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PRINCIPLES OF ELECTRIC MACHINES AND POWER ELECTRONICS PRINCIPLES OF ELECTRIC MACHINES AND POWER ELECTRONICS THIRD EDITION DR. P. C. SEN Fellow IEEE Emeritus Professor Department of Electrical and Computer Engineering Queen’s University Kingston, Ontario, Canada VP&Publisher: DonFowley AssociatePublisher: DanSayre EditorialAssistant: JessicaKnecht MarketingManager: ChrisRuel MarketingAssistant: MarissaCarroll Designer: AlsonLow AssociateProductionManager: JoycePoh ProductionEditor: JoleneLing Thisbookwassetin10/12NewAsterLTStdbyMPSLimited,Chennai,India.Coverandtextprintedandbound byEdwardsBrothersMalloy. Thisbookisprintedonacidfreepaper. Foundedin1807,JohnWiley&Sons,Inc.hasbeenavaluedsourceofknowledgeandunderstandingformorethan 200years,helpingpeoplearoundtheworldmeettheirneedsandfulfilltheiraspirations.Ourcompanyisbuiltona foundationofprinciplesthatincluderesponsibilitytothecommunitiesweserveandwhereweliveandwork.In2008, welaunchedaCorporateCitizenshipInitiative,aglobalefforttoaddresstheenvironmental,social,economic,and ethicalchallengeswefaceinourbusiness.Amongtheissuesweareaddressingarecarbonimpact,paperspecifications andprocurement,ethicalconductwithinourbusinessandamongourvendors,andcommunityandcharitablesupport. Formoreinformation,pleasevisitourwebsite:www.wiley.com/go/citizenship. Copyright©2014,1997,1989JohnWiley&Sons,Inc.Allrightsreserved.Nopartofthispublicationmaybe reproduced,storedinaretrievalsystemortransmittedinanyformorbyanymeans,electronic,mechanical, photocopying,recording,scanningorotherwise,exceptaspermittedunderSections107or108ofthe1976United StatesCopyrightAct,withouteitherthepriorwrittenpermissionofthePublisher,orauthorizationthroughpaymentof theappropriateper-copyfeetotheCopyrightClearanceCenter,Inc.222RosewoodDrive,Danvers,MA01923,website www.copyright.com.RequeststothePublisherforpermissionshouldbeaddressedtothePermissionsDepartment, JohnWiley&Sons,Inc.,111RiverStreet,Hoboken,NJ07030-5774,(201)748-6011,fax(201)748-6008,website http://www.wiley.com/go/permissions. Evaluationcopiesareprovidedtoqualifiedacademicsandprofessionalsforreviewpurposesonly,foruseintheir coursesduringthenextacademicyear.Thesecopiesarelicensedandmaynotbesoldortransferredtoathirdparty. Uponcompletionofthereviewperiod,pleasereturntheevaluationcopytoWiley.Returninstructionsandafreeof chargereturnmailinglabelareavailableatwww.wiley.com/go/returnlabel.Ifyouhavechosentoadoptthistextbook foruseinyourcourse,pleaseacceptthisbookasyourcomplimentarydeskcopy.OutsideoftheUnitedStates,please contactyourlocalsalesrepresentative. LibraryofCongressCataloging-in-PublicationData Sen,P.C.(PareshChandra) Principlesofelectricmachinesandpowerelectronics/Dr.P.C.Sen,FellowIEEE.—Thirdedition. pages cm Includesindex. ISBN978-1-118-07887-7(cloth:acid-freepaper) 1. Electricmachinery. 2. Powerelectronics. I. Title. TK2000.S44 2013 621.31'042—dc23 2012051178 PrintedintheUnitedStatesofAmerica 10 9 8 7 6 5 4 3 2 1 In loving memory of my parents, I dedicate this book to my loving and wonderful family About the Author Dr. Paresh C. Sen is Emeritus Professor of Electrical and Computer Engineering at Queen’s University,Canada.Dr.SenreceivedhisPh.D.degreeattheUniversityofTorontoin1967.Hehas worked for industries in India and Canada and was a consultant to electrical industries in Canada.Hehasauthoredover215technicalpapersinthegeneralareaofelectricmotordrives and power electronics. Heistheauthor oftwo internationallyacclaimedtextbooks: Principles of Electric Machines and Power Electronics (Wiley, 1989, 1997, 2013) and Thyristor DC Drives (Wiley,1981).Hehastaughtelectricmachines,powerelectronics,andelectricdrivesystemsfor over45years.Hisfieldsofinterestincludepowerelectronics,electricdrivesystems,switching power supplies, wind energy systems, digital control, fuzzy logic control, and modern control techniquesforpowerelectronicsandmotordrivesystems. Dr.SenhasservedIEEEinvariouscapacities:asanassociateeditor,distinguishedlecturer, chairman of the technical committees on power electronics and energy systems, conference session organizer, conference session chairperson, society committee member, and paper reviewer. He served as an NSERC (Natural Science and Engineering Research Council of Canada) Scientific Liaison Officer evaluating university–industry-coordinated projects. Dr.Senisgloballyrecognizedasanauthorityinpowerelectronicsandmotordrivesystems. He received the IEEE–IAS (Industry Application Society) Outstanding Achievement Award in 2008 with a prize money of USD5000, and the IEEE–Canada Outstanding Engineering Educator Award in 2006 for his seminal contributions over four decades as a researcher, supervisor, teacher, author, and consultant. Dr. Sen received the IAS–IDC Prize Paper Award in 1986. He is a fellow of IEEE and a fellow of EIC. As an Emeritus Professor, Dr. Sen con- tinues to be active in research and in several IEEE societies. vii