EEC Principles

Nguyn Cng Phng
ELECTROMECHANICAL ENERGY
CONVERSION
Electromechanical Energy
Conversion Principles
Contents
I. Magnetic Circuits and Magnetic Materials
II. Electromechanical Energy Conversion
Principles
III. Introduction to Rotating Machines
IV. Synchronous Machines
V. Polyphase Induction Machines
VI. DC Machines
VII.Variable Reluctance Machines and Stepping
Motors
VIII.Single and Two Phase Motors
IX. Speed and Torque Control
sites.google.com/site/ncpdhbkhn 2
1. Forces and Torques in Magnetic Field Systems
2. Energy Balance
3. Energy in Singly Excited Magnetic Field
Systems
4. Determination of Magnetic Force and Torque
from Energy and Coenergy
5. Multiply Excited Magnetic Field Systems
6. Forces and Torques in Systems with Permanent
Magnets
7. Dynamic Equations
8. Analytical Techniques
Forces and Torques in Magnetic
Field Systems (1)
( ) q = + F E v B
q = F E
v
B
F
( ) q = F v B
( )
v
= F v B
= J v
v
= F J B
Field Systems (2)
Ex.
A nonmagnetic rotor contains a single turn coil, it
is in a uniform magnetic field. The rotor is of radius
R and of length l. Find the directed torque as a
function of ?
0
B y
x
I
I
v
= F J B
1( ) S = F J B
= I B
0
sin
in
F IB l =
0
sin
out
F IB l =
0
(2 ) 2 sin (Nm) T R F RIB l = =
Field Systems (3)
Lossless magnetic
energy storage system
+
i
, e
+
fld
f
x
Electrical
terminal
Mechanical
terminal
Lossless winding
i
1
+
e
Magnetic core
+
v
Winding
resistance
x
fld
f
Movable
magnetic
plunger
Field Systems (4)
Lossless magnetic
+
i
, e
+
fld
f
x
Electrical
terminal
Mechanical
terminal
fld
fld
dW
dx
ei f
dt dt
= +
d
e
dt
=
fld fld
dW id f dx =
2. Energy Balance
Systems
Magnets
Energy Balance
Energy is neither created or destroyed, it is merely changed in form
electrical mechanical field
dW eidt dW dW = = +
2. Energy Balance
Systems
Magnets
Energy in Singly Excited
Magnetic Field Systems (1)
Lossless
coil
i
+
, e
+
x
fld
f
Mechanical
source
Magnetic core
Massless
magnetic
armature
( ) L x i =
2
1
2
fld
W Li =
2
1
2 ( )
fld
W
L x
=
Energy in Singly Excited
Magnetic Field Systems (2)
2
1
( )
2
fld
W L x i =
2
2
0
1 (1 / )
1 J
2 2
fld
N ld x d x
W i K
g d

| |
= =
|
\ .
Lossless
N turns coil
+
i
h
g
x
g
d
l
x
d
d x g
g
Magnetic
flux
Ex.
A relay is made of infinitely permeable magnetic
material, h >> g. Compute the magnetic energy as
a function of plunger position?
0 2
( )
2
g
S
L x N
g
=
( ) 1
g
x
S l d x ld
d
| |
= =
|
\ .
2. Energy Balance
Systems
Magnets
Determination of Magnetic Force and
Torque from Energy and Coenergy (1)
( , )
fld fld
dW x id f dx =
const
const
( , )
( , )
fld
x
fld
fld
W x
i
W x
f
x
=
=
c
=
const const
( , ) ( , )
( , )
fld fld
fld
x
W x W x
dW x d dx
x
= =
( ( c c
= +
( (
c c

2
1
( , )
2 ( )
fld
W x
L x
=
2 2
2
const
1 ( )
2 ( ) 2 ( )
fld
dL x
f
x L x L x dx

=
| | c
= =
|
c
\ .
( ) L x i =
2
( )
2
fld
i dL x
f
dx
=
Ex. 1
Plot the force as a function of position for a current of 1A.
x (cm) 0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
L (mH) 2.8 2.26 1.78 1.52 1.34 1.26 1.20 1.16 1.13 1.11 1.10
Ex. 2
Plot the force as a function of position for a flux of 2mWb.
x (cm) 0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
L (mH) 2.8 2.26 1.78 1.52 1.34 1.26 1.20 1.16 1.13 1.11 1.10
( , )
fld fld
dW x id f dx =
const
( , )
fld
fld
W
T
=
c
=
c
( , )
fld fld
dW id T d =
const const
( , )
fld fld
fld
W W
dW d d

