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EE 410 Chapt 1 and 2 PDF
EE 410 Chapt 1 and 2 PDF
Electromechanical Systems
T/Th 12:45 – 2:05 PM TH N155
Textbook:
S.E. Lyshevski, Electromechanical Systems and Devices, CRC Press, 2008
ISBN Number: 978‐1‐4200‐6972‐3
Optional Reading:
H.D. Chai, Electromechanical Motion Devices, Prentice Hall, 1998
S.J. Chapman, Electric Machinery Fundamentals, 4th ed. McGraw Hill, 2005
S E Lyshevski,
S.E. Lyshevski Engineering and Scientific Computations using MATLAB
MATLAB, Wiley
Wiley, 2003
A.E. Fitzgerald, C. Kingsley, S.D. Umans, Electric Machinery, 6th ed. McGraw Hill, 2003
C.W. de Silva, Mechatronics: an Integrated Approach, CRC Press, 2004
5/21/2010 1
All figures taken from primary textbook unless otherwise cited.
EE 410/510 - Electromechanical Systems:
C
Course M
Material
t i l
• Chapter 1: Introduction to Electromechanical
Systems – Torque Characteristics
• Chapter 2
2. Analysis of Electromechanical – 3 Phase induction motors
Systems – Introduction to Quadrature and Direct Variables
– Review of Electromagnetics – Arbitrary Reference Frames
– Review of Classical Mechanics – Simulation of 2 and 3 Phase AC Induction Motors
using MATLAB and Simulink
– Introduction to MATLAB and Simulink
• Chapter 6.
6 Synchronous Machines (advanced
• Chapter 3. Introduction to Power Electronics
topic)
– Modeling and Application of Op. Amps., Power
Amplifiers, and Power Converters – Introduction
– Single and Three Phase Reluctance Motors
• Chapter 4. DC Electric Machines and Motor
– Two and Three Phase Permanent Magnet
g
Devices
Synchronous Motors and Stepper Motors
– Geometry and Equations of Motion Governing
– MATLAB and Simulink Simulations
DC Electric Motors
– Modeling and Simulation of DC Electric Motors • Chapter 7. Introduction to Control of
– Permanent Magnet DC Generator Electromechanical Systems and PID Control
– DC Electric Machines with Power Electronics Laws
– Axial Topology of DC Electric Machines and – Equations of Motion Governing the Dymamics of
Magnetization Currents Electromechanical Systems
– Analog PID Control laws and application involving
• Chapter 5. Induction Machines (some Permanent Magnet DC Motor
advanced topics)
– Digital PID Control Laws and application involving
– Overview 2 Phase AC Induction Motors Servosystem with Permanent Magnet DC Motor
– Equations of motion for 2 Phase AC Induction
5/21/2010
Motors
2
EE 410/510 - Electromechanical Systems:
C
Course A
Assignments
i t
Homework:
Homework will be assigned throughout the semester and is due 7 days after
assignment. Assignments will be graded and returned to account for 30% of the
final course grade.
grade
Exams:
Two in class exams will be given during the semester. Students will be allowed
the use of a calculator during the exam. All work will be performed
independently. Each exam will account for 25% of the student’s grade. The final
exam will be comprehensive covering major topics presented throughout the
semester and will constitute 20% of the course grade.
Final Grade:
Homework Weekly 30%
E
Exams 2 per S
Semester
t 25%
Final Comprehensive 20%
5/21/2010 3
EE 410/510: Electromechanical Systems
Chapters 1 and 2
• Chapter
Ch t 11: IIntroduction
t d ti tto
Electromechanical Systems
• Chapter 2: Analysis of Electromechanical
Systems and Devices
• Introduction to analysis and modeling
• Energy conversion and Force
Production
• Overview of electromagnetics
• Overview of classical mechanics
(Newtonian mechanics only)
• Applications of combined systems
• Simulation of systems in the
MATLAB environment
5/21/2010 4
All figures taken from primary textbook unless otherwise cited.
Interdisciplinary Approach to
El t
Electromechanical
h i lS Systems
t E
Engineering
i i
dfgdf
dfgdf
dfgdf
dfgdf
dfgdf
Ki ti E
Kinetic Energy
Potential Energy
5/21/2010 5
Modern Electromechanical Devices
5/21/2010 6
Interdisciplinary Approach to
El t
Electromechanical
h i lS Systems
t E
Engineering
i i
5/21/2010 7
Point Charge Distributions and
C l b’ L
Coulomb’s Law
• The force, F, between two point charges Q1 and Q2 is:
– Along the line joining them
– Directly proportional to the product between them
– Inversely proportional to the square of the distance between them
Q1Q2
F
4 o R 2
1
Where k , o 8.854 10 12 C 2 / Nm 2
4 o
– The equation above is easily calculated for a test charge, Q1, at the
origin and a source charge, Q2, at a distance R away.
– The solution is slightly more complicated as we move our reference
frame away from the two charge such that Q1 is referenced by the
vector r1 and Q2 is referenced by the r2
r2.
5/21/2010 8
Gauss’ Law
Gauss
• Gauss’ Law: The electric flux, , through any closed surface is equal to the
total charge enclosed by that surface, thus =Qenc
Integral Form D dS v dv Qenc
s v
Applying the divergence theorem, we have
D dS D dv v dv
s v v
yielding the differential form
D v
This is the first of the 4 Maxwell Equations which clearly states that the
volume charge density is equal to the divergence of the electric flux density
Maxwell s
Maxwell’s D v B 0
Equations B D
E H J
5/21/2010 In matter t t 9
Gauss’ Law(2)
Gauss
• Gauss’ law is simply an alternative statement of Coulomb’s law.
• Gauss’ law provides an easy means of finding E or D for symmetrical charge
distributions
• Applications: Point Charge
D Dar
2
dS ar r sin dd
Qenc D dS
s
2
2
Qenc Dar ar r sin dd
0 0
2
Qenc
2 2
Dr sin d d D 4 r
0 0
Q
D a
5/21/2010 4r 2 r
10
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Electric Potential
• We define the electric potential (or the irrotational scalar field), V, describing any
electrostatic
l t t ti vector fi ld E,
t field, E as the
th magnitudeit d off th
the diff
difference between
b t E att two
t
points a and b and some standard (common) reference point o.
p
V ( p) E dl negative
ega e by co
convention
e o
o
b o b
V (b) V (a) E dl E dl E dl
o a a
• Now, the Gradient theorem states that Note the crucial role that independence
of path plays: If E was dependent on
dV E dl path, then the definition of V would be
nonsense because the path would alter
dV
dl
E cos E V the value of V(p)
dV
E
dl max
5/21/2010 11
The Dielectric Constant
• It is important to note that up to this point, we have not committed ourselves to the
cause of the polarization, P. We dealt only with its effects. We have stated that the
polarization of a dielectric ordinary results from an electric field which lines up the
atomic or molecular dipoles.
