SLIDE 1

Welcome to the Video Lecture on Electrical Machines I

The chief advantage of electric energy over other forms of energy is the relative ease and high
efficiency with which it can be transmitted over long distances.
Its main use is in the form of a transmitting link for transporting other forms of energy, example
mechanical, sound, light, etc. from one physical location to another.
Electric energy is seldom available naturally and is rarely directly utilized.
Hence two kinds of energy conversion devices are needed to convert one form of energy to the
electric form and to convert it back to the original or any other desired form.
In todays class we will discuss the devices for electromechanical energy conversion

SLIDE 2

These devices can be transducers for low-energy conversion processing and transporting as
shown in figure one. A second category of such devices is meant for production of force or
torque with limited mechanical motion like electromagnets, relays, actuators, etc as shown in
figure two. A third category is the continuous energy conversion devices like motors or
generators which are used for bulk energy conversion and utilization as shown in figure three
and four.

Electromechanical energy conversion takes place via the medium of a magnetic or electric field
the magnetic field being most suited for practical conversion devices. Because of the inertia
associated with mechanically moving members, the fields must necessarily be slowly varying,
that is quasistatic in nature.
The conversion process is basically a reversible one though practical devices may be designed
and constructed to particularly suit one mode of conversion or the other.
The magnetic field is present in all natural magnets. However it can also be created artificially by
means of excitation process.

SLIDE 3

What is called as excitation?

Creating magnetic field by supply direct current through a conducting material is called as
excitation process.

The three types of excited system.

Single excited system

Doubly excited system

Multiple excited system

SLIDE 4

Single Excited System

In this system a single coil is excited either by dc or ac supply.

Example: Magnetic relays, Single phase induction machine.

These are used for motion through limited distances called as Linear Motion or through small
angle called as Circular Motion

Magnetic relays produce linear motion

Induction machine produces circular motion

SLIDE 5

Doubly Excited System

In this system there are two exciting coils excited by either dc or ac supply

Example: DC motors and Single phase synchronous machines are doubly excited type machine.

The DC motor consists of two exciting coils one for producing magnetic field in the stator and
the other for producing Magnetic field in the rotor.

Similarly the single phase synchronous machines consists of two exciting coils one across the
stator to produce magnetic field in the stator and the other across the rotor to produce stationary
magnetic field in it.
SLIDE 6

Multiple Excited systems

A system excited by more than three exciting coils is said to be multiple excited system.

Example

Three phase induction machine

Three phase synchronous machine

In three phase induction machine the stator part is excited by three set of winding for each phase
with three phase AC supply.

The three phase synchronous machines also consists of three set of windings for each phase in
the stator which are excited by three phase AC supply also the rotor consists of single set of
winding which is excited by a separate DC supply.

Now let us see in detail about the energy conversion in single excited system.

SLIDE 7

Energy can be stored or retrieved from a magnetic system by means of an exciting coil connected
to an electric source. Consider, for example the magnetic system of an attracted armature relay as
shown in figure.
It consists of an copper wire wounded on a ferrite core.
The resistance of the copper wire is represented by a resistance symbol.
The portion on which the copper wire is wounded is called as limb.
The Moving part is called as armature and it is attached to the core through the hinge
The armature is initially held in fixed position.
The gap between the core and the armature is called as air gap.
In order to create magnetic field alternating current is passed through the copper wire by means
of an alternating voltage V.
This alternating current I creates a magnetic flux phi. These magnetic flux circulates through the
core and it links with the armature through the air gap.
SLIDE 8

Assumptions

The resistance of the coil is shown by a series lumping outside the coil which is then regarded as
an ideal lossless coil.

The coil current causes magnetic flux to be established in the magnetic circuit.

The leakage flux does not take part in energy conversion process so it is neglected as practically
it is small. Hence all the flux is confined to the iron core and links all the N turns of coil

Thus if total flux is phi and turns of coil is N then.

Lambda equal to flux linkage = Total Flux Phi into Total Number of Turns N in Weber Turns.

The Leakage Inductance is negligible.

There is no energy loss in the magnetic core. The reluctance of the iron path is neglected.

SLIDE 9

Now let us find the expression for Input Electrical Energy of a Single Excited System.

According to Faradays Law induced e m f e equal to n into d Phi by d t Which is equal to

d lamda by d t. Thus the flux linkage causes a reaction e m f of e to appear at the coil terminals
with polarity as per Lenz’s law.

Applying Kirchhoffs Voltage Law to the coil circuit.

V minus I into R minus e equal to zero.
So V equal to I into R plus e.
Substituting the value of e in the above equation we will get.
V equal to I into r plus d lamda by d t.
The energy input to the coil due to the flow of current i in time d t is d into W e equal to e
into I into d t.
Therefore d into W e equal to d lamda by d t into I into d t.

