The University of Jordan

School of Engineering

Department of Mechatronics Engineering

Actuators Lab

0908326

Instructor: Eng. Nazmi Ashour

Electrical Actuators Lab’s Project

Synchronous Machines

Student Name University Number

Raghad Khaldoon Altayeb 0203891

Dana Ghaleb Arikat 0206865

1
Table of Contents

list of figures................................................................................................................................... 3

Abstract............................................................................................................................................ 4

Introduction ................................................................................................................................... 4

Types of Synchronous Machines ............................................................................................ 4

1. Synchronous Generator .................................................................................................................................. 4

2. Synchronous Motor.........................................................................................................................................11

Conclusion..................................................................................................................................... 23

Reference ...................................................................................................................................... 23

2
List of Figures:

Figure 1: Construction of Synchronous Generator.................................................................... 6

Figure 2: Synchronous Generator ..................................................................................................... 6
Figure 3: Stator of Alternator ............................................................................................................. 7
Figure 4: Salient Pole Rotor................................................................................................................. 8
Figure 5: Cylindrical Rotor .................................................................................................................. 9
Figure 6: Working Principle ..............................................................................................................12
Figure 7: Construction of Synchronous Motor ..........................................................................12
Figure 8: Structure of synchronous motor .................................................................................13
Figure 9: Revolving Magnetic Field ................................................................................................13
Figure 10: Magnetic Lock ...................................................................................................................14
Figure 11: Squirrel Cage Induction Motor ..................................................................................15
Figure 12: Permanent magnetic synchronous motor (PMSM) ..........................................18
Figure 13: SPMSM..................................................................................................................................18
Figure 14: IPMSM ..................................................................................................................................19
Figure 15: Separately excited synchronous motor (SESM) .................................................19
Figure 16: 6/4 Switched reluctance motor (SRM) ..................................................................20
Figure 17: Synchronous reluctance motor (Syn RM) .............................................................21

3
Abstract

This project focuses on the comprehensive analysis and optimization of

synchronous machines to improve the stability and performance of
power systems. Synchronous machines play a crucial role in generating
electrical power and maintaining the synchrony of the grid.
Understanding their behavior under various operating conditions is
essential for ensuring a reliable and resilient power supply.

Introduction

Synchronous machines, encompassing both synchronous generators and

synchronous motors, are integral to the functioning of power systems
worldwide. The synchronous generator, driven by a prime mover such as
a steam or gas turbine, converts mechanical energy into electrical power.
On the other hand, synchronous motors are employed in various
industrial applications, utilizing electrical power to drive mechanical
loads with precision and efficiency. The synchronous nature of these
machines, wherein the rotor rotates in synchrony with the frequency of
the electrical grid, is vital for maintaining grid stability.
As power systems continue to evolve, with increasing integration of
renewable energy sources and advancements in technology, the need to
analyze and optimize the performance of synchronous machines
becomes imperative. Factors such as transient stability, dynamic
response, and efficiency are critical considerations in ensuring the
resilience of power grids under varying operating conditions.
Additionally, the incorporation of emerging technologies, advanced
materials, and sophisticated control strategies holds the potential to
enhance the overall efficiency and reliability of synchronous machines.

4
Types of Synchronous Machines:

❖ Synchronous Generator

A synchronous generator is referred to as an ac

generator or alternator, is an electromechanical energy conversion
device that converts mechanical energy from sources like engines,
turbines, etc. into electrical energy in the form of alternating current (AC).

It is called an alternator because it produces alternating current

electricity, and it is called a synchronous generator because it is
necessarily driven at synchronous speed (NS) to generate electricity at the
desired frequency. Though a synchronous generator can be single-phase
or three-phase, due to some technical and economic benefits, three-phase
synchronous generators are the most widely used.

Synchronous generators are widely used in power plants for their ability
to maintain stable voltage and frequency. They are particularly suitable
for large-scale power generation and are commonly employed in thermal
power plants, hydroelectric plants, and some renewable energy
installations. The synchronous nature of these generators contributes to
the overall stability and reliability of interconnected power grids.

