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Kopylov
Mathematical
Models
of Electric
Machines
I.PKopyiav
Mathematical
Modds
of E1edric
Machines
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F ir st tllt1Jl;5h~d 19M.
n e vised [rom lh ll 1980 Russian l'diUOll
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"['he Ru ssi aQ: A lp htl.oot Tran s literation
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Pr. l,ce • , , • • • . • • • • • • • . ,
a" I . Intr odul'llon 10 Elecl rl.>ll\eeh M I<:$
1.1. H i ~ l orka l DevelopllH1ll1 • • • . . . • ••• • • .
1. 2. Tho La"s " f E Il'c, tro llle t h all lc~ l, Energy Donveeston . . . .
,s
1.3. AppHcatio ll of f iclrl £ 4" 1111005 10 Ih e Scluue n of Probll'mt "
""
In El~ot to rnc<: l"u) ,c. .
I. ~ . The l' r i m;tLv" t'oll.-Wlnclin ll Mach inl' .
...
1.5. Applica tion of C", n plll( '~ to t he SoluUon of Pro ble ms in EIK:-
trll ",~ h/lnlcs . . . . . . . . . . . . . . • . , . . . . . . 3S
A.. 2. l: len 'IlP ;n'han lt:lIl f M t'fY Cll n,'••dlllO I n ul " ln, II (iulilu Flehl
2. 1. The EquatiuWi o{ I~ O" n('t'ali ud E I~l roe Ml\('h ,llf' . . . . .
2.2 . S Il'a. ly-Sti l" Equ at ion, . . . . . . . . . . . . .
2.3 . '\ppl lu tlon of An,.l", Coll1 putel'1l to t he A na l y~i, uf EIK lric "
sa
".
Mach!nl-s • . . . • . . . • . . . . . . •• . . • . • . .
2 .4. T ra ndnl P nxellSf't III Electrie )t'Kh in u • • • • . . • • • •
2.5. The EHl"d .. I Plra 'l1l'l l"ra OQ l b. D)'Ol mle Chllrac leris\lcs 01
In d" d iOIl M ~eh i n" . . . . . . . . . . . . . . • . .
CIa. 3. C""l"•• I1.~..l ... 11 W i nd ing (' llnYfor!e' • • • • • • • • • • 71
S.1. The In riDit. Arb it ra ry Spf'l".tn' m 01 f'ield. In tbft Air C.p u
3.2. The Ge U('rllll~cd Ene rgy Coover11ir . • . • . • . • • . re
3.3 . T he E q uali on~ of t he Cl"lIen liu d Enl>fg y c c nv• • ter . .
Cl,. , . Typical E'IUaliollft ur I:!l r cl .lc M,u:b ll\('l • •• •• •
. 4.1. TrUM iti on from Si mpll' 10 More d oml' lex Eqllal ions
'sae"s
4.2 . J:; nergy Ccnveeeton I n\'ol vin g un Elh plle Field . .
4.S. IW ipli c,-Field Sl u ll>,·S t a t~ Cond itlonl . .• • • • !~;
th , 5. Ent'f!y Cn..vtBlon Inv"l vl..g :\onslnUS/' idnl a oW '\ 1)'nlQ1 cl rlc:
"""
Supl' y V" l tllgK . .
6.1. Th e EqllltionJl 01 EIK tr ie Mach t.." , .
6.2. The Soluti on of Ellu allon l l nvo lvlng '\ ' )' nlJuetr ic: Supply V OI 1~t..
6.3. Th e T lo l r l" ot \"nlt kge Rtg\lb IOl'- l nd"eUoo )Jolor S~tem 1(6
5.' . Pul E eelrnm6C h~ n ie.1 En" 'g)l Con vm , . ",
01. G. Mull iwlMlilll M-eb lnn . . . . . . . . . . . ",
G.l. The EllullUom or M" h h..judi nt Ab ebines . .
G.2. Thfl t:qu . IiQllI 01 Synehr (lllou. Muhl~ • . 01'
01'
11.3. T~ Equatioos of DirKl Cun fQ t MiKblntS . 122
II... . The Dou ble 8<,,,l rTel.ca ge Inducl ion 1I010r. ThO' El fel'l of Edd y
C Ul'n'n \.5 _ • • • •• •• •• •• • • • • • • • • • • •
'"
s
6.5. The Induc tion Machine \Iodel l DCl udillJ( Sla l.,.- and Rotor Edd y
Cum ulI . . . • . • • . • • . . . . . . • • . • • . . .•
6.6. Tb, IEffect or MilD ulaU lln "" Pac~ on t: leel.rir M ~h ;ne P... . 13'
fo r.....nce • • • • • • • . _ • • • • • • • • • • • • .• •
00.. 7. Mp ls oJ t:lfdrl~ .\ta ebi_ with N.... liltnf "'ra~ • . _
7.1. 1'lle Anal ysis of EIKtn c l£acbUltli wil h ~oD line ... P....mulers
...,'".
7.2. The Effeel of S.l u.a tHlQ _ • • . • • • • • • . . . _ . • •
7.3. The Effoct of Cu~~ OispllliCl'm"llt ill l.lw Slot • • . . •• •
7.4. ElN'rgy eo...y.,I<OlI Prob lol1l5 In " o;Il" ,ng h ld. pell<l... ~ Vari. lII..
7.5. The Aalill p is nr Opera lio ll of • n.a l ElllC U"k: M, dline • • • •
...,.
' 42
'31
Cb . 8. AJ)'mll.ttric EIll:flfY C/ln Yl:I'len;
• •• • • •
8.t . Tvpe! of Asymmetry In t:lectr,r M.,h ull'S
".
10<
8.2. Electr ical I nd M a g"~ l lc ,uyUl'lIelt y . . .
8.S. Spacia l .'Iaymrnel, )' . . , • • . . .
8. ~. SlRgle· Ph.ve MolOI'I . .. . . . . .. •.. .
'"
',"6l
8.5. Th, Elee\ r ie M" eltilla u an e lt'n1t'ltl (If t ho S y~ l e m 1M
e h . 9. Tho E'luatlu,,~ fur F:Jl!Clrle M'"'h lnes or Vari ous Dcslg",
9.1. TI\II Mathematieal ~I()/Iel! of En erW'}' '.Qnverlllrs wit h a Few
Degre" of Freedom , . . . . • . . • . . . . . . .
''"66
9.2. LineII' Il: llel"ll:Y Collver ten • . . . . . . . . . . . . . . . .
9.3. Il: nllll:Y Coo .trle n Wilh U 'lui d ~ ll,l Gaseou.s Rolo<'o1 • • • • '"
'"
9 .4. Othu T ypes or Bnt'rtY Con. erters . . . . . . . • • . . • .
0.. 10. Eieelr l... Fk ld anll Eleetrom~oael ic- Fleld E.-gr Coll..vters '"
to.1. Pr loc: iples of DUll·lIl,,_ ElceU"OdYl\l llI.i.:a; . . . . • '"
,,,
Il.
