Handbook of Electric Motors

by Toliyat; Hamid A.

• ISBN13: 9780824741051
• ISBN10: 0824741056
• Edition: 2nd
• Format: Hardcover
• Copyright: 2004-04-22
• Publisher: CRC Press

Summary

Presenting current issues in electric motor design, installation, application, and performance, this second edition serves as the most authoritative and reliable guide to electric motor utilization and assessment in the commercial and industrial sectors. Covering topics ranging from motor energy and efficiency to computer-aided design and equipment selection, this reference assists professionals in all aspects of electric motor maintenance, repair, and optimization. It has been expanded by more than 40 percent to explore the most influential technologies in the field including electronic controls, superconducting generators, recent analytical tools, new computing capabilities, and special purpose motors.

Table of Contents

Preface to the Second Edition	v
Preface to the First Edition	vii
Acknowledgments	ix
Contributors	xix
Principles of Energy Conversion	1	(24)
General Background	2	(2)
Magnetic Materials	4	(2)
Properties of Ferromagnetic Materials	5	(1)
Boundary Conditions for B and H	6	(1)
Some Basic Functions Related to Electromagnetic Fields	6	(3)
Scalar Potential	7	(1)
Vector Potential	7	(1)
Electromagnetic Induction	8	(1)
Energy in an Electromagnetic Field	8	(1)
Self-Inductance and Mutual Inductance	8	(1)
Energy Stored in Current-Carrying Coil	9	(1)
Magnetic Circuits	9	(6)
Concept of a Magnetic Circuit	9	(3)
Two-Dimensional Field Problems	12	(3)
Finite Element Analysis of Magnetic Fields	15	(6)
Motivation	15	(1)
Energy Functionals	15	(1)
Finite Element Formulation	16	(1)
Boundary Conditions	17	(1)
Solution Techniques	17	(2)
Parameters from Fields	19	(1)
Applications in Two and Three Dimensions	19	(1)
Finite Elements Compute Equivalent Circuit Parameters	19	(1)
Finite Elements Directly Compute Motor Performance	20	(1)
Energy Stored in Magnetically Coupled Multiple-Loop Systems	21	(1)
Forces and Torques in the System	21	(4)
References	23	(2)
Types of Motors and Their Characteristics	25	(142)
Introduction	26	(2)
Polyphase Synchronous Motors	28	(7)
Synchronous Machine Performance Considerations	32	(3)
Induction Motors---Polyphase and Single-Phase	35	(23)
General Theory and Definition of Terms Used	35	(3)
Classification of Motors According to Size	38	(1)
Power Requirements, Mechanical, and Thermal Design Considerations	38	(3)
Standard-Efficiency Motors vs. High-Efficiency Motors	41	(1)
Electrical Design Options---Polyphase	41	(1)
Electrical Design Options---Single-Phase	42	(1)
Performance on Variable-Frequency Sources	43	(3)
Linear Induction Motors	46	(8)
Doubly Fed Induction Motors	54	(4)
Direct-Current Motors	58	(19)
Introduction	58	(1)
General Description	58	(4)
Tests	62	(2)
Shunt Motors	64	(2)
Series Motors	66	(2)
Compound-Wound DC Motors	68	(1)
Permanent Magnet Motors	68	(2)
Brushless DC Motors	70	(1)
Ironless Armature DC Motors	71	(6)
Electric Traction	77	(32)
Externally Powered Vehicles	78	(9)
Internal Combustion Powered Vehicles	87	(7)
Battery Powered Vehicles	94	(4)
Design Considerations	98	(11)
Motors For Special Applications	109	(58)
Stepper Motors	109	(14)
400-Hz Motors	123	(3)
Deep Well Turbine Pump Motors	126	(7)
Submersible Motors	133	(1)
Solid-Rotor Induction Motors	134	(8)
Synchronous Reluctance Motors	142	(11)
Aerospace Motors	153	(1)
Superconducting Synchronous Motor	153	(3)
Universal Motors	156	(3)
Line-Start Synchronous Reluctance and Permanent Magnet Motors	159	(1)
