Unit 3: Electromechanical Energy Conversion

Unit 3
Energy in magnetic systems field energy, coenergy and mechanical force

singly and multiply excited systems.

Syllabus
Introduction
Unit 3. Electromechanical Energy Conversion
Electrical Energy
Advantages:
High Efficiecncy
Suitable for long distance transmission
Can be able to link with other forms of energy
Electromechanical System:
Electrical Enenrgy Mechanical Energy
Electromechanical System
Electromechanical Energy Conversion
Devices
Category I
Signal Producing Devices like microphones,
sensors, speakers etc.,
Category II
Force producing devices like solenoids, relays,
electromagnets etc.,
Category III
Continuous energy conversion equipment like
motors, generators.

Electromechanical Energy Conversion
Concept
Motor:

Generator:

Energy Balance Equation:

Energy Flow:

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+
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=
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heat into
Converted Energy
field) magnetic (in
Stored Energy Total
Output
Energy Mechanical
Input Energy
Electrical Total
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+
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+
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=
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heat into
Converted Energy
field) magnetic (in
Stored Energy Total
Output
Energy Electrical
Input Energy
Mechanical Total
} } } }
+ + =
heat field magnetic output input
dW dW dW dW
Magnetic System
Types of Magnetic System:
i. Single excited systems
Ex: Electromagnetic Relay, Reluctance Motor, Toroid
Coil, Hysteresis Motor, Solinoid coil, etc.,
ii. Multiple excited systems
Ex: Synchronous motor, Alternators, DC Shunt
Machines, Loud Speakers, etc.,
Energy in Magnetic System

i
v
R
Hinge
Flux
e
N
Core
Armature
x
Flux linkage, ---(1)

EMF induced due to flux linkage, ---(2)

By applying KVL in the circuit, ---(3)

Electrical Energy applied, ---(4)
Assuming the applied energy stored in magnetic field,
----(5)
where, dW
f
is the change in field energy in time dt.

Substituting e from Eqn.(2),

where, F=Ni is the MMF.
| N =
dt
d
e

=
dt
d
iR e iR v

+ = + =
dt ei dW
e
=
dt ei dW dW
e f
= =
f e
dW Fd iNd id dt
dt
d
i dW = = = = = | |

Energy absorbed by the field for finite change in flux linkages,

--- (6)
Energy absorbed by the magnetic system to set up flux ,
---- (7)

Practically, may vary according to i or i may vary according to .
So, mathematically,
i=i(,x) -Independent variable
= (i,x) i Independent variable
Depending upon the independent variable, the stored field energy is also
the function of i,x or ,x.
i.e., W
f
=W
f
(,x) or W
f
(i,x) --(8)
( ) ( )
} }
= = A
2
1
2
1
|
|
| | d F d i W
f
( ) ( )
} }
= =
|
| |
0 0
d F d i W
f
i- Relation ship
i- Relation ship is linear for
non-saturated magnetic system.
As per Eqn (7),

While,

The co-energy has no physical
significance; but it is importanct
in obtaining magnetic forces.

Concept of Co-energy
( ) Energy Field OABO Area
0
= = =
}
d i W
f
energy Co ' OABO, Area
0
= =
}
di W
f
For i- linear relationship without magnetic
saturation,
Area OABO=Area OACO
i.e., W
f
=W
f

or W
f
+W
f
=Area OABO+Area OACO= i

where,
) 9 (
2
1
2
1
2
1
2
> = = = | | S F i W
f
|
F
S =
( ) ( ) ) 13 (
2
1
, '
2
> = i x L x i W
f
( )
( )
) 12 (
2
1
,
2
> =
x L
x W
f


Self inductance,

The co-energy,

From the equation (10), it is found that W
f
is a function of independent
variables and x.