5
Construction of Synchronous Generator

Figure 1: Construction of Synchronous Generator

Like any other rotating electrical machine, a synchronous generator also has two
main parts namely, the stator and rotor as shown in the above figure. As the name
implies, the stator is the stationary part of the synchronous generator, while the
rotor is the movable part of the generator. They are the power generating
components of the synchronous generator. The rotor has the field pole, and the
stator consists of the armature conductor. The relative motion between the rotor
and the stator induces the voltage between the conductor.

Figure 2: Synchronous Generator

6
Stator Construction of Alternator
The stator of the alternator includes several parts, viz. the frame, stator core, stator or
armature windings, and cooling arrangement.

• The stator frame may be made up of cast iron for small-size machines and of welded
steel for large-size machines.
• The stator core is assembled with high-grade silicon content steel laminations. These
silicon steel laminations reduce the hysteresis and eddy-current losses in the stator
core.
• The slots are cut on the inner periphery of the stator core. A 3-phase armature
winding is put in these slots.
• The armature winding of the alternator is star connected. The winding of each phase
is distributed over several slots. When current flows through the distributed
armature winding, it produces an essential sinusoidal space distribution of EMF.

Figure 3: Stator of Alternator

Rotor Construction of Alternator

The rotor of the alternator carries the field winding which is supplied with direct
current through two slip rings by a separate DC source (also called exciter). The
exciter is generally a small DC shunt generator mounted on the shaft of the
alternator.

For the alternator, there are two types of rotor constructions are used. the salient-
pole type and the cylindrical rotor type.
7
Salient Pole Rotor
The term salient means projecting. Hence, a salient pole rotor consists of poles
projecting out from the surface of the rotor core. This whole arrangement is fixed to
the shaft of the alternator as shown in the figure. The individual field pole windings
are connected in series such that when the field winding is energised by the DC
exciter, the adjacent poles have opposite polarities.

Figure 4: Salient Pole Rotor

The salient pole type rotor is used in the low and medium speed (from 120 to 400 RPM)
alternators such as those driven by the diesel engines or water turbines because of the
following reasons:

• The construction of salient pole type rotor cannot be made strong enough to
withstand the mechanical stresses to which they may be subjected at higher
speed.
• If the salient field pole type rotor is driven at high speed, then it would cause
windage loss and would tend to produce noise.

Low speed rotors of the alternators possess a large diameter to provide the necessary
space for the poles. As a result, the salient pole type rotors have large diameter and
short axial length.

8
Cylindrical Rotor
The cylindrical rotors are made from solid forgings of high-grade nickel-chrome-
molybdenum steel.

• The construction of the cylindrical rotor is such that there are no-physical poles
to be seen as in the salient pole rotor.
• In about two-third of the outer periphery of the cylindrical rotor, slots are cut at
regular intervals and parallel to the rotor shaft.
• The field windings are placed in these slots and is excited by DC supply. The field
winding is of distributed type.
• The unslotted portion of the rotor forms the pole faces.
• It is clear from the figure of the cylindrical rotor that the poles formed are non-
salient, i.e., they do not project out from the rotor surface.

Figure 5: Cylindrical Rotor

The cylindrical type rotor construction is used in the high-speed (1500 to 3000 RPM)
alternators such as those driven by steam turbines because of the following reasons −

• The cylindrical type rotor construction provides a greater mechanical strength

and permits more accurate dynamic balancing.
• It gives noiseless operation at high speeds because of the uniform air gap.
9
 • The flux distribution around the periphery of the rotor is nearly a sine wave and
hence a better EMF waveform is obtained.

A cylindrical rotor alternator has a comparatively small diameter and long axial
length. The cylindrical rotor alternators are called turbo-alternators or turbo-
generators. The alternator with cylindrical rotor has always horizontal
configuration installation.

Working Principle and Operation of Alternator

An alternator or synchronous generator works on the principle of electromagnetic
induction, i.e., when the flux linking a conductor changes, an EMF is induced in the
conductor. When the armature winding of alternator subjected to the rotating
magnetic field, the voltage will be generated in the armature winding.

