SYNCHRONOUS MOTOR (Pre requisite)

A 3-phase synchronous motor consists of two parts – stator and rotor.

1. Stator – Consisting of 3-phase star or delta connected winding. This is excited by a 3-phase ac
supply.
2. Rotor – Rotor is a field winding, the construction of which can be salient or cylindrical rotor type.
Practically most of the synchronous motors use salient pole type construction. The field winding is
excited by a separate dc supply though slip rings.
Salient features of synchronous motor are
120 f
i) A synchronous motor runs at synchronous speed or not at all. Its speed is constant ( N s 
P
) at all loads. The only way to change its speed is to alter the supply frequency.
ii) It can be made to operate over a wide range of power factors (lag, unity or lead) by adjustment
of its field excitation. Hence, a synchronous motor can be made to carry the mechanical load
at constant speed and at the same time improve the power factor of the system.
iii) Synchronous motors are generally of the salient pole type.
iv) A synchronous motor is not self-starting and an auxiliary means has to be used for starting it.

Construction
A three phase synchronous machine consists of two parts
a) Stator
b) Rotor
Stator (Armature) TRACE KTU
The core is hollow cylindrical in shape and is
made of sheet steel laminations (0.35mm to 0.65mm
thick) insulated from each other. (Stator of synchronous
machines and induction machines are similar)
It consists of number of slots in its inner periphery to
accommodate armature conductors (winding). A three
phase distributed, full pitched/short pitched windings are
placed in these slots. Windings are suitably connected to
form a balanced three phase star or delta connected
circuit. It is wound for a definite number of poles as per
requirement of speed.

Rotor
Rotor carries field winding which is supplied with dc through 2 slip rings.
Two types
a) Salient (or projecting) pole type
b) Smooth cylindrical type
 Salient Pole Smooth cylindrical
1. It consists of projected poles, laminated, made 1. It is built from solid steel forging (usually
of cast iron or cast steel chromium – nickel steel)
2. Poles carry concentrated field windings 2. Poles consists of radial slots in which field
windings are placed
3. Air gap is not uniform 3. Air gap is nearly uniform
4. It has large diameter and short axial length 4. It is of small diameter and of very long axial

TRACE KTU length.

5. It is used for low and medium speed machines 5. It is used for high speeds (Steam driven)
(water wheel drive or diesel engine drive)
6. Noiseless operation
7. Less windage loss
8. Better in dynamic balancing
PRINCIPLE OF OPERATION
A synchronous motor is not self starting. If the rotor field poles are excited by the field current and
the stator terminals are connected to the ac supply, the motor will not start; instead, it vibrates. This can be
explained as follows.
Let us consider a two-pole synchronous machine. If it is connected to a 3-phase, 50Hz ac supply, stator
currents will produce a rotating magnetic field that will rotate at 3000rpm in the air gap. Let us represent
this rotating field by two stator poles rotating at 3000rpm as shown in figure.
 N S 3000rpm

T 3000rpm S
S T
T N
N
T

3000rpm 3000rpm N
S

Figure (a) at t = 0 Figure (b) at t = t1

At start (t=0), let the rotor poles be at the position shown in figure (a). The rotor will therefore experience
a clockwise torque, making it rotate in the direction of the stator rotating poles. At t=t 1 (nearly 0.01 sec
since T=1/f=0.02sec), let the stator poles move by half a revolution, shown in figure (b). The rotor poles
have hardly moved, because of the high inertia of the rotor. Therefore, at this instant the rotor experiences
a counterclockwise torque tending to make it rotate in the direction opposite to that of the stator poles. The
net torque on the rotor in one revolution will be zero, and therefore the motor will not develop any starting
torque. The stator field is rotating so fast that the rotor poles cannot catch up or lock onto it. The motor will
not speed up but will vibrate.

