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‫ِإنا َك أَنتَ ا ْلعَ ِلي ُم ا ْل َح ِكي ُم"‬

‫‪2‬‬
 Dr. Ahmed A. Salem
Email: Ahmed.elased@su.edu.eg

sinaiuniversity.ne
t
@Sinaiunieg info@su.edu.eg www.su.edu.eg
 Electrical Special Machines
Course Code: ENE 5179
Lec.1
Dr. Ahmed A. Salem, PhD
Electrical Engineering Department, Faculty of
Engineering, Suez Canal University

Contact:
002-01002484169
ahmed_ salem@eng.suez.edu.eg
ahmed.elsaed@su.edu.eg 2023
 Electrical Special Machines
Prerequisite Courses:
1- Electrical Machines (1) ( ENE 4172)
2- Electrical Machines (2) ( ENE 4275)

Textbooks:
1- A. E. Fitzgerald, Jr., Charles Kingsley, Stephen D. Umans,
’Electric Machinery’ McGraw-Hill Science/ Engineering/Math,
2002.

2- P. C. Sen “Electric Machines and Power Electronic Applications”

Wiley, 3rd edition.

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 Course contents :

Stepper motor, Hysteresis motor,

Linear motor, Wind generator systems
AC and DC tacho-generator,
Servo motor, 3-phase switched reluctance motor,
Universal motor, Repulsion motor,

Assessment Weight, and Grades Distribution:

Quizzes & Assignments & Oral Exam 25%
Mid term 25%
Final Exam (written) 50%

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 Special Electrical Machines
• Large electric machines, Dc or Ac, are used primarily for continuous energy
conversion.
• But there are many special applications where continuous energy conversion is
not required.
• For example, robots require position control for movement of the arm from
one position to another.
• The printer of a computer requires that the paper move by steps in response
to signals received from the computer.
• Such applications require special motors of low power rating.
• The basic principle of operation of these motors is the same as that of other
electromagnetic motors. But their construction, design, or mode of operation may
be different.
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 Electrical machines

Rotating
Static

Traditional machines Special Machines

Transformer
Stepper Motor
DC machines (Brushed DC) AC machines
Hysteresis Motor

Induction Linear Machines

Generator
Machines
Repulsion Motor
Motors Synchronous
Machines Servo motor

Tacho-generator

etc
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 Stepper Motors
• Stepper motors are electromagnetic incremental devices.
• Incremental device means incremental motion
• Stepper motors convert digital electric pulses ( switched pulses) to shaft
motion (rotation).
• Switched pulses means switched excitation changes.
• Stepping motors are categorized as doubly salient machines, which means
that they have teeth of magnetically permeable material on both the
stationary part (the ‘stator’) and the rotating part (the ‘rotor’).
• These motors rotate a specific number of degrees as a respond to each
input electric pulse. Typical types of stepper motors can rotate 2°, 2.5°, 5°,
7.5°, and 15° per input electrical pulse.

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 • Stepper motors offers many attractive features such as:
• Typical revolution of commercially available stepper motors ranges from
several steps per revolution to as many as 400 steps per revolution and even
higher.
• Stepper motors have been built to follow signals as rapid as 1200 pulses per
second.
• Simplest in construction and principal operation
• Several horsepower ratings.

• Although they are simple in construction, they are somewhat complicated to control.
For example,
• the position of the rotor must be known in order to properly energize the phase
windings to produce torque.

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 2. Types of Stepper Motors
Stepper motors are usually classified into three main categories,
1. Variable reluctance (single stack and multi stack),
2. Permanent magnet motor,
11 3. Hybrid motors.
 ➢ Variable reluctance stepper motor

Single stack

Multi-stack

• Group of teeth represent field or stator, and group of teeth represent rotor.
• Excitation of the field teeth follow special sequence based on train of pulses

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 The principal operation
The principal operation depends on minimization of the reluctance along the path of
the applied magnetic field between stator teeth and rotor teeth

• The longer path of the reluctance in the direction of q axis

• The shorter path in the direction of d axis

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 • The stator of a variable-reluctance step motor consists of a single stack of steel
laminations with phase windings wound on each stator tooth.
• The rotor, which is also made of a stack of steel laminations, does not carry any
winding.
• When the stator phases are excited with dc current in proper sequence, the rotor
follows the axis of the air gap field depending on the reluctance torque.
• This reluctance torque is generated because of the tendency of the ferromagnetic

14 rotor to align itself along the direction of the result magnetic field.
 Variable reluctance stepper motor for 45° step in the following energizing sequence A, A+B, B, B+C, C,
C+D D, and then D+A. Then this switching sequence is repeated.
A

Energizing winding A: The resultant air-gap flux

will be aligned along the axis of A windings.
Consequently, the rotor pole (teeth) aligns itself
along the phase A axis.