= =
| | | | c c
= +
| |
c c
\ . \ .
2
1
( , )
2 ( )
fld
W x
L x
=
2 2
2
const
1 ( )
2 ( ) 2 ( )
fld
dL
T
L x L d

=
| | c
= =
|
c
\ .
( ) L i =
2
( )
2
fld
i dL
T
d
=
Rotor
Air gap
i
0 2
( ) cos(2 ) L L L = +
2
( )
2
fld
i dL
T
d
=
2
2
( ) [ 2 sin(2 )]
2
fld
i
T L =
( , ) ( , )
fld fld
W i x i W x ' =
( , ) ( ) ( , )
fld fld
dW i x d i dW x ' =
( ) d i id di = +
( , )
fld fld
dW x id f dx =
( , )
fld fld
dW i x di f dx ' = +
const const
( , )
fld fld
fld
x i
W W
dW i x di dx
i x
= =
' ' | | | | c c
' = +
| |
c c
\ . \ .
const
const
( , )
( , )
fld
x
fld
fld
i
W i x
i
W i x
f
x
=
=
' c
=

' c
Lossless
N turns coil
+
i
h
g
x
g
d
l
Ex. 3
A relay is made of infinitely permeable magnetic
material, h >> g. Compute the magnetic energy as
a function of plunger position, if i(x) = I
0
x/d (A)?
2
0
(1 / )
( )
2
N ld x d
L x
g

=
0 2
( )
2
g
S
L x N
g
=
( ) 1
g
x
S l d x ld
d
| |
= =
|
\ .
2
( )
2
fld
i dL x
f
dx
=
2 2
0
( )
2 2
i N l
L x
g
=
0
( )
x
i x I
d
=
2
2 2
0 0
( )
4
I N l x
L x
g d
| |
=
|
\ .
0
i
0
i
( ) i
fld
W
fld
W'
Energy
Coenergy
fld fld
W W i ' + =
2
2
1 1 1
If :
2 2 2
fld fld
ki W W i Li
L
' = = = = =
2
ag
gH Ni =
g

r
i
Ex. 4
Find the torque acting on the rotor as a function of
the dimensions and the magnetic field in the two
air gap, suppose that the reluctance of the steel is
negligible ( ). The axial length is h.
1
Energy density :
2
BH
2
1
Energy densityof the core : 0
2 2
steel
steel steel
B
B H
= =
2
0
Energy densityof the air-gap :
2 2
ag ag ag
B H H
=
2
0
[2 ( 0.5 ) ]
2
ag
ag
H
W gh r g
' = +
2
0
( ) ( 0.5 )
4
Ni h r g
g
+
=
const
( , )
ag
fld
i
W i
T

=
' c
=
c
2
0
( ) ( 0.5 )
4
fld
Ni h r g
T
g
+
=
0 2
( )
2
g
S
L N
g
=
g

r
i
Ex. 5
Find the inductance as a function of , then extract
the expression for the torque acting on the rotor as
a function of i & . The axial length is h.
( 0.5 )
g
S h r g = +
2
0
( 0.5 )
( )
2
N h r g
L
g

+
=
2
( )
2
fld
i dL
T
d
=
2
0
( ) ( 0.5 )
4
fld
Ni h r g
T
g
+
=
2. Energy Balance
Systems
Magnets
Multiply Excited Magnetic
Field Systems (1)
Lossless magnetic
+
1
i
1
fld
T
Electrical
terminals
Mechanical
terminal
+
2
i
2
1 2 1 1 2 2
( , ) ( , , )
fld fld fld fld
dW id T d dW i d i d T d = = +
2 2 2 1
1 2 1 2 1 2
1 2
1 2
, are const , are const , are const
( , , ) ( , , ) ( , , )
; ;
fld fld fld
fld
W W W
i i T

c c c
= = =
c c c
1 2 2 1
1 2 1 2
1 2
, are const , are const , are const
( , , )
fld fld fld
fld
W W W
dW d d d

( ( (
c c c
= + + ( ( (
c c c
( ( (

Field Systems (2)
Lossless magnetic
+
1
i
1
fld
T
Electrical
terminals
Mechanical
terminal
+
2
i
2
1 11 1 12 2
2 21 1 22 2
L i L i
L i L i
= +
= +
22 1 12 2 22 1 12 2
1
11 22 12 21
21 1 11 2 21 1 11 2
2
11 22 12 21
L L L L
i
L L L L D
L L L L
i
L L L L D

