Good Book on Electric Motors?

[electromateria]

I'm looking for something that will give me a good comprehensive overview of all the different motor types, how to wind them, detailed but basic explanations into how they function, etc. I don't have a good understanding of electric motors -- there's still too many knowledge gaps I'd like to fill in. Usually I just watch youtube videos or read forums, and the problem is I get pieces of scattered information but never the full overview.

It would be cool if the book has information about modern cutting edge motor technologies like teslas EV motor, but not required.

[pqass]

I can't recommend books but these youtube channels were helpful:

Academic lectures (to the point, very good, see playlists: Motors and Generators, Motor Controls):  https://www.youtube.com/user/bigbadtech/videos
Tesla, Bolt teardowns: https://www.youtube.com/user/WeberAuto/videos
Many EV teardowns, analysis: https://www.youtube.com/c/MunroLive/videos
Shop DIY, robotics, a couple of popular How Motors Work videos: https://www.youtube.com/channel/UC_SLthyNX_ivd-dmsFgmJVg/videos

[tepalia02]

Electrical technology- AC and DC machines by BL Theraja

[SmallCog]

Not exactly a book but for anyone who knows naff all about AC motors but wants to learn a bit this is a pretty good 70 odd page PDF

It’s written around submersible bore pumps but the knowledge is applicable elsewhere.

Particularly useful but oddball sections relate to figuring out which wire is which for wiring up a motor using a multimeter and sizing of motors vs generators

https://franklin-electric.com.au/aim-manual.aspx

Full PDF if you’re more into that is the first link on the page (full aim manual) otherwise being broken into topics is handy

[jonpaul]

Many College and grad level texts:

https://www.amazon.com/Electric-Machinery-Dynamics-Electromechanical-Conversion/dp/B0000CL8BE/

Machinery: The Dynamics and Statics of Electromechanical Energy Conversion   A. E. Fitzgerald   Jr. Charles Kingsley (Author) Mc Graw Hill 1961

Many others exist


Jon

[electromateria]

Electrical technology- AC and DC machines by BL Theraja

I found the PDF for free on a university site and gave it a look over. Its overly-technical for my needs, it's written for very advanced readers who have a university degree in EE I think.

I'm looking for a 100% motor specific book, I found some but not sure if they're good or not:

Permanent-Magnet & Brushless DC Motors by Kenjo & Nagamori
Electric Motors and Drives: Fundamentals, Types and Application by Austin Hughes
Ugly's Electric Motors and Controls, 2020 Edition
Electric Motors and Control Techniques by Gottlieb, Irving
How Do Electric Motors Work? Physics Books for Kids
The Electric Motor Handbook By Robert J. Boucher
Electric Motors Workshop Practice By Jim Cox
Basics of Electric Motors by Anthony J. Pansini
Basics of Electric Motors by Aavim
Electric Motor Handbook by Butterworths
Dynamos and Electric Motors. How to Make and Run Them: By Hasluck
Brushless Motors And Controllers: By Roland
Audel Electric Motors
Rewinding Small Motors by A. C. Roe
Essentials of Electric Motors and Controls Charles M. Trout
Electric Motors Workbook by Tom Henry
Armature Electric Motors Design Construction Winding Library Guide Books CD
Marvelous Magnetic Machines: Building Model Electric Motors from Scrap
Electric Motors (Workshop Practice) by Cox
1929 Audel's New Electric Library Vol V-AC Motors, Windings, Reconnecting, etc
Mechanical Design of Electric Motors by Wei Tong

[jonpaul]

Rebonjour, the Audel's books were started in the 1930s, Automotive, engines, motors, etc.

All are thick handbooks,   very practical and written for the repairman, user, or technicians.

Lots of  tips and simple explanations.

I had my first Audels in 1950s!

Jon

[electromateria]

Rebonjour, the Audel's books were started in the 1930s, Automotive, engines, motors, etc.

All are thick handbooks,   very practical and written for the repairman, user, or technicians.

Lots of  tips and simple explanations.

I had my first Audels in 1950s!

Jon

Yea those Audel books look great! There's something special about those old books -- they seem to offer really simplified and clear explanations. I love the hand drawn illustrations too 

[jonpaul]

As a child in 1950s, I discovered the Audels Automotive manual.

The engine diagrams and ignition system figures fascinated me.

I believe that book influenced me to do electronics, and became an electrical engineer.

Audel's books are everything  practical and the underlying  theory explained in very easy to digest manner.

Jon

[electromateria]

I'll share details on the best books I was able to get a look into.

Mechanical Design of Electric Motors by Wei Tong

This book seems to be the most comprehensive resource out of all of them. Nice clear language, very technical breakdowns, excellent illustrations and you'll never find a full page of math calculations. It's complex but doesn't seem fully out of reach or intimidating compared to other books.

Wei Tong is a genius - how does one man know so much about a topic.. it never ends, look at this:

