ECE330

Power Circuits and Electromechanics

Dr. Nam Nguyen-Quang

Fall 2016

http://www4.hcmut.edu.vn/~nqnam/lecture.php

Lecture 5 1

Energy conversion Test for conservative nature

Neglecting the field losses, simple relation for the coupled system can be
obtained, f ev

i
d (T )
e

dt dWm
dt
Recall that
Wm ( , x ) Wm ( , x )
fe = i=
x
And note that
2Wm 2Wm
=
x x
The necessary and sufficient condition for the system to be conservative is

i ( , x ) f e ( , x ) (i, x ) f e (i, x )
= or =
x x i
Lecture 5 2
Two-electrical and one-mechanical port system
For this system

dWm' = 1 di1 + 2 di 2 + f e dx
Equations for flux linkages and force of electric origin are

Wm' Wm' Wm'

1 = 2 = f = e

i1 i2 x
The conditions for conservativeness are

1 f e 2 f e 1 2
= = =
x i1 x i 2 i2 i1

This can be extended to multi-electrical and multi-mechanical port systems.

Lecture 5 3

Energy conversion between two points

Recall that
(
dWm = i ( , x )d + f e ( , x )dx )
When going from a to b in Fig. 4.31, the change in stored energy is
b
Wm (b , xb ) Wm ( a , x a ) = id + f e dx
xb

a xa
Wm a b
= EFE a b + EFM a b

where EFE stands for energy from electrical and EFM stands for energy from
mechanical.

To evaluate EFE and EFM, a particular path is required. This concept of EFM
is useful in studying energy conversion in devices that operate cyclically.

Lecture 5 4
Energy conversion over a cycle
Over a complete cycle, when the system returns to the original state, dWm = 0.

(
0 = id f e dx = id + f e dx )
From Fig. 4.30, id = EFE, and fedx = EFM. Thus, over a complete cycle,

EFE cycle + EFM =0

EFE + EFM =0 cycle

One can calculate either EFE or EFM over a cycle. If EFE|cycle > 0, the system
is operating as a motor, and EFM|cycle < 0. If EFE|cycle < 0, the system is
operating as a generator, and EFM|cycle > 0.

Ex. 4.14 4.16 in the textbook (Ex. 4.14 to be gone through in class)

Lecture 5 5

Dynamic of Lumped Systems Mass-spring system

Lumped elements of mechanical systems: masses (kinetic energy), springs
(potential energy), and dampers (dissipative). For equations of motion, Newtons
law is used.

Consider a mass M = W/g suspended from a spring of stiffness K. Under

static equilibrium condition, the gravitational force W = Mg is balanced by the
spring force Kl, where l is the stretching of the spring due to the weight W.

If equilibrium position is chosen as reference, only forces due to displacement

need to be considered. Consider the free body diagram in Fig. 4.35(c).

Newtons law: Acceleration force in the positive x direction is equal to the

algebraic sum of all the forces acting on the mass in the positive x direction.

Mx = Kx or Mx + Kx = 0
Lecture 5 6
Mass-spring system with dissipative element
If unstretched position is chosen as reference (Fig. 4.36), then

My = Ky + Mg My + Ky = Mg My + K ( y l ) = 0
Note that Mg = Kl
Consider the mass M supported on a spring (Fig. 4.37), and a spring-dashpot
combination. f(t) is the applied force. x is measured from static equilibirium
position. An ideal dashpot will have a force proportional to the relative velocity
between two nodes, with a symbol as shown in Fig. 4.38.

Mx = f (t ) f K 1 f K 2 f B
fK1 f(t) fB1

= f (t ) K 1 x K 2 x B
dx M
x
dt
fK2
Lecture 5 7

Example 4.17
Write mechanical equations for the system in Fig. 4.40.

x1 x2

K1x1 K2x K2x K3x2

M1 M2

B1 x1 B 2 x B2 x B 3 x 2

f1(t) f2(t)

Define x2 x1 = x

M 1 x1 = f1 (t ) + K 2 ( x2 x1 ) + B2 (x 2 x1 ) B1 x1 K1 x1
M 2 x2 = f 2 (t ) B2 (x 2 x1 ) K 2 ( x 2 x1 ) B3 x 2 K 3 x 2
Lecture 5 8
State space models
A complete dynamic description of the system is obtained by writing equations
on the electrical and mechanical sides. These equations are coupled, and a set
of first-order differential equations can be obtained for analysis. This is known as
the state space model of the system.

Ex. 4.19: For the system in Fig. 4.43, put electrical and mechanical equations
of motion in state space form. Flux linkage from Ex. 4.8,

N 2i N 2i N 2i 2
= = W =
'

Rc + Rg ( x ) R( x ) 2 R( x )
m

On the electrical side,

N 2 di N 2 i 2 dx
v s = iR +
R(x ) dt R 2 ( x ) 0 A dt

Lecture 5 9

State space models (cont.)

