EM Motion Fundamentals 2 PDF

Principles of Electromechanical Energy
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

Lumped Parameters vs. Distributed Parameters
• If the physical size of a device is small compared to
the wavelength associated with the signal
propagation, the device may be considered lumped
and a lumped (network) model employed.
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
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 )

Energy Balance Relationships
• 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.
• Electromechanical System in Simplified Form:
Electric Coupling Mechanical

System Field System
– Neglect electromagnetic radiation

– Assume that the electric system operates at a frequency
sufficiently low so that the electric system may be
considered as a lumped-parameter system
• Energy Distribution WE = We + WeL + WeS
WM = Wm + WmL + WmS
– WE = total energy supplied by the electric source (+)
– WM = total energy supplied by the mechanical source (+)
– WeS = energy stored in the electric or magnetic fields which
are not coupled with the mechanical system
– WeL = heat loss associated with the electric system,
excluding the coupling field losses, which occurs due to:
• the resistance of the current-carrying conductors
• the energy dissipated in the form of heat owing to hysteresis, eddy
currents, and dielectric losses external to the coupling field
– We = energy transferred to the coupling field by the electric
system
– WmS = energy stored in the moving member and the
compliances of the mechanical system
– WmL = energy loss of the mechanical system in the form of
heat due to friction
– Wm = energy transferred to the coupling field by the
mechanical system
• WF = Wf + WfL = total energy transferred to the
coupling field
– Wf = energy stored in the coupling field
– WfL = energy dissipated in the form of heat due to losses
within the coupling field (eddy current, hysteresis, or
dielectric losses)
Wf + WfL = ( WE − WeL − WeS ) +
• Conservation of Energy
( WM − WmL − WmS )
Wf + WfL = We + Wm

• The actual process of converting electric energy to
mechanical energy (or vice versa) is independent of:
– The loss of energy in either the electric or the mechanical
systems (WeL and WmL)
– The energies stored in the electric or magnetic fields which
are not in common to both systems (WeS)
– The energies stored in the mechanical system (WmS)
• If the losses of the coupling field are neglected, then
the field is conservative and Wf = We + W m .
• Consider two examples of elementary
electromechanical systems
– Magnetic coupling field
– Electric field as a means of transferring energy
v = voltage of electric source
f = externally-applied mechanical
force
fe = electromagnetic or
electrostatic force
r = resistance of the current-
carrying conductor
l = inductance of a linear Electromechanical System with Magnetic Field
(conservative)
electromagnetic system
which does not couple
the mechanical system
M = mass of moveable member
K = spring constant
D = damping coefficient
x0 = zero force or equilibrium
position of the mechanical
system (fe = 0, f = 0) Electromechanical System with Electric Field
di voltage equation that describes the
v = ri + l + ef electric systems; ef is the voltage drop
dt
due to the coupling field
d2 x dx
f = M 2 + D + K ( x − x 0 ) − fe Newton’s Law of Motion
dt dt
WE = ∫ ( vi ) dt Since power is the time rate of

energy transfer, this is the total
 dx  energy supplied by the electric
WM = ∫ ( f )dx = ∫  f dt
 dt  and mechanical sources
 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
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
Wf = We + Wm = ∫ ( ef i )dt − ∫ ( f e )dx total energy transferred to

the coupling field
• These equations may be readily extended to include
an electromechanical system with any number of
electrical and mechanical inputs and any number of
coupling fields.
• We will consider devices with only one mechanical

input, but with possibly multiple electric inputs. In all
cases, however, the multiple electric inputs have a
common coupling field.
J K
Wf = ∑ Wej + ∑ Wmk Total energy supplied to the
j=1 k=1 coupling field
J J Total energy supplied to

∑ W = ∫ ∑ e i dt
j=1
ej
j=1
fj j the coupling field from the
electric inputs
K K Total energy supplied to
∑W
k =1
mk = − ∫ ∑ f ek dx k
k =1
the coupling field from the
mechanical inputs
J
With one mechanical input
Wf = ∫ ∑ efji jdt − ∫ f e dx
j=1
and multiple electric inputs,
J
the energy supplied to the
dWf = ∑ efji jdt − f edx coupling field, in both
j=1 integral and differential form
Energy in Coupling Field
• We need to derive an expression for the energy stored
in the coupling field before we can solve for the
electromagnetic force fe.
• We will neglect all losses associated with the electric
or magnetic coupling field, whereupon the field is
assumed to be conservative and the energy stored
therein is a function of the state of the electrical and
mechanical variables and not the manner in which the
variables reached that state.
• This assumption is not as restrictive as it might first
appear.
– The ferromagnetic material is selected and arranged in
laminations so as to minimize the hysteresis and eddy
current losses.
– Nearly all of the energy stored in the coupling field is
stored in the air gap of the electromechanical device. Air is
a conservative medium and all of the energy stored therein
can be returned to the electric or mechanical systems.
• We will take advantage of the conservative field
assumption in developing a mathematical expression
for the field energy. We will fix mathematically the
position of the mechanical system associated with the
coupling field and then excite the electric system with
the displacement of the mechanical system held fixed.