Contents
Preface... xxi
Author... xxv
List of Symbols ... xxvii

1. Introduction to Electric Motors ...........................................................................................1
1.1 History of Electric Motors............................................................................................1
1.2 Motor Design Characteristics......................................................................................2
1.2.1 Motor Torque ...2
1.2.1.1 Static and Dynamic Torque ............................................................2
1.2.1.2 Motor Torque in Motor-Load System ............................................4
1.2.1.3 Continuous Torque...........................................................................6
1.2.1.4 Peak Torque .......................................................................................6
1.2.1.5 Stall Torque........................................................................................7
1.2.1.6 Cogging Torque and Reduction Methods ....................................8
1.2.1.7 Torque Ripple.................................................................................. 13
1.2.2 Motor Speed... 14
1.2.2.1 Continuous Speed .......................................................................... 15
1.2.2.2 Peak Speed ...................................................................................... 15
1.2.2.3 Speed Ripple ................................................................................... 15
1.2.3 Torque Density ............................................................................................... 15
1.2.4 Motor Power and Power Factor.................................................................... 16
1.2.5 Torque–Speed Characteristics...................................................................... 17
1.2.6 Mechanical Resonance and Resonant Frequency..................................... 20
1.2.7 Load-to-Motor Inertia Ratio ......................................................................... 25
1.2.8 Duty Cycle ... 26
1.2.9 Motor Efficiency ............................................................................................. 29
1.2.9.1 Definition of Motor Efficiency...................................................... 29
1.2.9.2 IEC Standards on Efficiency Classes of AC Electric Motors......30
1.2.10 Motor Insulation ............................................................................................ 31
1.2.11 Motor Operation Reliability ......................................................................... 36
1.3 Classifications of Electric Motors.............................................................................. 36
1.3.1 DC and AC Motors ........................................................................................ 38
1.3.2 Single-Phase and Three-Phase Motors ....................................................... 39
1.3.3 Induction and Permanent Magnet Motors................................................. 40
1.3.4 Synchronous and Asynchronous Motors...................................................44
1.3.5 Servo and Stepper Motors ............................................................................ 45
1.3.6 Gear Drive and Direct Drive Motors .......................................................... 49
1.3.7 Brush and Brushless Motors ........................................................................ 53
1.3.8 Reluctance Motors .........................................................................................54
1.3.9 Radial-Flux and Axial-Flux Motors ............................................................ 55
1.3.10 Rotary and Linear Motors ............................................................................ 56
1.3.11 Open and Enclosed Motors .......................................................................... 57
1.3.12 Motor Classification according to Power Rating....................................... 57
1.4 Motor Design and Operation Parameters ............................................................... 58
1.4.1 Back EMF Constant, K e .................................................................................. 58
1.4.2 Torque Constant, K t........................................................................................ 59
1.4.3 Velocity Constant, Kv ..................................................................................... 60
1.4.4 Motor Constant, K m ........................................................................................ 60
1.4.5 Mechanical Time Constant, τm ..................................................................... 61
1.4.6 Electrical Time Constant, τe ..........................................................................63
1.4.7 Thermal Time Constant, τth ..........................................................................64
1.4.8 Viscous Damping, Kvd....................................................................................65
1.5 Sizing Equations... 66
1.6 Motor Design Process and Considerations ............................................................. 67
1.6.1 Design Process ............................................................................................... 68
1.6.2 Design Integration ......................................................................................... 73
1.6.3 Mechatronics .................................................................................................. 74
1.7 Motor Failure Modes .................................................................................................. 74
1.8 IP Code ... 76
References ... 78
2. Rotor Design...83
2.1 Rotor in Induction Motor ...........................................................................................83
2.1.1 Wound Rotor ..................................................................................................83
2.1.2 Squirrel Cage Rotor .......................................................................................85
2.1.2.1 Factors Impacting Resistance of Squirrel Cage Rotor............... 86
2.1.2.2 Double-Cage Rotor......................................................................... 87
2.1.2.3 Casting Squirrel Cage Rotor ......................................................... 88
2.1.2.4 Skin Effect........................................................................................ 91
2.1.3 Induction Motor Design Types and Their Performing
Characteristics ............................................................................................... 91
2.2 Permanent Magnet Rotor........................................................................................... 92
2.2.1 Discovery of Phenomenon of Magnetism .................................................. 92
2.2.2 Permanent Magnet Characteristics ............................................................. 93
2.2.3 Permanent Magnet Materials....................................................................... 95
2.2.3.1 Ferrite Permanent Magnets .......................................................... 96
2.2.3.2 Rare-Earth Permanent Magnets................................................... 96
2.2.3.3 New Developments of Permanent Magnets............................... 97
2.2.4 Magnetization ................................................................................................ 98
2.2.5 Factors Causing Demagnetization .............................................................. 99
2.2.6 Maximum Operation Temperature........................................................... 102
2.2.7 Permanent Magnet Mounting and Retention Methods ......................... 102
2.2.8 Corrosion Protection of Permanent Magnets .......................................... 107
2.3 Rotor Manufacturing Process ................................................................................. 109
2.3.1 Lamination Materials .................................................................................. 109
2.3.2 Lamination Cutting ..................................................................................... 111
2.3.3 Lamination Surface Insulation .................................................................. 112
2.3.4 Lamination Annealing................................................................................ 113
2.3.5 Lamination Stacking ................................................................................... 113
2.3.6 Rotor Casting for Squirrel Cage Motor..................................................... 113
2.3.7 Heat Treatment of Casted Rotor ................................................................ 114
2.3.8 Rotor Assembly ............................................................................................ 115
2.3.9 Rotor Machining and Runout Measurement........................................... 115
2.3.10 Rotor Balancing............................................................................................ 115
2.3.10.1 Types of Unbalance ...................................................................... 118
2.3.10.2 Rotor Balancing Machine............................................................ 120
2.3.10.3 Balancing Operation .................................................................... 121
2.4 Interference Fit... 122
2.4.1 Press Fit ... 124
2.4.2 Shrink Fit... 128
2.4.3 Serration Fit................................................................................................... 131
2.4.4 Fitting with Adjustable Ringfeder® Locking Devices ............................ 132
2.4.5 Fitting with Tolerance Rings ...................................................................... 132
2.5 Stress Analysis of Rotor ........................................................................................... 135
2.6 Rotordynamic Analysis............................................................................................ 137
2.6.1 Rotor Inertia.................................................................................................. 137
2.6.2 Motor Critical Speed and Resonance........................................................ 139
2.7 Rotor Burst Containment Analysis ........................................................................ 143
2.7.1 Rotor Burst Speed ........................................................................................ 143
2.7.2 Energy in Rotating Rotor............................................................................ 145
2.7.2.1 Kinetic Energy in Rotor............................................................... 145
2.7.2.2 Elastic Potential Energy in Rotor ............................................... 146
2.7.2.3 Ratio of Potential Energy to Kinetic Energy of Rotor ............. 147
2.7.3 Rotor Burst Containment Design .............................................................. 147
References ... 150
3. Shaft Design ... 155
3.1 Shaft Materials... 155
3.2 Shaft Loads... 159
3.3 Shaft Design Methods .............................................................................................. 160
3.3.1 Macaulay’s Method...................................................................................... 160
3.3.2 Area–Moment Method................................................................................ 161
3.3.3 Castigliano’s Method................................................................................... 162
3.3.4 Graphical Method ........................................................................................ 163
3.4 Engineering Calculations ........................................................................................ 163
3.4.1 Normal Stress for Shaft Subjected to Axial Force ................................... 164
3.4.2 Bending Stress for Shaft Subjected to Bending Moment ....................... 165
3.4.3 Torsional Shear Stress and Torsional Deflection ..................................... 168
3.4.4 Lateral Deflection of Shaft .......................................................................... 172
3.4.4.1 Lateral Deflection due to Bending Moment ............................. 173
3.4.4.2 Lateral Deflection due to Transverse Force .............................. 174
3.4.4.3 Lateral Deflection due to Shear Force........................................ 176
3.5 Shaft Design Issues ................................................................................................... 176
3.5.1 Shaft Design Considerations...................................................................... 176
3.5.2 Shaft Rigidity................................................................................................ 178
3.5.3 Critical Shaft Speed ..................................................................................... 178
3.5.3.1 Shaft with Uniform Diameter .................................................... 179
3.5.3.2 Stepped Shaft ................................................................................ 179
3.5.4 Dimensional Tolerance................................................................................ 179
3.5.5 Dynamic Shaft Runout ............................................................................... 180
3.5.6 Shaft Eccentricity ......................................................................................... 180
3.5.7 Heat Treatment and Shaft Hardness......................................................... 180
3.5.8 Shaft Surface Finishing ............................................................................... 182
3.5.9 Shaft Lead ... 184
3.5.10 Shaft Seal... 186
3.5.10.1 O-Ring Seal ................................................................................... 186
3.5.10.2 Universal Lip Seal ........................................................................ 188
