An electric motor uses electrical energy to produce mechanical energy. The reverse process, that of using mechanical energy to produce electrical energy, is accomplished by a generator or dynamo. Traction motors used on locomotives and some electric and hybrid automobiles often perform both tasks if the vehicle is equipped with dynamic brakes. Electric motors are found in household appliances such as fans, refrigerators, washing machines, pool pumps, floor vacuums, and fan-forced ovens.
The principle of conversion of electrical energy into mechanical energy by electromagnetic means was demonstrated by the British scientist Michael Faraday in 1821 and consisted of a free-hanging wire dipping into a pool of mercury. A permanent magnet was placed in the middle of the pool of mercury. When a current was passed through the wire, the wire rotated around the magnet, showing that the current gave rise to a circular magnetic field around the wire. This motor is often demonstrated in school physics classes, but brine (salt water) is sometimes used in place of the toxic mercury. This is the simplest form of a class of electric motors called homopolar motors. A later refinement is the Barlow's Wheel. These were demonstration devices, unsuited to practical applications due to limited power.
The first real electric motor, using electromagnets for both stationary and rotating parts, was demonstrated by Ányos Jedlik in 1828 Hungary, who later developed a motor powerful enough to propel a vehicle.
The first commutator-type direct-current electric motor capable of a practical application was invented by the British scientist William Sturgeon in 1832. Following Sturgeon's work, a commutator-type direct-current electric motor made with the intention of commercial use was built by the American Thomas Davenport and patented in 1837. Although several of these motors were built and used to operate equipment such as a printing press, due to the high cost of primary battery power, the motors were commercially unsuccessful and Davenport went bankrupt. Several inventors followed Sturgeon in the development of DC motors but all encountered the same cost issues with primary battery power. No electricity distribution had been developed at the time. Like Sturgeon's motor, there was no practical commercial market for these motors.
The modern DC motor was invented by accident in 1873, when Zénobe Gramme connected the dynamo he had invented to a second similar unit, driving it as a motor. The Gramme machine was the first electric motor that was successful in the industry.
In 1888 Nikola Tesla invented the first practicable AC motor and with it the polyphase power transmission system. Tesla continued his work on the AC motor in the years to follow at the Westinghouse company.
The classic division of electric motors has been that of Direct Current (DC) types vs Alternating Current (AC) types. This is more a de facto convention, rather than a rigid distinction. For example, many classic DC motors run on AC power, these motors being referred to as universal motors.
The ongoing trend toward electronic control further muddles the distinction, as modern drivers have moved the commutator out of the motor shell. For this new breed of motor, driver circuits are relied upon to generate sinusoidal AC drive currents, or some approximation of. The two best examples are: the brushless DC motor and the stepping motor, both being poly-phase AC motors requiring external electronic control.
Considering all rotating (or linear) electric motors require synchronism between a moving magnetic field and a moving current sheet for average torque production, there is a clearer distinction between an asynchronous motor and synchronous types. An asynchronous motor requires slip between the moving magnetic field and a winding set to induce current in the winding set by mutual inductance; the most ubiquitous example being the common AC induction motor which must slip in order to generate torque. In the synchronous types, induction (or slip) is not a requisite for magnetic field or current production (eg. permanent magnet motors, synchronous brush-less wound-rotor doubly-fed electric machine).
|Type||Advantages||Disadvantages||Typical Application||Typical Drive|
| AC Induction|
| Least expensive|
| Rotation slips from frequency|
Low starting torque
| AC Induction|
| High power|
high starting torque
|Rotation slips from frequency||Appliances||Uni/Poly-phase AC|
|AC Synchronous|| Rotation in-sync with freq|
|More expensive|| Clocks|
|Stepper DC|| Precision positioning |
High holding torque
| Slow speed |
Requires a controller
|Positioning in printers and floppy drives||Multiphase DC|
|Brushless DC electric motor|| Long lifespan |
| High initial cost |
Requires a controller
| Hard drives|
|Brushed DC electric motor|| Low initial cost |
Simple speed control (Dynamo)
| High maintenance (brushes) |
| Treadmill exercisers |
Note: Capacity for bursts of torque should not be confused with Field Weakening capability inherent in fully electromagnetic electric machines (Permanent Magnet (PM) electric machine are excluded). Field Weakening, which is not readily available with PM electric machines, allows an electric machine to operate beyond the designed frequency of excitation without electrical damage.