• In many substances, experimental evidence shows that the polarization is proportional
to the electric field, provided that E is not too strong. These substances are said to
have a linear, isotropic dielectric constant
• This proportionality constant is called the electric susceptibility, e. The convention is
t extract
to t t the
th permittivity
itti it off ffree space from
f the
th electric
l t i susceptibility
tibilit to
t make
k the
th units
it
dimensionless. Thus we have
P o e E
• From the previous slide
D o E P o (1 e ) E The dielectric constant (or relative
permittivity) of the material, r, is the ratio
D o r E of the permittivity to that of free space
D E
• If the electric field is too strong, then it begins to strip electrons completely from
molecules leading conduction effects. This is called dielectric breakdown.
• The maximum strength of the electric that a dielectric can tolerate prior to which
breakdown occurs is called the dielectric strength.
5/21/2010 12
Using Gauss’
Gauss Law With Dielectrics
Two flat conductive plates of Concentric Conducting Spheres with
area A
area, A, filled with dielectric radius a
a, b (b>a) with a dielectric fill
z
- Qa R
+ - E
Et E1 E2 s a z
+ 4 o R 2
E1 s a z o r
2 o
a D
Dt Et o r Et r s a z V dl
E2 s a z dS Qenc
D b
Q
2 o S b
dr
r D da DA Q a
4 o r r 2
D Qd Q 1 1
d V dl
A 4 a b
5/21/2010 14
Electrical Resistively
• Consider a conductor whose ends are maintained at a potential difference ( i.e. the
electric
l t i fifield
ld within
ithi th
the conductor
d t iis nonzero and d a fifield
ld iis passed
d th
through
h th
the material.)
t i l)
• Note that there is no static equilibrium in this system. The conductor is being fed
energy by the application of the electric field (bias potential)
• As electrons move within the material to set up p induction fields,, theyy scatter and are
therefore damped. This damping is quantified as the resistance, R, of the material.
• For this example assume:
– a uniform cross sectional area S, and length l.
– The direction of the electric field
field, E
E, produced is the same as the direction of flow of positive
charges (or the same as the current, I).
V
E
E dl l
V I V
R v J E
I E dS S l
V l l 1
s
R c
I S S
5/21/2010 15
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Capacitance
• Capacitance is the ratio of the magnitude of charge on two separated plates
to the potential difference between them
Q E dS
C
V E dl
• Note that V E dl The negative sign is dropped in the definition above
because we are interested in the absolute value of the voltage drop
• Capacitance is obtained by one of two methods
– Assuming Q, and determine V in terms of Q
– Assuming V, and determine Q in terms of V
• If we use method 1, take the following steps
– Choose a suitable coordinate system
– Let the two conducting plates carry charges +Q and –Q
– Determine E using Coulomb’s or Gauss’s Law and find the magnitude of
the voltage, V, via integration
– Obtain C=Q/V
5/21/2010 16
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Capacitance vs.
vs Resistance
S d
C ,R Parallel Plates
V E dl
R d S
I E dS b
ln
2L
,R
a Coaxial Cylinders
C
Q E dS b 2L
R ln
a
V E dl 1 1
4
,R
RC a b Between 2 Spheres
C
1 1 4
a b
1 Isolated Sphere
C 4a, R
4a
5/21/2010 17
Summary Diagram of Electrostatics
1 v
V
4 o r
d
E
1
v ar
d
4 o r2
v E v
2V o
o
E 0
E V
V E
5/21/2010 V E dl 18
Figure is recopied from Griffiths, Introduction to Electrodynamics,3rd ed., Benjamin Cummings, 1999.
Biot-Savart’s
ot Sa a t s Law
a
• The differential magnetic field intensity, dH, produced at a point P, by the differential
currentt element,
l t Idl,
Idl is
i proportional
ti l tto th
the product
d t Idl and
d the
th sine
i off the
th angle l b
between
t
the element and the line joining P to the element and is inversely proportional to the
square of the distance, R, between P and the element
Id l aˆ R Id l R Idl sin
dH
4 R 2 4 R 3 4 R 2
19
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Ampere’s
p Circuit Law
• Ampere’s law: The line integral of H around a closed path is the same as the net
current, Ienc, enclosed by the path
H d l I enc
– Similar to Gauss’ law since Ampere’s law is easily used to determine H when the
current distribution is symmetrical
– Ampere’s law ALWAYS holds, even if the current distribution is NOT symmetrical,
however the equation is only used effectively for symmetric cases
– Like Gauss and Coulomb’s Laws, Ampere’s aw is a special case of the Biot-Savart
l
law and
d can b be d
derived
i d di
directly
tl ffrom itit.
I enc
L
H dl
S
H dS
I enc
S
J dS Definition of Current provided in Chapter 5
20
H J Maxwell’s 3rd Eqn.
Displacement
p Current
• Lets now examine time dependent fields from the perspective on Ampere’s Law.
H J
H 0 J This vector identity for the cross product is mathematically
valid. However, it requires that the continuity eqn. equals
J v 0 zero,, which is not valid from an electrostatics standpoint!
p
t
H J Jd Thus, lets add an additional current density term
to balance the electrostatic field requirement
H 0 J Jd
v D
J d J D
t t t
D We can now define the displacement current density as
Jd
t the time derivative of the displacement vector
D
H J Another of Maxwell’s for time varying fields
t
This one relates Magnetic Field Intensity to conduction
and displacement
p current densities
5/21/2010 21
Magnetic
g Flux Density
y
• Magnetic
g Flux density,
y B, is the magnetic
g equivalent
q of the electric flux
density, D. As such, one can define
B 0H
where 0 4 10 7 H / m
B
• Similarly, Ampere’s Law is I enc d lˆ
0
• And the Magnetic flux through a surface is
S
B dS 0 H dS
S
S
B dS
S
B dv
B 0 Definition of a solenoidal field
and Maxwell
Maxwell’s s 4th eqn.
eqn
22
Faraday’s
Faraday s Law (1)
• We have introduced several methods of examining magnetic fields in terms of forces,
energy, and inductances.