3.5.10.3 V-Shaped Spring Seal .................................................................. 189
3.5.10.4 Brush Seal...................................................................................... 189
3.5.10.5 PTFE Seal....................................................................................... 191
3.5.10.6 Noncontact Seal ............................................................................ 191
3.5.11 Diametrical Fit Types .................................................................................. 193
3.6 Stress Concentration ................................................................................................. 193
3.7 Torque Transmission through Mechanical Joints ................................................ 194
3.7.1 Keyed Shafts ................................................................................................. 194
3.7.1.1 Selection of Key Material ............................................................ 194
3.7.1.2 Stress Analysis of Key and Keyseat........................................... 195
3.7.1.3 Key Fitting ..................................................................................... 198
3.7.1.4 Stress Concentration Factors of Keyed Shafts.......................... 199
3.7.2 Spline Shafts ................................................................................................. 200
3.7.2.1 Advantages of Spline Shafts ....................................................... 201
3.7.2.2 Spline Types .................................................................................. 202
3.7.2.3 Stress Concentration Factors of Spline Shafts .......................... 203
3.7.3 Tapered Shafts .............................................................................................. 203
3.8 Fatigue Failure under Alternative Loading .......................................................... 205
3.9 Shaft Manufacturing Methods................................................................................ 206
3.9.1 Machined Shaft ............................................................................................ 206
3.9.2 Forged Shaft.................................................................................................. 207
3.9.3 Welded Hollow Shaft .................................................................................. 207
3.9.4 Shaft Measurement...................................................................................... 210
3.10 Shaft Misalignment between Motor and Driven Machine................................. 210
3.10.1 Types of Misalignment ............................................................................... 211
3.10.2 Correction of Shaft Misalignment............................................................. 212
3.11 Shaft Coupling... 213
3.11.1 Rigid and Semirigid Couplings................................................................. 213
3.11.2 Flexible Couplings ....................................................................................... 216
References ... 216
4. Stator Design ... 219
4.1 Stator Lamination ... 219
4.1.1 State Lamination Material .......................................................................... 219
4.1.2 Stator Lamination Patterns......................................................................... 219
4.1.2.1 One-Piece Lamination ................................................................. 219
4.1.2.2 T-Shaped Segmented Lamination.............................................. 220
4.1.2.3 Connected Segmented Lamination ........................................... 224
4.1.2.4 Two-Section Stator Lamination.................................................. 224
4.1.2.5 Stator Lamination Integrated by Individual Teeth
and a Yoke Section .......................................................................225
4.1.2.6 Slotless Stator Core....................................................................... 226
4.1.2.7 Slinky Lamination Stator Core................................................... 227
4.2 Magnet Wire ... 230
4.2.1 Regular Magnet Wire.................................................................................. 230
4.2.2 Self-Adhesive Magnet Wire........................................................................ 230
4.2.3 Litz Wire... 231
4.3 Stator Insulation ... 232
4.3.1 Injection Molded Plastic Insulation........................................................... 233
4.3.2 Slot Liner ... 233
4.3.3 Glass Fiber–Reinforced Mica Tape ............................................................234
4.3.4 Powder Coating on Stator Core.................................................................. 235
4.4 Manufacturing Process of a Stator Core................................................................ 236
4.4.1 Stator Lamination Cutting.......................................................................... 237
4.4.2 Lamination Fabrication Process................................................................. 238
4.4.3 Lamination Annealing................................................................................ 239
4.4.4 Lamination Stacking ................................................................................... 240
4.4.5 Stator Winding ............................................................................................. 242
4.4.5.1 Random Winding by Hand ........................................................ 243
4.4.5.2 Coil Formation: Distributed Winding....................................... 243
4.4.5.3 Coil Formation: Concentrated Winding ................................... 243
4.4.5.4 Coil Formation: Conductor Bar .................................................. 243
4.5 Stator Encapsulation and Impregnation................................................................ 245
4.5.1 Encapsulation ............................................................................................... 245
4.5.1.1 Encapsulation Materials.............................................................. 245
4.5.1.2 Encapsulation Process ................................................................. 248
4.5.2 Varnish Dipping........................................................................................... 249
4.5.3 Trickle Impregnation................................................................................... 250
4.5.4 Vacuum Pressure Impregnation................................................................ 250
4.6 Stator Design Considerations .................................................................................. 253
4.6.1 Cogging Torque............................................................................................ 253
4.6.2 Air Gap ... 253
4.6.3 Stator Cooling...............................................................................................254
4.6.4 Robust Design of Stator...............................................................................254
4.7 Mechanical Stress of Stator......................................................................................254
References ... 256
5. Motor Frame Design ... 259
5.1 Types of Motor Housing .......................................................................................... 259
5.1.1 Wrapped Housing........................................................................................ 259
5.1.2 Casted Housing............................................................................................ 260
5.1.2.1 Casting Materials ......................................................................... 261
5.1.2.2 Casting Process............................................................................. 264
5.1.2.3 Pressure Casting........................................................................... 268
5.1.2.4 Heat Treatment ............................................................................. 268
5.1.3 Machined Housing ...................................................................................... 269
5.1.4 Stamped Housing ........................................................................................ 269
5.1.5 Extruded Aluminum Motor Housing....................................................... 269
5.1.6 Motor Housing with Composite Materials .............................................. 270
5.1.7 Motor Housing Fabricated by 3D Printing Technology......................... 270
5.1.8 Frameless Motor........................................................................................... 271
5.2 Testing Methods of Casted Motor Housing .......................................................... 273
xii Contents
5.3 Endbell Manufacturing............................................................................................ 276
5.3.1 Casted Endbell ............................................................................................. 277
5.3.2 Stamped Endbell.......................................................................................... 277
5.3.3 Iron Casting versus Aluminum Casting .................................................. 278
5.3.4 Machined Endbell........................................................................................ 279
5.3.5 Forged Endbell ............................................................................................. 279
5.4 Motor Assembly Methods ....................................................................................... 279
5.4.1 Tie Bar... 279
5.4.2 Tapping at Housing End Surface............................................................... 279
5.4.3 Forged Z-Shaped Fastener.......................................................................... 280
5.4.4 Rotary Fasteners........................................................................................... 282
5.4.4.1 Triangle-Base Rotating Fastener ................................................ 283
5.4.4.2 Square-Base Rotating Fastener................................................... 285
5.4.4.3 Butterfly-Base Rotating Fastener................................................ 286
5.4.5 Other Types of Fasteners ............................................................................ 286
5.4.5.1 Cylinder-Base Fastener Locked with Retaining Ring............. 287
5.4.5.2 Cylinder-Base Fastener with Self-Locking Aperture.............. 287
5.4.5.3 Fastener Engaged with Housing from Housing Interior ....... 289
5.5 Fastening System Design ......................................................................................... 290
5.5.1 Types of Thread Fasteners .......................................................................... 290
5.5.2 Thread Formation ........................................................................................ 290
5.5.3 Fastener Preload........................................................................................... 290
5.5.4 Fastener-Tightening Process....................................................................... 291
5.5.5 Tightening Torque ....................................................................................... 294
5.5.6 Thread Engagement and Load Distribution............................................ 297
5.6 Anticorrosion of Electric Motor and Components............................................... 298
5.6.1 Surface Treatment Methods ....................................................................... 298
5.6.1.1 Electroplating................................................................................ 299
5.6.1.2 Electroless Plating ........................................................................ 299
5.6.1.3 Physical Vapor Deposition .......................................................... 299
5.6.1.4 Inorganic Coating.........................................................................300
5.6.1.5 Phosphate Coating .......................................................................300
5.6.1.6 Electropolishing ...........................................................................300
5.6.2 Anticorrosion Treatment of Electric Motor .............................................. 301
5.6.3 Hydrogen Embrittlement Issues................................................................ 302
References ...305
6. Motor Bearing ...309
6.1 Bearing Classification...............................................................................................309
6.1.1 Journal Bearing ............................................................................................309
6.1.2 Rolling Bearing ............................................................................................ 313
6.1.2.1 Ball Bearing ................................................................................... 313
6.1.2.2 Roller Bearing ............................................................................... 319
6.1.3 Noncontact Bearing ..................................................................................... 320
6.1.4 Sensor Bearing ............................................................................................. 322
6.2 Bearing Design ... 323
6.2.1 Bearing Materials......................................................................................... 323
6.2.2 Bearing Internal Clearances ...................................................................... 324
6.2.3 Allowable Bearing Speed............................................................................ 328
6.2.4 Bearing Fitness ............................................................................................. 328
6.2.5 Prevention of Bearing Axial Movement ................................................... 329
6.2.6 Bearing Load ................................................................................................ 331
