TRANSMISSION LINE

A transmission line is the material medium or structure that forms all or part of a path from one place to another for directing the transmission of energy, such as electromagnetic waves or acoustic waves, as well as electric power transmission. Types of transmission line include wires, coaxial cables, dielectric slabs, striplines, optical fibers, electric power lines, and waveguides.

History

Mathematical analysis of the behaviour of electrical transmission lines grew out of the work of James Clerk Maxwell, Lord Kelvin and Oliver Heaviside. In 1855 Lord Kelvin formulated a diffusion model of the current in a submarine cable. The model correctly predicted the poor performance of the 1858 trans-Atlantic submarine telegraph cable. In 1885 Heaviside published the first papers that described his analysis of propagation in cables and the modern form of the telegrapher's equations.

Applicability

In many electric circuits, the length of the wires connecting the components can for the most part be ignored. That is, the voltage on the wire at a given time can be assumed to be the same at all points. However, when the voltage changes in a time interval comparable to the time it takes for the signal to travel down the wire, the length becomes important and the wire must be treated as a transmission line. Stated another way, the length of the wire is important when the signal includes frequency components with corresponding wavelengths comparable to or less than the length of the wire.
A common rule of thumb is that the cable or wire should be treated as a transmission line if the length is greater than 1/10 of the wavelength. At this length the phase delay and the interference of any reflections on the line become important and can lead to unpredictable behavior in systems which have not been carefully designed using transmission line theory.

The four terminal model

Variations on the schematic electronic symbol for a transmission line.

For the purposes of analysis, an electrical transmission line can be modelled as a two-port network (also called a quadrupole network), as follows:

In the simplest case, the network is assumed to be linear (i.e. the complex voltage across either port is proportional to the complex current flowing into it when there are no reflections), and the two ports are assumed to be interchangeable. If the transmission line is uniform along its length, then its behaviour is largely described by a single parameter called the characteristic impedance, symbol Z₀. This is the ratio of the complex voltage of a given wave to the complex current of the same wave at any point on the line. Typical values of Z₀ are 50 or 75 ohms for a coaxial cable, about 100 ohms for a twisted pair of wires, and about 300 ohms for a common type of untwisted pair used in radio transmission.
When sending power down a transmission line, it is usually desirable that as much power as possible will be absorbed by the load and as little as possible will be reflected back to the source. This can be ensured by making the load impedance equal to Z₀, in which case the transmission line is said to be matched. Ensuring the source impedance matches Z₀ will maximize power transfer from the source to the transmission line, but has no other effect on the behavior of the line.
Some of the power that is fed into a transmission line is lost because of its resistance. This effect is called ohmic or resistive loss (see ohmic heating). At high frequencies, another effect called dielectric loss becomes significant, adding to the losses caused by resistance. Dielectric loss is caused when the insulating material inside the transmission line absorbs energy from the alternating electric field and converts it to heat (see dielectric heating).
The total loss of power in a transmission line is often specified in decibels per metre (dB/m), and usually depends on the frequency of the signal. The manufacturer often supplies a chart showing the loss in dB/m at a range of frequencies. A loss of 3 dB corresponds approximately to a halving of the power.
High-frequency transmission lines can be defined as those designed to carry electromagnetic waves whose wavelengths are shorter than or comparable to the length of the line. Under these conditions, the approximations useful for calculations at lower frequencies are no longer accurate. This often occurs with radio, microwave and optical signals, and with the signals found in high-speed digital circuits.

Telegrapher's equations

The Telegrapher's Equations (or just Telegraph Equations) are a pair of linear differential equations which describe the voltage and current on an electrical transmission line with distance and time. They were developed by Oliver Heaviside who created the transmission line model, and are based on Maxwell's Equations.

Schematic representation of the elementary component of a transmission line.

The transmission line model represents the transmission line as an infinite series of two-port elementary components, each representing an infinitesimally short segment of the transmission line:

• The distributed resistance R of the conductors is represented by a series resistor (expressed in ohms per unit length).
• The distributed inductance L (due to the magnetic field around the wires, self-inductance, etc.) is represented by a series inductor (henries per unit length).
• The capacitance C between the two conductors is represented by a shunt capacitor C (farads per unit length).
• The conductance G of the dielectric material separating the two conductors is represented by a conductance G shunted between the signal wire and the return wire (siemens per unit length).

The model consists of an infinite series of the elements shown in the figure, and that the values of the components are specified per unit length so the picture of the component can be misleading. R, L, C, and G may also be functions of frequency. An alternative notation is to use R', L', C' and G' to emphasize that the values are derivatives with respect to length. These quantities can also be known as the primary line constants to distinguish from the secondary line constants derived from them, these being the propagation constant, attenuation constant and phase constant.

The line voltage V(x) and the current I(x) can be expressed in the frequency domain as

When the elements R and G are negligibly small the transmission line is considered as a lossless structure. In this hypothetical case, the model depends only on the L and C elements which greatly simplifies the analysis. For a lossless transmission line, the second order steady-state Telegrapher's equations are:

These are wave equations which have plane waves with equal propagation speed in the forward and reverse directions as solutions. The physical significance of this is that electromagnetic waves propagate down transmission lines and in general, there is a reflected component that interferes with the original signal. These equations are fundamental to transmission line theory.
If R and G are not neglected, the Telegrapher's equations become:

where

and the characteristic impedance is:

The solutions for V(x) and I(x) are:

