Lecture 6

Habtamu M.
(Msc)

Mechanical Eng’g Dep’tMadda

Walabu University

Modeling of
Electro-Mechanical Systems 1
 Building Blocks: Electrical Systems

• Resistor

• Inductor

• Capacitor

2
 Building Blocks: Electrical Systems . . .

Resistor

 The potential difference across a resistor depends on the current i

through it at any instant .
V = Ri
Where R is the resistance
Power dissipated by the resistor

3
 Building Blocks: Electrical Systems . . .

Inductor

 The potential difference across an inductor depends on the rate of

change of current i through it at any instant.

Where L is the inductance

Alternately,

The energy stored by the inductor

4
 Building Blocks: Electrical Systems . . .
Capacitor

• The potential difference across a capacitor depends on the charge q on

the capacitor plates at any instant.

• where C is capacitor

• Also, current is the rate at which charge moves, i.e.,

• Now the total charge q on the plates is

• Therefore , or

• The Energy stored by capacitor is given by

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 Modeling Electrical Systems
Kirchhoff’s laws

Current law

Algebraic sum of the currents at a junction is zero:

i1+i2+i3 = 0

Voltage law

The sum of voltage drops over the components on a closed electrical

loop is equal to zero:

v1+v2+v3 = 0

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 Modeling Electrical Systems . . .
• R-L-C system

• v = vR+vL+vC ( Kirchhoff's voltage law )

• vR is potential difference across the resistor

• vL is potential difference across the inductor

• vC is potential difference across the capacitor

• If the output from circuit is the potential difference across the

capacitor vC , then

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 Modeling Electrical Systems . . .

• But , and

• Therefore, +L +

i1= i2 + i3 (Kirchhoff’s current law at anode A)

Here,

Therefore, ,
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 Electro-mechanical Systems

 These systems are used to transform electrical signals to rotational

motion or vice-versa

e.g., Potentiometers, Motors and Generators

 A potentiometer has an input of a rotation and an output of a potential

difference.

 An electric motor has an input of a potential difference and an output

of a rotation of a shaft.

 A generator has an input of rotation of a shaft and an output of a

potential difference.

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 Modeling Electro-Mechanical Systems
• Potentiometer

• Out put voltage is proportional to the displacement

(for linear potentiometer)

(for rotary potentiometer)

a) Linear
xi , xt, and өi, өt, are input and total displacements resp.

E and eo are supply and out put voltages resp.

b) Rotary 10
 Modeling Electro-Mechanical Systems…
D.C motor

• D.C motor is used to convert an electrical input signal into

mechanical output signal.

• Armature coil- free to rotate in the magnetic field provided by

a current through field coils or permanent magnet.

• A field coil- fixed

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 Modeling Electro-Mechanical Systems…
• D.C motor…

• When current flows through

the armature coil then , b/c it is in

the magnetic field forces act on the

Coil and cause it rotate. One wire of armature coil

 The force F acting on the wire carrying a current ia and of a length L

in a magnetic field of the flux density B at right angles to the wire is
given by F = BiaL, With N wires F = NBiaL

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 Modeling Electro-Mechanical Systems…
 D.C Motor…

 Forces on the armature coil wires result in a torque T, where T = Fb,

with b being the breadth of the coil.

T = NBiaLb

 All other factors being constants, the torque thus is proportional to B ia,

T = K1Bia

 Since the armature is a coil rotating in the magnetic field, a voltage

will be induced in it as a consequence of electromagnetic induction.

 This voltage will be in such direction as to oppose the change

producing it and is called the back e.m.f. 13
 Modeling Electro-Mechanical Systems…
• D.C Motor…

• This back e.m.f Vb is proportional to the rate of rotation of the

armature and flux linked by the coil B.

Vb = K2Bω

Where , ω = shaft angular velocity

K2 = a constant.

the impossible is the untried! 14