Electric machines without a transformer circuit topology, such as Field-Wound (i.e., electromagnet) or Permanent Magnet (PM) Synchronous electric machines cannot realize bursts of torque higher than the maximum designed torque without saturating the magnetic core and rendering any increase in current (i.e., torque) as useless. Furthermore, the permanent magnet assembly of PM synchronous electric machines can be irreparably damaged, if bursts of torque exceeding the maximum operating torque rating are attempted.
Electric machines with a transformer circuit topology, such Induction (i.e., asynchronous) electric machines, Induction Doubly-Fed electric machines, and Induction or Synchronous Wound-Rotor Doubly-Fed (WRDF) electric machines, exhibit very high bursts of torque because the active current (i.e., Magneto-Motive-Force or the product of current and winding-turns) induced on either side of the transformer oppose each other and as a result, the active current contributes nothing to the transformer coupled magnetic core flux density, which would otherwise lead to core saturation.
Electric machines that rely on Induction or Asynchronous principles short-circuit one port of the transformer circuit and as a result, the reactive impedance of the transformer circuit becomes dominant as slip increases, which limits the magnitude of active (i.e., real) current. Still, bursts of torque that are two to three times higher than the maximum design torque are realizable.
The Synchronous WRDF electric machine is the only electric machine with a truly dual ported transformer circuit topology (i.e., both ports independently excited with no short-circuited port). The dual ported transformer circuit topology is known to be unstable and requires a multiphase slip-ring-brush assembly to propagate limited power to the rotor winding set. If a precision means were available to instantaneously control torque angle and slip for synchronous operation during motoring or generating while simultaneously providing brushless power to the rotor winding set (see Brushless wound-rotor doubly-fed electric machine), the active current of the Synchronous WRDF electric machine would be independent of the reactive impedance of the transformer circuit and bursts of torque significantly higher than the maximum operating torque and far beyond the practical capability of any other type of electric machine would be realizable. Torque bursts greater than eight times operating torque have been calculated.
A DC motor is designed to run on DC electric power. Two examples of pure DC designs are Michael Faraday's homopolar motor (which is uncommon), and the ball bearing motor, which is (so far) a novelty. By far the most common DC motor types are the brushed and brushless types, which use internal and external commutation respectively to create an oscillating AC current from the DC source -- so they are not purely DC machines in a strict sense.
Many of the limitations of the classic commutator DC motor are due to the need for brushes to press against the commutator. This creates friction. At higher speeds, brushes have increasing difficulty in maintaining contact. Brushes may bounce off the irregularities in the commutator surface, creating sparks. This limits the maximum speed of the machine. The current density per unit area of the brushes limits the output of the motor. The imperfect electric contact also causes electrical noise. Brushes eventually wear out and require replacement, and the commutator itself is subject to wear and maintenance. The commutator assembly on a large machine is a costly element, requiring precision assembly of many parts. There are three types of DC motor:
Midway between ordinary DC motors and stepper motors lies the realm of the brushless DC motor. Built in a fashion very similar to stepper motors, these often use a permanent magnet external rotor, three phases of driving coils, one or more Hall effect sensors to sense the position of the rotor, and the associated drive electronics. The coils are activated, one phase after the other, by the drive electronics as cued by the signals from the Hall effect sensors. In effect, they act as three-phase synchronous motors containing their own variable-frequency drive electronics. A specialized class of brushless DC motor controllers utilize EMF feedback through the main phase connections instead of Hall effect sensors to determine position and velocity. These motors are used extensively in electric radio-controlled vehicles. When configured with the magnets on the outside, these are referred to by modelists as outrunner motors.