The constants and must be determined from boundary conditions. For a voltage pulse , starting at x = 0 and moving in the positive x-direction, then the transmitted pulse at position x can be obtained by computing the Fourier Transform, , of , attenuating each frequency component by , advancing its phase by , and taking the inverse Fourier Transform. The real and imaginary parts of Γ can be computed as

where atan2 is the two-parameter arctangent, and

For small losses and high frequencies, to first order in R / ωL and G / ωC one obtains

Noting that an advance in phase by − ωδ is equivalent to a time delay by δ, V_out(t) can be simply computed as

Input impedance of lossless transmission line

The characteristic impedance Z₀ of a transmission line is the ratio of the amplitude of a single voltage wave to its current wave. Since most transmission lines also have a reflected wave, the characteristic impedance is generally not the impedance that is measured on the line.
For a lossless transmission line, it can be shown that the impedance measured at a given position l from the load impedance Z_L is

where is the wavenumber.
In calculating β, the wavelength is generally different inside the transmission line to what it would be in free-space and the velocity constant of the material the transmission line is made of needs to be taken into account when doing such a calculation.

Half wave length

For the special case where βl = nπ where n is an integer (meaning that the length of the line is a multiple of half a wavelength), the expression reduces to the load impedance so that

for all n. This includes the case when n = 0, meaning that the length of the transmission line is negligibly small compared to the wavelength. The physical significance of this is that the transmission line can be ignored (i.e. treated as a wire) in either case.

Quarter wave length

For the case where the length of the line is one quarter wavelength long, or an odd multiple of a quarter wavelength long, the input impedance becomes

Matched load

Another special case is when the load impedance is equal to the characteristic impedance of the line (i.e. the line is matched), in which case the impedance reduces to the characteristic impedance of the line so that

for all l and all λ.

Short

For the case of a shorted load (i.e. Z_L = 0), the input impedance is purely imaginary and a periodic function of position and wavelength (frequency)

Open

For the case of an open load (i.e. ), the input impedance is once again imaginary and periodic

CONDUCTOR

In science and engineering, an electrical conductor is a material which contains movable electric charges. In metallic conductors, such as copper or aluminum, the movable charged particles are electrons (see electrical conduction). Positive charges may also be mobile in the form of atoms in a lattice that are missing electrons (known as holes), or in the form of ions, such as in the electrolyte of a battery.
All conductors contain electric charges which will move when an electric potential difference (measured in volts) is applied across separate points on the material. This flow of charge (measured in amperes) is what is meant by electric current. In most materials, the direct current is proportional to the voltage (as determined by Ohm's law), provided the temperature remains constant and the material remains in the same shape and state.
Most familiar conductors are metallic. Copper is the most common material used for electrical wiring. Silver is the best conductor, but is expensive. Gold is used for high-quality surface-to-surface contacts. However, there are also many non-metallic conductors, including graphite, solutions of salts, and all plasmas. See electrical conduction for more information on the physical mechanism for charge flow in materials.
Non-conducting materials lack mobile charges, and so resist the flow of electric current, generating heat. In fact, all non-superconducting materials offer some resistance and warm up when a current flows. Thus, proper design of an electrical conductor takes into account the temperature that the conductor needs to be able to endure without damage, as well as the quantity of electrical current. The motion of charges also creates an electromagnetic field around the conductor that exerts a mechanical radial squeezing force on the conductor. A conductor of a given material and volume (length × cross-sectional area) has no real limit to the current it can carry without being destroyed as long as the heat generated by the resistive loss is removed and the conductor can withstand the radial forces. This effect is especially critical in printed circuits, where conductors are relatively small and close together, and inside an enclosure: the heat produced, if not properly removed, can cause fusing (melting) of the tracks.
Since all non-superconducting conductors have some resistance, and all insulators will carry some current, there is no theoretical dividing line between conductors and insulators. However, there is a large gap between the conductance of materials that will carry a useful current at working voltages and those that will carry a negligible current for the purpose in hand, so the categories of insulator and conductor do have practical utility.
Thermal and electrical conductivity often go together For instance, most metals are both electrical and thermal conductors. However, some materials are practical electrical conductors without being good thermal conductors.

 Power engineering

In power engineering, an electrical wire is a length of metal, usually surrounded by an insulating sheath, that is used to conduct electricity.

 Conductor size

In many countries, conductors are measured by their cross section in square millimeters. However, in the United States, conductors are measured by American wire gauge for smaller ones, and circular mils for larger ones.

 Conductor materials

Of the metals commonly used for conductors, copper has a high conductivity. Silver is more conductive, but due to cost it is not practical in most cases. However, it is used in specialized equipment, such as satellites, and as a thin plating to mitigate skin effect losses at high frequencies. Because of its ease of connection by soldering or clamping, copper is still the most common choice for most light-gauge wires. Aluminum has been used as a conductor in housing applications for cost reasons. It is actually more conductive than copper when compared by unit weight, but it has technical problems related to heat and its coefficient of thermal expansion, which tends to loosen connections over time. Please note: Anodized Aluminum is a Non-Conductor of an electric current.

 Conductor voltage

The voltage on a conductor is determined by the connected circuitry and has nothing to do with the conductor itself. Conductors are usually surrounded by and/or supported by insulators and the insulation determines the maximum voltage that can be applied to any given conductor.
Voltage of a conductor "V" is given by

V = IR

where

I is the current, measured in amperes

V is the potential difference measured in volts

R is the resistance measured in ohms

 Conductor ampacity

The ampacity of a conductor, that is, the amount of current it can carry, is related to its electrical resistance: a lower-resistance conductor can carry more current. The resistance, in turn, is determined by the material the conductor is made from (as described above) and the conductor's size. For a given material, conductors with a larger cross-sectional area have less resistance than conductors with a smaller cross-sectional area.
For bare conductors, the ultimate limit is the point at which power lost to resistance causes the conductor to melt. Aside from fuses, most conductors in the real world are operated far below this limit, however. For example, household wiring is usually insulated with PVC insulation that is only rated to operate to about 60 °C, therefore, the current flowing in such wires must be limited so that it never heats the copper conductor above 60 °C, causing a risk of fire. Other, more expensive insulations such as Teflon or fiberglass may allow operation at much higher temperatures.
The American wire gauge article contains a table showing allowable ampacities for a variety of copper wire sizes.