10.2. Tilt Equa liOlU for f:loo; lr;G-Fi.hl KG8I'f1 Conu cw n
t o.$. PlramlllMe. Eleeu iq-F' eld E~y Cc)n ...,ters . . . .
10.<1;. Piezoelect ric E ~ c.o...e rte-s . . . _ . . . . . . . ..,..'M.
r c.e. Electro magnetlc- Pleld EMl'Il'Y Conv«U fS . • _ . . .
tho 1I . '\ pplintlon Dr tape.-llnenta l Iksigll to F. leelr k: 1l1 lm l.....,. A...l-
ysh • • • •• •• . •• • •• • . • • - •• • •• • - -
tl.l. Gt<l&ral Ill.(or ,nallo.;\ on I h. 'rh~y of Ex per imen tal Deaign
l U !. Th, TllChn illu, 01 ElCpt'l"lllll!nta l O('<l ,go '\ pplled ill Eleetro·
, .
' 00
""'"
lTlIlChan ics • • • • • • • . • • •. • • • • • • • • _ • •
11.3. 'T'flllu iti op 'ro m E J: pf-ri "I&ll ~1 D~", ign lJ) O pl imi la tioo . . .
Ch. 12. Sr nth<:t;i! 01 Eleclrl e Itlnehl lW!l . 210
12.I . Opl i lu it ati on 0' ~ ~rgy Conver ters. Oplllll,u lion Methoda 210
12.2. Geomet riC Progra mrninJ . . . . . . . . . . . . . • 214.
12.3. ~ig n of g l~ trl e ~ aeh lllu b}' ~me l rie PrDgfa rcu ning; 2.2Il
Ch. 13. Autom.ted
t3 .1. Genua l
D..ign
Deilg n of ElllCtric Maeblnes .
Po in ~
. ... .
on tllu Evolu tion 01 lh, SySle nu of .-\ut4 mallld
• • ••• • • • • •• •
'"
,,,
".,
13 .2. So rlware of Au toml~ DNi gu Sy ste rus
13.3. H. rd""llrfl of Aulom. led ~i gn ~ fstt lM aae
13.4 . Cooclll!i<ln
'"
Appeodiul
'"
,...,
B lblto&ra ph,.
'"
2, <1;
Preface
I -{I ~
'N
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~
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TI le mllf,plClir field was prod uced b y m o~n els / or elee trcm ag nets.
W Ill ie \"Ilkobi 's machine hed i Ll! win ding open. in th e l alter ma ch ine
t he " 'Iodi nI,' WllS r.o nti nUOllS (clcse d]. T ile Gr am me m achine made
• s t nrl for t he e,'olutlo ll ()f cc m merc lal etecrere rnachtues. It had all
t he bllSic ele ments of modern elect ric machi nes.
In 1873 F. Hd ncr-All eneek and W. Siemons rep laced t he ri nl
arm.l ute br rhe lInn'tu ro of t he d ru m ty pe. Since 1878 man ufact u-
ten! 11" ' 0 beg-Ill! lo prod uce drum arma t ures with eloes, and , s ince
1880. Ilrm atun'S from lam inat ions foll owinJ: the sugge! t ion put b y
~1, n nl llS A. Edi snn.
..lop m" nl
1.1. Hi . to .lul o..~
I lage embraces the period or oJa bohliOft lind Int rcd uetton of t he
thtof)' of s tel d r- s l a le processes, ce mptex eq ua tion s, eq uival e nt
creeuus. ae d ph asoe d iag rlllUS. Th o third s tage berlin in t he la te
1920s with the form ul at ion of diff~re n tiBI equ a tions a nd deve lop-
ment of Lna t heory of t ra DSion t prec esses in elec tric machtnce. T he
t heory of elecrerc m acbtnos W8..~ Sh 'e n const deeauon in t ho works
of A. .M. Ampere. G. Ohm, J. P. J qule, Heinri ch F. E. Lena, Her-
mao L. F. HolmhoLt1., M, V. Lc mcnoecv and ot her promine nt phY.'l i-
ctsts of tbe 18 t h and t ho 10th cen t ury, T he wor ks of J ames C. Maxwel l
who ~enel'A1i~ed t he nchlcvemen te of elec t ric a l engineeri ng in hb
r f eoti$e 0/ et«tricu y aM M agnetUni, 187 3 , hol d a particular pla ce.
Mu well introd uced the new elccl(O magnetie t heory an d pos( ula l.8d
equa Uons whi ch ea ma to fonn t he th llO rel ic al base f)f electeomeche-
ntee. I
Of much Impoetan ce are also t h6 wo rb of N. A. UOlO'" 11 874)
l od Jo hn H . Poy nti ng (I &M, j 0 1\ tho t ransfer lll\d ee nveeeton of
eoergr . T he first theoretical work conCll rning eloct ri<l machin es
mll Y be considered the work of E . Arnold on th e t heor y no d
desig n of wi nd ings of ele cu-rc ma chin es, issu ed in 181lt.
In l bD '1 8 903 ~ l. o. Dolh 'o- Dobro';ols ky, Gis bert Kli PP, end ot her
scie ntists ee r fort h t ho f,uldnmenta1s of t he t hoory lind dosian of
t ransfo rmers. tn '(894 A. Hoyl a.nd l heoretica lly l!uhs tanti l ted the
circle di agram of 3 D indu elion m1l4hine , a nd i n 1907 K. A. Krug
offered an accura te proof of t he ci rcle diagra m. In the t 920s B. For-
tesc ue suggested the method of sy d'l met ric co mpenems.
In t he t 93Qs E. Arnold , R. Ri lfhtor. A. B1ond el, L. Dreyfus,
FIf. Vidmllr , Charles P. Stein me l". K. A. Krug, K. I. Shenree.
V. A. Tol vln s ky, and M. P. Koseenko eonsidorll. bl y exten ded and
adva nced tho t heory of s tead y-st atol opera tio n of elect ric mac hines.
R. Rudenberg's wor k WM ono of t ho fil'llt cont rtbut tona 10 the
t heory of n-analen t processes. This theo ry , whose orig in dat es fro m
lh e bogin ni ug of t hi.!l cen t ury. mad e n t re mendous ste p for ward in
the t 950s Ilnd 19705 OWing to tho lWide appliea tion of co mputers.
Th e fi rs ~ pa pers concerned wit h t he mathomatical th oory of
electr ic mach ines ap peare d in t he middle of t he 19205, in t he 19308
and t 94O!. Among t he eutbcrs. mentio n s bc uld be lD l do of R . Park.
A. A. Ocrev . G. Kron , a nd G. N. r etro v, The fund a mental works
of G. Kron : rea tl y cont ribute d to the developm ent of th e mathe-
matical l heory. He s llgallllwd tho model of e nd deri ved eqoll.tloQs
for t he gooer/lli7.ed (prim iti ve) elelftric mac hin e.
In t be l Ast yea rs the m athematl ~1l.1 th eor y of ele ctrtc machine!!
