Chapter 2 Electromechanical Energy Conversions

Learning Objectives

 Analyze electromechanical energy conversion based on concepts of

energy and coenergy

 Understand operating principles of rotating and cylindrical machines

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2.1 Fundamentals

 Based on the principle of conservation of energy, energy can neither be created nor
destroyed but changed from one form to another

 Consider a differential time interval

𝑑𝑊𝑒 = 𝑑𝑊𝑚 + 𝑑𝑊𝑓

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2.1 Fundamentals

 Consider if the movable part is held stationary at some air gap with current is increased
from zero to a value i

𝑑𝑊𝑒 = 𝑑𝑊𝑓

 If core loss is neglected, all incremental electrical energy input is stored as field energy

𝑑𝑊𝑒 = 𝑒𝑖𝑑𝑡 𝑑𝑊𝑓 = 𝑖𝑑𝜆

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2.1 Fundamentals

 Energy stored in the field

𝜆
𝑊𝑓 = න 𝑖𝑑𝜆
0

𝐻𝑐 𝑙𝑐 + 𝐻𝑔 𝑙𝑔
=න 𝑁𝐴𝑑𝐵
𝑁

𝐵
= න 𝐻𝑐 𝑑𝐵𝐴𝑙𝑐 + 𝑑𝐵𝑙𝑔 𝐴
𝜇0

= 𝑤𝑓𝑐 𝑉𝑐 + 𝑤𝑓𝑔 𝑉𝑔

= 𝑊𝑓𝑐 + 𝑊𝑓𝑔

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Concept Check 2.1

Consider an actuator system as shown above. It consists of coil of 250 turns and coil
resistance of 5 Ω. For a fixed air gap length of 5 mm, a dc source is connected to the coil
to produce a flux density of 1.0 T in the air gap. Assume the permeability of free space of
4π x 10-7 and the magnetic field intensity of core is a cast steel with flux density of 1.0 T is 670
At/m.

(a)Find the voltage of the dc source (Ans: 167.2 V)

(b)Find the stored field energy (Ans: 20.9 J)

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Concept Check 2.1

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Concept Check 2.1

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Concept Check 2.1

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2.2 Mechanical Force

 For larger air gap length, the λ – i characteristic will become more linear

 The area B is known as coenergy

𝑖
𝑊𝑓′ = න 𝜆𝑑𝑖
0

 If it is linear
1
𝑊𝑓′ = 𝑊𝑓 = 𝜆𝑖
2

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2.2 Mechanical Force

 If the movable part has moved slowly with current remained constant, the operating
point will move upward from point a to b
𝜆2
𝑑𝑊𝑒 = න 𝑒𝑖𝑑𝑡 = න 𝑖𝑑𝜆 = 𝑎𝑟𝑒𝑎 𝑎𝑏𝑐𝑑
𝜆1

𝑑𝑊𝑓 = 𝑎𝑟𝑒𝑎 0𝑏𝑐 − 0𝑎𝑑

𝑑𝑊𝑚 = 𝑑𝑊𝑒 − 𝑑𝑊𝑓 = 𝑎𝑟𝑒𝑎 0𝑎𝑏

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2.2 Mechanical Force

 If the motion is under constant-current conditions, the mechanical work done is the
incremental part in the coenergy and the mechanical force is

𝑓𝑚 𝑑𝑥 = 𝑑𝑊𝑚 = 𝑑𝑊𝑓′

𝜕𝑊𝑓′ 𝑖, 𝑥
𝑓𝑚 = อ
𝜕𝑥
𝑖=𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

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2.2 Mechanical Force

 If the movement is very quick and it can be assumed the flux linkage is constant

 The mechanical work done is shown in area 0ap, which is decreased part in field energy

𝑓𝑚 𝑑𝑥 = 𝑑𝑊𝑚 = 𝑑𝑊𝑓

𝜕𝑊𝑓 𝜆, 𝑥
𝑓𝑚 = ቤ
𝜕𝑥 𝜆=𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

 If the displacement is small, area 0ab and area 0ap are equal so as the force

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Concept Check 2.2
The λ – i relationship of an electromagnetic system is given as
2
𝜆𝑔
𝑖=
0.09

