Electric Machinery and Drives: An Electromagnetics Perspective by Nabeel A.O. De

Author Biography

Nabeel A. O. Demerdash, PhD, IEEE Life Fellow, the recipient of the 1999 IEEE Nicola Tesla Technical Field Award, is an emeritus Professor in electrical engineering and the Director of the SEMPEED Consortium at Marquette University, USA. He has over 50 years of teaching and research experience in electric machines and drives in U.S. academia. He is the author and/or co-author of more than 250 technical articles, including more than 150 papers published in various IEEE Transactions and journals. JiangBiao He, PhD, IEEE Senior Member, is an Associate Professor in Electrical Engineering at the University of Tennessee, Knoxville, USA. Previously, he was an Associate Professor at the University of Kentucky. Before he joined academia in 2019, he worked in multiple large industry R&D centers, most recently as a Lead Engineer at GE Global Research, Niskayuna, New York. His research interests include motor-drive systems and power electronic converters. He has authored and co-authored over 150 technical articles in IEEE journals and conferences, in addition to 10 granted patents. Hao Chen, PhD, IEEE Senior Member, is an Associate Professor (Pre-Tenure) with the College of Electrical Engineering, Zhejiang University, Hangzhou, China. From 2016 to 2018, he was with the Department of Electrical and Computer Engineering, Marquette University, Milwaukee, WI, USA, as a Joint PhD Student. From 2019 to 2021, he was a Postdoctoral Research Fellow with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore. From 2022 to 2023, he was a Researcher with the Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden. His research interests include design and optimization of electric machines, power electronic drives, and motor controls. He has published over 50 papers in IEEE journals and conferences.