TRACE KTU
However, if the rotor is rotated by some means in the same direction of the rotating field at a speed
near the synchronous speed, rotor will overcome its moment of inertia (Figure (c) and (d)). If the rotor field
is established at a particular instant when unlike poles comes closer, a magnetic locking takes place between
the stator and rotor poles. Hence, the rotor continues to rotate due to this magnetic locking even if the
external force is removed.
General procedure to start a synchronous motor is
1. Give a 3-phase supply to 3-phase stator winding. This will produce a rotating field revolving
at synchronous speed.
2. Drive the rotor by some external means like dc motor in the direction of rotating field at a speed
close to synchronous speed.
3. Switch on the dc supply given to the rotor circuit which will produce rotor poles.
4. At a particular instant, both the fields get magnetically locked. The stator field pulls rotor field
into synchronism. Now, the external devices used to rotate the rotor can be removed. But, the
 rotor will continue to rotate at the same speed as that of the rotating field due to magnetic
locking.
Note: A synchronous motor has no starting torque. It has torque only when running at synchronous speed.
Either a squirrel-cage winding is added to the rotor to cause it to start, or a DC motor is used to bring the
rotor to near synchronous speed, at which time the AC is then applied. Once up to speed, the rotor snaps
into step with the rotating magnetic field and will continue to rotate at synchronous speed.
The torque developed when the motor snaps into synchronous speed is called pull-in torque. If the
load on the motor is increased to the point where the rotor is pulled out of synchronism (excessive torque),
the motor will stop. The maximum torque a motor can develop before synchronization is lost is called pull-
out torque. The pull-out torque is generally 1.5 times the continuously rated torque.
Methods of starting synchronous motor
1. By using an external motor
The rotor is bought to synchronous speed by using an external motor. Now, dc excitation is given to the
rotor winding. The synchronous machine is then synchronized with the bus bar as a synchronous generator.
The starting motor is then disconnected. Once in parallel, the synchronous machine will work as a motor.
Now, the load can be connected to the synchronous motor.
Note: The starting motor has to overcome the inertia of the synchronous motor at no load. Hence the rating
of the starting motor can be much smaller than the rating of the synchronous motor.
2. By using damper (amortisseur) winding
In synchronous motor, in addition to normal field winding, an additional winding consisting of copper bars
is placed in the slots in the pole faces. The bars are short circuited by end rings at both ends. These short
circuited bars form a squirrel cage winding.

TRACE KTU
When 3-phase supply is applied to the stator, the
synchronous motor with damper winding will start
as a 3-phase induction motor. As the motor
approaches synchronous speed, the dc excitation
End Ring

Damper Bars

is applied to the field windings. The rotor will then

pull into step with the stator magnetic field.
When the machine is running at synchronous
speed, no current will be induced in the damper
winding.

3. Start with variable supply frequency

By using a frequency converter, a synchronous motor can be brought from standstill to its desired speed.
V,f
3-phase Frequency Synchronous
Supply Converter Motor

If
f control V control
Initially, the field winding is excited with dc supply. The motor is started with a low voltage, low-frequency
supply. This will make the stator field rotate slowly so that the rotor poles can follow the stator poles.
Afterward, the frequency is gradually increased and the motor brought to its desired speed.
This method is expensive. However, if the synchronous motor has to run at variable speeds, this method
may be used.
EQUIVALENT CIRCUIT & PHASOR DIAGRAMS
A synchronous motor is same as a synchronous generator except that the direction of power flow is reversed.
Equivalent circuit of a synchronous motor is given below,
V = Supply voltage/phase
Ef = Excitation voltage/phase
Ia = Armature current
δ = Power/Torque angle (angle between Ef and V)
θ = Synchronous impedance angle = tan 1 ( X s ) (if Ra is
Ra
neglected, θ = 90°)
φ = Power factor angle = angle between V and Ia.

a) Lagging power factor

V
-IaRa
jIaXs



V
 Ef
  
IaRa
-jIaXs
Ia
Ef
Ia
Ef as reference

TRACE KTU a) p.f. lag

V as reference

b) Leading power factor

V Ia
jIaXs

Ia
   V



IaRa -IaRa

Ef
-jIaXs
Ef as reference
b) p.f. lead
V as reference
Ef

E f  V  I a Zs
E f     V 0  I a    ( Ra  jX s )

POWER FLOW EQUATIONS (Synchronous Motor)

 V = Supply voltage/phase
Ef = Excitation voltage/phase
Ia = Armature current
δ = Torque angle (angle between Ef and V)
φ = Power factor angle = angle between V and Ia.

