Slobodan N.

Vukosavi}

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ii

, 2010.

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Recezenti:
Prof. dr M
Prof. dr

ELECTRIC MACHINES
Electromechanical energy conversion. Modeling of electromechanical systems.
Magnetic circuits, magnetic flux and magnetomotive forces. Electromagnetic
torque. Winding turns and sections. Concentrated and distributed windings.
Electromotive forces and magnetomotive forces of windings.DC current
machines. Induction machines. Synchronous machines. Coordinate
transformations, dynamic model of electric machines.Steady state operation,
equivalent circuits and mechanical characteristics. Power losses. Copper and
iron losses. Mechanical losses. Machines power supply and controls. Transient
phenomena in electric machines.

iii

iv

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PREFACE
This textbook is intended for engineering students taking their first course in
electrical machines. It is also recommended for students preparing a capstone
project where they need to understand, model, supply, control and specify
electric machines. The book is primarily written for Electrical Engineering
students. At the same time, it can be used as a valuable reference for other
engineering disciplines involved with electric actuators, electric generators and
drives. The book is self-contained and it comprises questions and answers and
solved problems wherever the learning process requires an overview.
This book comes out of the fifteen years of authors experience teaching
Electrical Machines at the Department of Electrical Engineering, University of
Belgrade. Introductory Chapters are suited for second year students with a
rather limited background in mathematics, physics, engineering fundamentals,
circuit theory and electromagnetics. Prerequisites do not include spatial
derivatives and field theory. Necessary background includes elementary
electrostatics and magnetics, DC and AC current circuits and some elementary
skill with complex numbers and phasors.
The scope of this textbook is the set of basic knowledge and skills in Electrical
Machines the prospective engineers should acquire. The approach starts with
basic functionality and the role of electrical machines in their typical
applications, their electrical and mechanical connections and characteristics.
Mathematical models of electrical machines are developed by using coordinate
transforms. Before applying Clarke and Park transforms, the need for them is
emphasized and the benefits are discussed, along with available options. The

vi

effort of applying transforms is justified by obtaining a more intuitive, concise

and easy-to-use model. Steady state operation is described by equivalent
circuits and mechanical characteristics. Design and construction of practical
machines is discussed in the extent needed to understand the principles of
operation, the power losses and cooling, and the problems of power supply and
control of electric machines. Details such as the slot shape and the disposition
of permanent magnets are discussed as far as they affect the machine
parameters and performance. The book covers DC machines, induction
machines and synchronous machines. Design of magnetic circuits, windings
and mechanical elements are left out of the scope.
The authors wishes to thank the reviewers, Prof. Milo Petrovi and Prof.
Dragutin Salamon for their valuable comments and suggestions. In addition the
author would like to thank Prof. Joef Varga, renown expert in design of
electrical machines. Particular contributions of Assistant Prof. Petar Mati and
Prof. Mili R. Stoji made a significant improvements in this book consistency
and value. The author owes special thanks to assistants Nikola Popov, Dragan
Mihi, and Igor Cvetkovi for their help and devoted efforts in technical
preparation of this manuscript.

vii

viii

ix

1 .............................................................................................. 1
1.1 .................... 1
1.1.1 ..................................... 1
1.1.2 .................................. 2
1.1.3 ......... 2
1.1.4 ............................................................... 3
1.1.5 ............................................... 3
1.1.6 .......................................... 4
1.1.7 .................................................. 5
1.2 .............................. 6
1.3 ............................. 11
1.3.1 ................. 13
1.4 ..................................... 15
1.4.1 ................. 16
1.4.2 ............................................................ 16
1.4.3 .......................................... 16
1.4.4 ........... 17
1.4.5 ..................................................... 18
1.5 ............................ 18
1.5.1 ................................................... 20
1.5.2 ....... 21
2 ............................. 27
2.1 ................................................................... 27
2.2 ......................... 29
2.3 ................ 30
2.4 ............................................................ 32
2.5 .......................................................... 34
2.6 ................................................................ 35
2.7 ............ 36
2.8 ..................................................... 37
2.9 .................................................... 41
2.10 ............................................................... 42

2.11 ............... 43
2.11.1 , .............. 43
2.11.2 , ..... 45
2.11.3 .............................................................. 46
2.11.4 ................................................... 48
2.11.5 ...... 50
2.11.6 .................................... 51
2.12 .................. 52
2.12.1 .................................................. 53
2.12.2 ...................................................... 55
2.12.3 - ................................... 58
2.13 ................................................................. 60
2.13.1 .......................................... 61

62

62

63
2.13.2 ............................................................ 64
2.13.3 ........ 64
2.13.4 ......................................... 65
2.13.5 ....................................... 69
2.13.6 ........................... 70
2.14 ........................................... 72
2.14.1 ........................................ 72
2.14.2 .................................. 73
2.14.3 ............................. 75
2.14.4 .................... 75
2.14.5 ....... 77
2.15 ............................................ 80
2.15.1 .............................. 81
2.15.2 ...................................................... 82
2.15.3 ..................................................................... 83
2.15.4 ...................................... 85
2.15.5 ................................. 87
2.15.6 ................................................. 89
2.15.7 ...... 92
2.15.8 , .................... 94
2.16 ................................. 98
2.16.1 ......................................... 99

100
2.16.2 ............................................................. 102

102

103

xi

xii

103

103
2.16.3 ............................................................ 104
2.16.4 .............................................. 105
2.16.5 ................................. 106
2.16.6 ....................................................... 108
2.16.7 .......................................... 112
2.16.8 .................................................... 113
2.16.9 ..................................................... 116
2.16.10 ............................................ 119
2.16.11 ........................ 120
2.16.12 ................................................ 121
2.16.13 ............................. 122
2.16.14 . 124
2.16.15 ......................... 126
2.17 ........... 127
2.17.1 .......... 129
2.17.2 ........................ 130
2.17.3 ........................................ 132
2.17.4 ............. 135
2.17.5 ....................... 136
2.17.6 ..................................................... 138

139

140
2.17.7 .................................................... 141
2.17.8 ...... 142
2.17.9 ... 143
2.17.10 .... 146
2.17.11 .......................................................... 150
2.17.12 ................................... 152

152

153

153
2.18 ............................... 154
2.18.1 .. 155
2.18.2 .. 158
2.18.3 .................................. 160

161

163

166
2.18.4 ..... 170
2.18.5 ........ 172

2.18.6 ................................... 177

180

180

182

184
2.18.7 ........ 185
2.18.8 ............. 187
2.18.9 ........................ 189
2.18.10 ................................... 193

194
2.18.11 ........................... 196

198

199

201

205
2.18.12 . 206
2.18.13 .... 207
2.18.14 .......... 210
2.18.15 ...................... 213
2.18.16 ........................................ 215

215

220
2.19 ......... 223
2.19.1 ............................... 224
2.19.2 ................................. 224

225

226

227

228

229
2.19.3 .............................. 229

230

230

231

236

238
2.19.4 .......... 242
2.20 ............................................................. 243
2.20.1 .......... 244

246

247

249

xiii

xiv

2.20.2 .............................. 250

2.20.3 .............................. 252

252

252

253
3 ............................................. 257
3.1 ............................................ 259
3.2 ......................................................... 259
3.3 ...................................... 260
3.4 ......................................... 261
3.5 ........................................................ 262
3.6 .................................................................. 264
3.7 .......................................................................... 269
3.8 ......................................................... 272
3.9 ................................ 273
3.10 ............................................... 278
3.11 ............................................................. 282
3.12 ................................................ 284
3.13 ................................................................ 285
3.14 ..................................................................... 285
3.15 .................................. 289
.
290

290

290
3.16 ................................... 292
3.17 .................. 292
3.18 ......................... 295
3.19 .................. 296
Ea
298
Mem
299
3.20 ..... 300
3.21 ......... 301
3.22 .......... 303
3.23 ................................... 305
3.24 ......................................................... 306
3.25 .......................... 307
3.26 ........................ 307
3.27 .................................................... 309
3.28 ............................... 310
3.29 ............................................. 312

315

3.30 .......... 316

3.31 ............................................... 317
3.32 ................................... 320
3.33 ........................ 322
3.33.1
e................................................................... 322
3.33.2 M - U - I ........... 324
I :
324
II :
325
III :
325
IV :
325
3.33.3 ............. 325
3.33.4
............................................................... 329
.
330

331

331

332

332
3.33.5 ..................................................... 333
3.33.6 ........................ 338
3.34 ................................................. 341
3.34.1 ...................................................... 341
3.34.2 ....................................... 342
3.34.3 ........................................ 342
3.34.4 ..................................................... 342
3.35 .................. 343
3.36 ............................................................ 348
3.37 .......................................................... 348
3.38 ............................................................. 349

349
350

351

351

352

352

352

352
3.39 ......................................... 353
3.40 .................................... 353
3.41 .................................................... 354

354

xv

xvi

355

355

355

355
(PF)
355
(PFe+PF)
356

356
3.42 ..................................... 358
3.43 .......... 358
4 ................................................................. 361
4.1 ......................... 363
4.2 .................................................................. 364
4.3 ....................................................................... 365
4.4 ................................................ 367
4.5 ................................................ 368
4.6 .................................................... 370
4.7 .......................................... 372
4.8 ....................... 374
4.9 ................. 375
4.10 ............................................................ 376
4.11 ....................................... 377
4.12 .............................................. 381
4.12 ..................................................... 383
4.13 ................................................................ 385
4.13.1 K = 1 ......................... 389
4.13.2 K = (2/3)0,5 ................ 389
4.13.3 K = 2/3 ...................... 390
4.14 ................................ 390
4.15 ................................................................. 392
4.16 .... 393
4.17 ....................................... 394
4.18 .......... 396
4.19 .................................................. 397
4.20 ............................. 397
4.21 ................................................. 399
4.22 ................................. 400
4.23 ......... 401
4.24 ........................................................... 403
4.25 ........................................................... 404
4.26 .... 407
4.27 ................................... 408

4.28 .................................. 410

4.29 dq ..... 411
4.30 ............... 413

413
4.31 dq ............................ 414
4.32 dq .................. 416
4.33 dq ..................................... 417
4.34 .................................................................... 419
4.35 .............................................................. 419
4.36 ......................................................... 420
4.37 ............................................... 420
4.38 ............... 422
4.39 ...................... 425
4.40 ....... 427
4.41 ................... 429
4.42 ................................... 432
4.43 ....................... 436
4.44 ..................... 438

443
4.45 ............................... 445
4.46 ........................................ 448
4.47 ..................................... 450
4.48 ................................ 451
4.49 ....................... 451
4.50 ................................................................ 453
4.51 ..................................... 454
4.52 ........................................................ 456
4.53 .......... 457
4.54 .................................... 458
4.55 .... 458
4.56 ................................................. 460
4.57 ......................... 460
4.58 .................. 462
4.59 ............ 463
4.60 ..................................... 465
4.61 .................................................... 468

471
4.62 ........................ 471

472

473

473
4.63 ......................................... 476

xvii

xviii

4.64 ....................................... 478

4.65 ............. 479
4.66 ....... 480
4.67 ............................... 481
4.68 .................................... 481
4.69 ................. 482
4.70 .............................. 483
4.71 .............................................. 484
4.72 ..... 486
4.73 ................................ 488
4.74 ............................................................. 490
4.75 .......... 492
4.76 .............. 493
RI
495

496
4.77 .................................. 498
4.77.1 ........................................ 498
4.77.2 ...... 501
5 ................................................................... 503
5.1 ......................... 504
5.2 ............................................................... 504
5.3 ...................................................................... 505
5.4 ..................................................................... 508
5.5 ...................................... 511
5.6 .................................................... 511
5.7 .......................................................... 513
5.8 ............. 514
5.9 ....... 515
5.10 .......................................... 516
5.11 .................... 518
5.12 .......................... 520
5.13
.......................................................... 521
5.14 ..... 523
5.15 .................................... 524
5.16 ........................................ 525
5.17 ..................................................... 527
5.18 3/2 .................................. 528
5.19 ............... 531
5.20 ................................................. 532
5.21 .................................................. 534

5.22 .................. 536

5.23 ......................................... 536
5.24 .... 538
5.25 .......................... 540
5.26 ............... 541
5.27 ........................................................ 543
5.28 .......................................................... 544
5.29 .. 546
5.30 ....... 546
5.31 ................................................................ 548
5.32 ............ 549
5.33 .......... 551
5.34 ...... 555
5.35 ...................... 556
5.36 ...................... 557
5.37 .............. 558
5.38 ........... 559
5.39 ............ 560

561

561

562

562
5.40
...................................................................... 565
5.41 ............................................. 565
5.42 LC ..................................... 568
5.43 .................... 571
5.44 ............................................................ 571
5.45 ........................................... 573

574
ISK1
575
ISK2
576
ISK3
579
5.46 L ...... 580
5.47 e e ......................... 583
1
583
2
583
3
583
5.48 584
5.49 ................................... 585
5.50 .............................. 586
5.51 .................................................. 587

xix

xx

5.52 ...... 589

5.53 .......... 591
.................................................................................. 595

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(1.1)

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(1.2)

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1.1.7
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1.2. .

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(A)
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Pm = mMm , .

(D)
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750 kV,
1000 kV.

(F)

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10

1.3.

1.3

11

1.3


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m. ,
dm/dt = m, . m
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SI , s-1,
. f = /2 (Hz).
,

n=

60
m 9,54 m .
2

(1.3)

Mem
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.
F,
, , . 1.4
Mem = FD, R = D/2
.
1.4 Mem =
FD, R = D/2 .

12

Mem Mm,
.
, Mem > Mm,
. , . (1.4).

dm
= Ja = M em M m
dt

(1.4)

1.4 . .

a = dm/dt [rad/s2] .
, .
Mem Mm.
J .

, J = JR + JRM JR
JRM. 5 -

1.3

13

. , R m.
J = mR2.
(1.1):
R m. .
(1.1):
JRM = mR2.

1.5.

() (B). (C)
.

1.3.1
,
(up, ip, pp = up ip) (Up, Ip, Pp = Up Ip),
(IEC). F, M . M
m .
, .
, s-1.

. z . ,

14

3. ,
uS iS.
, uS iS
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. US
IS. [A] A. ().
sin, cos, rot, div, mod, d ,
, .

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G G G
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B,
H, F .

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1954. . .
SI
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. , W F, l,
4. SI , W[J]
= F[N] l[m], ,

. space vector. .
. " V"

.
4 W = Fl ,
.
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1.4

15

1 J = 1 N 1 m. ,
, Fl
. . , .
.
Vs = Wb, Nmrad/s = W, Nmrad = J, A=V, AH = Wb = Vs,
.

1.4
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1.4.2

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1.4.3
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1.4

17

1.4.4

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18

1.4.5
. u = Ri + d/dt,
J dm/dt = Mem Mm. J
R , m ( ).

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23

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24

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1.5

25

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2.1

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G
G
G G
F = QE + Q v B

(2.1)

, . B
.
, (2.1)
.
2.1 l i B. F

28

i , l, B . 2.1, . x, y, z, ,

.

2.1.

G
G
l = l ix ,
G
G
B = B iz ,
G G
G
F = i l B

(2.2)

,
F = l B i.

l B.
y y, Wm = Fy.
vy, pm
= Fvy. , pm
. ,
, pm ,
.

2.2

29

, ,
e. e i (pe = ei) (pm = Fvy).
,
pe pm.
.

2.2
.
,
.

2.2.

(A)
. (B) . (C) .

30

, 2.1. .
,
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.
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1 A , d = 0,1 m, .
(2.3).

B = 0

I
2d

= 4 10 7

1
T = 2 10 6 T
2 0,1

(2.3)

, l = 1 m (2.4).

F = l B I = 2 106 N

(2.4)

,
, 1
,

.

2.3

, . 1 . S
B. S
C,
. S,
S , = BS.
,
S.

2.3

31

2.3 ,
, . l,
v y .
,
Fs. B z.
Eind.
. Q, , (2.1),
.

G
G
G
G G
G G
F = QE + Q v B = Q v B = QEind

) (

(2.5)

, QE .
F Q,
B.

G
G G
Eind = v B

2.3.

(2.6)

e l. ,

32

Eind .
,
(2.7).

G G
GG G
e = l Eind = l v B

(2.7)

, x , z , y .
(2.8), a
a e = lvB. e
, l.

G
G
G
G G
G
l = l ix , B = B iz , v = v iy ,
GG
G
G
Eind = vB ix , e = l Eind = lvB

(2.8)

2.4
, 2.3, ,
e, R. 2.4. , i = e/R. , R . ,
. i- Fm
(2.2). Fs ,
Fm. 2.4, Fsv ei.
e = lvB, , u = Ri, R.
, 2.4, ,
(2.9).

G G
G
G
F = i l B = ilB iy

(2.9)

2.4

33

, Fs
Fm .
.
e,
i = e/R .

2.4.

, R.

, , v , .

G
G
G
G
Fs + Fm = 0; Fs = Fm ;

G
G
Fs = Fm = ilB

(2.10)

Fs Pm = Fsv = ilBv. e
Pe = ei = ilBv = Pm. Pe = e2/R > 0, . ,
, ,
, (Pe = Pm).
(2.1): , 2.4, , ?
(2.1): , , .

34

2.5

e . 2.5 (Fe >> o),
.
,
.

2.5.

, .

. ,
,
() , ,
. () . () . ,
.
, . .

.
(2.2):
?

2.6

35

(2.2):
. ,
.
. , , .
. , .

2.6
2.6, .
.
B , B .

2.6.

2.6
.
, .
, .

36

, ()
. ,
.
,
.

2.7
, E, 2.7. , . , .
.

. F .
x, Fx.
, .

2.7.

2.8

37

2.8

,
, .
2.8, = r0. 0.
r >1
. ,
x = a, . , x = 0,
. 0 < x < a F .

2.8.

U, E E = U/d, d .
, U = Ed , . D = r0U/d, D = 0U/d.
(2.11), S = ab .

38

We =

1 U a x
1
U x
0
Sd + r 0 Sd =
a
2 d
2
d a

(2.11)

1 U Sd
= 0
[(a x ) + x r ]
2 d a
U, , Fx
Wi = We + Wmeh
( 2.19).
(2.12).

F=

d We
dx

1 U Sd
( r 1)
0
2 d
a

(2.12)

F .
,
p = we1 - we2, we1 we2
.
w0 = 10(U/d)2,
wd = 1r0(U/d)2, F
(2.13), Sd = bd = Sd/a
.
2

1 U
Sd
0 ( r 1)
F = (wd w0 )S d =
2 d
a

(2.13)

(2.3):
. Q ,
.
(2.3):
. 1/
. U .
, Ed U,
E=U/d .

2.8

39

, Dd D0 ,

D0 = 0

U
U
, Dd = r 0 .
d
d

G G

= n D .
,
, . ,
,
D, .
2.8, Q x Dd D0,

Q = (a x )b D0 + xb Dd = (a x )b 0
= b 0

U
U
+ xb r 0 =
d
d

U
(a x + x r ) ,
d

C=

Q b 0
(a x + x r ) .
=
U
d

, Wmeh = Fx
, ,
Wmeh = - We.
F = -dWe/dx.
We = 1Q2/C, We = 1CU2.
Q , U ,

F =

dWe
dx

Q2 d 1
.
2 dxC

40

Q 2d d
1

F=
2b 0 d x a x + x r

Q 2d

1
=
( r 1)
2b 0
a x + x r

,
. Q =
CU ,

U2
b 0 0 U 2
( r 1) =
( r 1) Sd
F=
2
d
a ,
2
2 d
(2.12) (2.13).
x,

.
(2.4):
2.8
. E D
?
?
(2.4):
,
r
.
wed = 0rE2/2 r wev = 0E2/2 . wevVv + wedVd, wev wed
, Vv Vd , . , Vv Vd . wev < wed,
. ,
, . Q , ,
E . E,
. We(x),

2.9

We =

41

1 Q2 Q2
d
=
,
2 C
2 (a x + x r )b 0

, Q ,

.

2.9
,
, . . ,
,
. , , .
.
(
).
. , .
.
,
. .

. ,
.

42

2.9.

2.10
o
. , . 2.10 . , , , . ,
.


. .

2.10. .

2.11

43

50 Hz, . , .

2.11
. .
,
.
, 2.11.
(S >> d2), E = U/d [V/m],
U . D [As/m2]
E 0.
.
,
. .
2.11.1 ,
, , E =
U/d. D Q/S. D
E ( ) 0.

E=

U
Q
U
; D = = = 0 E ; Q = 0 ES = 0 S
d
S
d

(2.14)

44

2.11.

C Q U. , .

C=

(2.15)

Q
S
= 0
U
d

we .
,
. we = 0E2. V =
Sd, W =
CU2 = Q2/C.
W e = we d V =
V

( D d E )d V = 2
G

Q
1
1
= Sd 0 E 2 = CU 2 =
2
2
2C

E 2 dV =

(2.16)

2.11

45

2.11.2 ,
2.12, .
.
,
F. ,
x, Fx. , We .
F
,
.
x. ,
.
We ,
.

( )
.
2.12 U
.
, C .
, .
, Q = CU ,
Q.
Wi = UQ, Wmeh = Fx.
, . ,
(2.17).
,
, We = Wmeh = Wi.
2.12, ,
.
, D ,
.
, . , Wmeh = -We. , (2.18).

46

U 2 0S
1
1
We (x ) = S (d - x ) 0 E 2 = CU 2 =
2 d - x
2
2

(2.17)

2
2
Q Q d - x
1
=
We (x ) = S (d - x ) 0 E 2 =
2C 2 0 S
2

(2.18)

2.12. .

2.11.3

. ,
, . 2.12 . Wmeh = Fx
Wmeh = -We, Wmeh
= Wi. ,
x, .

2.11

47

, 2.12
. , (2.19).

Wi = U Q = 0
Wi = Wmeh + We

(2.19)

Wmeh = We

F, (2.20). We x , We/x
We(x) x = x x = 0.

F =

We
x

F =

dWe
d Q2 d - x
Q2
=
=
dx
dx 2 0 S 2S 0

(2.20)

, .
, (2.21).

Wi = U Q;
Wi = Wmeh

CU 2 1
1
= U Q = Wi
We =
2
2 2
+ We Wmeh = Wi We = We

(2.21)

F, (2.22). We x , We/x dWe(x)/dx.

dWe d U 2 0 S U 2 0 S
=
=
F =+
=
dx dx 2 d - x 2 (d - x )2
E2
D2
Q2
0S =
S=
=
2
2 0
2S 0

(2.22)

(2.20) (2.22) , , . ,
, C .
,

48

F =

dWe
d Q2 1
Q2 d 1
=
=

.
dx
dx 2 C
2 dx C

, ,
C .
,

dWe
d U 2
U 2 dC
= + C = +
F =+
.
dx
dx 2
2 dx
(2.5):
(2.20) F
, (2.22)
.
, Q.

? .
(2.5):


.
.
. , . D, E=D/0.
.
2.11.4
,
. , Wmeh , Wmeh =
-We. , Wi
, We = Wmeh = Wi.

2.11

49

2.13.
.
,
,
. We we = 10E2 . . Emax 30 kV/cm.
, , . we .
, We(max) . , , .
, , , .
, , , ,
. ,
. . , , .

2.13. (A),
(),
.

50

(2.6):

. ,
, Em = 30 kV/cm.
(2.6):
. S, d
we(max) = 0 Em2. W = Sd we(max).
(2.7):
f , .
(2.7):
f Psr = f W
= f Sd we(max).
2.11.5
.
. , . . .
.
. ,
.
,
.

-

2.11

51

. 0 =
8,8510-12 10-11, 0 = 410-7 10-6.
wm = 0H2/2 we = 0E2/2.
, . ,
Emax 30 kV/cm 3000 kV/m,
H Hmax Bmax/0
1000 kA/m. . ,
(103-104
) .
2.11.6
, E H. . .

. ,
Wm2.
.
. E H,
.
, , . , . , . ,
. , .

. (
)

52

G
G G D
rot H = J +
,
t

(2.23)

D H. H
, H .
H
.

. ,
, .
, .
,
.
.
( ),

G
G
B
rot E = ,
t

(2.24)

B () ,
E .

2.12


. .
.
.

.
.

2.12

53

2.12.1
2.14 . , , U, . AB l1
U. AB,
U . AB ,
R.

2.14.

, i.
l1 2.14
AB. ,
B. Fm (2.25).

G G
G
Fm = i l1 B

(2.25)

l1 , Fm = l1iB. 2.14, . , v . Fs,

. ,
, v , .
.

54

G
G
G
G
Fs + Fm = 0; Fs = Fm ;

G
G
Fs = Fm = il1B

(2.26)

,
Eind,
.
, e = eAB
(2.27)

G G G
G G
e = l1 Eind = l1 v B

( )

( )(

(2.27)

,
a a e = l1vB. e = eAB ,
2.14.
e = eAB > 0 A
B.
, i = (U - e)/R.
, i(t) I =
(U l1vB)/R. Pi = Ui = ei + Ri2 PAB = ei =
l1vBi, P = Ri2. .
PAB . , Fm Fs,
. , Pmeh = Fmv = l1iBv. Pmeh , U, . Pmeh = Fmv = PAB =
ei = l1vBi, Pi
(2.28).

Pi = Ui = ei + Ri 2 = Fm v + Ri 2 = Pmeh + Ri 2

(2.28)

, ,
. e Pe = e(-i) = -ei < 0. , e , ei = l1vBi, Pmeh = Fmv =
ei. , . (2.29) .

2.12

ei = Fm v

55

(2.29)

, P = Ri2 . , , . , , .
P .
,
. . , , . ,
, , .
R. ,

, , .
,
2.14 , .
2.4 .
2.12.2

,
. ()
2.15. ABCD, DL , B. ,
2.15, .
m m = dm/dt.
m = 0, S = DL .
I.
F1 AB CD . L, F1 = LIB. BC DA, D,
, . m=/2,

56

BC DA ,
, .

2.15.
.

Mem = DF1. m = dm /dt,

(t = 0) Pmeh = Mem m = DLIBm.
Pmeh , I, .

. A1 D1
u = vA1 vD1.
ABCD, u = RI + d/dt,
S R
.
S.
ABCD, ,
.
2.15 1.16, n.
, S m .

2.12

57

2.16. .

2.16, m S.
, .
m, S n1.
, (m) =
msin(m) = msin(mt), m = BS
m=/2. ,
u = RI + mmcos(mt).
, m = 0,
(2.30).

Pi = uI = RI
= RI

+ I m m = RI

+ I m BS = RI

(2.30)

+ I m BS =

+ DLIB m = Pmeh + RI

, ,
.
m = 0,
Mem = mI = Pmeh/m. m, K F1,
2.16, K=(D/2) cosm. Mem
m (2.31)

M em = m I cos m

(2.31)

(2.31)
. 2.15

58

. , .
, 2.15 ,
.
,
.
2.12.3 -
2.15, e1 e2
.
, , .

2.17. .

2.17 ,
A1 D1. S .
S, n
2.15 2.16.
I
(ABCD) n.
m,
2.15 S.
S ,
, . . ,
. -

2.12

59

. 2.17,
.
Req = , e1
. , , A1 D1
, e1 .
,
. ,
.
.

. ,
2.15,
.
e1, (2.32).

e1 =

(2.32)

d
dt

e1 <0,
ABCD. ,
.
, , ,
.
.
Req = , . (Req = 0,
),
. (2.33)

u = Ri e1 = Ri +

d
,
dt

(2.33)

u = 0 R = 0, d/dt = 0.
.
, 2.15, 2.17.
e1 2, -

60

2.15 2.17. e1,

(B) 2.17, (2.32). ,
() (2.34). e2 = +d/dt
- .

e2 = e1 =

d
dt

(2.34)

2.13

.
, .
, ,
. , (a). 2.18.
2.18 , .
() .
,
( ). N , .
,
. HFe = B/Fe, H0 = B/0. , . Ni = H0,
H0 i =
H0 /.
B ,
i = B / ( 0). ,
. -

2.13

61

+lFe, lFe . 1+lFe/ .

lFe>>, . . ,
.
.

2.18. .

. . ,
.
2.13.1

.

62

B(H) .

G G
B
d S = 0

(2.35)

, . . , , . ,
.
. . , ,
( ) .
. N = N. ,
.

.
,
.

(2.36). c S 2.19.

G G
G G
H
dl = J d S
c

(2.36)

2.13

63

2.19. S c.

, , . . , J S, ,
. (2.36) (2.37).

H dl

= I

(2.37)

H B
(2.38).

G G G
B=BH

( )

(2.38)

, . ,
(2.39). 0 =
4107 H/m. , B(H)
.
, .
, B(H) B/H 0.

G
G
G
B = H = 0 r H

(2.39)

64

2.13.2
2.19 . S, c,
B. ,
.
S. ,
, = N,
S.
2.13.3

. B(H) 2.20. B/H = o, ,
Fe B(H)
. B-H
H, ,
B
.

. .

.

. H, , . .
H,
B = FeH B = 0H
.
.

2.13

65

2.20. . , .

2 T,
. H ,
. . ,
, B = 0 H.
2.13.4

.
. H Ni,
N i . Ni/ .
. ,
, ,
, (

66

).
.

2.21. , ,
.

.
B(H) .
. ,
, . ,
.
.
(2.37), H
c, 2.21, Ni. F =
Ni , H
. -

2.13

67

F .
F = Ni H, . 2.21,
F nk,
.
S

. ,
H c Ni .
,

, = BS.
= N .
. S = S0 =
SFe, SBFe = SB0, BFe = B0, B0 BFe . H0 = B0/0, HFe = BFe/Fe = B0/Fe.
(2.40), l , l0 .

H Fel + H 0l0 = Ni

(2.40)

H0 = B0/0 HFe = BFe/ Fe = B0/ Fe

(2.40), (2.41), BFe = B0.

B0

Fe

l+

B0

(2.41)

l0 = Ni = F

= BS, F (2.42).

Ni
l

Fe S

l0
0 S

F
l

Fe S

l0
0 S

F
R

(2.42)

,
2.22, E
. R = F/R

68

i = E/R .
. .
F c. , i = U/R,
= F/R, R
. , Ni . ,
. . , F R
i, U R . (2.42)
" " , .
l,
S R = l/(S).
.
,
, , Rk = lk/(Skk),
(2.43).

lk
k =1 k S k
n

R =

2.22.

(2.43)

2.13

69

S ,
(2.44), c
. S(x) (x)
x,
c, . S(x), (x), x
, S(x) S(x +x), (x) (x +x).
R
x/(S).
, (2.44).
(2.44)
S(x) (x).