CORONA

A corona is a type of plasma "atmosphere" of the Sun or other celestial body, extending millions of kilometers into space, most easily seen during a total solar eclipse, but also observable in a coronagraph. The Latin root of the word corona means crown.

During a total solar eclipse, the solar corona can be seen with the naked eye.

The high temperature of the corona gives it unusual spectral features, which led some to suggest, in the 19th century, that it contained a previously unknown element, "coronium". These spectral features have since been traced to highly ionized Iron (Fe-XIV) which indicates a plasma temperature in excess of 10⁶ kelvin.^[1]
Light from the corona comes from three primary sources, which are called by different names although all of them share the same volume of space. The K-corona (K for kontinuierlich, "continuous" in German) is created by sunlight scattering off free electrons; Doppler broadening of the reflected photospheric absorption lines completely obscures them, giving the spectral appearance of a continuum with no absorption lines. The F-corona (F for Fraunhofer) is created by sunlight bouncing off dust particles, and is observable because its light contains the Fraunhofer absorption lines that are seen in raw sunlight; the F-corona extends to very high elongation angles from the Sun, where it is called the Zodiacal light. The E-corona (E for emission) is due to spectral emission lines produced by ions that are present in the coronal plasma; it may be observed in broad or forbidden or hot spectral emission lines and is the main source of information about the corona's composition.        

Physical features
The sun's corona is much hotter (by a factor of nearly 200) than the visible surface of the Sun: the photosphere's average temperature is 5800 kelvin compared to the corona's one to three million kelvin. The corona is 10⁻¹² times as dense as the photosphere, however, and so produces about one-millionth as much visible light. The corona is separated from the photosphere by the relatively shallow chromosphere. The exact mechanism by which the corona is heated is still the subject of some debate, but likely possibilities include induction by the Sun's magnetic field and sonic pressure waves from below (the latter being less probable now that coronae are known to be present in early-type, highly magnetic stars). The outer edges of the Sun's corona are constantly being transported away due to open magnetic flux generating the solar wind.

A drawing demonstrating the configuration of solar magnetic flux during the solar cycle.

The Corona is not always evenly distributed across the surface of the sun. During periods of quiet, the corona is more or less confined to the equatorial regions, with coronal holes covering the polar regions. However during the Sun's active periods, the corona is evenly distributed over the equatorial and polar regions, though it is most prominent in areas with sunspot activity. The solar cycle spans approximately 11 years, from solar minimum to solar maximum, where the solar magnetic field is continually wound up (due to a differential rotation at the solar equator; the equator rotates quicker than the poles). Sunspot activity will be more pronounced at solar maximum where the magnetic field is twisted to a maximum. Associated with sunspots are coronal loops, loops of magnetic flux, upwelling from the solar interior. The magnetic flux pushes the hotter photosphere aside, exposing the cooler plasma below, thus creating the dark (when compared to the solar disk) spots.

Coronal Loops

TRACE 171Å coronal loops

Coronal loops are the basic structures of the magnetic solar corona. These loops are the closed-magnetic flux cousins of the open-magnetic flux that can be found in coronal hole (polar) regions and the solar wind. Loops of magnetic flux well up from the solar body and fill with hot solar plasma. Due to the heightened magnetic activity in these coronal loop regions, coronal loops can often be the precursor to solar flares and coronal mass ejections (CMEs). Solar plasma feeding these structures is heated from under 6000K to well over 1×10⁶K from the photosphere, through the transition region, and into the corona. Often, the solar plasma will fill these loops from one foot point and drain from the other (siphon flow due to a pressure difference, or asymmetric flow due to some other driver). This is known as chromospheric evaporation and chromospheric condensation respectively. There may also be symmetric flow from both loop foot points, causing a buildup of mass in the loop structure. The plasma may cool in this region creating dark filaments in the solar disk or prominences off the limb. Coronal loops may have lifetimes in the order of seconds (in the case of flare events), minutes, hours or days. Usually coronal loops lasting for long periods of time are known as steady state or quiescent coronal loops, where there is a balance in loop energy sources and sinks (example).
Coronal loops have become very important when trying to understand the current coronal heating problem. Coronal loops are highly radiating sources of plasma and therefore easy to observe by instruments such as TRACE; they are highly observable laboratories to study phenomena such as solar oscillations, wave activity and nanoflares. However, it remains difficult to find a solution to the coronal heating problem as these structures are being observed remotely, where many ambiguities are present (i.e. radiation contributions along the LOS). In-situ measurements are required before a definitive answer can be arrived at, but due to the high plasma temperatures in the corona, in-situ measurements are impossible (at least for the time being)

Insulator (electrical)

An insulator, also called a dielectric, is a material that resists the flow of electric current. An insulating material has atoms with tightly bonded valence electrons. These materials are used in parts of electrical equipment, also called insulators or insulation, intended to support or separate electrical conductors without passing current through themselves. The term is also used more specifically to refer to insulating supports that attach electric power transmission wires to utility poles or pylons.
Some materials such as glass, paper or Teflon are very good electrical insulators. A much larger class of materials, for example rubber-like polymers and most plastics are still "good enough" to insulate electrical wiring and cables even though they may have lower bulk resistivity. These materials can serve as practical and safe insulators for low to moderate voltages (hundreds, or even thousands, of volts).

