Permanent Magnet Synchronous Machines

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Author :
Publisher : MDPI
ISBN 13 : 3039213504
Total Pages : 282 pages
Book Rating : 4.0/5 (392 download)

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Book Synopsis Permanent Magnet Synchronous Machines by : Sandra Eriksson

Download or read book Permanent Magnet Synchronous Machines written by Sandra Eriksson and published by MDPI. This book was released on 2019-08-20 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Interest in permanent magnet synchronous machines (PMSMs) is continuously increasing worldwide, especially with the increased use of renewable energy and the electrification of transports. This book contains the successful submissions of fifteen papers to a Special Issue of Energies on the subject area of “Permanent Magnet Synchronous Machines”. The focus is on permanent magnet synchronous machines and the electrical systems they are connected to. The presented work represents a wide range of areas. Studies of control systems, both for permanent magnet synchronous machines and for brushless DC motors, are presented and experimentally verified. Design studies of generators for wind power, wave power and hydro power are presented. Finite element method simulations and analytical design methods are used. The presented studies represent several of the different research fields on permanent magnet machines and electric drives.

Control of Permanent Magnet Synchronous Motors

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Author :
Publisher : Oxford University Press
ISBN 13 : 0191060674
Total Pages : 384 pages
Book Rating : 4.1/5 (91 download)

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Book Synopsis Control of Permanent Magnet Synchronous Motors by : Sadegh Vaez-Zadeh

Download or read book Control of Permanent Magnet Synchronous Motors written by Sadegh Vaez-Zadeh and published by Oxford University Press. This book was released on 2018-02-23 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Permanent magnet synchronous (PMS) motors stand at the forefront of electric motor development due to their energy saving capabilities and performance potential. The motors have been developed in response to mounting environmental crises and growing electricity prices, and they have enabled the emergence of motor drive applications like those found in electric and hybrid vehicles, fly by wire, and drones. Control of Permanent Magnet Synchronous Motors is a timely advancement along that path as the first comprehensive, self-contained, and thoroughly up-to-date book devoted solely to the control of PMS motors. It offers a deep and extended analysis, design, implementation, and performance evaluation of major motor control methods, including Vector, Direct Torque, Predictive, Deadbeat, and Combined Control, in a systematic and coherent manner. All major Sensorless Control and Parameter Estimation methods are also studied. The book places great emphasis on energy saving control schemes.

Linear Synchronous Motors

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Author :
Publisher : CRC Press
ISBN 13 : 1439842221
Total Pages : 524 pages
Book Rating : 4.4/5 (398 download)

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Book Synopsis Linear Synchronous Motors by : Jacek F. Gieras

Download or read book Linear Synchronous Motors written by Jacek F. Gieras and published by CRC Press. This book was released on 2018-04-20 with total page 524 pages. Available in PDF, EPUB and Kindle. Book excerpt: Considered to be the first book devoted to the subject, Linear Synchronous Motors: Transportation and Automation Systems, Second Edition evaluates the state of the art, demonstrating the technological innovations that are improving the design, construction, and performance of modern control systems. This new edition not only illustrates the development of linear synchronous motor drives, but it also discusses useful techniques for selecting a motor that will meet the specific requirements of linear electrical drives. New Features for the Second Edition: Several updated and expanded sections, as well as two new chapters on FEM Even more numerical examples, calculations, and mathematical models Broadened target audience that includes researchers, scientists, students, and more Evaluating trends and practical techniques for achieving optimal system performance, the authors showcase ready-to-implement solutions for common roadblocks in this process. The book presents fundamental equations and calculations used to determine and evaluate system operation, efficiency, and reliability, with an exploration of modern computer-aided design of linear synchronous motors, including the finite element approach. It covers topics such as linear sensors and stepping motors, magnetic levitation systems, elevators, and factory automation systems. It also features case studies on flat PM, tubular PM, air-cored, and hybrid linear synchronous motors, as well as 3D finite element method analysis of tubular linear reluctance motors, and linear oscillatory actuators. With such an exceptional presentation of practical tools and conceptual illustrations, this volume is an especially powerful resource. It will benefit readers from all walks by providing numerical examples, models, guidelines, and diagrams to help develop a clear understanding of linear synchronous motor operations, characteristics, and much more.