When the rotor field winding of the alternator is energised from the DC exciter, the
alternate N and S poles are developed on the rotor. When the rotor is rotated in the
anticlockwise direction by a prime mover, the armature conductors placed on the
stator are cut by the magnetic field of the rotor poles. As a result, the EMF is induced
in the armature conductors due to electromagnetic induction. This induced EMF is
alternating one because the N and S poles of the rotor pass the armature conductors
alternatively.

The direction of the generated EMF can be determined by the Fleming’s right rule
and the frequency of it is given by,

𝑁𝑠 𝑃
𝑓=
120

Where:

• Ns is the synchronous speed in RP

10
 • P is the number of rotor poles.

The magnitude of the generated voltage depends upon the speed of rotation of the rotor
and the DC field excitation current. For the balanced condition, the generated voltage in
each phase of the winding is the same but differ in phase by 120° electrical.

❖ Synchronous Motor

A synchronous motor is an electric motor that operates in synchronization

with the frequency of the alternating current (AC) power supply. Unlike
asynchronous motors, which are commonly known as induction motors,
synchronous motors maintain a constant speed regardless of the load applied
to them. This inherent characteristic makes them particularly suitable for
applications where precise speed control is required, such as in industrial
processes, power generation, and certain types of machinery.

The operation of synchronous motors is based on the principle of synchronism

between the rotating magnetic field produced by the stator and the magnetic
field of the rotor. The stator's winding is energized with AC power, creating a
rotating magnetic field that interacts with the rotor's magnetic field. To
maintain synchronization, the rotor must turn at the same speed as the
rotating magnetic field.

Synchronous motors can be broadly categorized into two types: non-

excited (also known as permanent magnet) and excited (also known
as electromagnet).

1. Non-excited (Permanent Magnet) Synchronous Motors: These

motors have permanent magnets embedded in the rotor. The interaction
between the stator's rotating magnetic field and the rotor's permanent
magnets causes the rotor to turn in synchronization with the AC power
supply frequency. These motors are known for their simplicity, efficiency,
and reliability, making them suitable for various applications such as electric
vehicles, robotics, and smaller industrial machinery.

2. Excited (Electromagnet) Synchronous Motors: In these motors, the

rotor is made up of electromagnets rather than permanent magnets. The
electromagnets are energized using a separate direct current (DC) power
11
 source, creating a controllable magnetic field. This allows for greater control
over the motor's performance, including speed and torque. Excited
synchronous motors are often used in applications where precise control and
high performance are essential, such as large industrial processes, power
plants, and transportation systems.

● Key advantages of synchronous motors include their constant speed operation,

high efficiency, and ability to provide and maintain power factor correction, which
contributes to overall energy efficiency in industrial settings. However, synchronous
motors require an external power source to maintain synchronization, which can
make their control and operation more complex than induction motors.

Figure 6: Working Principle Figure 7: Construction of Synchronous Motor

12
 Figure 8: Structure of synchronous motor

How it works:
Synchronous motors can run at a constant speed without taking account of the load
acting on it.

They are machines with high efficiency and are usually used in high precision
applications.

The constant speed characteristics are achieved by interacting between a constant

and rotating magnetic field (RMF), rotor produces a constant magnetic field and
stator produces a revolving magnetic field. The field coil of the stator is excited by a
3-phase ac supply which produces a revolving magnetic field which rotates at
synchronous speed.

Figure 9: Revolving Magnetic Field

13
The rotor is excited by a DC power supply so it acts like a permanent magnet,
although rotor can also be made by permanent magnet.

Interaction with rotor and RMF is interesting, assume giving an initial rotation or the
rotor with the same direction of RMF the opposite poles of the rotor and RMF will
attract each other, and they will get locked magnetically (N→S, S→N) this means the
rotor will rotate at the same speed as the RMF (rotor will rotate at synchronous
speed.

Figure 10: Magnetic Lock

𝟏𝟐𝟎𝒇
Synchronous speed can easily be derived as 𝑵𝒔 = this means if one got control
𝒑

over the frequency of the electricity; the speed of the synchronous motor can be
controlled accurately.

But if the rotor didn’t get an initial rotation; the north pole of the rotor will be
attracted to the south pole of the RMF and will start to move in the same direction
with a very low starting speed but since it slow the south pole of the RMF will
change to north pole so I will give repulsive force making the rotor not able to start
(synchronous motors are not inherently self-starting).