Material

Insulators used for high-voltage power transmission are made from glass, porcelain, or composite polymer materials. Porcelain insulators are made from clay, quartz or alumina and feldspar, and are covered with a smooth glaze to shed water. Insulators made from porcelain rich in alumina are used where high mechanical strength is a criterion. Porcelain has a dielectric strength of about 4–10 kV/mm.^[1] Glass has a higher dielectric strength, but it attracts condensation and the thick irregular shapes needed for insulators are difficult to cast without internal strains.^[2] Some insulator manufacturers stopped making glass insulators in the late 1960s, switching to ceramic materials.
Recently, some electric utilities have begun converting to polymer composite materials for some types of insulators. These are typically composed of a central rod made of fibre reinforced plastic and an outer weathershed made of silicone rubber or EPDM. Composite insulators are less costly, lighter in weight, and have excellent hydrophobic capability. This combination makes them ideal for service in polluted areas. However, these materials do not yet have the long-term proven service life of glass and porcelain



 
Design

High voltage ceramic bushing during manufacture, before glazing.

The electrical breakdown of an insulator due to excessive voltage can occur in one of two ways:

• Puncture voltage is the voltage across the insulator (when installed in its normal manner) which causes a breakdown and conduction through the interior of the insulator. The heat resulting from the puncture arc usually damages the insulator irreparably.
• Flashover voltage is the voltage which causes the air around or along the surface of the insulator to break down and conduct, causing a 'flashover' arc along the outside of the insulator. They are usually designed to withstand this without damage.

Most high voltage insulators are designed with a lower flashover voltage than puncture voltage, so they will flashover before they puncture, to avoid damage.
Dirt, pollution, salt, and particularly water on the surface of a high voltage insulator can create a conductive path across it, causing leakage currents and flashovers. The flashover voltage can be more than 50% lower when the insulator is wet. High voltage insulators for outdoor use are shaped to maximize the length of the leakage path along the surface from one end to the other, called the creepage length, to minimize these leakage currents.^[3] To accomplish this the surface is molded into a series of corrugations or concentric disk shapes. These usually include one or more sheds; downward facing cup-shaped surfaces that act as umbrellas to ensure that the part of the surface leakage path under the 'cup' stays dry in wet weather. Minimum creepage distances are 20–25 mm/kV, but must be increased in high pollution or airborne sea-salt areas.^[4]

Non-Conventional Energy Sources

The sources of energy which are being produced continuously in
nature and are in exhaustible are called renewable sources of energy (or)
non-conventional energy.
Some of these sources are:
(a) Wind energy
(b) Tidal energy
(c) Solar energy

(a) Wind energy


Winds are caused because of two factors.
1. The absorption of solar energy on the earth’s surface and in the
atmosphere.
2. The rotation of the earth about its axis and its motion around the Sun.
A wind mill converts the kinetic energy of moving air into Mechanical
energy that can be either used directly to run the Machine or to run the
generator to produce electricity.
(b) Tidal energy


Tides are generated primarily by the gravitational attraction between
the earth and the Moon. They arise twice a day in Mid-Ocean. The tidal
range is only a Meter.
Basically in a tidal power station water at high tide is first trapped in a
artificial basin and then allowed to escape at low tide. The escaping water is
used to drive water turbines, which in turn drive electrical generators.
(c) Solar energy


Brief history of solar energy (or) Importance of solar energy:
Energy from the sun is called solar energy. The Sun’s energy comes
from nuclear fusion reaction that take place deep in the Sun. Hydrogen
nucleus fuse into helium nucleus. The energy from these reactions flow out
from the sun and escape into space.

ENERGY SOURCES

 Introduction to energy:-
The energy of a body is its capacity to do work. It is measured the total
amount of work that the body can do.
Energy is the primary and most universal measure of all kinds work by
human beings and nature. Every thing what happens the world is the
expression of flow of energy in one of its forms.

Different forms of energy:-

The different forms of energy are:
1. Mechanical energy (kinetic and potential)
2. Thermal (or) Heat energy
3. Chemical energy
4. Electrical energy
5. Nuclear energy
6. Electromagnetic energy
7. Gravitational energy
The S.I unit of energy is Joule or KJ or Watt.h.

Primary Energy Sources:-

Primary energy sources can be defined as sources which provide a net
supply of energy Coal, Oil, Uranium etc., are examples of this type. The
energy required to obtain these fuels is much use than what they can produce
by combustion or nuclear reaction. The supply of primary fuels is limited. It
becomes very essential to use these fuels sparingly.
Examples
Coal, natural gas, oil and nuclear energy.


Secondary Energy sources:-

Secondary fuels produce no net energy. Though it may by necessary
for the economy, these may not yield net energy.Secondary sources are like sun, wind, water (tides), etc. Solar energ can by used through plants, solar cells, solar heaters and solar collectors.


Energy sources and their availability:-

Introduction:-

Today every country draws its energy needs from a variety of sources.
We can broadly categorize these sources as commercial and noncommercial.
The commercial sources include the fossil fuels (coal, oil and
natural gas), hydro-electric power and nuclear power, while the noncommercial
sources include wood, animal waste and agricultural wastes. In
an Industrialized country like U.S.A. most of the energy requirements are met
from commercial sources, while in an Industrially less developed country like
India, the use of commercial and non-commercial sources are about equal.