Analysis of Synchronous Machines

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Author :
Publisher : CRC Press
ISBN 13 : 1439880689
Total Pages : 606 pages
Book Rating : 4.4/5 (398 download)

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Book Synopsis Analysis of Synchronous Machines by : T.A. Lipo

Download or read book Analysis of Synchronous Machines written by T.A. Lipo and published by CRC Press. This book was released on 2017-12-19 with total page 606 pages. Available in PDF, EPUB and Kindle. Book excerpt: Analysis of Synchronous Machines, Second Edition is a thoroughly modern treatment of an old subject. Courses generally teach about synchronous machines by introducing the steady-state per phase equivalent circuit without a clear, thorough presentation of the source of this circuit representation, which is a crucial aspect. Taking a different approach, this book provides a deeper understanding of complex electromechanical drives. Focusing on the terminal rather than on the internal characteristics of machines, the book begins with the general concept of winding functions, describing the placement of any practical winding in the slots of the machine. This representation enables readers to clearly understand the calculation of all relevant self- and mutual inductances of the machine. It also helps them to more easily conceptualize the machine in a rotating system of coordinates, at which point they can clearly understand the origin of this important representation of the machine. Provides numerical examples Addresses Park’s equations starting from winding functions Describes operation of a synchronous machine as an LCI motor drive Presents synchronous machine transient simulation, as well as voltage regulation Applying his experience from more than 30 years of teaching the subject at the University of Wisconsin, author T.A. Lipo presents the solution of the circuit both in classical form using phasor representation and also by introducing an approach that applies MathCAD®, which greatly simplifies and expands the average student’s problem-solving capability. The remainder of the text describes how to deal with various types of transients—such as constant speed transients—as well as unbalanced operation and faults and small signal modeling for transient stability and dynamic stability. Finally, the author addresses large signal modeling using MATLAB®/Simulink®, for complete solution of the non-linear equations of the salient pole synchronous machine. A valuable tool for learning, this updated edition offers thoroughly revised content, adding new detail and better-quality figures.

Control of Synchronous Motors

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Author :
Publisher : John Wiley & Sons
ISBN 13 : 1118601734
Total Pages : 340 pages
Book Rating : 4.1/5 (186 download)

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Book Synopsis Control of Synchronous Motors by : Jean-Paul Louis

Download or read book Control of Synchronous Motors written by Jean-Paul Louis and published by John Wiley & Sons. This book was released on 2013-02-07 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Synchronous motors are indubitably the most effective device to drive industrial production systems and robots with precision and rapidity. Their control law is thus critical for combining at the same time high productivity to reduced energy consummation. As far as possible, the control algorithms must exploit the properties of these actuators. Therefore, this work draws on well adapted models resulting from the Park’s transformation, for both the most traditional machines with sinusoidal field distribution and for machines with non-sinusoidal field distribution which are more and more used in industry. Both, conventional control strategies like vector control (either in the synchronous reference frame or in the rotor frame) and advanced control theories like direct control and predictive control are thoroughly presented. In this context, a significant place is reserved to sensorless control which is an important and critical issue in tomorrow’s motors.

The Rediscovery of Synchronous Reluctance and Ferrite Permanent Magnet Motors

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Author :
Publisher : Springer
ISBN 13 : 3319322028
Total Pages : 142 pages
Book Rating : 4.3/5 (193 download)

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Book Synopsis The Rediscovery of Synchronous Reluctance and Ferrite Permanent Magnet Motors by : Gianmario Pellegrino