• During the excitation of the electric inputs, dx = 0,
hence, Wm is zero even though electromagnetic and
electrostatic forces occur.
• Therefore, with the displacement held fixed, the
energy stored in the coupling field during the
excitation of the electric inputs is equal to the energy
supplied to the coupling field by the electric inputs.
• With dx = 0, the energy supplied from the electric
system is: J
0
j=1
J
Wf = ∫ ∑ efji jdt
j=1

• For a singly excited electromagnetic system:
dλ For a linear magnetic system:
ef = Curve is a straight line and
dt
Wf = ∫ ( i )dλ with dx = 0 1
Wf = Wc = λi
2
Wf = ∫ ( i )dλ
Area represents energy stored Wc = ∫ ( λ )di
in the field at the instant
when λ = λa and i = ia. Area is called
coenergy
Graph
Stored energy and coenergy in λi = Wc + Wf
a magnetic field of a singly
excited electromagnetic
device

• The λi relationship need not be linear, it need only be
single-valued, a property which is characteristic to a
conservative or lossless field.
• Also, since the coupling field is conservative, the
energy stored in the field with λ = λa and i = ia is
independent of the excursion of the electrical and
mechanical variables before reaching this state.
• The displacement x defines completely the influence
of the mechanical system upon the coupling field;
however, since λ and i are related, only one is needed
in addition to x in order to describe the state of the
electromechanical system.

• If i and x are selected as the independent variables, it
is convenient to express the field energy and the flux
linkages as Wf = Wf ( i,x )
λ = λ ( i, x )
∂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

• The coenergy in terms of i and x may be evaluated as
Wc ( i, x ) = ∫ λ ( i, x )di = ∫ λ ( ξ, x )dξ
i
• For a linear electromagnetic system, the λi plots are

straightline relationships. Thus, for the singly excited
magnetically linear system, λ ( i, x ) = L ( x ) i , where
L(x) is the inductance.
• Let’s evaluate Wf(i,x). dλ = ∂λ ( i, x ) di with dx = 0
∂i
dλ =L ( x ) di
1
Wf ( i,x ) = ∫ ξL ( x )dξ = L ( x ) i 2
i
0 2
• 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

• In the case of a multiexcited electromagnetic system,
an expression for the field energy may be obtained by
evaluating the following relation with dx = 0:
J
Wf = ∫ ∑ i jdλ j
j=1
• Since the coupling field is considered conservative,

this expression may be evaluated independent of the
order in which the flux linkages or currents are
brought to their final values.
• Let’s consider a doubly excited electric system with
one mechanical input.
Wf ( i1 ,i 2 , x ) = ∫ i1dλ1 ( i1 ,i 2 , x ) + i 2 dλ 2 ( i1 ,i 2 , x )  with dx = 0

• The result is:
∂λ1 ( ξ, 0, x )
Wf ( i1 ,i 2 , x ) = ∫
i1
ξ dξ +
0 ∂ξ
i2  ∂λ1 ( i1 , ξ, x ) ∂λ 2 ( i1 , ξ, x ) 
∫0
i1
 ∂ξ
+ξ
∂ξ
dξ

• The first integral results from the first step of the
evaluation with i1 as the variable of integration and
with i2 = 0 and di2 = 0. The second integral comes
from the second step of the evaluation with i1 equal to
its final value (di1 = 0) and i2 as the variable of
integration. The order of allowing the currents to
reach their final state is irrelevant.
• Let’s now evaluate the energy stored in a
magnetically linear electromechanical system with
two electrical inputs and one mechanical input.
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
• The self-inductances L11(x) and L22(x) include the

leakage inductances.
• With the mechanical displacement held constant (dx
= 0):
dλ1 ( i1 ,i 2 , x ) = L11 ( x ) di1 + L12 ( x ) di 2
dλ 2 ( i1 ,i 2 , x ) = L21 ( x ) di1 + L22 ( x ) di 2

