ECEG 4123

Electrical Machines
Chapter1: Electromechanical Energy Conversion

Dr.M.Karthikeyan
Dept. of Electrical and Computer Engineering

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 1

Principle of Induction

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 2

Principle of Induction

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 3

Principle of Induction

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 4

Principle of Interaction

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 5

Principle of Interaction

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 6

Principle of Interaction

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 7

 Introduction - EMC

Electromechanical energy conversions – use a magnetic

field as the medium of energy conversion.

Electromechanical energy conversion device:

Converts electrical energy into mechanical energy

or
Converts mechanical energy into electrical energy.

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 8

 Introduction
Three categories of electromechanical energy conversion devices:

• Transducers (for measurement and control)- small motion

Transform the signals of different forms. Examples: microphones, sensors and speakers.

• Force producing devices (translational force)- limited mechanical motion.

Produce forces mostly for linear motion drives, Example Actuators - relays, solenoids and
electromagnets.

• Continuous energy conversion equipment.

Operate in rotating mode. Examples: motors and generators.

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 9

 Energy Conversion Process

The principle of conservation of energy:

Energy can neither be created nor destroyed.

It can only be changed from one form to another.

Therefore total energy in a system is constant

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 10

 Energy Conversion Process
An electromechanical converter system has three essential parts:

①An electrical system (electric circuits such as windings)

②A magnetic system (magnetic field in the magnetic cores and air

gaps)

③A mechanical system (mechanically movable parts such as a

rotor in an electrical machine).

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 11

EM Energy Conversion: Analogy
Thermal
Electrical Energy
Energy (losses)
(input)

Field Energy

Mechanical
Energy
(output)
Presented by Dr.M.Karthikeyan, AP/ECE, WSU 12
 Energy Conversion Process

Electromechanical
System

Electrical System Magnetic System Mechanical System

Voltages and Position, Speed

Magnetic Flux
Currents and Acceleration

Circuit Equations Froce/Torque Force/Torque Eqns

(KVL and KCL) (Newtons Law)
emf

Concept of electromechanical system modeling

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 13

 Energy Conversion Process

Electrical system Magnetic system Mechanical

system P mech

Electrical Field loss Mechanical

loss loss

The energy transfer equation is as follows:

 Electrical   Mechanical   Increase in 

       Energy 
 energy input    energy    stored energy in    
 from sources   output   magnetic field   losses 
     

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 14

 Energy Conversion Process
The energy balance can therefore be written as:
Electrical energy  Mechanical energy  Increase in 
     
input from sources  output
   friction  stored
  field 
     
resis tan ce loss  and windage loss  energy  core loss

For the lossless magnetic energy storage system in differential form,

 dWe  dWm  dWf
dWe = i d  = differential change in electric energy input
dWm = fm dx = differential change in mechanical energy output
dWf = differential change in magnetic stored energy
Presented by Dr.M.Karthikeyan, AP/ECE, WSU 15
 Energy Conversion Process
dλ
We can write dWe  ei dt; e
dt
dλ
dWe  idt  idλ
dt
Here e is the voltage induced in the electric terminals by
changing magnetic stored energy.

dWe  ei dt  dWm  dWf

Together with Faraday’s law for induced voltage, form the
basis for the energy method.
Presented by Dr.M.Karthikeyan, AP/ECE, WSU 16
 Singly-excited System

Energy, Coenergy and Force or Torque

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 17

 Energy in Magnetic System
Consider the electromechanical system below:

Axial length (perpendicular

to page) = l

Schematic diagram of an electromagnetic relay

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 18

 Energy in Magnetic System
The mechanical force fm is defined as acting from the relay
upon the external mechanical system and the differential
mechanical energy output of the relay is
dWm = fm dx
Then, substitution dWe = id , gives

dWf = id  – fm dx

Value of Wf is uniquely specified by the values of  and x,

since the magnetic energy storage system is lossless.

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 19

 Energy in Magnetic System
l dWf = idl

dl

Wf   id
dWf = differential change in magnetic stored energy

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 20

 Energy and Coenergy
The l-i characteristics of an electromagnetic system depends
on the air-gap length and B-H characteristics of the magnetic
material.


For a larger air-gap length the

characteristic is essentially linear. The
characteristic becomes non linear as the
air-gap length decreases. Increased
air-gap
length

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 21

 Energy and Coenergy


-i

Wf

Wf’

For a particular value of air-gap length, the field energy is represented by the
red area between l axis and l-i characteristic. The blue area between i axis and
l - i characteristic is known as the coenergy
Presented by Dr.M.Karthikeyan, AP/ECE, WSU 22
 Energy and Coenergy
The coenergy is defined as

W    di
f
' i
0
From the figure of l - i characteristic,

Wf’ + Wf = l i

Note that Wf’ > Wf if the l - i characteristic is non linear

and Wf’ = Wf if it is linear.
The quantity of coenergy has no physical significance.
However, it can be used to derive expressions for force (torque)
developed in an electromagnetic system
Presented by Dr.M.Karthikeyan, AP/ECE, WSU 23
Determination of Force from Energy

The magnetic stored energy Wf is a state function,

determined uniquely by the independent state
variables λ and x. This is shown explicitly by

dWf (λ, x) = id  – fm dx

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 24

 Determination of Force from Energy

For any function of two independent variables F(x1,x2), the

total differential equation of F with respect to the two state
variables x1 and x2 can be written

F(x1, x 2 ) F(x1, x 2 )
dF(x1, x 2 )  dx1  dx 2
x1 x x 2 x
2 1


Presented by Dr.M.Karthikeyan, AP/ECE, WSU 25
 Determination of Force from Energy

Therefore, for the total differential of Wf

Wf ( , x) Wf (, x)
dWf ( , x)  d  dx
 x x 

And we know that

dWf ( , x)  id  f m dx



Presented by Dr.M.Karthikeyan, AP/ECE, WSU 26
Determination of Force from Energy
By matching both equations, the current:
Wf ( , x)
i
 x
where the partial derivative is taken while holding x
constant and the mechanical force:
Wf ( , x)
 fm  
x 
where the partial derivative is taken while holding 
constant.