• M
Magneticti fields
fi ld appear tto bbe a di
directt result
lt off charge
h moving
i ththrough
h a system
t and
d
demonstrate extremely similar field solutions for multipoles, and boundary condition
problems.
• So is it not logical to attempt to model a magnetic field in terms of an electric one? This is
the question asked by Michael Faraday and Joseph Henry in 1831 1831. The result is Faraday’s
Faraday s
Law for induced emf
• Induced electromotive force (emf) (in volts) in any closed circuit is equal to the time rate of
change
g of magnetic
g flux by
y the circuit
d d
Vemf N
dt dt
where, as before, is the flux linkage, is the magnetic flux, N is the number of turns in the
inductor,, and t represents
p a time interval. The negative
g sign
g shows that the induced voltage g
acts to oppose the flux producing it.
• The statement in blue above is known as Lenz’s Law: the induced voltage acts to oppose the
flux producing it.
• Examples of emf generated electric fields: electric generators, batteries, thermocouples, fuel
cells, photovoltaic cells, transformers.
5/21/2010 23
Faraday’s
Faraday s Law (2)
• To elaborate on emf, lets consider a battery circuit.
• The electrochemical action within results and in emf produced electric field, Ef
• Acuminated charges at the terminals provide an electrostatic field Ee that also exist
that counteracts the emf generated potential
E E f Ee
P
E dl E f dl 0 E f dl IR
L L N
• An emf
emf-produced
produced field is nonconservative
• Except in electrostatics, voltage and potential differences are usually not equivalent
5/21/2010 24
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Inductors and Inductance
• We now know that closed magnetic circuit carrying current I produces a
magnetic field with flux
B dS
• We define the flux linkage between a circuit with N identical turns as
N
• As long as the medium the flux passes through is linear (isotropic) then then
flux linkage is proportional to the current I producing it and can be written as
LI
Where L is a constant of proportionality called the inductance of the circuit.
A circuit that contains inductance is said to be an inductor.
• O can equate
One t the
th iinductance
d t tto th
the magnetic
ti fl
flux off th
the circuit
i it as
N
L
I I
where L is measured in units of Henrys (H) = Wb/A
• The magnetic energy (in Joules) stored by the inductor is expressed as
1
5/21/2010 Wm LI 2
25
2
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Inductors and Inductance
• Since we know that magnetic fields produce forces on nearby current elements, and that those
magnetic fields can be generated by an isolated or coupled set of current carrying circuits, then
it is only
y reasonable that such circuits may
y induce fields and magnetization
g between them
• We can calculate the individual flux linkage between the two components as
12 B2 dS
S1
• Likewise
Lik i we can d determine
t i a mutual
t l iinductance
d t b
between
t th
the circuits
i it th thatt iis equall ffrom circuit
i it 12
as it is from circuit 21 as 12 N 1 12
M 12
I2 I2
• Individual inductances are N N
L1 11 1 1 L 2 22 2 2
I1 I1 I2 I2
• The total magnetic energy in the circuit is 1 1 1
5/21/2010 W m W1 W 2 W12 L1 I 12 L 2 I 22 M 12 I 1 I 2 26
2 2 2
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Inductors and Inductance (2)
• As we eluded to before, you should think of an inductor as a conductor shaped in such a way as
to store magnetic energy
• Typical examples include toroids
toroids, solenoids
solenoids, coaxial transmission lines
lines, and parallel-wire
parallel wire
transmission lines
• One can determine the inductance for a given geometry using the following technique
– Choose a suitable coordinate system
– Let the inductor carry current
current, I
– Determine B from Biot-Savart’s or Amperes Law and calculate the magnetic flux
– Find L as a function of the flux times the number of turns over the current carried
• Mutual inductance may be calculated by a similar approach
– Determine the internal inductance
inductance, Lin for the flux generated by the first inductor
– Determine the external inductance, Lext produced by the flux external of the first inductor
– The sum of the internal and external inductance equals the individual inductances plus the
mutual inductance between the elements
12 N 1 12
M 12
I2
I2
12 B
S1
2 dS
• For circuit theory, we can also right the inductance as which provides a very useful equation
when quickly mapping out electronic circuits
L extt C RC
R 1
5/21/2010 R 27
L ext L ext
Forces Due to a Magnetic Field
• Recall that the force on a charged particle is simply F=qE
• If the particle moves however
however, then an additional force is imposed from the charge
displacement of velocity, u, quantified by the magnetic field, B. The combined
force is called the Lorentz Law:
F q( E u B)
• Recall from Newton’s Law that
du
F q ( E u B) ma m
d
dt
• The kinetic energy of a charged particle For B, u, and a in orthogonal directions,
in an magnetic field is therefore One can deduce a coordinate
system in which
q(v B)1 qv B
F q (v B ) m
du u1 dt dt v dt
dt m m
q (v B ) x q ( v y Bz v y Bz ) q (v B ) 2 qB
ux dt dt u2 dt u1 uˆ2
m m m m
q (v B ) y q ( v x Bz v z Bx ) q (v B ) 3
uy dt dt u3 dt 0 Cyclotron Resonance
m m m Frequency
q (v B ) z q ( v x B y v y Bx )
uz dt dt The location of the particle can also be found as
m m
5/21/2010 1 2 dl 28
KE m u u li ui dt
2 dt
Lorentz Force Law
• Recall that the force on a charged particle is simply F=qE
• If the particle moves however
however, then an additional force is imposed from the charge
displacement of velocity, u, quantified by the magnetic field, B. The combined
force is called the Lorentz Law:
F q( E u B)
• Recall from Newton’s Law that
du
F q ( E u B) ma m
d
dt
• The kinetic energy of a charged particle The location of the particle can also
in an electric field is therefore be found as
du
F q(E ) m dl
dt u
ux
qE x
dt
dt
li ui dt
m
qE y
uy dt
m
qE z
uz dt
m
5/21/2010 29
1 2
KE m u
2
Magnetic Torque and Moment
• Now that we have examined the force on a current carrying loop. Let’s examine the Torque
applied to it
• Torque, T, on the loop is the vector product of the force, F, and the moment arm, r.
and _ for _ uniform _ B
F0 IBl
T IBlw sin
but
lw S
yielding
T IBS sin
T r F Where we can now define a quantity m as
T r F sin the magnetic dipole moment with units A/m2
which is the product of the current and area
where of the loop in the direction normal the surface
area defined by the loop
l 0
F Idl B I dzaˆ z B dzaˆ z B F0 F0 0
m IS aˆ n
L 0 l
5/21/2010 T mB 30
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Torque and Dipole Properties
off a Bar
B Magnet
M t
• A bar magnet or small filament loop is generally referred to as a magnetic dipole
• A
Assume abbar magnetic
ti off llength,
th ll, generates
t a uniform
if magnetic
ti fi
field,
ld B,
B and
d a di
dipole
l
moment, |m|=Qml
• Torque, T, on the loop is the vector product of the force, F, and the moment arm, r.