R =
c

(2.44)

dx
(x )S ( x )

N , = N
. (2.45),

.

N N Ni N 2
=
=
=
L= =
i
i
i R R

N2
k
li

i =1 i S i

(2.45)

2.13.5

wm .
, BH/2.
, , V (2.46) .

G G
1

We = wm d V = H d B d V = BH d V
2

V
V
V

(2.46)

70

dV = Sdl,
S dl
, c.
,
.
,
B /S. ,
(2.46)
. dl, .

We =

1
2

(BH )d V

G G
d
S
BH
d
l
=
H
d
l
=
H dl
2 S c
2 c
2 c

(2.47)

,
c
Ni, (2.48).
.

We =

G G
i 1 2
= Li
H dl =
Ni =

2 c
2
2 2

(2.48)

(2.8):
, 2.21, .
.
(2.8):
, R = l0/(So). L = oSN2/ l0.
2.13.6
. 2.23 , N1 N2.
. -

2.13

71

. , 1,
n1 2.22,
c, n, .
, 1 = N1.
n2
c.
S n, 2
= -N2. ,

.

2.23. .

1 = N1 2 = -N2
, ,
. ,
N1 N2,
1/2 . , .
N1 N2.

72

. , .
, |1 /2|
N1/N2.
k 1. , 1.

2.14
,
.
() . B
.
.
.

2.24. .
, .

2.14.1
.

B = f(H) . B T, 2.24,
B = f(H) .

2.14

73

() T .
. .
pH
B = f(H) . V

WH = V H d B = V S H ,

(2.49)

SH B = f(H) .

PH = f V S H .

(2.50)

pH 1 =

PH
= f SH .
V

(2.51)

SH Hm Bm. BmHm, Bm2,

pH 1 = H 1 f Bm2 .

(2.52)

H H1
,

pH = H f Bm2 .

(2.53)

2.14.2
. . .

74

2.25 B Bm .
C, SC lC.
, RC = lC/( SC ).

e =

d
d
= ( SC Bm sin t ) = SC Bm cos t
dt
dt

(2.54)

2.25. . .

, E Bm
2 f Bm.
, , IC E/RC
2 f Bm/RC. , (2.55), RC IC.

2.14

75

(2.55)

B
2 Bm2
PC ~ R I ~ RC m ~
RC
RC
2
C C

.
(2.56)

pV = V f 2 Bm ,
2

V
.
2.14.3

(2.57). pFe
W/kg. m PFe=pFem.

pFe = pH + pV = H f Bm + V f 2 Bm
2

(2.57)

, pFe , PFe .
2.14.4
. , .
.
, ,
.
.

, . -

76

.
, , . RC
(2.55) .
,
()
,
2.26.
, .

2.26.
.

,
.
, .
.
50 Hz 0,2 mm 0,5 mm.
(, ) , .

2.14

77

, , 1 kHz. (0.05 0.1mm), , , .

. , 50 m.

. .
.
()
, .
2.14.5
2.27, ()
. a , B(t) = Bmsin t, Bm . a l. , c
2x. x a/2, x <<l. 2.27, c
,

= 2 x l Bm sin t .
. ,
2x,

G G
d
e = E dl =
= 2 x l Bm cos t .
d
t
C
, e =
+d/dt e = -d/dt. ,
.
x << l, c , E (2.58).

78

G G
e = E dl = 2 l E ( x ) = 2 x l Bm cos t ,

(2.58)

E ( x) = x Bm cos t

2.27. .

E J = E. , ,

J ( x ) = E ( x) = x Bm cos t.

2.14

79

.
,

P
J 2 ( x)
2
2
pFe ( x ) =
= E ( x) =
= ( x Bm cos t ) .
V

P1Fe alH (2.59).

(2.59)

a
2

P1Fe = pFe (x )dV = 2 H l (x Bm cos t ) dx =

0

a
2
2
2
H l Bm 2 (cos t ) = k a 3 Bm 2
12

k H l,
cos2t, 0,5. (2.59) a.
2.26()
a = A.
,
(2.59) Phom
(2.60).

Phom = k Bm 2 A3
2

(2.60)

N
() a = A/N,
2.26(B). a,

, 2.26 ().
P1Fe, (2.59). N, Plam
A = aN (2.61).
3

P
A
2
2
Plam = N k Bm 2 = k Bm 2 A a 2 = hom2
N
N

(2.61)

80

(2.61) N2
N ,
. , . ,
.
,
a,
.
50 Hz
0,2 mm. , ,
, ,
.
,
,
B . ,

. ,
.
,
, .

2.15
()
. ,
. . .
, . ,
. .

2.15

81

2.15.1
. , ,
.
,
(). ,
.
, . , .
2.28 .

2.28. . ()
. (B) . (C) . (D)
Fem.

82

2.15.2

. m. Mem
, m Pem = Memm. Pem .
.
2.29.

2.29. , .

, ,
. m em.
, (Mem > 0), (, )
, Mm. ,
em>0 , m>0 .
.

d m
= M em M m
dt

(2.62)

.
, .
, em ,
. ,
, Mm
2.29.

2.15

83

em ,
. Pem . , Pem
.
2.15.3
, , , ,
. . ,
().
. , . .
.
, , , .
, . (, ) .
i a N F = Ni.
R
. , .
, .
.
, . 2.30 () .
. . .
, .
.
2.30, (C) . . ,

2.30 (E).

84

2.30. . (A) 2
. (B) .
(C) . (D) . (E) .

,
, .
.
,
.

2.30 , . , .
.

, . H ,
. BFe < 1,7 T
HFe = BFe/Fe 0, ,
.

2.15

85

2.31.

.

2.15.4
,
. , 2.33.
, , . , ,
.
( , ) .
,
, .
, , , . ( ),

. 2.32.

,
.

86

2.32. . (A)
. (B) .
(C) .

2.33, (B) 3 .
(
2.33). ,
, . ,
, .
2.33,
,
.

2.33. .
3

[ = slot (eng.), cava (it.) = tooth (eng.) dente (it.)].

2.15

87

( 2.33). , .
,
2.33 (D)4. (D)
.
, ( F 2.33). ( C ) (D).
.
. .
.
.

. .
N N.
(2.9):

? ?
(2.9):

, . ,
. ,
,
.
,
.
2.15.5
, , , ,
. 4

end turns, eng.

88

2.36 .
,
, .
, . ,
, . , , .

. ,
, ,
.
.
,
. , . .
.
.
,
. .
. ,
HFe . , , 2.34. Ni =
2 Ho.
, , , , ,
.
. .
, , , ,
.

, , .
, -

2.15

89

.
2.34.
, .
. , ( 6 ),
.
( ).

2.34. .

2.15.6
, , . .
, ,
. . . -

90

.
,
PeM = uiM. PeM iM (). , ( , PFeM) ( , PCuM).
Memm.
, PmM.
PmM = Memm - PmM = Mmm . , PeM , PmM , PFeM + PCuM + PmM . = PmM/PeM , .
2.35.

2.35. .

,
.
2.36. PmG,
, , .
2.36,
.
( 2.35),
, Pm -

2.15

91

.
PeG ,
iG.
PmG .
.
PmG PmG
.
PCuG PFeG.

. PeG = uiG,
.

2.36. .

. , , .
, . ,

. ,
. , , , .

.
, -

92

. , ,
,
.

.
,
.
, .

.
,
.
2.15.7
,
5.
0,5 mm ,
.
() .
,
.
Fe>>0, H , je Ho .
H (2.63) .

G G
F = Ni = H d l 2 H 0

(2.63)

Ho (2.63)
, 2.38.

[airgap (eng.) traferro (it.) entrefer (fr.) ]

2.15

93

2.37. . (A) . (B) . (C)

.

2.38. .

Ni = 2 Ho, ,

94

. , . ,
,

0.5 1 mm, .
2.15.8 ,

. . , .

.
.
2.37 2.38.
. ,
.
. /
, / . 2.33
.
, ,
, . 2.39, Wi, Wmeh Wm
, , .
2.13.2 .
( 2.39 ), u Nd/dt = 0, . , , dWmeh = -dWm.
. dx -

2.15

95

dWmeh = Fdx, F
. L(x) .
, R ,
, . dx (2.64),
i .

2.39. ,
. () , = const. (B) , I =
const.

2
1
2
1

= 2 d L = i 2 d L
d Wm = d Li 2 = d
2
2L
2

2L

(2.64)

dWmeh = -dWm,

(2.65).

d Wmeh = F d x = d Wm

(2.65)

1 dL
F = i2
2 dx
( 2.39 B), I. dx, dWi = uIdt,

96

u = d/dt .
(2.66).

d Wi = u I d t = I d

(2.66)

,
(2.67).

1
1
1
1
d Wm = d LI 2 = I 2 d L = I d = d Wi
2
2
2
2

(2.67)

6
dWm = dWmeh = dWi/2.
(2.65),
.
.
, Wm
. ,
, .
H B. Wm , Bmax< (1,7 2) T. , (
2.39) ( ).
,
.

dWm = dWmeh = dWi/2 , , . L(x) x , /i

. , (2.66) (2.67) dWm = dWmeh = dWi/2.
, B(H) .
, , L = /i =
f(x,). ,
.

2.15

97

(2.20) (2.22) , , .
, , .
,

.
, .
. 2.39, Wm(max) . , ,
Wmeh(1) = 2 Wm(max) . () , .
Mem
(2Mem).

.
H
.
. ,
.
Mem m ,
. , , .
(2.10):
, .
(2.10):
. V = LD, D , L . B
.
( ) . -

98

Bmax 1,7 T, B .
1Bmax2/o. Wm(max) 1LD Bmax2/o,
2.

2.16

. ( ),
(),
, .
. ,
, ,
. . 2.40 Pe, Pm, PCu, PFe, Pm Wm.

2.40. .

2.16

99

2.16.1
.
, ,

. , , , , .
,
, , ,
.
, , ,
.
Pe , Pm
( ) ,
PCu, PFe, Pm .

2.40.
? ?
,
. . ,

. ,
, (
, , ).

,
. ,
. , , () . ,
, -

100

, ,
.

, ().
, ,
, . , . ,
.
.
, , , R, L, C, (Ri = u, i = Cdu/dt, u = Ldi/dt).
, ,
RLC ,
.
: ,
, ,
() .
,
, , .

, .
. , .
.
. E = U/d.
, , . -

2.16

101

, dV/dt. ,
, . , , E = U/d (
). ,
, () . , , . , .
, ( dV/dt)
, ,
, E = U/d . ,
.
, . ,
, 10,000 ,
, ,
.
, . U/f ,
(PWM)
.
,
.
, . , , ,
. , , . ,

.

102

:
.
,
( ,
), . ,
.
,
, . . ,
. , ,

, , ,
.
2.16.2
,
. :

.
,
, ,

. uL=L di/dt iC=C
du/dt, . -

2.16

103

p = ui, .

, .
(H2 E2),

.

, .
()

pFe =

PFe
2
2
= pH + pV = H f Bm + V f 2 Bm
m

,

.

.
, (). B/H B/H
. 1,2 T, .
,
- - .
N . .

104

2.16.3
2.41 N ()

.
.
(), (). , .
, . ,
u = Ri + d/dt = 0.
, d/dt = 0,
. ,
(u d/dt).

2.41.

N (). 1 i
, 2 N .

(2.68), u i
.

, , .

2.16

Pe = u j i j = i u,
T

105

(2.68)

j =1

i = [i1 , i2 , ... ii , ... i N 1 , i N ],

T

u = [u1 , u 2 , ... ui , ... u N 1 , u N ].

T

2.16.4
2.19 - - .
, N . (2.69), u
, i , = N . R .

u = Ri +

d
= Ri + eKEMS
dt

(2.69)

2.42. .
, + ,
. eEMS = - d/dt.
- d/dt ,
(B) 2.42.
, (e = +
d/dt), (A) 2.42. eKEMS = + d/dt
- .
(B)
,

. , , , e = d/dt. + , , .

106

2.42. - .

(A) . e = + d/dt,
(u e)/R. , ,
. (A) , .

. , , . ,
,
(e = +/- d/dt).
2.16.5
(2.69). N , k

u k = Rk i k +

d k
,
dt

(2.70)

uk, ik, Rk k , , k- , . k k ,
k- -

2.16

107

. ik
k Lkk. ij j k Lk.
N N .

i = [i1 , i2 , ... ik , ... i N 1 , i N ]

T

(2.71)

u = [u1 , u 2 , ... u k , ... u N 1 , u N ],

T

T = [ 1 , 2 , ... k , ... N 1 , N ],

(2.72)

R1
0

R=0

0
0

0
R2
0
0
0

0
0
R3
0
0

0
0
0
Rk
0

0
0
0

0
RN

(2.73)

.
(2.74), N
(2.69).
,

u = R i +

d
.
dt

(2.74)

. k-
, Lkj ,
.

k = L1k i1 + L2 k i2 + ... + Lkk ik + ... + LNk i N

108

,
,
(2.75), , (2.76).

L11
L
21
L= .

Lk 1
LN 1

L12

L1k

L22

.
.

L33
.

.
Lkk

= Li

L1N
.
.

.
LNN

(2.75)

(2.76)

,
.
Lij = Lji, , L = LT.
.
()
(). ,
.
. . 2.6, .
2.16.6
,
. , . 2.43
, .
. .

2.16

109

.
,
,
. ,

. , .
. Lm =LSR = LRS,

. ,
. 2.41, 2x2. LS LR. , , /2.
,

k=

Lm
LS LR

.
N R,
, LS = LR,
Lm = kLS = kLR. k < 1, . ,

LS = LS Lm = (1 k )LS
,
, .
, ,
.
.

110

2.43. .

,
2.43,

S = S + m ,
R = R + m .
(S)
(R)

m = mS + mR .
,

S = N S S = N S m + N S S = N S m + S ,
R = N RR = N Rm + N RR = N Rm + R .
S , R . . -

2.16

111

, .
2.43,

LS =

S
iS

, LR =

R
iR

Lm = LSR = LRS

N S mR N RmS
=
=
iR
iS

. ,
.

LS =
=
LR =
=

N S mS + N S S
iS

N S mS + S
iS

NS
N
LRS + LS = S Lm + LS ,
NR
NR
N RmR + N RR
iR

N RmR + R
iR

NR
N
LSR + LR = R Lm + LR .
NS
NS

,
.
.
, () , ,

LS = Lm + LS ,
LR = Lm + LR .

112

2.16.7
. ,
.
,
.

G G
wm = HdB .

, , = B/H =
const, wm = BH = H2.
wm . . , ,
L1i12 + L2i22 + L12 i1 i2.
,
. ( BH) dV. dV = dS dx,
( BH) dS dx = (B dS)
(H dx). (B dS) ,
(H dx) , . ,
i Li2.
N ,

G G
1 N N
Wm = wm dV = HdB dV = Lij ii i j .
2 i=1 j =1
V
V
, Lii . Lij .

i = [i1 , i2 , ... ik , ... i N 1 , i N ],

T

T = [ 1 , 2 , ... k , ... N 1 , N ].

2.16

113

(2.77), L .

1 T
Wm = i Li
2

(2.77)

(2.11):
L1 L2.
(L1L2)0,5 ?
(2.11):
L12= k(L1L2)0,5, k
. 1,
,
.
1, (L1L2)0,5.
(2.12):

2Wm = L jk i j ik
j

? .
(2.12):
. ,
2Wm = L1 i12+L2 i22+2 L12 i1 i2= L1 i12+L2 i22+2 k(L1L2)0,5 i1 i2. a =
(L1)0,5 i1 b = (L2)0,5 i2, 2Wm = a2+ b2+ 2kab.
. ,
, 2Wm 0 k = 1,
k < 1. k = 1, 2Wm
= (a+b)2, .
2.16.8
N
,
.
pk = ukik

114

pe = uk ik = i u = u i .
T

(2.78)

, 2.74,
, .

d
d
T
T
(L i ) =
pe = i R i +
= i R i +
dt
dt

di
T
T dL
T
i+i L
=i R i+i
dt
dt

(2.79)

, .
Rk, ik,
Rkik2. N

pCu = Rk ik2 = i R i
T

(2.80)

R NxN,
, .
.
(2.77), (2.81).

p wm =

d Wm
d 1 T
=
i Li =
dt
dt 2

1 di
=
2 dt

(2.81)

1
d L 1 T di
Li + i T
i + i L

2 dt 2
dt

pwm .
(2.81) , .
.
( , 1x1) s =
sT, (Ljk = Lkj, L = LT),

2.16

d iT

dt

d iT

Li =

d t

115

di
di
Li = iT LT = iT L .

dt
dt

(2.81), (2.82).
(2.82)

1 TdL
T di
pwm = i
i + i L
2 dt
dt

(2.82) . . .
, . i (2.82) .
,
.
,

.
pwm pe , pCu
, pC . ( 2.33),
. ( 2.34), .

pC = pe pCu pwm
(2.79), (2.80) (2.82),

di
T
T dL
T
T
pC = i R i + i
i+i L
i Ri
dt
dt

1 TdL
T d i
i
i + i L .
d t
2 dt

116

pC =

1 T dL
i
i.
2 dt

(2.83)

, .
. , m m = dm/dt,
(2.84),

1 T dL
1 T d L dm m T d L
i= i
i
=
i
i.
pC = i
2 dt
2 dm
dt
2
dm

(2.84)

(2.84) m.
, . ,
pC (),
( ). , ,
. , 2.34, ,
, .
2.16.9

. m
m. N
, .
, L
.

m =

dm
,
dt

2.16

117

L = f1 (t ) = f 2 ( m ) .
. . Mem, -Mem,
. ,
. Mem .
, Mem ,
m, pC = Memm .
, Mem , .
, Mem
, pC = Memm .
. , Mem , .
.
, (2.84)

1 T dL
pC = m i
i = M em m ,
2 dm
Mem , (2.85) .

1 T dL
M em = i
i
2 dm

(2.85)

N . .
(2.67), ,
,

d Wm = d Wmeh = M em d m ,

118

M em =

d Wm
.
d m

(2.77),

M em =

d 1 T
i Li .
dm 2

, .
m.

1 T dL
M em = i
i
2 dm
m. , .
.
N ,
(2.86).

M em =

d L jk
1 N N
ik i j

2 k =1 j =1
dm

(2.86)

(2.13):
O
.
(2.13):
, m
. m =0, .
,
. , m =0. ,
/2 /2-m.

2.16

119

,
cosm, , LSR = Lm cosm.
(2.14):
.
(2.14):

. , ,
,
.
. ,
, . ,
,
m.
2.16.10
, .

( ). ,
, . ,
.
, ,
. ,
Mem.
. Mem.
,
.
Mm, Mem . , pm = Mmm 2.42.

120

2.42
.

2.16.11
, , , .
(2.42). . , , kF m,

pm = k F m2

(2.87)

. , ,
.
, 2.42,
, .
.
m.

2.16

121

pFe = kV m2 .
,

M Fe =

pFe
= kV m .
m

pm = kF m2, 7.
, . ,

pm = k F m3 .

2.16.12
J.
, R m, J = mR2/2. J m WmehA = Jm2. , d(WmehA)/dt = Jm dm/dt. ,
, , , ( ). 7

pFe
, . ,
pFe MFe . MFe
. MFe ,
, . , , pFe
. .
, ,

. .

122

, Mm, ,
Mem , pC, Mem =
pC/m .
, 2.42, .
- ,

pm = M m m .

WmahA =

1 2
Jm ,
2

d WmahA
dt

= Jm

d m
.
dt

(2.88)

pC,
(2.87),
( (2.88)), (
) (2.89).

pc = m M em =

d WmahA
dt

+ pm + pm ,

(2.89)

d m
+ k F m2 + M m m ,
dt
d m
k F m2
pm = pc Jm
dt

pc = Jm

2.16.13
(2.89) ,
(2.90), Mm,
.

2.16

M m = M em J

d m
k F m
dt

123

(2.90)

, Mm
. , Mm
. 2.43.

d m
= M em M m k F m ,
dt

(2.91)

. .
, Mem
Mm . , Mem > Mm, . , . , Mem
.

d m
= 0, M em = M m + k F m .
dt

2.43. .

2.43 Mem Mm .
.
, , . ,
Mem , Mm . , Mm
. ,
Mem Mm

124

. ,
2.43, Mem >0, Mm >0, Mem
<0, Mm <0. , MG = -Mem,
.

,
, ,
. , , , . ,
.
2.16.14
2.44 N , , .
.
, 8 ,

T

pe = i u .
.
T

pCu = i R i =

R i

2
k k

pwm =

d Wm 1 d T
=
i Li .
dt
2 dt

, pFe = H B 2 f + V B 2 f 2 , .

2.16

Pc =

125

1 T dL
i
i
2 dt

p wk =

d Wk 1 d
=
Jm2 .
dt 2 dt

2.44. .

pm = k F m2 .
, 8 , ,

pm = M m m .

,
, .

126

2.16.15
,
N N (2.74), (2.76) (2.86)
(2.91).

u = R i +

d
.
dt

(2.92)

= L( m ) i .

(2.93)

M em =

1
2

dL
d m

i =

d L jk

i
i
k j d
2 k = 1 j = 1
m

(2.94)

2.91, .

d m
= M em M m k F m .
dt

(2.95)

.
,
.
. ,
, , , . ,
m.

.
(2.94)

2.17

127

m,
.
N , (2.92)
N , (2.93)
, (2.94) , (2.95) . , N+1 .
.
,
.
. ,
, , , . ,
m.

.
(2.94)
m,
.
N , (2.92)
N , (2.93)
, (2.94) , (2.95) . , N+1 .

2.17
Lkk m . ( ). , .

128

m Lij, . . , ,
.
, .
.
. , , , . , , , . , ,
( ). , . , , . . ,
,

. ,
,
. .

2.17

129

2.45. .

2.17.1
2.46 .
N1 R1,
i1(t). , u1(t). , .
B1 , 1 B1S1,
S1 .

m.
. ,
9. ,
9

(. salient poles)

130

( A 2.46). ,
.
( B 2.46),
.
. , , . L1 = N12/R,
R . , , .
,
. ,
.

2.46.
.

2.17.2
2.46, . , , -

2.17

131

L1(m).

L1 ( m ) =

N 12

R ( m )

R F1 = N1i1
1 = B1S1. 1 =
N11. , ,
,
. SFe
H, R = /(0 SFe).
R(m) 2.46
.
m = /2 m = 3/2.
, m = 0 m =
, 2.47. ,
2.47 . R(m)
. L1(m)
. .
,
L1(m)

L1 ( m ) Lmin +

Lmax Lmin
(1 cos 2 m )
2

L1(/2)=Lmax, L1(3/2)=Lmax, L1(0)=Lmin

L1()=Lmin. , , . L1(m)
(2.96)

L1 ( m ) =

1
1
( Lmin + Lmax ) ( Lmax Lmin ) cos 2 m
2
2

(2.96)

132

2.47.
.

2.17.3
2.46.
i1(t),

Wm =

1
L1 ( m ) i12 .
2

,
m. (2.96) L1(m), (2.97).

M em =

dWm 1 2 dL1
1
= i1
= i12 ( L max Lmin ) sin 2 m
d m 2 d m
2

(2.97)

, . ,
,

2.17

M em ~ i 2 ~ 2 .

133

(2.98)

m = /4 m = 5/4,
m = /2, m = 3/2, m = 0
m = . , i1(t) = I1,
m,
sin(mt + 0) .
. , 2.46 ()
.

.
s, Im -,

i12 = [I max sin(st )] =

2

2
I max
(1 cos(2st 2 )) .
2

(2.97),

M em =

2
I max
(1 cos(2st 2 )) ( Lmax Lmin ) sin 2m .
4

Km =

2
I max
( Lmax Lmin ),
8

M em = 2 K m sin 2 m 2 K m cos(2 s t 2 )sin 2 m

= 2 K m sin 2 m K m sin (2 m + 2 s t 2 )
K m sin (2 m 2 s t + 2 ).

, m(t) = mt + 0. m(0) = 0 = 0,
m(t) = mt,

134

M em = 2 K m sin 2m t K m sin (2m t + 2 s t 2 )

(2.99)

K m sin (2m t 2 s t + 2 ).

. ,
m+s = 0. m=s. ,
. . . m=s = 3/4,

M sr =

2
I max
( Lmax Lmin ) .
8

= /4,

M sr =

2
I max
( Lmax Lmin ) .
8

.
(2.15):
i1 ,
m = /2 ,
m = 0 .
(2.15):
, (2.97),
sin(2m). m = /2, . 2m = +2
sin(2m)<0. . , . m = 0, .
, sin(m). .

2.17

135

.
(2.16):

(s m)?
(2.16):
(2.99),
s = -m.
2.17.4
2.48 .
N1 R1. i1(t),
u1(t) .
N2, R2, i2(t). , u2(t).
.
(
) , . ,
, .
, , .
2.48
L2 .
.
m .
m. , m = /2,
. m = 0,

. m
= /2,
m = 0. m. L2 .

136

, .

2.48

, m L2 = const.
2.17.5
m. , ( ), L12
. , m = /2 m = 3/2,
, L12
Lm. a ,
2.49. , -

2.17

137

. m .

L12 ( m ) = Lm sin m .

2.49.

.

1
2 i1 i2. L11=L1 L22 = L2

, L12 = L21 = Lm sinm.

L L i L L i
= 1 = 11 12 1 = 1 12 1 = L i
2 L21 L22 i2 L12 L2 i2

(2.100)

138

. ,
.

Wm =

1 2 2
L jk i j ik =
2 j =1 k =1

(2.101)

1
1
1 T
= L1i12 + L2 i22 + L12 i1i2 = i L i
2
2
2
2.17.6
, (2.101),
, m (2.102).

L12 i1i2 = i1i2 Lm sin m

(2.102)

. , (2.103)
,
(Lm), cos m.

M em =
=

dWm
=
d m

(2.103)

d 1 2 1

L1i1 + L2 i 22 + L12 i1i 2 = i1i 2 Lm cos m

d m 2
2

, .
, ,
,

= L i i = L 1 ,
.

2.17

i1 =

L2
L12
1
2,
2
2
L1 L2 L12
L1 L2 L12

i2 =

L12
L1
1 +
2
2
2
L1 L2 L12
L1 L2 L12

139

, 12. , 1
= N11 2 = N22,
,

M em ~ i1i2 ~ 1i2 ~ 2i1 ~ 12 .

,

,
i12,
12, 12.

, i1i2 12, 12.

(2.103). m, m = mt + 0. t = 0
m(0) = 0 , m = mt.
(i1= I1 i2= I2), cos mt,
. , () . . ,
.
(2.17): i2=
I2, m = mt, i1
.

140

(2.17):
(2.103),
cos mt i1(t). i1(t) cos mt
i1 ,
1 m.

, ,
,
. i =
I cos(t - ), , = 0,
, .
, .
1, 2, I1m I2m
-1 -2.
(2.104).

i1 = I1m cos(1t 1 ),

(2.104)

i2 = I 2 m cos(2t 2 ).
2.103,

M em = i1i2 Lm cos m =
= I 1m cos(1t 1 ) I 2 m cos( 2 t 2 ) Lm cos m .
m = mt, . Kn = LmI1mI2m/4, (2.105).

M em = K n cos(1t 1 + 2t 2 + mt )
+ K n cos(1t 1 + 2t 2 mt )
+ K n cos(1t 1 2t + 2 + mt )
+ K n cos(1t 1 2t + 2 mt )

(2.105)

2.17

141

(Lm I1m I2m =
4Kn).
(12m). cos(t-)
.
2.106

m = 1 + 2

(2.106)

m = 1 2
m = 1 + 2
m = 1 2
2.17.7


.
, , . , . . L12 = Lm sinm,
.
, , .
.
. , . p = 2
. , L12 = Lm sin(pm),
.
1 2 pm = 0, m . ,
,
( , , .).

142

,
= p.
,
, p = 1 = .
2.17.8
,
. . .
,
.
, 1, 2 m10
1 2 m = 0.
(1 = 0) . , 2 = pm11.
, e. pm12 2 1.
pm 2 = 1 pm, .

p , 1 2
pm = 0. m , . m = pm Tm = 2/m .
( )
mTm = 2/p. (p=2) . mTm = 2/2 = . (p=1), , mTm = 2/1 = 2 ,
. ,
.
11 , p = 1, 2 = m. p>1, 2 = m =pm.
12 p = 1.
10

2.17

143

. 2 = 0,
, 1 = pm.
.
2.17.9
, .
, . .

, , 2.50.
I.
D L,
S = DL. , n1
.
.

n1 .
.
m
I S .

G
G
m = I S n1

(2.107)

144

B. (2.108).
2.50,
.
Mm = DLIB = /2.

G
G
G G
M em = m B, M em = S I B sin = D L I B sin

(2.108)

(2.108) . L, , F = LIB. D ,
, .
K

K=

D
sin ,
2

2.50

M em = 2 F K = 2(L I B )

D
sin = D L I B sin .
2

2.17

145

2.50. ,
B .

. n1,
.

. m = SB = DLB, = 0.
(N=1), I Fm = NI = I. (2.108),

M em = Fm m sin .

(2.109)

. -

146

n1, . , (2.109)

m .

. ,
, ,
.
2.17.10


. , ,
2.13. . , , .
(S), (R),
, |S xR | = S
R sin().
= t,
, (2.108), (sin t).
.
, . ,
.

. ,

. , -

2.17

147

,

, ,
.

2.51.
.

, 2.51.
S R
m. = mt,
sin(mt), . , ,
. , ,
, .
,
,
.
2.52. S. S ,
. R. R
.
, 2.52 P1
P2. -

148

2 = m. , P1 P2 , . m.
, P1, , (~).
.
2.52, P2
(9). , P2 P1, . ,

.
(9).
,
R
.
.
,
R .

.
.
,
,
.
.

1, 2. 2.52B, (p = 1).
,
.
.

2.17

149

, S 1 = 1 , R 2 = 2
. 13 m = m,
m + 2.
1,
1 - m - 2. (2.106) , 1 - m - 2
.
,

. 1
. ,
1 = 1.

. sin ,
.

1 = 1. 2 =
1 - m . .

1 .
S 1 = 1 ,
R , m = m.
2.52 C, .

,
.
. , , .
,
.
(p>1), 1 = pm.
13

p = 1,
.

150

2.52. (A), (B)

(C).

2.17.11

.
, ,
, , .
, (S
R)
. , .

. , ,
, .

2.17

151

. ,
.

2.53.

. /2.