Both the numerator and denominator d t cancels each other then it is equal to I into d lamda.

Substitute the value of lamda we will get I into d into n into phi.

Take n outside then it is equal to n into I into d phi which is equal to m m f into d phi.

SLIDE 10

Magnetic Field Energy Stored in a Single Excited System.

Consider that the armature is fixed at position x. Hence mechanical work done is zero.

Therefore the entire electrical energy input gets stored in the magnetic field.

That is d into w f is equal to d into w e which is equal to I into d lamda and it is equal to m m f
into d phi.

where d into w f is the change in field energy in time d t.

The relationship i lamda or M M F lamda is a functional one corresponding to the magnetic

circuit which in general is nonlinear and is also history-dependent.
that is it exhibits hysteresis.
The energy absorbed by the field for finite change in flux linkages for flux is obtained from
Equation two as.
Delta into w f equal to integral of lamda one to lamda two into I of lamda into d lamda which is
equal to integral of phi one to phi two into m m f of phi into d phi.

As the flux in the magnetic circuit undergoes a cycle phi one to phi two and again to phi one, an
irrecoverable loss in energy takes place due to hysteresis and eddy-currents in the iron.
Assuming here that these losses are separated out and are supplied directly by the electric source.

This assumption renders the ideal coil and the magnetic circuit as a conservative system with
energy interchange between themselves so that the net energy is conserved.

The energy absorbed by the magnetic system to establish flux phi from initial zero flux is.
W f is equal to integral of zero to lamda into I of lamda into d lamda.

This is equal to integral of zero to phi into m m f of flux into d phi.

Then this is the energy of the magnetic field with given mechanical configuration when its state
corresponds to flux.

SLIDE 11

I lamda Relationship.

It is similar to the magnetization curve which varies with the configuration variable x.

The air-gap between the armature and core varies with position x of the armature. The total
reluctance of the magnetic path decreases as x increases.

The I lamda relationship for various values of x is indicated in figure 2 below. It immediately
follows that this relationship can be expressed as

I equal to I of lamda comma x when lamda is an independent variable.

Lamda is equal to lamda of I comma x when i is independent variable.

Depending upon the independent variable, the stored field energy is also a function of I comma
x or lamda comma x.

W f is equal to w f of lamda comma x or w f is equal to w f of I comma x.

According to expressions of w f the field energy is determined by the instantaneous values of the
system states that is lamda comma x or I comma x. And is independent of the path followed by
these states to reach the present values. This means that the field energy at any instant is history
independent.

If x is changed with lamda is constant, then energy interchange takes place between the magnetic
field and mechanical system.

If x is constant but lamda is changed, then energy interchange takes place between electric
system and magnetic field.
SLIDE 12

Concept of Coenergy

When armature is held open, entire mmf is required to drive the flux through air gap.

So, I lamda relationship is linear.

As per equation two, the field energy is the area between lamda axis and I lamda curve.

The area between i axis and I lamda curve is called as coenergy and it is given as,

W f dass of I comma x is equal to I into lamda minus w f of lamda comma x.

The coenergy is shown to be the complementary area of the I lamda curve.

W f dass is equal to integral of zero to I into lamda into d I.

SLIDE 13

Electromechanical energy conversion devices are built with air-gaps in the magnetic circuit
which serve to separate the stationary and moving members. As a result the I lamda relationship
of the magnetic circuit is almost linear; also the losses of magnetic origin are separately
considered. Then the field energy and coenergy will be equal. Hence,

W f is equal to w f dass which is equal to half of I lamda.

We know that the coil inductance L is equal to N into phi divided by I which is equal to flux
linkage lamda divided by i.

Therefore lamda is equal to l into I or I is equal to lamda divided by L.

Substituting the value of lamda and current I in equation 4 the field energy w f is equal to
coenergy w f dass which is equal to half of lamda square divided by L or it is equal to half of L
into I square.

In the linear case the inductance L is independent of i but is a function of configuration x.

SLIDE 14
Thus the field energy is a special function of two independent variables lamda and x, that is

W f of lamda comma x is equal to one divided by two into lamda square divided by L of x.

The co-energy is a function of two independent variables i and x that is w f dass is equal to
integral of zero to I into lamda of d i.

Substituting lamda is equal to l into i.

W f dass of I comma x is equal to one divided y two into l of x into I square.

SLIDE 15

Now let us find the expression for the Mechanical Force developed in a single excited
system.

Consider once again the attracted armature relay excited by an electric source as in figure below.

The armature is attached to the mechanical system which is connected to a fixed support.