T m B Qml B
F Qm B
T QmlB ISB
Qml IS
Therefore the field at a reasonable distance
away from any bar magnet is mathematically
identical to that of a dipole.
5/21/2010 31
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Maxwell’s
Maxwell s Eqns
Eqns. for Static Fields
Nonexistence of the
B 0 B dS 0
S
Magnetic Monopole
E 0 E dl 0
Conservative nature
of the Electric Field
L
H J H dl J dS
L S
Ampere’s
Ampere s Law
5/21/2010 32
Maxwell’s Time Dependent Equations
• It was James Clark Maxwell that put all of this together and reduced electromagnetic field
theory to 4 simple equations. It was only through this clarification that the discovery of
electromagnetic waves were discovered and the theory of light was developed.
• The equations Maxwell is credited with to completely describe any electromagnetic field
(either statically or dynamically) are written as:
B 0
B dS 0
Nonexistence of the
Magnetic Monopole
S
B
L E dl t S B dS
Faraday’s
Faraday s Law
E
t
D
D
H J L H dl S J t dS Ampere’s Circuit Law
5/21/2010 t 33
Analogy
a ogy Between
et ee Electric
ect c aand
d Magnetic
ag et c Fields
e ds
Electric Magnetic
F
Q 1Q 1
aˆ r
Idl aˆ r
• Basic Laws 4 r 2 dB 0
4 R 2
D d S Q enc
H d l I enc
• Force Law F QE F Qu B
dQ
• Source Element Q u Id l
V
• Field intensity E (V / m ) H
I
(A /m)
l l
• Flux density
• Relationship Between Fields
D
S
C /m2 B
S
Wb / m 2
D E B H
• Potentials E V
H V m , ( J 0 )
L dl
V 4 r A
Id l
4 R
D dS
B dS
Q CV
• Flux LI
dV
I C dI
dt I L
dt
1
wE D E 1
• Energy Density 2 wE B H
2 34
• Poisson’s Eqn. V v
2
2 A J
Electromagnetic Work and Power
2
We 1 2 1 D
we lim E E D Electric energy density
v 0 v 2 2 2
wm lim
Wm 1
v 0 v
H H B
2
2
2
2
1 B 2 Magnetic energy density
wT we wm
1
W wT dv D E H B dv Electromagnetic energy
2
1 2
P E H dS D E H B dv E dv
S
t 2 v
Total electromagnetic power = rate of decrease in stored energy – ohmic power dissipated
5/21/2010 35
Electrostatic Boundary Conditions
• Electrostatic boundary conditions for E and D crossing any material interface must
match the following conditions developed using Guass’s
Guass s law and conservation of the
electric field
• Two different dielectrics characterized by 1 and 2.
D v D dS Qenc E 0 E dl
S
B1 n B 2 n H 1t H 2 t
1 H 1n 2 H 2 n B1t B
2t
5/21/2010
1 2 37
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Maxwell’s Time Dependent Equations:
Identity Map
5/21/2010 38
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Classification of Magnetic Materials (1)
• In general we use the magnetic susceptibility (or relative permeability) to classify materials in
terms of their magnetic property
• A material is said to be nonmagnetic if there is no bound current density or zero
susceptibility. Otherwise it is magnetic
• Magnetic materials may be grouped into three classes, diamagnetic, paramagnetic, and
ferromagnetic
• For many practice purposes, diamagnetic and paramagnetic materials exhibit little to no
magnetic susceptibility. What magnetic properties these materials do have follows a linear
response over a large range of applied fields
• g
Ferromagnetic materials kept
p below the Curie temperature
p exhibit very
y large
g nonlinear
magnetic susceptibility and are used for conventional magnetic device applications
5/21/2010 39
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Classification of Magnetic Materials (2)
• Diamagnetism
– Occurs when the magnetic fields in the material due to individual electron moments
cancels each other outout. Thus the permanent magnetic moment of each atom is zero zero.
– Such materials are very weakly affected by magnetic fields.
– Diamagnetic materials include Copper, Bismuth, silicon, diamond, and sodium chloride
(table salt)
– In general this effect is temperature independent
independent. Thus,
Thus for example
example, there is no
technique for magnetizing copper
– Superconductors exhibit perfect diamagnetism. The effect is so strong that magnetic
fields applied across a superconductor do not penetrate more than a few atomic layers,
resulting in B=0 within the material
• Paramagnetism
– Materials whose atoms exhibit a slight non-zero magnetic moment
– Paramangetism is temperature dependent
– Most materials ((air,, tungsten,
g , potassium,
p , monell)) exhibit paramagnetic
p g effects that p
provide
slight magnetization in the presence of large fields at low temperatures
5/21/2010 40
Classification of Magnetic Materials (3)
• Ferromagnetism
– Occurs in
O i atoms
t with
ith a relatively
l ti l llarge magnetic
ti momentt
– Examples: Cobalt, Iron, Nickel, various alloys based on these three
– Capable of being magnetized very strongly by a magnetic field
– Retain a considerable amount of their magnetization when removed from the field
– Lose their ferromagnetic
g p
properties
p and become linear p
paramagnetic
g materials ((non magnetic)
g ) when the
temperature is raised above a critical temperature called the Curie temperature.
– Their magnetization is nonlinear. Thus the constitutive relation B=0rH does not hold because r
depends directly on B and cannot be represented by a single value.
– Ferromagnetic shielding
• Ferromagnetic materials can be used to “focus” and guide the flow of incident magnetic fields
• By placing a ferromagnetic material completely around a device, one can shield said device from
an external field. This shielding occurs b/c the ferromagnet acts as a magnetic waveguide, that
transmits the field around the shape of the structure and not within itit.
5/21/2010 41
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Classification of Magnetic Materials (4)
• Ferromagnetism - B-H Curve
– The magnetization of a ferromagnet in an external applied field, H, is presented below.
– As H is increased, the magnetic field, B, within the material increases significantly and then begins to
saturate to a value
l Bmax saturate as |H| approachesh Hmax
– As the applied field, H, is removed, the ferromagnetic material retains some degree of its magnetization
until the point at which the applied field H is completely reversed at which time the magnetic field inside
the material saturates to the –Bmax
– The applied field is then increased again to generate the complete Hysteresis curve
– Two other defining values are indicative of every B-H magnetization (Hysteresis) curve.