Complex Power developed per phase

V  V 0 , E f  E f  
So  Po  jQo  E f  I a*
V 0  E f 
= E f   ( )*
jX s
V   90  E f   90  
= E f   ( )*
Xs
V 90  E f 90  
= E f   ( )
Xs
VE f Ef 2
= (90   )  90 per phase
Xs Xs

TRACE KTU
Separating the real parts,

Mechanical power developed, Pm 

3VE f
Xs
sin 

Rotating field produced by stator moves at synchronous speed ω s.

4 f
Synchronous speed, s  rad / sec
P
For synchronous motor, rotor also rotates at synchronous speed.
P 3VE f
Torque developed, T  m  sin 
s s X s
For a given field excitation, Ef is constant. Hence, T is
proportional to sinδ.
For motoring operation, δ is positive and Ef lags behind V.
For regenerative braking, δ is negative and E f leads V.

The maximum torque Tmax is reached when δ = ±90°. If the load torque exceeds T max, the machine pulls out
of synchronism. In order to prevent damage due to excessive current, automatic circuit breakers are
provided to disconnect the machine when it comes out of synchronism.
Note: Power Output (shaft power) = Pm - Rotational losses
Effect of varying field current
The important feature of wound field motor is that its power factor can be controlled by varying field current
or Ef. When field excitation is small, the machine operates with a lagging power factor. The power factor
can be made unity or leading by increasing the field excitation.
Consider a synchronous motor connected to the infinite bus and operating at constant load with induced
emf Ef, torque angle δ and working at unity power factor with current Ia. (Ra is neglected)

Now, assume that excitation is decreased so that E f is decreased to Ef1. Since the synchronous motor is
operating at constant load, Pm  E f V sin  remains constant. Hence, torque angle δ is increased to δ1 so that
Xs

TRACE KTU
E f 1 sin 1 = E f sin  .
Also, VI a cos  = constant (since Ra=0)
Hence, I a cos  =constant.
Armature current increases from Ia to Ia1. But, I a cos  remains same. Power factor decreases to cosφ 1
(lag) so that Ia1cosφ1 = Iacosφ
EfV
Now, assume that excitation is increased so that E f is increased to Ef2. But, sin  remains constant.
Xs
Hence, torque angle δ is decreased to δ2 so that E f 2 sin  2 = E f sin  . But, VI a cos  = constant. Armature
current increases from Ia to Ia2. But, I a cos  remains same. Power factor decreases to cosφ2 (lead) so that
Ia2cosφ2 = Iacosφ.
The excitation corresponding to unity power factor is called normal excitation, while the excitation
larger than this is called over-excitation and less than this is called under-excitation.
Note: Synchronous motor draws a leading power factor current when over-excited and draws a lagging
power factor current when under-excited.
Problem: A 500kW, 3-phase, 3.3kV, 50Hz, 0.8 (lagging) power factor, 4-pole, star connected synchronous
motor has following parameters: Xs = 15Ω, Rs = 0. Rated field current is 10A. Calculate i) armature current
and power factor at half the rated torque and rated field current ii) field current to get unity power factor at
rated torque and iii) torque for unity power factor operation at field current of 12.5A.
Solution: V  3.3 10  1905.26V
3

3
3VI s cos   Pm
Pm 500 103
Is    109.35 A
3  V cos  3 1905.26  0.8
I s  109.35  36.87 A
E f  V  jI s X s  1905.260  j109.35  36.8715  1603.2  54.9V
i) At half-rated torque & rated field current
At rated field current, E f  1603.2V
At half-rated torque, Pm  250kW
3E f V 3 1603.2 1905.2
Pm  sin    sin   250 103
Xs 15
  24.16
V 0  E f     1905.260  1603.2  24.16
Is    52.76  34 A
jX s j15
Power factor = cos(34)  0.83(lag )
ii) At unity power factor & rated torque
Pm 500 103
Is    87.48 A
3V cos  3 1905.26 1

Ef  I f

I f 2  I f1 
Ef 2
TRACE KTU
E f  V  jI s X s  1905.260  j87.48015  2313.4  34.56V