(magnetic-field energy eo nve eters] ha s developed to a noticeab le
utent owing lO t he efforta of man y' allt ho rs, fit!lt of a ll. B. Adkins.
L. N. Gl'lIl0 V, A. G. IMEfyan , E;. Ya. Knovsky , K. Kovach.
V. V. Khrushc hev , I. R aez, S. V. S trak hc v, D. Wltite , and J{ . Wood-
SOil. The use of electronic co mput ers has ena bled rese a rchers to
"
II nol )'", l\ lelldY-l; ~ ll te pr ocqsses n a. pllrti c;;ubr C/IS(' of teenstems l\nd
I ppro . cll t he problem of dev elo ping tom pu ter·ai dt'd desig n system! .
The t heor y or eleetrosiat ic mach ine! , however. sli pped beh ind
desptte t he pooling of error-ta of s uch p romi nent scientists a! A. P. Iot-
fe, N. D. Pa pal ekai , L. I. Mande)~h\8m. A . E. K llpl)'sn sk }' .
A. A. Vorobyev. and a l6ers. largel y beceose t hei r i llvest.igllLi ons
ra il ed t o creete t ho prod llcljon prot ot ypes of t hese ce e vert c-e.
At preM'n t one of t he ittaporhnt t J..!lks of t he w :lthem at ieaJ t heor y
of elec tric: machi nes is to tde\' e)o p t he general t heory of aU t he th ree
classes of energy ceuvertera,
T he ehaptera below cQllllidcl' energy ecnvertee equ atf ona, t heir
tr a nd ormat ion end use Ic r most of t he basi c problema dealt wit h
in the analysis lind ~ yn th hsitl of elect ric machines: presont.equm.lona
.IIJH! t hei r eoluucns lly eomp cters Cor machin es (';\hibiting a rlrcul ar
field a nd 1111 infi nite s peet mm of fields in t ho ai r gnp: exe mtne con-
\'e rt t'u in volv ing nonatuua oidal esv mcict rtc v oJt ll.g ~ , changes in t he
freq uency and a mplitud e 'of su pply vollage, machines wit h nonli near
plll'lu;netera, as ymmet rlc fnachinQ5; etc. Th e coverage also incl udes
convert ers with a In .' d~rees of freed om , li near machines. eleetnc-
field elect romechanical ene"y converters , aud ot her elec:tr ic: ma-
chines. Th e t heor y of energy converters is set forth on t he bllSis (If
diflerenlial equa lio n!J ",'~ie b descri be t he dyn am ic behavio r and ,
as a particular case , t he, s te ad ~ t ue behavi or. The COUB& in t he
mathematical t heor y of electri c mac hin es gives t he base for t he
mat he matical deseri pl ioll of t he process" of energy ec nv ererc n
takinlf into accoun t Jlon)inear, nonsi o usoidal. as)'mmelcic as pects
and manub.ctllring fac lo rs. Such an anal ysis is impm,sible to do
e mploying stead r-stllle , qu e Lions. equ iv alen t cl rtu.iU5. and phasor
di agr ams. T he electro mllljba nical energ y conversi on th eory presente d
ill th is book enables t he :engineer to use t he eq ua tio ns for th e gene-
r ali zed electromechanical energy convert er lIS t he base froIII wh tch
he c an set up eq uations !(or s ol ving any prob lem met wit h in the
pract tce of electric m a c~ino engi neeri ng.
p. EC Pm
, ,
One 0/ the ~lla rlU O/ liat l irlt alld I/u s«ond laID is tha t an Be
allO rtp~n" all tMrgy conttnlr4tat. The oloct ro magoe tic ener:y.
being dis t rib utod at. i nfini t.y along a,n electric powe r line, i.II s to red
in mag-oetie-field ene~y conver ters f it-hin th o ai r g a p bet"""n t he
nator and ro tor. In t.r ansfor me rs , t h e energy is s to red in t.he m"ino-
ti c core end i ll the s pace b etween t hll prim ary end sec on da ry , whore
leakage fluxes close 0 11 themsel ves , faili ng to btl com mon ro be t h
windings .
Tho nlr ga p of a co mparattvcly amall vol u me C8 11 cc neen rr ete
hull'O powers . h is of Im pcrtencc to note t.h at. in t u rbi ne generators
of max im um powers and in in d uctioh machln es of t he s ing le ser ies ,
t he power d ensity ( W/m m3 ) in t he ai r ga p is eq ua l to a pp roximn tel y
0.5. In view of this ract , dnignin r of.el ectric mach ines con be beg un
with t he estimat ion or t.lte ga p vol u me and t hell proceeded wi th tlao
ealcul ettcn of wl nd ings aod geo metrical pa ra me ters of t he m agn eti c
I )"!tem. Activ e a nd react ive rJo_ 6r en0'1rY ca n be coinci de nt or
oppotlite in di rectioll irre spect iv e of ,,\,laether tna EC Mlns as II genere -
tor or m ot or . This moans t nal th o eeuve po wor ma y co me from t ho
st ator an d tb o re act ive pew er frolD 't he ro t or, lind v ice versa .
EC5 a lso o perate in the no-loa d ~Il d i tion lit wh ich t he y COII\'ort
electr ic or m ec bn n lcal po wer intO! hea t . Sync.llrono us Illoch ino.s
connec t ed i n pa ra llel with the li ne ,lI. nd wn /It no lo ad lire ca ll ed
$gm:}l ro Il OI/.ll captu:Uur l. .
During its op era ti on , a n ollll;t ri c 1t\ll.Ch ino tel eos t'S t her mal enClrgy.
It is possible to produ ce all electr!c ;rnnchi ue fur nis hed with II. ~ he r
moplje in order to ab sorb heat ins id o the macu tne at th e cold [une t tons
115 a resul t of tho Peltier ellect [t he reby preventing i t from heat ing)
and t o evolve th ermll l enore y at t h~ hot jll nct ions outs ide th o ma-
chine. However, th e availablo se m icon ductor co up les offer cooli ng
at low cn rre ot densi t ies. so the i O(o. resultin/l fr om t he i m prov ed
ccolme can on l)' be brought abou t .u the eoee or an inc~ ue in l he
o\'era ll d imensIo ns of the machine and a wot&elling of its COCf'gy
cn llra ctem li cs . This a ltes lJ t.hnt. t he t hermAl one rg y flux es .. well
85 t he mech an ica l e nergy an d e lect ric enN.,y f1uxe.s in an EC must
be regarded as closed energ y loops .
Th e cendtucn or reson ance e xi s~s ill electric machines jllst II!
it docs in moet enorgy converters. E Joc-tr iell.l and mech a nical pheno-
menu t h at occur In ECs lire reso~ a n t. El ect rtc machines oxhl bit
elec tro mec h an i ca l reso nan ce pt whrc h urc rot euone t s peed of 111(l
fiel d , t.. is related to t he meeh ar ucal ro t ationa l s peed of the eot oe,
n , ruaasured in revol utt ons per second , by the ex press te n
/1 - pn (1.1)
where p is th e number of polo pal rs.