Table of Contents

About the Authors xiii  Preface xv  About the Companion Website xviii  1 Electric Circuit Notations and Elementary Concepts 1  1.1 Frequency-Domain RMS Phasor Representation of Time-Domain AC Voltages and Currents 1  1.2 Time-Domain and RMS Frequency-Domain Power Concepts Using Consumer System Formulation and Notations 3  1.3 Elementary Concepts of Complex Real and Reactive Power in Balanced Three-Phase Circuits and Devices Using Consumer System Notations 5  2 Power Electronics and Converters 11  2.1 Semiconductor Devices 11  2.1.1 Power Diodes 11  2.1.2 Thyristors 12  2.1.3 Igbt 14  2.1.4 SiC MOSFET 15  2.1.5 GaN HEMTs 17  2.2 DC–DC Converters 19  2.2.1 Buck Converter 19  2.2.2 Boost Converter 21  2.3 Voltage Source Inverter 22  2.4 Pulse Width Modulation (PWM) 23  Homework Problems 26  References 28  3 Review of Magnetostatics, Magnetic Circuits, and Fundamentals of Electromechanical Energy Conversion 29  3.1 Magnetostatic Fields Notations and Ampere's Law 29  3.2 Magnetic Circuits with Ferrous Magnetic Cores 31  3.3 Magnetic Flux Linkages, Inductance, and Electromotive Forces 34  3.4 Energy Storage, Motion, and Forces in Magnetic Circuits 37  3.4.1 Ferromagnetic Material B–H Characteristics 39  3.5 Lorentz's Law-Induced Voltage and Forces in Magnetic Fields 43  3.6 Electromagnet Polarity and Permanent Magnets 44  3.7 Elementary Electromechanical Torque Production and Magnetomotive Force (MMF) Distribution Concepts 45  3.8 Elements of Three-Phase Stator and Rotor Windings 48  3.9 Elementary Three-Phase Synchronous and Induction Machines 52  3.10 Elementary Brush-Commutator DC Machines 56  3.11 Mechanical Torque Production in AC and DC Machines 57  3.12 Forces and Torques in Magnetically Linear Singly Excited Electromechanical Devices and Systems 65  Homework Problems 68  4 Electromechanical Concepts in Electric Machines 73  4.1 Introductory Discussion 73  4.2 Motor-Mechanical Load Dynamics 73  4.3 Mechanical Load Torque–Speed Characteristics 79  4.4 Mass Polar Moment of Inertia 82  4.5 Effects of Belt and Gear Couplings on Mechanical Dynamic Formulations 84  4.6 Operating Modes of Electric Machines 87  4.7 On Time Constants of the Mechanical Dynamics of Motor-Mechanical Load Systems 89  4.8 Modeling and Simulation of Motor Starting Transients 91  Homework Problems 91  Reference 91  5 Electric Machinery Windings and Associated Electromotive and Magnetomotive Forces 93  5.1 AC Winding Layouts 93  5.2 dc Winding Layouts 95  5.3 Induced Electromotive Forces in Single-Phase and Poly-Phase AC Windings 96  5.4 Induced Electromotive Forces in Brush-Commutator-Type dc Windings 105  5.5 MMF in Distributed and Concentrated AC and DC Machine Windings and Associated Flux Density Distributions/Waveforms in Airgaps 107  5.6 Relationships Among Magnetomotive Forces, Flux Density Distributions, Volume, Developed Torque, and Power 132  5.7 Relationship Among Electric Machinery Volume and Developed Torque and/or Volt–Ampere Capabilities 138  5.8 Worked Examples 140  Homework Problems 146  6 The Poly-Phase Induction Machine 149  6.1 Main Constructional Features 149  6.2 The T-Equivalent Circuit Model and Its Fundamental Formulation 150  6.3 Performance Calculations Using the T-Equivalent Circuit Model 159  6.4 The Simplified T-Equivalent Circuit Model and Its Use in Performance Calculations and Associated Torque–Slip (Speed) Characteristics 162  6.5 On Torque–Slip (Speed) Simplification and Its Formulation 168  6.6 The Motor Starting Transient Modeling Using the Simplified T-Equivalent Circuit 182  6.7 On Legacy and Modern Constant Volts Per Hertz Control of Torque and Speed of Induction Motors 195  6.8 Field-Oriented Control of Induction Motors 200  Homework Problems 205  References 211  7 The Poly-phase Synchronous Machine 213  7.1 Main Constructional Features of the Salient-Pole and Cylindrical Rotor Varieties 213  7.2 The Types of Synchronous Machine Exciter-Conventional and Modern Brushless Excitation Systems 218  7.3 The Equivalent Circuit Model of the Idealized Cylindrical Rotor Synchronous Machine 220  7.4 Phasor-Vector Diagrams of Synchronous Motors and Generators 223  7.5 Elementary Treatment of Effects of Rotor Saliency 236  7.6 Synchronous Motor Under Constant Volts Per Hertz Control 237  7.7 Vector Control of Synchronous Motors in ASDs 244  Homework Problems 246  References 247  8 Brush-Commutator and Brushless DC Machines 249  8.1 Main Constructional Features of Brush-Commutator and Brushless DC Machines 249  8.2 Armature