• Substitution into:
∂λ1 ( ξ, 0, x )
Wf ( i1 ,i 2 , x ) = ∫
i1
ξ dξ +
0 ∂ξ
i2  ∂λ1 ( i1 , ξ, x ) ∂λ 2 ( i1 , ξ, x ) 
∫ 0
i1
 ∂ξ
+ξ
∂ξ
dξ

• 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

• It follows that the total field energy of a linear
electromagnetic system with J electric inputs may be
expressed as:
Wf ( i1 ,K ,i j , x ) = ∑∑L pqi p iq
1 J J
2 p=1 q=1

Electromagnetic and Electrostatic Forces
• Energy Balance Equation: J

j=1
J
dWf = ∑ efji jdt − f edx
j=1
J
f e dx = ∑ efji jdt − dWf
j=1
• To obtain an expression for fe, it is first necessary to

express Wf and then take its total derivative. The total
differential of the field energy is required here.
• The force or torque in any electromechanical system
may be evaluated by employing: dWf = dWe + dWm
• We will derive the force equations for electro-
mechanical systems with one mechanical input and J
electrical inputs. J
• For an electromagnetic system: f e dx = ∑ i jdλ j − dWf

• Select ij and x as independent variables: W = W ( ri , x )
j =1
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
 
• 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
 

• Result: r r
r   ( )
 J  ∂λj i , x ( )
 ∂λ j i , x 

( )
J
f e i , x dx = ∑ i j ∑ 
di n + dx 
j=1  n =1  ∂i n 

∂x 
r r
−∑ 
J  ∂W ( )
f i,x
di j  +
( )
 ∂Wf i , x
dx
j=1  ∂i j  ∂x
 
r r
r 
 J  ∂λ ( ) i , x ( )
 ∂Wf i , x 

( )
f e i , x dx = ∑ i j
j
∂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 
  

• This equation is satisfied provided that:
r r
r J  ∂λ
j i,x ( ) ( )
 ∂Wf i , x
( )
f e i , x = ∑ i j
j=1  ∂x
−
 ∂x
 
r r
J  
 J  ∂λ j i , x
0 = ∑ i j ∑
( ) 
di n −
( )
 ∂Wf i , x 

di j 
j=1  n=1  ∂i n  ∂i j 
  
• The first equation can be used to evaluate the force on

the mechanical system with i and x selected as
independent variables.

• We can incorporate an expression for coenergy and
obtain a second force equation: J
Wc = ∑ i jλ j − Wf
j =1
• Since i and x are independent variables, the partial

derivative with respect to x is:
r r r
( )
∂Wc i , x J  ∂λ
= ∑ i j
( )
j i,x ( )
 ∂Wf i , x
−
∂x j=1  ∂x  ∂x
 
• Substitution:
r r r
r J  ∂λ
j i,x ( )
 ∂Wf i , x ( )
∂Wc i , x ( )
( )
f e i , x = ∑ i j
j =1  ∂x 
−
∂x
=
∂x
 

• Note:
– Positive fe and positive dx are in the same direction
– If the magnetic system is linear, Wc = Wf.
• Summary:
r r
r J  ∂λ
j i,x ( )
 ∂Wf i , x ( )
( )
f e i , x = ∑ i j
j=1  ∂x
−
 ∂x
 
r
r ∂Wc i , x( ) r r
( )
fe i , x = r J  ∂λ ( )
j i, θ ( )
 ∂Wf i, θ
∂x ( )
Te i , θ = ∑ i j
j=1  ∂θ
−
 ∂θ
 
r
( )
fe Te
r ∂Wc i , θ
x θ Te i , θ =( ) ∂θ
• By a similar procedure, force equations may be derived
with flux linkages λ1, …, λj of the J windings and x as
independent variables. The relations, given without
proof, are: r r
r J  ( )
∂i j λ , x  ∂Wc λ, x ( )
( )
f e λ , x = − ∑ λ j
j=1  ∂x 
+
∂x
 
r
r ∂Wf λ, x ( )
( )
fe λ, x = − r r
∂x r J  ( )
∂i j λ, θ ( )
 ∂Wc λ, θ
( )
Te λ , θ = − ∑ λ j
j=1  ∂θ
+
 ∂θ
 
r
r ( )
∂Wf λ, θ
( )
Te λ , θ = −
∂θ
• One may prefer to determine the electromagnetic
force or torque by starting with the relationship
dWf = dWe + dWm
rather than by selecting a formula.
• Example:
– Given: λ = 1 + a ( x )  i 2
– Find fe(i,x)

Elementary Electromagnet
• The system consists of:

– stationary core with a winding of N turns
– block of magnetic material is free to slide relative to the
stationary member
x = x(t)

dλ
v = ri + voltage equation that describes the electric system
dt
λ = Nφ
flux linkages
φ = φl + φm
(the magnetizing flux is common to
φl = leakage flux both stationary and rotating members)
φm = magnetizing flux
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.

