Electromagnetics and Applications, Fall 2005

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6.013/ESD.013J Electromagnetics and Applications, Fall 2005
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6.013, Electromagnetics and Applications

Prof. Markus Zahn, November 8 & 10, 2005
Lecture 16 & 17: Electroquasistatic and Magnetoquasistatic Forces
I. EQS Energy Method of Forces
a) Circuit Point of View
Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.
q = C ( ) v
i=
dC ( )
dq
d
dv
C ( ) v = C ( )
=
+v
dt
dt
dt
dt
= C ()
Pin = vi = v
dv
dC d
+v
dt
d dt
d
d
dC d
C ( ) v = C ( ) v
+ v2
dt
dt
d dt
= C ()
d
dt
d
dt
1 2 dC d
1
2
2 C ( ) v + 2 v d dt
dW
dt
W=energy
storage

Prof. Markus Zahn
1 2
2 dC d
2 v + v d dt
d
dt
mechanical power
(force velocity)
Lecture 16 & 17
Page 1 of 23
W=
1
1
dC
C ( ) v2 , f = v2
2
2
d
1 q2 dC
1
d 1
= q2
2
2 C ( ) d
2
d C ( )
b) Energy Point of View

vi = v
dq dWe
d
=
+ f
dt
dt
dt
vdq = dWe + f d dWe = vdq f d
f =
We
;v=
q= cons tan t
We
q
= cons tan t

0
We =
f d
q=0
v=
vdq
= cons tan t
q
C ()
We =
=cons tan t
f=
we
q
1 q2
dq =
2 C ()
C ()
=
q = cons tan t
1 2 d 1 1 q2 dC ( )
q
=
2
d C ( ) 2 C2 ( ) d

Prof. Markus Zahn
1 2 dC ( )
v
2
d
Lecture 16 & 17
Page 2 of 23
II. Forces In Capacitors
From Electromagnetic Field Theory: A Problem Solving Approach, by Markus Zahn, 1987. Used with permission.
s = +Ex =
+v
x
q = s A = Ex A =
(Lower electrode)
vA
x
= C ( x ) v
C (x) =
From Electromagnetic Field Theory: A Problem Solving Approach, by Markus Zahn, 1987. Used with permission.

Prof. Markus Zahn
Lecture 16 & 17
Page 3 of 23
a) Coulombic force method on upper electrode:

1
1
1 v2
fx = sEx A = E2x A =
A
2
2
2 x2
1
because E in electrode=0, E outside electrode = Ex
2
Take average
Energy method: C ( x ) =
fx =
1 2 dC 1 2
d 1
1 v2A
v
= v A
=
2
dx
2
dx x
2 x2
v=
q
qx
1 A q2 x2
1 q2
fx =
=
=
2 x2 2 A 2
2 A
A
C (x)
b)
A
1
1
1
A
=
; Ca = 0 , Cb =
+
C ( ) Ca Cb
b
+
0 A A
+ 0b
0 A
1
q2
1 2 d 1
d
1 q2
f = q
b) =
= 2
(
0
0 A d
2
d C ( )
2 0 A
f =
1 2 d
1
d 0 A
1
v
C ( ) = v2
=
2
d
2
d + 0b
2

Prof. Markus Zahn
v220 A
( + 0b )
Lecture 16 & 17
Page 4 of 23
III. Energy Conversion Cycles

Prof. Markus Zahn
Lecture 16 & 17
Page 5 of 23
vdq = dw
f d
vdq = f d
vdq, f d > 0
Electric energy in, mechanical energy out.
vdq, f d < 0
Electric power out, mechanical energy in.

