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Electromechanical Energy Conversion
Electromechanical Energy Conversion
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.
EE Dept-COE-CSU
• 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
EE Dept-COE-CSU
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.
= wavelength (distance/cycle)
v
= 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
= = 9.3 miles/cycle
20,000 cycles/second
EE Dept-COE-CSU
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.
F = F1ˆi+ F 2ˆj+ F 3kˆ
F dr is an exact differential
F1dx + F2dy + F3dz= d where (x, y,z)
(x ,y ,z ) (x ,y ,z )
F dr = d = (x 2 , y2 , z 2 ) − (x1 , y1 , z1 )
2 2 2 2 2 2
EE Dept-COE-CSU
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.
EE Dept-COE-CSU
• Electromechanical System in Simplified Form:
EE Dept-COE-CSU
• 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 + Wm .
• Consider two examples of elementary
electromechanical systems
– Magnetic coupling field
– Electric field as a means of transferring energy
EE Dept-COE-CSU
v = voltage of electric source
f = externally-applied mechanical
force
fe = electromagnetic or
electrostatic force
r = resistance of the current-
carrying conductor
= inductance of alinear 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
EE Dept-COE-CSU
di voltage equation that describes the
v = ri + +e f electric systems; ef is the voltage drop
dt
due to the coupling field
d2 x dx
f = M 2 + D + K ( x − x0 )− fe Newton’s Law of Motion
dt dt
di
WE = r (i )dt + i dt + (ef i)dt
di
v = ri + +e f 2
dt dt
WE = (vi)dt = WeL + WeS + We
EE Dept-COE-CSU
d2 x dx
f = M 2 + D + K ( x − x0 )− fe
dt dt
WM = (f )dx = f dt
dx
dt
d2x dx
2
WM = M 2 dx +D dt + K (x − x 0 )dx − (f e )dx
dt dt
WmS WmL Wm
(i, x) (i,x)
d = di + dx
i x
(i, x)
d = di with dx = 0
i Energy stored
(i, x) (, x) in the field of a
Wf = (i)d = i
i
i
di =
0
d singly excited
system
• The coenergy in terms of i and x may be evaluated as
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) = L (x )d = 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 jd j
j=1
• Yields:
Wf (i1,i 2 , x) = L11 (x)d + i 1L12 (x) + L 22 (x )
i1 i2
d
0 0
dWf =
J W
f( ) i, x
di j +
( )
Wf i,x
dx
( )
j = j i, x
j=1 i j x
J
d j =
( )
j i, x
di n +
( )
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 dj must be
evaluated for changes in all currents to account for
mutual coupling between electric systems.
• Substitution:
( ) ( )
into
J Wf i, x Wf i,x
dWf = di j + dx
j=1 i j x
J
d j =
( )
j i, x
din +
( )
j i, x
dx
J
f e dx = i jd j − dWf
n=1 i n x j=1
• Result:
( )
j i, x ( ) i,x
( )
J J
f e i, x dx = i j
j
di n + dx
j=1 n=1 i n
x
−
J
( )
Wf i, x
di j +
( )
Wf i,x
dx
j=1 i j x
( )
J j i, x Wf i,x ( )
( )
f e i, x dx = i j
x
−
x
dx
j=1
J
+ j
i J
( )
j i, x
W ( )
f i, x
di n − di j
j=1 n=1 i n i j
• This equation is satisfied provided that:
( )
J j i, x ( )
Wf i, x
( )
f e i, x = i j
j=1 x
−
x
J
i
0 = j
J
( )
j i, x
Wf( )i,x
di n − di j
j=1 n=1 i n i j
x x
j=1
• Substitution:
( ) − W (i, x) = W (i,x)
J j i, x
( )
f e i, x = i j
j=1 x
f
x
c
x
• Note:
– Positive fe and positive dx are in the same direction
– If the magnetic system is linear, Wc = Wf.
