α ΦNs. As motor is running
at constant speed the back emf will never be greater than grid voltage
and regenerative breaking is not possible. However by using VFD it can
be achieved.
2. Plugging: In Plugging, any two terminals of 3-Φ supply are interchanged
to achieve phase reversal, due to which stator field starts rotating in
opposite direction due to which the relative speed between stator and
rotor becomes 2Ns . Also the emf will induce in opposite direction due to
which voltages adds i.e. V+E and leads to heavy current circulation.
3. Rheostatic(Dynamic) Braking: It is the only breaking which is practically
applicable to Synchronous Motors.
Rheostatic or Dynamic Breaking
3-Φ Synchronous Motor

Field

DC Stator External
Supply Winding Resistances
 CHAPTER-05

Power and Torque Equations

of Synchronous Motor
 Power Equation(Cylindrical)
Considering the circuit model for Cylindrical
R o t o r S y n c h r o n o u s M o t o r, n e g l e c t i n g
armature resistance as R a <<< X s .Thus
phase angle Φ=90º.
Taking Supply Voltage as reference, V∠0º
and Back emf lags V by and angle δ, E∠-δ.
Now from the circuit by applying KVL :
� = � + �����
�∠�º = �∠ − � + ����∠� − (�)
The armature current can be given as:
�∠�º − �∠ − �
�� = − (��)
��∠��º
 Power Equation(Cylindrical)

�∠ − ��º �∠ − (� + ��º)
�� = − − (���)
�� ��
Thus Complex Conjugate of Armature Current from eq(iii):
�∠��º �∠(��º + �)
�� =
∗ − − (��)
�� ��
The Complex Power is given as:
� = � + �� = �� ∗ − (�)
Now from eq (iv) and (v):
�∠��º �∠(��º+�)
� = �∠�º − − (��)
�� ��
 Power Equation(Cylindrical)

The equation (vi) becomes:

��∠��º ��∠(��º+�)
� = − − (���)
�� ��
Now considerning the active power only i.e, real part
�����(��º) �����(��º+�)
� = − − (����)
�� ��
We know that cos(90º+θ) = -sin(θ)
�� ����
� = − (��)
��
This equation is the Power Angle Equation for Synchronous
Motor in case of Cylindrical Rotor.
 Power Equation(Cylindrical)

For 3-Φ the power is given as

��� ����
� = − (�)
��
In equation (viii)
��
� = ���� = − (��)
��
It is the maximum power and this condition is only applicable if
δ=��º which is called the steady state stability limit of
cylindrical rotor synchronous machine.
Power Angle Curves

�� ����
� =
��
 Power Equation(Salient)
Considering the circuit mo d e l f o r
Salient Pole Rotor Synchronous Motor,
neglecting the armature resistance as
Ra <<< Xs .
According to Two Reaction Theory,
the synchronous reactance is resolve
in its direct and quadrature axis
components as Xd and Xq .
Taking Supply Voltage as reference,
V∠0º and Back emf lags V by and
angle δ, E∠-δ.
Phasor of Synchronous Motor(Salient)
V IqXq
(V sinδ)
IdXd (Vcosδ - E)
E

(V cosδ)
δ (Ia sinθ)
Iq Ia
θ
Φ (Ia cosθ)
Id
Direct Axis
Fig. Phasor diagram of Synchronous Motor on Lagging Load

� = � + ����� + �����
 Power Equation(Salient)

From the phasor diagram, we have following conclusions

�����
�� = − (���)
��
����� − �
�� = − (����)
��
�=�+� �� � = � − � − (���)
�� = �� ���� − (��)
�� = �� ���� − (���)
 Power Equation(Salient)

We know that active power can be given as

� = ������� − (����)
Hence we need to find ������
From phasor its horizontal and vertical components are as
������ = ������ − ������ − (�����)
Now using eq (xii),(xiii) and (xviii) we get
����� ����� �
������ = ���� − − ���� − (���)
�� �� ��
� � �����
������ = � − �������� + − (��)
�� �� ��
 Power Equation(Salient)

Using 2sinδcosδ = sin2δ in eq

����� � � �
������ = + − ����� − (���)
�� � �� ��
Now putting it in equation (vi)
������ �� � �
� = ������� = + − ����� − (����)
�� � �� ��
For 3-Φ the power is given as
��� ���� ��� � �
� = + − ����� − (�����)
�� � �� ��
�������� = ����������� + �����������
 Power Equation(Salient)

The power in case of salient pole synchronous machine is

maximum at an angle δ<90º which is generally about 60º - 70º ,
it is called the steady state stability limit of salient pole
synchronous machine and below this range the machine works
in stable mode.
The individual Curves for Excitation Power and Reluctance
Power can be seen in the upcoming plots and their combined
can be seen as well .
 Power Angle Curves

�� ���� �� � �
����������� = ����������� = − �����
�� � �� ��
Power Angle Curves

������ �� � �
� = + − �����
�� � �� ��
 Torque Equation

The mechanical power in a machine can be given as:

� = ��� − (����)
Also,
�
� = − (���)
��
Hence for cylindrical rotor synchronous machine refering to
eq(x), the torque is given as:
��� ����
� = − (����)
����
The torque in 3-Φ machines is always given for all 3-phases and
not for any particular phase.
 Torque Equation

At δ = 90º, the equation becomes

���
� = ���� = − (�����)
����
It is called Pull-out Torque.
Similarly for Salient Pole Synchronous Machine refering to
eq(xxiii), the torque can be given as:
��� ���� ��� � �
� = + − ����� − (������)
���� ��� �� ��

�������� = ���������������� + �����������

 CHAPTER-06

Control of Synchronous Motor

 Synchronous Motor Drives

Synchronous Motor are controlled by Variable Frequency Control

since Synchronous Speed is proportional to the stator frequency,
Ns α f. Hence a constant V/f ratio is necessary for constant
flux(Φ) efficient control below base speed and constant V is
maintained for control above base speed. Modes of Variable
Frequency Control are:
1. True Synchronous Mode or Open Loop Control
2. Self Controlled Mode or Self Synchronous Mode or
Closed Loop Control
 True Synchronous Mode

• Supply frequency is controlled from an independent oscillator.

• Frequency is increased gradually in steps from initial to
desired value, so that difference (Ns - Nr) is very small.
• It allows rotor to track change in synchronous speed.
• When desired value of Ns is achieved the rotor is pulled into
synchronism after hunting oscillations.
• It facilitates smooth starting and regenerative braking,
considering the frequency is increased in small steps.
• Damper Windings are resposible for pulling the motor into
synchronism.
True Synchronous Mode
 True Synchronous Mode
• In this circuit, the frequency command( f *) from
external oscillator is applied to VSI through a
delay so that rotor speed can detect change in
frequency.
• Flux Control block changes the Voltage with
frequency to maintain constant flux below rated
speed and constant Voltage above rated speed.
• The voltage and frequency signals are then
given as firing pulses to Rectifier and Inverter
(VSI) at a certain firing angle(α).
• This scheme is used to control multiple
machines together.
 Self Synchronous Mode

• Supply frequency is changed in proportion to the rotor speed

so that stator field is at same speed to that of rotor field.
• Self control can be achieved by making stator supply
frequency to track the frequency of induced voltages.
• Alternatively sensors can be used to track rotor position
with respect to the stator.
• Since rotor and stator field are always at same speed thus
rotor cannot be pulled out of synchronism and hence hunting
oscillations are eliminated.
• It eliminates the need of Damper Windings.
Self Synchronous Mode
 Self Synchronous Mode
• It is a Load Commutated Inverter Drive
which works on dual mode for both
motoring and breaking of motor.
• It consists of Source Side Converter, DC
Link Inductor and Load Side Converter.
• The converters are 6-pulse line
commutated thyristor converter.
• The Voltage output is given as :
��� = ���� . ���(�)
• For firing angle 0º<α<90º, both act as
rectifier while for 90º<α<180º, both act as
inverter.
 Self Synchronous Mode
Case-1: Motoring Operation
• Source side inverter is having firing angle
range 0º<α<90º, due to which it operates
as rectifier and supply a positive voltage
(+Vds) and positive current(Id).
• Load side inverter is having firing angle
range 90º<α<180º, due to which it
operates as inverter and supply a negative
voltage (-Vdl)and positive current(Id).
• As Vds > Vdl , the power flow from ac source
to motor.
 Self Synchronous Mode
Case-2 : Braking Operation
• Source side inverter is having firing angle
range 90º<α<180º, due to which it
operates as inverter and supply a negative
voltage (-Vds) and positive current(Id).
• Load side inverter is having firing angle
range 0º<α<90º, due to which it operates
as rectifier and supply a positive
voltage(+Vdl)and positive current(Id).
• Consequently power flow reverses and
machine operates in regenerative braking.
 Self Synchronous Mode
• The magnitude of torque depends on
(Vds - Vdl) .
• The source side thyristors are commutated
by the line voltage naturally whenever zero
occurs , Line Commutation.
• At the time of leading power factor, the
load side thyristors are commutated by
motor induced emf, Load Commutation.
• DC Link Inductor "smooths" the current,
making it behave like a constant current
source.
High Power Synchronous Motor Drive
 High Power Synchronous Motor Drive
• At high power, harmonics are generated which are
eliminated by using two series 6-pulse converters.
• The supply is obtained from a transformer with
primary(Y) and two secondaries one(Y) and
other(Δ) both feeding each 6-pulse converter.
• In this way, 30º Phase Shift is obtained between
input voltages of two converters.
• The 30° shift causes the 5th and 7th harmonics
produced by the first converter to be exactly 180°
out of phase with the 5th and 7th harmonics
produced by the second converter.
• The resultant stator mmf has 12-pulse waveform,
due to which torque pulsations and rotor winding
losses are significantly reduced.
That’s all fellow Engineers

Thank You Very Much