2.53,
. /2. . . Im
S,

i (t ) = I m cos(S t ),

i (t ) = I m cos S t = I m sin (S t ),
2

/2. . .
. , R .

152

max =

N I
N I m
= max = m = m ,
R
R

(t ) = m cos(S t ),

(t ) = m sin (S t ).

(t) (t) m S =S. ,

2.53 S =S. ,
.
, , .
( ).
2.17.12

,
,
.
, .
.
.

,
.

2.17

153

1, .
. 1. 2.53
.
, , 2/3, . Im
1
= S S.

, .
1 = 1,
2 = 2 .
,
,
, .

,
. , .
, m. ,
. , .
, ,
.
, , .

154

2.18
,

.
, .
, ,
. ( 2.54)
.
, , R ( 2.55) cos .
,
. , , ,

, .
, ,
.
,
() .

. .

2.18

155

2.54. .
(A), (B),
(C), (D).

2.18.1
.
2.54. , .
2.54 . .
.
.
R, << R.
,
0, HFe H0
.
H0 .

156

2.55.
. .

.
. 2.55 . 9
, 
. .
.
.
( R )
(cos ).
cos ,
, ( , 9 ).

2.18

2.56.

157

2.56

N S ( ) = N S max cos

(2.110)

NS' ()
.
d, dl = R d,

d N S = N S ( ) d l = N S ( )R d = N S max cos R d .
,
9 = 0, NS' (0) = NS'max () = .
2.55, = -/2 = /2
9, = /2 = 3/2
.

158

(9 ) , . . NN 9, ,
NS' () = -/2 = /2.
+

NN =

(2.111)

N ( ) R d = N
S

S max

= N S max R sin

cos R d =

= 2 R N S max .

NP
, NP = 2NN =4R NS'max.

|NS' ()| , = 0 = 2.
,
.
(9)
().
2

NP =

N S ( ) R d = RN S max cos d = 4 RN S max

(2.112)

2.18.2


. (9) -/2 < < /2,
() /2 < < 3/2. 2.55.

. JS() . NS'
() . ,
. -

2.18

159

, 2.55, i1(t) . (2.113).

J S ( ) = N S ( ) i1 = (N S max i1 )cos .

(2.113)

J S 0 = N S max i1 ,

J S ( ) = J S 0 cos .

(2.114)

d,
dl = R d ,

d i = J S ( )R d .

. (),
, B . , HFe H .
(2.18):
, H ,
?
(2.18):

.
,
.

, H
.
.

160

2.18.3
H
. ,
. () , (z)
2.57. (z)
(). , ,

`S` (HS),
`R` (HR).

`r` (Hr),
`` (H),
`z` (Hz).

HrS,
HzR.

2.57. .
rr, rz r ,
.

2.18

161

, z
, .
2.58.

2.58. () (B)
C z. a EFGH
L.  9

.
2.57.

C.
z .
, ,
 9.
(9),
, Hz(Fe).
(),
, Hz(V).
,

J, 2.58. J -

162

S C .
z- , Hz Hr .

G G

G G

J d S = J d S = H d l =
S

= H r d l + ( H z (Fe) )d l + ( H r ) d l + H z (V) d l
, . .
EF GH , C FG HE.
G

J d S = ( H z (Fe) )d l + H z (V) d l .
S

, B , HFe = B/Fe
.
, 2.58,
HE.
E

J d S = H z (V) d l .
S

(2.115)

. , z , z . J ,
HE .
L , Hz(V) HE, (2.115)

2.18

J d S = 0 = H z (V) d l H z (V) L .
S

163

(2.116)

Hz(V)=0. Hz(V)=0 L Hz(V)=const.

(2.115) H E,
Hz(V)
z.
E Hz(V) = 0 H
EH, E1H, E1 E
Hz E1E . EH E1H,
E1E. E1E , Hz(V) E .
E,

.
, ,
, . ,
. , , .
L, , 2R
L.

HS . , , ,
.

.
, H -

164

. ( 2.59),

, . ,
HS , , .

. ,
. JS = 0
HS = 0, ,
.
.

H = /2,
.
,
H = .
2.59. ()
().
. EFGH L a . L,
. , FG .
a <<L,
HE HV. L = LHV,
()
. ,
H , , , H
. 2.60.
EFGH EF GH
, FG HE R, R . HE
, FG
, .

2.18

165

EFGH
.
,
() JS(). ,
<< ,
JS() FG,

G G GH
H
d l = J S ( )R d J S ( ) R .

EFGHE

2.59.

(2.117)

FE

, EF GH , HS
FG. << ,
HS ,

166

G G GH S
S
H d l = H ( )R d H ( ) R .

EFGHE

(2.118)

FE

(2.117) (2.118), , ,

H S ( ) = J S ( ) = J S 0 cos .

(1.119)

2.60. , .

EFGH, 2.61. EF
, = 0. ,
. GH ,
= 1, ,

2.18

167

. FG
HE, R1,
.
,
.
EF GH . ( <<
R). EF GH
. = 0, HrS(0), = 1
HrS(1). , ()

G G

H dl

= + H rS (1 ) H rS (0) .

(2.120)

HrS(0)
EF
.
H EFGH
, , JS() = 0 = 1. 2.61 2.55 2.56
= 0
, .
(2.114).
1

J S ( )R d = J S 0 cos R d = R J S 0 sin 1 .

(2.121)

1,

H rS (1 ) = H rS (0) +

JS0R

sin 1 .

(2.122)

,
HrS(0).
(JS0 = 0), (2.122)
HrS() = HrS(0). -

168

HrS(0) ,
. HrS(0)
.

2.61. .

B , S ,

G G
B
d S = 0 .
S

G
div B = 0.

S
S. ,
V, S,

2.18

169

B d S = div B d V .
S

, B S ,

Bd S = 0

(2.123)

(2.123)
HrS(0). , .

2.62.
.

,
. (2.116)
Hz . , S .
(2.123),
.
B = 0H H . 0 ,
H B
. ,
. JS0 = 0 HrS() = HrS(0), H -

170

2RL HrS(0), R L , HrS(0) (2.122)

.
2.61, 1 GH EFGH
. 1.

H rS ( ) =

JS0R

sin ,

(2.124)

.
(2.19):
,
.
H
? B ?
(2.19):
(2.123)
S . ,
, , ,
. ,
. (2.123)
= B/H . S ,
H
.
2.18.4

L,
2R, ,
<< R.
. -

2.18

171

i1 ,
. ,
. . ,
.
, H
, (2.126) (2.127) .

H zS ( ) = 0

(2.125)

H S ( ) = J S 0 R cos
J R
H rS ( ) = S 0 sin

(2.126)

(2.127)

<< R, . .
(2.20):
,
A1 A2. 1 (9) = 0. (2) = , (). 1 2
I0.
HrS() . ,
()?
?
(2.20):
, 1-2
I0.
Hm= I0/(2).
, 1
2 , ,
. , HrS() = Hm sgn(sin ). , -

172

= 0 + t. e = LvB, L , v = R , B = 0HrS . , HrS() = HrS(0 +

t). HrS() ,
.
2.18.5

. 2.63 . ,
9 

. H B
, (2.127).
(N) (S) .

,
.

2.63
.
, , .
,
. () , 2.13.4,
.
,
,
.
, () , .
2.63
.
, . -

2.18

173

,
.
2.15.5.
.
, .
2.63 B . , (N)
, ,
(S). 14 H, B.

14

. , .
, . .
S, c.

J I , S ( ) I.
J S,

G G
G G
G G
I = J d S = J cos J , n d S = J cos J , n S .

( )

( )

, ,
S , .

174

2.63.
.

S B . S,
15.

I ,
. . B
J I, . c S S.
15 N
S
N
NNS,
. S () .

2.18

175

(2.2.1):
2.63, 9 
, 2NN
I, . HrS
( , NSmax , NN = 2RNSmax, H = NNI
/(2). F ?
(2.21):
H
, , . H NNI = 2H.
H = NNI/(2). F H, F = NNI.
(2.22):

, 2.63
9 .
. .

? H,
? F ?
(2.22):
H F
, H = NNI /(2), F = NNI.
(2.23):
H() .
(2.23):
,
(cos ) (sin ) . ,
HrS() = Hm sgn(sin ) . ,
H = NNI /(2).

176

(2.24):

2.63 9 ,
NN .
. , 9.
(2.24):

H = +NNI /(2) [0 .. ],
H = -NNI /(2) [ .. 2].
.
(div B = 0),
. ,
. , . [0 ..
],
B = +0NNI/(2). 9, [0 .. ],
, 2.63 = .
L, R S = LR. , , , = BS = 0 LR NN I /(2).
(2.25):

2.63 9 ,
.
(2.25):
, = /2 = 3/2,

, sin. , L R, 9 . S = LR.
0HsrS, Hsr [0 .. ].

2.18

177

sin() 0 ,
2/. = BS = 0 LR NN I / .
(2.26):
, ? ?
(2.26):
, . ,
, sin().
. 2/.
, . ,

. , .
.
2.18.6
, .
, .
, , 2.64.
9,
. , . .

178

.
NR' ()
R. ,
, (A) 2.64,
. m
() . m, m = 0 + mt,
0 . (B),
=m. (C) -m
.
N'Rmax =m, (2.128).

N R ( ) = N R max cos( m )

(2.128)

i2, JR0 = N'Rmax i2.

i2 = I2,
.
2.63, =m+/2,
=m . ,
. ,

. =m + /2 = 0 + mt + /2, 0
t = 0.

J R ( ) = N R ( ) i2 = (N R max i2 )cos( m ) = J R 0 cos( m ) (2.129)

JR0 = N'Rmax i2 .
2.18.3,
. , ,

. , . (z)
(),

2.18

179

2.64. , ,
HzR, HR, HrR.

2.64.

m.
=
m .

(2.27):

. , ?
(2.27):

,
.
, ,
, -

180

.
,
. , , ,
.

2.18.3

. z ,
. , . 2.58
.

HR ,
, , .

2.59, .
HR JR().
2.65.
EFGH
EF GH , FG HE R, R . FG
, HE
, .
EFGH
. , , JR(). << ,
HE, JR() HE, (2.130).

2.18

G G
H
dl =

EFGHE

FE

J R ( )R d J R ( ) R .

181

(2.130)

GH

EF GH
,
HS
HE. << ,
HR ,

FE
(2.131)
G G E R
R
R
(
)
(
)
(
)
(
)
H
d
l
=
H

d
l
=
H

EFGHE

GH

2.65. , .
.

HR, ,
,

182

.
(2.131) .
(2.130) (2.131) HR
,

H R ( ) = J R ( ) = J R 0 cos ( m ) .

(2.132)

EFGH,
2.66. EF ,
= m, . m . EF
,
. GH , = 1. ,
. FG HE,
R(1-m), .
, EF GH
,
( << R). EF GH
. ,

G G

H dl

= + H rR (1 ) H rR ( m ) .

(2.133)

. 2.66, JR() = m =1.

2.18

J R ( )R d = J R 0 cos( m ) R d = R J S 0 sin(1 m ) .

183

(2.134)

2.66.
. m ,
1 .

1,

H rR (1 ) = H rR ( m ) +

J R0 R

sin(1 m ) .

(2.135)

,
HrR(m). 2.18.3,
, H() .
(div B = 0). , HrR(m) (2.135)
. 1 ,

184

H rR ( ) =

J R0 R

sin( m ) .

(2.136)

,
m, .
i2 , JR().
,
. ,
.
, H
,
(2.138) (2.139)

H zR ( ) = 0 .

HR ( ) = J R ( ) = J R 0 cos ( m )
J R
H rR ( ) = R 0 sin( m )

(2.137)
(2.138)
(2.139)

R,
.
(2.28):
,
. 9, .
.
(2.28):
(<<R), .
9 . EFGH, 2.66, ,
. -

2.18

185

, H, .
2.18.7
,

. 2.67 . 9  , m.
.
H B .
(N)
.
(S).

2.67.
.

,
. 2.67 . 9  -

186

, m.
.
H B .
(N)
.
(S).
,
. ,
.
, . R,
2.67,
B .
,
. H, B. R . , R, , .
(2.29):
2.67
() . a
, .
.
/ . 9  , .
.
.
(2.29):
. . , -

2.18

187

. 2.67,
.
2.18.8
.
.
. . R/ .
.

2.68. .

, 2.68.
.
. , 2.68 . S1 S2 .
S1-S2 . ,
R1-R2.

188

2.68,
nS S1-S2. /2
=0,
.
nR R1-R2, /2 =m, .
m + /2 =0.
, ,
.
=-m . ,
, -m. 2.53 . , .

2.69. .

, 2.69. , 2.13.4, 2.15.5, 2.18.5,
.
S, . . 2.69
S1-S2

2.18

189

R1-R2.
2.68. S S1-S2, . S
S1-S2. ,
R R1-R2, .
R1-R2.
, .
,
.
, , Mem.
,
, , . ,

.
(2.30):

. ,
.
, ?
(2.30):

m. , .
2.18.9

. m.
2.16.9, dWmeh = Memdm dWm, m.
, Wm(m).

190

wm . wm J/m3 wm = Wm/V = dWm/dV.

wm = H2 ,
wm = 0H2.

, . B , Fe , HFe . ,
( ) .

1
wm = 0 H 2 ,
2
H
, .
, ,

2
1
wm = 0 H rS + H rR .
2

(2.127) (2.132),
,

,
2

R
wm ( ) = 0 [J R 0 sin ( m ) + J S 0 sin
2

Wm = wm ( ) d V ,
V

(2.140)

2.18

191

V . dV

dV = L R d ,
, L, R
(2.141)

Wm = LR wm ( ) d
0

(2.140) (2.141),

Wm =

(2.142)

0 R 3 L 2 2
2
J R 0 sin ( m ) d +
2
0

2
2

+ J S20 sin 2 ( ) d + 2 J R 0 J S 0 sin ( m )sin ( )d =

0
0

3
RL
= 0
J R2 0 I1 + J S20 I 2 + 2 J R 0 J S 0 I 3 ,
2

JR0 , JS0 . (2.142)

, I1, I2 I3.

1
[1 cos(2 )], sin 2 ( m ) = 1 [1 cos(2 2 m )],
2
2

sin 2 =

I1 =

2
sin d =

2 [1 cos(2 )]d = ,

I 2 = sin ( m ) d =
2

1
2 [1 cos(2 2 )]d = .
m

192

sin ( )sin ( ) =

1
[cos( ) cos( + )],
2

sin ( m )sin ( ) =

1
[cos( m ) cos(2 m )],
2

0 2
2

I3 =

1
sin( m )sin( )d = 2 [cos( m ) cos(2 m )]d =
0

1
1
cos m d + cos(2 m ) d = cos m .
2
2
0

0 R 3 L
Wm =
2

[J

2
R0

+ J S20 + 2 J R 0 J S 0 cos m

(2.143)

, , -m.
(2.143), , = m
= 0.
, /
.
, .
2.53.
/ ,
,
. = -m,
2.68. ,

2.18

Wm =

0 R 3 L
2

[J

2
R0

193

(2.144)

+ J S20 + 2 J R 0 J S 0 cos( ) .

.
2.18.10
2.68 (2.143).
.
.
.
. ,
. m .
, m ,
. Mem = +dWm/dm
. ,
, .

,

M =+

d Wm
d 0 R 3 L
=

d m d m 2

[J

2
R0

+ J S20 + 2 J R 0 J S 0 cos m

M=

d 0 R 3 L J R 0 J S 0
cos m

dm

(2.145)

, (2.146),

.

M=

0R 3 L
J R 0 J S 0 sin m

(2.146)

194

.
.
,
, z ().
z
. ,
. ,
, .

(m). (),
S . ,
R .
, m.
,

, .
(2.31):
. ?
(2.31):

. , . ,
.
,
, . , , .

(2.146)
2.68,
. ,

2.18

195

, . = -m.
/ , . , , .
.
/
.
2.68 2.69, S
R

S =

R = m + .

, ,

S =

+ iS ,

iS .
,

R =

+ m + iR ,

iR .

= S R = m + iS iR .
(2.144) , (2.147). m, , m+S-R m -1.

196

d Wm
d 0 R 3 L 2
=
J R 0 + J S20 + 2 J R 0 J S 0 cos( ) = (2.147)

d m d m 2

3
R L
d
J R0 J S 0
[cos( m + iS iR )] =
= 0
d m

M em = +

0 R 3 L
J R 0 J S 0 sin ( m + iS iR ) =

R 3 L
= 0
J R 0 J S 0 sin

.
,
, .
2.18.11

. . .
,
. 2.13.4
. 2.15.5 2.18.5
.
.

.
2.68. ,

. , ,

.

2.18

197

2.68 .
,
. ,
.

.
,
.
BS
.
BS
. , BR,
,
. BRez =
BS + BR . .
() B .
.
 ( 2.70), 9,
.
.
2.70, ()

.
.
. D x L,
D L. , B . , B() .
.

198

2.70. .

S1-S2 , .
.
,
2.68 2.70,
(2.112),

H rS ( ) =

JS0R

sin .

BrS ( ) = 0

JS0R

sin .

BrS() .

. Bm = 0(R/) JS0

2.18

199

, ,
. S1-S2, .
, R L,
2.70, , . S

S = RL.
S,

S1 = BrS ( ) d S ,
S

d S = L R d ,

S1 = BrS ( ) L R d =
0

0 LR 2
J S 0 sin ( ) d =

(2.148)

0 LR 2
2 0 LR 2

=
J S 0 ( cos ) 0 =
J S0 .

. R1-R2 (
2.68). BrR, .

BrR ( ) = 0

J R0 R

sin ( m ) ,

JR0
, m , 2.68.
R1-R2

200

+ m

0 LR 2
R1 = B ( ) L R d =
J R0

+ m

sin( ) d =

R
r

(2.149)

0 LR 2
2 0 LR 2
+
J R 0 [ cos( m )]
=
J R0 .

,
S = RL
Br(). S1 S1-S2
BrS() [0 .. ]. , BrS() je /2 , Bsr = (2/) Bmax = 20RJS0/(). S = RL,
S1 (2.148).
S1-S2 R1-R2 . , 2.68, . , () ,
S1-S2. , , 2.68, R1-R2. , R1-R2 .

,
(2.148) (2.149). ,
9 = 1, 
= +1. 1
S1-S2. S(1) 9 = 1
 = +1.

S (1 ) =

+1

S
Br ( ) L R d =

+1

0 LR 2
J S 0 sin ( ) d =

(2.150)

0 LR
2 LR
+
J S 0 ( cos ) = 0
J S 0 cos1 = S1 cos1

(2.150)
1 . 1 > ,

2.18

201

. ,
2
nR R1-R2 ( 2.68). R(2)

9 = m+2
 = +m+2.
(2.150) (2.151) ,
.

2.13.4 2.68
2.69.

LR
R ( 2 ) = 0

+ 2 + m

J R0

sin( m )d =

(2.151)

2 + m

0 LR
+ +
J R 0 ( cos( m )) + =

2 LR 2
= 0
J R 0 cos 2 = R1 cos 2

.
N
, ( 2.71).
N
, = N.
.
.

202

2.71. .

,
.
. 2.72
.
. , .
, . , , = N = 3.

2.72. .

, () . , ,
. ,

2.18

203

. .

, . , .
je
.

2.69 (9 -- ). , (),
. (2.150) (2.151),

, . , .
.
, (). , = N.

N '(),
d

d N = N ' ( )R d ,
R . [0 ..
]
[ .. 2]. , . dN

d = N ' ( )( )R d ,

= N ' ( )( )R d .

(2.152)

(2.152)
.

, ()

204

, BrS,
.
.
BrS
BrR, ,
(2.152) .
.
(2.152)
2.68 . ,
.
NN = NP/2 . NP
NN , , . (2.111),
NN = 2R NSmax, NSmax , S1 S2
2.68.
,
. 9
 +, S() 2.150

S ( ) = S1 cos .

N ' ( ) = N S max cos ,

(2.152)

S = N S max cos S 1 cos R d =

0

= N S maxS 1R cos 2 d =
0

N S maxS1 R =

N N S 1

(2.153)

2.18

205

/4 < 1, (2.153)
. S1 S2 2.68. NN .

, . .
, .
2.13.4 .
. 2.15.5,
. .
2.18.5 .
, .
,

. 2.68,
,
,
. , 2.69.
, , . 2.73
, A1-A2, B1-B2 C1-C2. ,
. FA, FB FC
. FA
B C .
FS .
FA, FB FC. -

206

, . ,
A1-2.

2.73. .

2.18.12
,
, .

. 2.74.

.
1 2.
S1 A1-A2.
S1 nS1. nS1
A1-A2.

2.18

207

S nS . , S1 A1-A2,
.

2.74. (A), (B)

.

2.18.13
2.68,

.
(2.146) m
. , m
.
,
.
.
,
S . , R m,
. , , = S R
-

208

m, ,
2.75. (2.147),

M em =

(2.154)

0R 3 L
J R 0 J S 0 sin .

S R = /2.
(2.155)

0R 3 L
M max =
J R0 J S 0

S1 R1. S1
R1 S1-S2 R1-R2
2.68. S1 S1-S2
, R1 R1-R2 . 2.149 2.150,

S1 =

2 0 LR 2

JS0,

R1 =

2 0 LR 2

J R0 .

sin,
.

0R 3 L
J R 0 J S 0 sin =

2 0 LR 2
2 0 LR 2
sin

J
J
=
S
R
0
0

LR
4
0

(2.156)

] [

G
G
G
G
G
R S = k R S
M em =
4 0 LR
k

(2.156)

2.18

k=

209

.
40 LR

S1 R1 ,
S R.
(2.153), S R

S =

N NS S 1 ,

R =

N NRR1 ,

NNS NNR .
, (2.156)

G
G
G
R S =
M em =
40 LR
4 4 G
G
[ R S ] =

=
4 0 LR N NS N NR

(2.157)

G
4
[ R S ] =
=
0LRN NS N NR
G
G
= k1 [ R S ],
k1

k1 =

4
.
0LRN NS N NR

(2.156) (2.157) .
z
, .
z
m,
.

G
G
M em = k R S .

210

2.75. .
. .

(2.32):
(2.146) .
2.68 ? (2.154) ?
(2.32):
sin , je
S -R. S R . 2.68
. S = /2,
R = /2+m, = -m. , sin = -sinm, (2.146).
2.18.14

S1 S1-S2 (
2.68), R1 R1-R2 .
(2.156). (2.157)
.

2.18

211

. ,
, ,
= -m.
m, m = m t.
,
m
sin(m t).
Pem = Memm . ,
() .
.
, /2.
2.52 . .
. , , ,
. :
(A) . , .
(B) .
.

.
(C) . .
/ / .
. .
(A) 2.52 .

212

.
,
-m. m, . , .
. ,
R1 S1,
.
(B) 2.52B .

s k, . s s.
k k. s - k
m,
(s), .
(C) 2.52C .
, R1 .
. s

s = m. s s. R1 S1 ,
.
(2.33):
( ) ,
,
2.16.
, . .
, ,
.

2.18

213

, , B() .
(2.33):
Mem
IBSsin. ,
sin t .
, i(t) = I sint,
,
(sint)2 .
I, B(t) = Bm sint.
2.18.15
(2.155) R3L, . R L
l. ,
, M
l4. , V l3, M V4/3. , 16.
, m
. m
M M m4/3. ,
,
24 = 16 .
M V4/3 .
. (S l2) B < Bmax, (1.5 1.7) . , , l.
. P
V4/3. , ,
. 16

Fe = mFe/V = 7874 kg/m3, Cu =mCu/V = 8020 kg/m3

214

P, (
), , M = P/ .
, , . . .
.

.
. ,
. B >
(1,5 2) T . , Fe , , (2.154) .
,
.
, , .

.
(2.34):
.
,
, .
.
(2.34):

. . (1 mm)

2.18

215

. . , Ni = 2H, B = 0Ni/(2) . B
0H, 0,
.
2.18.16
,
.
, , , .
, (S
R)
. , , .

, , .

.
. (/ ) .
2.76 , .
N . . ,
. F = Ni
R. ,
HFe ,

216

Ni = 2H0, B0 = 0H0.
SFe
LR,

= B0 S Fe = 0 H 0LR =

0LR
Ni .
2

= F/R. R

R =

1 2
,
0 LR

LR = SFe
0 . 2 .

. = F/R

F
Ni
LR
=
= 0
Ni .
R 1 2
2

0 LR

(2.158)

2.76.
, 0. i,
F = N i 0. ,
= Ni /R. ,
N = N2i /R. , 0. F
i . ,

G
G
G
G
N
N
=
i 0 , =
i 0 .
R
R

2.18

217

2.76. .

Im S. S . /2.
(2.159).

i = I m cos( S t ) = I m cos S ,

(2.159)

i = I m cos S t = I m sin ( S t ) = I m sin S .

2

FS
S . 2.76
(2.159), FS
(2.160), (2.161).
cos s sin s, s =
st, s
. (2.161)
. ,
(2.162).

218

G
G
G
G
FS = R S = NI m ( 0 cos s + 0 sin s ) =
G
G
= NI m 0 cos( s t ) + 0 sin ( s t )

(2.160)

G
G
NI G
S = m ( 0 cos s + 0 sin s )
R
G
G
G
N 2Im G
S = NS =
( 0 cos s + 0 sin s )
R

(2.161)
(2.162)

S, (2.161),
0 0. S
. 2.76 ,
,
. ,
.
(2.161), 0 0.
- , ,
. - 0 1,
0 . (2.161)

S = + j =

NI m
NI
(cos s + j sin s ) = m e j S .
R
R

(2.163)

, .
S , Im
/2,
. S S .
. , 2.76, S S .

2.18

219

(2.35):
2.76

= 0.
= /2.
0 < < /2
, s = s, ,
.
(2.35):
(2.158)
F = Ni
R,

Ni
Ni
0LR
.
Ni =
=
2
1 2 R

0 LR

i i,

G
G
G
G
N
N
=
i 0 , =
i 0 .
R
R
= 0, i i,

G
G
G
N
S =
I m cos( S t ) 0 + 0 ..
R

, = 0,
/4 . s.
= /2, (2.160),

G
G
NI G
S = m 0 cos( s t ) + 0 sin ( s t )
R

220

i = I m cos( S t ) = I m cos( S t ) cos + I m sin ( S t )sin .

i = I m cos( S t ) = I m cos( S t )(1 sin ) + I m cos( S t )sin .

G
G
G
S = SO + SP ,

G
G
G
NI
SO = m sin 0 cos( s t ) + 0 sin ( s t ) ,
R
G
G
G
NI
SP = m cos( s t ) 0 (1 sin ) + 0 cos .
R

SO s = s.
. , = 0, . SP . = 0, SP /4 . SP .

.
,
. . a, b,
c. 2/3.
2.77 a, b, c Im, S 2/3. .

2.18

221

2.77. ,
.

Fa, Fb Fc Nia, Nib

Nic. ,
0 0,

G G
a0 = 0 ,

G
1G
3 G
b0 = 0 +
0 ,
2
2

(2.164)
G
1G
3 G
c0 = 0
0 .
2
2

ia = I m cos S t ,

(2.165)

ib = I m cos( S t 2 / 3),
ic = I m cos( S t 4 / 3),

G
G
Fa = Nia a0 ,

G
G
G
G
Fb = Nibb0 , Fc = Nic c0 .

(2.164), 0 0,

222

G
G
Fa = Nia 0 ,

(2.166)

G
1 G
Fb = Nib ( 0 +
2
G
1 G
Fc = Nic ( 0
2

3 G
0 ),
2
3 G
0 ).
2

G
G G G G 3
G
F = Fa + Fb + Fc = NI m 0 cos S t + 0 sin S t .
2

(2.167)

3/2 NIm.
cos(st) sin(st),
s = s. FS R
S FS. ,
, Im.
, , rad/s
, .
.
2.78
.

2.19

223

2.78. .

2.19
, .
u = Ri + d/dt, u
, i , R
. ,
, e = - d/dt , .
, e
= +d/dt,
(u e) R. ,
, .
, e +d/dt,
u = Ri + .

224

2.19.1
,
. ,

.
, . ,
. .
.
,
. , . ,
.
,
.
e = Ldi/dt,
L
.
2.19.2
. 2.79
.

B = B m cos( m ) .

(2.168)

, Bm = 0Hm =m, m .
m, m = mt,

B( , t ) = Bm cos( mt ) .
, . -

2.19

225

2.79.
. 9 9 =0, ~  = .
,
(i) ,
(ii) .

2.79.
.

-
. ,
,
(2.168).
9 ~. , 9 =0,
~ = . L R, L R .

S = L R .

(2.169)

, (2.168), .
, H -

226

B . B dS
,

G G
= B dS = B dS .
S

dS = LRd,

= d = B dS = B LRd =

(2.170)

= (2 LRBm )sin m = m sin m .

.
m = /2. m

m = 2 R L Bm .

(2.171)

, , (m) =
m sinm. m,
m = mt,

= m sin (mt ) ,
()

e1 = +

d
= mm cos(m t ) .
dt

(2.172)

.
2.79,
. v = Rm, R m .
9

e = L R m Bm cos(mt ) .

2.19

227

= , ,
. 
e . .
. 9  . , e9 e ,

e1 = 2 e = 2 L R m Bm cos(mt ) .

(2.173)

(2.172),

m = 2LRBm,

e1 = mm cos(mt ) ,
(2.172).
, , . e9 e
2.81 .

d
= 2m LRBm cos m =
dt
= m m cos m = E m cos m ,

u = Ri + e1

(2.175)

e1 () .
R , e1 . ,
(2.176), f , . ,
.

E1nav
eff =

Em (2f )m
=
= 4,44 f m .
2
2

(2.176)

228

. , 2.79
.
,
.
,
m(t),

e1 = +

d
(m sin (m t )) =
dt

= mm cos(m t ) + t m cos(m t )

d m
.
dt

, , dm/dt = 0.

, . B( -m)
. 9, B9 =
B(0 -m) = B(-m). , (2.173)

e1 = 2 e = 2 LRm B = 2 LRm B( m t ) .

(2.177)

B( -m) . ,
e1(t).
,
.
(2.36):
(
). B() = Bm
sgn[cos( m)]. .

2.19

229

(2.36):
(2.175),
u 2NLRm B(mt) (2NLRm Bm) sgn[cos(mt)].

, . () ,

. T
T

U eff =

1 2
u dt .
T 0

, 2
. (2.178) (2.179)

.

