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Ee 559 2016 Iowa State University: James D. Mccalley Harpole Professor of Electrical & Computer Engineering
Ee 559 2016 Iowa State University: James D. Mccalley Harpole Professor of Electrical & Computer Engineering
EE 559
2016
Iowa State University
James D. McCalley
Harpole Professor of Electrical &
Computer Engineering
Torque production
Let’s devise a way so that a similar rotating magnetic field is
produced by the windings on the rotor, such that it rotates at
the same speed as that from the stator. Thus, we now have
two rotating magnetic fields.
The two rotating magnetic fields, that from the rotor and
the composite field from the armature, are “locked in,”
and as long as they rotate in synchronism, a torque
(Torque=P/ωm=Force×radius, where Force is tangential
to the rotor surface), is developed.
Electrical system
Example of an elementary rotational-motion electromechanical system with
one electrical input, one mechanical input, and one coupling field.
A. Fitzgerald, C. Kingsley, and A. Kusko,
“Electric Machinery, 3rd edition, 1971
Coupling fields
Mechanical system is the rotational motion of the rotor.
Coupling field is
Electrical in the flux path
systems are the of the iron
two coils. path/air gap
OR W f We Wm
In differential form, dW f dWe dWm
The last equation enables computation of torque.
di
W f
d
i
W f W f
Te d id dW f i di i d di d
i i
Gather like terms in di and dθ:
W f W f
Te d i di i d
i i
Equate coefficients:
W f W f
Te d i d 0 i di
i i
The first expression provides a way to compute torque:
W f
Te i (T1)
13
Coupling fields: torque
Define co-energy: Wc i W f
Recalling that independent variables of our system are i, θ:
Wc W f
i
Solve for the last term on the right:
W f Wc
i
Substitute into (T1):
Wc W f
Te i i Te i
(T1)
0
Wc
Te (T2)
14
Coupling fields: torque
What is co-energy? Wc i W f
An expression for which torque computation is convenient
Wc
Te (T2)
To better understand co-energy, consider the relation for the
coupling field energy:
W f We Wm
Set the system so that initially, Wf=0 (no stored energy), and
fix θ so that no energy can be added to the coupling field via
mechanical means, i.e., Wm=0. Then increase the current to
a value ia, establishing a corresponding flux linkage of λa.
There is then energy in the coupling field, but only via
electrical means, i.e.
W f We
15
Coupling fields: torque
But recall that:
d
We eidt idt id
dt
And since Wm=0, this is also the
energy of the coupling field:
W f id
We observe the corresponding area
in the λ-i curve in the figure.
Recall the definition of co-energy: Wc i W f
Since iλ is the area of the (shaded) box, then Wc must be the
area below the curve. Wc is therefore given by
Wc di
16
Coupling fields: torque
If the medium is magnetically linear
(no saturation), then the λ-i curve is
just a diagonal through the iλ
shaded box, as shown. In this case,
the area above the λ-i is the same
as the area below it, and we have:
W f Wc
Wc
Recall (T2), which is Te
Therefore, under condition of magnetic linearity, we have:
W f
Te (T3)
17
Coupling fields: energy
Recall from basic physics that the energy stored in a
winding of self-inductance Lpp carrying current i is given by:
1
W f L ppi 2
2
with Lpp in henries and defined by Lpq=λp/Iq=NpNq/Rpq for
linear medium; Rpq is path reluctance (like resistance).
Generalization: For a linear electromagnetic system with J
electrical inputs (windings), the total field energy is given by:
1 J J
W f Lpqi piq
2 p 1 q 1
where Lpq is the winding’s self inductance when p=q and
when p≠q, it is the mutual inductance between the two
windings. Derivation: Given pp 22-24 of Krause, Wasynchzuk, and
Sudhoff, “Analysis of electric machinery,” 1995. 18
Example
This device consists of
two conductors, #1 is on
the stator; #2 is on the
rotor. The magnetic
system is assumed linear.
So Wf is given by (with J=2):
1 J J
W f Lpqi piq L11i1i2 2L12i1i2 L22i1i2 L11i1i2 L12i1i2 L22i1i2
1 1 1
2 p 1 q 1 2 2 2
The self-inductances, given by Lpp=λp/ip, are constant,
independent of θ, because the reluctance of the path seen by
the winding does not change as the rotor turns.
But the mutual inductances are not constant.
19
Example
The mutual inductances,
given by Lpq=λp/iq, i.e., the
amount of flux seen by
winding p due to a current
in winding q, are not
constant. The extreme
conditions of maximum & minimum linkages are given below.
22
Summary
The previous procedure can be applied to a three-phase
induction machine to obtain an expression for its torque.
The effort requires a coordinate transformation which is
involved, and so we will not do it.
23