In ,.. t wo- pol e m l chlne, t he power li ne freq ue ncy and t he sync hro-
nous s pood of the rotor aNI th e S IUD e- Electrie maeh ine.s are built
: - 0 1111
" C h. I. lrilro</u.:fio n to EI"<1. ol'ft/l'C honk'
in such II man ner t hat the wave of a megneuaing force in tho air
gap distributes it self i n ~ eg ra ll y among the poles, so th o processes
of energ y conversion In two -pole and Multipol ar machines are eseen-'
tinil y id entical, t he only d)fferenc-o being that in t he latter machi nes
tho synchrono us speed o~ t he field end t he mecha ni cal spee d of t he
rot or are 0 factor of p lower.
Th ird law. El edromlXhanic.a1 enrrgy conoersion 1$ due /0 the fields
thot are stotiOll ery with respect to tach other.
T ho rotor and stator fi el d~ in the air gap of a machine, which
nro stationary with respect to each other, prod uce 8 resulta nt field
and electromagne tic torque;
(1.2)
where 00. is tho angular veloci ty (s peed) of the field: and p . ", is
the electromagnetic power.
Th e fields displacing ln t he air- ga p with res pect to each ot her
produce a Ilux of thermal energy, thus indi roctl y affecti ng the
dist rib ut ion of tho flu xes of mecha nical lind elect ric. energies.
Th e wi ndings of elect ric machine s must carr y pol yphase cu rrents
flnd show a proper arra nge ment to produce 1\ rotating field ill the
ai r gllp. A rotat ing fiel d (jail he set up by II two-phase current syste m,
wHh t he wind ings disp laceu OO~ in s pace from one another and t he
currents ahitte d in ti mo by 90°; b y a th ree-ph ase current s yste m,
with th e Windin gs 120· upert in sp ace lind 120· in tim e; lind , in
t he gener al case. by an In-p hase curren t system, wit h the win dings
dis placed 3600 /m in space and currents shifted 36Ct'lm i n ti me. Direct
cu rren t can also produce II r ot llting fiold, In which case the de wind-
i ng must rotate. The win ding ca rr yi ng altema t lng cur rents to pro-
duce a ro tating Held er e us uedly st ationllr y.
In 0 sync hronous machine, the rot l\ti ng field is hlrgel y SE'C up by
the curren ts i n t he windings dis posed on t he s tator. The field rota tes
at a speed 10)•• The rot or runs lit t ho s ame s peed , (0 , = 10) " thllN'forfi
the frequency of the r ot or curre n t is t , "'" 0, i.e. d irect current
flows th rough t he ro to r" ~ i nd i ng .
In a de mach in e, t he ;field (excitati on) wind ing is on t he s t at or,
and t he excita tion field is stationAry . Rnta ~i ng tb e armat ure. whic h
is t he rot or here , pro duces t he rot ating arma tu re field , wh ich revol -
ves at the sa me spee d as t he rotor but t n t he opposite di rect ion .
I n induction me chtnee, the frequ ency of curr ent in the rot or Is
I. m f,s (l .3)
where th e sl ip (speed differential that is a fract ion of s ynchronous
speed)
oS "" (e, ± w ,) /w , (1.3a )
19
~ (cur l ill" JS _ ~ H dl
~ H, d'-_ 5, m . dS (1.6)
Most di verse mothods apply to sol ve t he obt ained eq uati ons for
a ffillguetic field under tl lO cc ud it lons (1. 10) and (1.11) at t he boun-
dari es be tween d ifferent med ia . His torically th e me t hods o r di r-ect
solution have developed most inten,s h'ely, which commonl y give
an accurate or a ppr oximate analY~ical resu l t. Among t hose, we
should note the meth od of images and t he meth od of sepa ration of
vari abl es. Conform al t ransformationJ of the regions of interest , by
which comple x bou ndary ccndtttons undergo' s ubst en u al cha nges
and become ap precia bly simpler, Hla y a not iceable pa rt in tile
developm en t of the methods fo r 't he s ol uti on to mag ne tic field
proble ms. Th e sol ution to L a pl ace '~ equeuo u is worked out for
relarlvely simple are as and then ap plied to th e initial regio n. Th e
Ineananta, Le . q ua nti ties inv a elabl a.In t ransformatio ns, a rc ma gne-
tic potentials , magne ti c fl uxe s, and t he moduli of the magnetic n ux
density vec t ors and field s t rengt h vecto rs. 'I'he solution ue ert in
the transfo rmed pl ane is found accurately, whenever posslhl a, or
approxi mately usi ng an ana ly tical or numorlcal method. 'l'he
metho ds of conformal trans formations mai nl y a ppl y to trrotauo na l
fields. The methods of in tegral oq ua t ions are su it able for t he s olu-
tion of a num ber of ro tati onal field prob le ms. T he l ast l ew decades
have seen an exceptionally ra pid developm ent of the ap proximate
numeri cal tech niqu es based on the me t hods of fin ite dif ferences a nd
finite elements. ;
The progress in computer ongi neering an d t he creation of fas t
compute rs wi t h a l arge memor y capac itY have enabled t he effect ive
introduction of t.hese approximate methods. T hey per mit obtain ing
the solu tio n of a desired fu nction (p9te ntial ) in the fiel d region for
each particular caae. A substantial disadvemege of t hese me t hods
is t ha t t hey do not aUow for de ri vi ng t he general expressi on for t he
sol ution, so it becomes necessar y to obtain a new solution with any
change of the parameters nffecting the field . Howe ver, t he po ten -
tia lities of co mputer engineering g rea tl y offse t t his inc on venience,
Elect romechan ical energy conversion is t he result of interaction
of el ectromagnetic forces a ppearjngt i n an energ y co nve rte r. T he
determ ina ti on of t hese forces is t he most impor ta nt s tage in desig-
ning a converter. There are a fey." ap proechea to a ttacking th is
probl em. A mechan ic al interaction at cu rrents, or whe t is s ome times
calle d pc ndar mot.ive interaction, 6b~ys Ampere's la w. For a co n-
ductor c Qrr ying cur rent t an d pl aced in an ex ter na l magn et ic fiel d ii,
t he emf f Is gfven b)' t he vector prod uct:
_ .1
1 = HBft (U9)
whore l rs the uni t vector alollg t he ' wire ca rry ing curren t t.
Where t he magn etic fiol d is knowc.: from t he sol utio n of Maawell -s
equ a tions, it is convenie nt to expr ess em fs in ter ms of t he cur rent
ell. 1. InhQd.. c ~on 10 EICl Cll'Oll1ecll,niu
call ed the tensor of t ensi ~ll , t he ex press ion for which can he reduced
to t he form ,
T" ~ It,,H,,iT- J.lG (nfl~/2) (1.20)
where JI" is tile vector component of t he magnet ic fiel d stre ngt h II
in tI,e dir~tion of the un'it vector it norm al to t he eur reee reglun
under s lIldy. Upo n ln lc$'r atlng t he ten si on te nsor over the en tire
s urf ace where tho megnebic field is slILsta nt illlly high i n magn itude,
'1'0 can t hen go to t he .eom pu t at rc n of emrs aud electro magne tic
torques.