E1nav
eff =

Em (2f )m
=
= 4,44 f m
2
2
E1prov
eff = 2, 22 f m

(2.178)

(2.179)

= 2f
m. f eff =4,44 fm. N ,

Eeffnamotaja = 4,44 Nf m .

(2.180)

2.19.3
. ,

, .

230

. .
.

, . ,
.

(2.178). N , (2.180).

. . .
.
, . ,
. 2.80
1A-1B, 2A-2B 3A-3B.
1A 1B, ,
. = , . 1A-1B .
< , 1A 1B . , 1A-1B
.
. .
1A, 2A 3A
. , 1B, 2B 3B . 1A-1B, 2A2B 3A-3B . , .

2.19

231

.
.
.

.

2.80.
m = 3 .

. ,
()
, .

,
.

232

, 2.80 B()
, B() = Bm1cos(m ) + Bm5 cos5(m).
, e9 e, ,
= m, 5m. 9  , .
,
, .

K, e9 e . ,
9 . ,
, , .

. 9  . ,
, ,
2.81 (A), e1 e2.
K, e9 e , (B)
2.81. /5, .
,
. ,
, , 5. 5 /5 = ,
e9 e, .
B(), . ,
.
2.81,
P1-P2 2.82,
.

2.19

233

2.81. . (A)
. (B)
.

(2.37):
B() ?
(2.37):
6/7
,
/7, . ,
.
***
P1
P2, 2.82, <
, P1-P3,
.
,
kT .

P1-P2, kT < 1.

234

2.82
P1-P2 .

. 2.82.
.

2.82. .

P1-P2
. P1-P2

= B dS = B LRd = LRBm cos( m ) d ,

L , R , Bm
.

= LRBm sin ( m ) 0 = LRBm [sin( m ) sin( m )] =

(2.181)

= 2 LRBm sin cos m = m cos m .

2 2

m P1-P2.
m = /2. P1-P3 m = 2LRBm,

2.19

235

sin(/2). ,
(m)
(m) m = m sin(/2). P1-P2

e1 (t ) =

= m m sin( m ) = Em sin( mt ) .
dt
2
2

(2.182)

E m = m m = m m sin

= m m k T .

(2.183)

kT
.

E1navojak
=
eff

Em

= 4,44 f m sin .
2
2

(2.184)

2.83, . AC
ABC E1 . /2 BC
E1sin(/2). DC. BC 2E1 sin(/2) = 2E1 kT. , , 2E1. kT =
sin(/2) (2.182).
,
B(). ,
.

. , B()
.

236

2.83. .

, . . 2.54

.
.
, ,
2/3.
23=6.
, , , . .
. ,
. , . ,
. .
,

2.19

237

. M , M.

2.81. 2.84 ,
. 1A-1B, 2A-2B 3A-3B , , . E1, E2, E3
1A-1B, 2A-2B 3A-3B. 2.84
.
.

2.84. () . (B)
1, 2 3.

. ,
, , . m ,

G
G G
G
E faze = E1 + E2 + ... + Em ,

(2.185)

238

E1Em . , ,

G G
G
G
G
G
E1 + E2 + ... + Em < E1 + E2 + ... + Em .
,

.
(2.185) 2.85,

.

(2.177), .

n,
n. ,
,
. , n .
2.84 1A-1B, 2A2B 3A-3B.
. 2.84B E1, E2, E3
1A-1B,
2A-2B 3A-3B.
. . n
,
. n , n-
n.
n- , 1n, 2n, 3n
n.
2.84A 2/(3n), n-
1n, 2n, 3n 2/3. ,

2.19

239

, , n . , = 2/(3n),
n.
,
m . m . 2/(mn),
2/(mn),
n 2/m. n- m , 2/m. n-
E namotaja
, n- n

namotaja

En

= E 1n + E 2 n + E 3n + ... + E mn =
m 1

= E 1n e

jk

2
m

= 0.

k =0

. m 2/m,
. m . n- .

n 2/(mn).
, n- , m
2/n.
,

. 2.85, E1 + E2+ E3 |E1|+ |E2|+ |E3|. . kP

G G
G
E1 + E2 + E3
kP = G G
G ,
E1 + E2 + E3

240

2.85.
m = 3 .

m = 3, ,
2.85

G
G G
G
Emnamotaja
= E1 + E2 + E3 .
=3

(2.186)

E1, E2, E3 R. 2.85

. R sin(/2) = E1/2.
,

E m =3

E
3
1
sin 3 =
= 2 R sin
= 2

2
2
2 sin

2.19

241

3
3
sin

2 =
2 3E = k 3E ,
= E1
1
P
1

3 sin
sin

2
2
sin

kP
m = 3 . m
. Em = 2 R
sin(m /2), R R sin(/2) = E1/2. E1

,

m
m

sin
2 =
2 mE = k mE .
Em = E1
1
P
1

m sin
sin

2
2

sin

m
G
sin
E m =3
2 ,
kP =
G =

m E1
m sin
2

(2.187)

Eeff = E faze = 4,44k P fN m ,

(2.188)

m = 2LRBm , N f = m/(2) .
(2.38):
B(), . 3 6 . = 24. , , . ?

242

(2.38):
n = 2/(mn) = q2/(mn), q .
m = 3 =2/15, n =
5q, , 5.
2.19.4

, . , .

.

kT = sin

(2.189)

2
m
sin
2 ,
kP =

m sin
2

Eeff = 4,44 k P kT N f (2 L R Bm ) ,

(2.190)

N = NP/2 , Bm , L R
. f . 2.84, f
.

Eeff = 4,44k P kT Nf m ,
m = 2LRBm
. , m , (2.190) .

2.20

243

2.20

. H B
,
.
, .
,
, .
. , .
. B() , . ,
,
.
m, . , = 0 E = RmL B(0-m)
kB(0-mt). , = 0

B5 cos 5( m ) = B5 cos 5(0 m ) = B5 cos(5mt ) ,

E5 = Rm LB5 cos(5mt ) .
, .

.
. , .

.

244

,
.
.

. ,
. , . ,

, . ,
, ,
. B() Bm ,
. ,
, .
, .
2.20.1

.
, .
.
( ),
. , , .
.


B().

2.20

245

, , .

.


2.86 (
, )
B().
.

B(), (2.191) i = 1.
B() S = m.

.
m,
. 2.86,
B()
. .

2.86.


.

246

B( -m) = Bm sgn[cos( -m)].

-/2 <(-m)< +/2, +Bm,
+/2 <(-m)< +3/2 -Bm. ,

4 Bm
( 1)i+1 cos[(2i 1) ( m )] .
i =1 2i 1

B( m ) =

(2.191)

, . B( -m) , . 4Bm/.

. , ,
() . , () 9
,
~ +.
2.87 A B.
() . A B,
. . ()dS = ()LRd
+,

( ) =

B( ) L R d

(2.192)

+ 4 B m

( 1)i+1 cos[(2i 1) ( m )] L R d .

i=1 2i 1

dS = LRd, L , R = D/2
. () -

2.20

247

[ ..
+]. ,

( ) = LRBm

( 1) i

i=1 (2i 1)2

8

sin[(2i 1) ( m )] .

(2.193)

2.87. .

S . 2.87,

N ( ) = N m cos .
= 0 = . R d

d N = N ( ) R d

248

. 9
[-/2 .. /2]. 9 ,
. () 9  + (2.193). S

d S = N m( )R cos( ) d
[-/2 .. /2],

S =

(2.194)

/2

N m( )R cos( ) d .

/ 2

() (2.193)

S = N m LR 2 Bm

2
( 1) i + /sin
[(2i 1)( m )]cos d .

i=1 (2i 1)2 / 2

(2.195)

f ( , i ) = sin[(2i 1) ( m )]cos( ) =

= 1 2[sin(2i (2i 1) m ) + sin((2i 2) (2i 1) m )],

(2.195) f(,i) /2 +/2.

, . , i 1,

f ( ,1) = [sin(2 m ) + sin( m )]/ 2 .

(2.195), i = 1,

8 ( 1) 1
= N m LR Bm
(2 1)2
1
S

+ / 2

sin ( )cos( )
m

d ,

/ 2

() .

2.20

+ / 2

sin ( m )cos( ) d =

/ 2

249

+ / 2

1
[sin (2 m ) + sin ( m )] d =
2 / 2

+ / 2

1
1
= cos(2 m )
+ sin ( m )
4
2
/ 2

+ / 2

=
/ 2

sin m ,

S1

S1 = N m LR 2 Bm

8( 1)

2
sin m = 4 N m LR Bm sin m .
2

(2.196)

(2.196), i > 1, . , i = 2,

f ( ,2 ) = [sin(4 3 m ) + sin(2 3 m )] / 2 ,
.

.

. ,
N '().

.
(2.192),

( ) =

B( ) L R d ,

B()
.
. . , . N '() = Nmcos,

250

S =

/2

N ( )R cos d .
m

/2

,
/2

S = N m LRB( ) d R cos d .
/ 2

(2.197)

,
,
N'().

S =

/2

(
)
N

LRB( ) d R d

/ 2

(2.198)

(2.198) B() N '().

2.20.2


.

, .
(2.191), , , . , B( -m) . , N '() = Nmcos(),

(2.191). B()
. i = 1
. i > 1, .
2.191, B() (2i-1)

2.20

251

4 Bm
( 1)i+1 .
2i 1
(2.197) S 2i-1 (2i -1).

S2i 1 =

4 N m LR 2 B m ( 1)

(2.199)
+

.
(
)(
)

cos
[
2
i
1

]
d

cos

m

/ 2

i +1 / 2

(2i 1)

cos[(2i-1)(-m)]

1
cos[(2i 1)( )]d = 2i 1 sin[(2i 1)( )] .
m

(2.199)
+.
+

1
sin[(2i 1)( m )]
2i 1

2
sin[(2i 1)( m )].
2i 1

S2i 1 =

8 N m LR 2 B m ( 1)

i /2

(2i 1)2

sin[(2i 1)( m )]cos d

(2.200)

/ 2

sin[(2i 1)( m )]cos =

1
1
sin[2i (2i 1) m ] + sin[(2i 2) (2i 1) m ],
2
2
, IA IB.

2 i 1
S

4 N m LR 2 B m ( 1)

i /2

(2i 1)2

4 N m LR 2 B m ( 1)

sin ((2i 2) (2i 1) m ) d +

/ 2

i /2

(2i 1)2

sin (2i (2i 1) ) d

m

/2

= I A + IB.

(2.201)

252

i i = 1 +, IB
[-/2 .. /2]
sin(2i). IA, i > 1.
, S 2i-1 ()
, i =1. i > 1 .
,
() ,
.
, ,
.
2.20.3
, , . (2.203), (2.204) (2.205)
N '() = Nm cos 2.86 (2.191).

. , , B().
(2i-1) B() S 2i-1
(2.201). i >1, S 2i-1 . ,
B()
.

B() .

2.20

S = S1 = 4 B m N m LR 2 sin m .

253

(2.202)

m,
m = mt.
S m.

S (t ) = 4 B m N m LR 2 sin mt = S max sin mt .

()
.

eS (t ) =

d
S = 4m B m N m LR 2 cos mt = S max m cos mt
dt

(2.203)

r
emax
= Smax m = 4m Bm N m LR 2

(2.204)

r
eeff
=

1
Smax m = 2 2m Bm N m LR 2 .
2

. (2.111) NN

Nm

N N = 2R N m ,

r
emax
= 2m Bm N N LR

r
eeff
= 2m Bm N N LR .

(2.205)

254

,
.
(2.39):
. ,
= 0 = .
.
(2.39):
e1p = LvB(), L , B() , v = Rm
. B() 2.86. ,

. =
0 = . B(0) = - B(),
.
, e1n
= 2 e1p = 2 LRm B(0). Nk , ek = 2 NkLRm B(0).

km
emax
= 2m Bmax N k LR .

4/ ,
km
=
eeff

4 2

2 m Bmax N N LR =

m Bmax N N LR 1,8 m Bmax N N LR .

2.20

255

. (2.205),
r
eeff
= 2m Bmax N N LR 1,41 m Bmax N N LR ,

4/
, , 78,5% .
(2.40):

B() = Bmcos(-m), m . NN , 2NN .
.
, = 0 = .

, NS`() = Nsmcos(),
2NN. S(m) .
(2.40):
Nsm NN
+ / 2

NN =

N ( ) R d = 2R N

'
S

S max

/2

R . S = RL , B(),
Bsr = 2Bm/. m = 2BmLR.
,
1 = 2BmLRNN.
m = /2,
.
,
NS`() = Nsmcos(), 2

m = /2

256

2 =

+ / 2

( ) d N =

/2

+ / 2 +

RLB

/2

cos( / 2) d RN S ( ) d =

+ / 2

+
RLBm sin ( ) d RN S max cos( ) d =

/ 2

+ / 2 +

RN S max
=
m sin ( ) d cos( ) d

2 / 2

RN S max m
=
2
= R m

+ / 2

{2 cos( )}cos( )d =

/ 2

NN

= Bm LRN N = 1
2R 2 2
4

, , /4 .

,
, .
.
, .
,
. , , .

. . ,
.
. , , .
,
. ,
. . , .
,
50 60 Hz. , . ,
. ,
.
.

258

,
, . , .
.
, . ,

, , ,
, , , .

. .
, , .
.
.
,
. , ,
. , , .

. ,
.
. ,
.

3.2

259

3.1
,
. ,
.
.
.
.

G
G
G
M em = k R S

,

. .

3.2
, .
. .
. , .
, . Br H.
. 3.1,

.

260

3.1.

(A) ,
(B)
.

3.3

. , ,
. . .
. ( )
, , . ,
. ,
,
. , .

3.4

261

3.4
. , .
.

(N) , .
.

3.2.

. (A) m = 0. 1 ,
2 . (B) m = . 1 2 .

1 2 . ( 3.2-B), 1 2 . , , . 1 9

262

. , , . 2.
1 2 () .
m, T = 2/m. , ,
. T/2 = /m,
T/2. ,
.
. 3.2
, , 9, ,
. , , .
/2,
. .
. 1 2 ( 3.2-) ,
(CCW, Counter Clock Wise).
(3.1) i
1 2 , l , B D .

G G
G
F = i (l B),
M em = l B i D.

(3.1)

3.5
. . ,
.
. , -

3.5

263

.
. .
.
. , . ,
. ,
. , , ,
3.2.
, , ,
. . , /, /. ,
.
( ),

.

.
. ,
,
.

264

3.3.

.
.

(A, B) . (S1, S2)

3.6
3.3 1 2. ,
S1 S2.
.
1 S1,
2 S2. , 1 2 . A B i(t). ,
A B S1 S2. , . , 1
9, 2 .
, . ,

3.6

265

S1 S2, .
1 (),
,
9,
.

. , ,
, . , ( )
. , N,
9, S .
.

3.4.

, .
.
, . ia , .

266

3.4.
, . , . ,
, /2.
.
3.5.

3.5.

. (A) . (B)
. .

3.6
4 , 4 8 . , . P1P8
. . 3.6 . , P1-P2, P3-P4, P5-P6 P6-P7.
, ,
3.6.

3.6

3.6:

267

4 8 .

L1 P8 P1, L2 P2 P3, L3 P4 P5, L2

P6 P7.
, ,
. , A B L1 L3, ia
, 3.7.
ia/2.

3.7.

8
4 .

268

9, . /2,
L4, B L2. , 3.6,
9, .
9 . 
.
,
.

3.8.
4 8
,
. 3.7
3.8 A B.

3.8:

,
. , , . 9  3.7 -

3.7

269

, /2 .
, .

3.7
,

. ,
,
. ,
. ,
() .
, .
. .
. ,
,
. A L1 L2 3.9.

3.9.

3.8 3.9,
/4 . A
3.9 L1 L2, B

270

L3 L4, P1-P2 P5-P6 . /4 ,

3.10, A L2. 3.10
3.7.

3.10.

/2.

, .
. ( 3.6),
, 3.9, P1-P2 P5-P6
.
3.11 .

. P1, P2, P5 P6 , ,
.

, .
. , . .

3.7

271

3.11. .

.
, , . , . . . , , .
3.11 4 4
, .
. , .
.
. .

272

3.8

, ,
.
3.12 (B). .
, ip +ia/2
-ia/2. ,
-ia/2. , . ip 3.12 (B) 1.
, 3.12 (A)
.
.
,
. .
.
, .
.
,
, .
3.12 (B).

. , , , , .

, . ,

.

3.9

3.12

273

. (A) . (B)
.

3.9
, 8 , 4 .
, . 3.13 (A).
3.13(B). , , , 3.13
(C).
. P1P4
, 3.13 (A).
3.15, L1L4, P1P8. P1P4 9 . P5P8 
. , , ,
3.14. 9 , 
.

274

3.13. .

3.14.
.

. ,
( 3.15).
,
0 2. 3.15
, . , . ,
P1P4 . ,

. 3.15 , , .

3.9

275

3.15. .
L1 L3.

1,
B 3. P1P8 , . , .

.
A B IA.
, A L1, P1 P4. A, . IA/2. ,
IA/2 P1 je
. , P1
P6 . P6 . , P6 L2,
, P3. , P3 P8, IA/2 L3
B. P4 P7, -

276

4, P2 P5
L3. , L3 B ,
IA. , 3.13, IA/2 , .
/2, 2,
B 4. 3.16. ,
P3, P4, P5 P6
. . P7, P8, P1 P2
. ( 3.15),
,
. , ,
9,
. , .
.

, . , IA .
3.15
P1, L1 P6. P1P6 P1 . P6 L2, P3, .
, ( )
.
.

3.9

277

3.16. A
L2.

. 2N ,
N+1 , N-1 . . ,
. ,
3.15.
, 3.15, 2.
3.17
3.15.  9 . 2

I, . 1972. , I II . 2006. .

278

, . ,
. P1P6
P1 P6 .
3.15 .

3.17.
3.15.

3.10
8 4
, ,
A B .
4 . -

3.10

279

.
1 2, B 3 4. . 3.18, A L1 L2 B L3 L4.
, P1 P6 A, P2-P5
B.
3.15, P1 P2
9, P5 P6 .
/2 3.16, P1 P2 , P5 P6
9. ,
. 3.18 .
P1-P6, A
. , P2-P5
B.

.

.
. , . ,
, A , B. , , A B. ,
, IA , .
, ,
,
. 3.18 P1-P6 P2-P5 . ,
, NZ.
3.17,
, /2 . -

280

,
.

. ,

.
3.17
,
. . ,
. , ,

.
P3, P4, P7 P8 , ,
, .
P3-P8 , .
( 3.18)
. ,
L2 L3
.

, .

. . , ,
. ,
, .
,
.

3.10

281

3.18. L1 L2 .

(3.1):
3.18, P2-P5 P1-P6
, . ?
(3.1):
3.18 P1, P2, P5 P6
, .
. P2 P5
3.18 B. , . ,
P2 P5 . P2 P5 . P2 P5 P2-P5
. ,

282

P2-P5 3.18 P2 P5 .
, , P2 P5,
P2-P5 . P1 P6.

3.11
. 3.19
,
(A) , , (B).
,
. , 3.19
(C). S R
(D), .
,
3.5 (B). , .
Ia
Ua = UAB A B .

.
,
.
, , . .

3.11

283

3.19. .

,
. , (o) . .
, . . .
.
, ,
.
.
. -

284

3.12

. ,
,

3.20.

3.20
. , .
(A)
. (B),
(C) (D). (F)

3.14

285

. (G), (E) (H).

.

3.13
, .
, .
,
, .
,
.
(). , .
. , . .
,
. .
,
. , (). 3.20. .
. 1 mm.

3.14
,
.
. FP = NPIP. P, .
B -

286

, B
. 3.19
3.20, . ,

B = oNPIP/(2). ,
P. , , .

.
IA/2, . .
, . ,
,
, .
, .

. , .
.

.

, (D) 3.20.
,
. .

. , . , .

, +IA/2 -IA/2 .
, -

3.14

287

IA.
.
, ,
. NR , A B
, NR/2 . , ,
IA,
. ( ), (
),
. IP , IA . ( 3.19 D)
, ,
. .
A B ,

() .
(). ,
, . ,
,
.
(3.2):
IP, NP,
L, R,
N , . P.
(3.2):
FP = NPIP.
P , .
HFe ,
.
, H = NPIP/(2).
B = oNPIP/(2).
.
S = RL, P = RLoNPIP/(2).

288

(3.3):
, IA/2,
10 .
.
(3.3):
,
.

, .
F = LBIA/2.
M1 = RF = R LBIA/2.
. ,
. , M = 20 M1
= 20RLBIA/2.
(3.4):
, m.
, .
, .
(3.4):
E1 = LvB, v = Rm .
, .
,
. 3.15
. P1, P6, P3 P8
, P4, P7, P2
P5. .
10 . ,
E1 20. , EAB 10E1,
10 L RmB.

3.15

289

3.15
, .
. , . ,
. 3.19
3.20, .
, . , ,
. .

3.21. . (A) . (B) . (C) .

,
. , . , . ,
. ,

290

.
3.21.
.

, , R 3.21.
PP KN,
. , . PP KN . ,
. , , . , , . , .
, , .
.

3.21 (A) . (B), .

S,
,
.

. ,
S R. PP KN , ,

3.15

291

P,
3.21 (C).
(3.5):
3.21 . PP + KN
.
.
.
?
(3.5):
R S.
R ,
S , , .
. , , .
-R . , .
.
,
.

, R S 3.21
(B). /2,
. , . P R, . ,
, .

292

3.16
,
. Ea, EAB A B Ia , . ,
, .

3.17

E1 = RmBL, m
, R , L ,
B .
.

3.22. Ea.

3.17

293

.
.
. 3.12 (B),
E1 .
.
.

. , ,
. .
3.23 (A),
A L1.

Ea = EAB, () UAB Ia = IAB = 0.
3.22 3.23,
P1, P2, P3 P4 . P5, P6, P7
P8 , . 3.22 3.23,
, Ea =
4E1.
EAB , , .
/4, A B L2 L3,
3.16. , P3, P4, P5 P6 ,
. P7, P8, P1 P2
, . ,
. 3.16, P3, P8, P5 P2 P6, P1, P4 P7 .

, Ea 4E1, A B. , , A B -

294

,
Ea = EAB. .

3.23: (A) .
(B)
.

A B , 3.23
, .

, .
A
B, UAB.
3.23(B). , Ea = 4E1 = 4RmBL.
RAB (m= 0).
Ea , RAB. R1 R, RAB = 2R1 + R. ,
Ea RAB.

3.18

295

3.18
.
, .

. S = WL, L
W = R S
R. B

P S.
IA/2, IA ,
. 3.24 (A) .
(B) . , P1, P2, P3
P4 9.
N
. ,
()
, F1. , , , , (S). F1 ,
.

. ,
M1 = RF1 = RL (IA/2) B.
8,
Mem = 8RL(IA/2) B = 2DLIAP/S,
D, L, IA, P S , , , .

296

3.24. (A) . (B) .

3.19
e Ea = EAB ,
Mem . , .
3.25 .
.
, .
.
. , S WL. W = D/2 ,
.
,

3.19

297

. ,

FP = N P I P = 2 H P ,

(3.2)

FP = NPIP , HP
. BP

BP = 0 H P = 0

NPIP
.
2

(3.3)

P = SBP = LW 0 H P = 0

LWN P I P
,
2

(3.4)

W = D/2 . FP P.
R

R =

FP
2
=
.
P 0 L W

(3.5)

P = NPP.
,

LP =

P
IP

LWN P2 N P2
= 0
=
.
2
R

(3.6)

P,
, IP

LP =

P
P
LWN P
L
=
= 0
= P .
IP
NPIP
2
NP

(3.7)

NR ,
. , BP. -

298

. , W
NRW/(D) .
.

3.25. .

Ea

E1

E1 = B P L v = B P L R m ,

(3.8)

v , m R
. ,


, 2NRW/(D).
,
B, Ea = EAB
.

3.20

N W
N
1 2 N RW
Ea =
E1 = R BP LRm = R (LWBP )m .
2 D
2R
2

299

(3.9)

(3.4) ,

Ea =

NR
P m = k e P m ,
2

(3.10)

ke = NR/(2)
.
Mem

F1 = L

IA
P I A
I
BP =
L = P A .
2
W L 2
W 2

(3.11)

R = D/2,
M1 = F1 D/2. F1
,
2NRW/(D) .

2 N RW D P I A
2 N RW
M em =

=
M1 =
D 2 W 2
D
N
= R P I A = k m P I A ,
2

(3.12)

k m = NR/(2) .
(3.10)
, (3.12) .

300

3.20
. . ,
, ( ) . , 3.
, . ,
. . ,

. .
.

3.26. .

:
, ,
. , ,
. , ,
.
, .
.

3.21

301

ua , up .
3.26. ua
up . , Ua Up.
m. J Mem Mm.
.

. ,

( ),

( ),

( , ).

,
.

( , ).

, .

3.21
.
P = NPP = LP iP.

302

, ,
iP , iP(t).
, .
3.6. RP,

u P = RP i P +

(3.13)

dP
di
= R P i P + LP P .
dt
dt

P, ,
.
(3.7),
(3.14)

L
P = LP iP = P iP .
NP

, R-L 3.27.
UP, iP() = IP = UP/RP, .
,

iP = i P (0)e

+ iP ( )1 e

UP
=
1 e
R
P

(3.15)

= LP/RP . ,

P = LP I P = LP

UP
.
RP

(3.16)

(3.6):

S
= 0,1 m2, = 1 mm, NP = 4000, RP
= 400 .
(3.6):

3.22

R =

303

2
= 15.915,5 H 1 .
0 S

LP =

N P2
= 1005 H .
R

LP
= 2,51 s .
RP

3.22
B.
Ra =RAB = NRR1/4 + R, NR , R1 , R . , () . ,

, , .
,
, . La , .
.
. , La
. ,
.

304

(3.7):
Ra
40 .
0,1 ,
R = 0,2 . La a S = 0,1 m2. d = 20 mm.
.
(3.7):
Ra = 0,1 40/4 + 0,2 = 1,2 .

R =

2d
= 318 310 H 1 .
0 S

40 , 20 .

La =

20 2
R

= 1,256 mH .

a =

La
= 1,057 ms .
Ra

Ra La, Ea,
.

u a = Ra ia + La

d ia
di
+ Ea = Ra ia + La a + k eP m .
dt
dt

(3.17)

3.27. . (3.17)

U a = Ra I a + Ea = Ra I a + k eP m .

(3.18)

3.23

E a = k e P m ,

305

(3.19)

M em = k e P ia .

3.23
,
,
,
.
.
J. , ,
, , .

Mem,

kFm,

Mm

3.26, , .
Mm
. ,

. , . J dm/dt
dm/dt. (3.20) . Mem Mm, .

d m
= M em M m k F m
dt

(3.20)

306

3.27. ()
().

3.24

. , . .

u P = RP i P +

dP
di
= R P i P + LP P .
dt
dt

u a = Ra ia + La

d ia
+ Ea .
dt

E a = k e P m ,
M em = k eP ia .

P = LP iP .

3.26

307

d m
= M em M m k F m .
dt

3.25
3.1 .
IP, . ,
.
, . .

. , .

.
P
. ,
.

3.26
, 3.28.
.

u P = RP iP + LP

d iP
.
dt

308

U P (s ) = RP I P (s ) + sLP I P (s ) iP (0) ,
s , , UP(s) IP(s) uP(t) iP(t). iP(0) = 0,

U P (s ) = (RP + sLP )I P (s ) .

(3.21)

, . , .
. , (1) 3.26 IP(s)/UP(s) =
1/(RP + sLP). (2)
, (3) .

3.28. .

, . , IP(s)/UP(s) = 1/(RP + sLP).
P = LP/RP 200 ms

3.27

309

10 s.

(Ua Ea). dia(t)/dt Ua - Ea Ra ia(t) > 0, . = L/R 1 ms 100 ms.
, . , ,
, , . , ,
.
Mem , km. Mem , . Mem
, . Mm+kFm,
. Mem < Mm+kFm, . (3)
kFm.
, .
(3) 1/(Js).

3.27
(4) 3.28 R .
(4) .
, .

, , , . ,
. Mem
M* .
Mem M*
. ,
Mem . Mem . a .
, ia -

310

,
. ,

d ia
1
(ua Ra ia Ea ) ,
=
d t La

(3.22)

Ua. ,
, . ,
,
ia . , . (3.22),

, ia . ,
, . ua ia , .
. . (4) 3.28 .
U*
.
.
. ,

.

3.28

,
. i(t),
I. UP = RPIP. 3.29.

3.28

311

U a = Ra I a + k e P m .
, Ia = (Ua Ea)/Ra.
Ua = Um , .
3.29. ,
.
, , m =
Ea/(keP).

2.29.
.

(3.8):
, keP = kmP = NRP/(2) = 1
Wb. Mm. Mm
, m = 100 rad/s.
Ua = 110 V.
Ra = 1 . (1) , . (2)

? (3) ,
,
m = 100 rad/s, Mem.
Ua = 90 V. .

312

(3.8):
(1) Ia = 10 A, Mem = 10 Nm, Pizv = 1100 W, Pem = 1000 W.
(2) Mem= 0 Ia= 0 Ua = Ea m = 110 rad/s).
(3) Ia = -10 A, Mem = -10 Nm, Pem = - 1000 W,
.

3.29
,
, . ,
Um 3.30.
Um = Ua = RaIa + kePm, 0 = Um/(keP).
, 0
. Ea = kePm = Um - RaIa,
. ,
,
. ,
,
.
,
, Jdm/dt = 0. , Mm je Mem. ,
Mem = Mm + kFm Mm, , . , Ia = Mem/(kmP)
. , , .
,
.
. M-m m -M .
, , .

3.29

313

.
0, Mem(m).
, .

3.30. .

(3.18). Mem(m) Mem = kmPIa. . Ua = RaIa + kePm,

,

Ia =

U m E AB U m ke P m
=
,
Ra
Ra

M em = k m P

U m k e P m
U
k k 2
= k m P m m e P m
Ra
Ra
Ra

(3.23)

= M 0 S m .
M0 = kmPUm/Ra (3.23) ,
. ,
,
I0 = Um/Ra.

.
,
,

314

R
. S (3.23) . S Mem=M0Sm
Mem m.
,
.

Mem(m),
. Mm(m) .
Mm = Mem,
M-m
. 3.31, L.
.
K1 K2
. K1,
(M1, 1). K2, (M2, 2). ,
je
.

3.31. (K1, K2)

(L).

