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EM Motion Fundamentals 2 PDF
EM Motion Fundamentals 2 PDF
Conversion
• Why do we study this?
– Electromechanical energy conversion theory is the
cornerstone for the analysis of electromechanical motion
devices.
– The theory allows us to express the electromagnetic force
or torque in terms of the device variables such as the
currents and the displacement of the mechanical system.
– Since numerous types of electromechanical devices are
used in motion systems, it is desirable to establish methods
of analysis which may be applied to a variety of
electromechanical devices rather than just electric
machines.
Actuators & Sensors in Mechatronics Kevin Craig
Electromechanical Motion Fundamentals 87
• Plan
– Establish analytically the relationships which can be used
to express the electromagnetic force or torque.
– Develop a general set of formulas which are applicable to
all electromechanical systems with a single mechanical
input.
– Detailed analysis of:
• Elementary electromagnet
• Elementary single-phase reluctance machine
• Windings in relative motion
λ= wavelength (distance/cycle)
v
λ= v = velocity of wave propagation (distance/second)
f f = signal frequency (Hz)
• Consider the electrical portion of an audio system:
– 20 to 20,000 Hz is the audio range
186,000 miles/second
λ= = 9.3 miles/cycle
20,000 cycles/second
Actuators & Sensors in Mechatronics Kevin Craig
Electromechanical Motion Fundamentals 89
Conservative Force Field
• A force field acting on an object is called
conservative if the work done in moving the object
from one point to another is independent of the path
joining the two points. r
ˆ F = F1i + F2 j + F3k
ˆ ˆ
r uur r r
∫ F ⋅ dr is independent of path if and only if ∇× F = 0 or F = ∇φ
r uur
C
F ⋅ dr is an exact differential
Fdx
1 + F2 dy + F3dz = dφ where φ (x, y,z)
( x2 ,y2 ,z2 ) r uur ( x2 ,y2 ,z2 )
∫ F ⋅ dr = ∫ dφ = φ ( x 2 , y2 , z 2 ) − φ ( x1 , y1 , z1 )
( x1 ,y1 ,z1 ) ( x1 ,y1 ,z1 )
• Electromechanical System
– Comprises
• Electric system
• Mechanical system
• Means whereby the electric and mechanical systems can interact
– Interactions can take place through any and all
electromagnetic and electrostatic fields which are common
to both systems, and energy is transferred as a result of this
interaction.
– Both electrostatic and electromagnetic coupling fields may
exist simultaneously and the system may have any number
of electric and mechanical subsystems.
Actuators & Sensors in Mechatronics Kevin Craig
Electromechanical Motion Fundamentals 91
• Electromechanical System in Simplified Form:
d2 x dx
f = M 2 + D + K ( x − x 0 ) − fe Newton’s Law of Motion
dt dt
di
WE = r ∫ ( i )dt + l ∫ i dt + ∫ ( ef i )dt
di
v = ri + l + ef 2
dt dt
WE = ∫ ( vi ) dt = WeL + WeS + We
Actuators & Sensors in Mechatronics Kevin Craig
Electromechanical Motion Fundamentals 97
d2 x dx
f = M 2 + D + K ( x − x 0 ) − fe
dt dt
dx
WM = ∫ ( f )dx = ∫ f dt
dt
d x
2
dx
2
WM = M ∫ 2 dx + D∫ dt + K ∫ ( x − x 0 )dx − ∫ ( f e )dx
dt dt
Σ
WmS WmL Wm
∂λ ( i, x ) ∂λ (i,x )
dλ = di + dx
∂i ∂x
∂λ ( i, x )
dλ = di with dx = 0
∂i Energy stored
∂λ ( i, x ) i ∂λ ( ξ, x ) in the field of a
Wf = ∫ ( i )dλ = ∫ i di = ∫ ξ dξ singly excited
∂i 0 ∂ξ
system
0 2
Actuators & Sensors in Mechatronics Kevin Craig
Electromechanical Motion Fundamentals 107
• The field energy is a state function and the expression
describing the field energy in terms of the state
variables is valid regardless of the variations in the
system variables.