MOTOR

An electric motor is a device using electrical energy to produce mechanical energy, nearly always by the interaction of magnetic fields and current-carrying conductors. The reverse process, that of using mechanical energy to produce electrical energy, is accomplished by a generator or dynamo. Traction motors used on vehicles often perform both tasks. In principle, all electric motors can run as generators and vice versa, although that is not practical with all types in all applications.
As a convention the term electric engine is not used for electric motors, but instead refers to a railroad electric locomotive.
Electric motors are found in a myriad of applications such as industrial fans, blowers and pumps, machine tools, household appliances, power tools, and computer disk drives, among many other applications. Electric motors may be operated by direct current from a battery in a portable device or motor vehicle, or from alternating current from a central electrical distribution grid. The smallest motors may be found in electric wristwatches. Medium-size motors of highly standardized dimensions and characteristics provide convenient mechanical power for industrial uses. The very largest electric motors are used for propulsion of large ships, and for such purposes as pipeline compressors, with ratings in the thousands of kilowatts. Electric motors may be classified by the source of electric power, by their internal construction, and by application.
The physical principle of production of mechanical force by the interactions of an electric current and a magnetic field was known as early as 1821. Electric motors of increasing efficiency were constructed throughout the 19th century, but commercial exploitation of electric motors on a large scale required efficient electrical generators and electrical distribution networks.

History and development

Electromagnetic experiment of Faraday, ca. 1821.^[1]

The principle

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^[2]. 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 only, unsuited to practical applications due to their primitive construction.^{[citation needed]}

Jedlik's "lightning-magnetic self-rotor", 1827. (Museum of Applied Arts, Budapest.)

In 1827, Hungarian Ányos Jedlik started experimenting with electromagnetic rotating devices he called "lightning-magnetic self-rotors". He used them for instructive purposes in universities, and in 1828 demonstrated the first device which contained the three main components of practical direct current motors: the stator, rotor and commutator. Both the stationary and the revolving parts were electromagnetic, thus employing no permanent magnets.^{[3][4][5][6] [7][8]} Again, the devices had no practical application.^{[citation needed]}

The first electric motors

The first commutator-type direct current electric motor capable of turning machinery was invented by the British scientist William Sturgeon in 1832.^[9] 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. His motors ran at up to 600 revolutions per minute, and powered machine tools and a printing press.^[10] Due to the high cost of the zinc electrodes required by 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.^{[citation needed]}
In 1855 Jedlik built a device using similar principles to those used in his electromagnetic self-rotors that was capable of useful work.^[11][12] He built a model electric motor-propelled vehicle that same year.^[13] There is no evidence that this experimentation was communicated to the wider scientific world at that time, or that it influenced the development of electric motors in the following decades.^{[citation needed]}
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.^{[citation needed]}
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.^{[citation needed]}
The development of electric motors of acceptable efficiency was delayed for several decades by failure to recognize the extreme importance of a relatively-small air gap between rotor and stator. Early motors, for some rotor positions, had comparatively huge air gaps which constituted a very-high-reluctance magnetic circuit. They produced far-lower torque than an equivalent amount of power would produce with efficient designs. The cause of the lack of understanding seems to be that early designs were based on familiarity of distant attraction between a magnet and a piece of ferromagnetic material, or between two electromagnets. Efficient designs, as this article describes, are based on a rotor with a comparatively small air gap, and flux patterns that create torque.^[14]
Note that the armature bars are at some distance (unknown) from the field pole pieces when power is fed to one of the field magnets; the air gap is likely to be considerable. The text tells of the inefficiency of the design. (Electricity was created, as a practical matter, by consuming zinc in wet primary cells!)

In his workshops Froment had an electromotive engine of one-horse power. But, though an interesting application of the transformation of energy, these machines will never be practically applied on the large scale in manufactures, for the expense of the acids and the zinc which they use very far exceeds that of the coal in steam-engines of the same force. [...] motors worked by electricity, independently of any question as to the cost of construction, or of the cost of the acids, are at least sixty times as dear to work as steam-engines.

Although Gramme's design was comparatively much more efficient, apparently the Froment motor was still considered illustrative, years later. It is of some interest that the St. Louis motor, long used in classrooms to illustrate motor principles, is extremely inefficient for the same reason, as well as appearing nothing like a modern motor. Photo of a traditional form of the motor: [3] Note the prominent bar magnets, and the huge air gap at the ends opposite the rotor. Even modern versions still have big air gaps if the rotor poles are not aligned.
Application of electric motors revolutionized industry. Industrial processes were no longer limited by power transmission using shaft, belts, compressed air or hydraulic pressure. Instead every machine could be equipped with its own electric motor, providing easy control at the point of use, and improving power transmission efficiency. Electric motors applied in agriculture eliminated human and animal muscle power from such tasks as handling grain or pumping water. Household uses of electric motors reduced heavy labor in the home and made higher standards of convenience, comfort and safety possible. Today, electric motors consume more than half of all electric energy produced.

Servo motor

Main article: Servo motor

A servomechanism, or servo is an automatic device that uses error-sensing feedback to correct the performance of a mechanism. The term correctly applies only to systems where the feedback or error-correction signals help control mechanical position or other parameters. For example, an automotive power window control is not a servomechanism, as there is no automatic feedback which controls position—the operator does this by observation. By contrast the car's cruise control uses closed loop feedback, which classifies it as a servomechanism.

Synchronous electric motor

Main article: Synchronous motor

A synchronous electric motor is an AC motor distinguished by a rotor spinning with coils passing magnets at the same rate as the alternating current and resulting magnetic field which drives it. Another way of saying this is that it has zero slip under usual operating conditions. Contrast this with an induction motor, which must slip in order to produce torque. A synchronous motor is like an induction motor except the rotor is excited by a DC field. Slip rings and brushes are used to conduct current to rotor. The rotor poles connect to each other and move at the same speed hence the name synchronous motor.