 Presented by Dr.M.Karthikeyan, AP/ECE, WSU 27

 Determination of Force from
Energy: Linear System
For a linear magnetic system for which =L(x)i:
 
 1 2
Wf ( , x)   i( , x)d   d 
0 0 L(x) 2 L(x)
and the force, fm can be found directly:

Wf (, x) 
 1  2  2
 dL(x)
 fm        2
x  x 2 L(x)  2L(x) dx

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 28

Determination of Torque from Energy

For a system with a rotating mechanical terminal, the

mechanical terminal variables become the angular
displacement θ and the torque T. Therefore, equation for
the torque:
Wf (, )
T 
 

where the partial derivative is taken while holding 

constant.
 Presented by Dr.M.Karthikeyan, AP/ECE, WSU 29
 Determination of Force from
Coenergy
The coenergy Wf’ is defined as
'
W (i, x)  i  W f ( , x)
f

and the differential coenergy dWf’:

'
dW (i, x)  d(i )  dW f ( , x)
f

We know previously that
dWf ( , x)  id  f m dx

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 30
 Determination of Force from
Coenergy
By expanding d(iλ):
d(i )  id  di
So, the differential coenergy dWf’:
'
dW (i, x)  d(i )  dW f ( , x)
 f
 id  di  (id   f m dx)
 di  f m dx

 Presented by Dr.M.Karthikeyan, AP/ECE, WSU 31
 Determination of Force from
Coenergy
By expanding dWf’(i,x):
' '
' W (i, x) W (i, x)
dW (i, x) 
f di 
f
dx f
i x
x i

and, from the previous result:

'
dW (i, x)  di  f m dx
f


 Presented by Dr.M.Karthikeyan, AP/ECE, WSU 32

 Determination of Force from
Coenergy
By matching both equations, :
Wf' (i, x)

i x
where the partial derivative is taken while holding x
constant and the mechanical force:
Wf' (i, x)
 fm 
x i
where the partial derivative is taken while holding i
constant.

 Presented by Dr.M.Karthikeyan, AP/ECE, WSU 33

 Determination of Force from
Coenergy: Linear System
For a linear magnetic system for which =L(x)i:
i i 2
i
W (i, x)   (i, x)di   L(x)idi L(x)
'
f
0 0 2
and the force, fm can be found directly:
'
W (i, x)   i 2  2
i dL(x)
 fm  f
 L(x)  
x i x  2 i 2 dx

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 34

 Determination of Torque from
Coenergy
For a system with a rotating mechanical terminal, the
mechanical terminal variables become the angular
displacement θ and the torque T. Therefore, equation for
the torque:
Wf' (i, )
T
 i
where the partial derivative is taken while holding 
constant.
 Presented by Dr.M.Karthikeyan, AP/ECE, WSU 35
 Determination of Force Using
Energy or Coenergy?

The selection of energy or coenergy as the function to

find the force is purely a matter of convenience.

They both give the same result, but one or the other
may be simpler analytically, depending on the desired
result and characteristics of the system being
analyzed.
Presented by Dr.M.Karthikeyan, AP/ECE, WSU 36
 Direction of Force Developed
Wf ( , x)
1. By using energy function: fm  
x 
The negative sign shows that the force acts in a
direction to decrease the magnetic field stored energy
at constant flux.
 '
W (i, x)
2. By using coenergy function: fm   f
x i

The positive sign emphasizes that the force acts in a

direction to increase the coenergy at constant current.

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 37
 Direction of Force Developed
3. By using inductance function:
2
i dL(x)
fm  
2 dx i

The positive sign emphasizes that the force acts in a

direction
 to increase the inductance at constant
current.

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 38

 B-H Curve and Energy Density
In a magnetic circuit having a substantial air gap g, and high
permeability of the iron core, nearly all the stored energy
resides in the gap. Therefore, in most of the cases we just
need to consider the energy stored in the gap. The magnetic
stored energy,

W f   id
0

Hg
in which i and d  d ( N )  d ( NAB)  NAdB
N

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 39

B-H Curve and Energy Density
B Hg B
Therefore, W f  0 N
NAdB  Ag  H dB
0

However, Ag is volume of the air gap. Dividing both

sides of the above equation by the volume Ag results
in
Wf B
wf    H dB
Ag 0

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 40

B-H Curve and Energy Density
B
where w f   H dB is energy per unit volume
0

wf is known as energy density.

wf
B The area between the B-H
curve and B axis represents
the energy density in the air
gap.
H

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 41

B-H Curve and Energy Density
In the same manner,
H
w 
'
f BdH is coenergy per unit volume.
0

B
w f’

The area between the B-H

curve and H axis represents
the coenergy density in the
air gap.
H

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 42

B-H Curve and Energy Density
For a linear magnetic circuit, B = mH or H =
B/m, energy density:
B B B B2
w f   H dB   dB 
0 0  2

and coenergy density:

H H 2
H
w f   BdH    HdH 
'

0 0
2

In this case, it is obvious that wf = wf’.

Presented by Dr.M.Karthikeyan, AP/ECE, WSU 43