• When the applied field is maxed and then again reduced to a zero value. The magnetic field within
the material remains at some positive value Br referred to as the permanent flux density.
• The value upon which B become zero under an applied H value is called the coercive field
intensity,
y Hc
• Materials with small coercive field intensity values are said to be soft magnetic materials and do not
retain significant magnetization upon the removal of the field
• Hard magnets (permanent magnets) have very large
coercive field intensity values
5/21/2010 42
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Magnetic Properties of Common Materials
5/21/2010 43
Magnetic Properties of Common Materials
5/21/2010 44
Review of Newtonian Mechanics
d 2r
ma F (t , r ) 0 m 2 F (t , r )
dt
d 2r
m 2 ( r ) ( r ) ( r ) 0
5/21/2010 dt 4
Energy of the system: Kinetic and Potential 5
Potential Energy Kinetic Energy
• Example 1
– Consider
C id a positioning
iti i ttable
bl actuated
t t db by a motor
t
– Let us find out how much work is done to accelerate a 20g payload with mass = 20g from
v0=0 to vf= 1 m/s
W
1
2
mv 2f mv02 0.020 1 0 0.01J
1
2
• Example 2
– Consider a mass, m, slid across a flat surface in a Cartesian coordinate system
– The force , F, is applied and motion occurs in the x direction
– Find the equations of motion (neglecting coulomb and static friction), however include
viscous friction
F fr Bv
dx
Bv v
d 2x 1
2
Fa F fr Fa Bv v
1
dt dt m m
yields _ 2 _ first order _ linear _ ODEs
2t dx 3
Fa 4 x cos(2t 4)e t dx
dt v
2
d y dt
Fy FN Fg ma y m dt 2 0 dv 1
4 x cos(2t 4)e 2t vt 3 Bv v , t 0
2 dt m
d x
5/21/2010 Fx Fa Ffr max m dt 2 46
Review of Newtonian Rotational Mechanics
• One can show for rotational devices that the torque, T, generated on an object with a
fixed rotation length |R| is solved in a very similar manner to a linear displacement
and rotation
d 2 d
T (t , ) J J dt 2 J dt Sum of all Torques in 3-D
Angular _ momentum, Lm R p R mv
dR
0 Recall that the rotation length is fixed
dt
dp
dLm d
T dt dt R p R dt R F
dLm d
J Lm J
dt dt
For a 1-D system, the sum of all of the moments is:
M J
where J is the moment of inertia (kg*m2) and
is the angular acceleration of the body (rad/s2)
5/21/2010 47
Rotational Mechanics Example
• A motor has the equivalent moment of inertia, J=0.5 kg*m2. When the motor
accelerates,
l t the
th angular
l velocity
l it off th
the rotor
t isi =10t
10t3, t0.
t 0
• Find the angular moment and the torque as a function of time.
Lm J 0.5kg
k m 2 10t 3 rad
d / s 5t 3 N m s
dLm
T 15t 2 N m
dt
5/21/2010 48
Review of Newtonian Mechanics
• Consider the translational motion of a body which is attached to an ideal spring that
exerts
t a force
f which
hi h obeys
b H
Hooke’s
k ’ LLaw. N
Neglecting
l ti ffriction,
i ti one obtains
bt i ththe
following expression for energy
1 1
Total energy in the system E T mv 2 k s x 2
2 2
1 2
Kinetic Energy mv
2
1
Potential Energy ks x 2 ks is the spring constant
2
1
2
mv 2 J 2
5/21/2010 49
Review of Newtonian Mechanics
• The moment of inertia J depends on how much mass is distributed with respect to the
axis. Thus note that J is different for different axes of rotation and will have to be
recalculated as one changes coordinate systems or rotational direction
• If the body has a uniform density, J can be calculated for regularly shaped bodies
using their dimensions. For example, a rigid cylinder of mass m, radius R, and
length l has the following horizontal and vertical moments of inertia
length, inertia, J
1
J horizontal mR 2
2
1 1
J vertical mR 2 ml 2
4 12
• The radius of gyration can be found for irregularly shaped objects, and the moment of
inertia can be easily obtained. (see in class handout)
5/21/2010 50
Review of Newtonian Mechanics
• In electromechanical motion devices, the force and torque are of great interest.
• Assuming a rigid body and a constant moment of inertia
inertia, one has
d d
T d J d J d J d J d
dt dt
• The total work done is g
given by
y
f
f 1
W T d J d j 2f j02
2
Kinetic Energy
0 0
• Furthermore, power is
dW d
P T T
dt dt
• This is the analog of P F v applied for translational motion
• Example:
– Assume the rated power and angular velocity of a motor are 1W and 1000 rad/s. The
rated electromagnetic torque is found to be
P 1W
T 0.001N m
5/21/2010
r 1000rad / s
51
Friction in Motion Devices
• Because all or the devices discussed in this course lead to mechanical motion, a discussion of
friction is essential
• Friction is a highly complex nonlinear phenomenon that is typically simplified to a series of
equations that adequately map losses in the performance characteristics of the system
• For our purposes we will simplify “friction” into one of three different descriptions
– Coulomb friction is a retarding g force ((or toque)
q ) that changes
g its sign
g with the reversal of
the direction of motion. The equations of coulomb friction are
dx d
FCoulomb k Fc sign TCoulomb kTc sign
dt dt
where kfc and kTc are the Coulomb friction coefficients
– Viscous friction is a retarding force (or torque) that is a linear (or nonlinear) function of
displacement 2 n 1 2 n 1
dx dx d
d
Fviscous Bv Bvn Tviscous Bm Bmn
dt n 1 dt dt n 1 dt
where Bv and Bm are the Coulomb friction coefficients
– Static friction exist only when the body is stationary and vanishes as motion begins
Fstatic Fst v
dx
0
Tstatic Tst d 0
dt dt
5/21/2010 52
Friction in Motion Devices
F fr k fr1 k fr 2 e
k v
k fr 3 v sign
k sign
k
T fr fr 1 k fr 2 e k fr 3
5/21/2010 53
Simple Pendulum
• A point mass is suspended by a massless unstretchable string of length l.