Watthour Meters	160	(2)
References	162	(5)
Motor Selection	167	(48)
Standards	168	(13)
Enclosures	168	(7)
Dimensions	175	(1)
Performance	176	(5)
Characteristics of Driven Equipment	181	(3)
Inertial Torques	182	(1)
Viscous Friction Torque	182	(1)
Sticking Friction	182	(1)
Coulomb Friction	183	(1)
Fluid Loads	183	(1)
Unusual Load Situations	183	(1)
Initial Motor Selection	184	(1)
Steady-State Solutions	184	(1)
Dynamic Analysis	184	(1)
Motor Efficiency and Energy Considerations	185	(3)
Efficiency Considerations	185	(3)
Energy Considerations	188	(1)
Payback Analysis and Life-cycle Costing of Motors and Controls	188	(2)
General-Purpose vs. Special Machines	189	(1)
Safety Considerations	190	(1)
Application Information	190	(1)
Installation	190	(1)
How to Specify a Motor	190	(10)
Scope	191	(1)
Codes and Standards	191	(1)
Service Conditions	191	(1)
Starting Requirements	191	(1)
Rating	192	(1)
Construction Features	193	(4)
Accessories	197	(1)
Balance and Vibration	198	(1)
Sound Levels	198	(1)
Paint	198	(1)
Nameplates	198	(1)
Performance Tests	199	(1)
Quality Assurance	199	(1)
Preparation for Shipment and Storage	199	(1)
Data and Drawings	200	(1)
Special Applications	200	(15)
Hermetically Sealed Refrigeration Motors	200	(9)
Selection of DC Motors with Chopper Drives for Battery Powered Vehicles	209	(5)
References	214	(1)
Induction Motor Analysis and Design	215	(84)
Introduction	216	(3)
Induction Motor Field Analysis	219	(37)
Generation of the Rotating Field	219	(4)
Winding of the Stator	223	(14)
Spatial Harmonics in the Field Curve	237	(4)
Reactances of the Induction Motor	241	(4)
Radial Force Waves	245	(2)
Homopolar Flux and Unbalanced Magnetic Pull in the Two-Pole Induction Motor	247	(2)
Tangential Forces Caused by Harmonics	249	(2)
Components of Air Gap Flux Caused by Inverter Supplies	251	(1)
Switching Transients	252	(4)
Rotor Construction	256	(2)
Introduction	256	(1)
Squirrel-Cage Design	257	(1)
Wound-Rotor Design	257	(1)
Induction Motor Equivalent Circuits	258	(3)
Introduction	258	(1)
Steady-State Equivalent Circuit	258	(2)
Transient or Dynamic Equivalent Circuit	260	(1)
Equivalent Circuits For Variable Frequency	261	(2)
Introduction	261	(1)
Rotor Deep-Bar Effect	262	(1)
Solution of Equivalent Circuits	263	(1)
Important Design Equations	263	(8)
Output Equation and Main Dimensions	263	(1)
Design of Stator Winding	264	(1)
Fractional Slot Winding	265	(1)
Squirrel-Cage Rotor Design	265	(6)
Special Induction Motor Designs	271	(6)
Linear Induction Motor Design	271	(2)
Solid-Rotor Induction Motor Design	273	(4)
Mechanical Design	277	(5)
Crawling and Cogging	277	(1)
Vibration and Noise	278	(1)
Lamination Fatigue Mechanisms	279	(3)
Thermal Design	282	(2)
Methods of Cooling	283	(1)
Design of the Ventilation Circuit	284	(1)
Computer-Aided Design of Electric Machines	284	(9)
Why We Need Computers in the Design of Electric Machines	284	(1)
The Nature of the Design Process	285	(1)
Steps Needed to Design an Electric Machine	286	(4)
Examples of Specialized Computer Analysis	290	(2)
Automation of the Design Process	292	(1)
Finite Element Analysis of Induction Motors	293	(6)
Motivation for Induction Motor Finite Element Analysis	293	(1)
Three-Phase Induction Motor Finite Element Analysis	293	(3)
Single-Phase Induction Motor Finite Element Analysis	296	(1)
References	297	(2)
Synchronous Motor Analysis and Design	299	(28)
Introduction	300	(1)
Flux And Flux Distribution	300	(1)
Armature Windings	300	(2)
Armature Inductance	301	(1)
Slot Leakage	301	(1)