The Co-energy is the function of two independent variables i and x,

L
i or Li
i
L

= = =
( ) ) 10 (
2
1
2
1
) (
2
1
2
1
2
1
2
2
> = = = = = Joules
L
i W or Li Li i i W
f f

( )
|
.
|
\
|
= > = = = =
F
P Joules PF PF F F i W
f
|
| ) 11 (
2
1
2
1
2
1
2
1
'
2
Mechanical Force
Magnetic field produces a mechanical force, F
f
.
The force F
f
, drives the mechanical system consisting of active
and passive mechanical elements.
Let the armature moves a distance of dx in positive direction.
The mechanical work done by the magnetic field is,

Based on energy balance equation,

In such electromechanical systems the independent variables
can be (i,x) or (,x)

) 14 ( > = dx F dW
f m
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=
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|
\
|
f e m
dW Energy, Stored
in Change
dW Input,
Energy Electrical
dW Output, Energy
Mechanical
) 15 ( > =
f f
dW id dx F
Mechanical Force
Case I: Independent variables are (i,x) i.e, current constant.
Thus changes as i and x. Hence,
= (i,x)

From Eqn (8),

Using Eqns. (15), (16) and (17),
) 16 ( >
c
c
+
c
c
= dx
x
di
i
d

( ) x i W W
f f
, =
( ) 17 >
c
c
+
c
c
= dx
x
W
di
i
W
dW
f f
f
) 18 ( >
|
|
.
|
\
|
c
c
c
c
+
|
|
.
|
\
|
c
c
c
c
=
|
|
.
|
\
|
c
c
+
c
c
|
.
|
\
|
c
c
+
c
c
=
di
i
W
i
i dx
x
W
x
i dx F
dx
x
W
di
i
W
dx
x
di
i
i dx F
f f
f
f f
f

Mechanical Force
As there is no term of di on LHS, it should be zero on RHS.

This is the expression for the mechanical force developed by the
magnetic coupling field.

0 =
|
|
.
|
\
|
c
c
c
c
di
i
W
i
i
f
dx
x
W
x
i dx F
f
f
|
|
.
|
\
|
c
c
c
c
=

( )
( )
) 19 (
,
,
>
|
|
.
|
\
|
c
c
c
c
=
x
x i W
x
x i
i F
f
f

( ) ( ) ( ) ) 20 ( , , >
c
c
= x i W x i i
x
F
f f

Mechanical Force
From the fig,

Thus for independent variables (i,x),

Current is kept constant. Such a system is
current excited system.

f f
W i W = '
( )
) 22 (
, '
>
c
c
=
x
x i W
F
f
f
( ) ( ) ( ) ( ) 21 , , , ' > = x i W x i i x i W
f f

Mechanical Force
Case II: Independent variables are (,x) i.e., is constant.
Thus i changes as and x hence,

Using Eqn.(23) and (15),

No d on LHS, so

) , ( x i i =
) , ( x W W
f f
=
) 23 ( >
c
c
+
c
c
= dx
x
W
d
W
dW
f f
f

dx
x
W
d
W
id dx F
f f
f
c
c
c
c
=
) 24 ( >
|
|
.
|
\
|
c
c
+
c
c
=
d
W
i dx
x
W
dx F
f f
f
( )
c
c
= =
|
|
.
|
\
|
c
c
x W
i d
W
i
f f
,
0
Mechanical Force

This is the expression for system in which is independent variable.
i.e., flux producing voltage is constant. Such a system is voltage
controlled system.
In rotational Systems, the force is replaced by torque and linear
displacement dx is replaced by angular displacement d.

And

( )
) 25 (
,
>
c
c
=
x
x W
F
f
f

( )
) 26 (
, '
>
c
c
=
u
u i W
T
f
f
( )
) 27 (
,
>
c
c
=
u
u
f
f
W
T
Multiple Excited System
For continuous energy
conversion devices like
alternators, synchronous
motors etc, multiple excited
magnetic systems are used.
Practically, doubly excited
systems are widely used.
Fig shows doubly excited
system with two independent
sources.
i
1
= Current due to source 1
i
2
= Current due to source 2

1
=Flux linkages due to i
1

2
=Flux linkages due to i
2
- Angular displacement of rotor
T
f
=Torque developed

Due to two sources, there are two sets of three independent
variables i.e., (
1,

2,
) or (i
1,
i
2,
).

