ECE330

Power Circuits and Electromechanics

Dr. Nam Nguyen-Quang

Fall 2016

http://www4.hcmut.edu.vn/~nqnam/lecture.php

Lecture 4 1

Electromechanical system Introduction

Magnetic circuits with one moving member will be studied.

Systematic derivation of mathematic models for lumped-parameter

electromechanical systems.

One or more set of electrical coils interacting to produce the force or

torque on the mechanical system.

In general, both the currents in the coils and the force or torque are
time-varying.

A set of coupled electromechanical differential equations is obtained,

and put in the state space form, convenient for computer simulation,
analysis, and design.
Lecture 4 2
Translational systems
Applications of laws of electromagnetism
Consider the system in Fig. 4.1

Amperes circuital law

S
H dl = J f da
C S

becomes
Contour C
Hl = Ni
Faradays law

d
B da v=
d
( N ) = d
dt S
E dl = becomes
C dt dt
Application of Gausss law depends on geometry and is required for
system with different H. Conservation of charge leads to KCL.

Lecture 4 3

Structure of an electromechanical system

Electrical Electro- Mechanical

system mechanical system
(lumped) coupling (lumped)
v, i, fe, x or Te,

For translational systems, = (i, x).

When the geometry is simple, by Faradays law

d di dx
v= = +
dt i dt x dt
transformer voltage speed voltage

Lecture 4 4
Electrically linear system

= L( x )i
Hence,
dL( x ) dx
v = L(x )
di
+i
dt dx dt
For system with no moving parts
di
= Li and v=L
dt
For multi-port system
d k N k di j M k dx j
vk = = j =1 + j =1 k = 1,2,..., N
dt i j dt x j dt
Force and flux linkage can be functions of all variables.

Lecture 4 5

Example 4.1
Find H1, H2, , and v, with the following assumptions: 1) = for the
core, 2) g >> w, x >> 2w and 3) no leakage flux.

Gausss law 2( 0 H 1 )(wd ) 0 H 2 (2 wd ) = 0

Ni
Leading to H1 = H 2 =
g+x
2wd 0 N 2 i
Flux linkage = N =
g+x
Inductance 2wd 0 N 2
L( x ) =
g+x
2 wd 0 N 2 di 2 wd 0 N 2 i dx
Voltage v(t ) =
g + x dt (g + x )2 dt
Lecture 4 6
Rotational systems

Ex. 4.2: Fig. 4.7. Find s, r as a function of is, ir, and , and find vs and
vr of the cylindrical rotor. Assuming = , and g << R and l.

N s is N r ir N s is + N r ir
H r1 = = H r3 Hr2 = = H r 4
2g 2g
s = N s s = N s 0 H r1 Rl + N s 0 H r 2 R( )l
Simplified to
2
s = N s2 L0 i s + N s N r L0 1 ir 0 < <

Similarly,
2
r = N s N r L0 1 i s + N r L0 i r
2
0 < <

Practical machines,
dis di d
v s (t ) = Ls + M cos( ) r ir M sin ( )
dt dt dt
Lecture 4 7

Example 4.4

Calculate 1 and 2 and identify self and mutual inductances for

system in Fig. 4.14, using magnetic equivalent circuit.
x x N1i1 N2i2
Rx = = 1 2
0 A 0W 2
N 1i1 = 2 R x 1 + R x 2
N 2 i2 = R x 1 + 2 R x 2 Rx Rx Rx

0W 2
1 = N 1 1 =
3x
(2 N 2
1 1 i N1 N 2 i2 )
0W 2
2 = N 2 2 =
3x
( N N i
1 2 1 + 2 N 22 i2 )
Can we identify self and mutual inductances?
Lecture 4 8
Forces of Electric Origin Using Energy

Force of electric origin fe = fe(i, x) = fe(, x) (since i can be calculated

from = (i, x)) for a single electrical and single mechanical port system.

fe always acts in the direction of positive x.

Consider system in Fig. 4.17, which is translated into diagram in Fig.

4.18. Let Wm be the stored energy, by energy conservation principle
The rate of change Electrical _ Mechanical
=
of stored energy power in power out
dWm dx d dx
= vi f e =i fe or dWm = id f e dx
dt dt dt dt
One electrical and one mechanical variables can be picked independently,
without violating the physics of the problem. Assume (, x) are chosen.

Lecture 4 9

Forces of Electric Origin (cont.)

Since the coupling medium is conservative, the change in stored energy when
going from a to b in the x plane is independent of the path of integration (Fig.
4.19). For path A
b
Wm (b , xb ) Wm ( a , x a ) = f (a , x )dx + i( , xb )d
xb
e
xa a

Path B
b
Wm (b , xb ) Wm ( a , x a ) = i ( , x a )d f (b , x )dx
xb
e
a xa

Both methods must give the same answer. If a = 0, there is no force of

electric origin to start with, then path A is easier, with
b
Wm (b , xb ) Wm (0, xa ) = i ( , xb )d
0

Wm ( , x ) = i ( , x )d
This can then be generalized as
0

Lecture 4 10
Forces energy relations

Recall that

dWm = id f e dx

As Wm = Wm(, x), the differential of Wm can be expressed as

Wm ( , x ) Wm ( , x )
dWm = d + dx
x
Comparing the two equations, yielding

Wm ( , x )
i=

Wm ( , x )
fe =
x
Lecture 4 11

Example 4.5

Compute fe(, x) and fe(i, x) of the system in Ex. 4.1

2 wd 0 N 2i 2 wd 0 N 2 i i
= N = = = L0
g+x g 1+ x g 1+ x g
Solve for i

i= (1 + x g )
L0
2
Wm = i ( , x )d = (1 + x g )d = (1 + x g )
0 0 L0 2 L0
Calculate fe
Wm 2
f =
e
( , x ) =
x 2 L0 g
L20 i 2 1 L0 i 2
f (i, x ) =
e
=
2 L0 g (1 + x g ) 2 (1 + x g )2
2