Induction motor

Main article: Induction motor

An induction motor (IM) is a type of asynchronous AC motor where power is supplied to the rotating device by means of electromagnetic induction. Another commonly used name is squirrel cage motor because the rotor bars with short circuit rings resemble a squirrel cage (hamster wheel). An electric motor converts electrical power to mechanical power in its rotor (rotating part). There are several ways to supply power to the rotor. In a DC motor this power is supplied to the armature directly from a DC source, while in an induction motor this power is induced in the rotating device. An induction motor is sometimes called a rotating transformer because the stator (stationary part) is essentially the primary side of the transformer and the rotor (rotating part) is the secondary side. Induction motors are widely used, especially polyphase induction motors, which are frequently used in industrial drives.

Electrostatic motor (capacitor motor)

Main article: Electrostatic motor

An electrostatic motor or capacitor motor is a type of electric motor based on the attraction and repulsion of electric charge. Usually, electrostatic motors are the dual of conventional coil-based motors. They typically require a high voltage power supply, although very small motors employ lower voltages. Conventional electric motors instead employ magnetic attraction and repulsion, and require high current at low voltages. In the 1750s, the first electrostatic motors were developed by Benjamin Franklin and Andrew Gordon. Today the electrostatic motor finds frequent use in micro-mechanical (MEMS) systems where their drive voltages are below 100 volts, and where moving, charged plates are far easier to fabricate than coils and iron cores. Also, the molecular machinery which runs living cells is often based on linear and rotary electrostatic motors.

DC Motors

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.

Brushed DC motors

Main article: Brushed DC electric motor

The classic DC motor design generates an oscillating current in a wound rotor, or armature, with a split ring commutator, and either a wound or permanent magnet stator. A rotor consists of one or more coils of wire wound around a core on a shaft; an electrical power source is connected to the rotor coil through the commutator and its brushes, causing current to flow in it, producing electromagnetism. The commutator causes the current in the coils to be switched as the rotor turns, keeping the magnetic poles of the rotor from ever fully aligning with the magnetic poles of the stator field, so that the rotor never stops (like a compass needle does) but rather keeps rotating indefinitely (as long as power is applied and is sufficient for the motor to overcome the shaft torque load and internal losses due to friction, etc.)
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. (Sparks are also created inevitably by the brushes making and breaking circuits through the rotor coils as the brushes cross the insulating gaps between commutator sections. Depending on the commutator design, this may include the brushes shorting together adjacent sections—and hence coil ends—momentarily while crossing the gaps. Furthermore, the inductance of the rotor coils causes the voltage across each to rise when its circuit is opened, increasing the sparking of the brushes.) This sparking limits the maximum speed of the machine, as too-rapid sparking will overheat, erode, or even melt the commutator. The current density per unit area of the brushes, in combination with their resistivity, limits the output of the motor. The making and breaking of electric contact also causes electrical noise, and the sparks additionally cause RFI. Brushes eventually wear out and require replacement, and the commutator itself is subject to wear and maintenance (on larger motors) or replacement (on small motors). The commutator assembly on a large machine is a costly element, requiring precision assembly of many parts. On small motors, the commutator is usually permanently integrated into the rotor, so replacing it usually requires replacing the whole rotor.
Large brushes are desired for a larger brush contact area to maximize motor output, but small brushes are desired for low mass to maximize the speed at which the motor can run without the brushes excessively bouncing and sparking (comparable to the problem of "valve float" in internal combustion engines). (Small brushes are also desirable for lower cost.) Stiffer brush springs can also be used to make brushes of a given mass work at a higher speed, but at the cost of greater friction losses (lower efficiency) and accelerated brush and commutator wear. Therefore, DC motor brush design entails a trade-off between output power, speed, and efficiency/wear.

A: shunt
B: series
C: compound

There are four types of DC motor:

1. DC series motor
2. DC shunt motor
3. DC compound motor - there are also two types:
   1. cumulative compound
   2. differentially compounded
4. Permanent Magnet DC Motor

Brushless DC motors

Main article: Brushless DC electric motor

Some of the problems of the brushed DC motor are eliminated in the brushless design. In this motor, the mechanical "rotating switch" or commutator/brushgear assembly is replaced by an external electronic switch synchronised to the rotor's position. Brushless motors are typically 85-90% efficient or more (higher efficiency for a brushless electric motor of up to 96.5% were reported by researchers at the Tokai University in Japan in 2009^[16]), whereas DC motors with brushgear are typically 75-80% efficient.
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 either Hall effect sensors or from the back EMF (electromotive force) of the undriven coils. 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:

• Compared to AC fans using shaded-pole motors, they are very efficient, running much cooler than the equivalent AC motors. This cool operation leads to much-improved life of the fan's bearings.
• Without a commutator to wear out, the life of a DC brushless motor can be significantly longer compared to a DC motor using brushes and a commutator. Commutation also tends to cause a great deal of electrical and RF noise; without a commutator or brushes, a brushless motor may be used in electrically sensitive devices like audio equipment or computers.
• The same Hall effect sensors that provide the commutation can also provide a convenient tachometer signal for closed-loop control (servo-controlled) applications. In fans, the tachometer signal can be used to derive a "fan OK" signal.
• The motor can be easily synchronized to an internal or external clock, leading to precise speed control.
• Brushless motors have no chance of sparking, unlike brushed motors, making them better suited to environments with volatile chemicals and fuels. Also, sparking generates ozone which can accumulate in poorly ventilated buildings risking harm to occupants' health.
• Brushless motors are usually used in small equipment such as computers and are generally used to get rid of unwanted heat.
• They are also very quiet motors which is an advantage if being used in equipment that is affected by vibrations.