Brushless DC motors are commonly used where precise speed control is necessary, as in computer disk drives or in video cassette recorders, the spindles within CD, CD-ROM (etc.) drives, and mechanisms within office products such as fans, laser printers and photocopiers. They have several advantages over conventional motors:
Modern DC brushless motors range in power from a fraction of a watt to many kilowatts. Larger brushless motors up to about 100 kW rating are used in electric vehicles. They also find significant use in high-performance electric model aircraft.
Because the rotor is much lighter in weight (mass) than a conventional rotor formed from copper windings on steel laminations, the rotor can accelerate much more rapidly, often achieving a mechanical time constant under 1 ms. This is especially true if the windings use aluminum rather than the heavier copper. But because there is no metal mass in the rotor to act as a heat sink, even small coreless motors must often be cooled by forced air.
These motors were commonly used to drive the capstan(s) of magnetic tape drives and are still widely used in high-performance servo-controlled systems, like radio-controlled vehicles/aircraft, humanoid robotic systems, industrial automation, medical devices, etc.
Operating at normal power line frequencies, the maximum output of universal motors is limited and motors exceeding one kilowatt (about 1.3 horsepower) are rare. But universal motors also form the basis of the traditional railway traction motor in electric railways. In this application, to keep their electrical efficiency high, they were operated from very low frequency AC supplies, with 25 and 16.7 hertz (Hz) operation being common. Because they are universal motors, locomotives using this design were also commonly capable of operating from a third rail powered by DC.
The advantage of the universal motor is that AC supplies may be used on motors which have the typical characteristics of DC motors, specifically high starting torque and very compact design if high running speeds are used. The negative aspect is the maintenance and short life problems caused by the commutator. As a result such motors are usually used in AC devices such as food mixers and power tools which are used only intermittently. Continuous speed control of a universal motor running on AC is easily obtained by use of a thyristor circuit, while stepped speed control can be accomplished using multiple taps on the field coil. Household blenders that advertise many speeds frequently combine a field coil with several taps and a diode that can be inserted in series with the motor (causing the motor to run on half-wave rectified AC).
Universal motors generally run at high speeds, making them useful for appliances such as blenders, vacuum cleaners, and hair dryers where high RPM operation is desirable. They are also commonly used in portable power tools, such as drills, circular and jig saws, where the motor's characteristics work well. Many vacuum cleaner and weed trimmer motors exceed 10,000 RPM, while Dremel and other similar miniature grinders will often exceed 30,000 RPM.
Motor damage may occur due to overspeeding (running at an RPM in excess of design limits) if the unit is operated with no significant load. On larger motors, sudden loss of load is to be avoided, and the possibility of such an occurrence is incorporated into the motor's protection and control schemes. In smaller applications, a fan blade attached to the shaft often acts as an artificial load to limit the motor speed to a safe value, as well as a means to circulate cooling airflow over the armature and field windings.
In 1882, Nikola Tesla identified the rotating magnetic field principle, and pioneered the use of a rotary field of force to operate machines. He exploited the principle to design a unique two-phase induction motor in 1883. In 1885, Galileo Ferraris independently researched the concept. In 1888, Ferraris published his research in a paper to the Royal Academy of Sciences in Turin.
Introduction of Tesla's motor from 1888 onwards initiated what is sometimes referred to as the Second Industrial Revolution, making possible the efficient generation and long distance distribution of electrical energy using the alternating current transmission system, also of Tesla's invention (1888). Before the invention of the rotating magnetic field, motors operated by continually passing a conductor through a stationary magnetic field (as in homopolar motors).
Tesla had suggested that the commutators from a machine could be removed and the device could operate on a rotary field of force. Professor Poeschel, his teacher, stated that would be akin to building a perpetual motion machine. Tesla would later attain , Electric Motor (December 1889), which resembles the motor seen in many of Tesla's photos. This classic alternating current electro-magnetic motor was an induction motor.
Michail Osipovich Dolivo-Dobrovolsky later invented a three-phase "cage-rotor" in 1890. This type of motor is now used for the vast majority of commercial applications.