6.2.6.1 Bearing Preload Arrangement ................................................... 331
6.2.6.2 Radial and Axial Bearing Load.................................................. 332
6.2.6.3 Load Distribution......................................................................... 332
6.3 Bearing Fatigue Life.................................................................................................. 335
6.3.1 Calculation of Bearing Fatigue Life .......................................................... 335
6.3.2 Bearing Failure Probability Distribution ................................................. 336
6.3.3 Influence of Unbalance on Bearing Fatigue Life ..................................... 338
6.3.4 Influence of Wear on Bearing Fatigue Life............................................... 341
6.3.5 Influence of Internal Radial Clearance on Bearing Fatigue Life........... 341
6.4 Bearing Failure Mode ...............................................................................................343
6.4.1 Major Causes of Premature Bearing Failure............................................344
6.4.2 Lubricant Selection ......................................................................................344
6.4.3 Improper Bearing Lubrication ................................................................... 347
6.4.4 Lubricant Contamination ........................................................................... 347
6.4.5 Grease Leakage ............................................................................................348
6.4.6 Bearing Sealing ............................................................................................ 349
6.4.7 Excessive Load.............................................................................................. 350
6.4.8 Internal Radial Interference Condition..................................................... 351
6.4.9 Bearing Current............................................................................................354
6.4.10 Impact of High Temperature on Bearing Failure.................................... 355
6.4.11 Bearing Failure Associated with Motor Vibration and
Overloading ........................................................................................... 356
6.4.12 Improper Bearing Installation and Bearing Misalignment................... 357
6.4.13 Vertically Mounted Motor .......................................................................... 358
6.5 Bearing Noise ... 359
6.6 Bearing Selection... 360
6.6.1 Bearing Type Selection Based on Load..................................................... 362
6.6.2 Bearing Type Selection Based on Speed................................................... 363
6.6.3 Selection of Bearing Size............................................................................. 363
6.7 Bearing Performance Improvement .......................................................................364
References ... 365
7. Motor Power Losses ... 369
7.1 Power Losses in Windings due to Electric Resistance in Copper Wires .......... 370
7.2 Eddy-Current and Magnetic Hysteresis Losses ................................................... 373
7.2.1 Eddy-Current Loss....................................................................................... 373
7.2.2 Magnetic Hysteresis Loss ........................................................................... 374
7.2.3 Calculations of Eddy-Current and Magnetic Hysteresis Losses .......... 374
7.2.4 Losses in Stator and Rotor Iron Cores ...................................................... 378
7.2.5 Losses in PMs ............................................................................................... 379
7.2.6 Power Losses in Other Core Components ............................................... 381
7.3 Mechanical Friction Losses ..................................................................................... 381
7.3.1 Bearing Losses.............................................................................................. 381
7.3.2 Sealing Losses .............................................................................................. 385
7.3.3 Brush Losses ................................................................................................. 385
7.4 Windage Losses... 386
7.4.1 Windage Loss due to Rotating Rotor ........................................................ 388
7.4.1.1 Taylor Vortex ................................................................................. 388
7.4.1.2 Friction Factor ............................................................................... 391
7.4.1.3 Prediction of Windage Loss due to Rotating Rotor................. 392
7.4.2 Windage Loss due to Entrance Effect of Axial Air-Gap Flow .............. 393
7.4.3 Windage Loss due to Stator Surface Roughness ..................................... 393
7.4.4 Fan Losses ... 395
7.4.5 Ventilating Path Losses ............................................................................... 399
7.4.6 Methods for Reducing Windage Losses................................................... 399
7.5 Stray Load Losses...404
References ...405
8. Motor Cooling ... 409
8.1 Introduction ... 409
8.1.1 Passive and Active Cooling Techniques................................................... 410
8.1.2 Heat Transfer Enhancement Techniques.................................................. 411
8.2 Conductive Heat Transfer Techniques................................................................... 412
8.2.1 Conductive Heat Flux and Energy Equations ......................................... 412
8.2.2 Encapsulation and Impregnation of Electric Motor ............................... 414
8.2.3 Enhanced Heat Transfer Using High-Thermal-
Conductivity Material................................................................................ 415
8.2.4 Using Self-Adhesive Magnet Wire for Fabricating Stator Winding ........ 417
8.3 Natural Convection Cooling with Fins.................................................................. 417
8.3.1 Cooling Fin ................................................................................................... 418
8.3.2 Fin Optimization.......................................................................................... 418
8.3.3 Applications of Various Fins in Motor Cooling ...................................... 421
8.3.4 Pin-Fin Heat Sink.........................................................................................425
8.3.5 Thermal Interface Materials ....................................................................... 429
8.4 Forced Air Cooling Techniques .............................................................................. 432
8.4.1 Thermophysical Properties of Air ............................................................. 432
8.4.2 Direct Forced Air Cooling Techniques .....................................................433
8.4.2.1 Forced Air Cooling at End-Winding Regions ..........................434
8.4.2.2 Forced Air Flowing through Internal Cooling Channels
across the Motor ...........................................................................434
8.4.2.3 Forced Air Flowing over Motor Outer Surfaces ...................... 438
8.4.2.4 Forced Air Flowing through Both Motor Outer
and Inner Surfaces ....................................................................... 439
8.4.2.5 Air Jet Impingement Cooling .....................................................440
8.4.3 Indirect Forced Air Cooling Techniques.................................................. 441
8.4.3.1 Indirect Forced Air Cooling with Heat Exchangers ...............442
8.4.3.2 Indirect Forced Air Cooling via Indirect Evaporative
Air Cooler ......................................................................................443
8.4.4 Fan and Blower.............................................................................................444
8.4.4.1 Fan Types.......................................................................................444
8.4.4.2 Forward-Curved, Backward-Curved, and Straight Blades
of Centrifugal Fans ......................................................................446
8.4.4.3 Fan Performance Curve and Operation Point.......................... 447
8.4.4.4 Fan Selection .................................................................................448
8.5 Liquid Cooling Techniques .....................................................................................448
8.5.1 Thermophysical Properties of Coolants ................................................... 449
8.5.2 Direct Liquid Cooling Techniques ............................................................ 450
8.5.2.1 Direct Liquid Cooling of Bundled Magnet Wires ................... 451
8.5.2.2 Spray Cooling................................................................................ 452
8.5.2.3 Liquid Jet Impingement Cooling ............................................... 456
8.5.3 Liquid Immersion Cooling ......................................................................... 457
8.5.4 Indirect Liquid Cooling Techniques ......................................................... 458
8.5.4.1 Indirect Liquid Cooling via Cold Plates Attached to
Motor Walls................................................................................... 458
8.5.4.2 Indirect Liquid Cooling via Helical Copper Pipes Casted
in Motor Housing......................................................................... 458
8.5.4.3 Indirect Liquid Cooling with Cooling Channels on
Casted Motor Housing ................................................................ 462
8.5.4.4 Indirect Liquid Cooling via Copper Pipe in Spacer................ 462
8.5.4.5 Indirect Liquid Cooling through Stator Winding Slots..........463
8.5.4.6 Indirect Liquid Cooling through Microscale Channels .........463
8.6 Phase-Change Cooling Techniques........................................................................ 465
8.6.1 Cooling with Heat Pipes ............................................................................. 465
8.6.2 Cooling with Vapor Chambers .................................................................. 467
8.6.3 Evaporative Cooling .................................................................................... 468
8.6.4 Mist Cooling ................................................................................................. 471
8.7 Radiative Heat Transfer............................................................................................ 471
8.8 Other Advanced State-of-the-Art Cooling Methods............................................ 472
8.8.1 Microchannel Cooling Systems ................................................................. 472
8.8.2 Metal Foams ................................................................................................. 473
8.8.3 Heat Transfer Enhancement with Nanotechnology ............................... 474
8.8.3.1 Nanofluid....................................................................................... 475
8.8.3.2 Carbon Nanotube......................................................................... 475
8.8.3.3 NanoSpreader™ Vapor Cooler .................................................... 475
8.8.3.4 CarbAl™ Heat Transfer Material................................................. 476
8.8.3.5 Ionic Wind Generator .................................................................. 477
References ... 477
9. Motor Vibration and Acoustic Noise.............................................................................. 481
9.1 Vibration and Noise in Electric Motor ................................................................... 481
9.2 Fundamentals of Vibration......................................................................................483
9.2.1 Simple Harmonic Oscillating System .......................................................483
9.2.2 Damped Harmonic Oscillating System.................................................... 485
9.2.3 Forced Vibration with Damping................................................................ 487
9.2.4 Forced Vibration due to Mass Unbalance ................................................ 492
9.2.5 Vibration Induced by Support Excitation................................................. 495
9.2.6 Directional Vibration................................................................................... 497
9.3 Electromagnetic Vibrations ..................................................................................... 498
9.3.1 Unbalanced Forces/Torques Caused by Electric Supply ....................... 498
9.3.2 Broken Rotor Bar and Cracked End Ring................................................. 499
9.3.3 Unbalanced Magnetic Pull due to Asymmetric Air Gap ......................500
9.3.3.1 Electromagnetic Force at Air Gap..............................................500
9.3.3.2 Asymmetric Air Gap due to Nonconcentric Rotor and
Stator .............................................................................................. 502
9.3.3.3 Asymmetric Air Gap due to Elliptic Stator ..............................504
9.3.3.4 Asymmetric Air Gap due to Elliptic Rotor...............................505
9.3.3.5 Asymmetric Air Gap due to Rotor Misalignment ..................508
9.3.3.6 Asymmetric Air Gap Resulting from Shaft Deflection ..........508
9.3.4 Nonuniform Air Gap due to Stator Slots..................................................508
9.3.5 Mutual Action Forces between Currents of Stator and Rotor ............... 509
9.3.6 Vibration due to Unbalanced Voltage Operation .................................... 510
