Motors for Ship Propulsion

Motors for Ship Propulsion The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Citation Kirtley, James L., Arijit Banerjee, and Steven Englebretson. “Motors for Ship Propulsion.” Proc. IEEE 103, no. 12 (December 2015): 2320– 2332. As Published http://dx.doi.org/10.1109/JPROC.2015.2487044 Version Author's final manuscript Citable link http://hdl.handle.net/1721.1/102381 Terms of Use Creative Commons Attribution-Noncommercial-Share Alike Detailed Terms http://creativecommons.org/licenses/by-nc-sa/4.0/ > REPLACE THIS LINE WITH YOUR PAPER IDENTIFICATION NUMBER (DOUBLE-CLICK HERE TO EDIT) < 1 Motors for Ship Propulsion James L. Kirtley Jr., Fellow, IEEE, Arijit Banerjee, Student Member, IEEE and Steven Englebretson, Member, IEEE machines but these are 'long shots' in the competition for use Abstract—Electric propulsion of ships has experienced steady in ship propulsion. expansion for several decades. Since the early 20th century, There is a substantial advantage in having a motor that icebreakers have employed the flexibility and easy control of DC can drive the propeller of a ship directly, not requiring a speed motors to provide for ship operations that split ice with back and reducing gearbox, and we will focus on such motors in this forth motion of the ship. More recently, cruise ships have paper. Shaft speeds range from about 100 to about 200 RPM employed diesel-electric propulsion systems to take advantage of for large ships, and power ratings per shaft range from about the flexibility of diesel, as opposed to steam engines, and because the electric plant can also be used for hotel loads. Research 12 to about 50 MW. What this means is that motors suitable vessels, ferries, tankers, and special purpose vessels have also for ship propulsion, having relatively low rotational speeds, taken advantage of increased flexibility and fuel efficiency with will not be surface speed limited, and sizing considerations electric propulsion. Today, the US Navy is building an ‘all will focus on torque production. As an example, one of the electric’ destroyer to be named ‘Zumwalt’, that employs two latest Azipod© electric azimuthing podded propulsion systems induction motors for propulsion. There are several different made by ABB has an output of more than 20 MW at 150 classes of motors that might be considered for use in ship RPM[1]. As smaller and smaller ships employ electric propulsion, ranging from DC (commutator) motors through propulsion, it is expected that the range of motor ratings will conventional induction and synchronous motors to permanent become broader, extending to lower overall ratings and higher magnet synchronous machines, doubly fed machines and superconducting AC and Acyclic Homopolar machines. This shaft speeds. review paper describes features of some of the major classes of motor that might be used in ship propulsion. II. GENERAL SIZING CONSIDERATIONS To start, we will attempt to get some idea of the physical Index Terms—Induction Motors, Synchronous Motors, DC size one might expect for a propulsion motor. Motors, Permanent Magnet Motors, Acyclic Motors, Ship Consider the basic form of an electric machine as shown Propulsion. in Figure 1. This actually shows a fairly classical induction motor, but the nomenclature we will develop here could be I. INTRODUCTION applied to other machine morphologies. The rotor of the machine is mounted on a shaft which is supported on some otors for Electric Ship Propulsion are, relative to most sort of bearing(s). Usually, but not always, the rotor is inside. M Figure 1 shows a rotor which is round, but this does not need motors for industrial, commercial and residential purposes, to be the case. The stator is, in this drawing, on the outside and large in terms of rating and slow in speed. Therefore, they are has windings. With most of the machines of interest for ship quite large in terms of torque. A number of different motor propulsion, the stator winding is the armature, or electrical types have been proposed for this application, including DC power input element. In 'DC' machines with a commutator this (commutator) motors, induction motors, ordinary wound field is reversed, with the 'armature', or power handling set of synchronous motors, synchronous motors with permanent windings, on the inside. magnets serving in place of the field winding, synchronous motors with superconducting field windings, acyclic (homopolar) motors with superconducting field windings and doubly fed induction motors. Some of these, notably commutator motors, wound field synchronous (permanent magnet synchronous for smaller applications up to a few MW) and induction machines are already in use for ship propulsion, and