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.

Coreless or ironless DC motors

Nothing in the design of any of the motors described above requires that the iron (steel) portions of the rotor actually rotate; torque is exerted only on the windings of the electromagnets. Taking advantage of this fact is the coreless or ironless DC motor, a specialized form of a brush or brushless DC motor. Optimized for rapid acceleration, these motors have a rotor that is constructed without any iron core. The rotor can take the form of a winding-filled cylinder, or a self-supporting structure comprising only the magnet wire and the bonding material. The rotor can fit inside the stator magnets; a magnetically-soft stationary cylinder inside the rotor provides a return path for the stator magnetic flux. A second arrangement has the rotor winding basket surrounding the stator magnets. In that design, the rotor fits inside a magnetically-soft cylinder that can serve as the housing for the motor, and likewise provides a return path for the flux. A third design has the windings shaped as a disc (originally formed on a printed circuit board) running between arrays of high-flux magnets facing the rotor and arranged in a circle. This design is commonly known either as the printed motor or the pancake motor because of its extremely flat profile. The armature in a printed motor is made from punched copper sheets that are laminated together using advanced composites to form a rigid disc onto which a hub can be bonded.
The windings are typically stabilized by being impregnated with electrical epoxy potting systems. These are filled epoxies that have moderate mixed viscosity and a long gel time. They are highlighted by low shrinkage and low exotherm, and are typically UL 1446 recognized as a potting compound for use up to 180°C (Class H) (UL File No. E 210549).
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.
Another advantage of ironless DC motors is that there is no cogging (vibration caused by attraction between the iron and the magnets) and parasitic eddy currents cannot form in the iron. This can greatly improve efficiency, but variable-speed controllers must use a significantly higher switching rate (>150 kHz) or direct current because of the decreased electromagnetic induction.
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.
Related limited-travel actuators have no core and a bonded coil placed between the poles of high-flux thin permanent magnets. These are the fast head positioners for rigid-disk ("hard disk") drives.

Universal motors and series wound DC motors

A wound field DC motor with the field and armature windings connected in series is called either a "series-wound motor" or a "universal motor," because of its ability to operate on AC or DC power. The ability of to operate on AC or DC power is because the current in both the field winding and the armature (and hence the resultant magnetic fields) will alternate (reverse polarity) at the same time, and hence the mechanical force generated is always in the same direction. Usually, the use of the term "universal motor" indicates a motor that has been specifically designed for
The torque of a series-wound or universal motor declines slowly with speed. Although this can be advantageous for some applications, it also means that, unloaded, the motor may "run away" and speed up to the point of mechanical failure. However factors such as external load and internal mechanical resistance may adequately limit the speed.
Operating at normal power line frequencies, universal motors are typically used in low-power applications and motors exceeding one kilowatt (about 1.3 horsepower) are very 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.
An advantage of the universal motor is that AC supplies may be used on motors which have some characteristics more common in 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, and often have high starting-torque demands. Continuous speed control of a universal motor running on AC is easily obtained by use of a thyristor circuit, while (imprecise) 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 some 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.
"Universal" or "Series-wound" motors generally operate better with DC current, but they have the ability to operate with AC current as well, making them very versatile for a broad range of applications. However, there is little to no means to control the motor's speed accurately. Unlike induction motors, the "goal" of this motor is to run a load at the highest speed possible, which has specific advantages for appliances such as vacuum cleaners and blenders and such. Many automotive starter motors are either series-wound or compound-wound motors because of the high starting torque.

AC motors

Main article: AC motor

In 1882, Nikola Tesla invented the rotating magnetic field, 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.
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.^[17] Tesla would later attain U.S. Patent 0,416,194, 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.

Components

A typical AC motor consists of two parts:

• An outside stationary stator having coils supplied with AC current to produce a rotating magnetic field, and;
• An inside rotor attached to the output shaft that is given a torque by the rotating field.

Torque motors

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 gaming world, torque motors are used in 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 ^[18] 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.

Slip ring

The slip ring is a component of the wound rotor motor as an induction machine (best evidenced by the construction of the common automotive alternator), where the rotor comprises a set of coils that are electrically terminated in slip rings. These are metal rings rigidly mounted on the rotor, and combined with brushes (as used with commutators), provide continuous unswitched connection to the rotor windings.
In the case of the wound-rotor induction motor, external impedances can be connected to the brushes. The stator is excited similarly to the standard squirrel cage motor. By changing the impedance connected to the rotor circuit, the speed/current and speed/torque curves can be altered.
(Slip rings are most-commonly used in automotive alternators as well as in synchro angular data-transmission devices, among other applications.)
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 supply current from zero speed to full speed. This type of motor also offers controllable speed.
Motor speed can be changed because the torque curve of the motor is effectively modified by the amount of resistance connected to the rotor circuit. Increasing the value of resistance 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 and net efficiency is also very poor.