9.4 Mechanical Vibrations.............................................................................................. 510
9.4.1 Misaligned Shaft and Distorted Coupling............................................... 510
9.4.2 Defective Bearing......................................................................................... 510
9.4.3 Self-Excited Vibration.................................................................................. 511
9.4.4 Torsional Vibration ...................................................................................... 511
9.5 Vibration Measurements.......................................................................................... 512
9.6 Vibration Control ... 514
9.6.1 Damping Materials...................................................................................... 514
9.6.2 Vibration Isolation ....................................................................................... 515
9.6.3 Tuned Mass Damper ................................................................................... 518
9.6.4 Double Mounting Isolation System........................................................... 521
9.6.5 Viscoelastic Bearing Support ..................................................................... 522
9.6.6 Active Vibration Isolation and Damping ................................................. 522
9.6.7 Measurements of Motor Vibration ............................................................ 525
9.7 Fundamentals of Acoustic Noise ............................................................................ 526
9.7.1 Tonal Noise and Broadband Noise............................................................ 527
9.7.2 Sound Pressure Level and Sound Power Level....................................... 527
9.7.3 Octave Frequency Bands ............................................................................ 528
9.7.4 Three Sound Weighting Scales .................................................................. 530
9.7.5 Averaged Sound Pressure Level................................................................ 531
9.7.6 Types of Noise .............................................................................................. 531
9.7.6.1 Structure-Borne Noise................................................................. 532
9.7.6.2 Airborne Noise ............................................................................. 532
9.7.6.3 Aerodynamic Noise ..................................................................... 532
9.8 Noise Types and Measurements for Rotating Electric Machines ...................... 532
9.8.1 Noise Types in Rotating Electric Machines ............................................. 533
9.8.1.1 Mechanical Noise......................................................................... 533
9.8.1.2 Electromagnetic Noise.................................................................534
9.8.1.3 Aerodynamic Noise ..................................................................... 535
9.8.2 Acoustic Anechoic Chamber...................................................................... 535
9.8.3 Measurement of Motor Noise .................................................................... 536
9.8.4 Acoustic Noise Field Measurement........................................................... 537
9.9 Motor Noise Abatement Techniques...................................................................... 537
9.9.1 Active Noise Reduction Techniques ......................................................... 538
9.9.2 Passive Noise Reduction Techniques........................................................ 539
9.9.2.1 Blocking Noise Propagation Paths and Isolating
Noise Sources................................................................................ 539
9.9.2.2 Using Noise-Absorbing Materials .............................................540
9.9.2.3 Motor Suspension Mounting......................................................543
9.9.2.4 Noise-Attenuating Structure ......................................................543
9.9.2.5 Smoothing Ventilation Paths ......................................................546
9.9.2.6 Selecting Low Noise Bearings.................................................... 547
9.9.3 Innovative Noise Abatement Methods .....................................................548
References ...548
10. Motor Testing ... 553
10.1 Motor Testing Standards.......................................................................................... 553
10.2 Testing Equipment and Measuring Instruments ................................................. 554
10.2.1 Dynamometer............................................................................................... 554
10.2.2 Thermocouples and Other Temperature Measuring Devices............... 559
10.2.3 Control System ............................................................................................. 560
10.2.4 Data Acquisition System............................................................................. 561
10.2.5 Torque Transducer ....................................................................................... 561
10.2.6 Power Supply................................................................................................ 562
10.2.7 Motor Testbed............................................................................................... 562
10.3 Testing Load Level ... 563
10.4 Testing Methods...564
10.4.1 Mechanical Differential Testing Method .................................................564
10.4.2 Back-to-Back Testing Method.....................................................................564
10.4.3 Indirect Loading Testing Method .............................................................564
10.4.4 Forward Short-Circuit Testing Method .................................................... 567
10.4.5 Variable Inertia Testing Method ................................................................ 568
10.5 Off-Line Motor Testing............................................................................................. 569
10.5.1 Winding Electrical Resistance Testing...................................................... 570
10.5.2 Megohm Testing .......................................................................................... 570
10.5.3 Polarization Index Testing.......................................................................... 571
10.5.4 High-Potential Testing ................................................................................ 572
10.5.5 Surge Testing ................................................................................................ 572
10.5.6 Step-Voltage Testing .................................................................................... 573
10.5.7 Determination of Rotor’s Moment of Inertia ........................................... 573
10.6 Online Motor Testing ............................................................................................... 576
10.6.1 Locked Rotor Testing .................................................................................. 576
10.6.2 Motor Heat Run Testing.............................................................................. 577
10.6.3 Motor Efficiency Testing ............................................................................. 578
10.6.4 Impulse Testing............................................................................................ 580
10.6.5 Cogging Torque Testing.............................................................................. 580
10.6.6 Torque Ripple Measurement ...................................................................... 583
References ... 585
11. Modeling, Simulation, and Analysis of Electric Motors............................................ 589
11.1 Computational Fluid Dynamics and Numerical Heat Transfer ........................ 589
11.1.1 Strategies in Modeling and Performing CFD Analysis ......................... 590
11.1.2 Rotating Flow Modeling ............................................................................. 590
11.1.3 Porous Media Modeling ............................................................................. 592
11.1.4 Numerical Simulation of Motor Cooling.................................................. 595
11.1.4.1 Mathematical Formulations........................................................ 596
11.1.4.2 Numerical Method....................................................................... 599
11.1.4.3 CFD Results................................................................................... 601
11.2 Thermal Simulation with Lumped-Circuit Modeling......................................... 607
11.3 Thermal Analysis Using Finite Element Method................................................. 610
11.4 Rotordynamic Analysis............................................................................................ 614
11.4.1 Problem Description.................................................................................... 614
11.4.2 Bearing Support’s Stiffness and Damping............................................... 615
11.4.3 Rotordynamic Modeling............................................................................. 617
11.4.4 Results of Rotordynamic Analysis ............................................................ 618
11.5 Static and Dynamic Stress/Strain Analysis .......................................................... 621
11.5.1 Static Analysis .............................................................................................. 622
11.5.2 Dynamic Analysis ....................................................................................... 623
11.5.2.1 Centrifugal Force–Induced Stress on PMs ............................... 623
11.5.2.2 Structural Analysis Using Finite Element Method ................. 625
11.5.3 Shock Load... 626
11.6 Fatigue Analysis... 627
11.7 Torsional Resonance Analysis................................................................................. 627
11.8 Motor Noise Prediction ............................................................................................ 629
11.9 Buckling Analysis ...630
11.10 Thermally Induced Stress Analysis ....................................................................... 632
11.11 Thermal Expansion and Contraction Analysis .................................................... 632
References ... 635
12. Innovative and Advanced Motor Design....................................................................... 637
12.1 High-Temperature Superconducting Motor.......................................................... 637
12.2 Radial-Flux Multirotor or Multistator Motor........................................................640
12.2.1 Radial-Flux Multirotor Motor ....................................................................640
12.2.2 Radial-Flux Multistator Motor ...................................................................642
12.2.3 Radial-Flux Brushless Double-Rotor Machine ........................................643
12.2.4 Radial-Flux Double-Stator PM Machine ..................................................645
12.3 Axial-Flux Multirotor or Multistator Motor..........................................................646
12.3.1 Single-Sided and Double-Sided Axial-Flux Motors................................646
12.3.2 Multistage Axial-Flux Motor...................................................................... 649
12.3.3 Yokeless and Segmented Armature Motors ............................................650
12.4 Hybrid Motor... 651
12.4.1 Hybrid Excitation Synchronous Machine ................................................ 651
12.4.2 Hybrid Hysteresis PM Synchronous Motor............................................. 651
12.4.3 Hybrid Motor Integrating Radial-Flux Motor and
Axial-Flux Motor..................................................................................... 652
12.4.4 Hybrid-Field Flux-Controllable PM Motor...............................................654
12.4.5 Hybrid Linear Motor ...................................................................................654
12.5 Conical Rotor Motor ................................................................................................. 655
12.6 Transverse Flux Motor ............................................................................................. 656
12.7 Reconfigurable Permanent Magnet Motor ............................................................ 660
12.8 Variable Reluctance Motor....................................................................................... 661
12.9 Permanent Magnet Memory Motor........................................................................664
12.9.1 Variable Flux PM Memory Motor..............................................................664
12.9.2 Pole-Changing PM Memory Motor ..........................................................664
12.9.3 Doubly Salient Memory Motor .................................................................. 665
12.10 Adjustable and Controllable Axial Rotor/Stator Alignment Motor .................. 667
12.11 Piezoelectric Motor ................................................................................................... 669
12.12 Advanced Electric Machines for Renewable Energy........................................... 671
12.13 Micromotor and Nanomotor ................................................................................... 672
12.13.1 Micromotor ................................................................................................. 672
12.13.2 Nanomotor.................................................................................................. 675
References ... 676
Index ... 679