Harmonics in the Flux Distribution	302	(1)
Effects of Inverters	302	(1)
Field Windings	302	(1)
Leakage Flux	302	(1)
Field Winding Ampere-Turns	302	(1)
Damper Windings	303	(1)
Leakage Flux	303	(1)
Equivalent Circuits	303	(2)
Steady-State Operation	303	(1)
V-Curves	304	(1)
Equivalent Circuits During Transients	304	(1)
Starting Equivalent Circuits	305	(1)
Linear Synchronous Motors	305	(13)
Definitions, Geometries, and Principle of Operation	305	(1)
Topologies	306	(7)
Performance Calculation	313	(4)
Applications	317	(1)
Design Equations for a Synchronous Machine	318	(3)
Magnetic and Electric Loading	318	(1)
Main Dimensions and Stator Windings	318	(1)
Cylindrical Rotor Design	319	(1)
Salient-Pole Rotors	320	(1)
Field Winding Design	320	(1)
Full-Load Field Ampere-Turns	320	(1)
Machine Oscillations and the Damper Winding	321	(1)
Finite Element Analysis of Synchronous Motors	321	(6)
Advantages of Finite Element Analysis of Synchronous Motors	321	(1)
Motors with Permanent Magnet Rotors	321	(2)
Variable-Reluctance Stepper Motors	323	(1)
Axial Flux Machines	323	(2)
References	325	(2)
Direct-Current Motor Analysis and Design	327	(38)
Introduction	328	(1)
Armature Windings	328	(3)
Wave Windings	328	(1)
Equalizers	328	(1)
Lap Windings	329	(1)
Machines with Reduced Numbers of Slots	330	(1)
Commutators	331	(1)
Commutator Construction	331	(1)
Brushes and Holders	331	(1)
Field Poles and Windings	332	(2)
Pole Laminations	332	(1)
Main Field Windings	332	(1)
Commutating Poles and Windings	332	(1)
Pole Face Windings	333	(1)
Equivalent Circuit	334	(1)
Steady-State Analysis	334	(1)
Transient Analysis	334	(1)
Design Equations	334	(4)
Magnetic Circuit	335	(1)
Saturation	335	(1)
Detailed Magnetic Circuit Calculations	335	(3)
DC Motors In Control Systems	338	(5)
Basic Motor Equations	338	(1)
Basic Mechanical Equation	339	(1)
Block Diagrams	340	(1)
Typical Motor Characteristics and Stability Considerations	341	(1)
Field Control	341	(2)
DC Motors Supplied By Rectifier or Chopper Sources	343	(6)
List of Symbols	343	(1)
Analysis	343	(1)
Rectifier Sources	344	(3)
Chopper Sources	347	(2)
Permanent Magnet DC Motors	349	(5)
Magnetic Materials	349	(2)
Design Features	351	(3)
Servo and Control Motors	354	(1)
Finite Element Analysis of DC Motors	354	(11)
Advantages of FEA of DC Motors	354	(1)
Permanent Magnet Brush DC Motors	355	(1)
Magnetization of Permanent Magnets	355	(1)
Wound-Field Brush DC Motors	356	(1)
Universal Motors	356	(8)
References	364	(1)
Testing For Performance	365	(42)
Introduction	366	(1)
Polyphase Induction Motor Testing	366	(5)
Electrical Test Standards	366	(1)
Types of Tests	366	(3)
Sample Calculations	369	(1)
Variation in Testing	369	(2)
Miscellaneous Tests	371	(1)
Single-Phase Induction Motors	371	(3)
Electrical Test Standards	371	(1)
Types of Tests	371	(1)
Choices of Tests	371	(1)
Variations Due to Uncontrolled Factors	372	(1)
Curve Fitting of Performance Data	373	(1)
Miscellaneous Tests	373	(1)
Synchronous Motor Tests	374	(17)
Electrical Test Standards	374	(1)
Types of Tests	374	(14)
Choices of Tests	388	(1)
Variations Due to Uncontrolled Factors	388	(1)
Curve Fitting of Performance Data	388	(2)
Miscellaneous Tests	390	(1)
DC Motor Tests	391	(3)
Electrical Test Standards	391	(1)
Preparation for Tests	391	(1)
Performance Tests	392	(1)
Special Tests	393	(1)
Hermetically Sealed Refrigeration Motors	394	(3)
Electrical Test Standards	394	(1)
Types of Tests	394	(1)
Choices of Tests	394	(2)
Variations Due to Uncontrolled Factors	396	(1)
Curve Fitting of Performance Data	397	(1)
