Electromechanical Energy

Conversion
Nicolás Toro García
Máquinas II.
Electromechanical Energy Conversion
• The electromechanical energy conversion theory allows the
representation of the electromagnetic force or torque in terms of
device variables, such as the currents and the displacement of the
mechanical systems.

• An electromechanical system consists of an electric system, a

mechanical system, and a means whereby the electric and
mechanical systems can interact.
Conversión de energía por medio de campo
magnético
 Electromechanical Energy Conversion
• Consider the block diagram depicted below.

Coupling
Field
Electric Mechanic
System System

WE = We + WeL + WeS
Energy Energy transferred to the
supplied by Energy losses of the Energy stored in the
coupling field by the electric system. electric o magnetic field
an electric electric system
source Basically, I2R

WM = Wm + WmL + WmS
Energy Energy transferred to the Energy stored in the
Energy losses of the
supplied by a coupling field from the moving member and
mechanical system
mechanical mechanical system compliance of the
source mechanical system
6
Electromechanical Energy Conversion

• The energy transferred to the coupling field

can be represented by
WF = We + Wm
Total energy Energy transferred to Energy transferred to the
transferred to the the coupling field by the coupling field from the
coupling field electric system mechanical system

WF = Wf + WfL
Energy stored in the Energy dissipated as heat
electric system (I2R)

7
Electromechanical Energy Conversion
• The electromechanical systems obey the law of conservation of energy.

• Energy Balance in an Electromechanical System

WF = Wf + WfL = We + Wm

WfL WmL
WeL
WE
   WM

WeS Wf WmS
8
Electromechanical Energy Conversion

• If the losses are neglected, we will obtain the

following formula,

WF = We + Wm

Energy transferred to Energy transferred to the

the coupling field by the coupling field from the
electric system mechanical system

9
Electromechanical Energy Conversion
• Consider the electromechanical system given
below,
f
k
r L
i f
+ m
+
N fe
V ef

- - D

x
x0

10
Electromechanical Energy Conversion
• The equation for the electric system is-
di
V  ri  L  e f
dt
• The equation for the mechanical system is-
2
dx dx
f  m 2  D  K ( x  x0 )  fe
dt dt

11
Electromechanical Energy Conversion
• The total energy supplied by the electric
source is -
 di 
WE   V i dt    ri  L  e f  i dt
 dt 
• The equation for the mechanical system is-
dx
WM   f dx   f dt
dt

12
 Electromechanical Energy Conversion
• Substituting f from the equation of motion-

 
 
 
 2 
WM   
f dx   m 2  D
dx dx
 K ( x  x0 )  fe dx
  dt  dt       
 Kinetic energy Heat loss
Potential Energy
stored in the spring transferred to the 
Total energy

 stored in the mass due the friction coupling field 

 
(Wall) from the
mechanical
 system 

13
Electromechanical Energy Conversion

WM    f e dx
* Recall
W f  We  WM
W f   e f idt   f e dx
dW f  e f idt  f e dx

14
Electromechanical Energy Conversion
• If dx=0 is assumed, then
d
W f  WE   e f idt   i dt
dt
W f   id
dx  0

15
Electromechanical Energy Conversion
• Recalling the normalized magnetization curve,

 W f   id 

   (i, x)
d

Wc    di

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Electromechanical Energy Conversion

   (i, x)
 (i, x)  (i, x)
d  di  dx
i x
 (i, x)
Wf   i di
i dx 0

17
Electromechanical Energy Conversion

i  i ( , x )
i ( , x) i ( , x)
di  d  dx
 x
 i ( , x) 
Wc    di     d 
  
  dx0

18
 Electromechanical Energy Conversion
• From the previous relationship, it can be shown
that for one coil,
i*
W f   i d   L( x) i
0

i*
 1 1
Wf   d    L( X )i 2
2

0
L( x) 2 L( X ) 2
For a general case,

W f    i j d j
j 1 dx  0
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 Electromechanical Energy Conversion
• For two coupled coils,