J t is somet imes exp e~i ent 10 deter min e elecu-omagnc ttc forces
and tor qu es from t he o>.;prlc'S sion of mutu al s pecific l'nergy JW/lIV
I'(Ilorroo to IIllit volu me, ,w'hich is equal to Iho scalar prod uct ot t he
curre nt denstt y end lho' vect or potential of an ex t er na l magnetic
field : i
aw/av _ A i = - oil (1.21)
The "ex t MlUwelrs eque tlo n. which is of mu ch Im pcetsnce. rela tes
t he vect or of electric fieitf s tNlng th 72 to th e magne t jc flux denslt.y:
jcu1'l jJ_ - dJJidt 11 .22)
In it s in tegl'al form , the exp ression al l ows us t o pose t o t he ex pres-
si on for the IIDl f E of It'lo('p (d isregarding the grlldie111 of II sc al ar
electr ic pote nt ial ): ~
E= ~ :"' (djjfdt) dS +~ I V X Bl dl (1.23)'
e
- - ,
The vcctcr e of B lind If gfve us ample i nl(wmal ioll on the mag_
notic fieJd end hence on all inte gr al qua ntt tf es suc h as currents,
('mfs, voltogcs , forces , aud t orqu es.
The classtcal Iheory ql electric machi nes re lies I)U t he equ at ions
of circuit th eor y whic h ,d efl nes th e pe re rnorers in in teg ra l no tation.
T he most i mpo rta nt parameter of all ent'rgy con ver te r is its indue-
t illite L defined all th cf rat io of tho lnstantencoua val ues of flux
Iink age 'I' produced Il)' the current i to tbre curr ent :
! L = \jilt (1.24)
;
If th e Ilu x d ue to cur rent in II wind ing Of COllduc.tol' links on ly
t his wind ing , we can l lt.1 k about self-lnductence: where th e flui
links one wind ing due 'to curr ent in t he other, we call ta lk s bout
mutual in duct ance. T o define t he Ilu x li nkltge to r the field desorilmble
by Lapl ace's equa t ion , ItIsnecessary to apply Eqs . (1.14) an d (L i B)
in ord er to go to t he cf l?ressi on for the ma gneti c flux densit y and
th en integra to t he mllgnetfc Iluxes for a conductor on»' its entire
ercse-sccuon S. T he nux li nk age, when ex pressed in te rms of t he
1.3. Apptlc ftlJon 01 ~i.ld Equ fttio nl
\71A ~ (t l h 1)
•
L.j (14/- A o) . ..
,-, (1.31)
F_ V
b oun dary cond i ti ons whie'h ca n be ob t ained only ortifici ally. Be yonp
t he conf in es of t he loop, .r he perma en ce of tbe a ir gop be t ween t h e
ro tor and s tc tor is assumed; to be infi nite. Un dor su ch boundary con-
ditions t he fi eld tr av ers fn g t he ga p ex te n ds onl y in one d ir ect io n
an d gets conce nc-e t cd in 'ihe area t h at d iffers insign ific antl y fr om
t he area b ounded by the Jdo p itself. T he loop mmf here corres p onds
t o t he m mf in the g ap. ,I h go ing awa y from tho l oop in opposi t e
di rection s, t he loop fiel d docoys fas t. T he loop Ii old un der arti fici al
bounda ry co nd it ions ol h\ bi ls a n in t er est ing Iea ture. The m agn etic
'"
,,
,,
-,
,
Fig. 1. 10~ '1'b ~ Held of .0. &Imp lu t loop
) «
, ",
. j
,
Fe
.'•
Pia. 1. 12. Th e mooe l of. de IJIxhlM Ilod an 8C colltmn l.alor macbiof
'"
• o o (dl d t ) M ,.~ + (dldt) L~ I~
( 1.34)
(lIp ) ,J d fll , ldt ± M, - Jot . (i .35)
Bqs. (1.34) and (1.35) t9gethor wit h t he equa ti on lo r an elect ro-
magnetic torque lorm the ifundll. ment ll1 system of e-qu ations of elec t-
romecho nical energy ccnve rslen.
In Eqll. (f .M ). uj-. u:.. loll . t:.. 4 . ':.. I~ are th e " oltages
u.:..
a nd curr ents in t he sta to~ a nd rotor Vo'indl op o n th e 0: and II axes
respecti vely ; ~ . ,.j . "0. Ii lire th e re:sistlnces of s tator and rotor
win dinp rospecLh'ely; ."rb
mutual inductance ; and ~ . LA. L:.. Li
I re total i nd uctances of t,he l tll.tor an d rot or 'W Indi ngs a lool t he a.
and tJ Uet respectively.
35
mem orie s e nd , p ltr ~i o. ll )' ,: mag uetlc-disk memor ies . The computi ng
syste m of t he t h l,·;1 genc re tio n dis pla ys t hree cha r aoter ts t ic fea tures
as foll ows: emplo ys ju tegra t ed c ircu its ; ha s Input-output channels
a nd the deve loped net wor k .o f pe rtphc eal un tts: a nd is ma de co m plete
w i ll, so ft ware wht ch form ~ ilfl integl"lll p llr t of the com pu ti ng system .
T he cost of sof tware systems grow s SI<38CUly w ith e ach p ass ing
yea r . \Vbilo at th e beg inn ing of t he 19GOs t he cost of pro gra ma was
30 % lin d t h nt of equ tpmeht 70% , lit pI'()SQ n L th e cos t of sof tware
re aches one ha lf the t otal cost of hnrdwo l'e.
E x amp les of t h e third-ge nerat ion com pu ters inclu de tI'l! IDM36{l
lind t he Soviet-ma de EC m'nch ino thll t closely resemb les tho for mer
in parame te rs (EC is thl$ ab breviation of R u ss ian words meani ng
th o un ifi ed system) .
T ho IBM 360 system re presents n family of the third-ge nerat.iun
ma chines deve lop ed by 't he world 's la rgest Ame ri ca n com p uter-
h uil di ng corpora t io n.
Th a IBM360 displays ! 8, numbe r of d tst.inguishiug features . of
whi ch th e most im portant are the foll ow ing ; the program compa t i-
b ili ty of var iou s t y pes o f com puters e u tcel ug tu to t he foroily, whi ch
p r ovt dos for the ap pli cability of programs in go ing fro m one model
of the m achine to another; tho possibil ity or con necuon of a lar go
num ber of In put-output dev ice s find standard Iut.e grat. Ion of in p ut-
o ut put devices wit h i npll t[-ou tpu t cha n nels; the ca pa bil it y to opere-
to i n real ti me in control systems; and the possibili t y of combining
s ma ll comp u t ing-power m achines In to a s ingle evetc m .
