ELEC 342, F-15, M-1

ELEC 342
Electromechanical Energy
Conversion and Transmission
Fall 2015
Instructor: Dr. Juri Jatskevich
My Webpage: www.ece.ubc.ca/~jurij
Class Webpage:
http://courses.ece.ubc.ca/elec342/
Credit: 3-lecture-hour/week + 1-tutorial/week + 5 labs

ELEC 342, F-15, M-1

Electric Energy Grid

Generation, Transmission/Distribution, Utilization
Modern Electric Grid A very complex system
PV Solar
Hydro

Wind
Energy

HVDC

Energy
Storage

Control Centre
Residential &
Commercial
loads
Industrial Loads Motor Drives
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ELEC 342, F-15, M-1

Electric Power System

Transmission & Distribution

Transmission ~ 138 to 765 kV

Sub-transmission ~ 34 to 138 kV
Distribution ~ 4 to 34 kV
Service / Customer level ~ 240, 208, 120.

Components
Wires, cables transmission of power
Tower support structures
Transformers converting voltage
levels
Circuit breakers, relays protective
devices
Control Centers ensure reliable
operation & power flow

ELEC 342, F-15, M-1

BC Transmission System

ELEC 342, F-15, M-1

Electromechanical Energy Conversion

Generation of Electricity Big Scale
Thermal Power Plant

Wind Power

Hydro Power Plant

ELEC 342, F-15, M-1

Electromechanical Energy Conversion

Electrical Energy Generation

Almost all electricity produced in BC (10

~12GW) is produced by Synchronous
Generators

Electrical Energy Utilization

About 65% of all electricity is consumed by

motors: induction, synchronous, etc.
For industry it is about 85%

Electromechanical Energy Conversion Devices

Predominant way of generating and

consuming electrical energy

ELEC 342, F-15, M-1

Applications of Electromechanics
Modern Transportation => More Electric Vehicle
Diesel-Electric

Liebherr T282B earthhauling truck 2.7MW

AC Propulsion

All-Electric => Zero Emission Transportation

Canada Line
(Richmond-Airport-Vancouver Line)
SNC-Lavalin & Rotem Company

Hybrid

Toyota Hybrid,
operates at 288V,
reaches 30kW

All-Electric

Tesla Roadster,
Induction Motor,
Vancouver TransLink reaches 200 kW
Trolley Bus
New Flyer Industries
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Electromechanics Applications

ELEC 342, F-15, M-1

ELEC 342, F-15, M-1

Electromechanics Devices
Manufacturing
Automotive
Aircraft
Ships
Computers
Office
Household

ELEC 342, F-15, M-1

Electromechanical Energy Conversion

Electrical
System
(generator,
source, etc.)

Mechanical
System
(Prime Mover,
Turbine, etc.)

Input
Electrical
Energy

Output
Mechanical
Mechanical
Energy
System
Conversion
(machine tool,
Device
plant, etc.)

Input
Mechanical
Energy
Conversion
Device

Is the energy conversion process reversible?

Output
Electrical
Energy

Electrical
System
(transmission,
distribution,
load, etc.)

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ELEC 342, F-15, M-1

Electromechanical Energy Conversion

Transformation of Electrical Energy
Input
Level X
Electrical
System
(generator,
source, etc.)

Output
Level Y
Conversion
Device

Electrical
System
(load)

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ELEC 342, F-15, M-1

Electromechanical Energy Conversion

Electrical Machines
Stationary
Transformers

Conversion
Device

Rotating
Motors, generators

Linear Devices
Solenoids, linear motors, other actuators

Devices may operate with DC or AC

Power Electronics (Switched Mode , SMPSs, Motor &

Actuator Drivers, )
Rectifiers
AC to DC

Converters
DC to DC

Inverters
DC to AC
Very broad & interesting area, requires its own course!

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ELEC 342, F-15, M-1

ELEC 342
Electromechanical Energy Conversion and
Transmission

Module 1, Part 1: Review of AC Circuits & Phasors

(Read Appendix B)
Objectives & Most Important Concepts
Concept of phasors & notations
RMS value
Phasor diagrams for basic RLC circuits
Balanced 3-phase system, source, load, Y / D connection,
line-to-line and phase voltages and currents, phase shifts
Real, reactive, and apparent power in 1-phase and 3-phase
systems, power factor
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ELEC 342, F-15, M-1

Review of AC Circuits
Consider linear inductive circuit
Steady-state Solution

i (t ) = I m cos(t + i )

e(t ) = Em cos(t + e )

v(t ) = Vm cos(t )
KVL

d
v(t ) = ri + e = ri +
dt
di
= ri + L
dt
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ELEC 342, F-15, M-1