there has been experimental development work on the others. Other machine types have been proposed, including synchronous reluctance machines and transverse flux Figure 1: Form of Electric Machine Submitted to IEEE for review November 30, 2014. This work was supported, In most electrical machines the rotor and the stator are in part, by the Office of Naval Research. made of highly magnetically permeable materials: steel or James L. Kirtley Jr. and Arijit Banerjee are with the Massachusetts Institute of Technology, Cambridge, MA 02139 magnetic iron. In many common machines such as induction Steven Englebretson is with ABB Corporate Research, Raleigh, NC 27606. motors the rotor and stator are both made up of thin sheets of > REPLACE THIS LINE WITH YOUR PAPER IDENTIFICATION NUMBER (DOUBLE-CLICK HERE TO EDIT) < 2 silicon steel. Punched into those sheets are slots which contain the slots of the armature; magnetic flux density is radial and is the rotor and stator conductors. carried in the teeth. It is important to note for now that the machine has an air Suppose both the radial flux density Br and the stator gap g which is relatively small (that is, the gap dimension is surface current density Kz can be considered to be much less than the machine radius r). The air-gap also has a approximately sinusoidal flux waves of the form: physical length . The electric machine works by producing a Br = 2B0 cos( pθ −ωt) shear stress in the air-gap (with of course side effects such as production of “back voltage”'). It is possible to define the Kz = 2K0 cos( pθ −ωt) average air-gap shear stress τ. Total developed torque is force over the surface area times moment (which is rotor radius): where B and K are RMS amplitudes. T 2 R2 0 0 = π < τ > Note that this assumes these two quantities are exactly in Power transferred by this motor is torque times speed, phase, or oriented to ideally produce torque, so we are going which is the same as force times surface velocity, since to get an “optimistic”' bound here. Then the average value of surface velocity is u = ΩR , power converted is: surface traction is: 2 P = ΩT = 2π R < τ > Ω = 2π Ru < τ > which is peripheral force times area times surface speed. 1 1 2π < τ >= B K dθ = B K ∫ r z 0 0 2 2 2π 0 Active rotor volume VR is: R , so the ratio of torque to π volume is just: If we note λS as the fraction of the periphery of the T machine that is slots and J as the RMS current density in the = 2 < τ > S slots, then: VR This average air-gap shear stress has a surprisingly large K0 = λShS JS range of values. In his paper on the Advanced Induction where h is slot height. Note we are ignoring the tooth tip Motor, the type used in the Zumwalt class of Destroyers for S region, assuming it to be negligible. the US Navy, Clive Lewis cites a number of values for air-gap shear for large motors. [2] This is reproduced in Table 1. Similarly, if BS is the RMS value of maximum flux density in the teeth, working flux density to make torque is Table 1: Range of Operational Shear Stress B0 = BS (1− λS ) . It is a simple exercise to show that, if flux Motor Type Average density in the teeth and current density in the slots are what Shear define torque, the maximum torque density will occur when Standard large industrial induction motor 13 kPa λS = 0.5 . High performance industrial induction motor 35 kPa Low Speed Mill Motor 45 kPa IPS Motor (19 MW, 150 RPM) 76 kP Advanced Induction Motor 100 kPa Large Permanent Magnet Motor 120 kPa Superconducting Synchronous Motor 340 kPa Figure 2: Windings in Slots If the shear stress is taken as given, one can now estimate So far, only the rotor volume VR has been defined. To the required reaction current density: estimate the dimensions of the active machine we must make < τ > estimates of the radial extent of the armature winding (and K0 = associated teeth) and the back iron to get diameter, and then B0 we must find the axial extent of the armature end windings. So that required radial extent of the slot/tooth region would To get started with the radial extend of the armature be: winding, consider the picture shown in Figure 2, which K0 < τ > shows, in cartoon form, a flattened version of stator hS = = conductors in slots. This figure exaggerates the extent of tooth JSλS BS JSλS (1− λS ) tips. Armature current is axial and is carried in conductors in > REPLACE THIS LINE WITH YOUR PAPER IDENTIFICATION NUMBER (DOUBLE-CLICK HERE TO EDIT) < 3 Azimuthal magnetic flux in the core of height hc is one half RMS flux density is B = 2 / 2 ≈1.414 T and air-gap of the total flux in one pole of p pole pairs, or approximately: S R flux density is B0 = BS / 2 ≈ 0.707 T (RMS) .

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