Electromechanical Energy Conversion
Electromechanical Energy Conversion
Electromechanical Energy Conversion
Conversion
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.
2
Electromechanical Energy Conversion
•Consider the block diagram depicted below.
Coupling
Electric Field Mechanic
System System
WE = We + WeL + WeS
3
Electromechanical Energy Conversion
• The energy transferred to the coupling field can be represented by
WM = Wm + WmL + WmS
Energy Energy transferred to the
Energy losses of the Energy stored in the
supplied by a coupling field from the
mechanical system moving member and
mechanical mechanical system compliance of the
source
mechanical system
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)
4
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
5
Electromechanical Energy Conversion
• If the losses are neglected, we will obtain the following formula,
WF = We + Wm
6
Electromechanical Energy Conversion
• Consider the electromechanical system given below,
f
k
r L
i f
+ m
+
N fe
V ef
- - D
x
x0
7
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
8
Electromechanical Energy Conversion
• The total energy supplied by the electric source is -
di
WE = V i dt = ri + L + e f i dt
dt
9
Electromechanical Energy Conversion
• Substituting f from the equation of motion-
dx2 dx
WE = f dx = m 2 + D + K ( x − x0 ) − fe
dx
dt dt
Potential Energy Total energy
Kinetic energy Heat loss stored in the spring transferre d to the
stored in the mass (Wall)
due the friction coupling field
from the
mechanical
system
10
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
11
Electromechanical Energy Conversion
• If dx=0 is assumed, then
d
W f = WE = e f idt = i dt
dt
W f = id
dx=0
12
Electromechanical Energy Conversion
• Recalling the normalized magnetization curve,
W f = id
= (i, x)
d
Wc = di
13
Electromechanical Energy Conversion
= (i, x)
(i, x) (i, x)
d = di + dx
i x
(i, x)
Wf = i di
i dx=0
14
Electromechanical Energy Conversion
i = i ( , x )
i ( , x) i ( , x)
di = d + dx
x
i ( , x)
Wc = di = d
dx=0
15
Electromechanical Energy Conversion
• From the previous relationship, it can be shown that for one coil,
i*
Wf = i d = L( x) i
0
i*
W f = i (L( x)di )
0
For a general case,
W f = i j d j
j =1 dx=0
16
Electromechanical Energy Conversion
• For two coupled coils,
1 1
W f = L11i 1 + L12i1i2 + L22i 2 2
2
2 2
1 n n
W f = L pqi p iq
2 p =1q =1
17
Electromagnetic Force
• Recalling,
f
k
r L
i f
+ m
+
N fe
V ef
- - D
x
x0
18
Electromagnetic Force
W f = We + WM
W f = e f idt − f e dx
f e dx = dWe − dW f
d
ef =
dt
19
Electromagnetic Force
d
dWe = e f idt = i dt = i d
dt
f e dx = i d − dW f
(i, x) (i, x)
d = di + dx
i x
W f (i, x) W f (i, x)
dW f = di + dx
i x
Substituting for d and dWf in fedx=id dWf, it can be shown
f e (i, x ) = i − dW f
x
20
Electromagnetic Force
• Recall, W f = id
d
Wc = i − W f Wc = di
Wc W f
=i −
i
x x x
W f
f e (i, x) = i −
x x
21
Electromagnetic Force
i = W f + Wc W f = i − Wc
W f
f e (i, x) = i −
x x
Wc
f e (i, x) = i −i −−
x x x
Wc
f e (i, x) = +
x
22