Stepper motors

Main article: Stepper motor

Closely related in design to three-phase AC synchronous motors are stepper motors, where an internal rotor containing permanent magnets or a magnetically-soft rotor with salient poles is controlled by a set of external magnets that are switched electronically. A stepper motor may also be thought of as a cross between a DC electric motor and a rotary solenoid. As each coil is energized in turn, the rotor aligns itself with the magnetic field produced by the energized field winding. Unlike a synchronous motor, in its application, the stepper motor may not rotate continuously; instead, it "steps" — starts and then quickly stops again — from one position to the next as field windings are energized and de-energized in sequence. Depending on the sequence, the rotor may turn forwards or backwards, and it may change direction, stop, speed up or slow down arbitrarily at any time.
Simple stepper motor drivers entirely energize or entirely de-energize the field windings, leading the rotor to "cog" to a limited number of positions; more sophisticated drivers can proportionally control the power to the field windings, allowing the rotors to position between the cog points and thereby rotate extremely smoothly. This mode of operation is often called microstepping. Computer controlled stepper motors are one of the most versatile forms of positioning systems, particularly when part of a digital servo-controlled system.
Stepper motors can be rotated to a specific angle in discrete steps with ease, and hence stepper motors are used for read/write head positioning in computer floppy diskette drives. They were used for the same purpose in pre-gigabyte era computer disk drives, where the precision and speed they offered was adequate for the correct positioning of the read/write head of a hard disk drive. As drive density increased, the precision and speed limitations of stepper motors made them obsolete for hard drives—the precision limitation made them unusable, and the speed limitation made them uncompetitive—thus newer hard disk drives use voice coil-based head actuator systems. (The term "voice coil" in this connection is historic; it refers to the structure in a typical (cone type) loudspeaker. This structure was used for a while to position the heads. Modern drives have a pivoted coil mount; the coil swings back and forth, something like a blade of a rotating fan. Nevertheless, like a voice coil, modern actuator coil conductors (the magnet wire) move perpendicular to the magnetic lines of force.)
Stepper motors were and still are often used in computer printers, optical scanners, and digital photocopiers to move the optical scanning element, the print head carriage (of dot matrix and inkjet printers), and the platen. Likewise, many computer plotters (which since the early 1990s have been replaced with large-format inkjet and laser printers) used rotary stepper motors for pen and platen movement; the typical alternatives here were either linear stepper motors or servomotors with complex closed-loop control systems.
So-called quartz analog wristwatches contain the smallest commonplace stepping motors; they have one coil, draw very little power, and have a permanent-magnet rotor. The same kind of motor drives battery-powered quartz clocks. Some of these watches, such as chronographs, contain more than one stepping motor.
Stepper motors were upscaled to be used in electric vehicles under the term SRM (switched reluctance machine).

Linear motors

Main article: Linear motor

A linear motor is essentially an electric motor that has been "unrolled" so that, instead of producing a torque (rotation), it produces a straight-line force along its length by setting up a traveling electromagnetic field.
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. On a smaller scale, at least one letter-size (8.5" x 11") computer graphics X-Y pen plotter made by Hewlett-Packard (in the late 1970s to mid 1980's) used two linear stepper motors to move the pen along the two orthogonal axes.

Doubly-fed electric motor

Main article: Doubly-fed electric machine

Doubly-fed electric motors have two independent multiphase windings that actively participate in the energy conversion process with at least one of the winding sets electronically controlled for variable speed operation. Two is the most active multiphase winding sets possible without duplicating singly-fed or doubly-fed categories in the same package. As a result, doubly-fed electric motors are machines with an effective constant torque speed range that is twice synchronous speed for a given frequency of excitation. This is twice the constant torque speed range as singly-fed electric machines, which have only one active winding set.
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.^[19]

Singly-fed electric motor

Main article: Singly-fed electric machine

Singly-fed electric motors incorporate a single multiphase winding set that is connected to a power supply. Singly-fed electric machines may be either induction or synchronous. The active winding set can be electronically controlled. Induction machines develop starting torque at zero speed and can operate as standalone machines. Synchronous machines must have auxiliary means for startup, such as a starting induction squirrel-cage winding or an electronic controller. Singly-fed electric machines have an effective constant torque speed range up to synchronous speed for a given excitation frequency.
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 this page, are examples of singly-fed motors. By far, singly-fed motors are the predominantly installed type of motors.

Nanotube nanomotor

Main article: Nanomotor

Researchers at University of California, Berkeley, recently developed rotational bearings based upon multiwall carbon nanotubes. By attaching a gold plate (with dimensions of the order of 100 nm) to the outer shell of a suspended multiwall carbon nanotube (like nested carbon cylinders), they are able to electrostatically rotate the outer shell relative to the inner core. These bearings are very robust; devices have been oscillated thousands of times with no indication of wear. These nanoelectromechanical systems (NEMS) are the next step in miniaturization and may find their way into commercial applications in the future.
See also:

• Molecular motors
• Electrostatic motor

Efficiency

To calculate a motor's efficiency, the mechanical output power is divided by the electrical input power:
,
where η is energy conversion efficiency, P_e is electrical input power, and P_m is mechanical output power.
In simplest case P_e = VI, and P_m = Tω, where V is input voltage, I is input current, T is output torque, and ω is output angular frequency.

Implications

This means that efficiency is highest in the middle of the torque range, so an oversized motor runs with the highest efficiency. This means using a bigger motor than is necessary accounts for extra torque, and allows the motor to operate closest to no load, or peak operating conditions.

Torque capability of motor types

When optimally designed for a given active current (i.e., torque current), voltage, pole-pair number, excitation frequency (i.e., synchronous speed), and core flux density, all categories of electric motors or generators will exhibit virtually the same maximum continuous shaft torque (i.e., operating torque) within a given physical size of electromagnetic core. Some applications require bursts of torque beyond the maximum operating torque, such as short bursts of torque to accelerate an electric vehicle from standstill. Always limited by magnetic core saturation or safe operating temperature rise and voltage, the capacity for torque bursts beyond the maximum operating torque differs significantly between categories of electric motors or generators.
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 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 as 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.