Electromechanical Systems CH 4

EE 410/510: Electromechanical Systems
Chapter 4
• Chapter 4. Direct‐Current Electric Machines and
Motion Devices
• Permanent‐Magnet DC Electric Machines
• Radial Topology
• Simulation and Experimental Studies
• Generator Driven by a Motor
y
• Electromechanical Systems with Power
Electronics
• Axial Topology Permanent‐Magnet DC Electric
Machines
• Device Fundamentals
• Axial Topology Hard Drive Actuator
• Electromechanical Motion Devices: Synthesis
and Classification
f
5/21/2010 1
All figures taken from primary textbook unless otherwise cited.
Radial Topology Permanent magnetic DC Electric
M hi
Machines
• DC electric machines guarantee:
– High power
Hi h
– High torque densities
– Efficiency
– Affordability
– Reliability
– Ruggedness
– Overloading capabilities
• Power range of modern DC electric machines W – 100 kW
• Di
Dimensions for modern devices 1mm in diameter and approx 5 mm long
i f d d i 1 i di t d 5 l
to 1 m in diameter
• Used widely in aerospace, automotive, marine, power, robotics, etc.
• Only permanent magnet synchronous machines which don’t have brushes
surpass the use of DC machines in the field
5/21/2010 2
M hi
Machines
• Permanent magnet DC (PMDC) machines are rotating energy‐transforming
electromechanical motion devices that convert energy
electromechanical motion devices that convert energy
• Motors convert electrical to mechanical
• Generators convert mechanical to electrical
• The same PMDC can serve as either a motor or a generator
• Electric machines will always have stationary and rotating components
separated by an air gap
• The armature winding is placed on the rotor slots connected to a rotating
commutator which rectifies the voltage
• One supplies the armature voltage, ua, to the rotor windings
• The rotor windings and permanent magnets on the stator are magnetically
coupled
• The brushes ride on the commutator which is connected to the armature
The brushes ride on the commutator which is connected to the armature
windings
5/21/2010 3
M hi
Machines
• The armature winding consist of identical uniformly distributed coils
• Excitation of the magnetic field is produce by permanent magnets
Excitation of the magnetic field is produce by permanent magnets
• The commutator, armature windings, and permanent magnets produce
stationary mmfs which are displaced by 90 electrical degrees
• The armat re magnetic force is along the rotor magnetic a is hile the
The armature magnetic force is along the rotor magnetic axis while the
direct axis stands for a permanent magnet magnetic axis
• Torque is produced as a result of the interaction of these mmfs
5/21/2010 http://www.displayresearch.com/education_DIYMotor.htm 4
Operation of a Radial PM DC Motor
Operation of a Radial PM DC Motor
http://www.le.ac.uk/eg/research/groups/power/caecd/SRD1_pedrg.htm
Equations of Motion
q
• The equation for the electronic circuit in the
motor described is
d dia d dia
u a  ra ia   ra ia  La  ka  ra ia  Ea  La
dt dt dt dt
• Where the mechanical coupling term comes
from the constant, ka, which depends on factors
such as the number of turns in the armature
winding, and the permeability of the magnet
• Yielding the following ODE for the electronic
Yi ldi h f ll i ODE f h l i
circuit
• Likewise the mechanical ODE is derived from
the energy differential
• Neglecting a the spring force one can write the
N l ti th i f it th
following:
5/21/2010 6
Equations of Motion
q
• Governing equations of motion
• These same equations can be written in
Laplace form as
ua  La s  ra ia
Te  TL  Js  Bm r
• Equations set into a set of linear algebraic
functions ka 1
r  ua  T
La s  ra Js  Bm  Js  Bm  L
5/21/2010 7
Steady State Torque Speed Characteristics
Steady State Torque Speed Characteristics
di
• DC operation stipulates that 0 • Torque speed characteristics are mapped below
dt
• Thus one operates a DC motor under the
Thus one operates a DC motor under the for different applied voltages less than the
pp g
following steady‐state operation maximum rated voltage for the motor
• Where
• For the mechanical side, the electromagnetic
torque must equal the applied torque load for
steady state operation
steady state ope at o
Te  k a ia  TL
• Thus the torque speed of the system is • Under constant load, velocity is decreased by
described entirely by reducing the applied voltage. The angular
velocity at which the motor rotates is found at
l it t hi h th t t t i f d t
the intersection of the two curves
• Thus, angular velocity is • Furthermore, if one neglects friction, then
