Overview Electrical Machines and

Drives

7-9 1: Introduction, Maxwells equations, magnetic circuits

11-9 1.2-3: Magnetic circuits, Principles
14-9 3-4.2: Principles, DC machines
18-9 4.3-4.7: DC machines and drives
21-9 5.2-5.6: IM introduction, IM principles
25-9 Guest lecture Emile Brink
28-9 5.8-5.10: IM equivalent circuits and characteristics
2-10 5.13-6.3: IM drives, SM
5-10 6.4-6.13: SM, PMACM
12-10 6.14-8.3: PMACM, other machines
19-10: rest, questions
9-11: exam

Challenge the future

Maxwells equations / magnetic

circuits
Introduction of Maxwells equations (for quasi-static fields)
Amperes law used to calculate flux densities (1.1)
Around a wire in air
In magnetic circuit
In a magnetic circuit with an gap
Second of Maxwells equations used to calculate voltages (1.1)
Soft magnetic materials: hysteresis and eddy currents (1.2)
Hard magnetic materials: permanent magnets (1.4)

Challenge the future

Maxwells equations for quasistatic fields: Know by heart!

Cm

H d s = J n d A
Sm

d
C E d s = d t S B n d A
e
e

H : magnetic field intensity

J : current density
E : electric field intensity
B : magnetic flux density
n, : unit vectors

B n d A = 0
S

Challenge the future

Magnetic field in a magnetic circuit

Contour follows magnetic path:

H d s = J n d A
Cm

Sm

Ni
Hl = Ni H =
l

Ni
B = 0 r H = 0 r
l
= BAcore

Ni
=
=
Rm

Ni
l
0 r Acore
Challenge the future

Maxwells equations / magnetic

circuits
Introduction of Maxwells equations (for quasi-static fields)
Amperes law used to calculate flux densities (1.1)
Around a wire in air
In magnetic circuit
In a magnetic circuit with an gap
Second of Maxwells equations used to calculate voltages (1.1)
Soft magnetic materials: hysteresis and eddy currents (1.2)
Hard magnetic materials: permanent magnets (1.4)

Challenge the future

Magnetic circuit with air gap

H d s = J n d A
Cm

Sm

H c lc + H g l g = Ni
Bc

0 rc

lc +

Bg

l g = Ni

B n d A = 0
S

Bc Ac = Bg Ag

Two equations, two unknowns,

can be solved

Challenge the future

Magnetic circuit with air gap

Rmc =
Rmg =
=

lc

0 r Ac
lg

0Ag

Ni
Rmg + Rmc

Which reluctance is dominating?

The factor
Challenge the future

Example magnetic circuit with air

gap
Given
N = 50
I=1A
ry = 5000
0 = 410-7 H/m
lc = 0.2 m
lg = 1 mm
Ac = 4 cm2
=1
Calculate
Reluctances
Flux
Flux density
Challenge the future

Example magnetic circuit with air

gap
lc

kA
Rmc =
= 79.6
0 r Ac
Wb
lg
MA
= 1.99
Rmg =
0Ag
Wb
Ni
=
= 24.2 Wb
Rmg + Rmc

B=
= 61mT
Ac
Challenge the future

Comparison
of circuits

Circuit

Water

Electric

Magnetic

Driving force

Force F
Pressure

Voltage V
Electric field E

Mmf Ni
Magnetic field H

Produces

Flow density
Water flow

Current density J
Current I

Flux density B
Flux

Limited by

Resistance

Resistance R

Reluctance Rm

Isolators

Yes

Yes

No

Physical

Water

Electrons

Power

Fv

VI

0
Challenge the future

10

Maxwells equations / magnetic

circuits
Introduction of Maxwells equations (for quasi-static fields)
Amperes law used to calculate flux densities (1.1)
Around a wire in air
In magnetic circuit
In a magnetic circuit with an gap
Second of Maxwells equations used to calculate voltages (1.1)
Soft magnetic materials: hysteresis and eddy currents (1.2)
Hard magnetic materials: permanent magnets (1.4)

Challenge the future

11

Second of Maxwells equations

d
C E d s = d t S B n d A
e
e
Contour is chosen in the
electric path, in the wire!

Challenge the future

12

Calculation of voltage
term

E d s =
Ce

+ term
term

E d s =
Ce

E d s +

+ term

E d s

term

Cu J d s u = lCu Cu J u

+ term

i
J=
ACu

E d s =
Ce

Cu lCu
ACu

i u = Ri u

Challenge the future

13

Calculation of voltage
d
C E d s = d t S B n d A
e
e
With the flux linkage

= B n d A N
Se

This can be worked out to

d
d
Ri + N
u = Ri +
dt
dt

Challenge the future

14

For coils
d
d
Induced voltage: e =
N
dt
dt
For a coil:

N2
= N =
i = Li
Rm
N2
L=
Rm

d
d
di
e=
=N
=L
dt
dt
dt

Challenge the future

15

Special cases
d
u = Ri +
dt
for DC:

u = Ri
flux and flux linkage are determined by current
for sinusoidal AC if resistance is negligible:

d
u=
dt

1 2
=
U=
f = 4.44 f
2
2

flux and flux linkage are determined by voltage

Challenge the future

16

Maxwells equations / magnetic

circuits
Introduction of Maxwells equations (for quasi-static fields)
Amperes law used to calculate flux densities (1.1)
Around a wire in air
In magnetic circuit
In a magnetic circuit with an gap
Second of Maxwells equations used to calculate voltages (1.1)
Soft magnetic materials: hysteresis and eddy currents (1.2)
Hard magnetic materials: permanent magnets (1.4)

