Professional Documents
Culture Documents
Introduction
Magnetic Field
Magnetic Circuits
Properties of Magnetic Materials
Faradys Law and Lenzs Law
Production of an Induced Force on a Wire
Induced Voltage on a Conductor Moving in a
Magnetic Field
H dL + H dL = Ni
a
i
b
g
Ni
knee H=
lc
unsaturated region = BA
linear behavior
Hysteresis Loop
Path b-c-d-e-b
(double-valued function)
A current-carrying wire
in the presence of a
magnetic field
r r r
(
F = i lB )
A conductor moving in
the presence of a
magnetic field
r r
eind = ( v B)gl
VB
Closing the switch produces a current flow i =
R
The current flow produces a force on the bar given by F = i lB
A force Fapp is applied in the direction of motion; F net is in the direction of motion.
Acceleration is positive, so the bar speeds up. F
a = net e ind = v Bl
m
The voltage eind increases, and so i increases.
i=
( eind VB )
R
F
The induced force F ind increases until, at a higher speed, ind = Fapp
Find = i lB
An amount of mechanical power equal to F indv is now being converted to electric
power eindi, and the machine is acting a a generator.
Starting Conditions
Operating as a Generator
Operating as a Motor
ferromagnetic material
N2 N1
= L l1i1 + L m1 i1 + i2 = Ll 2i 2 + Lm2 i1 + i 2
N1 N2
N2 N1
Two possibilities for substitute variables: i 2 or i1
N1 N2
Let i2 = N 2 i 2 and then N1i2 = N 2i 2
N1
This current i2 , when flowing through winding 1, produces the
same mmf as the actual i2 flowing through winding 2. This is
said to be referring the current in winding 2 to winding 1 or to a
winding with N1 turns, whereupon winding 1 becomes the
reference winding.
Sensors & Actuators in Mechatronics K. Craig
Electromechanical Motion Fundamentals 67
We want the instantaneous power to be unchanged by
this substitution of variables. Therefore
v2i2 = v 2i 2
i2
v2 = v 2
i2
N
v2 = 1 v 2
N2
Flux linkages, which have units of volts-second, are
related to the substitute flux linkages in the same way
as voltages.
N1
2 = 2
N2
2 = L m1i1 + L22i2
v1 r1 0 i1 d 1
v = 0 r i + dt
2 2 2 2
v1 r1 0 i1 d 1
v = 0 r i + dt
N2
i2 = i2
N1 2 2 2 2
N1 2
v2 = v2 N1
N2 r2 r2
N2
x = x(t)
Ni
l = If the magnetic system is considered to be
l linear (saturation neglected), then, as in the
Ni case of stationary coupled circuits, we can
m =
m express the fluxes in terms of reluctances.
r = angular displacement
r = angular velocity
r = r ( ) d + r ( 0 )
t
L l = constant (independent of r )
L m = periodic function of r
L ( r ) = L l + L m ( r )
Lm = LA + LB
2
= Ll + L A L B cos ( 2r )
LA > LB
L A = average value
di dLm (r ) d r
v = ri + [ Ll + L m ( r ) ] + i voltage equation
dt dr dt
Sensors & Actuators in Mechatronics K. Craig
Electromechanical Motion Fundamentals 82
Windings in Relative Motion
Air-gap size is
exaggerated.
end view cross-sectional view
Sensors & Actuators in Mechatronics K. Craig
Electromechanical Motion Fundamentals 83
d1
v1 = r1i1 +
dt voltage equations
d 2
v 2 = r2i 2 +
dt
1 = L11i i + L12i 2 The magnetic system is assumed linear.
2 = L 21i i + L22 i 2
L11 = L l1 + L m1 The self-inductances L11 and L22 are
N12 N12 constants and may be expressed in
= + terms of leakage and magnetizing
l1 m
inductances.
L 22 = L l 2 + L m2
2 2 m is the reluctance of the complete
N N
= 2
+ 2 magnetic path of m1 and m2 , which
l 2 m is through the rotor and stator iron and
twice across the air gap.
Sensors & Actuators in Mechatronics K. Craig
Electromechanical Motion Fundamentals 84
Lets now consider L12.
r = angular displacement
r = angular velocity
r = r ( ) d + r ( 0 )
t
d1
v1 = r1i1 + In writing the voltage equations, the
dt total derivative of the flux linkages is
d 2
v 2 = r2i 2 + required.
dt