3.29

315

, Mm = Mem
.
Mem=M0 Semm Mm=M0m
Smm,
m Mem = Semm
Mm = Smm.
1
M1, Sem Sm
. , .

d m
= M em M m = M 1 M 1 = 0.
dt

m, 1+ m,
M1 Semm,
M1 Smm. 1 ,

d(1 + m )
d m
= M em M m =
=J
dt
dt
= M 1 S em m M 1 + S m m =

(3.24)

= (S m S em )m .

Sm Sem > 0, m
d(m)/dt, m . m , d(m)/dt , .
Sm Sem < 0, m
d(m)/dt. , m > 0 .
.
, .
(3.9):
(3.24) , m(0) = A, m(t).

316

(3.9):
dy/dx = ax y(x) = y(0)eax. (3.24), y = m, y(0) = A, x = t, = (Sm-Sem)/J. ,
m

m (t ) = m (0) e

S m S em
t
J

3.30

3.32. 0
.
(3.23),

0 =

M0
S

Um
k eP

(3.25)

M 0 = k mP

Um
.
Ra

(3.26)

Mem
m 3.32. Mem = M0 Sm. , S .

S=

M em
m

(3.27)

3.30

S=

k m k e P2
.
Ra

(3.28)

3.31

317

m = f(Mem).
(3.23)

m = 0

3.32.

1
M em .
S

(3.29)

, . ,

. ,
Ra. (3.23), (3.26) (3.28) Ra R.
R ,
, , ,
Ra.

3.31
, R
. , Ra ,
.

. . (3.29),

318

.
(3.25), . ,
,
Ua. ,
. ,
.
Um = Ua .
(3.23) (3.27),
. , . , . 3.33. . , . K4
. .
3.33 . I,
.
,
. ,

. ,
. , .
, , ,
.
, .
, . ,
. , . ,
,
. , . -

3.31

319

, . ,
Mem m. , .

3.33. .

(3.10):
Mm = 0,001 2.

Ra = 0,1 , kmP = 1 Wb, Ua = 100 V. .
(3.10):
.
. (3.23), Mem = M0 - Sm.
, M0 = 1100/0,1 Nm = 1000 Nm, S = 11/0,1 Nms/rad. Mem(m) = Mm(m)

320

m. 99,02 rad/s,
.

3.32
.
,
A B . Ua = UAB . UG. ,

Ia. , .

.
3.34, IG = -Ia B
. A .

U G = U a = Ra I a + keP m ,
IG = -Ia,

U G = keP m Ra I G = Ea Ra I G ,

(3.30)

IG. ,
, 3.34. Ea. U/I
Ra
.
,
.
,
. UG , . UG, ,
UG = Ea RaIG. .

3.32

321

IG > 0, Ia = -IG < 0.
Ia , Mem. Mem<0,
, . ,
Pem = Memm , . , . MT .
MT Mm.
3.26, Mem<0 Mm<0.

3.34.
.

(3.11):

m= 100 rad/s. Ra = 1 kmP = 1 Wb,

ROPT = 4 . , MT = Mem , PT = MTm, PG =
UaIG . PT > PG ?
(3.11):
Ea = 100 V. IG= -Ia= 100 V/(1 +4 )= 20 A. 80 V.
-120 Nm = -20 Nm.
MT = -Mem = 20 Nm. PT = 2000 W.

322

PG = 1600 W. RaIa2 = 400 W .

3.33

3.33.1
e
, .
() . ,
,
.

3.35. , .

. , , , , .
, , -

3.33

323

, .
, Mem 3.35.
1 4 .
1, , . ,
. 2, . ,
. , 3 4
1 2. 3.35
,

Mem > 0, m > 0 ( 1),

Mem < 0, m > 0 ( 2),

Mem < 0, m < 0 ( 3),

Mem > 0, m < 0 ( 4).

, , .
, , , . Mem = kmPIa
Ua Ea = kePm, 3.35 ,

Ia > 0, Ua > 0 ( 1),

Ia < 0, Ua > 0 ( 2),

Ia < 0, Ua < 0 ( 3),

Ia > 0, Ua < 0 ( 4).

,
, 4 . .
. . , -

324

,
Ia > 0 Ua > 0.
3.33.2 M- U-I

3.35,
M- . , , .
(Mem = kmPIa) (Ua
Ea = kePm), M- U-I
3.36.

3.36.

U-I M- .

I :

, Mem > 0 m > 0.
Ua Ea Ea m, Ia Mem > 0. , Pi = UaIa > 0.
, Pem = Memm = EaIa > 0. .

3.33

325

II :

, Mem < 0 m > 0.

.
.

. .
, .
III :

, Mem < 0 m < 0.

Ua Ea m<0, Ia Mem < 0.
, Pi = UaIa > 0.
, Pem = Memm = EaIa > 0. .
IV :

, Mem > 0 m < 0.

.
.
.
. .
3.33.3
3.35. 3.37.
. .

326

3.37.
.

, E
. E . .
. .
. E
.
, E .
E, , .
, S1 .. S4. , (OFF),
(ON), () ( ).

. .
()
.
,
, . ,

3.33

327

. .
S1 S4, A B +E. S2 S3, A B -E. ,
3.37 . . , . ,
.
,
. ,
24 = 16. ,
3.37, .
2 .
3, S1-S2 S3-S4
. E .
, E ,
. ,
2 S1-S2 A,
S3-S4 B.
, S1-S2 S3-S4. 4,
3.1. 4 , 0 (OFF) 1
(ON). ui
.
3.1: .
S1
0
0
1
1

S2
1
1
0
0

S3
0
1
0
1

S4
1
0
1
0

ui
0
-E
+E
0

3.37
. (BJT, Bipolar Junction Tran-

328

sistor), (MOSFET, Metal Oxyde Semiconductor Field Effect Transistor) (IGBT, Insulated Gate Bipolar Transistor). , , ,
, , .
,
.
3.38. BJT , . IGBT MOSFET , (gate).
. 100 mV 2,5 V. MOSFET IGBT
+15 V,
.

, .
S1 S2 (
S3 S4) . . .
1000 V 1000 A. , .
.
.
. , .

- ,
.
. BJT, IGBT MOSFET
. S1 .. S4
. (C) 3.38 CE
EC.
3.37. , -

3.33

329

S1..S4 3.37
.
3.1,
S1-S4 . , S1 S4. ,
. , ,
.
. , ,
+E, -E 0.

3.38. . IGBT
(A), MOSFET (B) BJT () (C).

(3.12):
?
(3.12):
S2 S4 .
S1 S2.
3.33.4

3.1, ui
, +E, -E 0.

330

. 3.37
. , ui .

, . Pulse Width
Modulation.
.

, ,
,
. Ua = RaIa + kePm.

. Ua kePm.
,
. Ei. ,
RIa
R. Ua = Ei - RIa R. ,
. Ua =
Ei, R,
.

3.39. .

3.33

331

.
3.37. . 3.1, S1=S4=ON,
S2=S3=OFF Ua = +E, E
. , S1=S4=OFF,
S2=S3=ON, Ua = -E. . , . .

Usr ,
S1-S4 S2-S3. T 100 s. ,
S1-S4 0<tON<T,
S2=S3.
3.39.
tON.
T

U sr =

2t T
1
ui ( t ) d t = ON
E

T 0
T

(3.31)

0 < tON < T,

E +E. Ua kePm,
tON
/(keP) +/(keP). , Pulse Width Modulation (PWM).
3.37
tON, ui tON. , tON.
.

332

, . , . , f = 1/T, T . f 10 kHz.
, , +E E.
, .
. , , ,
ua(t) = Const. = (2tON - T)E/T.

ua(t) = Ra ia(t) + La dia(t)/dt + Ea, , Ia(s) = (Ua(s)

Ea(s)) / (Ra + sLa). W(s)= 1/ (Ra + sLa) , . , , . W(s)
. I(j) U(j) = 2/T s = j W(s),

I ( j )
1
1
= W ( j ) =

.
U ( j )
Ra + j La j La

(3.32)

,
Ra<<La,
1/(La). , ,
. 10 kHz, La -

3.33

333

. , ,
. , , ,
. f = 1/T ,
3.37 . tON, (2tON - T)E/T.
3.33.5
f=1/T
.
,
. 3.37, Ei
iu. 3.41.

d ia
1
1
= (ua Raia Ea ) (ua Ea ) .
d t La
La

(3.33)

,
(ua - Ea) La. Ea , . ,
, +Ei Ei.
Ea
Ea= +Ei Ea=Ei. , Ei,

Ea < Ei .
tON , +Ei
,
(3.33). tON,
Ei , T- tON. 3.40

334

ui, La,
,
.
, Isr. I ripple (eng.). ,
(3.33).
I, t1 3.40, . , ia(t1) = IsrI. [t1 .. t2],
ui = +Ei, ia (Ei Ea)/La. , t2= t1+ tON,
,

ia (t2 ) = ia (t1 ) + tON

Ei Ea
.
La

(3.34)

[t2 .. t3] 3.40, . ui = Ei, ia

(Ei Ea)/La. , . t3= t2+ tOFF= t2+T tON = t1+T,
,

ia (t3 ) = ia (t2 ) + (T tON )

= ia (t1 ) + tON
= ia (t1 ) + Ei

Ei Ea
=
La

(3.35)

Ei Ea
E Ea
+ (T tON ) i
=
La
La
T
2tON T
Ea .
La
La

,
. , ia(t1) =
ia(t3). (3.34),

Ei

T
2tON T
Ea
= 0,
La
La

3.33

Ea = Ei

2tON T
.
T

335

(3.36)

(3.31), . Ra0,

. 3.40. .
I ,
.
tON/T m. (3.31) (3.36),

U sr = Ea = Ei (2m 1) .

(3.37)

, ,
. 3.40, [t1 .. t2]
ia(t2) ia(t1) = 2I. (3.35),

2 I = ia (t2 ) ia (t1 ) = tON

Ei Ea TEi
=
m(2 2m ) ,
La
La

I =

TEi
m m2 .
La

(3.38)

3.40. .

336

(2m - 1)Ei = Ea. Isr .

T
(3.38). f = 1/T = /(2) . f =2f

. ,
. Usr = (2m - 1)Ei .
ui f = 1/T, |I(j)/ U(j)| 1/(La). , .

(3.38). I
m = 0,5. ,

I =

TEi
.
4 La

(3.39)

, 3.37
, S1- S4
S2- S3. 3.1,
, S1=S3=ON S2=S4=ON, .

.
tON .
.

3.33

337

3.41. , Ei
.

3.37
3.41 iu.
ia . iu 3.41.
S1-S4, Ei A S1, B
S4. iu = ia. S2-S3, iu = -ia. ,
.
(3.13):
3.41, Ea = 0, Ra
= 0, La, T E.
(3.13):
tON = T/2.
T, Ladia/dt = +E. , .
. I. , - I + I.
, dia/dt = 2 I / (T/2) = E/La,
I = ET(4La).

338

(3.14):
3.37 S4 S3 . T S1 tON = mT .
T-tON S2. E.
.
(3.14):
ui T. , tON,
+E. S2 S4
T-tON. .
Usr = mE. , (3.35)
(3.38). , +E E, +E 0.

I =

TE
m m2 .
2 La

3.33.6

. 3.37
. ,
, , . . 50
Hz, 400 V. ,


. , , . ,
, -

3.33

339

.
,
, ,
. .
.
, .
3.42
. . (D), .
3.37 . , (A) 3.42,
. (B) 3.42 . . Ei.
(C) , ,
.
,
. , . ,
. . , . ,
, . iu, .
,
. ,
WC = CEi2 . Ei , . , , . ,

340

(Dynamic Braking Resistor, DBR). 3.42,

(C).

3.42. .

. ,
1 MW. ,
. ,

.
3.43.
, .

3.43. .

3.34

341

3.34
, .
,
, , , , ,
. .

. .
3.34.1

,
.
. ,
.
, ,
. .

. Un, Umax.
.
.
,
.
.
, .

, .
, .
, -

342

.

.
3.34.2
M(), (M)
,
, . , ,

M em = km P

U a km ke P2

m .
Ra
Ra

3.34.3
,
.
3.34.4
In Ia , , . , .

. .

, . ,
.
, PT = /RT, RT
,
. PT W,

C, RT C/W.

3.35

343

. P. , .
, Ia
, I2, . .
, ,
. , , , .

.
A 105 oC, F 155 oC.
In,
.
, ,
.
, , .
.
() .
, , .

. In
Ia , , .

3.35
. . , . , ,
, ,

344

. , , , .
RT CT.
,
, ,
,
. ,

3.44 .
, , .
.
1 oC.

J/oC.
, 3.44.
CT . CT

.

CT

d( )
.
dt

.
,

.
RT
RT C/W. .
, ,
,
, , .

3.35

P =

d( )
+ CT
.
RT
dt

345

(3.40)

RT CT,
P. 3.44
RC . , .

3.44. .

(0) = 0,
P (t) = P1 h(t),
t

= RT P1 1 e

(3.41)

=RTCT . .
.
, ,
, . 3.46
,

. . ,
MAX MIN. P1, 3.46,
I1 .

346

3.45.
.

P1
. , , . ,
.
, 3.46.
,
MAX -MIN . ,

.

3.46.
.

3.35

347

, ,
.
,
.
(3.15):

, ?
(3.15):
. . , , . , . , , .
.
(3.16):
. , .
, , . T = 60 s.

.
(3.16):
. t1, 1 exp(-t1/ T) = . t1 =
17.26 s.
(3.17):
10
2In. , . 10 s.
, , . T >> 10s.

348

.
(3.17):

10 s. , ,
.
In.
2In 10 s, In
2,5 s.

3.36
P
, Ia = Mem/(kmP). ,
,
. , . . , .
RPIP2 .
P(IP), Pmax. ,
.
Pmax n.

3.37

.
, Ra ,
Ea = ken Ua. ,
. ,

n =

Un
.
ken

(3.32)

3.38

349

, . ,
ken .
,
. Ua = RaIa + Ea, . . ,
,
Ea = kenn = Un RaIn,

n =

U n Ra I n
.
ken

(3.33)

3.38

. ,

. ,
.
. ,
,
. , , .
. , ,
Ia = Mem/(kmP) , .
.

,
. -

350

Un kenn. ,
, .

. .
m > n, Ea = ke(m)m. Unom = Ea,
,

(m ) =

Un
.
ke m

(3.34)

(3.31) ,

(m ) = n

n
,
m

(3.35)

.
1/m.
(3.35)
. . , n.
m < n .

3.47 , , , . .
,
,
.
, 3.47.
. , , , . , 3.47 -

3.38

351

3.47. , ,
.

3.47 . ,
. , (m) = n n/m.
(m). ,
(m).

Ea = ke(m)m. m < n,
. , m > n,
. ,
.
(3.34), .

352

, P < nn/m
,
.

, Ia2 In2. |Ia| < In,

.

.

. ,
, Mn =
kmnn, . , nn/m. (m) = n n/m. . .

. , ,
.
. , Pc = Memm =
m(nn/m) = nn = Pn. , ,
Pn.
. Pn
.

, . ,
.

3.40

353

. () (m) = n n/m.
,
, .
() .

3.39
() .
P(m) . , .
3.48.

3.40
() .
,
n n/m, (m) = n.
3.48.
,
.

354

3.48. () .
(B) E .

3.41

,
.
, ,
.

. , , , .
47. .

.
PP + Pa = UPIP + UaIa = RPIP2 + (RaIa2 + EaIa).

3.41

355

PP
, RPIP2.

RaIa2 .

Pc = EaIa = (kePm)Ia = (kmPIa)m = Memm . EaIa

Memm.

PFe. , . . ,
.
.
, . , ,
. MFe = PFe/m. MFe
. MFe
. .
(PF)

, 4. , , .
. ,
4

MOV = kOVm2.. , , , POV = kOVm3..

356

,
. , .
, , . , .
(PFe+PF)

, . PFe+PF,
,
MFe 5. MF =
kFm. .
m
m. PFe=kVm2+kHm, MFe=kVm
+kH.
, MFe kV m. MFe MF = kFm,
, .
MFe ,
,
PF = kFm2.

Pm.
. Pm = Mmm = Pc
- PFe -PF = Memm - MFem - kFm2 .
Mm = Mem - PFe/m - kFm.
(Mm) .

3.42

3.49.

357

(3.18):

, . , n. . Pc = EaIa .
PFe? ?
.
(3.18):

.
.
. MFe = PFe /n.
, , ,
. Jn2.

358

3.42
.
.
. . ,
.
,
.
, .
,
.
. ,
. . . .
100 kW, 90 kW,
, 100 kW
90 kW.

90 kW , , 100 kW.

3.43
.
,
, , , . :

(In),

(Ipn) (),

(Un),

(Upn) (),

3.43

( )

(
)

359

[o/min],
Revolutions Per Minute [rpm]. nn [o/min] = n [rad/s] x
(30/). .
,
( =n)
IG = -Ia = In UG = UAB = Un.
RIG . Un=ken n+RaIa = kenn - RaIG,
Ea = Un + RaIn, n
= (Un + RaIn)/ken.
, ( =n)
. , ,
Un=Ea+RaIn. , Un = kenn +RaIn, Ea = (Un - RaIn), n = (Unn RaIn)/ken.
(3.19):
Un = 220 V, In = 20
A, Ra = 1 , ken = 1 Wb, .
(3.19):
n = (Un + RaIn)/ken = 240
rad/s. nn = 2292 o/min.
(3.20):
Un = 110 V, In = 10 A, Ra
= 1 , ken = 1 Wb, .
(3.20):
n = (Un - RaIn)/ken = 100 rad/s.
nn = 955 o/min.
,

360

, n Un/(ken). Un/(ken) . . ,
Un = RaIa + kenn kenn, n=Un /(ken)
.
Ra
,
, Ua
ke, n Un/(ken).
Ra RaIa. n Un/(ken).
n = (Unn - RaIn)/ken. ,
n = (Un + RaIn)/ken.

.
, . ,
. , - . .
, ,
.
.
, .
.
.

. , ,
. , , .
.
, ,
.
.
2p =
2 , . p
. .

362

,
. , ,
.

4.1:

.
.

.
.
,
. . M- ,
.

4.1

363

, .

4.1
. 2/3. s,
2/3,
. s. f = 50 Hz, 100 rad/s.
. , ,
. s. k = s m
, . k 1. k = sm . Mem. .
k = s m > 0, .
4.1 Unom = 400 V, fnom = 50 Hz, Pnom = 4 kW, nnom = 1450
o/min. 1
. 9
. 2
(19). 6 7.
, 3. 16. ,
.
(17) . 1
2

eng. slip, it. scorrimento

eng. bearings, it. cuscinetto

364

(17)
. (26)
, (13).
, (23)
. . .

4.2

s.
k. s. , s 100 . k.
, 1 Hz.
, . 4.2.

4.2:

() .
(B) .

4.3

365

.
.

( ) . , ,
. , , . 4.3
.

4.3:

. (A) .
(B) . (C) .
(D) .

4.3
4.4 . , . 3.
,
3

eng. squirrel cage rotor, ita. gabbia di scoiattolo

366

, .
,
.
. . ,
, . ,
. ,
, .

. , , .

4.4:

, , P/m ,
,
,
. . -

4.4

367

,
4.
, , () (),
. .

4.4
, - . ,
.
,
. , .
,
.
(A) 4.5 , . (B) ,
. ,

.
, , .
, .
.

MTBF, Mean Time Between Failures

368

4.5:

(A)
. (B)
.

4.5
, . .
, .
,
. ,
ia(t) + ib(t) + ic(t) = 0,
, . ,
. 2/3,

2/3, 4.6. Im, s
2/3, , s = s.
(4.1), 4.6.

4.5

4.6:

369

Fa = N s I m cos s t

Fb = N s I m cos(s t

2
)
3

Fc = N s I m cos(s t

4
)
3

(4.1)

4.6, .
. , 4.7. ,
. .

370

4.7:

(A)
. (B)
.

4.6
.
Fa, Fb, Fc ia(t), ib(t)
ic(t). FS. FS
R . .
, . .
(m = S ) ,
.

4.6

4.8:

371

. (A)
t 0. (B)
t /3/s.

(m < S ),
, k = s m > 0. , , k = k.5.

. , k,
e R + jkL.
k , e/R. , .

, . .
. , .
p. s s = s/p.
, .

372

4.9:

. (Fs)
. (s)
. (m)
.

4.7

4.10. m S.
m < S,

k = k = s m > 0 .

(4.2)

k m ,
.
, . k.
t

k (t ) = k + k d .

(4.3)

k + /2.

R = m sin k .

(4.4)

4.7

373

,
.
, ,
Rm = -m sin(k) R.

m k.

e=

dR
= m k cos k .
dt

(4.5)

,
R + jkL . , R
kL, iR e/R mk.

u = 0 = RRiR + e , iR = +

m k
cos k
RR

(4.6)

iR > 0,
4.10.
. ,
.

4.10: .

. -

374

4.10 . cos(k) =
cos(0 +kt), , k.
k = k/p. , m + k = m
+ (s m) = s,
, .

4.8
,

.
4.10 
Bmcos(k),
Bm
. Bm
m, ,
.
mk cosk/ZR mk cosk/R.
 LiRB, L ( ). 9.
.
, , 9 ,
.
m = (2/) BmRL = 2BmRL m
Bm. ,

B =k 1m cos k .

(4.7)

M em = D L iR B = D L (mk cos k / R )Bm cos k ,

(4.8)

M em = m2 cos 2 ( k ) k / R = k 2 m2 cos 2 ( k ) k .

(4.9)

4.9

375

,
, .
(4.1):
, cos2(k) =
cos2(0 +kt). ,
. ?
(4.1):
,
/2 ,
sin2(k), Mem = m2k/R = const.

4.9

, , .

.
.
.
, . .
.

,
. .
. .

376

.
. .

, . , , , , ,
.
. , 4.39.
4.39.

4.10
(1) N
, (2) , (3) ,
(4) .

u = R i +

d
.
dt

(4.10)

= L( m ) i .

(4.11)

M em =

1
2

dL
d m

d L jk

i = i k i j
2 k = 1 j = 1
d m
1

(4.12)

4.11

377

d m
= M em M m k F m .
dt

(4.13)

. , (i) , (ii) , (iii) (iv)
. (4.11) .
N , (4.10)
N , (4.11)
, (4.12) , (4.13) . , N+1 .

4.11
.
FS =
Fa+Fb+Fc. - , () 0 0.

G
G
a0 = 0 ,
G
G
0
3 G
b0 = +
0 ,
2
2
G
G
0
3 G
c0 =
0.
2
2

(4.14)

ia = I m cos S t ,
ib = I m cos(S t 2 / 3),
ic = I m cos(S t 4 / 3),

(4.15)

378

G
G
Fa = Nia 0 ,
G
1G
Fb = Nib ( 0 +
2
G
1G
Fc = Nic ( 0
2

(4.16)

3 G
0 ),
2
3 G
0 ),
2

G
G
G
G
G

i
i G 3
(ib ic )
Fs = Fa + Fb + Fc = N 0 ia b c + 0
2 2
2

G
G
G
3
Fs = NI m 0 cos S t + 0 sin S t
2

(4.17)

S=S FSm = 3/2 NIm.

. .
ia + ib + ic = 0,
. . , c
(-ia - ib) ic. , /2,
.
. , 0 0, .
, i i, .

0 0,
. , F = Ni,
FS . ,
. . 4.11 - 4.12. (4.17), ( Nabc = N),
FS

4.11

3
ib ic 3
= ia = I m cos S t
2 2 2
2
3
(ib ic ) = 3 I m sin S t.
is =
2
2

is = ia

379

(4.18)

4.11:
.

i(t) i(t) FS, FS/R. ,
. ,
, ,

.
(4.2):

380

, .
/ ? ( 4.13).

4.12: .

(4.2):
e1 sm, esm, ua = Raia + da/dt
da/dt = -s sin(st)m. ,
. , uabc u
. u/i, . , (4.18), i
50% iabc.
N = mNabc .
u = m uabc.
FS
i = (3/2)x(iabc/m).
, ,

4.12

381

2/3.
, (400 V
).
.
.
(4.3):

/2. 3 .
.
(4.3):

, 4>3
1, 2, 1 2 . (2 2)
. , i(t)+i(t) = (3/2 Im)(cosst + sinst) 20,5 . , 1, 1, 22. 1
U,, 1 , 1 1 20,5 . ,
. ,
, , , .

4.12
. , N
i(t) i(t) Fs
(), , ,
.

382

(iabc, uabc, abc) (i, u, ) . , -

, .
,
,
. ,
. , .
.

. x, y z
dx/dt, dy/dt dz/dt.
r ,
,
r, . x, y z r, . .
x-y-z , .
, . ,

, ,

. , , , .

(4.19). (4.18) . KI. , KI
1.
.
Fs , KI .

4.12

383

4.13:
.

i s
2
i = K I
3

s
0 2

1
ia
2
ib
3
ic

(4.19)

4.12

.
, ,
. 2,
3 ,

384

is = ia
i s =

ib ic 3
= ia
2 2 2

(4.20)

3
(ib ic )
2

.
, 2 . Nabc = N, e Ri, uabc
u . , a
3 2.

(4.20) ,

us = ua

ub u c 3
= ua .
2 2
2

(4.21)

, ,
,
(4.19). ,
KI KU
1, 3 2.

KI =KU =1,
KI =KU. , .
(4.21) 3 KU = 2/3,
(4.19) KI = 1,
2,
3.
2 1,5 3, . , ,
2 3 . ,
. KU/KI .

4.13

385

KI = 1 KU = 1, 3 1,5
2. ,
. ,
2. , KI = 1 KU
= 1, . ,
.
KI = KU = 2/3.
, ,
KI KU .

4.13

,
. ,
. P
, .

. ,
. ,
. ,
. , , u = Ri.
u1 = 2u i1 = 2i, . , ,
u1 = Ri1.
, u1i1
. u1, i1 ,
.
, . , ,
(4.22), KI = KU = K.

386

1
i

K
=

I

i
0

2
3
2

1
ia
2 i
b
3

ic
2

(4.22)

(N = Nabc), KI 1, Fs
. ia(t)
= Imcosst, ib(t) = Imcos(st-2/3), ic(t) = Imcos(st-4/3),
i(t) = ia(t) ib(t)/2 ic(t)/2 = 3/2 Imcosst,
i(t) = 30,5/2 x (ib(t) ic(t)) = 3/2 Imsinst.
,
, .
.

1
u

K
=

U

u
0

1

= K

1
2
3
2

1 ua

2 u
b
3

uc
2

(4.23)

2
3
2

1
a
2
b
3

c
2

(4.24)

, KU . . u u
N = Nabc , KU 2/3. , , , . N = Nabc,
. e u,
.

4.13

387

abc , KU = 2/3, KI.

KI KU,
, ,
. KI = 1 KU = 2/3 . , KI KU. u/i abc . , .
R X . abc ,
3/2. , . , N = Nabc ,
1,5 . , , (R) (L) . , .
, ,

.

e = d/dt. KU K,
e =
(KU /K) d/dt.

(4.4):
N = mNabc
Fs
, , -

388

abc , ,
(KU = KI =K) ?
(4.4):

N = mNabc . u
= m uabc. FS i = (3/2)x (iabc/m). uabc/ iabc u /i

u
i

m u abc
2m 2 u abc u abc
=
=
(3 / 2)(iabc / m )
i abc
3 i abc

m=

3
K U = K I = K =
2

2
3

,
(3/2)0,5 . ,
abc , (KU = KI
=K). , , .
, (3/2)0,5 abc . (3/2)0,5
K= (2/3)0,5.
(4.5):
KU = KI =K =
(2/3)0,5 .
(4.5):
,
.
.
Uabc Iabc.
3UabcIabc. KU = KI =K = (2/3)0,5,
(3/2)0,5 . , [(3/2)0,5 Uabc] x[(3/2)0,5 Iabc] = 3/2 UabcIabc.
, 3UabcIabc, .

4.13

389

(4.6):
KU = KI
=K = 1 P = (3/2) Pabc.
(4.6):
ua, ub, uc, ia, ib ic. (4.22) , u, u, i i.
, abc Pab = ui + ui
P = (3/2) Pabc.
4.13.1 K = 1
KU = KI =K = 1,

N = N abc ,

(4.25)

G
3
i = iabc ,
2

(4.26)

3
G
u = uabc .
2

(4.27)

P =

3
Pabc .
2

(4.28)

4.13.2 K = (2/3)0,5

N =

3
N abc ,
2

(4.29)

390

G
i =

3
iabc ,
2

(4.30

G
u =

3
uabc .
2

(4.31)

.
4.13.3 K = 2/3
KU = KI =K = 2/3,

N = N abc ,

(4.32)

G
3
i = iabc ,
2

(4.33

3
G
u = uabc .
2

(4.34)

P =

2
Pabc .
3

(4.35)

4.14
,
3/2 . -

4.14

391

, . ,
,
(1) 3/2 , ,
K = 2/3. V , , .

V 2 1
=
V 3 0

2
3
2

1
Va
2 V
b
3

Vc
2

(4.36)

(2) , . , RS, RR, Lm, LS,

.
(3)
abc . u(t) ua(t),
i(t) ia(t), (t) a(t).
(4) ,
. FS N = 3/2Nabc,
u = 3/2 uabc, .
(5) P = ui + ui 2/3 Pabc.
,
abc ,
P = 2/3 Pabc. P, P = ui + ui, 3/2. ,

Pabc =

3
P
2

(4.37)

392

4.15
, . S S
, S
a . ,
S S , , S -S ,
.

4.14:

4.14 . m
.
t

m = m 0 + m d

(4.38)

,
, S S, S
S . uS, uS, iS, iS, ,
R.

4.16

393

(4.7):
, FS
. iS iS.
(4.7):
FS S S
.

4.16

ua, ub, ub, ia, ib, ic,
a, b, b. a LSia,
LS , Laxix, Lax a , ix
. ,
Ra = Rb = Rc = RS La = Lb = Lc = LS.

u a = RS i a + d a /d t ,

(4.39)

u b = RS ib + d b /d t ,
u c = RS ic + d c /d t .
- ()
, ,
S-S , , S S , . S S S-S ,
a, b, b.

uS = RS iS + d S /d t ,

(4.40)

u S = RS i S + d S /d t .
,
. .

394

4.17

. 4.15 ().
NR = 28 , 14 , . , 14

S S , (B) 4.15. , , .

4.15: .

,
, 4.15 (C).
, ,
,
. . . .
, , . ,
, -

4.17

395

. ,
,
,
. ,
.

4.16: .

. ,
, . , 2/3, 4.16 (A).
, ,
4.16 (B). , .
.
,
. , ,
.