Energizing windings A and B: The resultant air-gap

flux will be oriented in the midway between phase A
and B i.e., the resultant mmf rotated 45° in the
clockwise direction. Consequently, the rotor pole
15 aligns itself with the resultant mmf (45°)
 Energizing winding B: The resultant air-gap flux
will be aligned along the axis of B windings.
B Consequently, the rotor teeth aligns itself along the
phase B axis.

and so on for 45° step

.
Clockwise direction
A, A+B, B, B+C, C, C+D D, and then D+A. Then this switching
sequence is repeated.

The direction of rotation can be reversed by reversing the switching sequence to be A,

A+D, D, D+C, C, C+B, B, and then B+A. Then this switching sequence is repeated.

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 • The resultant mmf rotate in the clockwise direction.
• While the stepping motor rotates anticlockwise direction.
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 O
45

60 O Center of P2

Energizing winding A: The resultant air-gap flux will be aligned along the axis
of phase A windings. Consequently, the rotor pole P1 aligns itself along the
phase A axis.
Energizing windings A and B:
(2)With respect to stator phase
(1) With respect to rotor pole
360
∅= = 90°
360 4
𝜃= = 60°
6 With A and B: The resultant air-gap flux will be oriented in the midway
between pole A and pole B i.e., the resultant mmf rotated 45°
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So the nearest pole (P2 ) rotate with angle = 60- 45 =15 anticlockwise
 Energizing windings A and B: The resultant air-gap flux will be oriented in the
midway between pole A and pole B i.e., the resultant mmf rotated 45° in the
clockwise direction. In this case, the nearest rotor pole to this direction is pole P2.
Consequently, the rotor rotates in an anticlockwise direction to align pole P2 with
the resultant mmf (45°). Therefore, the net rotational step is 15° in an anticlockwise
direction.
Energizing winding B: The resultant air-gap flux will be aligned along the axis of pole
B windings. In this case, the nearest rotor pole to this direction is pole P3.
Consequently, the rotor rotates in an anticlockwise direction to align pole P3 with the
resultant mmf. Therefore, the net rotational step in this stage is also 15° in an
anticlockwise direction.
and so on for 15° step
The step angle, 𝜹, for a variable-reluctance step motor is determined by

where n and p are the number of phases and the number of rotor teeth (poles),
respectively.
The direction of rotation can be reversed by reversing the switching sequence to be A,
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A+D, D, D+C, C, C+B, B, and then B+A. Then this switching sequence is repeated.
 Fig. 4 presents the circuit configuration and different operation modes for a 3-phase, 4-pole,
single stack, variable reluctance stepper motor that rotate in a clockwise direction with a
30° step.

• phase-A is energized. • phase-B is energized.

• phase-C is energized.
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Fig. 4 Construction and operation of 3-phase, 4-pole, single-stack, variable reluctance stepper motor
 • In Figure (a), rotor teeth 1 and 2 are aligned with stator teeth 1 and 4 when
phase-A winding is excited by a constant current. As long as phase-A is
energized.

• while all the other phases are not, the rotor is stationary and counteracts the
torque caused by the mechanical load on the shaft.

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 ▪ If phase-A is switched off and phase-B winding is excited, this time
rotor teeth 4 and 3 align under stator teeth 3 and 6, leading to 30 degree
of displacement of the rotor in the clockwise direction.
360
𝜃𝑠𝑡𝑎𝑡𝑜𝑟 𝑡𝑜𝑜𝑡ℎ = = 60
6
360
90 𝜃𝑟𝑜𝑡𝑜𝑟 𝑡𝑜𝑜𝑡ℎ = = 90
4
60

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 Finally, if we excite phase-C winding after de-energizing phase-B, the rotor rotates
another 30 degree and aligns with phase-C.

1
On duration one cycle time
3
1
On duration off duration for each phase
2

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 The rotor can be made to rotate continuously in the clockwise direction by
following the switching sequence describe above.
For this particular motor, applied voltage must have at least five cycles for one
revolution
The step angle, 𝜹, for a variable-reluctance step motor is determined by

where n and p are the number of phases and the number of rotor teeth (poles),
respectively.

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 THANK
YOU
For any questions feel free
to contact me by mail
Email: Ahmed.elsaed@su.edu.eg

Dr. Ahmed A. Salem

Email: Ahmed.elsaed@su.edu.eg