Review of AC Circuits
Consider linear capacitive circuit
Steady-state Solution

vc (t ) = Vc ,m cos(t + v )

i (t ) = I m cos(t + i )

v(t ) = Vm cos(t )
v(t ) = ri + vc
v vc
dv
i=
=C c
r
dt
dvc 1
1
C
+ vc = v(t )
Note: In both cases we need to
dt r
r
know only amplitude & phase
KVL

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ELEC 342, F-15, M-1

Review of AC Circuits
Consider arbitrary network
with voltage and current sources

(
)
cos(t + )

v i (t ) = V i cos t + i
j j (t ) = J j

Steady-state Solution?
For all circuit branches the currents
& voltages are sinusoidal

(
)
cos(t + )

ik (t ) = I k cos t + ik

vk (t ) = Vk

k
v

Note:
For SS analysis we need to know only amplitudes J k , V k
& phases ik , vk
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Review of Phasors
Complex Plane

ELEC 342, F-15, M-1

v(t ) = Vm cos(t ) + j Vm sin (t )

i (t ) = I m cos(t ) + j I m sin (t )
Eulers Identity

e jt = cos(t ) + j sin (t )
v(t ) = Vm e jt

i (t ) = I m e j (t )
Note:

1. All vectors rotate at the same speed !

2. Only the amplitudes and their phase
differences are important
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ELEC 342, F-15, M-1

Phasor Notations
i (t ) = I m e j (t ) I m
v(t ) = Vm e jt Vm 0

Time Domain

Phasor Representation

Acos(t )

Asin (t )

A
A 90o

T = 2 /
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ELEC 342, F-15, M-1

Review of Phasors
Linear Passive Elements

Z=R

Z = jL = (L )90o
1
1
o
Z=
=
90
j C C

C
Z=

Complex Impedance

V Vm v Vm
=
=
v i = Z m z
I I m i I m

Z = R + jX ,

z = arctan

2
Z m = R 2 +T = X
2 / ,

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ELEC 342, F-15, M-1

Root-Mean-Square (RMS) Value

* Value equivalent to the DC voltage (current) that when applied to a resistor
dissipates the same average power as the given AC value

v 1
P (t ) = vi = v = v 2
r r

Pave =

1
T

1 1 T
P(t )dt = v 2 (t )dt
r T 0

V( rms )

1 2
=
v (t )dt

T0

Given sinusoidal voltage (current), RMS values are often used with Phasors

v(t ) = 2 Vrms cos(t + v )

i (t ) = 2 I rms cos(t + i )

~
V = Vrms v
~
I = I rms i
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ELEC 342, F-15, M-1

Qualitative Phasor Diagrams

Use phasors (vectors) to represent voltage and/or current equations (relationship)

Consider RLC Circuit

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ELEC 342, F-15, M-1

Qualitative Phasor Diagrams

Use phasors (vectors) to represent voltage and/or current equations (relationship)

Consider RLC Circuit

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ELEC 342, F-15, M-1

Power in AC Circuits
Given inductive load

i (t ) = 2 I cos(t + )

v(t ) = 2 V cos(t )

Instantiations power is always this

p(t ) = vi = 2VI cos(t ) cos(t + )

= VI cos( ) + VI cos(2t + )

Average (real) power over one cycle

P = VI cos( )

Apparent power

S = VI = P 2 + Q 2

Reactive power

Q = VI sin ( )

Power Factor (pf)

cos( ) =

[W ], [kW ], [MW ]

[VA], [kVA], [MVA]

[VAR ], [kVAR], [MVAR ]

P
VI

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ELEC 342, F-15, M-1

Single vs. Three-Phase Systems

For balanced system
we have va + vb + vc = 0

v(t ) = Vm cos(t )
Easy to produce !

va (t ) = Vm cos(t )

(
)
cos(t + 120 )

vb (t ) = Vm cos t 120o
vc (t ) = Vm

Just as easy to produce !