Given that it is valid for the limits 0 < i < 4 A and 3 < g < 10 cm. For current i = 3 A and air gap
length g = 5 cm. Find the mechanical force on the moving part, by using energy and
coenergy of the field (Ans: - 124.7 N; - 124.7 N)

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Concept Check 2.2

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Concept Check 2.2

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Concept Check 2.2

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2.2 Mechanical Force

 In the reluctance of the magnetic core path is negligible as compared to that of the air
gap path, the λ – i relation becomes linear

𝜆=𝐿 𝑥 𝑖

𝜆
𝜆
𝑊𝑓 = න 𝑑𝜆
0 𝐿(𝑥 ሻ

1
= 𝐿 𝑥 𝑖2
2

𝜕 𝜆2
𝑓𝑚 = − อ
𝜕𝑥 2𝐿 𝑥
𝜆=𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

1 𝑑𝐿(𝑥 ሻ
= 𝑖2
2 𝑑𝑥

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2.2 Mechanical Force

 For linear system

1
𝑊𝑓 = 𝑊𝑓′ = 𝐿 𝑥 𝑖 2
2

𝜕 1
𝑓𝑚 = 𝐿 𝑥 𝑖2 อ
𝜕𝑥 2
𝑖=𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

1 𝑑𝐿(𝑥ሻ
= 𝑖2
2 𝑑𝑥
 If the reluctance of the magnetic core path is negligible

𝐵𝑔
𝑁𝑖 = 𝐻𝑔 2𝑔 = 2𝑔
𝜇0
𝐵𝑔2
𝑓𝑚 = 2𝐴𝑔
2𝜇0

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Concept Check 2.3

Consider a magnetic system as shown above. It consists of coil of 500 turns, current of 2 A,
width of air gap of 2.0 cm, depth of air gap of 2.0 cm and length of air gap of 1 mm.
Neglect the reluctance of the core, leakage flux and fringing flux. Assume the permeability
of free space of 4π x 10-7, find

(a)The force of attraction between both sides of the air gap (Ans: 251.3 N)

(b)The energy stored in the air gap (Ans: 0.251 J)

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Concept Check 2.3

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Concept Check 2.3

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2.3 Rotating Machine

 Consider a rotating electromagnetic system that consists of both stator and rotor with
winding carrying currents

 Assume the stored field energy is kept as static, i.e., no mechanical output

𝑑𝑊𝑓 = 𝑖𝑠 𝑑𝜆𝑠 + 𝑖𝑟 𝑑𝜆𝑟

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2.3 Rotating Machine

 For a linear magnetic system

𝜆𝑠 = 𝐿𝑠𝑠 𝑖𝑠 + 𝐿𝑠𝑟 𝑖𝑟

𝜆𝑟 = 𝐿𝑟𝑠 𝑖𝑠 + 𝐿𝑟𝑟 𝑖𝑟
 As a matrix form
𝜆𝑠 𝐿 𝐿 𝑖𝑠
= 𝑠𝑠 𝑠𝑟
𝜆𝑟 𝐿𝑠𝑟 𝐿𝑟𝑟 𝑖𝑟
 Hence
𝑑𝑊𝑓 = 𝑖𝑠 𝑑 𝐿𝑠𝑠 𝑖𝑠 + 𝐿𝑠𝑟 𝑖𝑟 + 𝑖𝑟 𝑑(𝐿𝑠𝑟 𝑖𝑠 + 𝐿𝑟𝑟 𝑖𝑟 ൯