Newton’s second law states that
• Increased the applied armature voltage
Increased the applied armature voltage
• Decreased with applied torque with a
slope of –ra/ka2 • And in stead state, Te=TL providing a constant
angular velocity with no load. ie
Torque Speed Example
Torque Speed Example
• Calculate and plot the torque‐speed characteristics for a 12V PM DC motor with the following
parameters. N m V s
ra  2 k a  0.05  0.05
A rad
•  
The load is a nonlinear function of angular velocity: TL  0.02  0.000002r2 N  m
• Solution: Torque speed characteristics are governed by:
Solution: Torque speed characteristics are governed by:
• One can use different values of the armature voltage to plot the steady state characterisitics
Practice Applications
Practice Applications
• Angular velocity of a PM DC motor is regulated by the applied armature voltage
• Note that one can use power converter electronics from the previous chapter to regulate the
voltage of a PM DC motor
• To rotate the motor clockwise or counterclockwise, the bipolar voltage should be applied to
the armature windingg
• Large motors require high end electronics capable of driving multiple amps through a circuit
• Small motors (1‐10W) can be driven using dual op‐amps as shown
PM DC Electric Generators
PM DC Electric Generators
• Assume a resistive electrical load, RL
• The following equation is used for the electric circuit
• The induced emf is
• In steady state operation, the induced terminal voltage is proportional to the
angular velocity.
• Voltage is therefore generated by applying torque, Tpm, by aerodynamic, thermal,
or hydrodynamic forces.
• The resulting differential equation is:
• Note the sign change in the first and last terms of the angular acceleration
equation This represents the flow of current back into the circuit instead from the
equation. This represents the flow of current back into the circuit instead from the
applied torque instead of driving the system “forward” as achieved in motor
opreration
Simulation and Experimental Studies
• PM DC electric machines are among a very limited class of EM motion devices which can
theoretically be described by linear differential equations
• Th
The majority of EM motion devices are solved using nonlinear differential equations which
j it f EM ti d i l d i li diff ti l ti hi h
can be solved using Matlab ODE solvers. (ex. ODE45 solver)
• Even though the equations of motion are described by linear ODE’s, linear theory may not
always be applied to PM DC machines b/c of various applied voltage constraints
• For our immediate purposes, we will apply the state space model previously developed to
analyze a simple system
St Input
Step I t
Square
wave input
Applying a square wave using Matlab
Applying a square wave using Matlab
• Homework: assign an applied armature voltage ua=10rect(0.5t) with a load torque TL=0
• Use the following Matlab code to aid in generating the plots presented in the previous slide
Loses and Efficiencies of EM Devices
Loses and Efficiencies of EM Devices
• Loses associated with these devices are the sum of the resistive and drag effects
• Efficiency can be determined by the ratio of input to output power
Example of a Physical System
• Let us stop for a moment and examine the performance of a real world motor
• For this example we will examine the JDH2250 PM DC motor
• The following figure documents the acceleration of the unloaded motor at an applied
The following figure documents the acceleration of the unloaded motor at an applied
armature voltage of 7.5 and 15 V.
• As the torque is applied, the angular velocity decreases as described by our steady state
torque‐speed characteristics
• For this example we will examine the JDH2250 PM DC motor
• The deceleration dynamics of a loaded vs. unloaded motor are presented
• Note that the experimental results presented did not match the numerical simulation derived
for this system b/c of complex friction phenomenon that we will did not sufficiently describe.
for this system b/c of complex friction phenomenon that we will did not sufficiently describe.
PM DC Generator Driven by a PM DC Motor
• Let us now analyze two PM DC electric machines integrated as a motor‐generator system.
• In this case, the prime mover (The PM DC motor) will drive the generator
pm = prime mover
g = generator
• Assume that a resistive load, RL, is inserted in series with the generator armature winding.
• Kirchhoff’s voltage law yields
• The torsional dynamics of the generator prime mover system is