 10 
2313.4
 14.43 A
Ef1 1603.2
iii) Torque at unity power factor & at field current = 12.5A
I 12.5
Ef 2  E f 1  f 2  1603.2   2004V
I f1 10
E f  V  jI s X s  1905.26  jI s 15  2004    2004cos   j 2004sin 
Equating real parts,
1905.26  2004cos 
  18.06
3E V 3  2004 1905.2
Pm  f sin    sin18.06  236.727kW
Xs 15
Pm 236727
T   1507 Nm
s 157.08
Equating imaginary parts,
I s 15  2004sin   2004  0.31  621.27
I s  41.42 A
Problem: A 3-phase 460V, 60Hz, 6-pole star connected cylindrical rotor synchronous motor has X s = 2.5Ω
and the armature resistance is negligible. The load torque is proportional to the speed squared, is T L =
398Nm at 1200rpm. The power factor is maintained at unity by field control and the voltage-to-frequency
ratio is kept constant at the rated value. If the inverter frequency is 36Hz and the motor speed is 720rpm,
calculate (a) the input voltage, (b) the armature current (c) the excitation voltage (d) the torque angle and
(e) the pull-out torque.
4 f 4  50 Vrated 265.58
Solution: V  460  265.58V s    125.66rad / s   4.426
3 P 6 f rated 60
(a) Input voltage = VL  3  4.426  36  276V
2
(b) TL   75.4   398  143.3Nm
 125.66 
Pm  s  T  75.4 143.3  10804W
Pm 10804
Is    22.6 A
3  V cos  3 159.35 1
(c) E f  V  jI s X s  159.350  j 22.60 2.5  169.07 19.5V
(d) Torque angle = 19.5°
(e) Pull-out torque, Tmax 
3E f V 3 159.35 169.07
  428.8Nm
s X s 75.4  2.5

TORQUE ANGLE CHARACTERISTICS OF SALIENT POLE SYNCHRONOUS MOTOR

The phasor diagram of a salient pole synchronous generator at lagging power factor (R a
neglected) is shown below.

TRACE KTU
Complex Power developed per phase
S  P  jQ  V  I a*
Take Ef as reference vector.
V   V cos   jV sin 
I a  I q  jI d
I a *  I q  jI d
S  P  jQ  V  I a*
 (V cos   jV sin  )( I q  jI d )
X q I q  V sin 
V sin 
Iq 
Xq
X d I d  V cos   E f
 V cos   E f
Id 
Xd
Substituting,
V sin  V cos   E f
S  (V cos   jV sin  )( j )
Xq Xd
V 2 sin  cos  V 2 sin  cos  VE f sin  V 2 cos 2  VE f cos  V 2 sin 2 
= (   )  j(   )
Xq Xd Xd Xd Xd Xq
VE sin  V 2 1 1
Real power developed per phase = f  (  )sin 2
Xd 2 Xq Xd
3VE f sin  3V2
1 1
Total real power, P=  (  )sin 2
Xd 2 Xq Xd
3VE f sin 
First term  P1 is called excitation power (power due
Xd
to field excitation)
2
Second term 3V ( 1  1 )sin 2  P2 is called reluctance
2 Xq Xd
power (power due to saliency). (power developed in salient
pole synchronous motor due to the variable reluctance offered
by the salient pole).

Reluctance power P2 does not depend on field excitation and is present even when field current is zero.

TRACE KTU
For a cylindrical rotor machine, Xd=Xq and hence reluctance power is zero.
Reluctance power is maximum, when δ = 45º.
Maximum power occurs when δ ≤ 90º.

Module 5 (7 hours) (syllabus)

Concept of space vector – Clarke and Park transformation – field orientation principle –
Introduction to direct vector control of induction motor drives – decoupling of flux and torque
components - space vector diagram and block diagram [Ref.1].

Synchronous motor drives – v/f control – open loop control – self-controlled mode – load
commutated CSI fed synchronous motor.

FIELD ORIENTED CONTROL (VECTOR CONTROL)