The IBM360 com puter is, 1I un iversal s ystem designed for servtng
eco nom ic (buej ncss. com rneo rce) and ectcnu rtc p urposes nud also
for solving t he pr oble ms i?f d ntn transfe r a nd con trol. T he ata ud a rd
sys tem of prog rams offots! th e basi c com p ut ation cepebt uues nf the
runc h i na . T h is com ma nd .s v srem may i ncl ud e m eans for pr oces-
s i ng da t a in de cimal notation . The addltton of floati ng- po in t fea t ures
g rvea a scien ti fic command sys te m , an d the audit io n of secu ri ty
fac ili ti es to the eco nomic 1la u d eetenurtc command sys tems providee
II u niversal comma nd sys am . A few t y pes of t he I BM360 machine
ca n be combi ne d w it h th(,l a id of ce nt r al prO(,'-4!SSOl'S t o Ic em 0 COIU-
p u ting com p lex . T he I B-"f360 system 1181'S so lid inte grated ci rcu it s
ue tud lo r h igh s peed nnd ,s mtiH s b c. whi ch e ns ures h igh relia bility
of t hll co m puta ra . ,
Th e ui ecut oes of the .E!C t ypo emp loy t he s t a nd ard network of
in terconnecti on or per-iphe r-a l unua, t he so-ca ll ed i np ut-output
in ter face ba sed o n t he program co nt ro l of t.hcsc uni ts.
T he ha rdw are of t he EO ma chine ca n be d ivided in to fo ur grou ps
(F ig . 1. (4). Group I Inc lude s pr ocess ors toget her wilh the register-
based work ing storage . ar ith me ti c and logic elemen ts, and cont ro l
de vi ces. The d ev ices of Groups II a nd I II li nk pr ocessors to" pe rtphe r nl
u nit s wh ich fnrm Grou p J:V. To gro up II be long se lec to r and m ul -
loS. Ap pllcet lo n of .Compute "
,
tiplox channels. T he selector cha nnel opera tes in t he burs~ mode-
to provid e for a hlgh-speod da ta inpu], to an d re adou t from onl y one
peripherA l un i t for II ooct a in length [of t ime [ner u-l y a second en d
oYl.'r). Th e multiplex ch an nel perm i l ~ II s imulta neous da t n t r a nsfer
for II la rge number of Input -out.put,' units. TIle lin k between th e-
units of Gro ups Jl a nd III for ms wha t is calle d t he in put- ou tput,
ioterfaco of the sta ndard des ign , wh ich is Q de ta chable 3O-w ire-
connoct tc n e nsuri ng t he tr an sfer of, contr ol signa ls a nd dcta .
0'"
wbich s imu lta ne ously gives t he ecurce i Mor m1lt ion for t he Iur thar
M1l utioa of pro blema on a nalog dev ices. T h ls complex , when een nee-
led to t he 5}'.!1le m of ap propr-iate lrl\nstlueorl, ca n contro l an expeel-
lllent a nd keep t he li nk from t he mdme nt of dll. a oalY.!lis 1.0 t ho
moment of obtlinint t ho resu lt. T h lS 1150 offor1l Del!.' poS!ibili ties
of the search for an c pt lmnl mode of 0~ r8 tion on the pr inci ple of
.self- ins t ruction of t he .!IYlIt em.
At present the ways are sough t for ihe COll$t ruel iOll of h igll-perfor-
mloce com puting S)'"Sle ms by us ing , ca&CArled se tu p ~ ... nposed of
l llrge nu mber of iden tical u niverse] digl hll computers prog rflm-
OrlZllQi l l'd for t he n:!a Hntio n of a spet ified al gorithm. The devele p-
men t of such s tr uct ures Involves t he ljC-finement of tile reqlli re lJlf' nlS
for \'el'Slllilil)', pertoema ueo. t.omput&lioll IlU Ural )'. a lld d iroctl y
depends on t he etess of pro blem s t o be so lved .
B )' th e ir slruel m'lil, t he fourt h-goner. t ion mac h ines are mu lti pro-
eeaoe se t ups de voted t o t he ro mman mem ory blo ck and t he com-
mon ex te nt of peri pherlll devtce e. An to.ggregal e of compu t ioi facill-
t ie3 forms a cen te r connec te d to nu merou s s ubscet bers by commu-
meauon linea. Such II. Ile ~wo rk orfeI1J t Ile pDMlb ili t y Jor th e communal
U50 of compu ters 1.lr lin indiv id ua l or " group of reseerehers who mill'
contac t th e coote r by tele graph or tel ephone from lilly region of the
countr y, re la y the message Ior t he solu tton of n pro blem and recei ve
the anawer on tl le giv e n do te .
Both llllOloll and d igital compu loq fi nd use for t he sot uuo n of
problems in ele ctro mechanics . If soma ten eq uat io ns describing t ho
transienl processes In electric machtues lire eno ugh an d the par a-
meters ent eri ng lute t he equa t ions {\~ const llnt , it is well to solve
the pro blem s 0 11 lin IInalog compu ter. Wh ore tho numbe r of equ ations
i~ IlIqer _ t ile pa ra me ters ar e nonli nM l"lInd t hott) is a need for solVi ng
problems for th e optimiza t ion of lin el)erg }" eon ver ter, it is nece.s.!lU'y
10 enocse tI dlll'itni cc mputer ,
1/1 1M /1l1l1ly,u oj electric 'rlQChIM', It is tZ pedUflt t o tm pWII both
1If1l1llllit'G1 nuthods and arnllog and d.lgttlll computu,. The tzptr tence
in chOOflng Iht combinot ton of mt thbds of anolyfi, determ Ines th,
tkgru 01 w:curM!I and prolourulnu, oj the .tOlwloA of the probum.
In soh -ing II problem in e leetromeplillnics, tbe ~areher should
prima r il y formu lllIc t he equatio ns for t Ilt prceesses under s tu d)' \0
• $Offieien t degree of acc.llr.lcy flIld t llen choose a eem pute e to form
I mat hematical med ol . :'Ie xt he !Ihould refine th e medel wt th the a im
10 estimlto t bi! time it woul d ta ke ;to 5OIv8 t he pro blem nnd t he
ClXpef.le d .ccuracy of t he solution. T he fi nltl step involves draWing
tbe plan of t he ex per inlents \.0 be r UD.
Despi te t he ir great oppo rtu nities, .ee mputer facilities can soh-e
a rath er Iimite.1 r l ngo of pro blom.!l in eloetro meeha nic.s. T aki ng
into accou nt. eve n two or t hreo hllrmon ics i o t he ai r gllp lind lWO or
tlu'e6 1oops 011 t he- s tate r and ro to r neeeeenet ee so lv ing a few tens or
.. Ch. 2. EI_d'OI'I'Wld'la nlo;ll1 Energy COnYllnion
Chapte r 2
Electromechanic;al Energy C onversion
Involv ing h' C ircula r Field
,
,,
2.1. The Equations of the Generali zed
Ele ctric Machine
Coca tde r a t wo-phase t wJ.pole e lectric machine (F ig . 2 .1). It.
has t wo orthogo nal sy llte ms of s ta te r a nd rol or windings uf.. w1
"
e,
and
an d
ID~ .