Windings of Brush-Commutator DC Machines 252  8.3 Separately Excited DC Motors, Modeling, and Formulations 256  8.4 Shunt-Excited DC Motors Modeling and Formulations 261  8.5 Series-Excited DC Motors Modeling and Formulations 266  8.6 Compound-Excited DC Motors Modeling and Formulations 270  8.7 dc Motors Input–Output Powers, Losses, and Efficiency 273  8.8 Worked Examples on DC Motors 275  8.9 Operating Principles and Modeling of Brushless DC Motors 278  8.10 Brushless DC Motors Torque–Speed Control 297  Homework Problems 299  References 305  9 State-Space Modeling of Synchronous Machines Including Full Effects of Rotor Saliency 307  9.1 Discrete Representation of the Windings of a Synchronous Machine in the Natural Frame of Reference 307  9.2 State-Space Modeling Derivations of a Synchronous Machine in the Natural ABC Frame of Reference of the Poly-Phase Stator Windings 310  9.3 A Magnetic Field Flux-Map Finite-Element Computed Point of View of Salient-Pole and Cylindrical Rotor Machines 318  9.4 Park's DQ0 Frame of Reference Transformation 324  9.5 Applying Park's DQ0 Transformation to the ABC State-Space Model Voltages, Currents, and Flux Linkages 333  9.6 State-Space Modeling Derivation in the DQ0 Reference Frame of a Synchronous Machine Including Saliency Effects – The Inductance and Flux Linkage Matrices and Vectors 339  9.7 Synchronous Machine DQ0 State-Space Model in the DQ0Flux Linkage Frame of Reference 344  9.8 Power and Torque Formulations for a Synchronous Machine in the DQ0 Frame of Reference and ABC Frame of Reference 347  9.9 Derivation of the Synchronous Machine Phasor and Space-Vector Diagrams in the DQ0 Frame of Reference 350  9.10 Initial Conditions in Transient Synchronous Machinery State-Space Time-Domain Simulations 357  9.11 Synchronous Machine ABC Frame State-Space Models with Permanent Magnet Excitations 359  9.12 Synchronous Machine DQ0 Frame State-Space Models with Permanent Magnet Excitations 372  9.13 Vector Control of Wound-Field Synchronous Machines 379  Homework Problems 383  References 395  10 State-Space Modeling of Induction Machines 397  10.1 Discrete Representation of the Windings of a Wound-Rotor Induction Machine in the Natural Frame of Reference 397  10.2 State-Space Modeling Derivations of an Induction Machine in the Natural ABC–abc Frame of Reference for the Poly-phase Stator and Rotor Windings 398  10.3 On the Relationship Between the Terms of an Induction Machine's Inductance Matrix and the Inductances and Reactances of Its Conventional T-Equivalent Circuit 404  10.4 State-Space Model of an Induction Machine Using the Winding Flux Linkages as State Variables 408  10.5 Transformation of the State-Space Model of an Induction Machine from the ABC–abc Frame to the DQ0–dq0Frameof Reference 410  10.6 Three Types of DQ0–dq0 Frame of Reference Transformation and the Resulting State-Space Models 413  10.7 On Torque and Power Computations in an Induction Machine in the DQ0–dq0 and ABC–abc Reference Frames 434  10.8 On Inductance Parameters in Induction Machine State-Space Models 445  10.9 On Design and Parameter Computation Aspects in Induction Machines 459  10.10 Direct Torque Control of Induction Motors 469  Homework Problems 471  References 475  11 Single-Phase Induction Motors and Other Special Motors 479  11.1 Single-Phase Induction Motors 479  11.1.1 Split-Phase Induction Motors 479  11.1.2 Capacitor-Start Induction Motors 481  11.1.3 Capacitor-Start Capacitor-Run Induction Motors 481  11.2 Torque–Speed Characteristics of Single-Phase Induction Motors 483  11.3 Field Analysis of Split-Phase and Capacitor-Start Induction Motors 485  11.3.1 Rotating Wave Point of View 485  11.3.2 Elliptic Field Point of View 487  11.4 Power and Torque for Split-Phase Induction Motors 488  11.5 Power and Torque for Capacitor-Start Induction Motors 492  11.6 Switched Reluctance Motors 497  Reference 498  12 Emerging Applications, Technical Trends, and Challenges 499  12.1 Emerging Applications 499  12.1.1 Transportation Electrifications 499  12.1.2 Renewable Power Generation 501  12.1.3 Robotics 502  12.1.4 Drones 503  12.2 Future Technical Trends 503  12.2.1 Advanced Materials 503  12.2.2 Advanced Manufacturing 505  12.2.3 Integrated Motor-Drive Systems 506  12.3 Technical Challenges 506  12.3.1 Extreme Operating Environmental Conditions 506  12.3.2 Systematic Multiphysics Synergistic Designs 507  12.3.3 Electromagnetic Interference 508  References 510  Index 513

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