Download or read book The Rediscovery of Synchronous Reluctance and Ferrite Permanent Magnet Motors written by Gianmario Pellegrino and published by Springer. This book was released on 2016-04-28 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers an essential compendium on the analysis and design of synchronous motors for variable-speed applications. Focusing on synchronous reluctance and ferrite permanent-magnet (PM) synchronous reluctance machines, it provides a broad perspective on three-phase machines for variable speed applications, a field currently dominated by asynchronous machines and rare-earth PM synchronous machines. It also describes synchronous reluctance machines and PM machines without rare-earth materials, comparing them to state-of-the-art solutions. The book provides readers with extensive information on and finite element models of PM synchronous machines, including all relevant equations and with an emphasis on synchronous-reluctance and PM-assisted synchronous-reluctance machines. It covers ferrite-assisted machines, modeled as a subcase of PM-assistance, fractional slot combinations solutions, and a quantitative, normalized comparison of torque capability with benchmark PM machines. The book discusses a wealth of techniques for identifying machine parameters, with an emphasis on self-commissioning algorithms, and presents methods for automated machine design and optimization, including a software tool developed for this purpose. Addressing an important gap in the field of PM-less and less-PM electrical machines, it is intended as a self-contained reference guide for both graduate students and professional machine designers, and as a useful text for university courses on automated and/or optimized design of electrical machines and drives.

Direct Eigen Control for Induction Machines and Synchronous Motors

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Author :
Publisher : John Wiley & Sons
ISBN 13 : 1118460634
Total Pages : 270 pages
Book Rating : 4.1/5 (184 download)

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Book Synopsis Direct Eigen Control for Induction Machines and Synchronous Motors by : Jean Claude Alacoque

Download or read book Direct Eigen Control for Induction Machines and Synchronous Motors written by Jean Claude Alacoque and published by John Wiley & Sons. This book was released on 2012-10-09 with total page 270 pages. Available in PDF, EPUB and Kindle. Book excerpt: Clear presentation of a new control process applied to induction machine (IM), surface mounted permanent magnet synchronous motor (SMPM-SM) and interior permanent magnet synchronous motor (IPM-SM) Direct Eigen Control for Induction Machines and Synchronous Motors provides a clear and consise explanation of a new method in alternating current (AC) motor control. Unlike similar books on the market, it does not present various control algorithms for each type of AC motor but explains one method designed to control all AC motor types: Induction Machine (IM), Surface Mounted Permanent Magnet Synchronous Motor (SMPM-SM) (i.e. Brushless) and Interior Permanent Magnet Synchronous Motor (IPM-SM). This totally new control method can be used not only for AC motor control but also to control input filter current and voltage of an inverter feeding an AC motor. Accessible and clear, describes a new fast type of motor control applied to induction machine (IM), surface mounted permanent magnet synchronous motor (SM-PMSM) and interior permanent magnet synchronous motor (I-PMSM) with various examples Summarizes a method that supersedes the two known direct control solutions – Direct Self Control and Direct Torque Control – to be used for AC motor control and to control input filter current and voltage of an inverter feeding an AC motor Presents comprehensive simulations that are easy for the reader to reproduce on a computer. A control program is hosted on a companion website This book is straight-forward with clear mathematical description. It presents simulations in a way that is easy to understand and to reproduce on a computer, whilst omitting details of practical hardware implementation of control, in order for the main theory to take focus. The book remains concise by leaving out description of sensorless controls for all motor types. The sections on “Control Process”, “Real Time Implementation” and “Kalman Filter Observer and Prediction” in the introductory chapters explain how to practically implement, in real time, the discretized control with all three types of AC motors. In order, this book describes induction machine, SMPM-SM, IPM-SM, and, application to LC filter limitations. The appendixes present: PWM vector calculations; transfer matrix calculation; transfer matrix inversion; Eigen state space vector calculation; and, transition and command matrix calculation. Essential reading for Researchers in the field of drive control; graduate and post-graduate students studying electric machines; electric engineers in the field of railways, electric cars, plane surface control, military applications. The approach is also valuable for Engineers in the field of machine tools, robots and rolling mills.