.

396

, m. . 4.14, R
R.
, uR = uR = 0. iR iR FR,
iR iR, m.
iR >0 iR = 0, FR R. FR,

R R .
.

, ,
NR = 1. , , ,
.

4.18
,
, . u = Ri + d/dt, u, R, i,
, ,
, .
,

d s
,
dt
d s
us = Rsis +
,
dt
d R
0 = RRiR +
,
dt
d R
0 = RRiR +
.
dt
us = Rsis +

(4.41)

4.20

397

4.19
4 4 4 .
4 . , iS, iS,
iR iR , 4 , S, S, R R
.
, (4.42).
. L11 = LS S. R NS ,
L11 = L22
= LS = NS 2/R. L33 = L44 R R.
,
.
.

L11
s

0
s =
R Lm cos m

R Lm sin m

0
L22

Lm cos m
Lm sin m

Lm sin m

L33

Lm cos m

Lm sin m is (4.42)

Lm cos m is

iR
0

L44
iR

4.20

, . 4.17 .

S = S + m ,

(4.43)

R = R + m .
(S)
(R)

398

4
(4.44)

m = mS + mR .

S = N S S = N S m + N S S = N S m + S ,

(4.45)

R = N RR = N Rm + N RR = N Rm + R .

4.17: .

S , R . . , .
4.17,

LS =

S
iS

, LR =

R
iR

(4.46)
.

Lm = LSR

N S mR
N RmS
.
=
= LRS =
iR
iS

(4.47)

4.21

399

. ,
.

LS =
LR =

N S mS + N S S
iS
N RmR + N RR
iR

=
=

N S mS + S
iS
N RmR + R
iR

(4.48)
NS
N
LRS + LS = S Lm + LS ,
NR
NR

NR
N
LSR + LR = R Lm + LR .
NS
NS

, .
.
, ,

LS = Lm + LS ,

(4.49)

LR = Lm + LR .

4.21
,
.
,
. .
S = (LSiS)/NS .
. ,

.
,

.
, , -

400

. , ,
, .
, ,
. ,
k = Lm/(LSLR)0,5 1.
, (1-k), , LS LR. 1,
. , .
, , . (400 V, 50 Hz) k [0,9 .. 0,998],

(k < 0,8).

4.22
, LS/LR , L11 = L22 =
LS = NS 2/R, L33 = L44 = LR = NR 2/R. , .
Ljk k
j ij. , Ljk
= Lkj, (L = LT).
,
L12=L21=L34=L43=0. L13 S R. . m = 0, ,
,
. m = /2, , L13= 0. m = ,
, L13 < 0.
L13 L13(m) = Lm cos(m), Lm = k (LSLR)0,5
m = 0. -

4.23

401

. , m = mt,
dL/dt , Mem = i T (dL/dm)i.

Ls
s

0
s =
R Lm cos m

R Lm sin m

0
Ls
Lm sin m
Lm cos m

Lm cos m
Lm sin m
LR
0

Lm sin m is (4.50)

Lm cos m is

iR
0

LR
iR

4.23
,
, iR iR. . ,
. , . ,
. .
, o
, .
100 , 100 . 100
1 , . ,
, (Ni) .


, NR = NS, LS = NS 2/R = NR 2/R =
LR, Lm = k (LSLR)0,5 = kLS =kLR, LS = LS Lm = (1-k)LS = (1-k)LR = LR.

402

. .
4
.

s = Ls is + Lm cos m iR Lm sin miR

(4.51)

(4.8):
iS = ImS cosSt, iS = ImS sinSt,
S >0, iR = ImR sinxt iR = ImR cosxt
0 < x <<S. .
S, .
(4.8):
iS iS
. x = x
. , m =x+S.
, S= LSImS cosSt + LmImR(cosmt sinxt - sinmt cosxt) = LSImS cosSt
- LmImR sin(mt xt). ,
, S, .
mx = +S mx = -S,
m = x +S m= -S +x. ,
0 < x <<S, m = x +S. , k = S - m = -x . . .
(4.9):
S, S, R, R,
Mem = (3/2) (S iS - S iS).
(4.9):
Mem = iT[dL(m)/dm] i,
L(m) ,
m.
L13=L31, L14=L41, L23=L32, L24=L42,
dL/dm = 0. LT = L,
L13, L14, L23, L24. , iT[dL(m)/dm]i = -Lmsinm iS iR
- Lmcos(m)iS iR + Lmcos(m)iR iS - Lmsin(m)iR iS.

4.24

403

(S iS - S iS),
() . Mem = (3/2) (S iS - S iS), 3/2 3/2 () KU = KI =
K = 2/3.

4.24
,
S, S, R, R.

. Mem= (3/2)(S iS -S iS),
.

,
. 4
. .
S S , , R R . ,
N = (3/2)0,5 Nabc,
, , ,
.
, iS, iS, iR, iR,
S, S, R R ,
.
,
,
S -S R -R. S -S R -R.
(4.52), (4.53), (4.54) (4.54).

404

d s
d s
, u s = Rsis +
,
dt
dt
d R
d R
0 = RRiR +
, 0 = RRiR +
.
dt
dt

us = Rsis +

Ls
s

0
s =
R Lm cos m

R Lm sin m
Ls
s

0
s =
R Lm cos m

R Lm sin m

(4.52)

Ls
Lm sin m
Lm cos m

Lm cos m
Lm sin m
LR
0

Lm sin m is (4.53)

Lm cos m is

iR
0

LR
iR

0
Ls
Lm sin m
Lm cos m

Lm cos m
Lm sin m
LR
0

Lm sin m is (4.54)

Lm cos m is

iR
0

LR
iR

M em =

3
p ( S i S S i S )
2

(4.55)

4.25

, . , ,
. (i)
(ii) , , , .
. , , .

4.25

405

dis
di
+ Lm cos m R m Lm sin m iR
dt
dt
di R
Lm sin m
m Lm cos m i R
dt

us = R s is + L s

u s = R s i s + L s

di s

+ Lm cos m

+ Lm sin m

dt
di R
dt

diR
+ m Lm cos m iR +
dt

m Lm sin m i R

.
,

uS = RS iS + LS

diS
di
+ Lm R .
dt
dt

U S (s ) = RS IS (s ) + sLS IS (s ) + sLm IR (s ) .
, s
j,

U S (s ) = RS I S (s ) + jLS I S (s ) + jLm I R (s ) ,
US, RS (LS - Lm) IS,
Lm (IR+ IS). , ,
. .

,
.
,
.
, .

. -

406

, , , ,
.

(i)

, ( , ) ,

(ii)

() , ,

(iii) ,
,
, ,
.
. , , ,
(iv) .
,
, . ,
,
+/- 600 V.
tON . (
1 2)
,
. , .

,

.

4.26

407

, ( ) . , ,
S .
, .
(4.10):
?
(4.10):

.
, fS = 50 Hz,
. ,
, ,
. ,
S , . S
= m + k, m k .
, S = 0, m = -k. .
, S = 0
,
, . Mem =
0. fS = 50 Hz, 2700 o/min,
300 o/min.

4.26

, , ,

408

FS, . ,
.
. , . , . , , .
.

4.27

, iS iS
FS = NSiS SS . FS , iS iS . ,
FS,
. . ,
.
d q,
id iq iS = FS/NS
. ,
S-S d-q , .

d-q (id iq) S-S (iS iS).
( ),
.
,
. ,
,
, , , , ,
. ,

4.27

409

FS . , FS iS iS FS id iq.

4.18: dq id iq
.

,
S-S
d-q ,
4.18. d-q ,
. id iq , FS .
d q
, ,
d-q .
d q, D Q. d-q d q.
, id iq
FS
. d q . ,
id iq, ,
.

410

4.28
FS, , S d S.
iS d iS cosS, iS iS sinS. , FS
d id = iS cosS + iS sinS.
iS iS q, q
iq = -iS sinS + iS cosS. (4.56). 1. , . ,
d-q
(ud, uq, id, iq, d, q) , (det T = 1). d q
d q .

4.19:
.

4.29 dq

id cos s
i =
q sin s

sin s i s
i s
=T

cos s i s
i s

411

(4.56)

(4.11):
uS = RS iS + dS/dt, ud =
RS id + dd/dt ?
(4.11):
RS
. , , ud = RS id + dd/dt. , u= R i + d/dt , .
, S
S , ,
u= R i + d/dt. d q . ,
. ud RS id + dd/dt.
uS =
RS iS + dS/dt uS = RS iS + dS/dt.

4.29 dq
, .
. ,
R R, ,
d-q
. , dq , DQ.

, . , , L13=Lmcos(m).

, R-R
S-S. , -

412

d-q ,
dq DQ ,
.

4.20: dq .

, d-q
. k =
S - pm.
k . p = 1,
k + m = k + m. , . - . , d-q
.

4.20. NR iR NR iR

FR R-R . R S m.
d-q k ,
S = k + m.

4.30

413

R-R
d-q
. iR d
iR cosk, iR iR sink,
d iD = iR cosk + iR sink. , iQ = -iR sink + iR cosk. ,
. , uD
= uQ = 0 D Q.

iD cos k
i =
Q sin k

sin k iR

cos k iR

(4.57)

4.30

-
d-q
.
, .
S-S
. S S
, S-S ,

G
G
G
iS = 0 iS + 0 i S i S = iS + j i S .

, d-q , d , q
, d-q ,
idq=id + jiq. ,

i dq = id + ji q = i S e j S

414

i S e j S = (iS + j i S )(cos( S ) j sin ( S )) =

= (iS cos( S ) + i S sin ( S ) ) + j ( iS sin ( S ) + i S cos( S )) .

iS = i dq e + jS .
idq=id + jiq
, id iq. ,
. (d) (q)
q /2, j =
exp(j/2) /2.
idq - , .

4.31 dq

d-q . d q, D Q. dq ,
, . , d , d = LSid + LmiD. d D .
S
, p =
1, . d S
t

s = s (0) + s d .

(4.58)

id cos s
i =
q sin s

sin s i s
.
cos s i s

(4.59)

4.31 dq

415

4.21: dq .

i dq = id + jiq = e j S i .

(4.60)

iD cos k
i =
Q sin k

sin k iR
.
cos k iR

(4.61)

dq DQ , d D Lm
q Q, .

d Ls

q= 0
D Lm

Q 0

Lm

Ls

0
Lm

LR
0

0 id
id

i
Lm iq
q

= L .

i
i

0
D
D


LR iQ
iQ

(4.62)

416

(4.12):

Mem = iT(dL/dm)i, L .
(4.62),
dL/dm = 0, Mem = 0.
?
(4.12):
Mem = iT(dL/dm)i
, .
, . , ,
, , L
. . ,
. .
(4.13):
LS , k . 4.21.
(4.13)
, ,
3/2 . . , L11 L22 LS. ,
,
, LS = LR. Lm = k(LSLR)0,5 = kLS.
, .

4.32 dq

. ,

4.33 dq

uS = RS iS + d S /d t ,

u S = RS iS + d S /d t

417

(4.63)

,
, .

u S = (uS + j u S )= RS (iS + j i S )+ d( S + j S ) /d t =

(4.64)

= RS i S + d S /d t
dq
.

u dq = u d + j uq = u S e j S = RS iS + d S /d t e j S

(4.65)

iS S
dq
, iS = idq exp(-jS) .

) )

u dq = RS i dq e + j S + d dq e + j S /d t e j S =

(4.66)

= RS i dq + d dq /d t + j S dq
, dq u = Ri + d/dt,
.
, .
, S k.

) )

u DQ = R R i DQ e + j k + d DQ e + j k /d t e j k =

(4.67)

= R R i DQ + d DQ /d t + j k DQ

4.33 dq
, .

418

K = 2/3.
,
p = 1,
, = p.
dq .
, , ,
.

ud = Rs id +
uq = Rs iq +
0 = RR iD +

d d
s q
dt

(4.68)

d q

(4.69)

dt

+ s d

d D
k Q
dt

(4.70)

d Q

(4.71)

0 = RR iQ +

dt

+ k D

d Ls

q= 0
D Lm

Q 0

Lm

Ls

0
LR
0

0
Lm

0 id

Lm iq

0 iD

LR iQ

(4.72)

(4.14):
Mem = (3/2) (S iS - S iS),
Mem dq .
(4.14):
, S = S +
jS, iS = iS + j iS, Mem = (3/2) Im( S
iS ), Im()
, S
, .

4.35

419

, dq = d + jq =
exp(-jS) S idq = id + j iq = exp(-jS) iS,
Mem = (3/2) Im[(dq exp(jS))* (idq exp(jS))] =
= (3/2) Im[dq exp(-jS) idq exp(jS))] = (3/2) Im(dq idq) = (3/2) (d iq -q id).

4.34
Pe = (3/2)(udid+uqiq)
.
Pe=(3/2)(udid + uqiq) = (3/2) (RS id2
+ RS iq2) + (3/2) ( id dd/dt + iq dq/dt ) + (3/2) S ( d iq -q id ) = Pcu1 + dWm/dt
+ Pob. Pcu1 . dWm/dt ,
. dWm/dt , . PFe
, dWm/dt.
Pob, . , .

4.35
Pdq

u d id + u q iq = Rs (id2 + iq2 ) + ( d' id + q' iq ) + s ( d iq q id ).

(4.73)

Pcu1, dWm/dt, . Pob

3
Pob = s d iq q id .
2

(4.74)

G G
E H , , G G
E H .
Pob S=S/p -

420

, Mem= Pob/S
.

M em =

3
p ( d iq q id )
2

(4.75)

d m
= M em M OPT
dt

(4.76)

4.36
m , k = S m. ,
. ,
. s = k/S = k/S, .
, 50 , 3000 /min. 2700 o/min, s = 300/3000 = 0,1. ,
, s = 1.

4.37
Mem m, PmR = Memm,
. Pm = Mmm
PmR = Memm, ,
. , Mem Mm . PmR Pob
.
, Ri2. , PCu2. , -

4.37

421

PFeR. .
k, .
k ,
. k << S, ,
s << 1.

,
.
.
, PmR Memm= MemS (1-s) =
(1-s)Pob. , sPob , .

PCu 2 + PFeR = sPob

(4.77)

4.22:
.

(4.15):
.
PFe . Pcu1, S ,
. .
(4.15):
dWm/dt . Pob = S cos()

422

-PFe - Pcu1.
Mem= pPob/S = Pob/S S .
(4.16):
2700 /.
.
(4.16):
s = (3000-2700)/3000 = 0,1. , 90% ,
10% .

4.38
,
, .
.
U = RI + j . , udq, idq, iDQ,
dq DQ ,
Us, Is, IR, s R. . ,
. Us = (Ud2+Uq2)0,5 Us K 3/2 . K=2/3, Us
.

u dq = Rs i dq +

0 = RR i DQ +

d
+ js dq
d t dq

d
+ jk DQ
d t DQ

u dq U s , i dq = I s , i DQ = I R , dq = s , DQ = R
,
. , , S

4.38

423

k. , , .

U s = Rs I s + js s

0 = RR I R + jk R

s
k

, s = k/S je
.

s=

k k
=
s s

s ,
,

0=

RR
I R + js R .
s

(4.78)

U s = Rs I s + js s .

(4.79)

, R = LR IR + Lm Is, S =
LS Is + Lm IR. im = is + iR ,
, .
R = LR IR + Lm Im, S = Ls Is + Lm Im, LR = LR
Lm Ls = LS Lm , m = LmIm =md + jmq ( )
.
, . , , .

s = L s I s + Lm I m
R = L R I R + Lm I m

(4.80)

424

4.23: .

. Us, , Us = Udq = Ud + jUq,
Ud Uq -,
ua, ub uc. Is= Id + jIq IR= ID + jIQ
. Rs Ls
.
RR LR
. RR LR
.

R R .
Z2 m = N1/N2. , m2Z2. , . N = 1
R2 = 1 m. NS = 40 , RR = 1,6 . , NR = NS ,
.

4.39

425

4.39
, .
, .
. , , ,
,
.
m .
Im = IS + IR ,
Im = I1+ I2` I1
I2`=(N2/N1)I2, .
, NS = NR,
Im = IS + IR. , Fm = FS + FR,
. , , m = Fm/R, R , m
.

4.24: .

m , . , m = NN m, NN . , m = (/4) NN m. ,

426

m S, ES = Um = jSm. Um
.
US = RSIS + jS LS IS + ES, .
NS = NR, m
. m
k, ER = sUm = jkm.
UR = 0 = RRIR + jk LR IR + ER
.

4.25: .

,
s = k/S. RR/s. kL
SL, S.
1/s , ER = sUm
Um. a , 4.26.

4.26: .

4.40

427

,
1/s, na slici 4.27 ,
.

4.27: .

4.40
RR/s.
s = (S - m)/ S = k/S, RR/s
. , .
, , .
Mem = Pob/S ,
. (4.75)
dq . .
. , (3/2) Re(usis*) =
(3/2) (UdId +UqIq) = Pcu1 + Pob = Rsis2 + Pob, |is| . ,
Pe

428

, Pe (3/2)Rsis2
RR/s . , Pob
Pob = 3/2 (RR/s) iR2, iR2 = iD2 + iQ2.

M em =

3 1 RR 2 3 p RR 2
IR =
IR .
2 s s
2 s s

(4.81)

, IR2 ID2+ IQ2, ID IQ

dq ,

3/2.
, |Im|<<|Is|, IR2 IS2.

I R1 = I R =
Im =

j S Lm
IS,
j S Lm + j S LR + R R / s

j S LR + R R / s
j S Lm + j S LR + R R / s

IS .

s,
, RR/s >> SLR,

im

RR / s
iS ,
j S Lm + j S LR + R R / s

iR
im /2. , im
, IR2 IS2.
,
Mem = 3RRIS2/(2sS),
Pob = 3/2 (RR/s) IS2
(4.17):
K 3/2 2/3.
iS iS(t) iS(t).
Pob = 3/2 (RR/s) IS2
.
(4.17):
abc

4.41

429

S-S . ,
Ieff, iS(t) iS(t)
Ieff 20,5. iS(t) iS(t) /2,
iS2+ iS2 = 2Ieff2. iS iS IS, iS2 = id2+ iq2 = 2Ieff2. Pob =
3/2 (RR/s) IS2 Pob = 3(RR/s) Ieff2, , , RR/s ,

.

4.41

, m,

s = (S - m)/ S,
uS RR/s
iR,
Pob = 3/2 (RR/s) iR2,
, Mem = Pob/S.

IR2 IS2,
|Im|<<|Is|,

IS
I S2

US
,
(RS + RR / s ) + j S (LR + LS )
U S2

(RS + RR / s )2 + S2 (LR + LS )2

(4.82)

.
S. a, b c
2/3. ia, ib ic, ,
S, 2/3, S =S,
. N-
S- . ,

430

4 . , 2p , p .
p = 1 S =S.
. p>1
S =S/p.
. , (p=1),
S =S,
S S . , , (p>1) , S =S/p,
,

M em =

1
1 3
3p
Pob =
S ( d I q q I d )= ( d I q q I d ).
S
S 2
2

(4.83)

m. m pm. , , m =m, p=1.

.
k, ()
m S k. , , p = 1, , k =k. |Im|<<|Is|, je

Pob
U S2
3 RR
M em =
=
=
S 2 S s (R S + R R / s )2 + S2 (LR + LS )2
=

3 pR R
2 S s

U S2

(RS + RR / s )2 + S2 (LR + LS )2

(4.84)

, US , p
( p=1), S
, RS LS , RR LR
.
,
s = (S - m)/S = (S - m)/S,
.

4.41

431

(4.18):
,
.
|Im|<<|Is|, RSRR/s
XS XR.
(4.18):
S. Pob RR/s, .
(Im|<<|Is) , Pob = (3/2) (RR/s) IR2. ZS = RS + jS LS =
RS + jXS, ZR = RR/s + jS LR = RR/s + jXR, Zm = jS Lm= jXm,
,
IS =

US
U S (Z R + Z m )
,
=
ZRZm
ZSZm + ZRZm + ZRZS
ZS +
ZR + Zm

, ,
IR =
=

U S Z m
=
ZSZm + ZRZm + ZRZS
U S j Lm S
(RS + j LSS ) j LmS + (RR / s + j LRS ) j LmS + (RR / s + j LRS )(RS + j LSS )

jS Lm,
IR =

U S
(RS + j LSS ) + RR + j LRS + LS RR + LR RS +
Lm
s
Lm s

L L
R R
j R S S R S
L
s
S Lm
m

RSRR/(sS) LSLRS,
RSRR/s XS XR,
IR =

U S
L
L R
RS 1 + R + R 1 + S +
L
s
Lm
m

j LS S + LR S 1 + S
Lm

U S

LR RR LS
L
RS
+
+ j LS S + LR S S
Lm
s Lm
Lm

432

S = LS/Lm>1 R = LR/Lm>1 .
LS=LR, Lm = k(LSLR)0,5 = kLS,
S = R = 1/k. k ,
S = R 1.
.
M em =
=

3 RR 2
3 RR
U S2
Pob
=
IR =
S 2 S s
2 S s R RS + S RR / s 2 + S2 S LR + LS

3 pRR
U S2
2S s R RS + S RR / s 2 + S2 S LR + LS

S = R 1,
,
M em =

3 pRR
2S s

U S2
,
(RS + RR / s )2 + S2 (LR + LS )2

. S = R 1
. S
R
,
k.
/
.

4.42
,
, . , [], ,
100%.
(RS
= 1 ) ,

. , Unom Inom . Unom =
220 V Inom = 2,2 A, RS = 1 ,
RSInom 1% . -

4.42

433

, Unom = 110 V Inom = 22 A, RS = 1 , RSInom 20% .

.
rS
RSrel. , ZB[] = Znom[] =Unom[V]/Inom[A],
rS = RSrel = RS[]/ZB[]. rS
= RSInom/Unom = RSInom2/(UnomInom) = RSInom2/Pnom, rS = 0,01 1%,
1% .

Z B [] = Z nom []=

fazno
U nom
,eff . [V ]
fazno
I nom
,eff . [ A]

RS I nom
= RSrel .
U nom

(4.85)

RR[], ,
,

rR = RRrel =

RR [] RR []
=
.
Z B [] Z nom []

(4.86)

( )
, 1,
100%, ,

iS = I Srel =

I S [ A]
,
I nom [A]

u S = U Srel =

U S [V ]
.
U nom [V ]

(4.87)

,
. ,
,
.
110 V
220 V, uS = 0,5. , 155,56/311,12 = 0,5.
, , S. ,

434

lS = Lrel
S =

LS [H ]Snom [rad/s]
,
Z nom []

rel
xS = Lrel
.
S = XS

(4.88)

B = Unom(m)/Snom.
, Unom(m) .
, ,
. ,
. , S R, ,
, , S2 = S2+S2.
.
, , m |m| = |LmIm|=|LmIS+ LmIR|, IS IR
.

Srel =

S [Wb]
S [Wb]
[Wb]
, Rrel = R
, rel
,
S =
B [Wb]
B [Wb]
B [Wb]

B [Wb] =

(4.89)

U nom [V ]
.
Snom [rad/s]

, ua = Ra ia + da/dt.
, ua da/dt.
S, ,
US = SS. B =
Unom/Snom.
RaIa
da/dt,

1.
mrel =
rel
m =m/S = m/S.
s s = 1 - mrel. , () nom < S , nom/S = 1 snom. -

4.42

435

. mrel = m/nom,
,
.

( [Nm])
MB[Nm]. Mnom, (100%).
.
MB[Nm] = Snom[VA]/Snom[rad/s] > Mnom, Snom =
3U(f)nomI(f)nom ,
Snom = Snom /p
.
MB > Mnom . Snom
. Pnom, , Penomnom, Penom= Snomcos(nom) ,
, nom = Pnom/Penom < 1
. , nom
= Snom(1-snom), snom . Pnom= Mnom Snom(1-snom) Pnom = Snomcos(nom)nom, MB = Snom/Snom Mnom,
M nom
M nom
cos( nom ) nom
=
=
<1
M B S nom
1 snom

Snom

(4.90)

(4.19):
cos(nom)nom/(1-snom)<1.
(4.19):
, Pob = PenomPcu1-PFe1
, snomPob, PmR = (1-snom)Pob,
PmR = Memnom.
Mem>Mnom
.
Pcu1, PFe1,
, Pnom =
Penom(1-snom). nom = (1-snom).

436

, nom < (1-snom).
cos(nom) < 1, . , , MB = Snom/Snom, .

4.43
MB = Snom/Snom Mnomrel <
1, , 1. ,
0,90,
90%. MB = Snom/Snom
MB =Mnom. MB =
Mnom
.
,
M em =

3p
( d iq qid ),
2

MB = Mnom dnom,
qnom, idnom, iqnom dq

rel
M em
=

( d iq qid )
M em
=
M nom ( dnomiqnom qnomidnom )

(4.91)

nom = B Inom = IB,
Memrel ()
.

.
rel
M em
=

rel i rel qrel idrel

M em
= rel d relq
= K RM drel iqrel qrel idrel
rel
rel
M nom dnom iqnom qnom
idnom

K RM =

rel
rel
dnom qnom

1
rel
rel
qnom
idnom

),

(4.92)

4.43

437

KRM 1,
KRM > 1 ,
,
KRM . 1/KRM .
,
. , ireldnom2 + irelqnom2 = 1.
, S2 = reldnom2 + relqnom2
1, RSiS. ,
KRM = 1 /2, , .
(4.20):
.

.
(4.20):
, (RS
+ jSLS)IS. , Um = US - (RS +
jSLS)IS , Um = jSm US = jSS ,

, m S. Im
IR1 = - IR, . m S Im.
IR1 Um = jSm
(RR/s + jSLR). s=snom 1, RR/s >>
SLR. , , IR1 Um
, snomSLR/RR rad. IR1
Im /2.
IS = IR1+ Im Im
m S. , /2.
/2, KRM 1. nom, nom, snom. KRM, -

438

, Mem = KRM (diq- qid), .

MB = Mnom, MB =
Snom/Snom.
MB = Snom/Snom, ,
rel
M em
=

M em
= drel iqrel qrel idrel .
MB

(4.93)

KRM, 3/2, p. [Nm], MB = Snom/Snom.

Mnomrel < 1 .
Mnomrel 1,
100%.

.
,
cosnom, .

4.44

RS, RR, LS, LR, Lm.
. ,

.

, ,
. ,
, 2RS = UJSS/IJSS.
RS 10%,
100 W, 0,1%,
1 MW.
(4.21):

?

4.44

439

(4.21):
, . ,
, .
( B) ,
. PFe1 PFe2
V1f/V2f, m1f/ m2f.
, , [A/mm2] . , . PCu1 PCu2 , V1Cu/V2Cu, m1Cu/ m2Cu.

, (V l3).
, B f, .

. , , .
, . , ,
. (,
, ) , .
S l2
.
l l3 , l2
.
. ,
. ,
, .

440

. RS = 0,001 1 MW
0,0011 MW = 1 kW . 1000 J . RS .
, RS
10 %.
Lm Im = IS+ IR,
m= LmIm. Im . ,
,
. ,
. , s 0. RR/s ,
.
RS, .
,
,
. , I0 =
USn/(RS + jsnLS). , LS Lm USn/( I0 sn).

50% 70% . , 20% .
(4.22):
?
(4.22):
. ,

.
(B-H ) B/H . , RFe
. RFe, D. /D,

4.44

441

. , R.
LS N2/R,
Lm = kLS. ,
Lm .
, LS LR.
NS =
NR, ,
m = NS/NR.
.
,
, . LS LR LS LR. .

.
. , , m ,
s . RR/s RR. ,
US/IS = RS + RR + jsLS + jsLR.
,
RS + RR . LS LR = US/(ISs), US IS
, .
, ,
,
ZK = RS + RR
+ jsLS + jsLR.
sn(LR+LS), 0,05 0,3. (400 V) ,
(6 kV) . , .

442

. , k ,
LS LR (1-k)LS.

LS = LS Lm , LR = LR Lm .

(4.94)

4.28: .

sn(LR+LS) = XS +
XR. Lesn Lmsn.
, .
, RR/s = RR << sn(LR+LS),
.
() Le = Xe/sn ,

Le = LS +
=

Lm LR
Lm + LR

LS L R + Lm LR
LR

LS LR + Lm L R Lm L R + Lm LR
LR

(4.95)

LS LR L2m
.
LR

Lu
(L1), (L2) M.
Lu = (L1L2 M2)/L2. LR <<Lm, (LR+LS) Le.

4.44

443

Lesn
0,05 0,25. . ,
,
. ,
,
. , . ( , iS = 1
[..], ),
uS xe < 1. , iS 1/xe
.

. . , , , .
RR. RR
RS. , RR 10%,
1 MW RR 0,1%. , RR
,
. , .

RR
ZK = RS + RR + jsLS + jsLR, RR.
, ,
, fS = 50 Hz,
,
fk 0,5 .. 5 Hz.
. , ,
.

444

.
(skin )
50 Hz.

.
RR , R = LR/RR. R
(Mm = 0) . ,
, , , .
,
. ,
.
.

.
Im . ,
. . , ,
mS, .
, , Lm , LR RR.
, R = LR/RR. , () exp(-t/R).
, , 1/e,
37% .
RR . RR
,
US IS .
,
Lesn
RR/s. RR/s
(Un2 (InLesn)2)0,5. , -

4.45

445

un=1 in=1. Lesn

0,05 0,25.
InRR/s, InLesn . Lesn = 0,25,
InRR/s 97%. , RR/s , RR/sn = Un/In
= ZB. , RR snZB. ,
rR = RR/ZB
sn. ,
In = 22 A, Ufn = 220 V ( 380 V), fn = 50 Hz nn =
2700 o/min, RR snZB = 1 .

4.45

Pob, , S = S/p
. , Im ,

M em =

3 RR 2
Pob
=
IR .
S 2 S s

4.29
.

4.29: .

446

IR=

(4.96)

ZmU S
,
Z m Z S +Z m Z R +Z S Z R

Z m = js Lm , Z S = Rs + js L s , Z R = RR / s + js L s .
,

M em =

(4.97)

Pob
3 RR 2
IR =
=
S 2 S s

U S2
3 pR R
=
2 S s R R S + S R R / s 2 + S2 S LR + LS

S = LS/Lm R = LR/Lm. US IR , .
US
, , 3/2 3/2 x 2 = 3. S R . Lm
LS, . , S = LS/Lm R = LR/Lm
,
S = R 1. , LS + LR Le, . ,

IS IR

Us
( Rs +

RR
) + js ( L s + L R )
s

(4.98)

4.45

M em =

3 pRR
2 S s

U S2

=
2

(RS + RR / s )2 + (S Le )

447

(4.99)

=3

U S ( eff )
1 RR
.
S s (RS + RR / s )2 + S Le 2

Mem(m), . , ,

s = (S - m)/S,

US(eff),

US(eff) (,
), S = 2fS/p RR/s
,

3,
, 3/2,
US .
, ,
s

M em (s )

K1
K
s+ 2
s

(4.100)

4.30.
(p=1), ,
, S = s, k
= k m = m. , p=1, , , m.