The torsional dynamics of the generator‐prime mover system is
• The applied torque on the PM DC motor is
– Where iapm is the armature current in the prime mover
– Kapm is the torque constant of the prime mover
• While the load torque on the prime mover is that created by the generator
• Thus one obtains the torsional‐mechanical dynamics by the following differential equation
• The dynamics of the electric circuit in the prime mover is given by
pm = prime mover
g = generator
• The resulting three differential equations must therefore govern the system
pm = prime mover
g = generator
Example: PM DC Motor
• The following parameters are used to model an electric machine:
Prime Mover Generator
rapm = 0.4 Ohm rag = 0.3 Ohm

Lapm = 0.05 H Lag = 0.06 H
kapm = 0.3 V-sec/rad kag = 0.25 V-sec/rad
Bapm = 0.0007 N-m-s/rad Bag = 0.0008 N-m-s/rad
Jpm = 0.04 kg-m2 Jg = 0.05 kg-m2
• The following parameters are used to model an electric machine:
Prime Mover Generator
rapm = 0.4 Ohm rag = 0.3 Ohm

Lapm = 0.05
0 05 H Lag = 0.06
0 06 H
kapm = 0.3 V-sec/rad kag = 0.25 V-sec/rad
Bapm = 0.0007 N-m-s/rad Bag = 0.0008 N-m-s/rad
Jpm = 0.04 kg-m2 Jg = 0.05 kg-m2
• Simulate and examine the state and dynamic operation of a PM DC generator driven by 100V
PM DC motor. Study the transient dynamics and the voltage generation, uapm, for different
resistive loads, RL, and angular velocities, rpm
Using the state equation:
Assuming steady state operation and an infinite resistive load, RL= 
One then finds:
• A Simulink model can be created for the system using system using the Matlab inputs
provided as:
Simulink help file for creating custom blocks

http://www.mathworks.com/access/helpdesk/help/toolbox/simulink/ug/bq3qcn_.html#bq31ya1
Example: PM DC Motor for constant RL
Example: PM DC Motor for constant R
• A Simulink model can be created for the system using system using the Matlab inputs
provided as:
Example: PM DC Motorfor constant RL
Example: PM DC Motorfor constant R
• Where:
Example: PM DC Motor for constant RL
Example: PM DC Motor for constant R
• Where:
Example: PM DC Motor with R
p L = 5 Ohms
p L = 25 Ohms
INCORRECT FIGURE
INCORRECT FIGURE
IN TEXTBOOK ?
MAKE THIS
SIMULATION AND
SIMULATION AND
PROVIDE THE
CORRECT FIGURE
FOR HOMEWORK
p L = 100 Ohms
Example: PM DC Motor driven at constant u
p apm
Example: PM DC Motor driven at u
p apm = 50 V
p apm = 75 V
p apm = 100 V
PM DC Motor Driven by a Buck Converter
• Let us now examine the application of a high frequency step down switch (buck) converter to
control a PM DC motor
• The duty ratio of the converter is
• The equations for the buck converter
Th ti f th b k t
developed in Chapter 3 are
• Yielding the following 4 differential equations for the system
• Recall that duty ratio is regulated by the signal–level control voltage, uc, which is bound
between utmax and utmin. Assume in these systems that utmin =0.
• utmax = max voltage rating for the motor
• uc = input contol voltage for the motor = drive voltage
With the nonlinear term
• Recall that duty ratio is regulated by the signal–level control voltage, uc, which is bound
between utmax and utmin. Assume in these systems that utmin =0.
• utmax = max voltage rating for the motor
• uc = input contol voltage for the motor = drive voltage
With the nonlinear term
PM DC Motor Driven by a Boost Converter
PM DC Motor Driven by a Boost Converter
• The resulting four differential equations govern the system
PM DC Motor Driven by a Cuk Converter
PM DC Motor Driven by a Cuk Converter
• The resulting six differential equations govern the system
Axial Topology PM DC Electric Machines
Axial Topology PM DC Electric Machines
• Motors using planar segmented permanent
Stator
magnet arrays that are driven by windings above Rotor
or below the magnet
• We know that a planer current loop of any size
and shape generates Torque, T, in a uniform
magnetic field
magnetic field North
o a and
d
South PM
poles
• Where i is the current, s is the area of the loop, B
is the magnetic field, and m is the magnetic
dipole moment generated
• Using the relation one can show
that the torque generated causes motion II to the
plane of the coil
• One can also write the force applied to the rotor
as
Rotor
• It is important to note that this type of motor Stator
design works for both linear translation and
g
rotary motors alike
• Axial motors are used in hard disk heads, cooling
fans, linear axis drive systems, etc. etc. etc.
http://etd.lsu.edu/docs/available/etd-07062006-185252/unrestricted/Challa_thesis.pdf
Axial Topology Example:
Axial Topology Example:
• Assume a current of 10 Amps is applied around a
square loop with dimensions 10 x 20 cm
• Parallel to the loop and located slightly below, is a
permanent magnet generating the following
magnetic flux density:
ag et c u de s ty:
Tesla
• Using the equation for torque,
where the vector s is normal to the surface
aˆ x aˆ y aˆ z 