B
vdq = vdq + vdq = 2 C (0) V

A
2
0
1
C (L ) V 2
2
C ( 0 ) V0 = C (L ) V
vdq =
C (0)
C (L )
C (L ) C ( 0 ) 1
1
= C ( 0 ) V2
C ( 0 ) V02 1
0
2
C 2 (L ) 2
A L + b
C (0)
1
C (L )
( A )
0
1
2
vdq = C ( 0 ) V0 1
L + b

1
= C ( 0 ) V02
0b
2
L
< 0 (electric energy out)
0 b
fd = f L
0
2
2
A
1 q2
1 C ( 0 ) V0
1
f0 = +
=+
= + C ( 0 ) V02
0 A
2 0 A
2
2
b0 A
fd = 2 C (0) V
2
0
L
=
0b
vdq
fd < 0 mechanical energy out is negative means mechanical energy is put

in
Mechanical energy is converted to electrical energy
Prof. Markus Zahn
Lecture 16 & 17
Page 6 of 23
IV. Force on a Dielectric Material
C () =
f =
0 (b ) c
a
c
a
1 2 dC ( )
v
2
d
1 2c
v
( 0 )
2
a
In equilibrium:
Mass density
1 2c
f = v
( 0 ) = g a c
2
a
fluid weight
2
1 v ( 0 )
2
ga2

Prof. Markus Zahn
Lecture 16 & 17
Page 7 of 23
a r
2
1 v ( 0 )
=
2 g2r2
V. Physical Model of Forces on Dielectrics
) ()
f dipole = q E r + d E r
()
() ()
= q E r + d i E r E r
=q
i E
= pi E
Kelvin force

Prof. Markus Zahn
Lecture 16 & 17
Page 8 of 23

Prof. Markus Zahn
Lecture 16 & 17
Page 9 of 23
VI. MQS Energy Method of Forces
A. Circuit Approach
v=
dL ( )
d
d
di
L
=
( ) i = L ( ) + i
dt
dt
dt
dt
p = vi = L ( ) i
= L ()
vi=
dL ( )
di
+ i2
dt
dt
d 1 2 2 dL ( )
i +i

dt 2
dt
1 2 dL ( )
1
2
2 L ( ) i + 2 i
dt
d
dt
d 1
1 dL ( ) d
L ( ) i2 + i2
dt 2
d dt
2
dWm
d
1
+ f
Wm = L ( ) i2 ,
dt
dt
2
= L ( ) i f =
f =
1 2 dL ( )
i
2
d
1 2 dL ( )
i
2
d
1 2 dL ( )
2 L2 ( ) d
1 2 d 1
2
d L ( )

Prof. Markus Zahn
Lecture 16 & 17
Page 10 of 23
B. Energy Method
vi = i
dWm
d
d
+ f
=
dWm = i d f
d
dt
dt
dt
f =
Wm
i=
Wm
= constant
=constant
0
Wm =
=0
f =
i d
= cons tan t
i=
Wm =
f d +
L ( )
2
d =
L ( )
2 L ( )
= cons tan t
Wm
1 2 d 1
2
d L ( )
1 2
1 dL ( )
2
2
L ( ) d
= cons tan t

Prof. Markus Zahn
1 2 dL ( )
i
2
d
Lecture 16 & 17
Page 11 of 23
VII. Force on a Wire over a Perfectly Conducting Plane
L () =
0D
ln +
2
R

R 1

[See Haus & Melcher p. 343,

take of Eq. (12) which is the
inductance between 2 cylinders]
A. Energy Method
f =
i2 D
1 2 dL ( )
i
= 0
2
d
4 R
( R )
B. Method of Images Approach with Lorentz Force

Prof. Markus Zahn
Lecture 16 & 17
Page 12 of 23
0i
i2 D
0i2 D
f = iD
= 0
=
2 (2a )
4 a
4 2 R 2
C. Demonstration: Steady State Magnetic Leviation
VIII. One Turn Loop

Prof. Markus Zahn
Lecture 16 & 17
Page 13 of 23
From Electromagnetic Field Theory: A Problem Solving Approach,

by Markus Zahn, 1987. Used with permission.
Hz =
I
,
D
= 0H z x l , L ( x ) =
0 x l
D
0 x l
I
D
A. Energy Method
fx =
1 2 dL ( x )
1 l
I
= I2 0
2
dx
2
D
B. Lorentz Force Law

f=
JB
dV

Prof. Markus Zahn
Lecture 16 & 17
Page 14 of 23
Model surface current K y =

Jy =
I
D
H = J
fx =
I
as volume current of small thickness
D
Hz
I
I
Hz =
= Jy =
( x ( + ))
x
D
D
0 Hz
dx dy dx
0 I
( x ( + ) ) l D dx
I
D
x=
0 I2 l x 2
( + ) x
2
D 2
x=
0 I2 l ( + )
2
2
(
)
(
)
2
2
D 2
0 I2 l 1
2
2
+
( + ) +
2
2
D 2
0 I2 l 1 2

