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Feb-16
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Figure 3.1. Force of alignment (a) Force of attraction; (b) lateral force of
alignment.
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4. ANALYSIS OF THE
FORCE OF INTERACTION
4.1. THE ENERGY METHOD
Based on the principle of conservation of energy, energy
is neither created nor destroyed.
It is merely changed in form (transformed).
Figure 4.1(a) shows a loss-less magnetic-energy-storage
system with two terminals. It represents a magneticfield-based electromechanical-energy-conversion
device.
The electrical terminal has two variables, voltage (e) and
current (i). The mechanical terminal also has two
variables, force (f) and position/displacement (x).
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where e = d
dt
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dW=
id fdx
fld
eqn. 4.3.
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or
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Energy in a Singly-Excited
Linear Actuator (cont.)
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Energy in a Singly-Excited
Linear Actuator (cont.)
The energy equations associated with Figure 4.2 are
derived as follows:
l = L( x) I
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Energy in a Singly-Excited
Linear Actuator (cont.)
From eqn. 4.5 and, d = L(x)di eqn. 4.8
and substituting this in eqn. 4.7 yields,
1
dW fld = iL( x)di W fld = L( x)idi = L( x)i 2 + C
2
1
W fld = L( x)i 2
2
eqn. 4.9.
If V is the volume of the magnetic field/circuit, from the
B/H curve of the magnetic material, energy per unit
B
volume is
HdB
( HdB ') dV
W fld =
V
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Energy in a Singly-Excited
Linear Actuator (cont.)
Substituting H = B/ in eqn. 4.10 yields,
W fld
B2
=
dV
2
V
NB: Wfld is the total energy (in joules) stored in the magnetic
field and wfld is the energy stored in the magnetic field per unit
volume (joules/m3).
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dW
=
fld ( , x )
W fld
d +
x
W fld
x
dx
i=
W fld
and
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f=
W fld
x
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f =
dx
x 2 L( x)
2[ L( x)] 2
1 2 dL( x)
...eqn.4.17.
f = i
2
dx
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...eqn.4.16.
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) id Td
dW fld ( ,=
and T =
W fld ( , )
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1 2 1 2 dL( ) i 2 dL( )
= ... eqn. 4.21.
T=
=
2
2 L( ) 2 ( L( )) d
2 d
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DOUBLY EXCITED
ROTATING ACTUATOR (CONT.)
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DOUBLY EXCITED
ROTATING ACTUATOR (CONT.)
The differential energy functions can be derived as
follows. First three independent variables are selected:
{ , 1 , 2 } , { , i1 , i2 } , { , 1 , i2 }
or { ,i1 , 2 }
dW
=
dWe dWm
fld
where
d 1
e1 =
,
dt
dWe =
e1i1dt + e2i2 dt ,
d 2
e2 = and
dt
dWm =
Td
hence,
dW fld (1 , 2 , ) = i1d 1 + i2 d 2 Td (analogous to eqn. 4.18)
=
W fld (1 , 2 , )
1
d 1 +
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W fld (1 , 2 , )
2
d 2 +
W fld (1 , 2 , )
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DOUBLY EXCITED
ROTATING ACTUATOR (CONT.)
Therefore, comparing the corresponding differential terms,
In a magnetically-linear system:
1 =
L11i1 + L12i2 ;
2 =
L21i1 + L22i2 ;
L12 =
L21 (or, in general, Lij =
L ji )
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DOUBLY EXCITED
ROTATING ACTUATOR (CONT.)
For linear displacement:
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DOUBLY EXCITED
ROTATING ACTUATOR (CONT.)
The last term in the torque expression, however, is only
related to the relative position of the stator and rotor and
is independent of the shape of the stator and rotor poles.
For a magnetically linear system with linear
displacement, x replaces .
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All the above expressions for the energy depend on the flux
and the m.m.f. being directly proportional, i.e. the
inductance is constant.
This is generally limited to the case of air, which is the most
important one in electrical machines.
Sometimes the energy density can be of greater importance.
The energy stored is proportional to the shaded area due to
the B/H curve of the magnetic material.
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A SIMPLIFIED ANALYSIS OF
THE FORCE OF ALIGNMENT (CONT.)
In the case of an air-gap, the B/H characteristic is
straight (Figure 5.1) and the energy stored is given by:
=
W fld
1
BH volume of air-gap
2
1
1
BH Al =
F
2
2
1
B
B2
=
w fld =
BH B=
joules / m3
2
2 0 2 0
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A SIMPLIFIED ANALYSIS OF
THE FORCE OF ALIGNMENT (CONT.)
Figure 5.2 shows the force of alignment between two poles of
a magnetic circuit.
The flux in the air-gap is and fringing is assumed to be nonexistent.
The uniform flux density in the air-gap is given by: B =
A
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A SIMPLIFIED ANALYSIS OF
THE FORCE OF ALIGNMENT (CONT.)
It is also assumed that the magnetic core is ideal, i.e. it is of
infinite permeability and therefore requires no m.m.f. to create
a magnetic field.
The stored magnetic energy will therefore be contained
entirely in the air-gap.
The air-gap has been increased by a volume A.dx, yet, since
the flux density is constant, the energy density must remain
unchanged.
There is, therefore, an increase in the stored energy
B2
dW=
Adx
fld
2 0
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A SIMPLIFIED ANALYSIS OF
THE FORCE OF ALIGNMENT (CONT.)
Since the system is ideal and the motion has taken place
slowly from one point of rest to another, this energy must be
due to the input of mechanical energy, i.e.
B2
B2 A
dW=
dW fld Fdx
Adx F
=
=
m
2 0
2 0
dW fld
dx
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ANALYSIS OF THE
FORCE OF ALIGNMENT (CONT.)
5.2. FORCE OF ALIGNMENT BETWEEN PARALLEL
MAGNETIZED SURFACES
The arrangement of Figure 5.3 is now considered.
f =
dW fld
dx
If V is the volume of the airgap, then
Figure 5.3. Force of alignment
between parallel magnetized
surfaces.
Therefore,
dW fld
B2
=
=
f
A
2 0
dx
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Therefore,
dW fld
B2
=
f
=
llg
dx
2 0
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ANALYSIS OF THE
FORCE OF ALIGNMENT (CONT.)
5.3. ROTARY MOTION THE RELUCTANCE MOTOR
For rotary motion linear displacement x (m) is replaced by
angular displacement (rads) and linear speed u (dx/dt)
(m/s) by angular speed (d/dt) (rad/s).
Angular speed (rotational speed) may also be expressed
in rev/s (n) and its relationship with is given by
= 2n.
The torque of a rotating machine is given by
T = dWfld /d.
A simple machine that demonstrates a torque of alignment
is the reluctance motor, shown in Figure 5.5.
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ROTARY MOTION
THE RELUCTANCE MOTOR (CONT.)
If the rotor is displaced through
a given angle, it experiences a
torque which tries to align it with
the stator poles.
The field energy density
(joules/m3) in the air-gaps is
given by:
2
w fld
B
=
2 0
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ROTARY MOTION
THE RELUCTANCE MOTOR (CONT.)
Referring to the previous equation, V is the gap volume, l is
the depth of the rotor and A is the gap area through which
the pole flux passes.
Therefore,
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HOME WORK
From the text book:
Hughes Electrical and Electronic Technology (10th edition),
Revised by John Hiley, Keith Brown and Ian McKenzie
Smith, (Pearson) Prentice Hall
Study the following examples thoroughly:
35.1, 35.2 and 35.3.
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