• Wf expresses the field energy regardless of the
variations in L(x) and i. The fixing of the mechanical
system so as to obtain an expression for the field
energy is a mathematical convenience and not a
restriction upon the result.
1
Wf ( i,x ) = ∫ ξL ( x )dξ = L ( x ) i 2
i
0 2
λ1 ( i1 ,i 2 , x ) = L11 ( x ) i1 + L12 ( x ) i 2
λ 2 ( i1 ,i 2 , x ) = L 21 ( x ) i1 + L 22 ( x ) i 2
• Yields:
Wf ( i1 ,i 2 , x ) = ∫ ξL11 ( x ) d ξ + ∫ i1L12 ( x ) + ξL 22 ( x )dξ
i1 i2
0 0
1 1
= L11 ( x ) i1 + L12 ( x ) i1i 2 + L22 ( x ) i 22
2
2 2
r r
f f
r
dWf = ∑
J ∂W
f i,x ( )
di j +
( )
∂Wf i , x
dx ( )
λj = λj i,x
j=1 ∂i j ∂x
r r
J ∂λ
dλ j = ∑
j i,x ( )
di n +
( )
∂λ j i , x
dx
n =1 ∂i n ∂x
Actuators & Sensors in Mechatronics Kevin Craig
Electromechanical Motion Fundamentals 115
• The summation index n is used so as to avoid
confusion with the subscript j since each dλj must be
evaluated for changes in all currents to account for
mutual coupling between electric systems.
• Substitution:
r r
( ) ( )
into
J ∂W ∂Wf i , x
f i,x
dWf = ∑ di j + dx
j=1 ∂i j ∂x
r r
J ∂λ
dλ j = ∑
j i,x ( ) ∂λ j i , x
di n +
( )
dx
J
f e dx = ∑ i jdλ j − dWf
n =1 ∂i n ∂x j =1
∂x
−
∂x
dx
j=1
r r
J
J ∂λ j i , x
+ ∑ i j ∑
( )
di n −
( )
∂Wf i , x
di j
j =1 n =1 ∂i n ∂i j
x = x(t)
Ni
φl = If the magnetic system is considered to be
ℜl linear (saturation neglected), then, as in the
Ni case of stationary coupled circuits, we can
φm =
ℜm express the fluxes in terms of reluctances.
Electromagnet
d2 x dx v = ri
f = M 2 + D + K ( x − x 0 ) − fe
dt dt
f = K ( x − x 0 ) − fe
θr = angular displacement
ωr = angular velocity
θr = ∫ ωr ( ξ ) dξ + θr ( 0 )
t
L l = constant (independent of θr )
L m = periodic function of θ r
L ( θr ) = L l + L m ( θ r ) π
Lm = LA + LB
2
= Ll + L A − L B cos ( 2θr )
LA > LB
L A = average value
di dLm (θr ) d θr
v = ri + [ Ll + L m (θ r ) ] + i voltage equation
dt dθr dt
Actuators & Sensors in Mechatronics Kevin Craig
Electromechanical Motion Fundamentals 135
• This elementary two-pole single-phase reluctance
machine is shown in a slightly different form.
Winding 1 is now winding as and the stator has been
changed to depict more accurately the configuration
common for this device.
dλ as
v as = rsi as +
dt
λ as = L asasi as
L asas = L ls + L A − L B cos ( 2θr )
θ r = ∫ ω r ( ξ )dξ + θ r ( 0 )
t
0
rs = resistance of as winding
Lasas = self-inductance of as winding Lls = leakage inductance
Air-gap size is
exaggerated.
end view cross-sectional view
2 2
r r
r J ∂λ ( )
j i, θ
∂Wf i, θ( )
( )
Te i , θ = ∑ i j
j=1 ∂θ
−
∂θ
Te ( i1 ,i 2 , θ r ) = −i1 i2 Lsr sin θ r
r
r ∂Wc i , θ ( )
( )
Te i , θ =
∂θ
stable operation
unstable operation