D 2 2
=+
1 0 I2 l
f=
2 D
2 K B
dS
comes from integrating uniform volume

current over small thickness
General formula: f = K B av dS
S
0
For our case: B av
B
+ B air
1
= metal
= B air
2
2

Prof. Markus Zahn
Lecture 16 & 17
Page 15 of 23
IX. Lifting of Magnetic Fluid
A. Energy Method Approach

H=
Ni
S
= H
+ 0 (l ) d
Nd
+ 0 (l ) i
s
= N =
L () =
f =
N2 d
+ 0 (l ) i
s
N2 d
+ 0 (l )
=
i
s
1 2 dL
1 N2 i2 d
i
=
( 0 )
2 d
2
s
f = m g h d s =
h=
1 N2 i2 d
2 s2 m g d
1 N2 i2 d
( 0 )
2
s
( 0 )

Prof. Markus Zahn
Lecture 16 & 17
Page 16 of 23
B. Magnetization force
FX = 0 M i Hx
Hx
Hx
Hx
= 0 Mx
+ My
+ Mz
x
y
z
=0
z
H = J = 0
Hy
Hx
=
y
x
Hy
Hx
FX = 0 Mx
+ My
x
x
1 H
B = H = 0 H + M M =

Hy
Hx
Fx = 0
1 Hx
+
1 Hy
x 0
x
0

1
2
2
= 0
1
2 Hx + Hy
fx = Fx dx dy dz
( 0 )
2
x = y =0 z =0
( 0 ) ds
2
( 0 ) d s
2
(H
2
x
Hx 2 + Hy 2 dx dy dz
x
+ Hy 2
x =
N2i2
s2
1
N2i2
( 0 ) d
2
s

Prof. Markus Zahn
Lecture 16 & 17
Page 17 of 23
X. Magnetic Actuator
H i ds = H ( x + a ) + H ( a x ) = N i
1
11
+ N2i2
0H1 A1 = 0H2 A2 H1 =
H2 A2
A1
A
H2 ( a x ) + ( a + x ) 2 = N1i1 + N2i2
A1
H2
=
(N1i1 + N2i2 ) A
1
A1 ( a x ) + ( a + x ) A2

Prof. Markus Zahn
Lecture 16 & 17
Page 18 of 23
H1 =
(N1i1 + N2i2 ) A2
A1 ( a x ) + ( a + x ) A2
1 = N1 0 H1 A1 =
0 N1 A1 A2 (N1i1 + N2i2 )
2 = N2 0 H2 A2 =
A1 ( a x ) + ( a + x ) A2
0 N2 A1 A2 (N1i1 + N2i2 )
A1 ( a x ) + ( a + x ) A2
1 = L1 ( x ) i1 + M ( x ) i2
2 = M ( x ) i1 + L 2 ( x ) i2
L1 ( x ) =
0 A1 A2 N12
0 A1 A2 N22
0 A1 A2 N1 N2
; L2 ( x ) =
; M (x) =
A1 ( a x ) + ( a + x ) A2
A1 ( a x ) + ( a + x ) A2
A1 ( a x ) + ( a + x ) A2
= L1 ( x ) L 2 ( x )
dw = i1 d1 + i2 d2 f dx
d (i11 + i2 2 w ) = 1 di1 + 2 di2 + f dx
w (coenergy)
dw ' = 1 di1 + 2 di2 + f dx
f=+
w '
x
i1 ,i2 cons tan t

Prof. Markus Zahn
Lecture 16 & 17
Page 19 of 23
dw ' =
f dx +
1
i1 =i2 = 0
dw ' =
f = +
1 di1 +
L1 ( x ) i1 di1 +
i2 =0
x=constant
2
i2 = 0
x=cons tan t
2 di2
i1
=cons tan t
x=cons tan t
(M ( x ) i
+ L 2 ( x ) i2 ) di2
i1 =constant
x = cons tan t
1
1
L1 ( x ) i12 + M ( x ) i1i2 + L 2 ( x ) i22
2
2
w '
x
=
i1 ,i2
1 2 dL1 1 2 dL 2
dM
+ i2
+ i1i2
i1
2
dx 2
dx
dx
XI. Synchronous Machine