Challenge the future

17

Magnetization curves
2T: heavily saturated
silicon steel
limitation

Challenge the future

18

Iron: Hysteresis losses

d
W = ui d t = Ri + i
dt
dt
d
Wh = i
dt = id
dt
Hl
i
=
With = NBA
N
2

Wh = Al H d B
Ph = k h fB S d V

1.5 < S < 2.3

Challenge the future

19

Iron: eddy current losses

PFe,e

B
b B
d V ke

dV
B0
12 Fe
V
V 0
2
Fe

Challenge the future

20

Maxwells equations / magnetic

circuits
Introduction of Maxwells equations (for quasi-static fields)
Amperes law used to calculate flux densities (1.1)
Around a wire in air
In magnetic circuit
In a magnetic circuit with an gap
Second of Maxwells equations used to calculate voltages (1.1)
Soft magnetic materials: hysteresis and eddy currents (1.2)
Hard magnetic materials: permanent magnets (1.4)

Challenge the future

21

Magnetic circuits with permanent

magnets
Why increase of permanent magnet use?
field without current: no losses, no windings, small volume
new strong rare-earth magnets become cheaper

Challenge the future

22

Magnetizing magnets

Challenge the future

23

Calculating magnetic fields with

magnets

H d s = J n d A
Cm

H m lm + H g l g = 0

Sm

permeability iron assumed infinite

Challenge the future

24

Calculating magnetic fields with

magnets
H m = H g

lg
lm

Bg = 0 H g
Bg Ag = Bm Am

B n d A = 0
S

Bm = 0

Ag l m
Aml g

Hm

Defines shear line (in Sen 1.47, a minus sign is missing)

Operating point: intersection of shear line and BH characteristic
Challenge the future

25

Rare earth magnets

Bm = 0 rm H m + Br

Challenge the future

26

Calculation with magnets

Combine shear line with BH curve:

Bm = 0 rm H m + Br
Ag l m
Bm = 0
Hm
Aml g
lm Am
Br
Result: Bg =
lm Ag + rml g Am

Am = Ag

If

lm
Bg =
Br
lm + rml g

What is the effect of increasing the gap?

Challenge the future

27

Alternative: using magnetic circuit

theory
Magnetomotive force of a magnet:

Fm = H c lm =
Rmm =

lm

0 r Am

Br

0 rm

lm
Rmext =

lg

0 r Ag

H c lm
=
Rmm + Rmg
A magnet can be replaced by an air coil
with length lm and cross section Am and
magnetomotive force Hclm
Challenge the future

28

Permanent magnet characteristics

Characteristics:
Hc coercive force (Corcitief veldsterkte) [A/m],
Br remanent flux density (remanente inductie) [T]
rm relative permeability (1.05 ...1.15)

Br

HcB

dBr/dT dHcB/dT
(%/K) (%/K)

(m)

Cost
(/kg)

(T)

(kA/m)

Ferrite

0,4

-250

-0,2

+0,34

1012

Alnico

1,2

-130

-0,05

-0,25

0,5

20

SmCo

1,0

-750

-0,02

-0,03

0,5

100

NdFeB

1,4

-1000

-0,12

-0,55

1,4

75

Challenge the future

29

Overview Electrical Machines and

Drives

7-9 1: Introduction, Maxwells equations, magnetic circuits

11-9 1.2-3: Magnetic circuits, Principles
14-9 3-4.2: Principles, DC machines
18-9 4.3-4.7: DC machines and drives
21-9 5.2-5.6: IM introduction, IM principles
25-9 Guest lecture Emile Brink
28-9 5.8-5.10: IM equivalent circuits and characteristics
2-10 5.13-6.3: IM drives, SM
5-10 6.4-6.13: SM, PMACM
12-10 6.14-8.3: PMACM, other machines
19-10: rest, questions
9-11: exam

Challenge the future

30

Principles of electromechanics (3)

Lorentz force, induced voltage (4.1)

Energy or power balance (3.1)
Energy and coenergy (3.2)
Calculation of force from (co)energy (3.3)
Application to actuators and rotating machines (3.4, 3.5)

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31

Electromagnetic energy conversion

(4.1)

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32

Induced voltage

E = Blv

Challenge the future

33

Lorentz force

F = q( E + v B)

F = Bli

Power balance holds:

P = Ei = Blvi = Fv
Challenge the future

34

Lorentz force

Challenge the future

35

Overview Electrical Machines and

Drives

7-9 1: Introduction, Maxwells equations, magnetic circuits

11-9 1.2-3: Magnetic circuits, Principles
14-9 3-4.2: Principles, DC machines
18-9 4.3-4.7: DC machines and drives
21-9 5.2-5.6: IM introduction, IM principles
25-9 Guest lecture Emile Brink
28-9 5.8-5.10: IM equivalent circuits and characteristics
2-10 5.13-6.3: IM drives, SM
5-10 6.4-6.13: SM, PMACM
12-10 6.14-8.3: PMACM, other machines
19-10: rest, questions
9-11: exam

Challenge the future

36