[electromateria]

Matthew Scarpino
MOTORS for MAKERS A Guide to Steppers, Servos, and Other Electrical Machines

CONTENTS AT A GLANCE
Introduction 1
I Introduction
1 Introduction to Electric Motors 5
2 Preliminary Concepts 13
II Exploring Electric Motors
3 DC Motors 27
4 Stepper Motors 55
5 Servomotors 73
6 AC Motors 89
7 Gears and Gearmotors 113
8 Linear Motors 127
III Electrical Motors in Practice
9 Motor Control with the Arduino Mega 145
10 Motor Control with the Raspberry Pi 171
11 Controlling Motors with the BeagleBone Black 195
12 Designing an Arduino-Based Electronic Speed Control (ESC) 215
13 Designing a Quadcopter 241
14 Electric Vehicles 263
IV Appendixes
A Electric Generators 279
B Glossary 287
Index 293
4 Stepper Motors 55
4.1 Permanent Magnet (PM) Steppers 56
4.2 Variable Reluctance (VR) Steppers 59
4.3 Hybrid (HY) Steppers 61
4.4 Stepper Control 63
4.5 Summary 71
5 Servomotors 73
5.1 Hobbyist Servos 74
5.2 Overview of Servo Control 78
5.3 PID Control 85
5.4 Summary 87
6 AC Motors 89
6.1 Alternating Current (AC) 90
6.2 Overview of Polyphase Motors 91
6.3 Asynchronous Polyphase Motors 96
6.4 Synchronous Polyphase Motors 100
6.5 Single-Phase Motors 103
6.6 AC Motor Control 106
6.7 Universal Motors 109
6.8 Summary 110
7 Gears and Gearmotors 113
7.1 Overview of Gears 113
7.2 Types of Gears 117
7.3 Gearmotors 124
7.4 Summary 125
8 Linear Motors 127
8.1 Linear Actuators 128
8.2 Linear Synchronous Motors 131
8.3 Linear Induction Motors 137
CONTENTS
Introduction 1
Who This Book Is For 2
How This Book Is Organized 2
Let Me Know What You Think 3
I Introduction
1 Introduction to Electric
Motors 5
1.1 Brief History 6
1.2 Anatomy of a Motor 7
1.3 Overview of Electric Motors 9
1.4 Goals and Structure 11
1.5 Summary 11
2 Preliminary Concepts 13
2.1 Torque and Angular Speed 13
2.2 Magnets 18
2.3 Equivalent Circuit Element 21
2.4 Power and Efficiency 23
2.5 Summary 25
II Exploring Electric Motors
3 DC Motors 27
3.1 DC Motor Fundamentals 28
3.2 Brushed Motors 34
3.3 Brushless Motors 42
3.4 Electronic Speed Control (ESC)
Systems 49
3.5 Batteries 51
3.6 Summary 53
Contents v
12.3 Zero-Crossing Detection 225
12.4 Designing the Schematic 229
12.5 Board Layout 232
12.6 Controlling the BLDC 234
12.7 Summary 239
13 Designing a Quadcopter 241
13.1 Frame 242
13.2 Propellers 243
13.3 Motors 248
13.4 Electronics 250
13.5 Construction 259
13.6 Summary 260
14 Electric Vehicles 263
14.1 Electric Vehicle Conversion 264
14.2 Modern Electric Vehicles 267
14.3 Patents from Tesla Motors 272
14.4 Summary 278
IV Appendixes
A Electric Generators 279
A.1 Overview 280
A.2 DC Generators 281
A.3 AC Generators 283
A.4 Summary 286
B Glossary 287
Index 293
8.4 Homopolar Motors 140
8.5 Summary 143
III Electrical Motors in Practice
9 Motor Control with the
Arduino Mega 145
9.1 The Arduino Mega 146
9.2 Programming the Arduino Mega 149
9.3 The Arduino Motor Shield 158
9.4 Stepper Motor Control 162
9.5 Servomotor Control 166
9.6 Summary 168
10 Motor Control with the
Raspberry Pi 171
10.1 The Raspberry Pi 172
10.2 Programming the Raspberry Pi 174
10.3 Controlling a Servomotor 182
10.4 The RaspiRobot Board 186
10.5 Summary 192
11 Controlling Motors with the BeagleBone Black 195
11.1 The BeagleBone Black (BBB) 196
11.2 Programming the BBB 198
11.3 PWM Generation 205
11.4 The Dual Motor Controller
Cape (DMCC) 207
11.5 Summary 213
12 Designing an Arduino-Based
Electronic Speed Control
(ESC) 215
12.1 Overview of the ESC Design 216
12.2 Switching Circuitry 218