Prof. Markus Zahn
Lecture 16 & 17
Page 20 of 23
as = L s ias + Mir cos

bs = L s ibs + Mir sin
r = L r ir + M (ias sin + ibs sin )
dw = ias d as + ibs d bs + ir d r T e d
d ( w ias as ibs bs ir r ) = dw '

w' = ias as + ibs bs + ir r w
coenergy
dw' = as dias + bs dibs + r dir + T e d

Prof. Markus Zahn
Lecture 16 & 17
Page 21 of 23
w'=
T d +
ias =0
ibs =0
ir = 0
as dias +
= cons tan t
ibs =0
ir = 0
ias =0
ibs =0
ir = 0
T d + L s ias dias + L s ibs dibs +
w' =
r dir
= cons tan t
ias = cons tan t
ibs = cons tan t
0
w'=
bs dibs +
= cons tan t
ias = cons tan t
ir =0
=cons tan t
ias = cons tan t
ibs = cons tan t
L
r ir + M (ias cos + ibs sin ) dir
1
1
1
L s ias2 + L s ibs2 + L r ir2 + Mir (ias cos + ibs sin )
2
2
2
Te = +
w '
ias ,ibs ,ir
= Mir ( ias sin + ibs cos )
Balanced 2 phase currents

ias = Is cos t , ibs = Is sin t , ir = Ir , = mt +
T e = M Ir Is ( cos t sin + sin t cos ) = M Ir Is sin ( t )
= M Ir Is sin ( ( m ) t )
< T e > 0 = m
T e = M Ir Is sin
d2
d
= Te
dt
dt2

Prof. Markus Zahn
Lecture 16 & 17
Page 22 of 23
= m t + 0 + ' ( t ) ,
' ( t ) << 0
M Ir Is sin 0 = 0
sin 0 =
M Ir Is
Pullout when sin 0 = 1 = M Ir Is

Hunting transients: sin ( 0 + ') sin 0 cos '+ cos 0 sin ' sin 0 + ' cos 0
J
d2 '
= M Ir Is cos 0 ' ' = (M Ir Is cos 0 + ) '
dt
2
d2 '
+ 02 ' = 0 ;
dt2
02 = M
Ir Is cos 0 + J
' = A1 sin 0 t + A2 cos 0 t
Stable if 02 > 0
( 0 real)
Unstable if 02 < 0
( 0 imaginary)

Prof. Markus Zahn
Lecture 16 & 17
Page 23 of 23

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Please use the following citation format:

6.013, Electromagnetics and Applications

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

b) Energy Point of View

vdq = dWe + f d dWe = vdq f d

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

II. Forces In Capacitors

6.013, Electromagnetics and Applications

a) Coulombic force method on upper electrode:

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

III. Energy Conversion Cycles

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

Electric energy in, mechanical energy out.

Electric power out, mechanical energy in.

vdq = vdq + vdq = 2 C (0) V

fd < 0 mechanical energy out is negative means mechanical energy is put

IV. Force on a Dielectric Material

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

V. Physical Model of Forces on Dielectrics

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

VI. MQS Energy Method of Forces

6.013, Electromagnetics and Applications

6.013, Electromagnetics and Applications

VII. Force on a Wire over a Perfectly Conducting Plane

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

[See Haus & Melcher p. 343,

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

B. Method of Images Approach with Lorentz Force

C. Demonstration: Steady State Magnetic Leviation

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

VIII. One Turn Loop

From Electromagnetic Field Theory: A Problem Solving Approach,

B. Lorentz Force Law

6.013, Electromagnetics and Applications

Model surface current K y =

comes from integrating uniform volume

6.013, Electromagnetics and Applications

IX. Lifting of Magnetic Fluid

A. Energy Method Approach

6.013, Electromagnetics and Applications

6.013, Electromagnetics and Applications

6.013, Electromagnetics and Applications

i1 ,i2 cons tan t

6.013, Electromagnetics and Applications

XI. Synchronous Machine

6.013, Electromagnetics and Applications

as = L s ias + Mir cos

d ( w ias as ibs bs ir r ) = dw '