II ..
w,. raspec U\'el)' , lyiz>1: on ui e ata te r a od Totoor a xel 0 •. b.
b, . T he rec llm gula r ' coordi na te rrllimu of t be s ta tor a nd
2.1. The EqueHont of lhe Gene,allzed Eleel'l( Meehlne 45
o-
leos o -sin 91
... s inO c089
AJJ mentioned abo ve . th e ro(orellc8 fra mo with t he ref erence 1lXEl8 d
(2.1.7)
and q rig idl y co nnec ted to th e ~otor struc t ure is very popul ar. 10 t his
syste m. (I). co w ,. )~m (2. U,I) il foll ows tha t
lit "'" R'!' :+ rfift'ldt
- - -
+ jfiJ. if· (2. 18)
U' = R' J' + d'V' ldt
Resolving t he ruoultant vectors alooa !.he d Iud q DCS yieldl
the equl tion!l for the primi Uve ma chine in t he coord inate sys18m
d . q;
~ _ &~+ dlf;,ldl -tal,'Y;
u; = j~~1f- d'¥~Jdt + (0, lY~
(2. 19)
itd- j~r:i +d1J'";,ldt
recei ve pow er f"ODI II tJlydstor Jee que ucy con ver ter. H ere it is advi-
s ahla to uso tllO sy s te m of s ix v ol t ego eq un uons r at h er thnn to r ed uce
the machi ne und er s tu d y to the two -p ilose t y pe. T h is a p proach
permi ts ep pfying t he act unl-wav e form v olteges of the fre quen cy
conver ter 10 th o lU ao;hine win diugs.
Th e equlI t io ns expressed in on e referen ce fram e or an oth er are
broug ht t o II s ur ra b!e form in ucccrd e nc e w it l ~ t il", rules of ma the-
matiC8. 0 00 of t he Im po rt.aut way!! of t ra nsfo r ma t ion comes t o the
re pl acemen t of varia bl es :
iO<t = i:" + ~ . io~ = i~ + i&
wh ere l oa lind loa are th e Ins t. an t. a ue ous c ur rent com pon ent s at no
l oad al ong t h e a lind ~ axes.
Usin g Eq s. (2. 13) fo r Inllglld k flu x lin k ages , we determtoe cur-
rents:
i~ = (L ' 1f:' - .M"'~ )/( V U - .U·), I~ = (UWfi _ l1fllf~) / ( L' U - AI!)
i;' = (L"I':;' - M IV:' )/{J.i' L.' - ,IP ), iis _ ( 1.' 1j'~ - M lfW(L'L' - )\,,12)
S u b5 t itu ~ i n g th o nb uv o current eqcnuons into th e tOl'IIUe equatlon
gtves t he exp ress jon for th e tor q ue jn t erm s of t ile fl u x link ayCll
AI . = (m I 2) [pM I (L ' L' - AI!)J.( IVA1If; - IV:' We) (2.2 4)
Volt{lgo equa t ion s (2. 12) and t orque equa tion (2.24) g h 'e II m ost
stable mode l uf en erg y conversion p rocesses s imul at ed on an ana log
computer.
The ele ctromagne ti c t orque e llo he dl'fi ncd in t erms of t he s t a t or
flux l ink ages and cu r-rents
M . = (m !2) (,V:'/e- 'V~i:') (2.25)
That equation (2.25) is valid is easy t o cc nftrm if we su bstit u te
in (2.25) th a expressions
1J'~ = L:.t:' + Mi'; . 'Y ~ "" LMA + M/i
then perform st m ple transfor m at ions . p u t t ing L :,. = L~, lin d ob t ain
the va l ue 01 to rq ue ex pres sed ill terms of currents.
The torque is also definable in t er ms of th e roto r fl ux li nka ges
and cu rr en ts
M e = (m /2) ('Y';i B- '¥~ i ~) (2.26)
The v efidlty of (2.26) 15 b orne out by s uhs t ftut.ln g in (2.26) th e
expression s
11';;'- L;.l; + .'111:', IJfli = Ln,iB + M ia
and equllting L~ t o LJi.
51
'"
sa Ch. 2. Eleetfomeeh niul Ene' 9Y Conversion
where e, ...
-fwMi". X, - ~ll1" Z, - '1 + /x\.
Perform ing th e sa me transfor mati ons for t he eecc nd aey-wl ndin g
equation g iven in (2.3 1), we get
- U~ = ;2'.+ jliJ.~ f (f, + i~) + j(jjl",i~ = i~r2 - e, + fi2X~ (2..'3 4)
2.2. SjI!8dy-St" t. Equ8t1001
Tra nsform ing (2.,34) yields the equatio n for t he secondary wind ing
rj~ = £1- i tT-I (2.35)
.!!... ..!.c. DJ . j l Jx l
,; •JIZI
" U I lr,
- E,
U, ' .. U;
'.
We have t hus arriv ed a t the known sys tem of equa tions describ-
i ng t he processes of elec t roma gnett c energy conversion In a t rans -
former;
bra nch includes t he res ls ranc e rG equ'ivn leflt to th e i ron loss. AlLer
t ransfo rmations , Eqs . (2.41) are wrj tten !IS
i o = i .+i;
Here R ; fs = H; -+- n ; (1 - s)fs.
Int rod uc iug the s t a te r and rotor Impe dances
s , "'" R. + /z. , z; = R; + Ix;
yields th e eq ua tions for a n lnd uc t.iou ma ch lue
V.= - 80 + ;.:.
0 = Eo- i;z;- i .n; {'I - S)iS (2.43)
- - .
/0 = /'+ / ;
The equi vale nt c ircu it nnd t he phnsor diagra m for t he a bove
equa ti ons appear ill Fig. 2.5 and Rig. 2.G res pectively . A cirde
R, x ,; .;
U.
-I,
J.
'.
I '.
-e-r-
I,
R'r(l-s)j s
Fig. 2.5. The equivalent circuit of lin lndu ct tou mach ine
T he ph nsor diagr am for II nocs nli ent- pc!e machin e (Fig . 2 .7)
cor resp ond s t o t he equa tio n
(2.44)
I,
sync hrono us m achine reactance; -l'o is th e lea k age ind uct i ve reac-
t an ce of the ar ma ture: a nd X o d is ure i ndu ctive reactance of t he
armature (oppos ftton to the crrn auirc mml].
For II salie n t - pole sync hro nous m ach ine, the phe sor di ogram
(Fig. 2.8) is plotted by use or the equ at ion
where; iJ IUlrl ;9 Illoe cu rrents IIlo ng iho dtrcct end qu adratu re BXes
of th e mac hin e res pectl vefy; z " nnll :1', nro t he j nd l1 e~ i ve rea ct an ces
.Iong the d Rod q axcs rcspee t tvel yr
For de m/lch ioes t he cl assical tht'Oi'}' \1'('5 /I )·[Ot si mple r cqua uc n
U _ E ± 1. " . (2.406 )
where E - I (II • . F,,,) ; 1 , . ig th e n: eihtioo c ur rent ; F , ,, is t he
Ng. ::.8. The ph.so r diagrllu, of • !Ol lienl- poll' S)'llch . ono"s no-.: hiue
u:, ",
_ di~ k,
r -'",
l~"
~
ti:., ,"\..J
_
-"••. ""'.