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ELEC 342, F-15, M-1

Balanced Three-Phase Systems

Single vs. Three Phases

Efficient transmission of power

just one more conductor
= 3 times more power

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ELEC 342, F-15, M-1

Three-Phase Source
Wye (Y) - Connected

Line Voltages

Vab = Va Vb

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ELEC 342, F-15, M-1

Three-Phase Source
Delta () - Connected

Line Currents

I a = I ab I ca

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ELEC 342, F-15, M-1

Three-Phase Load
Wye (Y) - Connected

Line Voltages

Vab = Va Vb

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ELEC 342, F-15, M-1

Three-Phase Load
Delta () - Connected

Line Currents

I a = I ab I ca

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ELEC 342, F-15, M-1

Power in Three-Phase Systems

For balanced system we have
va (t ) = 2V ph cos(t )

(
)
cos(t + 120 )

vb (t ) = 2V ph cos t 120o
vc (t ) = 2V ph

Instantaneous Power can

always be calculated as

P3 (t ) = Pa + Pb + Pc

= ia va + ib vb + ic vc

ia (t ) = 2 I ph cos(t )

(
cos(t + 120

)
)

ib (t ) = 2 I ph cos t 120o
ic (t ) = 2 I ph

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ELEC 342, F-15, M-1

Power in Balanced Three-Phase Systems

In terms of phase quantities (Y - connection)

P3 (t ) = 3Pph = 3V ph I ph cos( ph )

Q3 (t ) = 3Q ph = 3V ph I ph sin ( ph )
In terms of line-to-line quantities
Y - connection

- connection

I ph = I L , V ph = VL / 3

I ph = I L / 3 , V ph = VL

P3 = 3VL I L cos( ph )

Q3 = 3VL I L sin ( ph )
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ELEC 342

ELEC 342, F-15, M-1

Electromechanical Energy Conversion and

Transmission
Module 1, Part 2: Basic Magnetic Circuits
(Read Chap. 1)
Objectives & Most Important Concepts
Fundamentals of Electromagnetics, Maxwells Equations
Sign & direction conventions
Basic magnetic circuits, concepts, analogies, calculations
Flux, flux linkage, inductance
Magnetic materials, saturation, hysteresis loop
Coil under ac excitation, type of core losses
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ELEC 342, F-15, M-1

Review of Basic Quantities and Units

V

E electric field intensity m

Weber

Tesla
=
B magnetic flux density

meter 2

Wb

=
T

m 2

H magnetic field intensity A

m
magnetic flux

[Wb = T m ]
2

B-H Relation

Current produces the H field (see Amperes law)

H is related to B

B = H = 0 r H
permeability (characteristic of the medium)
7
0 permeability of vacuum = 4 10 [H m]

T m Henry H
A = meter = m

r relative permeability of material

magnetic materials r = 100L100,000
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ELEC 342, F-15, M-1

Fundamentals
Summarized in Maxwells Equations (1870s)
1) Gausss Law for Electric Field

E da =
s

= e = E cos da

Electric flux out of any closed surface is proportional to

the total charge enclosed

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ELEC 342, F-15, M-1

Fundamentals
Summarized in Maxwells Equations (1870s)
2) Gausss Law for Magnetic Field

B da = m = 0
s

Magnetic flux out of any closed surface is zero

There are no magnetic charges

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ELEC 342, F-15, M-1

Fundamentals
Summarized in Maxwells Equations (1870s)
3) Faradays Law

E dl =

d
d
B

d
a
=

= emf

dt S
dt

ElectroMotive Force (emf)

The line integral of the electric field around a closed loop/contour C
is equal to the negative of the rate of change of the magnetic flux
through that loop/contour

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ELEC 342, F-15, M-1

Fundamentals
Summarized in Maxwells Equations (1870s)
4) Amperes Law (for static electric field)

B dl = J da = I
0

0 net

The line integral of the magnetic field B around a closed loop C

is proportional to the net electric current flowing through that
loop/contour C

37

Conventions
Right hand rule

ELEC 342, F-15, M-1

Right-screw rule
Dot and cross notations

Magnetic field produced

by coil (solenoid)

Flux Lines:
form a closed loop/path
Lines do not cut across or merge
Go from North to South magnetic poles

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ELEC 342, F-15, M-1

Magnetic Field of an Infinite Conductor

Apply Amperes Law

H dl = I

enclosed

Incremental length dl = Rd

H 2R = I
H and dl have the same
direction

H=

I
2R

B = H =

I
2R

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ELEC 342, F-15, M-1

Magnetic Field of an Infinite Conductor

Apply Amperes Law

H dl = I

enclosed

H dl = H dl + H

I
I

=
R
d
1
2R1
2

dl + H dl + H 2 dl

H1 dl =

dl =
0

I
I
R2 d =
2R2
2
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ELEC 342, F-15, M-1

Some Definitions
= B da = Bc Ac

Magnetic Flux
Flux is always continuous

Recall Faradays Law - Electromotive Force (emf)

E dl =

d
d

B
d
a
dt S
dt

- voltage induced in one turn due to

the changing magnetic flux
For coil with N turns

Flux Linkage

e=N

d
dt

= N [Wb t ]

flux scaled by the number of turns

Total induced emf

e=

d
dt

[V ]
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ELEC 342, F-15, M-1

Some Definitions
Inductance
Need a function that relates Flux Linkage to the Current