Case I: Independent variables are (
1,

2,
). i.e.,
1
and
2
are
constants.
From Eqn(27),

Currents are variables.
While the field energy is,
( )
) 1 (
, ,
2 1
>
c
c
=
u
u
f
f
W
T
( ) ) 2 ( , ,
2 1
0
2 2
0
1 1 2 1
> + =
} }

u d i d i W
f
Let,
L
11
-Self inductance of rotor
L
22
-Self inductance of stator
L
12
=L
21
-Mutual inductance between stator and rotor

1
=L
11
i
1
+L
12
i
2
---> (3)

2
=L
21
i
1
+L
22
i
2
----> (4)
Multiply Eqn. (3) by L
12 ,
Multiply Eqn. (4) by L
11 ,
(3) (4),
2 22 11 1 12 11 2
2
12 1 12 11 2 11 1 12
i L L i L L i L i L L L L + =
2 22 11 1 12 11 2 11
i L L i L L L + =
( )
2 22 11
2
12 2 22 11 2
2
12 2 11 1 12
i L L L i L L i L L L = =
( ) ( )
) 5 (
2 22 1 12 2
22 11
2
12
11
1
22 11
2
12
12
2
> + =
|
|
.
|
\
|
|
|
.
|
\
|
= | |
L L L
L
L L L
L
i
2
2
12 1 12 11 1 12
i L i L L L + =
Similarly,

Using i
1
and i
2
in Equation (2),
) 6 (
2 12 1 11 1
> + = | | i
2
12 22 11
12
12 21
2
12 22 11
11
22
2
12 22 11
22
11
,
L L L
L
L L L
L
L L L
L
where
= =
=
| |
|
|
( ) ( ) ( )
} }
+ + + =
2 1
0
2 2 22 1 12
0
1 2 12 1 11 2 1
, ,

| | | | u d d W
f
Integrating the above equation, we get,

The self and mutual inductances of the coils are dependent on the
angular position of the rotor.

( ) ) 7 (
2
1
2
1
, ,
2
2 22 2 1 12
2
1 11 2 1
> + + = | | | u
f
W
Case II: Independent of variables i
1
,i
2
,. i.e, i
1
,i
2
are constants.

The co-energy is given by,

Using
( )
) 8 (
, , '
2 1
>
c
c
=
u
u i i W
T
f
f
( ) ) 9 ( , , '
2 1
0
2 2
0
1 1 2 1
> + =
} }
i i
f
di di i i W u
2 22 1 12 2 2 12 1 11 1
and i L i L i L i L + = + =
( ) ( ) ( )
} }
+ + + =
2 1
0
2 2 22 1 12
0
1 2 12 1 11 2 1
, , '
i i
f
di i L i L di i L i L i i W u
( ) ) 10 (
2
1
2
1
, , '
2
2 22 2 1 12
2
1 11 2 1
> + + = i L i i L i L i i W
f
u
Force in a doubly excited system:

where, i
1
and i
2
are constants which are the stator and rotor currents
respectively.

( ) u
u
, ,
'
2 1
i i
W
F
f
c
c
=
( )
|
.
|
\
|
+ +
c
c
=
c
c
=
2
2 22 2 1 12
2
1 11 2 1
2
1
2
1
, , ' i L i i L i L i i W F
f
u
u
u
u u u c
c
+
c
c
+
c
c
=
22
2
2
12
2 1
11
2
1
2
1
2
1 L
i
L
i i
L
i F

Unit 3: Electromechanical Energy Conversion

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Unit 3

Energy in magnetic systems field energy, coenergy and mechanical force

Energy in Magnetic System

Energy in Magnetic System

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