= =

+ +
= =

2 2
12 0
10 20 0 11 0 20 22 0 10 10 20
0 0 0
1 1 ( )
( , , ) ( ) ( )
2 ( ) 2 ( ) ( )
fld
L
W L L
D D D

= +
1 1
, e
Field Systems (3)
1 2 1 1 2 2
( , , )
fld fld
W i i i i W ' = +
1 2 1 1 2 2
( , , )
fld fld
dW i i di di T d ' = + +
2
1
1 2
1 2
1
1
, are const
1 2
2
1 , are const
1 2
, are const
( , , )
( , , )
( , , )
fld
i
fld
i
fld
fld
i i
W i i
i
W i i
i
W i i
T
' c
=
c
' c
' c
=
c
2 2
1 2 11 1 22 2 12 1 2
1 1
( , , ) ( ) ( ) ( )
2 2
fld
W i i L i L i L i i ' = + +
1 2
2 2
1 2
1 11 2 22 12
1 2
, are const
( , , )
( ) ( ) ( )
2 2
fld
fld
i i
W
i dL i dL dL
T i i
d d d

' c
= = + +
c
Field Systems (4)
+
+
+
1 1
, e
2 2
, e
1
i
2
i
mech
T
fld
T
Ex.
L
11
= a + cos2, L
12
= bcos,
L
22
= c + ecos2. Find T
fld
()?
2 2
1 11 2 22 12
1 2
( ) ( ) ( )
2 2
fld
i dL i dL dL
T i i
d d d

= + +
2 2
1 2 1 2
sin2 sin2 sin i ei bi i =
Field Systems (5)
2 2
1 2 1 2
sin2 sin2 sin
fld
T i ei bi i =
0 1 2 3 4 5 6
-4
-3
-2
-1
0
1
2
3
4
x 10
-3
u (rad)
T
o
r
q
u
e

(
N
m
)
Reluctance torque
Mutual - interaction torque
Total torque
Field Systems (6)
1 2
1 2
1 2
, are const
2 2
1 2
1 11 2 22 12
1 2
, are const
2 2
1 2 11 1 22 2 12 1 2
( , , )
( , , )
( ) ( ) ( )
2 2
1 1
( , , ) ( ) ( ) ( )
2 2
fld
fld
fld
fld
i i
fld
W
T
W i i
i dL i dL dL
T i i
d d d
W i i L i L i L i i

c
=
' c
= = + +
' = + +
1 2
1 2
1 2
, are const
2 2
1 2
1 11 2 22 12
1 2
, are const
2 2
1 2 11 1 22 2 12 1 2
( , , )
( , , )
( ) ( ) ( )
2 2
1 1
( , , ) ( ) ( ) ( )
2 2
fld
fld
fld
fld
i i
fld
W x
f
x
W i i x
i dL x i dL x dL x
f i i
x dx dx dx
W i i x L x i L x i L x i i

c
=
' c
= = + +
' = + +
2. Energy Balance
Systems
6. Forces and Torques in Systems with
Permanent Magnets
Forces and Torques in Systems
with Permanent Magnets (1)
x

Fictitious winding
N
f
turns
x

+
f
i
f
( , )
fld fld
( , )
fld f f f fld
const
( 0, )
f
fld f
fld
i
W i x
f
x
=
' c =
=
c
0
0
( 0, ) ( , )
f
fld f f f f
I
W i x i x di ' ' ' = =
}
Fictitious
winding
x

+
f
i
f
N
g
W
0
W
d
m
W
0
g
Depth D
Ex. 1
Find an expression for:
a) the coenergy of the system as a function of plunger
position x?
b) the force on the plunger as a function of x?
0 0 f f m g
N i H d H x H g = + +
0 0 0 m g m m g g
B S B S B S = = = =
0 0 m m g g
B W D B W D B W D = =
( )
m R m c
B H H ' =
0
0 0
( )
R f f c
m
R
m
g
N i H d
B
x g
d W
W W
'
=
| |
| |
+ +
|
|
|
\ .
\ .
f f m f m m f m m
N N B S N B W D = = =
0
0 0
( )
f m R f f c
f
R
m
g
N W D N i H d
x g
d W
W W
'
=
| |
| |
+ +
|
|
|
\ .
\ .
Ex. 1
Find an expression for:
a) the coenergy of the system as a function of plunger
position x?
b) the force on the plunger as a function of x?
Fictitious
winding
x