= f (i ) = L() i

Consider

L=

Wb t

A = H

Recall

L=

N
i

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ELEC 342, F-15, M-1

Magnetic Circuits
Consider basic magnetic circuit
Assume

>> 0

All magnetic flux is

concentrated inside the core
Recall Amperes Law

dl = I net

lc

Magnetomotive force (mmf)

Assume uniform core

Source of magnetic field is

ampere-turn product

F = Ni

F = Ni = I net = H c dl = H c lc

[Ampere turn]

lc

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ELEC 342, F-15, M-1

Magnetic Circuits
Consider basic magnetic circuit

Assume all magnetic field is

confined inside the core
Define Magnetic Flux

= B da = Bc Ac [Wb]
S

Flux is always continuous

Consider mmf

F = Ni = H c lc =

Bc lc

lc
= c
Ac

Define Reluctance (of the given magnetic path)

c =

lc
Ac

A
Wb

Recall Inductance

N N N i N 2
L= =
=
=
i
i
i c
c

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ELEC 342, F-15, M-1

Magnetic Circuits
Magnetic circuit with air gap

Consider mmf

F = Ni = H dl
C

= H c lc + H g l g

Assuming all magnetic flux is

confined inside the core

lc
lg
F =
+
A A
0 g
c

Bc =

Ac

and Bg =

Bc lc

Bg l g

Ag

= ( c + g ) = i = total

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ELEC 342, F-15, M-1

Magnetic and Electric Circuits Analogy

Electric Circuit

i=

v
R1 + R2

Magnetic Circuit

F
1 + 2

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ELEC 342, F-15, M-1

Magnetic and Electric Circuits Analogy

Electric Circuit

Magnetic Circuit

Voltage (emf),

V , [Volt ]

mmf,

F , [A t ]

Current,

I , [Amps ]

Flux

, [Wb]

Resistance, R =

l
, []
A

Reluctance,

l A
,
A Wb

Conductance, G =

Permeance,

1 Wb
,
A

Siemens
Conductivity, ,
m

H
Permeability, ,
m

For loop
For node

v = Rnin

=0

1
, [Siemens]
R

For loop
For node

F = H n ln

=0

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ELEC 342, F-15, M-1

Inductance: Example 1
Consider the following electromagnetic system (device)
Equivalent Magnetic Circuit

Equivalent Electric Circuit

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ELEC 342, F-15, M-1

Inductance: Example 2
Consider the following electromagnetic system

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ELEC 342, F-15, M-1

Magnetic Circuits: Example 3

Consider the following electromagnetic system

Equivalent Magnetic Circuit

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ELEC 342, F-15, M-1

Magnetic Materials
Magnetic moment
of an atom

Magnetic Domain Structure

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ELEC 342, F-15, M-1

Magnetic Material Domain Model

B External field

demagnetized

magnetized

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ELEC 342, F-15, M-1

Magnetic Saturation

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ELEC 342, F-15, M-1

Hysteresis Loop

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ELEC 342, F-15, M-1

Hysteresis Loop

Hysteresis loops for

different excitation levels

Br residual magnetism
Hc coercivity force,
external field required to
demagnetize the
material
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ELEC 342, F-15, M-1

Magnetic Materials

Classes of Magnetic Materials

Soft mag. materials

H c ~ 0.1L100 [A / m]

Hard mag. materials

H c > 100 [A / m]
Permanent magnets (PM)

H c ~ 10 4 L106 [A / m]

Types of PMs

Neodymium Iron Boron (NdFeB or NIB)

Samarium Cobalt (SmCo)
Aluminum Nickel Cobalt (Alnico)
Ceramic or Ferrite, very popular
Iron-oxide, barium, etc. compressed powder

56

Magnetic Materials
Second quadrant
hysteresis curve
for M-5 steel

ELEC 342, F-15, M-1

Some common PM materials

57

Core Losses

ELEC 342, F-15, M-1

Hysteresis Losses

Consider
AC
excitation

H l
Wh ,cycle = id = c c ( NAc dBc ) = lc Ac H c dBc
N

Power loss can be approximated as

Ph = K h f (Bc ,max )

n ~ 1.5L 2.5

Where the constants K h and

determined experimentally

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ELEC 342, F-15, M-1

Core Losses
Faradays law

Eddy Current Losses

Consider
AC
excitation

E dl =

Solid-iron core
Power loss can be approximated as

Pe = K e f 2 (Bc ,max )

d
B da
dt S

Laminated core

Equivalent circuit including core losses ?

Where the constant K e depends

on lamination thickness and is
determined experimentally
59