Electromechanical Energy

Conversion
Electromechanical Energy Conversion
•The electromechanical energy conversion
theory allows the representation of the
electromagnetic force or torque in terms of
device variables, such as the currents and the
displacement of the mechanical systems.
•An electromechanical system consists of an
electric system, a mechanical system, and a
means whereby the electric and mechanical
systems can interact.

Electromechanical Energy Conversion

•Consider the block diagram depicted below.

Field
Mechanic System
Electric System
Coupling
WE = We + WeL + WeS
source electric system I2R
Energy transferred to the
Energy Energy losses of the Energy stored in the
coupling field by the
supplied by an electric electric system. Basically, electric o magnetic field

Electromechanical Energy
Conversion • The energy transferred to the coupling field
can be represented by

W M = W m + W mL + W mS
Energy the coupling field from mechanical system compliance of the
supplied by a the mechanical system mechanical system
Energy stored in the
mechanical source
Energy losses of the moving member and
Energy transferred to
 W F = W e + W m
Total energy coupling field by the mechanical system
transferred to the electric system
coupling field Energy transferred to the
Energy transferred to the coupling field from the

W F = W f + W fL
2
Energy stored in the electric (I R)
system
Energy dissipated as heat
4

Electromechanical Energy Conversion

• The electromechanical systems obey the law of conservation of energy.
• Energy Balance in an Electromechanical System
 W F= W f

WfLWmL
+W fL =W

e +W m WeL

WE
∑
∑∑
WM

Wf WmS

WeS
5
Electromechanical Energy Conversion
• If the losses are neglected, we will obtain the following

formula,
Energy transferred to
the coupling field by the
electric system
W F= W

e + Energy transferred to the coupling

field from the mechanical system
W m
 6

Electromechanical Energy

Conversion • Consider the electromechanical system

given below,
 φ
k

+ - f
+
N fe
V
ef -
iL D
r
x

x0
m

7
Electromechanical Energy

Conversion • The equation for the electric system is

di +L+
V e
dt f
= ri

• The equation for the mechanical system is-

dx
f = m + + ( − 0) − 22
dt dx K x x fe
Ddt
 8

Electromechanical Energy

Conversion • The total energy supplied by the

electric source is -

di ⎟
WEV i d t r i L f ∫ ⎠⎞
 ⎜
⎝⎛
= ∫= ++eidtdt

• The equation for the mechanical system is-

dx
WM f d x f
= =
∫ ∫d t
dt
 9

Electromechanical Energy

Conversion • Substituting f from the equation of

motion

⎟
⎜ ⎟⎟⎟⎟⎟⎟⎟⎟ ⎠⎞
⎜⎜⎜⎜⎜⎜⎜⎜ ⎝⎛ dx Kxxfedx
dt Wfdxm2
dx
dt D
=
∫=++−−
E∫ ()
 20


 transferred to
Potential Energy the coupling
Kinetic energy Heat loss
stored in the field from the
stored in the duethe friction spring
(Wall) mechanical
mass
Total energy system

10

Electromechanical Energy Conversion

Wfdx
=−
∫
 Me
* all
Rec
W We W
=+
fM
W e idt f d x
= −
∫ ∫
f f e d W e idt f d x
=−
ffe
 11

Electromechanical Energy

Conversion • If dx=0 is assumed, then

Ef λ
W W e idt
dt
= = = W id
∫ ∫ fd idt
 dxf
=
∫ =0
λ

12

Electromechanical Energy
Conversion • Recalling the normalized magnetization
curve,

dλ
=
λWf ∫idλ

W=
∫di cλ
λ = λ (i, x) i

13

Electromechanical Energy Conversion

(,)ix

∂ di dx
λ λ=

λλ
(,)(,)
d i x i+ ix
λ =
∂ ∂ ∂
x
fi di
∂ (,
λ )
W ∫ ix =
= ∂ 0
i dx

14
Electromechanical Energy Conversion

iix
= λ
(,)
di ix dx
∂ (,)(,)
= ixλλ
λ d λ ∂
∂ ∂ + x

Wdi
 ∫∫⎟ ⎜⎛
⎟ ⎠⎞ ⎜ ⎝ ∂

∂ ,)λ
ix(

cd ==

λλ λ =
λ dx
0

15
Electromechanical Energy Conversion •
From the previous relationship, it can be shown that for one coil,
*
i
=
WidLxi ∫=

f 0 ()
λλ
 (
i  )
*


W i L x di
 f 0
= ()
∫

For a generalcase,

Wid

= λ
∫∑
fj

d x jj
= 1 = 0
16

Electromechanical Energy
Conversion • For two coupled coils,

• For the general case with n-coupled coils,

1
1
12 1 2 22 12
2
W L i L i i L i f= + +
2
11
2 2
n
n
1
WLii
 =∑∑
fpqpq2 11

p q
==

17

Electromagnetic

Force • Recalling,
 φ
k
+ -
f
+
N fe
V
ef -
r iL D

x0
m

18
Electromagnetic Force

W We W
=+
fM
W e idt f d x
= −
∫ ∫
ffef d x d W d
W
 =−
eefd td
e f =λ

19

Electromagnetic Force
d
dW e idt λ
= = = i dt i d
ef
 λ
dt

f dx i d dW
=−
λ
ef

=λ ( , ) λ ( , )
∂ ix ∂ ix
di dx
d
∂
λ +
∂ i x

=( , ) ( , )
∂ Wix∂ Wix
d W ff
 di + dx
f
∂
∂ i x
Substituting for dλ and dWfin fedx=id λ dWf, it can be shown

=λ

∂
( ) ed Wf
fixi−
, x
∂
 20

Electromagnetic Force
dλ
=
Wf ∫idλ
• Recall,

λ
cf
WiW W=
∫ di cλ
=−
λ

∂ W∂ λ ∂ W
cf
i

∂ = − x
i ∂ ∂
x
 x xi λ Wf
fi ∂ ∂
e
) x x
= ∂ − ∂
(,

21

Electromagnetic Force

λ λi W W W i W = + = −

fcfc
 i ∂ λ Wf
fix ∂
e
− x
( , )∂ ∂∂
= x ∂ ⎜⎛
⎝
fixi ∂ λλ∂ W ⎟
⎠⎞
c
e (,) − i
= ∂ −−
x x
∂ x
 (,) =+
fix Wc
∂
e
x
∂

22