• Derive the equations of motion
d
dt
d 1
mgl sin Ta
dt J
J ml 2
Eqns. of Motion: 2 linear ODEs
d
F mg sin
dt
T applied torque d g T
i a2
sin
M mgl sin T a dt l ml
d
2
T J J mgl sin Ta
dt 2
d 2 1
mgl sin Ta
dt 2 J
5/21/2010 54
Lagrangian Dynamics
• Lagrangian dynamics is an energy based technique using generalized coordinates to
developp easilyy obtain equations
q of motion for even the most complicated
p of systems
y
• It works for all energy based systems and can therefore be used readily in multi-domain
problems such as electromechanical problems that include electronic circuits, magnetic flux,
torque, and even hydraulic components to the system
• We start by defining the kinetic, dissipative, an potential energy terms in the system
dq dq
t , q1 ,..., qn , 1 ,..., n Kinetic Energy
dt dt
dq dq
D t , q1 ,..., qn , 1 ,..., n Dissipative Energy (non-conserative)
dt dt
t , q1 ,..., qn Potential Energy
• Where qi are general coordinates best matched to the geometry of the system, and qdoti is
the derivative of qi with respect
p to time ((the momentum component).
p ) Q is a g
generalized
force term used to meet the coordinate used.
dq
qi qi i Q
dt
• g g equation
The Lagrange q of motion is then defined as
d D
Q
5/21/2010 dt qi qi qi qi 55
Simple Pendulum Revisited
• A point mass is suspended by a massless unstretchable string of length l.
• Derive the equations of motion using Lagrangian Dynamics
ml
1 2
Kinetic Energy
2
generalized _ coordinates :
0 qi
d
ml 2 qi
dt
Potential Energy mgl(1 cos )
g sin
mgl
Lagrangian L 0 unstretchable string
d d dl
0 ml 2 2ml mgl sin
dt dt dt
d
ml 2 mgl sin 0 Homework:
dt Develop equations of motion for a pendulum
2 d
Lagrange Eqn. of Motion Ta ml mgl sin with a point mass, m, suspended by a
dt massless spring of nominal length, l, and
Eqns of Motion: 2 linear ODEs
Eqns. spring constant
constant, ks. Which method is easier
easier,
d g T Newtonian or Lagrangian Dynamics?
sin a 2
5/21/2010 dt l ml 56
d
dt
Simple Double Pendulum (1)
http://scienceworld.wolfram.com/p
hysics/DoublePendulum.html
• A point mass, m1, is suspended by a massless unstretchable string of length, l1, which in
tern suspends a point mass m2, suspended by another massless unstretchable string of
length, l2.
• Derive the equations of motion using Lagrangian Dynamics
x1 l1 cos 1
Potential energy is
y1 l1 sin 1
m1 gx1 m2 gx2 m1 m2 gl1 cos 1 m2 gl2 cos 2
Which we convert to
x2 l1 cos 1 l2 cos 2 m1 m2 gl1 sin 1
y2 l1 sin 1 l2 sin 2 1
Ki ti energy iis th
Kinetic then m2 gl2 sin 2
1
2
1
m1 vx1 v y1 m2 vx 2 v y 2
2 2
2
2 2
2
Lagrangian is
m1 m2 l1212 m2l1l212 cos 2 1 m2l2222
1 1 L
2 2
Equations of motion are
m2l1l212 sin 2 1
1 d
0
dt 1 1 1
m2l1l212 sin 2 1
2 d
0
m1 m2 l121 m2l1l22 cos 2 1 dt 2 2 2
1
5/21/2010 57
m2l222 m2l1l21 cos 2 1
2
Simple Double Pendulum (2)
http://scienceworld.wolfram.com/p
hysics/DoublePendulum.html
• A point mass, m1, is suspended by a massless unstretchable string of length, l1, which in
tern suspends a point mass m2, suspended by another massless unstretchable string of
length, l2.
• Derive the equations of motion using Lagrangian Dynamics
Equations of motion are
d
0
dt 1 1 1
0 m1 m 2 l12 1 m 2 l1l 2 2 cos 2 1 m 2 l1l 2 22 sin 2 1 m 2 l1l 21 2 sin 2 1 m1 m 2 gl1 sin 1
d
0
2
dt 2 2
d
0 m 2 l 22 2 m 2 l1l 2 1 cos 2 1 m 2 l1l 212 sin 2 1 m 2 l1l 21 2 sin 2 1 m 2 gl 2 sin 2
1
dt 2
d d
2
If torques
q are applied
pp to drive the system y then, then the equations
q become
2
dt dt
T1 m1 m2 l121 m2l1l2 2 cos 2 1 m2l1l222 sin 2 1 sin m2l1l212 sin 2 1 m1 m2 gl1 sin 1
T2 m2l22 2 m2l1l21 cos 2 1 m2l1l212 sin 2 1 m2l1l212 sin 2 1 m2 gl2 sin 2
T1 l1 m1 m2 l1 1 m2l2 2 cos 2 1 m2l222 sin 2 1 m2l212 sin 2 1 m1 m2 g sin 1
58
T2 m2l2 l2 2 l11 cos 2 1 l112 sin 2 1 l112 sin 2 1 g sin 2
Circuit Network using Lagrangian Dynamics
• Consider a 2-mesh electric circuit shown here
• Derive the equations of motion using Lagrangian Dynamics
generalized _ coordinates : current
i2 i
q1 , q2 2
s s
q1 i1 , q 2 i2
Applied _ Voltage : ua (t ) Q
5/21/2010 60
Another Example of a Circuit Network using
L
Lagrangian
i D Dynamicsi
• Consider a 2-mesh electric circuit shown here
• Derive the equations of motion using Lagrangian Dynamics
Lmutual sin 2 r is r Rr Lmutual cos r ir Lr Lmutual cos r ir r Lr u s Lmutual cos r u r
1 2
R s Ls is
di s 2
dt Ls Lr L2mutual cos 2 r
R s Lmutual is cos r Ls Lmutual sin r is r Rr Ls ir Lmutual sin 2 r ir r Lmutual cos r u s Ls u r
1 2
di r 2
dt Ls Lr L2mutual cos 2 r
d r 1
Lmutual sin r is ir Bm r k s r TL
dt J
d r 63
r 5/21/2010
dt
Equations of Motion for an Elastic Beam
1 x 2 x3
y ( x) 3 2 3
2 l l
1 x 2 x3
y (t , x) 3 2 3 q(t )
2 l l
Kinetic
1 x 2 x3 2
1 1
1 1 33
( q )
20
y dm
2
A
0
3 2 3 q dx
2 l l 280
Alq 2 Equations _ of _ Motion
66 d D
0, Alq Q1
q1 q1 280 dt q1 q1 q1 q1
Potential 66 EI
Fq (t , x) Alq 3 3 q
2 y
2
1
1
EI 3q 2 x x 3 EI 2
1 280 l
(q ) EI 2 dx
2 0 2l 2 l l 2 l 3
1 d q
2 0 x
(q ) dq EI
EI
3 3 q q 12.7 Fq (t , x)