Advanced Direct Thrust Force Control of Linear Permanent Magnet Synchronous Motor

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Author :
Publisher : Springer Nature
ISBN 13 : 3030403254
Total Pages : 244 pages
Book Rating : 4.0/5 (34 download)

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Book Synopsis Advanced Direct Thrust Force Control of Linear Permanent Magnet Synchronous Motor by : Muhammad Ali Masood Cheema

Download or read book Advanced Direct Thrust Force Control of Linear Permanent Magnet Synchronous Motor written by Muhammad Ali Masood Cheema and published by Springer Nature. This book was released on 2020-02-13 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores the direct thrust force control (DTFC) of tubular surface-mount linear permanent magnet synchronous motors (linear PMSMs). It presents a detailed account and analysis of several advanced nonlinear control schemes, based on the direct thrust control principle, to achieve a reduction in steady-state ripple in thrust force with faster transient response, and describes their experimental validation. It also provides rigorous details of the dynamic modelling of linear PMSMs from a control system perspective, and demonstrates the superior control performance of the proposed techniques compared to the current state-of-the-art techniques. Lastly, the book proposes and validates a stator flux observer for sensorless speed estimation comprising a linear state observer and an improved sliding mode component.

Electric Motor Control

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Author :
Publisher : Elsevier
ISBN 13 : 0128123192
Total Pages : 440 pages
Book Rating : 4.1/5 (281 download)

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Book Synopsis Electric Motor Control by : Sang-Hoon Kim

Download or read book Electric Motor Control written by Sang-Hoon Kim and published by Elsevier. This book was released on 2017-05-09 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt: Electric Motor Control: DC, AC, and BLDC Motors introduces practical drive techniques of electric motors to enable stable and efficient control of many application systems, also covering basic principles of high-performance motor control techniques, driving methods, control theories and power converters. Electric motor drive systems play a critical role in home appliances, motor vehicles, robotics, aerospace and transportation, heating ventilating and cooling equipment's, robotics, industrial machinery and other commercial applications. The book provides engineers with drive techniques that will help them develop motor drive system for their applications. - Includes practical solutions and control techniques for industrial motor drive applications currently in use - Contains MATLAB/Simulink simulation files - Enables engineers to understand the applications and advantages of electric motor drive systems

Induction And Synchronous Machines

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Author :
Publisher : Vikas Publishing House
ISBN 13 : 9788125909262
Total Pages : 462 pages
Book Rating : 4.9/5 (92 download)

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Book Synopsis Induction And Synchronous Machines by : K Murugesh Kumar

Download or read book Induction And Synchronous Machines written by K Murugesh Kumar and published by Vikas Publishing House. This book was released on 2000-12-01 with total page 462 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a sequel to the author's DC Machines & Transformers. Comprehensive, lucid and student?friendly, it adopts a self?study approach and is aimed at demystifying the subject for students who consider 'Electric Machines' too tough. The book covers Induction Machines in 8 chapters and Synchronous Machines in 9 chapters.

Energy Efficiency Improvements in Electric Motors and Drives

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Publisher : Springer Science & Business Media
ISBN 13 : 3642608329
Total Pages : 517 pages
Book Rating : 4.6/5 (426 download)

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Book Synopsis Energy Efficiency Improvements in Electric Motors and Drives by : Anibal de Almeida

Download or read book Energy Efficiency Improvements in Electric Motors and Drives written by Anibal de Almeida and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 517 pages. Available in PDF, EPUB and Kindle. Book excerpt: The reduction of energy consumption through improvements in energy efficiency has become an important goal for all countries, in order to improve the efficiency of the economy, to increase energy supply security, and to reduce the emissions of CO and other pollutants caused by power· generation. 2 Electric motors use over half of all electricity consumed in developed countries. Typically 60-80% of the electricity which is used in the industrial sector and about 35% of the electricity used in the commercial sector in the European Union is consumed by motors. In industry, a motor consumes an annual quantity of electricity which corresponds to approximately 5 times its purchase price, throughout its whole life of aroun~ 12 to 20 years. Motors are by far the most important type of electric load. They are used in all sectors and in a wide range of applications, namely the following: fans, compressors, pumps, mills, winders, elevators, transports, home appliances, and office equipment, etc. It is their wide use that makes motor drive systems one of the main targets to achieve significant energy savings. As motors are the largest USers of electrical energy, even small efficiency improvements will produce very large energy savings.