The field produces a mechanical force F suffix f in the direction indicated which drives the
mechanical system. The mechanical work done by the field when the armature moves a distance
d x in positive direction is.

d into w suffix m is equal to F suffix f into d x.

This energy is drawn from the field by virtue of change d x in field configuration. As per the
principle of energy conservation.

Mechanical energy output is equal to Electrical energy input minus Stored field energy.

In such electromechanical systems, the independent variables can be I comma x or lamda

comma x.

F suffix f into d x is equal to I into d lamda minus d into w suffix f.

F suffix f into d x is the gross mechanical output, a part of which will be lost in mechanical
friction
SLIDE 16

In order to find the mechanical force consider case one that is independent variables are I comma
x that is current is constant.

Thus lamda changes as I and x changes, hence.

Lamda is equal to lamda of I comma x.

Differentiating the above expression.

D lamda equal to doe lamda divided by doe I into d I plus doe lamda divided by doe x into d x.

W suffix f equals w suffix f of I comma x.

D into w suffix f equals doe into w suffix f divided by doe I into d I plus d into w suffix f divided
by doe x into d x.

Substituting equation nine and ten in equation eight.

F suffix f into d x equals to I into doe lamda divided by doe I into d I plus I into doe lamda
divided by doe x into d x minus doe into w suffix f divided by doe I into d i minus doe into w
suffix f divided by doe x into d x .

SLIDE 17

Rearrange the equation in terms of d x and d i and equate the d x terms in both sides.

F suffix f into d x equals to I into doe lamda divide by doe x minus doe w suffix f divided by doe
x into d x plus I into doe lamda divided by doe I minus doe into w suffix f divided by doe I into d
i.

Since current is constant hence in the above equation the term with d I get cancelled.

So f suffix f into d x equals to I into doe lamda divide by doe x minus doe w suffix f divided by
doe x into d x.

Across both sides the d x gets cancelled.

Then f suffif f is equals to I into doe lamda divide by doe x minus doe w suffix f divided by doe
x.

Take commanly doe divied by doe x outside.

Hence f suffix f is equals to doe divided by doe x into I lamda minus w suffix f.

The mechanical force is f suffix f is equals to doe divided by doe x into w suffix f dass of I
comma x.

This expression for mechanical force developed applies when i is an independent variable, that is
it is a current excited system.

SLIDE 18

In case two consider the independent variables are lamda comma x that is voltage is constant.

Thus I changes as lamda and x changes.

Hence I is equal to I of lamda comma x.

Or w suffix f is equal to w suffix f of lamda comma x.

Differentiating the above expression we will get.

D into w suffix f is equal to doe into w suffix f divided by doe lamda into d lamda plus doe into
w suffix f divided by doe x into d x.

Substituting equation 11 in equation 8 we will get.

F suffix f into d x is equal to I into d lamda minus doe into w suffix f divided by doe lamda into d
lamda minus doe into w suffix f divided by doe x into d x.

Rearrange the terms we will get.

F suffix f into d x is equal to minus doe into w suffix f divided by doe x into d x plus I minus doe
into w suffix f divided by doe lamda into d lamda.

Since the voltage is constant then the term with d lamda gets cancelled.
Thus the mechanical force is f suffix f is equals to minus of doe divided by doe x into w suffix f
of lamda comma x.

In this form of expression for the mechanical force, i is the independent variable, that is it is a
voltage-controlled system as voltage is the derivative of lamda.

The mechanical force obtained is in a translatory system.

For torque in a rotational system the term x is replaced by angular rotation teeta.

SLIDE 19

Now we will discuss the concept of torque development in a doubly excited system.

Electro-mechanical transducers have the special requirement of producing an electrical signal

proportional to forces or velocities or producing force proportional to electrical signal current or
voltage. Such transducers require two excitations one excitation establishes a magnetic field of
specified strength, while the other excitation produces the desired signal either electrical or
mechanical. Also continuous energy conversion devices such as motors and generators requires
multiple excitation.

The figure represents the magnetic field system with two electrical excitations one on stator and
the other on rotor.
The system can be represented by two sets of three independent variables lamda one comma
lamda two comma teeta or I one comma I two comma teeta.
Form the basics of single excited system the torque developed in the multi excited system is
represented as t suffix f is equal to minus doe into w suffix f of lamda one comma lamda two
comma teeta divided by doe teeta.

SLIDE 20
Field energy and coenergy in a doubly excited system
The field energy is expressed as w suffix f of lamda one comma lamda two comma teeta is
equal to one divided by two beta one one into lamda one square plus beta one two into lamda one
into lamda two plus one divided by two beta two two into lamda two square.
The coenergy energy is expressed as w suffix f dass of i one comma i two comma teeta is equal
to one divided by two L one one into I one square plus L one two into I one into I two plus one
divided by two into L two two into I two square.