Miscellaneous Tests	397	(1)
Specialty Testing	397	(3)
Induction Motor Stators	397	(1)
Induction Motor Rotors	398	(2)
Permanent Magnet Motors	400	(1)
Selection and Application of Test Equipment	400	(7)
Reasons for Testing	400	(1)
Functional Specifications of Test Equipment	400	(1)
Recommended Steps in Purchasing Test Equipment	401	(1)
Types of Tests	401	(1)
Types of Data Recording Devices	401	(1)
Mechanical and Electrical Loading Devices	402	(1)
Instrumentation	403	(1)
References	404	(3)
Motor Insulation Systems	407	(24)
Introduction	407	(3)
Insulation and Ratings	408	(1)
Influence of Insulation on Motor Efficiency	408	(1)
Influence of Insulation on Motor Life	408	(1)
Random- and Form-Wound Motors	409	(1)
Random-Wound Motors	410	(6)
Insulation System of Random-Wound Motors	410	(2)
Insulation Testing of Random-Wound Motors	412	(3)
Causes of Insulation Failure	415	(1)
Form-Wound Motors	416	(11)
Insulation Systems	416	(3)
Factors Affecting Insulation System Design	419	(3)
Insulation Testing	422	(5)
Effect of Inverter Drives on Stator Insulation	427	(4)
Surge Voltage Environment	427	(1)
Distribution of Voltage Surges within Stator Windings	428	(1)
Mechanisms of Insulation Deterioration	429	(1)
References	429	(1)
General References	430	(1)
Motor Control	431	(84)
Introduction	432	(1)
Induction Motors	432	(43)
Electrical Voltage Surges	432	(5)
Voltage Drop During Start-up	437	(10)
Starting Torque Characteristics	447	(4)
Reduced Starting Duty Schemes	451	(5)
Accelerating Torque and Multispeed Applications	456	(5)
Starting Duty Thermal Limitations	461	(3)
Miscellaneous Induction Motor Starting Topics	464	(3)
Bus Transfer and Reclosing of Induction Machines	467	(6)
Induction Motor Speed Control	473	(1)
Induction Motor Braking	474	(1)
Direct-Current Motors	475	(7)
DC Motor Starting	475	(2)
DC Motor Speed Control	477	(3)
Braking of Direct-Current Motors	480	(2)
General Considerations Concerning Solid-State Converters and Controllers	482	(1)
Converters	482	(1)
Controllers	483	(1)
Power Electronic Devices	483	(5)
Diodes	484	(1)
Thyristors	484	(1)
Gate Turn-Off Thyristors	485	(1)
Bipolar Transistors	486	(1)
Metal Oxide Semiconductor Field-Effect Transistors	487	(1)
Insulated-Gate Bipolar Transistors	488	(1)
Integrated Gate-Commutated Thyristor	488	(1)
Converter Circuits	488	(10)
Rectifier Circuits	489	(3)
Cycloconverters	492	(1)
Chopper Circuits	493	(1)
Six-Step Inverters	493	(2)
Pulse-Width Modulation Inverters	495	(3)
Multilevel Converters	498	(1)
Controllers	498	(2)
Open- And Closed-Loop Control of a Permanent Magnet Stepper Motor	500	(15)
Open-Loop Operation of the Stepper Motor	501	(2)
Closed-Loop Control of a Stepper Motor	503	(6)
Experimental Results	509	(2)
References	511	(4)
Motor Protection	515	(32)
Overview
Introduction	516	(1)
Protection Against Overloads	516	(4)
Fuses	517	(1)
Thermal Overload Relays	517	(1)
Switchgear-Type Thermal Relays	517	(1)
Imbedded Temperature Detectors	517	(1)
Microprocessor Motor Protection Relays	518	(2)
Damper Bar Protection	520	(1)
Special Current Detection	520	(1)
Pull-Out Protection	520	(1)
Unbalanced Voltage Protection	520	(1)
Phase Loss Relays	521	(1)
Negative-Sequence Voltage Relays	521	(1)
Current Unbalance Relays	521	(1)
Microprocessor Devices	521	(1)
Protection For Internal Electrical Failures	521	(1)
Stator Insulation Failure Protection	521	(1)
Microprocessor Protection for Internal Faults	522	(1)
Selection of Switching Devices	522	(1)
Contactors	522	(1)
Electrically Operated Circuit Breakers	522	(1)