 N2 N2 
λ = +  i flux linkages
 ℜl ℜm 
Ll = leakage inductance
= ( Ll + Lm ) i
L m = magnetizing inductance
ℜm = ℜi + 2ℜg reluctance of the magnetizing path

total reluctance of the magnetic material
ℜi
of the stationary and movable members
ℜg reluctance of one of the air gaps
li
ℜi =
µ riµ 0 A i Assume that the cross-sectional areas of
x the stationary and movable members are
ℜg = equal and of the same material
µ0 A g
Ag = Ai This may be somewhat of an oversimplification,
but it is sufficient for our purposes.
ℜm = ℜi + 2ℜg
1  li 
=  + 2x 
µ 0 Ai  µ ri 
2
Assume that the leakage inductance
N
Lm = is constant.
1  li  The magnetizing inductance is
 + 2x 
µ 0 Ai  µ ri  clearly a function of displacement.
x = x(t) and Lm = Lm(x)
When dealing with linear magnetic circuits wherein mechanical

motion is not present, as in the case of a transformer, the change
of flux linkages with respect to time was simply L(di/dt). This is
not the case here.
λ(i,x) = L(x)i = [ L l + L m (x) ] i
The inductance is a
dλ (i,x) ∂λ di ∂λ dx
= + function of x(t).
dt ∂i dt ∂x dt
di dLm (x) dx The voltage equation is
v = ri + [ Ll + Lm (x)] + i a nonlinear differential
dt dx dt
equation.
N2
Lm ( x ) =
1  li  Let’s look at the magnetizing
 + 2x  inductance again.
µ0 Ai  µ ri 
N 2µ0 A i k N 2µ 0µ ri Ai
k= L m (0) = =
k 2 k0 li
L m (x) =
k0 + x li k
k0 = L m (x) ≅ for x > 0
2µ ri x
Detailed diagram of electromagnet
for further analysis
Electromagnet

k
L m (x) ≅ for x > 0 Use this approximation
x
k
L ( x ) ≅ Ll + Lm ( x ) = L l + for x > 0
x
λ(i,x) = L(x)i = [ L l + L m (x) ] i
1
The system is magnetically linear: Wf ( i,x ) = Wc ( i, x ) = L ( x ) i2
2
r r
r J  ∂λ
j i,x ( )
 ∂Wf i , x ( ) 1 2 ∂L ( x )
( )
f e i , x = ∑ i j
j=1  ∂x
−
 ∂x f e ( i, x ) = i
  2 ∂x
r
r ( )
∂Wc i , x
ki 2
=− 2
( )
fe i , x =
∂x
2x

• The force fe is always negative; it pulls the moving
member to the stationary member. In other words, an
electromagnetic force is set up so as to minimize the
reluctance (maximize the inductance) of the magnetic
system.
• Equations of motion:
Steady-State Operation
di
v = ri + l + ef (if v and f are constant)
dt
d2 x dx v = ri
f = M 2 + D + K ( x − x 0 ) − fe
dt dt
f = K ( x − x 0 ) − fe

Steady-State Operation Stable Operation: points 1 and 2
of an Unstable Operation: points 1´ and 2´
Electromagnet
f = K ( x − x0 ) − fe
−f e = f − K ( x − x 0 )
(f = 4 N)
 ki 2
−  − 2  = f − K (x − x0 )
 2x 
Parameters:
r = 10 Ω (f = 0)
K = 2667 N/m
x0 = 3 mm
k = 6.283E-5 H m
v=5V
i = 0.5 A
Single-Phase Reluctance Machine
• The machine consists of:

– stationary core with a
winding of N turns
– moveable member which
rotates
θr = angular displacement
ωr = angular velocity
θr = ∫ ωr ( ξ ) dξ + θr ( 0 )
t

dλ
v = ri + voltage equation
dt
φ = φl + φm
φl = leakage flux
φm = magnetizing flux
It is convenient to express the flux
λ = ( Ll + Lm ) i linkages as the product of the sum of the
leakage inductance and the magnetizing
inductance and the current in the winding.
L l = constant (independent of θr )
L m = periodic function of θ r

Lm = Lm ( θr )
N2 ℜm is maximum
L m (0) =
ℜm ( 0 ) L m is minimum
 π N2 ℜm is minimum
Lm   =
2  π L m is maximum
ℜm  
2
The magnetizing inductance varies between maximum and
minimum positive values twice per revolution of the rotating
member.