Models of Brushless Synchronous Generator for Studying Autonomous Electrical Power System

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Author :
Publisher : Sciendo
ISBN 13 : 8395771347
Total Pages : 162 pages
Book Rating : 4.3/5 (957 download)

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Book Synopsis Models of Brushless Synchronous Generator for Studying Autonomous Electrical Power System by : Filip Kutt

Download or read book Models of Brushless Synchronous Generator for Studying Autonomous Electrical Power System written by Filip Kutt and published by Sciendo. This book was released on 2020 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a PhD dissertation. The work presented in this monograph was carried out at the Department of Power Electronics and Electrical Machines, Faculty of Electrical and Control Engineering at the Gdansk University of Technology. Developed during the research models of brushless synchronous generator ware verified using FEM based simulations and measurements conducted on the prototype generator. The main focus of the research was toward a brushless synchronous generator in variable frequency modern more electric aircraft power systems. The generator prototype was developed and its performance was analyzed with the focus on the higher rotational velocity of the prototype components and the generated power quality. For this FEM based and circuit models of the generator ware developed and the machine performance was measured and simulated. The proposed circuit model allowed for the inclusion of nonsinusoidal spatial distribution of the magnetic flux along the air gap which in turn allowed for simulation-based power quality analysis.

Linear Synchronous Machines

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Author :
Publisher : Springer
ISBN 13 : 9811304238
Total Pages : 133 pages
Book Rating : 4.8/5 (113 download)

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Book Synopsis Linear Synchronous Machines by : Amal Souissi

Download or read book Linear Synchronous Machines written by Amal Souissi and published by Springer. This book was released on 2018-11-17 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces readers to two major sustainable applications of linear synchronous machines: wave energy conversion and magnetic levitation train technology. To do so, it begins with a state-of-the-art review of linear machines, covering induction and synchronous topologies and their applications, with a particular focus on sustainable applications. This is followed by an analysis of the electromagnetic modeling of linear synchronous machines, the goal being to investigate their main features, especially their force production capabilities.

Permanent Magnet Motor Technology

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Author :
Publisher : CRC Press
ISBN 13 : 1439859019
Total Pages : 591 pages
Book Rating : 4.4/5 (398 download)

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Book Synopsis Permanent Magnet Motor Technology by : Jacek F. Gieras

Download or read book Permanent Magnet Motor Technology written by Jacek F. Gieras and published by CRC Press. This book was released on 2009-08-25 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: The importance of permanent magnet (PM) motor technology and its impact on electromechanical drives has grown exponentially since the publication of the bestselling second edition. The PM brushless motor market has grown considerably faster than the overall motion control market. This rapid growth makes it essential for electrical and electromechanical engineers and students to stay up-to-date on developments in modern electrical motors and drives, including their control, simulation, and CAD. Reflecting innovations in the development of PM motors for electromechanical drives, Permanent Magnet Motor Technology: Design and Applications, Third Edition demonstrates the construction of PM motor drives and supplies ready-to-implement solutions to common roadblocks along the way. This edition supplies fundamental equations and calculations for determining and evaluating system performance, efficiency, reliability, and cost. It explores modern computer-aided design of PM motors, including the finite element approach, and explains how to select PM motors to meet the specific requirements of electrical drives. The numerous examples, models, and diagrams provided in each chapter facilitate a lucid understanding of motor operations and characteristics. This 3rd edition of a bestselling reference has been thoroughly revised to include: Chapters on high speed motors and micromotors Advances in permanent magnet motor technology Additional numerical examples and illustrations An increased effort to bridge the gap between theory and industrial applications Modified research results The growing global trend toward energy conservation makes it quite possible that the era of the PM brushless motor drive is just around the corner. This reference book will give engineers, researchers, and graduate-level students the comprehensive understanding required to develop the breakthroughs that will push this exciting technology to the forefront.