. ,
RR/s . US/(RR/s).
Mem = (3/2) (s/RR)(p/S)US2, US
.

448

4.30: .

(4.23):
US
, 3/2?

?
(4.23):
3/2 3.
220 V.

4.46
(4.9) . p = 1, S , s.
, .
s , RR/s (4.99).

4.46

M em

3 1 RR U s2
2 s s RR 2

M em

3p s 1 2
Us .
2 RR s

449

(4.101)

, .
,

M em

3 p k 1 2
Us .
2 RR s2

, US
S
, , .

Us

M em

3 s2
k ,
2 RR

(4.102)

(4.9) .
, , Mem = 3pkS2/(2RR)
, ,
.
,
S2/RR.

4.31: .

450

4.47
= m = m. ,
m = S. , s 1.
,
Les, . , Xe =
Lesn 10% 25%. Us/Xe
4 10 Inom,
.
RR/s.
. , ,
.

4.32: .

Is

M em

Us
js L e

3 RR 1 U s2
2 s s L2 es2

(4.103)

m = 0 s = 1
. ,
Mpol = (3p/2) (RR/S) (US/Xe)2, US
S .

4.49

451

4.48
,
400 V fS = 50 Hz, IPeff USeff/Xe, . Mpol = (3p/2) (RR/S)
(US/Xe)2, , m , S, . RR/s . Mm, ,
I0(eff) USeff/Xm.
, IPeff USeff/Xe 5Inom.
, . , .

4.49

, . , 1 ,
. , . . Mem(s),
. Rs ,

dM em d 3 RR
Us
=
= 0,
2
ds
ds 2 s s RR
2 2
+ s L e

s2
R
s pr = R
s L e

(4.104)

Mem(s) s = +spr = +RR/Xe s = -spr =

-RR/Xe. m = S(1- RR/Xe) Mem =

452

+Mpr , . , m = S(1+ RR/Xe), Mem = -Mpr ,

. spr .

4.33:
.

pr = S spr = RR/Le
,
. s = spr = RR/Xe RS
0 , .
.

3 1 RR
U S2
M pr =
2 S s pr (RR / s pr )2 + S Le

3 1 U S2
=
=
2 S 2 S Le

(4.105)

3 p U S2
3 p U S2
3p 2
=
=
=
S
2
4 S S Le 4 Le S 4 Le
S
US/S. Mpr = (3p/4)S2/Le.

4.50

M pr =

453

(4.106)

2
3 p U Seff
2 Le S2

, .

k .
,
. , Le , IPeff USeff/Xe.

4.50
spr Mpr,
M(s)
. ,

M pr = 3

2
1 U Seff
,
S 2 S Le

s pr =

(4.107)

RR
,
S Le

.
2
U Seff
3 RR
M (s ) =
S s (RR / s )2 + S Le

2
S 2 S Le 3 RR
U Seff

= M pr
3 U 2 s (R / s )2 + L
Seff

R
S e
S

= M pr
= M pr

2 S Le

=
2

(4.108)

RR
=
s (RR / s )2 + S Le 2

2
RR / s S Le
+
S Le RR / s

2 M pr
s pr
s
+
s s pr

, ,
RS .

454

, Lm
|Im| ,
.

M (s ) =

2 M pr
s pr
s
+
s s pr

(4.109)

, .
.
(4.24):
.
(4.24):
,
Mem(s) RS,
.
RS
RS, Mem(s),
Mem(s).
. Mpr = (3p/4)S2/Le,
. S = (US - RSIS). ,
, RSIS US/S. ,
, . .
Mem(s)
Mm = Mem = Mpr,
m = S(1- spr),
M/ .
m < S(1- spr) s > spr
.

4.51
Mm ,

4.51

455

.
.

d m
= M em (m ) M m
dt

(4.110)

4.34 .
. LR . m,
, LR1 Mm , Mem(m) . LR. J dm/dt = Mem(m)- Mm ,
.
. M
LR.
, SR . , , Mm , Mem(m) . , , SR.
.
s = 0, Mm = 0 m = S,
.
Mm Mpr,
, .

4.34: .

456

4.52
. IS > Inom, . , . 4.35.
, I0 = USn/(RS+jsnLS) .
4.35. Mm ,
RR/s , . s = snom,
Mnom,
nom=Snom(1-snom) Inom.
Mm ,
, .
RR/s ,
. .
, s = -snom, -Mnom, Snom(1+snom)
, (Inom).
,
|s| snom, ,
Snom(1- snom) m Snom(1+ snom). ,
+/- 10%,
. ,
1%. ,
,
,
,
.

4.53

457

4.35:

4.53

.
,
, .
.

.
.
,
.

, ,
.

458

4.54
, ,

RSIS2

RRIR2

H fs Bm2 + V fs2 Bm2

H fk Bm2 + V fk2 Bm2

kF m2

, Pcu1 = 3RS ISeff2.
PFe1,
fS.

, Pcu2 = 3RRIReff2.
, ,
k. k
,
.
,
, k = S.
,
.
,
PF kF2m ,
MF kFm. MF
Mem, ,
Mm= Mem - MF.

4.55
Pe. , Pe = 3USeff ISeff cos(),
USeff , ISeff
, cos() .
Pcu1 = 3RS ISeff2, . PFe1, fS .

4.55

459

. Pob = Pe - Pcu1 - PFe1

. S Mem = Pob/ S.

Pob = Pe 3Rsis2eff PFestat = M em s

(4.111)

PmR = M em m Pob PCurot PFerot Pob PCurot .

(4.112)

PR = Pob PmR = M em (s m ) = sPob = PCurot + PFerot .

(4.113)

.
PmR PmR = Memm.
, PmR Memm= MemS(1-s) = (1-s)Pob. ,
sPob
. sPob . , sPob Pcu2.

4.36:
.

Pm = Mmm
PmR = Memm ,
.
4.37
PCu2 = sPob PmR. RR/s
, RR RR(1-s)/s. IR

460

, 3RRIR2 = sPob , 3RRIR2(1-s)/s = (1-s)Pob PmR

.

4.56
4.37
S, m, R. US1
US - RSIS jSS,
S US1/jS.
|US|, |IS|, |IR| ,
, ,
20,5| |. Um = US1-jSLSIS jSm, m Um/jS. UR
= Um + jSLRIR jSR, R UR/jS.

4.37:
.

4.57

4.38. Pe, Pob, PmR Pm

4.57

461

Pe > Pob > PmR > Pm.

= Pm/Pe.

4.38:

Pm = PmR k F

2
m

(4.114)

,
, ,

Pe Pob PCurot + Pm = sPob + (1 s )Pob .

(4.115)

, Pm = Mmm < 0. , Pm . , . Pe, Pob, PmR Pm Pe > Pob > PmR > Pm, |Pe| <
|Pob| < |PmR| < |Pm|.
,
.
, , . ,
, , . (-PmR > 0) ,
(-Pob > 0), . , (-Pe

462

> 0) ,
.
= Pe/Pm. .
,
S = 250 /p. ,
. , RR/s .
,
.

4.58

.
, , , .

. , |s| snom, , Snom(1- snom) m Snom(1+ snom).
. , 1%, IS Inom
99% 101% .
. |s| snom IS Inom .
, m S. S = S/p S, ,
. , p 1, . .
, , .

4.59

463

, 400 V f = 50 Hz,
.
(BJT), MOSFET IGBT ,
20. . .
19. .
, ,
, .
. fS =
50 Hz, fS = 60 Hz, , .
,
.
(i)
,
(ii)
(iii) .

.

4.59
fS, m = S = 2fS /p,
Mem = 0. . S, ,
US/S.
S = M/. , .
Mem =

464

kkS2/RR, S k .
, , . ,
spr. Pcu2 sPob, .

4.39: .

. , ,
, Pcu2 sPob
Pob m3 . ,
. , , .

4.60

465

4.60
.
,
.
.
, . , ,
.
. () 4.40.

4.40: .

,
.
,
Rext, RRe = RR + Rext
.
, Mpr S2/Le,

. , -

466

, Mem kkS2/RR, e RRe M/.

spr = RRe/Xe ,
Rext
. 4.40.
, ,
.
,
( )
.
.
,
, .
. ,
RRe/s , RRe = RR + Rext
, .

4.41:
. (A) . (B) . (C)
. (D) . (E) .

m =
S(1-s) S ,
m s.

sPob = Pcu2. Pcu2

,
. ,
.

4.60

467

, nS = 3000 o/min,
nm = 1500 o/min,
50%. sPob,
.

4.42: . (A) . (B) . (C)

. (D)
, .

. 20. , . , . ,
sPob 4.42
Ld. (C) , , sPob
.
.

468

, .

4.61

S = S/p, S 2p
. , , . , S
. , , 2p.
(p = 1), nS = 3000 o/min.
, 1500 o/min, 1000 o/min, 750
o/min, . ,
,
.

,
.
,
, , . ,
,
. , . ,
.
.
4.43, (). ,
(), /2
.
,
. ,
. .
, p = 2
.

4.61

469

4.43: .

.
, 2/3, .

. ,
. a, b, c
. , /3,
.

470

4.44: .

a
. , ia(t). . , . , a1 a2 a ia(t) ,
. , = 0 =
. ,
= /2
= 3/2. ,
(p=2), .
, ia(t),
ib(t) ic(t) .
S S. ,
a1 t=0,
ia(t) = Im cosSt ia(t) = +Im. a1. ib(t) = Im cos(St-2/3)
, t1 = 2/(3S). 0 < t < t1,
b1, t1. t2 = 4/(3S), ic(t) . -

4.62

471

c1 . t3 = T = 2/S, ia(t) = +Im a.

a2 . ( ) T = 2/S, e = 2, m = e/2
= . , , S = S/2.
4.44,
.
,
, .
,
p ,
S = S/p.
Mem = Pob/S = pPob/S.

p.

s =

s
p

(4.116)

m =

m
p

s k
p

= s k , .

(4.117)

k .

M em =

P
Pob
= p ob
s
s

(4.118)

4.62
(p>1) . -

472

. .

, .
, .
, ,
,
, .
, /p, . ,
, .
, .
,
. ,
,
. .
, , .
,
/p,
.

,
, ,
. m,
S
m. S = S, (p>1) S = pS. ,
, ,
. (p = 2, 3, 4), -

4.62

473

.

.
S = pS,
. .

, f S = 2f/p.

.
, Mem V
D2L, D L . Mem =
Pem/S = p Pem/(2f),
.
Pem, VD2L pPem. ,
. ,
1,1 kW,
U = 400 V, f = 50 Hz. m 8 kg,
13 kg, 16 kg,
23 kg. m
kp .

, S = pS. m S,
.
,
. . ,
,
Bm, .
,
. , -

474

, ,  .
,
/p,
.
.
NZ , . , , , - .
, /p p , .
,
,
.
(4.25):
Mem =
Pob/S = pPob/S.
L D, p,
?
(4.25):
Bmax
, l4, , V4/3, V . , ,
. , .
. ,
.
Bmax .
, , ,
. ,

4.62

475

, o .
(4.26):
. ,
, .
?
(4.26):
. ,
( ) .
0/Fe. ,
. ,
,.
,
,
LIB. ,
B .
(4.27):

. ?
(4.27):
.
k = k/p . ,
,
. ,

476

. ,

.

4.63
. , . . 4.45

. a1 a2 a
,
.
,
, .
T =
1/fS 4.46 .

4.45: .

.

. , -

4.63

477

.

. , . ,
.
. , . ,
. ,
,

.
,
.

4.46:
()
().

(4.28):

npr = 2000 o/min. , .
.
(4.28):

. spr =

478

RR/(LeS), kpr = RR/Le. ,

kpr .
spr = (nS - npr)/nS = 1/3. , npr = 2000
o/min, npr =
nS(1-spr) = 1500 (1-spr) = 1000 o/min.

4.64
, ,
. . , p = 1,
.

,
,

s = pS

,
,

m = pm

n = 9.54 m

k = s pm

k = s m

f = 50 Hz n =
1350 o/min,

4.65

479

p = 2, f = 50 Hz
s = 100 , s = 50 , n s = 1500 /
n k = 150 o/ min, k = 5 , k = 10
n = 1350 o/ min, m = 45 .
,

,

.

4.65
,
.


. .

480

4.66
a ia(t) a(t).
, . , a(t) m.
, a .
ua(t) = RSia(t) + da(t)/dt.

u = ua

d s
= s m sin(st )
dt

(4.119)

, , S = pS = p(m + k) pm. , (mS).

.

.

4.47: .

4.68

481

4.67
4.48

.
. ( ).
E .
, .
(eng. inverter arm).
. .

4.68
, ua = E,
ua = 0. ub
uc. , u {0, +E}, , uab = ua ub, , uab {-E, 0, +E}. , , . ,
.
. {-E, 0, +E}, .
,
.

482

4.48:
.

4.69
fPWM
10 kHz. ua(t)
. T = 1/fPWM 100 s,
tON, 0 < tON < T, .
4.49. tON. ,
0 < t < tON +E, T ua = 0. tON
0 < tON < T, uasr = (tON/T) 0
+E.

U SR

1
=
T

( N +1)T

NT

ua dt =

ton
E
T

(4.120)

4.70

483

4.49: .
tON.

4.70
, . ,
Pulse Width Modulation (PWM). uasr = (tON/T)
uasr tON
.
uasr(t), tON(t) = T uasr(t)/.
,
[nT..(n+1)T] tON(n) = T uasr(nT)/. fS 50 Hz , , 0 < A < 1 ,

tON (n ) =

T T
+ A sin(2f S nT )
2 2

(4.121)

ua

484

uasr (t )

E E
+ A sin(2f S nT ) .
2 2

(4.122)

A,
fS . fPWM
, fS << fPWM. uasr(t) E/2, . . , , ,
. , ,
. , uabsr(t) uasr(t)

ubsr (t )

E E
+ A sin(2f S nT 2 / 3) ,
2 2

2/3. uabsr(t) = uasr(t) ubsr(t),

,

sr
(t )
uab

AE 3
sin(2f S nT + / 6)
2

A, fS
RAM .

()
uasr(t).

-
.

4.71
.

4.71

485

tON(n) = (T/2) [1+ Asin(2fS nT-)], ua(t)

uasr(t)(E/2)+(E/2) Asin(2fS t-).
fPWM , fS << fPWM,
T = 1/fPWM
. fS
,
, fPWM
5 kHz 20 kHz. fS << fPWM, .

E/2,

fS,
, ,

fPWM (
1/T), ,

, fPWM,
, mfPWM fS.

,
.
fS

.
fPWM = 1/T
10 kHz . E, .

. , ,

,
ua(t) = (E/2) + (E/2) Asin(2fS t-).

486

4.72
a ua(t) = RS ia(t) +
da(t)/dt. a ma,

, , L.. ua(t) = RS ia(t) + L
dia(t)/dt + dma(t)/dt.
, ma
. dma(t)/dt , S m
m.
.
fPWM,
, ua(t) = RS ia(t) +
L dia(t)/dt.

, Ia(s) = Ua(s) / (RS + sL). W(s)= 1/ (RS + sL)
, . W(s) .
, fPWM,
() fS.
= 2/T = 2fPWM s = j W(s) W(j)= 1/(RS +
jL). , RS << L,
|I(j)/ U(j)| 1/(L ). , , .
10 kHz, L
.

fPWM = 1/T = /(2). ,
.
|I(j)/ U(j)| 1/(L), .

4.72

487

, ripple,
.

4.50: .

(4.29):
fSn = 50Hz xe = 20%. fPWM = 10 kHz. .
(4.29):
. E ,
Erel 1. fSn xe = 0,2. 200 , xPWMe = xe (fPWM / fS) = 40, 4000 %.
I
1/ xPWMe = 2,5%.
(4.30):

E fS =
1/T. , .
. L.
-

488

.

tON = T/2.
(4.30):

, ua = L dia/dt. T, tON, a
, Ldia/dt = +E/2. , .
, ua = -E/2. Isr I. , Isr-I Isr +I. ,
dia/dt = 2 I / (T/2) = (E/2)/L, I = ET(8L).

4.73

S. Mem = 0 s = 0, ,
m = S. , , Mem(m) .
, , S =
|Mem/m|. pr = ppr = pRR/Le . Mpr =
(3p/4)S2/Le S = kS2/RR
S2.
,
. 4.51
.

U s = Rs I s + js ( Ls I s + m ) .

(4.123)

4.73

489

4.51:
. ()
.

, US
jSS = jS LS IS + jSm = jS LS iS + jS Lm Im. , S US/S.
, S
() , . ,
, ,
,
,
.
. Mem, Mem/S, . , .
, , S US/S. max nom, ,
4.52. . m S, im,
Lm ,
m(im). ,
m(im),

490

im. , . , US/S nom, im ,

, .
US/S nom.

4.52: .

Us
j s

(4.124)

4.74
US/S =nom .
, .

US Snom. ,
, .
0
< US < Unom. , 4.48 . , , .

Snom m Snom Unom Snomnom,
. -

4.74

491

Unom,
m S > nom S(S) = nom(nom/S). ,
, 1/.
.
< nom,
, US Snom, ,
.

m =

Us

Us

= const.

U
f

= const.

(4.125)

, , , ,
1/.
, .

( ) >

nom

nom
nom

(4.126)

,
nom
nom
( ) =
nom nom , > nom

(4.127)

, US/S .
S < Snom . ,
0 < S < Snom,
. , . , .
, S(S) = nom(nom/S).
, S = S/p.
Mpr S ,
, Mpr 1/2.
Mpr(nom) ,

492

Mpr(S) ,
m S = pS , Mpr(S) = Mpr(nom) (nom/S)2. ,


1/2.

4.53:
.

S . . S tON(n) = (T/2)
[1+ Asin(SnT-)] . S < 0, Mem - m .

4.75

Mem - m .
, , ,
.

,
, .

4.76

493

,
. ,
Mnom .

|S| Snom.
,
, |S| > Snom. S(S) =
nom(nom/S).
.

M nom

nom

(4.128)

4.54: .

4.76
4.55 . , , , ,
. m<nom . m>nom .
Mem - m ,

494

, , . , S . , S pm. ,
, US/S . , ,
, ,
S() = nom(nom/S).

4.55: , ,
, ,
.
. m<nom
, m>nom .

, ,
( )
M( ) Mnom (nom/S). (|S|
Snom) . ,
M 1/ .
, P( ) Mnom (nom/) = Pnom,
. , -

4.76

495

, nom < < 2 nom

.
RI

,
. US = RSIS + jSS jSS.
, SS RSIS. ,
.
,
. US
.
US = Snom, , s = 0
IS = US/(RS +jS LS), S =
LSIS = LSSnom/(RS +jS LS). | S |
, .
,
, US = Snom
4.56.

4.56: RI - .

496

, . kr
.
kr .
, , p=1,
, (k<<S, k<<S).
,
M() Mnom (nom/). , Mpr() = Mpr(nom) (nom/)2,
Mpr(nom) . M() Mpr() kr =
nom(Mpr(nom)/Mnom). , Mnom(nom/)
Pnom = Mnomnom. > kr, .
, , P 1/.
,

kr = nom

(4.129)

1
,
2 xe

xe =

X e
Z nom

Lenom
Z nom

Lenom I nom
U nom

(4.31):
m =
0 IPOL = 5 Inom.
kr .

4.76

497

4.57:
.

(4.31):

M pr (nom ) =

2
3 p U Sn
,
S 2 X en

USn Xen
.
RS 0, Lm >> Le (RR/snom) Unom/Inom >> Xen,
,
M nom =

2
2
2
U Sn
3 p RR
3 p RR U Sn
3 p U Sn
3p

U Sn I Sn ,
2
2
S snom R
S snom R
S RR S
2
R
R

+ X en

s
nom
snom
snom

snom .

,

m pr (nom ) =

M pr (nom )
M nom

2
U Sn
2 X en

U Sn I Sn

1 ,
2 xen

xen .
, xen 1/IPOL = 0,2.

498

mpr(nom) = 2,5.
kr = nom(Mpr(nom)/Mnom) . (kr /nom)
, kr = 2,5 nom.

4.77
19. . , ,
. .
50 Hz, 60 Hz.
4.77.1
, IP USn/Xe, Xe XS + XR . . xe 10% .
, RR/s
RR/s > Xe .
J,
.
,
xe 10%
.
.

.
N2/R, N R
. R
.

4.77

499

4.58: (A) . (B) .

. , , .
, .
, .

MPOL Mm.
J dm/dt = MPOL Mm
.
.
.
MPOL = (3p/Sn)RRI2POL
RR. ,

. ,
, .
RR, .
RR .
RR
.
, fk = fS = 50 Hz. -

500

, RR,
, fk 1 Hz. , 4.59, . . . .
.
, , . , , . , fk = fS =
50 Hz, Xe = Lek. , , Xe
>> RR. , , . ,
fk 1 Hz, , Xe << RR. , .

4.59: .
(A) . (B)
.

, ,
, , , . -

4.77

501

RR RR . ,
.
. 4.60.
.
. , .
, .

.
. ,
. , , .

4.60: .

4.77.2
,
, ,
.

502

.
,
, . .

, .
4.58 B.
,

.
,
, dis(t)/dt.
us = Rsis + Ledis/dt + e.
dis/dt = (us Rsis e)/Le
.

.
,
.

.

.
.

.

.
,
.
. , .
.
. ,
. ,
.
. ,
.
, . ,
, ,
.
k = S m, . ,
, .
.
.

.
.

504 5

5.1
,
. FS S = S /p S p.
S = FS/R, R.
S .
, . , R .
R m .
m = S, S R .
,
. m = S
.
(m = S) .

5.2
.
, . .
,
.
,
, .
. ,
. . , ia(t) + ib(t) + ic(t) = 0,
, . , . ,
. .

5.3 505
. ia, ib ic Fa, Fb Fc.
.
2/3.
FS Fa, Fb Fc .

5.1:

5.3
, Fa,
Fb Fc 2/(3p), p .
2 .
S, 2/3,
S = S. (p > 1), S = S/p.

506 5
, s
2/3,
Fa = N s I m cos s t ,
(5.1)
2
Fb = N s I m cos(s t ) ,

3
4
Fc = N s I m cos(s t ) ,
3

Ns . FS. ,
, , S = s/p.

.

FS. , FS .
.
,
.

5.2:

. (p=1) 2/3.

5.3 507
Fa, Fb Fc ia(t), ib(t) ic(t),
. FS . FS
R S.
S NS.
,
. S, S NS, S = NSS .
, S(), .
, . S = (/4) NSS.

5.3:

S, .

508 5
. ,
.
. .

. ,

.

G
(5.2)
G
Fs
,
s =N

R N .
5.4

() . ,

.
. FS .
.
,
.

5.4 509

5.4:

G G
G
M R S

, , FS .

. ,
.
, Mem R iS |R| |iS| sin(),
.
,
, = /2.
.

510 5
,
ia, ib ic .
.
(5.1):
.
.
?
(5.1):

. ,
.
.
, , . , ,
. .

.
,
. ,
,

. , , .
(5.2):
,
.
. ?
(5.2):
,
.

5.6 511
,
.
, (
), . , ,
. ,
.
.

5.5
( ) . , . . . , ,
,
().
.

5.6

. .
, , .

512 5

5.5:

.

. S, . .
, , . ,
fS = 50 Hz. , .


.
. ,
.
.
. ,
. , .

, . . -

5.7 513
, .

5.7

.
B(H) Br. ,
F = Ni, ,
H .
, .
, ,
.
,
.

5.6:

(A) . (B) .

.
NP , iP. FR = NPiP
P = NPiP/Rm, P = NPP =
(NP2/Rm)iP = LPiP. ,

514 5
.
mR
.

iP. , , iP. ,
. ,
, , .

5.8
, , . . , .
. , . , .
, .
, , , ,
. .
, .
.

, , , . , .

5.9 515

5.7:

(A) . (B) .

5.9
, 5.8.
, , , .
. , , , . .
. ,
,
.

. 5.8.
Hz kHz. , ,
. , .
-

516 5
. .
,
. , 100120 oC
.

5.8:

. (A) . (B) . (C) . (D)

. (P) , . (S) .

5.10

, . ,
, .

5.10 517
,
. , ,
.
,
. (surface mount) (interior magnet,
buried magnet).
.

. , 0,1 0,5
0,01
0,1.

5.9:

(A)
. (B)
.

.
,
sPob,
.
(5.3):
nn = 2850 o/min 90%.

518 5
, , , .
(5.3):
, , . , , sPob = PFe2 + PCu2. , sPob . snomPnom, (30002850)/3000 = 5% . ,
10% - 5% = 5% .
95%.

5.11
.
H, ,
. BR,
H = 0, 1T. , . . ,
, , H, .
, .

(H > -Hc/2), (0, BR)
, . , ,
(0, BR) . , H Hc,
.
.
(0, BR). .
, B(H) , . H , -

5.11 519
, H = -Hc/2.
.

5.10: .

5.11: .

BRHc,
.
. ,
, , H .
, , , , H
, .
BRHc , .

520 5
B(H) ,
. H ,
, , B = 0
H. ,
, B
H . , R
.

5.12
H B PM, 0
Fe .

5.12: .

, Ni =
HPMPM + H00 = 0. S, PM = 0 =Fe PM = 0 =Fe.

5.13 521
H0 = B0/0= BPM/0, BPM HPM BPM = -0(PM/0)HPM. B(H) BPM =
-0(PM/0)HPM, H . B-H
, , H .
, HPM =
-BPM(0/PM)/0 ,
BR. , BPM =
-0(PM/0)HPM ,
B(H) , HPM
. BPM HPM .

5.13
. 0, PM, .

5.13:

. (A) . (B) .

522 5
mR , LS iS , . LS
= N2/R R, , Fe
,
(5.3)
2
.
R =

0 S

0,

.
(5.4)
= 0 + PM
0 ( ) PM. .
, 1%, , 10% 70%.
XS =
SLS. ,
I. E
fPWM = 1/T 10-20 kHz, , . I ET/(4LS).
LS, , , fPWM > 10 kHz.
. ,
.

. =0+PM 0. , . , 10% 70%.

5.14 523

5.14:
.

5.14
.
dia/dt = (ua - ea)/LS dia/dt 7000 Inom/s,
Mem = k |RmiS|. 100-200 s.
, ,
, .

. , jSS . S = Rm + LSiS
S(S) = nom(nom/S). LS 1%,
,
.

524 5
, , .
,

. .

5.15

, - .

.

, .
,
f = 50 Hz,

. ,
.
, , . ,
.
.
, . .
.

. , ,
.

,
.

5.16 525

,

.

, , , .

N ,

5.16

5.15: .

526 5
.
5, 9, 17 ,
.

ia = I m cos S t ,

(5.5)

ib = I m cos( S t 2 / 3),
ic = I m cos( S t 4 / 3).

FS = Fa+Fb+Fc. , , S =S/p,
, FS = 3/2 NIm.
FS ,
, - ,
a. 0 0.
a0 = 0, b0 = -2 0 +
0 (3)0,5/2 c0 = -2 0 - 0 (3)0,5/2.

G
G
Fa = Nia 0 ,

(5.6)

G
1 G
Fb = Nib ( 0 +
2
G
1 G
Fc = Nic ( 0
2

3 G
0 ),
2
3 G
0 ).
2

G
G
G G G 3
G
Fs = Fa + Fb + Fc = NI m 0 cos S t + 0 sin S t
2

(5.7)

.
. ia + ib + ic
= 0, (
).
c (-ia - ib). ,
2/3 /2, , . .
, 0 0, -

5.17 527
. , i i,
.

5.17
FS,
.
,
0 0. F = Ni, FS . , S S .
.
,
FS. - , Nabc = N.
FS
i(t) = ia(t) ib(t)/2 ic(t)/2 = 3/2 Imcosst, i(t) = (30,5/2) x (ib(t) ic(t))
= 3/2 Imsinst.
50%
.

5.16: .

528 5
,

1
i
= KI

i
0

1
2
3
2

2
3

ia

ib
ic

(5.8)

5.18 3/2
,
. , .
(5.8) .
KI . , FS N = mNabc .
i(t) i(t)
KI = 1/m.
(3/2)/m.
,
, .
.

1
u
= KU

u
0

1
2
3
2

2
3

ua

ub
uc

=
K

1
2
3
2

1

2
3

a

b
c

(5.9)

(5.10)

5.18 3/2 529

KU, KI K ,
3/2 , ,
. , 3/2 .
(5.4):
N = mNabc Fs
, ,

abc , ,
(KU = KI =K) ?
(5.4):
FS
. u = m uabc.
FS
i = (3/2)x (iabc/m).
uabc/ iabc u /i

u
i

m u abc
2m 2 u abc u abc
=
=
=
(3 / 2)(iabc / m )
i abc
3 i abc
m=

3
K U = K I = K =
2

2
3

(3/2)0,5 . ,
, , ,
3/2 KU =KI =K=
(2/3)0,5. , (3/2)0,5 ,
. .
3/2
.
K= (2/3)0,5 , , . ,

530 5

. ,
K= (2/3)0,5 .
(3/2)0,5
abc . (3/2)0,5
3/2 .
, , . 3/2
KU = KI =K= 2/3. 3/2 KI = 1, 50%
. ,
abc ,
K = 2/3. .

K = 2/3 . abc ,
. , , Pabc P. , Pabc = (3/2) P.

. , 3/2 . K = 2/3
.
, N = (3/2)Nabc, FS. S = FS/R
. u =
(3/2) uabc, .

3/2 K = 2/3 , ,
-

5.19 531
. Pabc = (3/2) P.
, 3/2 , K = 2/3.
, p = 1,
.

5.19
5.17.

us = Rsis +

d
d
d
s , us = Rsis + s , u p = R pi p + p .
dt
dt
dt

(5.11)

5.17: .

us us
, up . s, s p
s, s .