T  10 * 0.1* 0.2 *  0 0 1  N  m  0.12aˆ x N  m
 0  0.6 0.8
1D Axial Topology Linear Motor
1D Axial Topology Linear Motor
• Using the previous equations. Consider a series line filament, l, each carrying current in or out out of
the page.
• Now consider a series of magnetic poles on the rotor facing up or down from top to bottom of the page
• The force generated by current in the line element and the magnetic field generated by the magnet
g
generate motion horizontally along the length of the page.
y g g p g
Rotor
Stator
htt // td l
http://etd.lsu.edu/docs/available/etd-07062006-185252/unrestricted/Challa_thesis.pdf
d /d / il bl / td 07062006 185252/ t i t d/Ch ll th i df
1D Axial Topology Rotational Motor
• By wrapping the linear motor into a circular
shape, the linear motion becomes that of a
rotation about a central axis. Stator
• Motion is then described by angular velocity
Rotor
with an effective flux density that depends on
angular displacement r.
angular displacement, 
• The magnetic flux density, B(r) applied
depends on the magnet magnetization, North and
geometry, and shape of the rotor/stator South PM
system.
y poles
• For permanent magnets, the flux density is
viewed from the windings as a periodic
function of angular displacement.
• If the rotor design is produced such that there
are no gaps between magnet segments, then
one may use the following relation to • Where Bmax is the maximum effective flux
accurately describe the magnetic flux density density produced by the magnets from the
relation winding
• Nm is the number of magnets (segments)
is the number of magnets (segments)
• n is the integer function of the magnet
magnetization, geometry, shape, thickness,
separation, and so on.
Example
l
• Consider the three different magnetic flux density values given Where Bmax = 0.9 T and Nm = 4.
We can plot B(r) using the following statements
Example
l
Example
l
Rotary PM DC Motor
Rotary PM DC Motor
• The electric circuit equation for torque can be derived as
where leq is the effective length, which includes the winding filament length and the lever arm,
and N is the number of turns in the coil
• O
One can also derived the expression for magnetic energy,
l d i d th i f ti
where Aeq is the effective area that takes into account the number of turns, magnetic field no
uniformity, etc.
• Applying
• One obtains:
b
Hard Drive Actuator
Hard Drive Actuator
• Consider an axial topology PM hard drive actuator
assembled with two permanent magnet segments in
an array
• Rotation of the motor is achieved by applying voltage
across the current loop.
• The polarity voltage applied sets the current and
p y g pp
therefore the direction of the motor
• The relative change in magnetization of the two motor
segments also contributes to the direction of the
rotation
• In hard drive actuators, a mechanical limiter restricts
the angular displacement to
• Typical hard drives operate with displacement limiters
of
• Applying Kirchhoff’s Voltage law to the problem
Rotational Hard Disk Motor Example
• The equation of the circuit must be further limited by use
of two (left and right) filaments
of two (left and right) filaments
• Likewise Newton’s 2nd law of motion results in

Likewise, Newton’s 2 law of motion results in
• Consider two practical cases when two magnetic strips are
magnetized to ensure
• For these cases, we will let k = 1 and a =10 and 100 for a
maximum magnetic flux density of 0.7 Tesla
• For the case where
• The electromagnetic torque can then be described as where L and R are
the left and right angular displacements respectively.
• We will solve for the system using the following limiting factors
We will solve for the system using the following limiting factors
• Torque is then expressed as
• One can further match the system by applying a nonideal Hook’s law (for spring forces) to the
system
• For this example, let us use the following parameters
Rotational Hard Disk Motor Example Case
N b 1
Number 1:
Number 2:
Number 2:
Number 2:
Number 2:
Number 2:
Number 2:
Number 2:
Number 2:
Number 3: Simplified Linear Model
Number 3: Simplified Linear Model
Geometrical Variations of
Electromechanical Motion Devices
l h i l i i

Electromechanical Systems CH 4

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EE 410/510: Electromechanical Systems

• The torsional dynamics of the generator prime mover system is

rapm = 0.4 Ohm rag = 0.3 Ohm

rapm = 0.4 Ohm rag = 0.3 Ohm

Simulink help file for creating custom blocks

• Likewise Newton’s 2nd law of motion results in

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