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Electromechanical Energy
Conversion
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Introduction
Electromechanical energy conversions use a
magnetic field as the medium of energy
conversion
Electromechanical energy conversion device:
Converts electrical energy into mechanical energy
or
Converts mechanical energy into electrical energy.
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Introduction
Three categories of electromechanical energy conversion
devices:
Transducers (for measurement and control)- small motion
Transform the signals of different forms. Examples:
microphones, sensors and speakers.
Force producing devices (translational force)- limited
mechanical motion.
Produce forces mostly for linear motion drives, Example
Actuators - relays, solenoids and electromagnets.
Continuous energy conversion equipment.
Operate in rotating mode. Examples: motors and
generators.
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Thermal
Energy
(losses)
Field Energy
Mechanical
Energy
(output)
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Magnetic System
Mechanical System
Voltages and
Currents
Magnetic Flux
Position, Speed
and Acceleration
Circuit Equations
(KVL and KCL)
Froce/Torque
Force/Torque Eqns
(Newtons Law)
emf
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Magnetic system
Electrical
loss
Field loss
Mechanical
system
P mech
Mechanical
loss
Electrical
Mechanical Increase in
Energy
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input
from
sources
output
friction
stored
field
resistance
loss
and
windage
loss
energy
core
loss
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dWe ei dt;
d
e
dt
d
dWe idt id
dt
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Singly-excited
System
Energy, Coenergy
and Force or Torque
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Axial length
(perpendicular to page)
=l
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dWm = fm dx
Then, substitution dWe = id , gives
dWf = id fm dx
Value of Wf is uniquely specified by the values
of and x, since the magnetic energy storage
system is lossless.
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Wf
id
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For a particular value of air-gap length, the field energy is represented by the
red area between axis and -i characteristic. The blue area between i axis
and - i characteristic is known as the coenergy
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W di
'
f
i
0
Wf + Wf = i
Note that Wf > Wf if the - i characteristic is non
linear and Wf = Wf if it is linear.
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dWf (, x) = id fm dx
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F(x1, x 2 )
F(x1, x 2 )
dF(x1, x 2 )
dx1
dx 2
x1 x
x 2 x
2
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Wf ( , x)
Wf ( , x)
dWf ( , x)
d
dx
x
x
dWf ( , x) id f m dx
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Wf ( , x)
i
Wf ( , x)
fm
x
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1 2
Wf ( , x) i( , x)d
d
2 L(x)
0
0 L(x)
and the force, fm can be found directly:
Wf ( , x)
1 2
2 dL(x)
fm
2
x
x 2 L(x) 2L(x) dx
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Wf ( , )
T
29
W f' (i, x) i W f ( , x)
and the differential coenergy dWf:
dW (i, x) d(i ) dW f ( , x)
'
f
dWf ( , x) id f m dx
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d(i ) id di
So, the differential coenergy dWf:
dW (i, x) d(i ) dW f ( , x)
id di (id f m dx)
di f m dx
'
f
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W
(i,
x)
W
'
f
f (i, x)
dWf (i, x)
di
dx
i
x
x
i
dW (i, x) di f m dx
'
f
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Wf' (i, x)
i
x
Wf' (i, x)
fm
x i
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2
i
Wf' (i, x) (i, x)di L(x)idi L(x)
2
0
0
W (i, x)
i
i dL(x)
fm
L(x)
x
x
2 i 2 dx
i
'
f
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W (i, )
T
i
'
f
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W (i, x)
2. By using coenergy function: f m
x
i
'
f
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i dL(x)
fm
2 dx i
The positive sign emphasizes that the force acts
in a direction to increase the inductance at
constant
current.
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W f id
0
in which
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Hg
N
and
d d ( N ) d ( NAB ) NAdB
* Sen pg97
39
39
B
Hg
NAdB Ag H dB
0
N
wf
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Wf
Ag
H dB
0
* Sen pg97
40
40
w f H dB
0
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* Sen pg97
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w
'
f
BdH
wf
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* Sen pg97
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42
2
and coenergy density:
2
H
w'f BdH HdH
2
0
0
H
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* Sen pg97
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43
Pg:99 PC Sen
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0.09
which is valid for the limits 0 < i < 4 A and 3 < g <
10 cm. For current i = 3A and air gap length g = 5
cm, find the mechanical force on the moving part
using coenergy and energy of the field.
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-124.7 Nm
pg103 sen
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46
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Example 1
Q. The magnetic circuit shown in Figure Q1 is made of high permeability steel so
that its reluctance can be negligible. The movable part is free to move about an
x-axis. The coil has 1000 turns, the area normal to the flux is (5 cm 10 cm), and
the length of a single air gap is 5 mm.
(i) Derive an expression for the inductance, L, as a function of air gap, g.
(ii) Determine the force, Fm, for the current i =10 A.
(iii) The maximum flux density in the air gaps is to be limited to approximately
1.0 Tesla to avoid excessive saturation of the steel. Compute the maximum force.
Immovable
part
Reference
position
i
+
e
-
Fm
Spring
Movable
part
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Example 2
Figure below shows a relay made of infinitely-permeable magnetic material
with a moveable plunger (infinitely-permeable material). The height of the
plunger is much greater than air gap length (h>>g). Calculate
a) The magnetic storage energy Wf as a function of plunger position ( 0< x <d)
for N = 1000 turns, g = 2 mm, d= 0.15 m, = 0.1 m and i = 10 A.
b) The generated force, Fm
b)Pg 121/
132 Fgrld
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a)Fgrald :pg121
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Example 3
The magnetic circuit shown is made of high-permeability
electrical steel. Assume the reluctance of steel -- infinity.
Derive the expression for the torque acting on the rotor .
Fgrd pg
135
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Example 4
The magnetic circuit below consists of a single coil stator and
an oval rotor. Because of the air-gap is non uniform, the coil
inductance varies with the rotor angular position.
Given coil inductance L() = Lo + L2cos2, where Lo= 10.6
mH and L2= 2.7 mH.
Find torque as a function of for a coil current of 2 A.
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Fgrd pg 129
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Doubly-excited
Systems
Energy, Coenergy
and Force or Torque
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Rotating Machines
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Rotating Machines
Assume general case, both stator and rotor have winding carrying
currents (non-uniform air gap silent pole rotor)
The system stored field energy, Wf can be evaluated by
establishing the stator current is and rotor current ir and let
system static, i.e. no mechanical output
Stator and rotor
flux linkage is
expressed in
terms of
inductances L
(which depends
on position rotor
angle , L()
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Rotating Machines
Torque
In linear system,
coenergy = energy
Wf = Wf
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Cylindrical Machines
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Cylindrical Machines
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Cylindrical machines
Torque produced
dL sr
dMcos
T i si r
isi r
Mi s i r sin
d
d
Mutual inductance
Currents
Rotor position
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Tm when =90o
Where
M = peak value of mutual inductance
= the angle between magnetic axis of
the stator and rotor windings
m = angular velocity of rotor
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Cylindrical Machines
T I sm I rm Mcoss t cos( r t ) sin( m t )
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Cylindrical Machines
Case 1:
Synchronous machine
Wr =0 Idc at rotor
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Cylindrical Machines
Asynchronous machines
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Example
(a)
(b)
Sen pg 111
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Example 5
In a doubly excited rotating actuator shown in figure
below, the stator inductances are given as L11= (3+cos2)
mH, L12 = 0.3cos, and the rotor impedance is L22 =
30+10cos2. Find the developed torque in the system for
i1=0.8A and i2 = 0.01 A.
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