532 5
is, is ip .
, s
m = mt, .

s Ls

0
s =
p Lm cos m

0
Ls
Lm sin m

Lm cos m is

Lm sin m is
L p i pR

(5.12)

, s = LS is + Lmcos(m)ip.
, e .
d
(LS is + Lm cos( m )i p ) =
dt
d
d
= R s i s + L S
is + Lm cos( m ) i p m L m i p sin ( m )
dt
dt

u s = R s i s +

, is is ,
. ,
.

5.20
S-S
, ,
.

,
.
,
,
, , .

SS (-

5.20 533
, , ) S S. , , ,
, ,
. .
,
.
(S S) , dq
d
. ,
, . , dq .
, .

5.18:
.

,
FS, . . , -

534 5
FS.
, . dq d .
, , d
,
.
d q,
id iq iS = FS/NS
. ,
S-S d-q , .
d q ,
SS d-q ,
. d-q , .

5.21
dq
. d , Ld-p Lm, Lq-p q . , d q , , 33, 5 .
LS, Lp Lm .

d Ls

q = 0
p Lm

0
Ls
0

Lm id

0 iq
L p i pR

(5.13)

id iq ,
FS . ,
id = iscos(m) +
issin(m) iq = -issin(m) + iscos(m).

5.21 535
5.15. ,
. ,
dq .

5.19:
.

d S
t

dq = dq (0) + m d ,

(5.14)

id cos m
i =
q sin m

sin m is

cos m is

(5.15)

, m
m.
p = 2 , 5.18 5.19
. 2
2/p. 5.18 5.19
, m
(5.14) m = pm.

536 5

5.22
, ,
, , idq = id + jiq, is = is + jis. ej = cos() + jsin(),
dq
idq = e -j is. dq .
us = us + jus,
.
(5.16)

d
d
s , u s = Rs is + s
dt
dt
d
u s = Rs is + s
dt

us = Rs is +

dq

, .

i dq = id + jiq = e j m (is + jis )

(5.17)

, dq
(5.18)

u dq = e jm u s ,

dq = e j s .
m

5.23
dq
,

u dq = u d + ju q = u S e j m = RS i S + d S /d t e jm .

(5.19)

5.23 537
iS S dq ,
iS = idq exp(-m)

) )

u dq = RS i dq e + jm + d dq e + jm /d t e jm =

(5.20)

= RS i dq + d dq /d t + j m dq
m = pm. , dq
u = Ri + d/dt,
. m
, . m =m .
(p>1),
pm =m. p>1, m,
, p . ,

u s = Rs is +

dt s

d
d j m

u dq = e j m Rs i s + s = e j m Rs e j m i dq +
e dq ,
dt
dt

dq ,

u dq = Rs i dq +

d
+ jm dq .
dt dq

(5.21)

(5.21) .
.

Re{u dq } ud = Rs id +
Im{u dq }

d
d m q
dt
d
uq = Rs iq + q + m d
dt

,
,

538 5

d
d m q ,
dt
d
uq = Rs iq + q + m d
dt

ud = Rs id +

(5.22)

,
.
, , d
.
.

u p = R pi p +

d
p
dt

(5.23)

5.24

, .
.
, . , , . , ,
, .
, R . . N2/R, d q
Ld = Lq = LS. d q, .
, , Ld Lq.
, ,
.
.

5.24 539

5.20: dq .

dq

d d
m q ,
dt
d q
u q = R s iq +
+ m d ,
dt
d p
u p = R pi p +
,
dt
u d = Rs id +

(5.24)

d = L*s id + Lmi p

(5.25)

q = L*s iq

(5.26)

p = L p i p + Lmid

(5.27)

540 5
LS* (5.25) Ld LS*
(5.26) Lq
Ld Lq. p = Lpip + Lmid. Lp , Lm
d. Lm
.
. , ,
, d d = Lsid + Lmip, q q = Lsiq.

5.25
.
Pe = (3/2) (udid + uqiq), , ,

3
(ud id + uqiq ) =
2
d q 3
3
3 d d
+ m ( d iq q id ) =
= Rs (id2 + iq2 ) + id
+ iq
2
2 dt
d t 2
Pe =

= PCu1 +

(5.28)

d Wm
+ Pem .
dt

. ,
,
. dWm/dt
.
, , dWm/dt
. , Pem = (3/2)S (d iq -q id) . S pm = m, -

5.26 541
. dq d q
, (5.24) (5.28) m
.
Pem . , ,
Pem , PmR = Pem. , Rpip2. , , , upip = Rpip2.
PmR = Pem.

Mem
m = m/p.

M em =

PmR
P
3p
( i qid )
= p em =
m
m 2 d q

(5.29)

d = Ldid + Lmip, q =
Lqiq. , Ld = Lq = Ls.
,

M em =

3p
( d iq qid )= 3 p Lmi piq = 3 p (Lmi p )iq = 3 p Rmiq
2
2
2
2

(5.30)

Rm = Lmip
.
, Rm
.
,
.

5.26

d q , Ld Lq. , , ,
, Ld Lq. -

542 5
,
Ld Lq . .
d d = Ldid + Lmip,
q q = Lqiq.
q . , Ld Lq , Ld =Lq= Ls.
5.21
d q . , , .
.
, q , .
q , .
L N2/R, Rd < Rq Ld > Lq.
5.21 . d ,
d .
q , Rd > Rq Ld < Lq.

5.21: (A)
d q . (B) .

5.27 543

d = Ld id + Lmi p

(5.31)

q = Lq iq
p = L p i p + Lmid

5.27
d- q-

3p
( d iq qid )=
2
3p
3p
(Ld Lq )id iq .
= Rmiq +
2
2
M em =

(5.32)

,
. , , . .
.
, d-
q-, .
(5.5):

. Im.
.
.
(5.5):
id iq.
, id = Imcos() iq = Imsin(), d.

M em =

3p
(Ld Lq )I m2 cos sin = 3 p (Ld Lq )I m2 sin 2 .
2
4

544 5
= /4, id = iq =
Im/20,5, (3p/4)(Ld - Lq)Im2.

5.28
, , .
.
. 5.22. .
, . , ,
,
, ,
.
.

, .
.
, E0 = mRm. , IKS E0/XS = Rm/LS.
,
.

. , ,
Rmiq,
, id iq.

5.28 545

5.22: .

M em =

3p
(Ld Lq )id iq
2

(5.33)

Mem/IS
Mem/IS .
, . .
Mem/IS,

. , id iq . Mem idiq . idiq id iq, .
.
.
/4, id = iq.

546 5

5.23: (A) id - iq . (B)

, dq .

5.29

, , , . ,
.

() , , . ,
.

.
.

5.30

. , -

5.30 547
dq , ,
. ,
udq, idq dq ,
us, is s. .
.
. us =
(ud2+ uq2)0,5 us K 3/2 . K=2/3, us
. ,

.
,

i p = const. = I p
Lm I p = Rm .
, Rm .
, m = S. S,
S, , S = S/p,
m = S = S/p = m/p. d , . , dq
m. = p,
m = pm.
S = m.

di d
S Ls iq = Rs id S Ls iq
dt
di q
u q = Rs iq + Ls
+ S Ls id + S Rm = Rs iq + S Ls id + S Rm .
dt
u d = Rs id + Ls

u d = Rs id S Ls iq
ju q = jRs iq + j S Ls id + j S Rm ,

548 5

u s = RS i s + j S s = RS i s + j S Ls i s + j S Rm ,

(5.34)

u s = u d + ju q , i s = id + jiq .
Rm = Lmip . , , Rm
. d ,
Rm ,
. , , Rm ,
Rm = Rm +j0.

5.31
, (5.34)

U s = RS I s + j S s = RS I s + j S Ls I s + j S Rm .

(5.35)

,
5.24, RS, LS
E0.

5.24: .

E0 = jmRm .
E0 -

5.32 549
. ,

, XS = SLS RS.

Ld = Lq = LS.
US , US = Ud
+ jUq. , .
, () IS
.
, US . IS,
5.24.

5.32
. ua(t), ub(t) uc(t),
K = 2/3, Ud + jUq |US |
, Ueff 20,5.
, |E0| . Rm ,
. S = LSIS + Rm |S |
. ,
Pe = (3/2)US IS*, PCu1 = (3/2)RSIS2. Pem =Pe PCu1 = (3/2) E0 IS*. Rm
d , ,
E0 = jmRm q, d + jq . E0 IS*
mRmIq, Pem = (3/2) mRmIq. Pem S = S/p.

550 5

M em =

3p
Pem 3 p
=
m Rm I q =
Rm I q
S 2S
2

(5.36)

.
.
US |US |
Ueff. |E0|
. Rm
20,5
. |S| = |LSIS +Rm|
20,5.
Pe = 3US IS*,
PCu1 = 3RSIS2,
Pem =Pe PCu1 = 3 E0 IS* = 3mRmIq.

M em =

Pem 3 p
=
m Rm I q = 3 p Rm I q
S S

(5.37)

(5.6):
LS ,
RS , ,
Rm.
, fS = 50 Hz,
USn.
.
.
(5.6):
. IS = (US E0)/jXS,
E0 = jSRm. , d,
+/2.

U S = U Sn sin + jU Sn cos ,
U E 0 U Sn sin + jU Sn cos j S Rm
IS = S
=
=
jXS
jXS

5.33 551

U Sn cos S Rm
U sin
+ j Sn
.
XS
XS

S = 3U S I S = 3

U Sn ( S Rm )
U (U S Rm cos( ))
sin ( ) + j3 Sn Sn
= Pe + jQe
XS
XS

Pe = 3USnE0sin()/XS.

5.33
, . . 5.25 . d 1. q . d , Rm
, Rm = Rm.
Rm
. E0 = jmRm . US ZS = RS + jmLS.
IS, /2. E0 .

. , , . ,
d .
.

552 5
(5.38)

S = 3U S I S =
=3

U Sn ( S Rm )
U (U S Rm cos( ))
sin ( ) + j3 Sn Sn
=
XS
XS

= Pe + jQe
Pe

Pe = 3

U Sn E0
sin ( ) .
XS

(5.39)

. ,
,
.
< 0, ,
, .

5.25: .

, , , S = m =
pm.
S = S/p m =

5.33 553

m/p.

. , . , US, .
(5.7):

5.25,
3/2.
(5.7):
(* * *)
(5.8):
.
, , US = E0, .
t = 0, Mm
. . p =
1, m = m S = S.
(5.8):
, ,
US
E0 . = 0 US = E0,
. , J
dm/dt = Mem Mm = 0 Mm < 0. , US .
US E0, .
Pe Mem Mm . , Mem Mm,
dm/dt . ,
. d/dt = S m .
, (d/dt =0), S = m.
***

554 5
,
. E0 . (E0, ) E0sin() . , , .
, .
, ( ) .
.

"" . , .
(5.38),

Qe = 3

U Sn (U Sn E0 cos( ))
.
XS

(5.40)

Ip, E0 =

mLmIp . Qe

, ,
. ,
,
. , ,
, .
. .
S2 = P2 + Q2,

.
,
.

.

5.34 555

5.34

d- q-. US = E0 + ZSIS = E0 + (RS + jmLS)IS
.

.
Ud = RSId mLqIq, Uq = E0 + RSIq + mLdId. LdId
LqIq Xd Xq, .

5.26: (m = S).

, m = pm S. d q

U d = U s sin = Rs id S Lq iq ,

(5.41)

U q = +U s cos = Rs iq + S Ld id + S Rm .
, Rm = LmIP
.

556 5
,
Rm .
.

iq = +
id =

U s sin U s sin
=
Xq
S Lq

(5.42)

U s cos S Rm U s cos E0
=
Xd
S Ld

, ,
5.26.

5.35
5.26,
US = Ud + jUq -US sin()+jUS cos(),
US = |US|. (5.41)
id iq.
. (5.42),

iq =

U s sin
U cos E0
.
, id = s
Xq
Xd

, Pe =
Re(3USIS*) = 3(UdId + UqIq). RS 0,
, Pe S = S/p.

M em =

Pe
=
S

U sin ( )
U cos( ) E0
3p
=
+ U S cos( ) S
U S sin ( ) S

S
X
X
q
d

3 p U S E0 sin ( ) 3 p U S2 1
1
+

sin (2 ) = M P + M R
S
Xd
S 2 X q X d

(5.43)

5.36 557
MP
.

MP =

3 p U S E0 sin ( )
S
Xd

(5.44)

MR .

.

MR =

3 p U S2 1
1

sin (2 )
S 2 X q X d

(5.45)

5.36

5.27.
/2.
. ,
.
, Xd = Xq = XS.
=
/2.

M em _ max =

3 p U S E0
S X d

(5.46)

558 5

5.27: .

5.37
Mem(m) , . . . Mem(), Mem(m) Mem .
, m S. , Mem(m) m= S.
Mem_max =
3pUSE0/(SXS).
5.28.

5.38 559

5.28: .

5.38
, fS = 50 Hz 60 Hz,
. ,
.
.
, .
, , .
,
.
.
,
,

.
, ,
. ,

560 5
. , . ,
.
.
.

.
.
, , .

5.39
6 kV
25 kV MW.
MT. MT ,
J dm /dt = Mem+MT.
dm /dt = 0, Mem Mem = -MT, Pe
= Memm. , ,
.
, E0 ,
. Pe

Pe = 3

U Sn E0
sin ( ) = PG ,
XS

(5.47)

PG . , d/dt = S pm , S/p.

, .

5.39 561

. .
, MT
. Mem0 = -MT0,
MT1 = MT0 + M
Jdm /dt = Mem+MT = M.
.
E0 ,
US ,
. ,
, .
PG = -Pe = -3(USnE0/XS)sin() , Mem = -MT1.

,
, PG
,
Mem. J dm /dt = Mem+MT = M .
, , .

, .
(5.9):
,

.
(5.9):
(* * *)

US.
, .
d/dt=Spm, =0. , PG= -3(USnE0/XS) sin()
, .

562 5
,
(P-f),
.

PG = -3(USnE0/XS)sin()
.
E0sin(), E0
. ,
, .

( ).

Qe = 3

U Sn (U Sn E0 cos( ))
.
XS

(5.48)

Ip, E0 =

mLmIp ,

Qe . ,
. . , . , .
,

, .
, (U-Q), .

, , . , , .

5.39 563
. ,
US 0. 2 d/dt = S m = S pm. ,
,
.
US, E0 .

5.29: .

5.29. , ,
. Mm, ,
d/dt = S pm .
. , Mem = Mm.
, ,
,
2

.
,
/p, p .

564 5
d/dt = S pm.
Eo .
, , .
, sin() Mem k. ,
. J dm/dt = MemMm = 0.
, m=S. O
. ,
, p = 1,
(m, S) (m, S). J dm/dt =
MemMm. ,

d
= s pm = s m ,
dt

(5.49)

dm
dm
=J
= M em M m ,
dt
dt

(5.50)

d2
= M em ( ) + M m .
dt2

(5.51)

,
. dq
,
, Ud Uq
dq . , ,
d- q-,
. , d q
.
,
Mem k,
.

5.41 565

5.40

.
. , .
, = L/R, L R . , , = L/R . , .
.
. . , . ,
Mem k.

5.41
d/dt = S m
d2/dt2 = dS/dt - dm/dt.
S , dm/dt = -d2/dt2. ,

d2
= k + M m .
dt2

(5.52)

, ,

566 5
f(t) F(s). Mm(t) t = 0
Mm(0-) = 0 Mm(0+) = Mm, ((0)=0, d/dt(0)=0),
, s
J

d 2 (t )
+ k (t ) = M m
dt 2

Js 2 (s ) + k (s ) =

Mm
s

(s ) =

Mm
M
1
= W (s ) m
s
Js + k s
2

Mm/s
. W(s) ,
,
, (s) , ,
. f(s) =
Js2+k, .
, f(s) = 0, .
. f(s)=(s-s1)
( s-s2), s1 s2, exp(s1t) exp(s1t). f(s) = Js2+k s1/2 = j (k/J)0,5 = j o. , (t) exp( jot), , sinot / cosot. , .
.
, LC
t = 0 E.
ZC = 1/(sC) ZL = sL, . (E/s) ZC/(ZC+ZL) = (E/s) /(1+LCs2).
LC .
LC o, 1+LCs2 = 0, s1/2 = j(LC)-0,5. LC , W(s) f(s) = Js2+k, o = (k/J)0,5.

5.41 567
, (s)

Js 2 ( s ) + k ( s ) = M m ( s ) ,

f (s ) = s 2 +

k
,
J

5.30.

5.30: .

, .
5.30, M = 0 = Mm
Mem Mem = 0 Mem = 2Mm.
.

M em (t ) = M m (1 cos 0 t ), (t ) =

M em (t ) M m
(1 cos 0 t ).
=
k
k

d/dt = S m = (Mm/k) 0 sin0t

. , m S. . = /2,

Mmax= Mem(/2), -

568 5
, . = kt = (S -m)t ,
Mem sin(kt) .
Mm.
,

J dm/dt = Mem Mm. Mm < 0
, Mem
< 0 . ,
E0 US,
0 > > -/2,
. , , /2.
, Mem(t) .
,
. ,
.

5.42 LC

LC . ,
RLC , t = 0, E.
0 = n(1- 2)0,5,
RLC .

5.31: LC .

5.42 LC 569
R ,
, 0 = n = (LC)-0,5,
C

uC (t ) = E (1 cos(0 t )) .
R > 0, f(s) = 0
s1/2 = - n j0 n = 1/ = R/(2L).
uC(t) exp(s1t),
exp(-nt) = exp(-t/).
RLC

f (s ) = s 2 + 2n s + n2 ,

s1/ 2 = n jn 1 2 = n j0 .

e s1t = e nt e + j0t .

UC(s) = (E/s)/(1+RCs+LCs2)

uC (t ) E E e nt cos(0t ) E e nt sin (0t ) .

0. . = 2L/R
e = 2,71 . T =
2(LC)0,5, . R ,
, .
s1/2 n,
s1. < 1 .
, (), s1/2 s
,
, (B).

570 5

5.32:
.

1, ,

uC (t ) K1 + K 2 e t / 1 + K 3 e t / 2 ,
1 = -1/s1 2 = -1/s2 s1/2, 1 .

5.33:
.

5.44 571

5.43
f(s) = s2 + 2ns +n2 s.
, f(s) =
Js2+k . J dm/dt Mem = k,
.

d 2 (t )
+ k (t ) = M m f (s ) = Js 2 + k
dt 2

,

.

d 2 (t )
d (t )
J
+ kP
+ k (t ) = M m f (s ) = Js 2 + k P s + k
2
dt
dt

Mm, Mm(t) = Mm0 - kP d/dt.
Mm .
,
Mem .
Mem=k + kP d/dt.
Mem = kP d/dt .
, . , ,
. Mem = kP d/dt .

5.44
d/dt = S m, Mem = kP d/dt
S m. ,

572 5

S m. ,
, S m .
,
d/dt = S m = k.
, ,
. , . , . , ,
. , ,
,
.
. , S m = k
, ,
. ,

. , .

5.34:
.

.
, -

5.45 573
.
, .
, S m = k 0,
.
. d/dt = k. , , Mem = kP d/dt.
.

5.45
, .
.
.
110 kV, 220 kV 400 kV
. ,
.

.
, .

, . ,
. , d-, q-, d- q-.

. . , .
, US = 0.
, US =
0,
. ,

574 5
. ,
(US = 0)
.

. , RS , ,

u dq = RS i dq + d dq /d t + j m dq

(5.53)

u s = 0 = d dq /d t + j m dq

d- q- ,
,
dq .

. , ,
. , .
,
. , a ua = 0 =
RSia + da/dt. RSia, da/dt
= 0, a (0-)
. RS = 0,
. , , . ,
(RS = 0)
.
,
m = S,
a. a . , a a (0-).
RSia, a a (0-)
. , a .
RSia,
. = LeS/RS,

5.45 575
. - dq-
.
. , = LeS/RS ,
. , a
(0+)=b (0+)=c (0+)=0, d (0+)=q(0+)=0.

. d
=q = 0.
ISK.
.

, id(0-) iq(0-)
. .
.
ISK1 . ISK1
,
Ri .
ISK2 .
, ISK3
.
ISK1

ISK1 , iP(t) = IP. . ,

.
d =q = 0, , Lqiq = 0, Ldid + LmIP = 0. ISK1

576 5
(5.54), E0
. E0 IS = 0.

iq = 0,
id =

(5.54)

Lm I P
L I
L I
E
= s m P = s m P = 0
Ld
s Ld
s Ld
Xd

, ISK1 =
0,707 E0/Xd. ISK1 ,
.
3/2 (5.54).
ISK2

,
,
.

. UP = RPIP,
, . IP , iP(t)
. , .
UP = RPIP , dP/dt = 0. , , P = LPiP + Lmid
LPIP .
, . ,
.
iP(t),
.
(dP/dt 0),
(5.55).

5.45 577

Lq iq = 0, iq = 0,

P = L P i P + Lm i d = P 0 = L P I P ,
d = Ld i d + Lm i P = 0 = Ld i d + Lm I P 0

(5.55)

iP = I P0

Lm
id ,
LP

L2m
id .
LP

id (5.56).

id =

Lm I P 0
Lm I P 0
L I
=
= m ' P0
2
2
L
Ld
Ld LP Lm
Ld m

LP
LP

(5.56)

L'd
d,
.
5.35, L'P = (NS/NP)2LP
, L'm =
(NS/NP)Lm .
, d Ld = Ld + L'm, Ld
.
L'P = L'P + L'm.

5.35:

.

, L'd

578 5
Ld (NS/NP)2 LP, .

X d

Ld LP L2m
Ld =
=
Ld + LP
s
LP

(5.57)

L'd k
. L'd
Ld.
ISK2,
, (5.58).
ISK1 < ISK2.

id =

Lm I P 0
,
Ld

I SK 2 =

2 Lm I P 0
2 E0
=
2 Ld
2 X d

(5.58)

, ISK2 > ISK1 ISK1,

. id
iP,
. ,
UP = RPIP = RPiP + dP/dt, dP/dt = RP(IP-iP) < 0.
,
. , '
5.35.
R'P, , ' (5.59).

1
RP

L L
LP + d m

Ld + Lm

(5.59)

' T = 2/m
.
, ,
T. ' >> T , .

5.45 579

.
, ISK2,
ISK1
.
'.
d . , q . d- q-, q-.

. q-
.
, d-.
ISK3

.
, ,
. ,
, . d-, q-.

, , dq , d-. d , , d-.
d, P, d- K.
d- ,
L''d X''d
ISK3. L''d , .
5.36, L''d (5.60).

580 5

5.36:

.

1
L L
1
1
+
+
Ld = Ld +
Ld + P K
L L
LP + LK
LK
P
m

(5.60)

5.46 L
, L''d
,
. ISK3,
(d(0-),P(0-),K(0-)) (d(0+),P(0+),K(0+)).
id(0-) = iq(0-)
=0, iP(0-) = IP0.
, , iK(0-) d- .
d-

5.46 L 581

d Ld
[ ] = K = LdK
P Lm

LdK
LK
LPK

Lm i d
LPK i K = [LdPK ][idPK ] .
LP i P

(5.61)

LdK d-
d-. LPK
d-,
Lm
. LK, Ld LP . iK(0-) = id(0-) =0 iP(0-) = IP0,
K(0-) = LPKIP0,P(0-) =
LPIP0 d(0-) = LmIP0. ,
.
. K(0+) = K(0-) P(0+) = P(0-). ,

. , , RS
,
. RS = 0, . ,
a(0), b (0), c(0) .

a(0+)=b(0+) =c(0+) = 0, d (0+)=q(0+)=0.
id(0+) (5.62).

( )
( )
( )

( )
( )
( )

d 0 + Ld LdK Lm 0
id 0 +

+
+
iK 0 = [LdPK ] K 0 = LdK LK LPK LPK I P 0 ,
P 0 + Lm LPK LP LP I P 0
iP 0 +

Lm LP LK L2PK
I P0
id 0 + =
Ld LK LP Ld L2PK LP L2dK + 2 LdK Lm LPK LK L2m

( )

(5.62)

. , -

582 5
,
. , d, , L'm =
L'PK = L'dK, Ld = L'm + LS, L'K = L'm + L'K L'P = L'm + L'P.
L'PK, L'dK, L'K, L'K, L'P L'P
. , id(0+)

( )

id 0 + =

L I
L I
Lm L'P + L'K
I P 0 = ' 'm P 0
= m P0 .
'
'
'
'
L P L K
Ld
L P L K + Ld L K + Ld L P
+ Ld
'
'
L P + L K

ISK3, (5.63),

ISK2,
( (5.64)).

I SK 3 =

I SK 3 =

2
2

2 Lm I P 0
2 E0
=
2 Ld
2 Ld

Lm I P 0
'
L P L'K
+ LS
L'P + L'K

>

2 Lm I P 0
= I SK 2
2 L'P + LS

(5.63)

(5.64)

.
L'e = L S + L'P
L''e = L S + L'PL'K/(L'P +L'K), . iK (t) . , . '', ,
L'Ke
iK (t). ''
5.36.
, R'K, ,
(5.65).

5.47 e e 583

1
L
1
1
+
= d =
Ld +
RK
RK
Lm LP
LP LK
1

Ld +
LP + LK
RK

1
+
LK

(5.65)

, ,
,
'' ''.

.

5.47 e e
1

, ISK3, L''d.
''.
35 '', ISK2. ,
.
2

,
ISK2, L'd. '. 35 '', ISK1, IP0 = UP/RP, .
3

,
ISK1, -

584 5
Ld Lm.
.
, 1
, X''d = S L''d . 2 ,
X'd = S L'd . ,
. .
, xd
0,8 2,0. x'd 0,2 0,4, 0,1 0,2. ' 1 2 s, '' 20 ms 50 ms.

5.48
, , . ,
. , .
.
. ,
,
UPIP = RPIP2, . ,
. , , .
, .
,

5.49 585
, .
, 2030 % .
,
sPob, .
, ,
. . .
.
. .

.

5.49
/ , , .
() m *, Mem*
= *- m. J dm/dt = Mem Mm, Mm (), , Mem .
Mem* = Mem, ,
.

. , Rm, Mem = (3p/2)Rmiq. Mem/IS
q- .
/2. .

. Mem*, -

586 5
d-
, iq = (2/(3p)) Mem*/Rm = K Mem*. ,
.
. .
, .

. .

5.50
5.37 .
.
iq . id .
d , id = 0
.
id iq .

5.37:
.

5.51 587
. ia, ib ic. ,
. , . ia*, ib* ic* Mem* . .

5.51
.
, A, B C.
VDC = 2E, . , uA(t) +E,
uA(t) = -E.
T 100s,
tON, T-tON
. tON 0 T.
ua(sr) = E(2tON - T)/T.
ia(t) . T ua(sr). ,
, da/dt, .
,
. m = Lmis +Rm m, m . Rm , Lmis .
, T, m ,
m = Lmis +Rm is. , m

588 5
, ,
. f =
1/T 10 kHz,
. . , .
T
.
m,
m = 0 + pmt. a
mcos(m). a LSia, a = mcos(m) + LSia. ua = RSia + LS dia/dt - mmsin(m).
ea = - mmsin(m),
ua = LS dia/dt +.

di a
1
(ua ea ) = 1 ( E ea ) .
=
dt LS
LS

(5.66)

E |ea|,
. ,
. , ia = ia*- ia . . ia > 0,
.
. , .
. , id = id*- id =
0- id iq = iq*- iq dq . ud uq
. ud uq . udq=ud+juq idq = id + jiq ,
.
,

5.52 589
. .
.
, , .
ia*=ia, ib*=ib ic*=ic,
.
. .

5.52
,
.
, E = VDC/2 |ea|
= |mmsin(m)|. id = 0,
d-

d = Rm + Ld id = Rm

(5.67)

q- q = Lqiq.
(0,01 0,05 ..), q- Rm. m
Rm + Lmid = Rm= nom. nom =
nom/p E/Rm/p = E/nom/p, . id = 0 , . , .
. mm ,
m . m(m)=nom(nom/m)=Rm(nom/m),

. Lqiq q-

. Rm >>
q m d , m d,

590 5

d (m )

m > nom

= Rm

nom
= Rm nom .
m
m

(5.68)

m Rm + Ldid,
id,

id ( m )

nom

1 nom Rm 1 nom .
Lm
m
Ld
m

Rm

(5.69)

5.38: id .

(5.10):

LS = 0,05.
.
(5.10):
,
id, , . iq = 0,

. , , id = -1 .. id(m) , (1- nom/m) = LS/Rm= LS/nom. ,
nom/m = 1 0,05 = 0,95, m = 1,0526 nom.

5.53 591


. . PCu2 = sPob, . , ,
. .

. . dia/dt = (ua - ea)/LS dia/dt
7000 Inom/s, Mem=
k |RmiS|.
100-200 s. , , , . , .

5.53
LSrel= 0,01 0,05 ..,
m [-nom..+nom]. M-
max(exp) = nom/(1- LSrel)
. , M = Mnom, Mnom
.

. ,
, ,
, .
. Imaxrel = Imax/Inom 5 10.

592 5

, .
.
,
. . , . ,
BPM-HPM
, BPM = 0, HPM = HC < 0. HC ,
.
Imaxrel.
max(tran)=nom/(1-ImaxrelLSrel).

5.39:
(m = m).

(5.11):
LS = 0,05. , Imaxrel = 5. .

5.53 593
(5.11):
id(m) ,
(1- nom/m) = Imaxrel LS/Rm= Imaxrel LS/nom.
,
nom/m = 1 5 0,05 = 0,75, m =
1,33 nom.
, , . ,
. ,

. , .

595

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A. E. Fitzgerald, C. Kingsley, Elektrine maine za naizmeninu i za jednosmernu struju, (1962), Nauna Knjiga (prevod)
[2]
P. L. Alger, Induction Machines, (1965), Gordon and Breach, New York
[3]
B. J. Chalmers, Electric Motor Handbook, (1988), Butterworth, London
[4]
, , (1985),

[5]
, ,
[6]
P. Krause, Analysis of Electrical Machines
[7]
, , (1986),

J. D. Edwards, Electrical Machines: Introduction to Principles and Charac[8 ]

teristics, Intertext Books
[9 ]
G.R. Slemon, A. Straughen, Electrical Machines. Addison Wesley
[10] , , (1987),

[11] Slobodan N. Vukosavi, Digital Control of Electrical Drives, Springer, New

York, 2007.
[12] Theodor Wildie, Electrical machines, drives and power systems
[13] Samuel Seeley, Electromechanical Energy Conversion, McGraw Hill
[14] D. Brown, E.P. Hamilton, Electromechanical Energy Conversion, McMillan