14
 To make a synchronous motor self-start; a squirrel cage is fitted through the pole
tips (also known as Damper Windings)

Figure 11: Squirrel Cage Induction Motor

At the starting rotor field coils are not energized; RMF electricity is induced in the
squirrel cage bars and rotor starts rotating as an induction motor.

When the rotor achieves its maximum speed; the rotor field coils are energized so as
mentioned above the poles of the rotor and the RMF gets locked with each other
making it rotate at a synchronous speed.

When the rotor rotates at synchronous speed the relative motion between the RMF,
and the squirrel cage equals to zero; this means zero current and force on squirrel
cage bars (it won’t affect synchronized operation of the motor).

The synchronous motor will produce constant speed irrespective of the motor load,
only when the load is within the capability of the motor.

If the torque of the load is more than the torque of the motor, it will slip out of
synchronism and will come to rest.

Out of synchronism:

1. More overload.
2. Low supply voltage

15
3. Low excitation voltage.

More about synchronous motors is it improvise in overall power factor of the system

Synchronous motors characteristics

Here are some characteristics of synchronous motors:

1. Synchronous Speed: The speed of a synchronous motor is determined by the

frequency of the AC power supply and the number of poles in the motor. The
formula to calculate synchronous speed (Ns) is Ns = (120 * Frequency) /
Number of Poles. Synchronous motors rotate at this synchronous speed when
properly synchronized with the supply frequency.

2.Steady Speed: Synchronous motors maintain a constant speed regardless of

the load applied to them. This contrasts with induction motors, whose speed
decreases with increasing load. The steady speed of a synchronous motor makes
it suitable for applications where precise speed control is required, such as in
industrial processes.

3. Synchronous Slip: Synchronous motors don't have slips, unlike induction

motors. Slip is the difference between the synchronous speed and the actual
operating speed of an induction motor. Since synchronous motors always
operate at their synchronous speed, their slip is zero.

4. Excitation: Synchronous motors require a separate DC excitation source

applied to the rotor (field winding) to establish a magnetic field. This excitation
creates the necessary magnetic field that interacts with the stator's rotating
magnetic field to produce motion. This excitation can be provided through an
external DC power source or from a self-excited arrangement.

16
 5. Power Factor: Synchronous motors have a controllable power factor, which is
the ratio of real power (used for useful work) to apparent power (total power drawn
from the supply). By adjusting the excitation, the power factor of a synchronous
motor can be controlled and adjusted to be leading (overexcited) or lagging (under
excited) depending on the load and system requirements.

6. Efficiency: Synchronous motors tend to be more efficient than induction motors,

especially at higher loads and when power factor correction is employed. Their
efficiency can be further improved by optimizing their design and excitation control.

7. Applications: Synchronous motors are commonly used in applications that

require constant speed operation, such as power generation, industrial processes,
synchronous clocks, and precision machinery.

8. Synchronization: Synchronous motors need to be synchronized with the AC

power supply before they start. This means they must match the frequency and
phase angle of the power supply to avoid torque fluctuations and potential damage.

9. Starting Mechanism: Synchronous motors usually require external means to

bring them up to synchronous speed before they can engage the AC power supply.
This is typically achieved using auxiliary starting methods such as a pony motor or a
synchronous condenser.

10.Complexity and Cost: Synchronous motors are generally more complex and
costly to manufacture and operate compared to induction motors. The need for
separate excitation and synchronization mechanisms adds to their complexity.

17
Types of synchronous motors
synchronous motors are part of the AC motors, and it has three famous types of
synchronous motors:

1. Permanent magnetic synchronous motor (PMSM): it is a synchronous

electric motor whose inductor consists of permanent magnets. permanent
magnet synchronous electric motors in comparison with other electric motors
have the best performance: power/volume, torque/inertia, etc.

Figure 12: Permanent magnetic synchronous motor (PMSM)

✓ Types of PMSM:
• Surface permanent magnetic synchronous motor (SPMSM)

Figure 13: SPMSM

18
 • Interior permanent magnetic synchronous motor (IPMSM)

Fi

Figure 14: IPMSM

2. Separately excited synchronous motor (SESM): it is a type of synchronous

motor with an independent DC power source for the rotor's field winding, allowing
for precise control of speed, torque, and other performance parameters. Its
advanced control capabilities make it well-suited for industrial applications
requiring high precision and stability.