= 𝐿𝑠𝑠 𝑖𝑠 𝑑𝑖𝑠 + 𝐿𝑟𝑟 𝑖𝑟 𝑑𝑖𝑟 + 𝐿𝑠𝑟 𝑑 𝑖𝑠 𝑖𝑟

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2.3 Rotating Machine

 The field energy

𝑖𝑠 𝑖𝑟 𝑖𝑠 ,𝑖𝑟
𝑊𝑓 = 𝐿𝑠𝑠 න 𝑖𝑠 𝑑𝑖𝑠 + 𝐿𝑟𝑟 න 𝑖𝑟 𝑑𝑖𝑟 + 𝐿𝑠𝑟 න 𝑑 𝑖𝑠 𝑖𝑟
0 0 0

1 1
= 𝐿𝑠𝑠 𝑖𝑠2 + 𝐿𝑟𝑟 𝑖𝑟2 + 𝐿𝑠𝑟 𝑖𝑠 𝑖𝑟
2 2

 In a linear magnetic system, energy and coenergy are the same

𝜕𝑊𝑓′ 𝑖, 𝜃
𝑇= อ
𝜕𝜃
𝑖=𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

1 2 𝑑𝐿𝑠𝑠 1 2 𝑑𝐿𝑟𝑟 𝑑𝐿𝑠𝑟

= 𝑖𝑠 + 𝑖𝑟 + 𝑖𝑠 𝑖𝑟
2 𝑑𝜃 2 𝑑𝜃 𝑑𝜃

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2.4 Cylindrical Machine

 If the effects of the slots are neglected, the reluctance of the magnetic path is
independent of the position of the rotor

 Self-inductances are constant and no reluctance torque is produced

 The mutual inductance varies with position, and the produced torque becomes
𝑑𝐿𝑠𝑟
𝑇 = 𝑖𝑠 𝑖𝑟
𝑑𝜃

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2.4 Cylindrical Machine

 Assume
𝐿𝑠𝑟 = 𝑀𝑐𝑜𝑠𝜃

𝑖𝑟 = 𝐼𝑟𝑚 𝑐𝑜𝑠 𝜔𝑟 𝑡 + 𝛼

𝑖𝑠 = 𝐼𝑠𝑚 𝑐𝑜𝑠𝜔𝑠 𝑡

𝜃 = 𝜔𝑚 𝑡 + 𝛿

 Torque becomes 𝐼𝑠𝑚 𝐼𝑟𝑚 𝑀

𝑇=− [𝑠𝑖𝑛 𝜔𝑚 + 𝜔𝑠 + 𝜔𝑟 𝑡 + 𝛼 + 𝛿
4
+𝑠𝑖𝑛 𝜔𝑚 − 𝜔𝑠 + 𝜔𝑟 𝑡 − 𝛼 + 𝛿
+𝑠𝑖𝑛 𝜔𝑚 + 𝜔𝑠 − 𝜔𝑟 𝑡 − 𝛼 + 𝛿
+𝑠𝑖𝑛 𝜔𝑚 − 𝜔𝑠 − 𝜔𝑟 𝑡 + 𝛼 + 𝛿 ]

 Average torque can become nonzero when component of sin becomes zero

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Concept Check 2.4

Consider an electromagnetic system whose rotor consists of no winding, i.e., it is a

reluctance motor. Its stator current is is = Ism sinωt with stator inductance is as a function of
1
the rotor position as Lss = L0 + L2 cos2θ, as shown above. (Hint: 𝑠𝑖𝑛𝛼𝑐𝑜𝑠𝛽 = 2 [𝑠𝑖𝑛 𝛼 + 𝛽 +
1−𝑐𝑜𝑠2𝛼
𝑠𝑖𝑛(𝛼 − 𝛽ሻ] and 𝑠𝑖𝑛2 𝛼 = )
2

(a)Find an expression for the torque acting on the rotor (Ans: T = – Ism2L2 sin2θ sin2ωt)

(b)Let θ = ωmt + δ, elaborate the torque equation (Ans: T = –1/2 Ism2L2 [sin2(ωmt + δ) – 1/2
sin2((ωm + ω)t + δ) – 1/2 sin2((ωm – ω)t + δ)])

(c) Find the conditions for nonzero average torque and also an expression for the torque
(Ans: 0; Tavg = – 1/2 Ism2 L2 sin2δ; ± ω; Tavg = 1/4 Ism2 L2 sin2δ)

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Concept Check 2.4

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Concept Check 2.4

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Concept Check 2.4

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