Electrical Machines

CHAPTER-1
Principles of Electromechanical
Energy Conversion
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  INTRODUCTION
As we known that energy can be neither created nor destroyed.

We can only change its forms appropriate energy conversion processes
(devices).

For energy conversion between electrical and mechanical forms,

electromechanical devices are developed.

In general, electromechanical energy conversion devices can be divided into

three categories:

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1. Transducers (for measurement and control):- These devices transform the signals
of different forms, for e.g; microphones, pickups, and speakers.

2. Force producing devices (linear motion devices):- These type of devices produce
forces mostly for linear motion drives, such as relays, solenoids (linear actuators),
and electromagnets.

3. Continuous energy conversion equipment:- These devices operate in rotating

mode. A device would be known as a generator & motor.

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 Salient aspects of conversion
When we say that salient aspects of conversions involves only the rotary system.

Some aspects of an electrical machines are motoring and generators.

Mechanical input to electrical output the devices is generating.

Electrical input to mechanical output the devices is motoring.

Almost all electrical motors and generators convert energy from one form to another
through the action of magnetic field.

Magnetic fields- produced by the flow of electric current in a conductors.

A change magnetic field causes current flow in any closed ckt linked by the magnetic
field.
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 An electromechanical system consists of
Electrical subsystem :- electric circuits such as winding.
Described in terms of, Voltages and currents (V, I).

Governed by the basic circuital laws:- Ohm's law, KCL and KVL.

Magnetic subsystem or magnetic field:- in the magnetic cores and air gaps.
Described in terms of, magnetic flux, flux density, and field strength, (Ø, β and H).

Governed by the Maxwell's equations.

Mechanical subsystem :- mechanically movable parts such as a plunger in a linear actuator and a
rotor in a rotating electrical machine.

Described in terms of, a positions, velocities, and accelerations.

Governed by the Newton's laws of motion. 5

 Energy Balance
For an electromechanical system are important for an energy conversion process.

The following terms are involved:-

Electrical part (armature terminal):- receiving/delivering electrical energy.

Mechanical part (shaft):- receiving/delivering mechanical energy.

Coupling field:- magnetic field or electrical field.

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The simple energy balance equation can be written as:

Δ in EE = Δ in ME+Δ in field E+ energy conversion in to heat (loss in winding)

Whereas: Δ in EE: input energy from electrical source

Δ in ME: output mechanical energy

Δ in field E: stored energy in magnetic field.

In the above equation electrical and mechanical term have +ve value for motoring action

Those terms have -ve value for the generator action.

Conversion of energy into heat occurs in winding as ohmic loss at electrical terminal

Friction & windage loss at mechanical terminal.

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 Determination of magnetic force & torque from energy.
For a lossless magnetic storage system magnetic stored energy (Wfld) is a state function
defined uniquely by the value of the independent state variable λ & x.

whereas:- λ: magnetic flux linkage and x :displacement (position).

EM energy conversion device

Ffld =magnetic force & e = induced emf

force produce device:-

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Consider a singly excited linear actuator as shown the above.

The winding resistance is R.

At a certain time instant t, we record that the terminal voltage applied to the
excitation winding is v, the excitation winding current i.

The position of the movable plunger x, and the force acting on the plunger Ffld with
the reference direction chosen in the positive direction of the x axis.

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After a time interval dt & the plunger has moved for a distance dx under the action of the
force Ffld.

The mechanical done by the force acting on the plunger during this time interval is thus.

Energy balance we have, (since the system is lossless)

whereas:- dwe = differential EE input.

dwfld =differential magnetic field stored energy.

dwm = differential ME output.

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The amount of electrical energy that has been transferred into the magnetic field and
converted into the mechanical work during this time interval.

Can be calculated by subtracting the power loss dissipated in the winding resistance from
the total power fed into the excitation winding as:-

But the induce emf in a ckt is directly proportional to the time rate of change of the
magnetic flux linkage.

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The force can also be expressed in terms of current i by substituting λ=L(x) i.

The singly excited linear actuator mentioned above becomes a singly excited
rotating actuator.

 If the linearly movable plunger is replaced by a rotor.

Through a derivation similar to that for a singly excited linear actuator.

The torque acting on the rotor can be expressed as the negative partial derivative
of the energy stored in the magnetic field.
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 Determination of magnetic force & torque from co-energy.

In the diagram below, it is shown that the magnetic energy is equivalent to the
area above the magnetization or λ-i curve.

 Mathematically if we define the area underneath the magnetization curve as the

co-energy (which does not exist physically),

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Example-1 The inductance of a solenoid is measured as a function of x and given by

Find the force as a function of x for a current of 0.75 A

Example-2 Consider a plunger whose inductance varies as

find the force on the plunger as a function of x when the coil is drive by controller which a
current as a function of x of the form

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• Example:- The magnetic circuit of Fig. below consists of a single-coil stator and an oval
rotor. Because the air-gap is no uniform, the coil inductance varies with rotor angular
position, measured between the magnetic axis of the stator coil and the major axis of the
rotor, as

where Lo= 10.6 mH and L2 = 2.7 mH. Note the second-harmonic variation of inductance
with rotor angle θ. This is consistent with the fact that the inductance is unchanged if the
rotor is rotated through an angle of 180°. Find the torque as a function of θ for a coil current
of 2 A 24
 Doubly Excited Rotating magnetic field system

Doubly excited MF system consist of two electrical terminals and one mechanical terminal
is shown in Fig.
Below represents a system with rotary motion, and the mechanical terminal variables are
torque Tfld and angular displacement θ.

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Since there are three terminal, the system must be described in terms of three independent
variable;
These can be the mechanical angle θ along with the flux linkage and , current
and .

 direct analogy to the previous development for a singly

excited system.

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The energy Wfld can be found by integrating for the above equation.

this is most conveniently done by holding & fixed at zero & first integrating over
θ; under these conditions, Tfld is zero, & thus this integral is zero.

 One can then integrate over , (while holding zero) & finally over . Thus

In a magnetically-linear system, the relationships between λ and i can be specified in terms
of inductances:

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Where the inductances & D depends on the angular displacement θ.

Similar to single excited system, in doubly excited system the co-energy function

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the co energy can be found as

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The torque can be d/ned as follow;

The derivation presented above for angular displacement can be repeated in

an analogous fashion for the systems with linear displacement system.

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Example-4: in the system shown in Fig. the inductances in henrys are given as

Find and plot the torque for current and

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