Figure 15: Separately excited synchronous motor (SESM)

3. Reluctance motor: it is a type of electric motor that operates based on the

principle of reluctance torque. It's a synchronous motor where the rotor aligns
itself with the stator's magnetic field to achieve movement. Unlike traditional
electric motors that use electromagnetic attraction between poles, reluctance
motors rely on the tendency of magnetic materials to move towards regions of
higher magnetic flux density to reduce the reluctance of the magnetic path.

19
Its distinctive characteristics offer both advantages and challenges:

✓ Advantages:

Simplicity, High Torque Density, Harsh Environments.

✓ Challenges:

Control Complexity, Limited Speed Range.

✓ Types of reluctance motor:

• Switched reluctance motor (SR-Motor): Switched reluctance motor is one kind

of stepper motor including some poles. The construction of this motor cost is less as
compared with an electric motor due to its simple structure. These motors are
mainly used where the rotor is kept inactive for long periods in explosive
environments like mining because it works without a mechanical commutator.
These motor phase windings are isolated electrically with each other and result in
higher fault tolerance as compared with AC induction motor driven by an inverter.

Figure 16: 6/4 Switched reluctance motor (SRM)

• Synchronous reluctance motor (Syn RM): These motors run precisely at

synchronous speed, and this can be achieved with the help of a three-phase stator

20
winding as well as a rotor to implement salient rotor poles & inner magnetic flux
walls. The rotor frequently executes a modified squirrel cage in the region of salient
poles, so that it helps from the effect of induction to turn into self-starting. Once the
motor activates, it is moved near to synchronous speeds through induction, after
that it locks into synchronization through the reluctance torque which is generated
from the barriers of rotor flux.

Figure 17: Synchronous reluctance motor (Syn RM)

Industrial Application of synchronous motors

Synchronous motors are very rarely used below 40kW output because of the higher
cost compared to induction motors. In addition to the higher initial cost synchronous
motors need DC excitation source and starting and control devices are usually more
expensive.

However, for particular output range and speed, the high initial cost of synchronous
motor varnishes is economical compared to induction motor. Where applications
involve high kW output and low speed synchronous motors are economical
compared to induction motors.

The various classes of service for which synchronous motors are employed
may be classified as:
21
• Power factor correction

• Voltage regulation

• Constant speed constant load drives

Synchronous motors are normally used in applications in which a constant and

precise speed is required. Typical applications of these low power motors are
positioning machines. They are also used in robot actuators. Synchronous motors
are also used in ball mills, watches, record players, and turntables. They are also
used as servo motors and timing machines.

Such motors are available in a range from horseshoe size to industrial

highperformance size. Although they are used in industrial high-performance sizes,
these motors can perform two essential functions. One is as an efficient means of
converting alternating current energy into mechanical energy and the other is as a
power factor correction.

22
 Conclusion
In conclusion, synchronous machines offer benefits such as precise speed control,
high efficiency, and power factor correction capabilities, making them suitable for
various applications where these characteristics are essential. However, their
complexity, initial costs, and sensitivity to variations in frequency and load should be
considered when selecting them for a particular application.

Reference

[1] Markus Lindegger. Economic viability, applications and limits of efficient permanent
magnet motors-Switzerland: Swiss Federal Office of Energy, 2009

[2] Electric Motor Drives and their Applications with Simulation Practices 1st Edition - May 3,
2022

[3] Electric Machinery Fundamentals, by Chapman

[4] Electric Machinery, by Fitzgerald, Kingsley and Umans

[5] Synchronous Motors and Generators - Industry Today - Leader in Manufacturing &
Industry News

[6] electricity-magnetism-synchronous-generators

[7] synchronous-generators.html

[8] Permanent Magnet Synchronous Motor (engineering-solutions.ru)

[9] electricalvolt-synchronous-generator-construction-and-working-principle

[10] synchronous-generator-construction-and-working-principle

[11] Applications of Synchronous Motors - Inst Tools (instrumentationtools.com)

23