PRINCIPLE
Advantages of DC drives over AC drives using conventional inverter-fed induction motors are
i) Good transient response of the DC motor
ii) Torque can be directly controlled even under transient conditions by controlling the armature
current.
In a separately excited dc motor, electromagnetic torque is proportional to the product of field flux and
armature current. If magnetic saturation is neglected, field flux is proportional to field current and is
unaffected by the armature current because of orthogonal (field flux and armature flux are 90° apart)
displacement. Hence for a separately excited dc motor, if the field current is kept constant, the torque will
be proportional to the armature current. The field flux and the developed torque can be independently
controlled.
In an AC induction motor, the flux producing current
(Im) and torque producing current (Ir’) are ‘inside’ the
motor and cannot be measured externally or controlled
separately. As in the DC drive, these two currents are Rr '
also roughly at 90° to one another and their vector sum s
makes up the stator current, which can be measured or
controlled. This is what makes the control of an AC
motor more difficult than its DC counterpart. Equivalent circuit neglecting rotor leakage
inductance
In induction motor, stator flux rotates at synchronous speed. Rotor flux also rotates at synchronous speed,
but it lags the stator flux by an angle which depends on the slip. Since this angle is not 90°, independent
control of torque and flux are not possible.
Objective of the vector control is to produce the two fluxes at 90°. Hence, it produces separately excited
dc motor type characteristics.
The vector control can be implemented by either direct method or indirect method. The methods are
different essentially by how the rotor flux position θ is generated.

TRACE KTU
In the direct method, the rotor flux
vector is computed from the
terminal quantities of the motor.

In the indirect vector control method (figure shown below), rotor flux angle is indirectly obtained by
summation of the rotor speed and slip speed. It is simpler to implement than the direct method and is used
increasingly in induction motor control.

IMPLEMENTATION
DIRECT & QUADRATURE AXIS TRANSFORMATION
The three-phase voltages, currents and fluxes of AC-motors can be analyzed in terms of complex space
vectors. With regard to the currents, the space vector can be defined as follows.
Assuming that ia, ib, ic are the instantaneous currents in the stator phases, then the complex stator current
vector is
2
is  (ia  aib  a 2ic )
3
2 4
j j

TRACE KTU
where a  e 3 and a 2  e 3 represent the spatial operators.
For balanced sinusoidal 3-phase currents, the space vector has constant amplitude and rotates with
constant angular velocity.
This current space vector depicts the three phase sinusoidal system. It still needs to be transformed into a
two time-invariant co-ordinate system. This transformation can be split into two steps:
i) (a,b,c) to (α,β) (Clarke transformation) which outputs a two co-ordinate time variant system
ii) (α,β) to (d,q) (Park transformation) which outputs a two co-ordinate time invariant system
abc to α-β TRANSFORMATION (CLARKE TRANSFORMATION)
(space vector is defined with respect to the stationary stator axis)
The space vector can be reported in another reference frame with
only two orthogonal axis called (α,β). Assuming that the axis a
and the axis α are in the same direction, we have the following
vector diagram.
The projection that modifies the 3-phase system into the (α,β) two
dimension orthogonal system is presented below.
is  isa
1 2
is  ia  ib
3 3
 is 
We obtain a two co-ordinate system  i  that sill depends on
 s 
time and speed.
α -β to d-q TRANSFORMATION (PARK TRANSFORMATION)
This is the most important transformation in the FOC.
In fact, this projection modifies a two phase orthogonal system (α,β) in the d,q rotating reference frame.

The d-axis is aligned with the rotor flux  R .
The flux and torque components of the current vector are
determined by the following equations.
isd  is cos  is sin 
isq  is sin   is cos
where θ is the rotor flux position.

TRACE KTU
These components depend on the current vector (isα,isβ) components and on the rotor flux position. If we
know the right rotor flux position, then, by this projection, the d,q components becomes a constant.

3 p Lm 3 p Lm 2
Td  ˆ Risq  isd isq  kmisd isq where Td = desired motor torque,  R = rotor flux, Lm= mutual
2 Lr 2 Lr
inductance, Lr = Llr+Lm, Llr = rotor leakage inductance
Rotor flux angle can be obtained from the following relation:-
Rr isq
   e dt   (r  sl )dt where sl  Here, the rotor flux angle is estimated indirectly. Hence this
Lr isd
method is called indirect vector control.
To stator currents ia and ib feed the Clarke transformation module. The outputs are indicated iSα and iSβ.
These two components of the current provide the input of the Park transformation that gives the current in
the d,q rotating reference frame. The i Sd and iSq components are compared to the references iSdref (the flux
reference) and iSqref (the torque reference). The torque command i Sqref corresponds to the output of the speed
regulator. The flux command iSdref is the output of the field weakening function that indicates the right rotor
flux command for every speed reference. The current regulator outputs are vSdref and vSqref; they are applied
to the inverse Park transformation. The output of this projection are vSαref and vSβref, the components of the
stator vector voltage in the α,β orthogonal reference frame. These are the input of the space vector PWM.
The outputs of this block are the signals that drive the inverter.
Note that both Park and inverse Park transformations require the rotor to be in flux position which is given
by the current model block. This block needs the rotor resistance as a parameter. Accurate knowledge and
representation of the rotor resistance is essential to achieve the highest possible efficiency from the control
structure.
With the asynchronous drive, the mechanical rotor angular speed is not, by definition, equal to the rotor
flux angular speed. This implies that the necessary rotor flux position cannot be detected directly by the
mechanical position sensor provided with the asynchronous motor used in this application. The current
model block must be added to the generic structure in the block diagram. This current model takes as input
both iSq and iSd current as well as the rotor mechanical speed and give the rotor flux position as output.