Assume that this variation may
be adequately approximated
by a sinusoidal function.
L m ( θr ) = L A − L B cos ( 2θr )
L m ( 0 ) = LA − LB
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
• 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

• Electromagnetic torque:
– Magnetic system is linear, hence Wf = Wc.
Wc ( i as , θ r ) = ( Lls + L A − L B cos ( 2θ r ) ) i as2

1
2
r r
r J  ∂λ ( )
j i, θ
 ∂Wf i, θ ( )
( )
Te i , θ = ∑ i j
j=1  ∂θ 
−
∂θ
 
r
r ∂Wc i , θ ( )
( )
Te i , θ =
∂θ
Te ( i as , θ r ) = L Bi as2 sin ( 2θr )

Valid for both transient and steady-state operation

• Consider steady-state operation: ias is constant
Te = K sin ( 2θr )
K = L Bi as2
stable operating point unstable operating point
Electromagnetic torque versus angular displacement of a

single-phase reluctance machine with constant stator current

• Although the operation of a single-phase reluctance
machine with a constant current is impracticable, it
provides a basic understanding of reluctance torque,
which is the operating principle of variable-reluctance
stepper motors.
• In its simplest form, a variable-reluctance stepper
motor consists of three cascaded, single-phase
reluctance motors with rotors on a common shaft and
arranged so that their minimum reluctance paths are
displaced from each other.

Windings in Relative Motion
• The rotational device shown will be used to illustrate

windings in relative motion.
Winding 1: N1 turns on stator Assume that the turns are
Winding 2: N2 turns on rotor concentrated in one position.
Air-gap size is
exaggerated.
end view cross-sectional view

dλ1
v1 = r1i1 +
dt voltage equations
dλ 2
v 2 = r2i 2 +
dt
λ1 = L11i i + L12i 2 The magnetic system is assumed linear.
λ 2 = L 21i i + L22 i 2
L11 = L l1 + L m1 The self-inductances L11 and L22 are
N12 N12 constants and may be expressed in
= + terms of leakage and magnetizing
ℜl1 ℜm
inductances.
L 22 = L l 2 + L m2
2 2 ℜm is the reluctance of the complete
N N
= 2
+ 2 magnetic path of ϕm1 and ϕm2 , which
ℜl 2 ℜ m is through the rotor and stator iron and
twice across the air gap.
Let’s now consider L12.
θr = angular displacement
ωr = angular velocity
θr = ∫ ωr ( ξ ) dξ + θr ( 0 )
t
When θr is zero, then the coupling between

windings 1 and 2 is maximum. The magnetic N1N 2
system of winding 1 aids that of winding 2 L12 ( 0 ) =
ℜm
with positive currents assumed. Hence the
mutual inductance is positive.
When θr is π/2, the windings are orthogonal. π
L12   = 0
The mutual coupling is zero. 2

Assume that the mutual L12 ( θr ) = L sr cos ( θr )
inductance may be adequately N1 N2
predicted by: Lsr =
ℜm
dλ1 Lsr is the amplitude of the
v1 = r1i1 + sinusoidal mutual inductance
dt
dλ 2 between the stator and rotor
v 2 = r2i 2 + windings.
dt
In writing the voltage equations, the λ1 = L11i1 + ( L sr cos θr ) i 2
total derivative of the flux linkages is
required. λ 2 = L 22i 2 + ( Lsr cos θr ) i1
di1 di 2
v1 = r1i1 + L11 + Lsr cos θr − i 2ωr Lsr sin θ r
dt dt
di 2 di1
v 2 = r2i 2 + L22 + Lsr cos θr − i1ωr Lsr sin θr
dt dt
 v1  r1 0   i1  d  λ1 
 v  =  0 r  i  + dt λ 
 2  2 2  2
 λ1   Ll1 + L m1 Lsr cos θr   ias 
λ  =  L cos θ L + L  i 
 2   sr r l2 m2   bs 
Since the magnetic system is assumed to be linear:

1 1
Wf ( i1 ,i 2 , θr ) = L11i1 + L12i1i 2 + L22i 22 = Wc ( i1 ,i 2 , θr )
2
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

• Consider the case where i1 and i2 are both positive
and constant: Te = −K sin θ r
K = i1 i2 Lsr
stable operation
unstable operation
Electromagnetic torque versus angular displacement with constant winding currents

• Although operation with constant winding currents is
somewhat impracticable, it does illustrate the
principle of positioning of stepper motors with a
permanent-magnet rotor which, in many respects, is
analogous to holding i2 constant on the elementary
device considered here.


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