A torque motor (also known as a limited torque motor) is a specialized form of induction motor which is capable of operating indefinitely while stalled, that is, with the rotor blocked from turning, without incurring damage. In this mode of operation, the motor will apply a steady torque to the load (hence the name).
A common application of a torque motor would be the supply- and take-up reel motors in a tape drive. In this application, driven from a low voltage, the characteristics of these motors allow a relatively-constant light tension to be applied to the tape whether or not the capstan is feeding tape past the tape heads. Driven from a higher voltage, (and so delivering a higher torque), the torque motors can also achieve fast-forward and rewind operation without requiring any additional mechanics such as gears or clutches. In the computer world, torque motors are used with force feedback steering wheels.
Another common application is the control of the throttle of an internal combustion engine in conjunction with an electronic governor. In this usage, the motor works against a return spring to move the throttle in accordance with the output of the governor. The latter monitors engine speed by counting electrical pulses from the ignition system or from a magnetic pickup and, depending on the speed, makes small adjustments to the amount of current applied to the motor. If the engine starts to slow down relative to the desired speed, the current will be increased, the motor will develop more torque, pulling against the return spring and opening the throttle. Should the engine run too fast, the governor will reduce the current being applied to the motor, causing the return spring to pull back and close the throttle.
By changing the impedance connected to the rotor circuit, the speed/current and speed/torque curves can be altered.
The slip ring motor is used primarily to start a high inertia load or a load that requires a very high starting torque across the full speed range. By correctly selecting the resistors used in the secondary resistance or slip ring starter, the motor is able to produce maximum torque at a relatively low current from zero speed to full speed. A secondary use of the slip ring motor is to provide a means of speed control. Because the torque curve of the motor is effectively modified by the resistance connected to the rotor circuit, the speed of the motor can be altered. Increasing the value of resistance on the rotor circuit will move the speed of maximum torque down. If the resistance connected to the rotor is increased beyond the point where the maximum torque occurs at zero speed, the torque will be further reduced.
When used with a load that has a torque curve that increases with speed, the motor will operate at the speed where the torque developed by the motor is equal to the load torque. Reducing the load will cause the motor to speed up, and increasing the load will cause the motor to slow down until the load and motor torque are equal. Operated in this manner, the slip losses are dissipated in the secondary resistors and can be very significant. The speed regulation is also very poor.
Stepper motors can be rotated to a specific angle with ease, and hence stepper motors are used in pre-gigabyte era computer disk drives, where the precision they offered was adequate for the correct positioning of the read/write head of a hard disk drive. As drive density increased, the precision limitations of stepper motors made them obsolete for hard drives, thus newer hard disk drives use read/write head control systems based on voice coils.
Stepper motors were upscaled to be used in electric vehicles under the term SRM (switched reluctance machine).
Linear motors are most commonly induction motors or stepper motors. You can find a linear motor in a maglev (Transrapid) train, where the train "flies" over the ground, and in many roller-coasters where the rapid motion of the motorless railcar is controlled by the rail.
A doubly-fed motor allows for a smaller electronic converter but the cost of the rotor winding and slip rings may offset the saving in the power electronics components. Difficulties with controlling speed near synchronous speed limit applications.
The induction (asynchronous) motors (i.e., squirrel cage rotor or wound rotor), synchronous motors (i.e., field-excited, permanent magnet or brushless DC motors, reluctance motors, etc.), which are discussed on the this page, are examples of singly-fed motors. By far, singly-fed motors are the predominantly installed type of motors.
There is an impending shortage of many rare raw materials used in the manufacture of hybrid and electric cars (Nishiyama 2007) (Cox 2008). For example, the rare earth element dysprosium is required to fabricate many of the advanced electric motors used in hybrid cars (Cox 2008). However, over 95% of the world's rare earth elements are mined in China (Haxel et al. 2005), and domestic Chinese consumption is expected to consume China's entire supply by 2012 (Cox 2008).
Scientists and engineers:
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