Lecture 4 12
Force of Electric Origin Using Co-Energy
To compute Wm(, x), i = i(, x) is required. This could be complicated. It would
be more convenient to compute fe directly from = (i, x).

dWm = id f e dx d (i ) = id + di id = d (i ) di
dWm = d (i ) di f e dx d (i Wm ) = di + f e dx
Define co-energy as

i Wm = Wm' = Wm' (i, x )

Integrate dWm along Obb path (Fig. 4.21), fe = 0 along Ob

W (i, x ) = (i, x )di

i
'
m
0
Mathematically,
Wm' Wm'
dW ='
di + dx
i x
m

fe
Lecture 4 13

Example 4.8

Find fe for the system in Fig. 4.22.
Ni
Riron
l 2x
Riron = c R gap = Rgap
A 0 A
Ni Ni Ni
= = =
Riron + R gap A + 0 A
lc 2x R(x )
Flux linkage and co-energy

N 2i N 2i 2
= N = W = (i, x )di =
i
'
R( x ) m
0 2 R(x )
Force of electric origin

Wm' N 2i 2 d 1 N 2i 2
f =
e
= =
x 2 dx R( x ) 0 A lcA + 20xA( )2

Lecture 4 14
Graphical interpretation of energy and co-energy
In electrically linear systems, both energy and co-energy are numerically
equal. In Fig. 4.24,

Wm = i( , x )d = Area A Wm' = (i, x )di = Area B
i

0 0

If (i, x) is a nonlinear function as illustrated in Fig. 4.25, then the two areas
are not numerically equal. However, fe derived using either energy or co-energy
will be the same.

First, keep fixed, energy Wm is decreased by Wm shown in Fig. 4.26(a) for

an incremental change of x. Secondly, keep i constant, co-energy is increased
by Wm. Force of electric origin in both cases

Wm Wm'
f = lim
e
f = lim
e
x 0 x x 0 x

Lecture 4 15

Co-energy fe for 2-electrical and 1-mechanical port system

Consider a two-electrical and one-mechanical port system, with 1 = 1(i1, i2,
x) and 2 = 2(i1, i2, x). Rate of change of stored energy

dWm dx d d dx
= v1i1 + v 2 i2 f e = i1 1 + i2 2 f e
dt dt dt dt dt
or dWm = i1 d1 + i 2 d 2 f e dx
Consider
i1 d1 + i2 d2 = d (1i1 + 2 i2 ) 1 di1 2 di2
Hence,
d (1i1 + 2i2 Wm ) = 1di1 + 2 di2 + f e dx

Wm' dWm' = 1 di1 + 2 di 2 + f e dx

Finally,
(i1 , i2 , x ) = 0 1 (i1' ,0, x )di1' + 0 2 (i1 , i2' , x )di2'
i1 i2
'
W m

Lecture 4 16
Force of electric origin in general multi-port system
Consider a system with N electrical and M mechanical ports, the flux linkages
are 1(i1, ..., iN, x1, ..., xM), ..., N(i1, ..., iN, x1, ..., xM).

dWm = d1i1 + ... + d N i N f 1e dx1 ... f Me dx M

d (1i1 + ... + N i N ) = (d1i1 + ... + d N i N ) + (1 di1 + ... + N di N )
N N M
d i ii Wm = i dii + f i e dxi
i =1 i =1 i =1

Wm'

Wm'
i = i = 1,..., N
ii
Wm'
fi =
e
i = 1,..., M
xi
Lecture 4 17

Computation of Wm
To compute Wm, integration is done along the xi axes first, then along each of
the ii axes. While integrating along xi, Wm = 0 since fe is zero. Then,

(i ,0,...,0, x , x ,...x )di

i1
Wm' = '
1 1 1 2 M
'
1
0

( i2
+ 2 i1 , i2' ,...,0, x1 , x2 ,...xM di2' + ...
0
)
+ (i , i ,..., i )
iN
N 1 2 N 1 , iN' , x1 , x2 ,...xM diN'
0

Note the dummy variable of integrations. For special case of two-electrical and
two-mechanical port system,
i1
( ) i2
Wm' = 1 i1' ,0, x1 , x 2 di1' + 2 i1 , i2' , x1 , x 2 di2'
0 0
( )
And,
Wm' Wm'
f = 1
e
f =
2
e

dx1 dx 2
Lecture 4 18
 Example 4.10
Compute Wm and torques of electric origin of a three-electrical and one-
mechanical port system.

1 = L11i1 + Mi3 cos( ) 2 = L22 i2 + Mi3 sin ( )

3 = L33i3 + Mi1 cos( ) + Mi2 sin ( )

1 (i1' ,0,0, , )di1' + 2 (i1 , i2' ,0, , )di2' + 3 (i1 , i2 , i3' , , )di3'
i1 i2 i3
Wm' =
0 0 0

L11i12 + L22 i22 + L33 i32 + Mi1i3 cos( ) + Mi2 i3 sin ( )

1 1 1
=
2 2 2
Wm'
T =
e
= Mi1i3 sin ( ) + Mi2 i3 cos( )

Wm'
T = e
= Mi1i3 sin ( ) Mi2 i3 cos( )

Lecture 4 19