-

The next really good resource was "LEARNING MODULE 16: BASICS OF MOTORS AND MOTOR CONTROL"

It's only 45 pages and is really simple to understand, it looks like it's designed for beginners / high school students.

Time to get reading

[Infraviolet]

electromateria, can you detail what specifically about motors you're hoping to learn, and towards what application? Learnign is usually easier when one is trying to answer a specific question one has, or find out enough to solve a specific problem or plan out a specific future idea.

[electromateria]

electromateria, can you detail what specifically about motors you're hoping to learn, and towards what application? Learnign is usually easier when one is trying to answer a specific question one has, or find out enough to solve a specific problem or plan out a specific future idea.

In the short term I'd like to learn about motors I can use for EV projects (mainly interested in brushed / brushless DC / outrunner. I also use 120v AC motors for equipment / custom machinery, eventually I'll be using 3 phase motors. Very interested in linear motor systems as well. I feel I need a broad overview of everything.

This really interests me: https://www.freerchobby.cc/products/mp20280-45kw-95kg-thrust-brushless-motor-for-home-build-flying-car

My short term goal is to wind some very primitive, poorly engineered, medium sized DC motors to gain some experience. In the years to come I'll be building out a machine shop. Once I get a rotary converter, large metal lathe, milling machine etc I'll be able to try to build a well designed, extremely powerful motor like the one above (assuming I can gain enough comprehension ).

[jonpaul]

Most multi kW motors and generators are 3 phase synchronous

Fractional HP AC motors are mostly induction motors.

Invented by Nikola Tesla ( NOT THE AUTO FIRM !) circa 1890.

For a machine shop, Consider installation of three phase electric service, rotary converters are noisy and unreliable

jon

[mathsquid]

A while back I read Electric Motors and Drives: Fundamentals, Types and Applications, by Austin and Drury, and I found it to be a fantastic book. It gives thorough explanations of the physics and good practical information about different types of electric motors.

[BeBuLamar]

Most multi kW motors and generators are 3 phase synchronous

Fractional HP AC motors are mostly induction motors.

Invented by Nikola Tesla ( NOT THE AUTO FIRM !) circa 1890.

For a machine shop, Consider installation of three phase electric service, rotary converters are noisy and unreliable

jon

There used to be high power DC motors but they are not popular any more.

[amyk]

Go to archive.org and search. Books from late 19th/early 20th century might give you a better understanding of the basics than newer ones.

[james_s]

For a machine shop, Consider installation of three phase electric service, rotary converters are noisy and unreliable

For residential this is a non-starter in most of the world, it simply isn't available to houses. It doesn't really matter though, VFDs are inexpensive and very versatile, even at my friend's shop where they have 3 phase power, almost all of the machines have VFDs for the features they provide. Variable speed, soft starting and smooth reversing, etc.

[jonpaul]

sure VFD are the modern solution....

I had thought that your machines had three phase motors installed

A colleague in Fribourg Switzerland indeed has a three phase power installation by the local power utility, Richard develops SMPS, PFC for industrial applications to 30 KVA. it is a residential house!!

jon

[CaptDon]

There is a good book about circuits surrounding motors and some facts and details given about how the motor and controls interact. The book is called 'Electric motor controls 7th edition'. It was the go-to book in my 4th year electrician journeyman class here in the states. If you want to look into something that takes a lot of understanding look at an A.C. traction G.E. locomotive. The motors have a very heavy welded bar squirrel cage rotor with a three phase stator. I forget how many poles the stator has. The motors generate no output from residual magnetism but yet can produce several hundred volts at a few hundred amps each (X6) to back feed several air cooled dynamic brake grid resistors connected across the link voltage rails. The grid blowers are D.C., the higher the link voltage the faster the blowers run. Doubling the link voltage quadruples the power going to the blower motors.

[james_s]

sure VFD are the modern solution....

I had thought that your machines had three phase motors installed

A colleague in Fribourg Switzerland indeed has a three phase power installation by the local power utility, Richard develops SMPS, PFC for industrial applications to 30 KVA. it is a residential house!!

jon

Our industrial machines usually have 3 phase motors but residential stuff is all single phase. Some residential situations like large farms have 3 phase power but generally speaking it is not offered to houses, you might have all three phases running down the street but individual clusters of houses will be staggered on just one of them.

I know there are a few parts of the world where residential 3 phase is the norm but they are the exception, not the rule.

[TC]

I agree with previous posters opinion. .... Electric Motors and Drives... Hughes and Drury

[Cerebus]

I agree with previous posters opinion. .... Electric Motors and Drives... Hughes and Drury

I was just about to post a recommendation for the same. Goes from basics, through DC motors and all the many, many variations of AC motors. As a first, synoptic look across all motor types, without being too shallow, it can't be beaten by anything else I've looked at.

[Hawaka]

I have used in the past "Design of rotating electrical machines" by Juha Pyrhonen and co.

Great book, good pictures and goes quite deep into the subject.