Permanent Magnet Synchronous and Brushless DC Motor Drives

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Author :
Publisher : CRC Press
ISBN 13 : 1420014234
Total Pages : 611 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis Permanent Magnet Synchronous and Brushless DC Motor Drives by : Ramu Krishnan

Download or read book Permanent Magnet Synchronous and Brushless DC Motor Drives written by Ramu Krishnan and published by CRC Press. This book was released on 2017-12-19 with total page 611 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite two decades of massive strides in research and development on control strategies and their subsequent implementation, most books on permanent magnet motor drives still focus primarily on motor design, providing only elementary coverage of control and converters. Addressing that gap with information that has largely been disseminated only in journals and at conferences, Permanent Magnet Synchronous and Brushless DC Motor Drives is a long-awaited comprehensive overview of power electronic converters for permanent magnet synchronous machines and control strategies for variable-speed operation. It introduces machines, power devices, inverters, and control, and addresses modeling, implementation, control strategies, and flux weakening operations, as well as parameter sensitivity, and rotor position sensorless control. Suitable for both industrial and academic audiences, this book also covers the simulation, low cost inverter topologies, and commutation torque ripple of PM brushless DC motor drives. Simulation of the motor drives system is illustrated with MATLAB® codes in the text. This book is divided into three parts—fundamentals of PM synchronous and brushless dc machines, power devices, inverters; PM synchronous motor drives, and brushless dc motor drives. With regard to the power electronics associated with these drive systems, the author: Explores use of the standard three-phase bridge inverter for driving the machine, power factor correction, and inverter control Introduces space vector modulation step by step and contrasts with PWM Details dead time effects in the inverter, and its compensation Discusses new power converter topologies being considered for low-cost drive systems in PM brushless DC motor drives This reference is dedicated exclusively to PM ac machines, with a timely emphasis on control and standard, and low-cost converter topologies. Widely used for teaching at the doctoral level and for industrial audiences both in the U.S. and abroad, it will be a welcome addition to any engineer’s library.

Advanced Theory of Fractional-Slot Concentrated-Wound Permanent Magnet Synchronous Machines

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Author :
Publisher : Springer
ISBN 13 : 9811087083
Total Pages : 266 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Advanced Theory of Fractional-Slot Concentrated-Wound Permanent Magnet Synchronous Machines by : Mohammad Farshadnia

Download or read book Advanced Theory of Fractional-Slot Concentrated-Wound Permanent Magnet Synchronous Machines written by Mohammad Farshadnia and published by Springer. This book was released on 2018-03-27 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the analytical modeling of fractional-slot concentrated-wound (FSCW) interior permanent magnet (IPM) machines and establishes a basis for their magnetic and electrical analysis. Aiming at the precise modeling of FSCW IPM machines’ magnetic and electrical characteristics, it presents a comprehensive mathematical treatment of the stator magneto-motive force (MMF), the IPM rotor non-homogeneous magnetic saturation, and its airgap flux density. The FSCW stator spatial MMF harmonics are analytically formulated, providing a basis on which a novel heuristic algorithm is then proposed for the design of optimal winding layouts for multiphase FSCW stators with different slot/pole combinations. In turn, the proposed mathematical models for the FSCW stator and the IPM rotor are combined to derive detailed mathematical expressions of its operational inductances, electromagnetic torque, torque ripple and their respective subcomponents, as a function of the machine geometry and design parameters. Lastly, the proposed theories and analytical models are validated using finite element analysis and experimental tests on a prototype FSCW IPM machine.

Energy Efficiency in Motor Driven Systems

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Author :
Publisher : Springer Science & Business Media
ISBN 13 : 364255475X
Total Pages : 579 pages
Book Rating : 4.6/5 (425 download)

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Book Synopsis Energy Efficiency in Motor Driven Systems by : Francesco Parasiliti

Download or read book Energy Efficiency in Motor Driven Systems written by Francesco Parasiliti and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 579 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports the state of the art of energy-efficient electrical motor driven system technologies, which can be used now and in the near future to achieve significant and cost-effective energy savings. It includes the recent developments in advanced electrical motor end-use devices (pumps, fans and compressors) by some of the largest manufacturers. Policies and programs to promote the large scale penetration of energy-efficient technologies and the market transformation are featured in the book, describing the experiences carried out in different parts of the world. This extensive coverage includes contributions from relevant institutions in the Europe, North America, Latin America, Africa, Asia, Australia and New Zealand.