TRACE KTU
In direct vector control, the rotor flux position is estimated from the terminal voltages and currents as shown
below.
 s   (vs  Rsis )dt and  s   (vs  Rsis )dt
Lr Lr Lm 2
 r   s   Lsis and  r    s   Ls is where   1 
Lm Lm Lr Ls
ˆ r   r 2  r 2
 r  r
cos   sin  
ˆ r and ˆ r
Disadvantages : i) Complex since two coordinate transformations are required and ii) parameter sensitive

VARIABLE FREQUENCY CONTROL

Synchronous speed is directly proportional to frequency. Motor speed can be controlled by varying the
frequency. For speed control below base speed, frequency is decreased so that v/f ratio is constant. For
speed control above base speed, frequency is increased keeping the terminal voltage at rated value. Unlike
an induction machine, it will run at synchronous speed or will not run at all.
Variable frequency control may employ any of the two modes : i) true synchronous mode or ii) self-
controlled mode (or self synchronous mode).
In the open loop or true-synchronous mode, the motor speed is controlled independently by changing the
voltage and frequency of an inverter or cycloconverter. In the self control mode, the stator frequency is
automatically adjusted by the motor speed according to the information obtained from an absolute rotor
position sensor mounted on the machine shaft.
OPEN LOOP INVERTER-FED SYNCHRONOUS MOTOR DRIVES
In true synchronous mode, the motor speed is controlled independently by changing the output frequency
and voltage of an inverter or cycloconverter as shown below. If a diode rectifier is used instead of controlled
rectifier, the input voltage to the inverter is constant and the output voltage and frequency can be varied by
using PWM technique of the inverter.

If the frequency is suddenly changed or changed at a high rate, the rotor poles may not be able to follow
the stator rotating field and the motor will lose synchronism. Therefore, the rate at which the frequency is
changed must be restricted. A sudden change in load torque may also cause the motor to lose synchronism.
The open loop drive is therefore not suitable for applications in which load may change suddenly.
This simple method is attractive in multi-motor installations where all the motors must run at exactly the
same speed. Individually the synchronous motors are more expensive than the equivalent mass-produced

TRACE KTU
induction motor, but this is offset by the fact that speed feedback is not required, and the motors can all be
supplied from a single inverter as in figure shown below.

SELF CONTROLLED SYNCHRONOUS MOTOR

A synchronous motor tends to lose synchronism on shock loads. In the open loop or true synchronous mode,
if a load is suddenly applied, the rotor momentarily slows down, making the torque angle δ increased
beyond 90° and leading to loss of synchronism. However, if the rotor position is sensed as the rotor slows
down and the information is used to decrease the stator frequency, the motor will stay in synchronism. In
such a scheme, the rotor speed will adjust the stator frequency and the drive system is known as a self-
controlled synchronous motor drive.
Two converters are used, one at the supply end and the other at the machine end. In the motoring mode of
operation, the supply-side converter operates in the rectification mode and the load-side converter in the
inversion mode. The roles of the rectifiers reverse for regenerative braking, in which the power flow
reverses. The thyristors in the supply-side converter are commutated by the supply line voltage and those
in the load-side converter by the excitation voltage of the synchronous machine.
The rotor position sensor, mounted on the rotor shaft, generates signals having rotor position information.
These signals are processed in the control logic circuit and used to fire the thyristors of the load-side
converter. Therefore, any change in the rotor speed due to change in load will immediately change the
frequency of the firing of the thyristors and hence adjust the stator frequency at the correct rate to maintain
synchronism. (Frequency of operation of the inverter will be same as the frequency of the induced voltages.)
A current loop is implemented around the supply end rectifier to maintain the machine current at the desired
value. The dc link current Id, being proportional to the machine current Ia, is compared with the reference
current and the error signal adjusts the firing of the supply end rectifier to keep the armature current constant
at the reference value.