On the mechanical side,

d 2x N 2i 2
M 2 + K (x l ) + B
dx
= f =
e

dt dt 0 AR 2 ( x )
where l > 0 is the static equilibrium position of the moving member. If the position
of the moving member is measured from the equilibrium position, then the
mechanical equations have the variable (x l). The above relationship is
obtained under the following condition,

d 2 (x l ) d (x l )
= =0
dt 2 dt
The state space model of the system is a set of three first-order differential
equations. The three state variables are x, dx/dt (or v), and i.

Lecture 5 10
State space models (cont.)
The three first-order equations are obtained by differentiating x, v, and i and
expressing these derivatives in terms of x, v, and i only, and any input to the
system. Therefore, the following equations provide the state space model,

x1 = f1 ( x1 , x 2 , x3 )
dx
=v
dt
dv 1 N 2 i 2
= K ( x l ) Bv x 2 = f 2 ( x1 , x 2 , x3 )
dt M 0 AR 2 ( x )
di 1 N 2i 2
= iR + v + v s x 3 = f 3 ( x1 , x 2 , x3 , u )
dt L( x ) R 2 (x ) 0 A
where N2
L( x ) =
R( x )
Lecture 5 11

Equilibrium points

Consider the equation x = f ( x, u ) . If the input u is constant, then by

setting x = 0, the algebraic equations 0 = f ( x, u ) are obtained. This
may have several solutions, and they are called static equilibrium points.

In small-dimensional systems, this can be done graphically. In higher-

order systems, numerical techniques are normally required to find
solutions.

For ex. 4.19, setting derivatives to zero yields

ve = 0 i e = vs R K (x l ) =
N 2 ie ( ) 2

= f e ie , x ( )
0 AR (x )
2

xe can be found graphically by finding the intersection of K(x l) and

fe(ie, x).
Lecture 5 12
Numerical integration
Two types of methods: explicit and implicit. Eulers is an explicit one, which is
easier to implement for small systems. For large systems, the implicit method is
better for its numerical stability.

Consider the equation x = f ( x, u ) x(0) = x 0

where x, f, and u are vectors.

Integration time will be splitted equally with a time step of t (Fig. 4.45). During
one time step from tn to tn+1, the integrand is assumed to be constant at the value
corresponding to the previous time instant tn. Thus,

x (t )dt = f ( x, u )dt
t n +1 t n +1

tn tn

x (t n +1 ) x(t n ) = (t n +1 t n ) f ( x(t n ), u (t n )) = t f ( x(t n ), u (t n ))[ ]

Lecture 5 13

Example 4.21
Compute x(t) at t = 0.1, 0.2, and 0.3 seconds.

x = (t + 2 )x 2 x(0) = 1
A t = 0.1 s can be chosen. The general formula for calculating x(n+1) is

[( )]
x (n +1) = x (n ) + t f x (n ) , t n n = 0,1,2,...
At t0 x( ) = 1 0
f (x ( ) , t ) = (0 + 2 )1 = 2 0
0
2

x ( ) = x ( ) + t [ f (x ( ) , t )] = 1 + 0.1 ( 2 ) = 0.8
1 0 0
0

At t = 0.1 s
1 x ( ) = 0 .8
1
f (x ( ) , t ) = (0.1 + 2 )0.8 = 1.344
1
1
2

x ( ) = x ( ) + t [ f (x ( ) , t )] = 0.8 + 0.1 ( 1.344 ) = 0.6656

2 1 1
1

Similarly, x (3 ) = 0.5681 x (4 ) = 0.4939

Lecture 5 14
Example 4.22
Find i(t) by Eulers method. R = (1 + 3i2) , L = 1 H, and v(t) = 10t V.

L
di
dt
+ iR = v(t )
di
dt
( )
+ i 1 + 3i 2 = v(t ) i(0) = 0

Let i = x, and v(t) = u

dx
dt
( )
= 1 + 3 x 2 x + u (t ) = f ( x, u , t ) x(0) = 0 = x (0 )

(
x (n +1) = x (n ) + tf x (n ) , u (n ) , t n ) n = 0,1,2,...

x (0 ) = 0 u (0 ) = 0 ( )
f x (0 ) , u (0 ) , t 0 = 0 x (1) = 0

x (1) = 0 u (1) = 0.25 ( ) ( )

f x (1) , u (1) , t1 = 1 + 0 2 0 + 0.25 = 0.25

x (2 ) = x (1) + (0.025)(0.25) = 0.00625

Lecture 5 15