[Neomys Sapiens]

Area1   Area2   Title   Author(s)   Publisher   Issue   Year   Pages   ISBN
EEDrives&Motion   EEPower   Control of Induction Motors   Andrzej M. Trzynadlowski   Academic Press      2001   241   ISBN 0-12-701510-8
EEDrives&Motion      Linear electric actuators and generators   I. Boldea,  A. Sayed   Cambridge Univ. Press      1997   247   ISBN 0-521-48017-5
EEDrives&Motion      The Control Techniques Drives and Controls Handbook   NN   Control Techniques          tbd   ISBN 0-85296-793-4
EEDrives&Motion      Handbook of Electric Motors   Kliman/Toliyat   CRC Press   2   2004   tbd   ISBN 978-0-8247-4105-1
EEDrives&Motion      Handbook of Automotive Power Electronics and Motor Drives   Ali Emadi (Ed.)   CRC Press      2005   668   ISBN tbd
EEDrives&Motion      Permanent Magnet Synchronous and Brushless DC Motor Drives   R.Krishnan   CRC Press      2010   588   ISBN 978-0-8247-5384-9
EEDrives&Motion      Permanent Magnet Motor Technology   J.F.Gieras   CRC Press      2010   603   ISBN 978-1-4200-6440-7
EEDrives&Motion      Electric Motor Control   NN   Delmar    9   2010   473   ISBN 1-4354-8575-0
EEDrives&Motion      Industrial Motor Control   Stephen L. Herman   Delmar    6   2010   570   ISBN 1-4354-4239-3
EEDrives&Motion      Handbook of fractional Horsepower Drives   Stoelting, Kallenbach, Amrhein   Hanser   3   2006   604   ISBN 978-3-540-73128-3
EEDrives&Motion      Elektrische Maschinen   Rolf Fischer   Hanser   16   2013   430   ISBN 978-3-446-43767-8
EEDrives&Motion      Motion Control   Federico Casolo (Ed.)   In-Teh      2010   590   ISBN 978-953-7619-55-8
EEDrives&Motion      Electric Machinery   Fitzgerald Kingsley Umans   McGraw-Hill   6   2003   703   ISBN 0-07-366009-4
EEDrives&Motion      Handbook of small electric motors   William H. Yeadon (EiC) Alan W.Yeadon (aEd.)   McGraw-Hill      2001   1186   ISBN 0-07-072332-X
EEDrives&Motion   EEPractical   Electric Motor Maintenance and Troubleshooting   Augie Hand   McGraw-Hill   2   2011   426   ISBN 978-0-07-176396-7
EEDrives&Motion      Brushless permanent-magnet and reluctance motor drives   T.J.E. Miller   Oxford Univ. Press      1989   226   ISBN 0-19-859369-4
EEDrives&Motion      Electrical Drives - Principles, Planning, Applications, Solutions   J. Weidauer, R. Messer   Siemens      2014   398   ISBN 978-3-89578-923-6
EEDrives&Motion      Antriebsloesungen - Mechatronik fuer Produktion und Logistik   Edwin Kiel (Ed.)   Springer      2007   571   ISBN 978-3-540-73425-3
EEDrives&Motion      Fundamentals of electrical Drives   A.Veltman, D.Pulle R.W.DeDoncker   Springer      2007   326   e-ISBN 978-1-4020-5504-1
EEDrives&Motion   EEPower   Electrical Machines and Drives - Fundamentals and Advanced Modelling   Jan A. Melkebeek   Springer      2018   740   e-ISBN 978-3-319-72730-1
EEDrives&Motion      Control of electrical Drives   W. Leonhard   Springer   3   2001   482   ISBN 3-540-41820-2
EEDrives&Motion      Stepping Motors - A Guide to Theory and Practice   P.Acarnley   The IET   4   2007   172   ISBN 0-85296-417-X
EEDrives&Motion   EESpecial   Fundamentals of Electromagnetic Levitation   A.J.Sangster   The IET      2012   248   ISBN 978-1-84919-664-2
EEDrives&Motion      Elektrische Antriebe in der Fahrzeugtechnik   Gerhard Babiel   Vieweg+Teubner   2   2009   164   ISBN 978-3-8348-0563-8
EEDrives&Motion      Servoantriebe in der Automatisierungstechnik - Komponenten, Aufbau und Regelverfahren   Uwe Probst   Vieweg+Teubner      2011   215   ISBN 978-3-8348-0927-8
EEDrives&Motion      Moderne Stromrichterantriebe - Leistungselektronik und Maschinen, Arbeitsweise drehzahlveraenderlicher Antriebe mit Stromrichtern und Antriebsvernetzung   Peter F. Brosch   Vogel   4   2002   385   ISBN 3-8023-1887-0
EEDrives&Motion      Industrial Motion Control - Motor Selection, Drives, Controller Tuning, Applications   Hakan Gürocak   Wiley      2016   317   ISBN 978-1-118-35081-2
EEDrives&Motion      Electromechanical Motion Devices   P.Krause O.Wasynczuk S.Pekarek   Wiley/IEEE   2   2012   511   ISBN 978-1-118-29612-7
EEDrives&Motion      Control Methods for Electrical Machines   René Husson (Ed.)   Wiley/ISTE      2009   390   ISBN 978-1-84821-093-6
EEDrives&Motion      Non-conventional Electrical Machines   A. Rezzoug, M. El-Hadi Zaim   Wiley/ISTE      2012   270   ISBN 978-1-84821-300-5
EEDrives&Motion      Control of synchronous Motors   J.-P.Louis(Ed.)   Wiley/ISTE      2011   425   ISBN 978-1-84821-273-2
EEDrives&Motion      Design of Rotating Electrical Machines   Juha Pyrhonen, Tapani Jokinen and Valeria Hrabovcova   Wiley      2008   531   ISBN 978-0-470-69516-6
EEDrives&Motion      Magnetic Bearings and Bearingless Drives   Akira Chiba, Tadashi Fukao, Osamu Ichikawa, Masahide Oshima, Masatsugu Takemoto and David G. Dorrell   Elsevier      2005   400   ISBN 0-7506-5727-8
EEDrives&Motion      Electrical Motors and Drives - Fundamentals, Types and Applications   A.Hughes   Newnes   3   2006   431   ISBN 0-7506-4718-3
EEDrives&Motion      Electrical Motors and Drives - Fundamentals, Types and Applications   A.Hughes B.Drury   Newnes   5   2019   649   ISBN 978-0-08-102615-1
EEDrives&Motion      Electric Drives and Electromechanical Systems   R.Crowder   Newnes      2006   299   ISBN 0-7506-6740-0
EEDrives&Motion      Practical Electric Motor Handbook   Irving M. Gottlieb   Newnes      1997   173   ISBN 0-7506-3638-2
EEDrives&Motion      Practical Variable Speed Drives and Power Electronics   Malcolm Barnes   Newnes      2003   299   ISBN 0-7506-5808-8
EEDrives&Motion      Engineers’ Guide to Rotating Equipment - The Pocket Reference   C. Matthews   Professional Engineering Publ.      2002   353   ISBN 1-86058-344-X
EEDrives&Motion      Der Katechismus fuer die Ankerwickelei   Raskop   HTC   12      516   
EEDrives&Motion      Elektrische Kleinmaschinen   Stölting,H.D./Beisse, A.   Teubner      1987   231   3-519-06321-2
EEDrives&Motion      Elektrische Antriebstechnik Teil1: Maschinen   Kümmel   VDE-Verlag      1986   420   3-8007-1366-7
EEDrives&Motion      Elektrische Antriebstechnik Teil2: Leistungs-Stellglieder   Kümmel   VDE-Verlag      1986   317   3-8007-1471-X
EEDrives&Motion      Handbuch der Antriebstechnik   nn   C.Hanser/SEW Eurodrive      1980   512   3-446-13089-6
EEDrives&Motion   EEPower   Grundlagen elektrischer Maschinen und Antriebe   H.O.Seinsch   Teubner      1982   230   3-519-00090-3
EEDrives&Motion      Schrittmotor-Antriebe   Prautzsch   Franzis      1988   112   3-7723-2181-X
EEDrives&Motion      Permanentmagnetisch erregte Gleichstrommotoren   J.Koch, H.J.Plaumann, K.P.Schubert   Valvo      1978   84   3-87095-248-2
EEDrives&Motion      Handbook for Brushless Motors and Drive Systems      Kollmorgen      tbd   39