Energy Conversion Process

• continuous energy conversion

• motors
• generators dWe = dWm + dWf
• actuators
• solenoids, relays

•Losses RI2, Pc
 Energy Conversion Process - Field Energy

dWe = dWm + dWf

• no motion

dWm = 0

dWe = dWf
dλ
dWe = ei dt e=
dt

dWf = i dλ
λ
Wf = ∫ i dλ
0
 Energy Conversion Process - Field Energy

Ni = H c lc + H g lg

λ = NΦ = NAB

λ BH + H g lg
c lc B
Wf = ∫ i dλ = ∫ NA dB Hg =
N µ0
0 0
= Vc wfc + Vg wfg = Wfc + Wfg
• linear material

Bc
B
Hc =
B2 µc
wfc = ∫ H c dB wfg =
0
2 µ0 Bc2
wfc =
2 µc
 Energy – Coenergy

λ i
Wf = ∫ i dλ Wf′ = ∫ λ di Wf′ + Wf = λ i
0 0

• characteristic depends on the air gap length

 Mechanical Force in the Electromagnetic System

• movable part moves slowly from x1 to x2

λ2
∆We = ∫ ei dt = ∫ i dλ
λ1
∆Wf = A ( 0bc ) − A ( 0 ad )
∆Wm = ∆We − ∆Wf = A ( 0 ab ) = ∆Wf′

• differential displacement dx

f m dx = dWm = dWf′

∂Wf′ ( i , x )
fm =
∂x i = constant
 Mechanical Force in the Electromagnetic System

• movable part moves quickly from x1 to x2

• flux linkage remains essentially constant

dWe = 0

f m dx = dWm = − dWf

∂Wf ( λ , x )
fm =−
∂x λ = constant
 Force in a Linear System (Rc << Rg)

• force from field energy

λ λ
λ 1 λ2
λ = L(x)i Wf = ∫ i dλ = ∫ dλ = = L ( x ) i2
0 0
L(x) 2L ( x ) 2

∂ ⎛ λ2 ⎞ λ2 dL ( x ) 1 2 dL ( x )
fm =− ⎜ ⎟ = 2 = i
∂x ⎝ 2 L ( x ) ⎠ 2 L ( x ) dx 2 dx
λ = constant

• force from coenergy

1
Wf = Wf′ = L ( x ) i2
2

∂ ⎛1 2⎞ 1 2 dL ( x )
fm = ⎜ L(x)i ⎟ = i
∂x ⎝ 2 ⎠ i =constant 2 dx
 Linear System
Bg µc = ∞ Hc = 0
Ni = H g 2 g = 2g
µ0

Bg2 Bg2
Wf = Vg = Ag 2 g
2 µ0 2 µ0

∂ ⎛ Bg
2 ⎞ Bg
2
fm = ⎜ Ag 2 g ⎟ = Ag 2
∂g ⎜ 2 µ0 ⎟ 2 µ0
⎝ ⎠

• force pressure

Bg2
Fm =
2 µ0
 Rotating Machines - Stationary Situation - Torque

• stored field energy

dWf = es is dt + er ir dt
= is dλs + ir dλr

λs = Lss is + Lsr ir
λr = Lrs is + Lrr ir

λs Lss Lsr is
=
λr Lsr Lrr ir

dWf = is d ( Lss is + Lsr ir ) + ir d ( Lsr is + Lrr ir )

= Lss is dis + Lrr ir dir + Lsr d ( is ir )
 Rotating Machines - Stationary Situation - Torque
• stored field energy
is ir isir
Wf = Lss ∫ is dis + Lrr ∫ ir dir + Lsr ∫ d ( isir )
0 0 0
1 2 1
= Lss is + Lrr ir2 + Lsr is ir
2 2

• torque

∂Wf′ ( i ,θ )
T=
∂θ i = constant

1 2 dLss 1 2 dLrr dL
T= is + ir + is ir sr
2 dθ 2 dθ dθ

• first two terms represent reluctance torque; variation of self-inductance

 Cylindrical Machines - Torque

• no reluctance torque
dLsr
T = is ir
dθ
• mutual inductance
Lsr = M cosθ
• currents
is = I sm cos ω st
ir = I rm cos (ω r t + α )
• rotor position

θ = ωmt + δ
 Cylindrical Machines - Torque

⎡sin
⎢
{(ωm + (ωs + ωr ) ) t + α + δ } + ⎤⎥
⎢sin
I sm I rm M ⎢ {(ωm − (ωs + ωr ) ) t − α + δ } + ⎥⎥
T =−
4 ⎢sin
⎢
{(ωm + (ωs − ωr ) ) t − α + δ } + ⎥⎥
⎢sin
⎣ {(ωm − (ωs − ωr ) ) t + α + δ } ⎥⎦

• torque in general varies sinusoidally with time

• average value of Each term is zero unless the coeficient of t is zero
 Cylindrical Machines - Torque
• nonzero average torque exists only if ω m = ± (ω s ± ω r ) ωm = ωs ± ωr

• synchronous machine ωr = 0 ωm = ωs α =0

I sm I R M
T =−
2
{sin ( 2ωst + δ ) + sin δ }

I sm I R M
Tavg = − sin δ
2

•Single-phase machines
•pulsating torque

•Polyphase machines minimize pulsating torque

•Not self starting (ωm=0 Î Tavg=0
 Cylindrical Machines

• asynchronous machine ωm = ωs − ωr ωm ≠ ωr ωm ≠ ωs

I sm I rm M ⎡sin ( 2ω st + α + δ ) + sin ( −2ω r t − α + δ ) + ⎤

T =− ⎢ ⎥
4 ⎢⎣sin ( 2ω st − 2ω r t − α + δ ) + sin (α + δ ) ⎥⎦

I sm I rm M
Tavg = − sin (α + δ )
4

•Single-phase machines
•pulsating torque
•Not self-starting

•Polyphase machines minimize pulsating torque and self starting