• Summary:
( ) − W (i, x)
J j i, x
( )
f e i, x = i j
f
j=1 x x
( )
Wc i,x
( )
f e i,x = J ( ) − W (i, )
j i,
x ( )
Te i , = i j
f
j=1
( )
fe Te
Wc i,
x ( )
Te i, =
• By a similar procedure, force equations may be derived
with flux linkages 1, …, j of the J windings and x as
independent variables. The relations, given without
proof, are:
J ( )
i j ,x Wc ,x( )
( )
f e ,x = − j
j=1 x
+
x
( )
Wf ,x
( )
f e ,x = −
x J ( ) + W (,)
i j ,
( )
Te , = − j
c
j=1
( )
Wf ,
( )
Te , = −
• 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: = 1+ a (x) i2
– Find fe(i,x)
Elementary Electromagnet
x = x(t)
d
v = ri + voltage equation that describes the electric system
dt
= N
flux linkages
= +m
(the magnetizing flux is common to
= leakage flux both stationary and rotating members)
m = magnetizing flux
Ni
= If the magnetic system is considered to be
linear (saturation neglected), then, as in the
Ni case of stationary coupled circuits, we can
m =
m express the fluxes in terms of reluctances.
N2 N 2
= + i flux linkages
m
L = leakage inductance
= (L + L m )i
L m = magnetizing inductance
Electromagnet
k
L m (x) for x 0 Use this approximation
x
+k
L(x) L + Lm (x) = L for x 0
x
(i,x) = L(x)i = L + L m (x) i
1
The system is magnetically linear: Wf (i,x ) = Wc (i, x ) = L (x )i 2
2
J ( ) − W (i, x)
j i, x 1 2 L (x )
( )
f e i, x = i j
f
x x fe (i, x) = i
j=1 2 x
Wc i,x( ) ki2
=− 2
( )
f e 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 + +e f
(if v and f are constant)
dt
d2 x dx v = ri
f = M 2 + D + K ( x − x0 )− 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
−fe = f − K (x − x 0 )
(f = 4 N)
ki
2
− − 2 = f − K (x −x 0 )
2x
Parameters:
r = 10 (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
r = angular displacement
r = angular velocity
r = r ( )d + r (0)
t
0
d
v = ri + voltage equation
dt
= +m
= leakage flux
m = magnetizing flux
It is convenient to express the flux
= (L + L m )i linkages as the product of the sum of the
leakage inductance and the magnetizing
inductance and the current in the winding.
L = constant (independent of r )
Lm = periodic function of r
L m = L m ( r )
N2 m is maximum
L m (0) =
m (0 ) L m is minimum
N2 m is minimum
Lm =
2 Lm is maximum
m
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 (r ) = L A − L B cos (2r )
Lm (0) = LA −LB
L( r )= L + L m (r )
Lm = L A + LB
2
= L + L A − L B cos (2r )
LA LB
LA = average value
di dLm (r ) d r
v = ri + L + L m ( r ) + i voltage equation
dt d r 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.
+ das
vas = riass
dt
as = Lasasias
L asas = L s + L A − L B cos (2r )
r = r ( )d + r (0 )
t
0
rs = resistance of as winding
Lasas = self-inductance of as winding Ls = leakage inductance
• Electromagnetic torque:
– Magnetic system is linear, hence Wf = Wc.
j=1
( )
Wc i,
( )
Te i, =
Air-gap size is
exaggerated.
end view cross-sectional view
d1
v1 = ri11 +
dt voltage equations
d 2
v 2 = r2i2 +
dt
1 = L11ii + L12i2 The magnetic system is assumed linear.
2 = L21ii + L22i2
L11 = L1 + Lm1 The self-inductances L11 and L22 are
N12 N12 constants and may be expressed in
= + terms of leakage and magnetizing
1 m
inductances.
L22 = L 2 + L m2
2 2 m is the reluctance of the complete
N N magnetic path of m1 and m2 , which
= +
2 2
J
j i,( ) − W (i, )
( )
Te i , = i j
f
j=1
Te (i1 ,i 2 , r ) = −i1 i2 Lsr sin r
Wc i, ( )
( )
Te i, =
• Consider the case where i1 and i2 are both positive
and constant: Te = −K sin r
K =i1i2 Lsr
stable operation
unstable operation