+
f
i
f
N
g
W
0
W
d
m
W
0
g
Depth D
0
0 0
( )
f m R f f c
f
R
m
g
N W D N i H d
x g
d W
W W
'
=
| |
| |
+ +
|
|
|
\ .
\ .
0
0
c
f f f
f
H d
i I
N
'
= = =
0
0
( )
f
fld f f
I
W x di ' ' =
}
2
0
0 0
( )
2
m R c
R
m
g
W D H d
x g
d W
W W
'
=
( | |
| |
+ +
( |
|
|
\ . (
\ .
2 2
const
0
0 0
( 0, )
( )
2
f
fld f
m R c
fld
i
R
g m
g
W i x
W D H d
f
x
x g
W d W
W W
=
' c = '
= =
c ( | |
| |
+ +
( |
|
|
\ . (
\ .
External
magnetic
circuit
1
u
d
+
e
F
S
m
H
( )
m R m c
B H H ' =
External
magnetic
circuit
2
u
d
+
e
F
S
m R m
B H =
( )
equiv
Ni
0
m e
H d F + =
1
( )
m R m c
B S S H H ' u = =
e
R c
F
S H
d
| |
' u =
|
\ .
e
Ni F H =
2 R
BS HS u = =
2
( )
equiv
e
R
Ni
F
S
d d
| |
u =
|
\ .
If ( )
equiv c
Ni H d ' =
1 2
u = u
Ex. 2
a) Find the x directed force on the plunger when the
current in the excitation winding is zero and x = 3 mm?
b) Find the current in the excitation winding required to
reduce the plunger force to zero?
x

1
i
1
N
g
W
W
d
W
0
g
Depth D
( )
equiv c
Ni H d ' =
+
( )
equiv
Ni
1 1
N i
0 g
R
m
R
x
R
u
0
0
0 0
; ;
m x
R R g
d d x g
R R R
S WD W D WD
= = = =
2
1
1
2
fld
W Li ' =
2
1
total
N
L
R
=
2
0
( )
1
2
equiv
fld
m x
Ni
W
R R R
' =
+ +
Ex. 2
a) Find the x directed force on the plunger when the
current in the excitation winding is zero?
b) Find the current in the excitation winding required to
reduce the plunger force to zero?
x

1
i
1
N
g
W
W
d
W
0
g
Depth D
+
( )
equiv
Ni
1 1
N i
0 g
R
m
R
x
R
u
2
0
( )
1
2
equiv
fld
m x
Ni
W
R R R
' =
+ +
2
2
0
const
( )
( )
equiv
fld equiv
x
fld
m x
i
W Ni
dR
f
x R R R dx
=
' c
= =
c + +
2
2
0 0
( )
( )
equiv
g m x
Ni
W D R R R
=
+ +
1 1
( ) 0
equiv
Ni N i + =
1
1
( )
equiv
Ni
i
N
=
2. Energy Balance
Systems
Magnets
Dynamic Equations (1)
+
Electromechanical
energy conversion
system
x
+
, e
0
v
fld
f
i
R
K
B
M
0
f
0
d
v Ri
dt
= +
( ) L x i =
0
( )
( )
di dL x dx
v Ri L x i
dt dx dt
= + +
+
Electromechanical
energy conversion
system
x
+
, e
0
v
fld
f
i
R
K
B
M
0
f
0
( )
K
f K x x =
D
dx
f B
dt
=
2
2
M
d x
f M
dt
=
0
0
fld K D M
f f f f f + + + =
2
0 0
2
( ) 0
fld
dx d x
f K x x B M f
dt dt
=
+
Electromechanical
energy conversion
system
x
+
, e
0
v
fld
f
i
R
K
B
M
0
f
0
2
0 0
2
( )
( ) ( )
( ) ( ) ( , )
fld
di dL x dx
v t Ri L x i
dt dx dt
dx d x
f t K x x B M f x i
dt dt
= + +
= +
Ex.
Extract the dynamic equations of motion of the
electromechanical system?
Length of flux path in the direction of field
(area of flux path perpendicular to field)
R
=
1
0
g
g
R
dx
=
2
0
g
g
R
da
=
1 2
0 0
1 1
g g
g g a x
R R R
d x a da x
+
| |
= + = + =
|
\ .
2 2
0
2
0
( ) ,
N daN x x
L x L
R g a x a x
daN
L
g