Mechanical Protection	523	(1)
Vibration Detectors	523	(1)
Bearing Temperature Monitors	523	(1)
Microprocessor Protection	524	(1)
Accessories	524	(1)
Filters	524	(1)
Ventilation Opening Guards	524	(1)
Space Heaters	524	(1)
Fuses and Protection Coordination
Introduction	524	(8)
Single-Element Fuses	525	(1)
Protection Coordination with Single-Element Fuses	525	(2)
Dual-Element Fuses	527	(1)
Protection Coordination with Dual-Element Fuses	528	(1)
Single-Phasing Protection	529	(3)
Bimetallic Thermal Protectors
Introduction	532	(10)
Definitions	532	(1)
Typical Devices	533	(2)
Considerations in Device Selection	535	(1)
Selection of Bimetallic Thermal Protectors for Shaded-Pole, Permanent-Split Capacitor, and Other Slow Heat Rise Single- Phase Motors	536	(1)
Selection of Bimetallic Thermal Protectors for Single-Voltage Split-Phase, Capacitor-Start, Capacitor-Start/Capacitor-Run, and Other Single-Phase Motors	537	(3)
Selection of Bimetallic Thermal Protectors for Dual-Voltage Split-Phase, Capacitor-Start, Capacitor-Start/Capacitor-Run Single-Phase Motors	540	(1)
Selection of Bimetallic Thermal Protectors for Three-Phase Motors	541	(1)
Testing Agency Requirements For Motor Thermal Protectors	542	(1)
General	542	(1)
Protection Types	542	(1)
Test Voltages and Frequencies	542	(1)
Protector Calibration Ranges	543	(1)
Temperature Measurements	543	(1)
Ambient Temperature	543	(1)
Multispeed Motors	543	(1)
Motor Mountings	543	(1)
Performance Requirements and Tests	543	(4)
Running Heating Tests	543	(1)
Running Overload Tests	543	(1)
Locked-Rotor Tests	544	(1)
Locked-Rotor Endurance Test	544	(1)
Dielectric Tests	544	(1)
Limited Short-Circuit Tests	544	(1)
References	545	(2)
Mechanical Considerations	547	(70)
Noise	548	(18)
Noises of Electromagnetic Origin	551	(3)
Influence of Motor Configuration and Design	554	(1)
Regulation of Noise: Typical Levels	555	(5)
Reduction of Noise Levels: Special Treatment	560	(1)
Experimental Investigation of Noise	561	(5)
Vibration	566	(9)
Vibration Measurement and Evaluation	568	(3)
Housing and Shaft Vibration	571	(1)
Mounting	572	(1)
Variable-Speed Motors	572	(1)
Standards	573	(2)
Balancing the Rotor	575	(1)
Rigid Rotors	575	(1)
Flexible Rotors	575	(1)
Unbalance Quality	576	(1)
Bearings	576	(20)
Sleeve Bearings	576	(15)
Antifriction Bearings	591	(5)
Brushes	596	(6)
Introduction	596	(1)
Grade Characteristic Definitions	597	(4)
Specialty Brushes	601	(1)
Summary	602	(1)
Motor Handling, Mounting, and Mechanical Connection	602	(15)
Motor Handling	602	(1)
Motor Mounting Dimensions	603	(7)
Shaft Connections---Belts	610	(3)
Shaft Connections---Chain and Sprocket Drives and Flat Belt Drives	613	(1)
Shaft Connections---Couplings	613	(1)
Shaft Connections---Splines	614	(1)
Initial Operation	614	(1)
References	614	(3)
Environmental Considerations	617	(38)
Introduction	618	(1)
Heat Transfer	619	(7)
Modes of Heat Transfer	620	(3)
Ventilation	623	(3)
Cooling of Basic Motor Types	626	(2)
Induction Motors	626	(1)
Synchronous Motors	627	(1)
DC Motors	627	(1)
Special Cooling	627	(1)
Enclosures	628	(1)
IEC Enclosures	628	(1)
NEMA Enclosures	628	(1)
Thermal Circuits	629	(7)
Steady-State Circuits	630	(2)
Time-Varying Circuits	632	(1)
Simplified Circuits	633	(3)
Duty Cycles	636	(3)
RMS Loading Analysis	636	(2)
Time-Constant Analysis	638	(1)
Ambient and Environmental Effects	639	(5)
Ambient Temperature	640	(1)
Altitude	640	(1)
Moisture	641	(1)
Solid Contaminants	641	(1)
Chemicals	642	(1)
Hazardous Locations	642	(1)
Seismic Activity	643	(1)
Nuclear Plant Safety	643	(1)