TRACE KTU
Torque developed in the synchronous motor is given by,
3X s
T I a I f 'sin  (from the current source equivalent circuit)
s
where β is the angle between the Ia and If’ phasors.

Torque varies sinusoidally with the angle β.

This angle β can be controlled in the control logic circuit for the machine end rectifier, because the signal
from the rotor position sensor defines the position of the field axis and the firing instant of the thyristors
defines the position of the armature field axis. If angle β is regulated at a specified value and the field
current is kept constant, the torque (and hence the speed) can be directly controlled by the armature current.
This current is controlled by the current control loop of the supply end rectifier.
CLOSED LOOP SPEED CONTROL
For a self controlled synchronous motor drive system without closed loop speed control, if the load torque
is changed, the speed will change. If the speed is to be maintained constant, the dc link current Id must be
adjusted to satisfy the change in the load torque. This can be achieved by inserting an outer speed loop as
shown in figure below. The position sensor supplies information about the position of the rotor field as well
as the speed of the rotor. If the speed drops because of an increase in load torque on the synchronous motor,
the speed error increases, which in turn increases the current demand Id*. Consequently, the firing angle of
the controlled rectifier will change to alter the dc link current Id to produce more torque as required by the
increased load torque. The speed will eventually be restored to its initial value.

TRACE KTU

LOAD COMMUTATED CSI FED SYNCHRONOUS MOTOR IN SELF SYNCHRONOUS MODE

A load commutated current source inverter fed synchronous motor is shown below.
This synchronous motor operates in self-synchronous mode. A rotor position sensor is mandatory. The
currents waveforms are switched according to the measured rotor position information such that the current
waveform in each phase has a fixed angular displacement γ with respect to the induced emf of the current
in the corresponding phase.

The load commutation is possible only if the synchronous motor is operating at leading power factor (when
it is overexcited). (Note: At the instant when T1 is turned ON, ia increases from 0 to +Id, ea is negative and
ec is positive and the ongoing thyristor T5 is turned off because of negative voltage eac. Hence, ic decreases
from +Id to zero). Because of the large dc link inductor, the phase currents may be considered to remain
constant between switching intervals. The quasi-square current waveforms contain many harmonics and
are responsible for large torque pulsations that may become troublesome at low speed.
The motor can be reversed easily by reversing the sequence of switching of the inverter. It can also be

TRACE KTU
braked regeneratively by increasing the firing angle of the input rectifier beyond 90◦ while maintaining the
dc-link current at the desired braking level until braking is no longer required. The rectifier now returns the
energy of the overhauling load to the ac mains regeneratively.
ELECTRONIC COMMUTATOR
It turns out that the overall operating characteristics of a self synchronous a.c. motor are very similar to
those of a conventional d.c. motor. In a d.c. motor, the mechanical commutator reverses the direction of the
current in each (rotating) armature coil at the appropriate point such that, regardless of speed, the current
under each (stationary) field pole is always in the right direction to produce the desired torque. In the self-
synchronous motor the roles of stator and rotor are reversed compared with the d.c. motor. The field is
rotating and the ‘armature’ winding (consisting of three discrete groups of coils or phases) is stationary.
The timing and direction of the current in each phase is governed by the inverter switching, which in turn
is determined by the rotor position sensor. Hence, regardless of speed, the torque is always in the right
direction.
The combination of the rotor position sensor and inverter performs effectively the same function as the
commutator in a conventional d.c. motor. There are of course usually only three windings to be switched
by the inverter, as compared with many more coils and commutator segments to be switched by the brushes
in the d.c. motor, but otherwise the comparison is valid. Not surprisingly the combination of position sensor
and inverter is sometimes referred to as an ‘electronic commutator’, while the overall similarity of
behaviour gives rise to the rather clumsy term ‘electronically commutated motor’ (ECM) or the even worse
‘commutatorless d.c. motor’ (CLDCM) to describe self-synchronous machines.