1 1
W f  L11i 1  L12i1i2  L22i 2 2
2

2 2

• For the general case with n-coupled coils,

1 n n
Wf    L pqi p iq
2 p 1q 1

20
Electromagnetic Force
• Recalling,
f
k
r L
i f
+ m
+
N fe
V ef

- - D

x
x0

22
Electromagnetic Force

Wf  We  WM
Wf   e f idt   f e dx
dWf  dWe  f e dx
d
ef 
dt

23
 Electromagnetic Force
d
dWe  e f idt  i dt  i d
dt
dWf  i d  f e dx

W f  W f ( , x )
W f ( , x) W f ( , x)
dW f  d  dx
 x

W f ( , x) W f ( , x) W f ( ,  )
i fe   Te   
 

x
x
24
 Electromagnetic Force
W f   id 
Recall, Wc  i  W f ( , x) 
d

Wc    di
dWc (i, x)  d (i )  dW f ( , x)
dWc (i, x)  id  di  dW f ( , x)
i

Con dW f  id  f e dx
dWc (i, x)  di  f e dx

25
Electromagnetic Force

dWc (i, x)  di  f e dx

Wc (i, x) Wc (i, x)

dWc (i, x)  x di  i dx
i x

Wc (i, x) Wc (i, x) Wc (i, )

 fe  Te 
i x 
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Magnetic circuit for Example 3.4.
Figure 3.9
(a) Schematic magnetic-field electromechanical-energy-
conversion device.
(b) Simple force-producing device.
Figure 3.3
Schematic of an electromagnetic relay.
Figure 3.4
Graphical
interpretation
of energy and
coenergy in a
singly-excited
system.
Figure 3.10
Effect of x on the energy and coenergy of a singly-excited
device:
(a) change of energy with  held constant;
(b) change of coenergy with i held constant.
Figure 3.11
Magnetic system of Example 3.6.
Figure 3.12
Multiply-excited magnetic energy storage system.
Figure 3.13
 Electromechanical Energy Conversion
• For two coupled coils,

1 1
Wc  L11i 1  L12i1i2  L22i 2 2
2

2 2

• For the general case with n-coupled coils,

1 n n
Wc   L pq i p iq
2 p 1 q 1

34
Multiply-excited magnetic
system for Example 3.7.
Figure 3.15
Plot of torque components for the multiply-excited system
of Example 3.7.
Figure 3.16
(a) Magnetic circuit with permanent magnet and movable
plunger.
(b) Fictitious winding added.
Figure 3.17
Integration path for calculating Wfld (if = 0, x )
in the permanent magnet system of Fig. 3.17.
Figure 3.18
Magnetic circuit for
Example 3.8.
Figure 3.19
Magnetic circuit for Practice Problem 3.8.
Figure 3.20
(a) Generic magnetic circuit containing a section of linear,
permanent-magnet material.
(b) Generic magnetic circuit in which the permanent-
magnet material has been replaced by a section of
linear magnetic material and a fictitious winding.
Figure 3.21
(a) Actuator for Example 3.9.
(b) Equivalent circuit for the actuator with the permanent
magnet replaced by linear material and an equivalent
winding carrying(Ni)equiv ampere-turns.
Figure 3.22
Model of a singly-excited electromechanical system.
Figure 3.23
Solenoid magnet for Example 3.10.
Figure 3.24
Two-coil rotor
for Problem
3.1.
Figure 3.25
Actuator with rotating vane for Problem 3.7. (a) Side view.
(b) End view.
Figure 3.26
An RC circuit for Problem 3.8.
Figure 3.27
An RL circuit for Problem 3.9.
Figure 3.28
Plunger actuator for Problem 3.12.
Figure 3.29
Electromagnet lifting an iron slab (Problem 3.14).
Figure 3.30
Conductor in a slot
(Problem 3.17).
Figure 3.31
Solenoid coil (Problem 3.18).
Figure 3.32
Lossless electric energy storage system.
Figure 3.33
Capacitor plates (Problem 3.20).
Figure 3.34
Schematic electrostatic
voltmeter (Problem 3.21).
Figure 3.35
Two-winding
magnetic
circuit for
Problem 3.22.
Figure 3.36
Loudspeaker for Problem 3.25.
Figure 3.37
Magnetic support system for Problem 3.27.
Figure 3.38
Central core of loudspeaker of Fig. 3.37 with winding
1 replaced by a permanent magnet (Problem 3.28).
Figure 3.39
Permanent-magnet system for
Problem 3.29.
Figure 3.40