q1 l dt Al 4
64
5/21/2010
Rotational Electrostatic Motor Example
A WL
C
g g
CV 2 We WLV 2
We , Fex
2 g 2g 2
We V 2 WL
Ftan 2
x 2g x
for _ misalignment _ along _ the _ width
of _ the _ capacitor
LV 2 W
Torsional Ratcheting Actuator A high torque
We
Ftan rotary electrostatic actuator
x 2 g 2 x http://mems.sandia.gov/about/electro-
mechanical.html
65
Rotational Electrostatic Motor Example
cylindrical _ capaci tan ce _ is _ needed _ for _ torque
l
Er
2r
l r2
r2
V Va Vb Er dr ln
r1
2 r1
Q 2L
C
V r
ln 2
r1
2
C l 2 C r N r
r2
L V r ln
ln 2
r1 r1
1 C r 2
Te V N V2
2 r r
ln 2
r1
Torsional _ mechanical _ equations
dr 1 1
Te Bm TL N V 2 Bm TL
dt J J r2
ln
1
r
66
d r
r
dt
Magnetic Circuits
• The following relations allow one to solve magnetic field problems in a manner similar to that of
electronic circuits
• It provides a clear means of designing transformers, motors, generators, and relays using a
lumped circuit model
• The analogy between electronic and magnetic circuits is provided below
5/21/2010 67
Magnetic Circuits
• To develop our model we define a magnetomotive (mmf) force that is equivalent to voltage for
electronic circuits
NI H d l
5/21/2010 68
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Donut Shaped Toroid
• A steel toroidal core with permeability,=r0 has a mean radius, 0, and a circular cross section
of diameter 2a flux ,
2a. Calculate the current required to generate a flux, in the core
Method 1
NI NI
B 0 r
l 2 0
NI
BdS 0 r a 2
2 0
2 0
I
N0 r a 2
M th d 2
Method
l 2 0 0 r NI 2 0
NI a 2 NI
S 0 ra 2
0 r a 2 0
2
2 0 20
I
N N 0 ra 2 N0r a 2
5/21/2010 69
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Toroid with Rectangular Cross-section
Cross section
• A steel toroidal core with permeability,=r0 has a mean radius 0, and a rectangular cross
section 2a *b
section, flux, ,
b. Calculate the current required to generate a flux in the core
NI 0 r NI
B
l 2 0
0 a 0 a
0 r NI NIb d 0 r NIb 0 a
BdS
0 a 2
bd 0 r
2
0 a
2
lln
0 a
N 0 r N 2b 0 a
L ln
I 2
0 a
1 0 r N 2 Ib 0 a
W m LI 2
ln
5/21/2010 2 4
0 a 70
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Force on Magnetic Materials
(E
(Example
l 2)
• For the magnetic circuit shown below, with magnetic flux density of 1.5 Wb/m2 and a relative
permeability of 50.
• Fi d th
Find the iindividual
di id l reluctances
l t and
dddetermine
t i ththe ttotal
t l currentt required
i d tto generate
t a particular
ti l
flux value. All branches have a cross sectional area of 0.001 cm 2
r 50
1 path 143
2 path 123
3 path 16 and 35
a path 56
1 2
l
30 10 3 10
4 8
3
90 10 0 .9 10
4 8
50 10 10
0 20
4
a
l
10 10 5 10
4 8
NI a T S 10 10
0 0 20 4
Ba S 1 2
1 || 2
I
B a S T 1 . 5 10 10 8 7 . 4 10 8
44 . 16 A
1 2
N 400 20 7 . 4 10 8
T 3 a 1 || 2
5/21/2010 20 71
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Force on Magnetic Materials
• Because these are often mechanical system, it is extremely useful to be able to determine the
forces generated by these circuits and those required to move components from one location to
another.
• For ease of use, we will ignore fringe fields in our calculations
• Also, by using ferromagnetic materials and applying simple magnetic boundary conditions, we
path very strong fields into specific geometric shapes
shapes. This allows one to focus the force to a
specific location and move an object in a well defined manner
• Lets examine the force required to pull a magnetic bar vertically up to an electromagnetic yoke.
1 B2
dW m FT dl 2 Sdl
2 0
B 2S
FT 2 F1 / 2 F1 / 2
2 0
2
B S
F1 / 2 Force on a single gap
20
F1 / 2 B2 1
p1 / 2 BH w m
A 20 2
pressure = energy density!!!!!!
Note: This diagram shows a yoke pulling a
5/21/2010 bar magnet (keeper) at two gap locations 72
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. Oxford University Press, 2007.
Force on Magnetic Materials
(E
(Example
l 33a))
• A U-shaped electromagnetic is designed to lift a 400 kg mass (which includes the mass of the
keeper) The iron yoke with relative permeability of 3000 has a cross section of 40 cm2 and a
keeper).
mean length of 50 cm. Each of the air gaps are 0.1mm long. Neglecting the reluctance of the
keeper, calculate the number of turns in the coil when the excitation current is 1A.
1 1
Wm
2 H dv 2 B dv F d y
v v L
B
dW m dW m , air _ gap 2 Sdy Fdy
20
B a2 S
F 2 mg
20
mg 0
Ba 1 . 11Wb / m 2
S
NI y g
l 2 0 . 50 6 10 6
y
0r S 0 3000 0 . 004 48
l 2 0 . 0001 5 10 6
g
0S 0 0 . 004 48
g g 6
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. g NI NI
Oxford University Press, 2007. y g y g 56
g Ba la
g NI H a l a
y g 0
5/21/2010 1 . 11 0 . 0001 11 73
N 162
0 5 1
Force on Magnetic Materials
(E
(Example
l 3b)
• Yoke pulling a keeper from both ends 1 1
Wm
2
v
H dv
2
v
B dv
L
F dy
B
dW dW 2 Sdy dy Fdy
20 20S
m m , air _ gap
W m B 2S
Fl 2 a mg
x 20
mg 0
Ba
S
1
Wm Li a2 ( t )
2
N
L
ia (t ) ia (t )
NI i
ly lk y (t )
, , 2
0 ry S 0 rk S 0S
y k g
2
N
L( y)
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed.