Power System Quality	644	(11)
Parameters of Power System Quality	644	(6)
Adjustable Speed Drives	650	(3)
References	653	(2)
Reliability	655	(38)
Reliability of Large Motors	656	(4)
Introduction	656	(1)
IEEE 1983--1985 Survey	656	(1)
Failure Rate and Downtime Data	656	(1)
Data on Failed Components	657	(1)
Causes of Failure	658	(1)
Comparison: 1973--1974 and 1983--1985 IEEE Surveys	659	(1)
Comparison: AIEE 1962 and 1983--1985 IEEE Surveys	659	(1)
Comparison: 1983 EPRI and 1983--1985 IEEE Surveys	660	(1)
Reliability of Antifriction Bearings	660	(3)
Failure Modes of Rolling Bearings	660	(2)
Damage Progression to Failure	662	(1)
Statistical Variation of Bearing Life	663	(1)
Guidelines for Successful Commutation and Brush Operation	663	(6)
Summary	663	(1)
Introduction	663	(1)
Acceptable Commutator Conditions	663	(1)
Destructive Commutator Conditions	664	(5)
Conclusion	669	(1)
Reference Note	669	(1)
Monitoring For Signs of Wearout	669	(3)
Introduction	669	(1)
On-Line Tests	669	(1)
Off-Line Tests	670	(2)
Continuous (On-Line) or Periodic (Off-Line)?	672	(1)
Reliability Impact of Adjustable Speed Drives (ASDs) On Bearings	672	(18)
Introduction	672	(1)
Bearing Current Induced by Supply Voltage	673	(4)
An Equivalent Circuit for Bearing Displacement and EDM Currents	677	(11)
Methods to Mitigate Bearing Currents and Their Cost	688	(2)
Reliability Impact of Adjustable Speed Drives (ASDs) on Insulation	690	(3)
References	690	(3)
Maintenance	693	(38)
Lubrication	694	(4)
Lubrication and Maintenance of Sleeve Bearings	694	(1)
Lubrication and Maintenance of Antifriction Bearings	694	(4)
Implementation of a Reliability Based Maintenance Program	698	(2)
Maintenance and Repair of Commutators	700	(2)
Causes of Poor Commutation	701	(1)
Ordering New Parts	702	(1)
Brush Replacement	702	(2)
Introduction	702	(1)
When to Replace Brushes	702	(1)
Installation of Brushes	702	(2)
Summary	704	(1)
Maintenance and Repair of Windings	704	(15)
Installation of New Equipment	704	(1)
Establishing a Maintenance Schedule	705	(1)
Choosing Test Equipment	705	(2)
Performing Preventative Maintenance	707	(4)
Evaluating Winding Failures	711	(4)
Choosing Repair Facilities	715	(1)
Selecting Repair Methods	716	(2)
Testing Repaired Windings	718	(1)
Evaluating Repaired Equipment	718	(1)
General References on Maintenance and Repair of Windings	719	(1)
Core Testing	719	(12)
Loop Test Physical Arrangement	719	(1)
Thermovision Monitoring During the Loop Test	720	(1)
Other Core Test Factors	721	(1)
Core Hot Spot Repairs	721	(1)
EL CID Test	721	(6)
References	727	(4)
Electronic Motors	731	(48)
Alternating Current Motor Speed Control	732	(27)
Introduction	732	(1)
Thyristor-Based Voltage-Controlled Drives	733	(3)
Thyristor-Based Load-Commutated Inverter Synchronous Motor Drives	736	(4)
Transistor-Based Variable-Frequency Induction Motor Drives	740	(6)
Field Orientation	746	(6)
Induction Motor Observer	752	(2)
Permanent Magnet Alternating Current Machine Control	754	(5)
Switched-Reluctance Machines	759	(4)
Definition, History, and Properties	759	(1)
Theory of Operation	760	(3)
Controller Architecture	763	(1)
Applications	763	(1)
Brushless DC Motors	763	(12)
Introduction	763	(1)
Rotor Construction	764	(1)
Magnets and the Magnetic Circuit	765	(3)
Armature Windings	768	(1)
Torque Analysis	769	(1)
Voltage Analysis	770	(1)
Equivalent Circuit	770	(1)
Motor Drive Circuit	770	(1)
Performance	771	(1)
References	772	(3)
Appendixes
A Equivalent Units	775	(2)
B Association and Institute Addresses	777	(2)
Index	779