' = = =
+ +
' =
- -
- -
- -
- -

0
l
1
l
x
a
a
h
d
g
Coil
Spring, K
Cylindrical
steel plunger,
M
Applied force, f
t
Ex.
2 2
2
const
( , )
2 2 ( )
fld
fld
i
W i x
i dL i aL
f
x dx a x
=
' c '
= = =
c +
( ) d Li di dL di dL dx
e L i L i
dt dt dt dt dx dt
= = + = +
2
( )
x di ai dx
L L
a x dt a x dt
' ' = +
+ +
2
0
( ) ,
x daN
L x L L
a x g

' ' = =
+
- -
- -
- -
- -

0
l
1
l
x
a
a
h
d
g
Coil
Spring, K
Cylindrical
steel plunger,
M
Applied force, f
t
- -
- -
- -
- -

0
l
1
l
x
a
a
h
d
g
Coil
Spring, K
Cylindrical
steel plunger,
M
Applied force, f
t
Ex.
2 2
2
2
2 2 ( )
( )
fld
i dL i aL
f
dx a x
x di ai dx
e L L
a x dt a x dt
'
= =
+
' ' = +
+ +
0
2
0 0
2
( )
( ) ( )
( ) ( ) ( , )
fld
di dL x dx
v t Ri L x i
dt dx dt
dx d x
f t K x x B M f x i
dt dt
= + +
= +
0
2
2 2
0 0
2 2
( )
( )
( ) ( )
2 ( )
x di a dx
v t Ri L L i
a x dt a x dt
dx d x i aL
f t K x l B M
dt dt a x
' ' = + +
+ +
'
= +
2. Energy Balance
Systems
Magnets
Analytical Techniques (1)
2
2 2
0
2 2
( )
( )
( ) ( )
2 ( )
x di a dx
v t Ri L L i
a x dt a x dt
dx d x i aL
f t K x l B M
dt dt a x
' ' = + +
+ +
'
= +
2
(0)
If
,
( )
v V
x di a dx
Ri L L i
a x dt a x dt
=
' '
+ +

V
i
R
=
0
If
0
f
M
=
2
0
2
1
( ) ( )
2 ( )
dx a V
B L K x l f x
dt a x R
| |
' = =
|
+
\ .
0
( )
X
B
t dx
f x
=
}
2
2 2
0
2 2
( )
( )
( ) ( )
2 ( )
x di a dx
v t Ri L L i
a x dt a x dt
dx d x i aL
f t K x l B M
dt dt a x
' ' = + +
+ +
'
= +
2
(0)
If
,
( )
v V
x di a dx
Ri L L i
a x dt a x dt
=
' '
+ +

V
i
R
=
0
If
0
f
B
=
2
2
0
2 2
1
( ) ( )
2 ( )
d x a V
M L K x l f x
dt a x R
| |
' = =
|
+
\ .
0
2
( )
( )
x
dx B
v x dx
dt M f x
' = =
'
}
2
2 2
0
2 2
( )
( )
( ) ( )
2 ( )
x di a dx
v t Ri L L i
a x dt a x dt
dx d x i aL
f t K x l B M
dt dt a x
' ' = + +
+ +
'
= +
If 0, 0
di dx
dt dt
= =
0 0
2
0
0 0 0
2
0
1
( )
2 ( )
t
V RI
L aI
K X l f
a l
=
'
= +
0 0 0 0
If , , ,
t t t
i I i f f f v V v x X x ' ' ' ' = + = + = + = +
0 0
0 0
2
0 0
2 2
0
0 0 0
2 2
0
( ) ( )
( )
( )
1 ( )
( )
2 ( )
t
L X x di L a I i dx
V v R I i
a X x dt a X x dt
L a I i dx d x
K X x l B M f f
a X x dt dt
' ' ' ' ' ' + +
' ' + = + + +
' ' + + + +

' ' ' ' +
' ' = + + + + +
' + +
0 0
0 0
2
0 0
2 2
0
0 0 0
2 2
0
( ) ( )
( )
( )
1 ( )
( )
2 ( )
t
L X x di L a I i dx
V v R I i
a X x dt a X x dt
L a I i dx d x
K X x l B M f f
a X x dt dt
' ' ' ' ' ' + +
' ' + = + + +
' ' + + + +
' ' ' ' +
' ' = + + + + +
' + +
0 0
2
0 0
2 2
0 0
2 2 3
0 0
( )
( ) ( )
L X di L aI dx
v Ri
a X dt a X dt
L aI dx d x L aI
i B M K x f
a X dt dt a X
' ' ' '
' ' = + +
+ +

( ' ' ' '
' ' ' = + + + +

(
+ +

EEC Principles

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EEC Principles

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Nguyn Cng Phng

' ' ' ' +

' ' ' = + + + +

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