Oxford University Press, 2007. i
N 2
W m 1 L ( y )
i
1 74
Fl i i
x 2 y 2 y 5/21/2010
Force on Magnetic Materials
(E
(Example
l 33c))
• Yoke pulling a keeper by gravitational force
W m B 2S
Fl 2 a mg
x 20
mg 0
Ba
S
1 2
Wm Li a ( t )
2
N
L
ia (t ) ia ( t )
NI i
ly lk x (t )
y ,k , g 2
0 ry S 0 rk S 0S
N2 N 2 0 ry rk S
L ( x ( t ))
i rk l y 2 ry rk x ( t ) ry l k
Fl
W m
1 L ( x ( t )) i a2 ( t )
N 2 0 ry rk S 2 i a2 ( t )
2 2
B a2 S
mg
rk l y 2 ry rk x (t ) ry l k 2 2 0
2
x 2 x
dx
v
dt
1 N 2 0 ry rk S 2 i a2 ( t )
2 2
dv
mg
dt m rk l y 2 ry rk x ( t ) ry l k 2
75
Figure from: M.N.O. Sadiku, Elements of Electromagnetics 4th ed. 5/21/2010
Oxford University Press, 2007.
Force on Magnetic Materials
(E
(Example
l 3d)
• Yoke pulling a spring loaded keeper from both ends
W m B 2S
Fl 2 a k s x k s1 x k s 2 x
x 20
mg 0
Ba
S
1 2
Wm Li a ( t )
2
N
L
ia ( t ) ia ( t )
NI i
ly lk x (t )
y ,k , g 2
0 ry S 0 rk S 0S
N2 N 2 0 ry rkk S
L ( x ( t ))
i rk l y 2 ry rk x (t ) ry l k
Fl
W m
1 L ( x ( t )) i a2 ( t )
N 2 0 ry rk S 2 i a2 ( t )
2 2
B a2 S
k xk xk x
rk l y 2 ry rk x (t ) ry l k 2 2 0 s s1 s 2
2
x 2 x
dx
v
dt
1 N 2 0 ry rk S 2 i a2 ( t )
2 2
dv
76
m rk l y 2 ry rk x ( t ) ry l k 2
k x k x k x
dt
s s1 s2
5/21/2010
Force on Magnetic Materials
(E
(Example
l 33e))
• The system is driven by voltage control and not steady state current
Fl
W m
1 L ( x ( t )) i a2 ( t )
N 2 0 ry rk S 2 i a2 ( t )
2 2
B a2 S
k s x k s1 x k s 2 x
rk l y 2 ry rk x ( t ) ry l k 2
2
x 2 x 20
d d L ( x ) * i a ( t )
u a ( t ) Ri a ( t ) Ri a ( t )
d
dt d
dt
di ( t ) dL ( x ) dx
u a ( t ) Ri a ( t ) a ia
dt dt dt
1 2 N 2 0 ry rk S 2 i a2 ( t )
2 2
di ( t )
a Ri a ( t ) ia v (t ) u a (t )
dt L ( x ) rk l y 2 ryy rk x ( t ) ryy l k 2
77
5/21/2010
Force on Magnetic Materials
(E
(Example
l 4)
• Solenoid with stationary member and
g with drag.
a movable plunger g
2x
k s x k s1 x F L ( t )
dx
(1) m Fe ( t ) B v
t 2
dt
spring _ restoring _ force : Fs k s x k s 1 x
L( x)
i S g l y S y r x 2 d Combining _(1) _ and _( 2 ), _ one _ obtains
L ( x ) N 0 S S g R S g l y S y r x 2 d r S y S g l y S y r x 2 d u
2 2 2
r y di
i iv
x S g l y S y r x 2 d 2 dt N 0r S y S g
2 2 2
S g l y S y r x 2 d N 20rS yS g
dv 1
N 2 0 r2 S y2 S g k x k s1 x B v v FL (t )
i2 s
Applying _ Kirchhoff ' s _ law dt 2 S g l y S y r x 2 d 2
m m m
d
u Ri , L ( x )i dx
v
dt dt
di dL ( x ) dx
u Ri L ( x ) i Apply the sliding friction term described previously
dt dx dt
B v k fr 1 k fr 2 e kv k fr 3 v sign ( v )
di 1 N 2 0 r2 S y2 S g
78
Ri
S g l y S y r x 2 d 2
iv u
(2) dt L ( x )
5/21/2010
Force on Magnetic Materials
(E
(Example
l 5)
• Induced emf from Faraday’s law may also provide sufficient analysis to complete a preliminary
design
d d d d r d d
V emf r
dt dt d r dt dt d r
d
where _ _ is _ the _ transforme r _ term
dt
• Th ttotal
The t l flux
fl linkage
li k iin many electric
l t i machines
hi can b
be expressed
d as
1
N s p where Ns is the number of turns, and p is the flux per pole
4
• For radial topology machines, one uses
iN
p 2 s R inst L
P ge
where i= phase current, Rinst is the inner sector radius, L is the inductance, P is the number of
poles, and ge is the equivalent gap (air gap + radial thickness of the permanent magnet)
• Denoting the number of turns as Ns, one has
cos P r
iN s
mmf
P
1 Dr = outer side rotor diameter
T PB agg i s N s L r D r Lr = axial rotor length
g
2
iN s
B ag cos P r Field in the air gap
2 Pg e 79
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Solving 2nd order ODEs
yielding :
2 02 x (t ) ae s1t be s 2 t c f
2 02 s1 s2 x (t ) a b e t c f
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2 2 2 2
x (t ) e t a cos 2
0
2 t b sin 2
0
2t c f 80
2nd Order ODE Example (1)
d 2i di 1 du
• Lets examine a series RLC circuit: L 2 R i a
dt dt C dt
R 1
s2 s 0
L LC
2
R R 1
s1, 2
2L 2 L LC
2
R 1
For
2L LC
x(t ) e t a cos 02 2t b sin 02 2t c
R 1
, 0
2L LC
Other eqns. such as a parallel RLC and a mechanical spring motion result in
1 1
, 0
2 RC LC
Bv k
, 0 s
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2nd order ODE example (2)
Matlab Code
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Solving Differential Equations in Matlab
for
adding
Matlab Code
83
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Reexamining a simple series RLC circuit
The solution for both the voltage and current in the circuit is
now solved using the Matlab ODE 45 solver as
• Equations of motion
• Initial Conditions
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Van der Pol’s
Pol s Eqn
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