,I
+ " ,C,
'"
"
•
-'.,. "
f ig. 2,!), T ile eompuw r e ualog for r.h. 51'stem of Eq l , (2.<1.)
fl'
appllca hle to t he sol u t io n 01 eo mpl lce t ed p rch lems (see Fig. A 3).
The d loie. a si mu llll io n model d epend s on the ~o i l1s of co m pu t ing
blocks , perm L!~5 ible time 01 integration lind th e !lability in opera-
t ion. ' \ 11 im po rt a llt stage hI prepa rillg a problem for st rcu te u cn is
t he ch otec of sc ales o f variables 1I11d t ho cal cul a tion of g ll in~ of tha
model s co m pu ti ng blocks , In th e s lm ul ati on on 1111 analog co m pu tet .
eech plly! ical q uan t ity of a real objec t hll3 it s ana log as a '·o ltege,
Selli e flK'lol'!l e re ch ose n t o li'lItab lis h th e rel ntto u between tb e quan-
tit ies and vol tages . T he ma xi mum possi b le va luM of vlri .bl M
"
should be t eke u so as nOl to faU ouLside t he l imil.$ of t he comput er
working renge. T he " oltlge is Ilh"en by
u. = slf~' (2.5 1)
where u ts tile model voltage: z is a dependen t ve rte ble : and /If ;c
is t he s ~ Il Le of t he depend ent va rt eb lc. The t im e of t ran s ionts in th e
model i$
t ... = Mil . (2.52)
where :1£ , is t he t ime scale: lind t, is t he ume of t rans ien ts in 8 real
obj eet.
In c hoosi ng the $Cal cs, it is ecnvemenr t o l ak e t he foll owi ng
qu allti t ies Il! deersrve ra etces: the not\l in al-p ha Sf' c urrent I... .,.,. 11"2;
nOMi naJ-ph ase volta:;o U",,.,. Y2; nominal moment /If ",: 'l",, -
-= U".rt. V 2Iw, ; (0,). = 2rmp /60. Hero w, - 2n/. lin t! (0 , ;s the
angular ve loei l)' in rad i ans per second.
. .
Then , M ", _ IOOI U"." ,. Y2 is t hl' vO[lage scale; M I _ IOOIJ".,.", x
X y 2" k ., is t he cUn' en t sca le : AI M " l 00/:lJ"k 'li I ~ t he elect ro -
mago(Ol ic torqu e scal e ; M 'V -= l 00/lJ'. k .9' is t he flu :!: Iin k llie scale ,
an d M .. - 100/ (&1, i.s the ...eloci t)' scale. The t i me scale Is c hosen
pro«edi~g from thn d ~ lerati oD or accetcee uce or the proces.s of
soluti on , a, def ined by (7.52) . In ch OCNIing t he Kales , it is nece:ssa ry
to keep whh tn t he work inlr ra nge or an ana log co m pu te r (u ....
_ ±tOO V).
The ga in (octors of compu tin g blocks a re de fined as kz "'" ilf 0" ,4,/!of,,,
for a su m ming II mpli fier ; l~i = M " "tflI IAf ,,,M , for a n integra ti ng
amp lif ier; k~ - Af" .. lo.llO.o i MII" M"I 'l for a s u mmer r9Coivi ng t he
produ ct of vllr inb les ; k - M " ..,a,/O.O JM "" M' I"ftf l for an in tegra-
X
tor eece t... in g the prod uct of va riab les . Here j~f u I is tbe sea le for
representa tion of a n Ollt put va riab le of aD a mp li fi er; At I" is t he
sca le for repres en ta ti on oC an in pu t variable of 8 0 am plifie r; and
4, [5 the eoe lCide ot in the in itia l e qu.;tio n, which. etan ds before t he
voriabl e arriv in.. a t t he a mplifier I np ut.
T h.e ga ins of a mptifi&l'5 i n mos t a nalog com pute rs must he chos en
bet ween 0.01 And 10.
The successful i mp lem ent atio n of II si mula t ion model wi th the
aid of o.J1 a nalog co m put er de pends OD ~ lte rati o between t he el ectro-
magne tic and elec tromecha nical lime eonet ente. If t hese cons renee
di ffer hy a factor of l lY to to', th e s imul a ti on o n an ana log com pu ter
becomes d ifficu lt (t his is th e c ase for lh e s im ul ation models of gy ro
mceces. hI mach lo es , ete.},
[f t he s lm ul8 &ioo in ni s i q u an t i&ies meets wit h d ifficulties, it 13
advhab le to co nv ert to rei d i ve un hs. IThe rill'h t ch oice oC t he b as ic
ea e ll. 2. Eled romiKheniul Energ y Con~ e" io n
1, .,0.0 1
f ig_ 3-10. T~ ~ I JJlll:t1I .,. """ starting tho YAll..22 t}·~ 4-W mOlOr
for tw o or t hree peri ods, hut th e rot or yet oscillates a bout its steady
angu lar vefccit y for some tilli e.The 50o-kW motor gai ns s peed very
alo wly, but it does not overspee d «nee approachin g the s teady-state
veloett y, T ho star tin g condi uoue for motors of th e 4A series, for
exam ple. 75-kW moto rs, a re most typical (Fig. 2.12).
T he process of rO VO l"!:IllJ differs f"orn the process of s tarting by t he
e ffect of pe ra metera on th e -hu pact torqu e M ,m. impact current
I 100 V
1= }
f'i!l. 2. ' " The o""ill ol:"mm of start l o/l t hl! I" AA-I03,H typ e 2SO -W Ind uetion mowr
I 100 V
. h ~ ..· ~ , .
Fig . 2. 12. The u$ mo gram of stlHl.lng the 4,1, -250504 t ype j5-kW induotioll mow r
1,m. and t he s tar t ing (speed up) t ime t. , (Fig. 2.14 ). For i ts reversal,
a j'raotor is c ut off and then 'co n nected to t he line wi t h the reverse
pha se sequence. T he t rllns iont hero depends on t he commutation
t ime a nd o n wheth er or not t he fie ld In t ho a ir gap has died out.
\ Vhere t he swi tching is ins tantan eous, t he processes nf field decoy
and fie ld buildup go o n concurrentl y, so the im pact cu rr ents and
torques grow. T he sche ma tic ct e program unit for reve rsi ng is s hown
In Fig. A7 and Fig. AS. ,
In restarting a motor, t he 'i nrushes of current and the t hr us t pro--
d uced are t he highes t. T he schema uc diag ra m for restar t and the
! - OIl 1 8
"
s ystem of eq u ati onjll for t his e e nd t uon a NI t he se mc as at !-l arting
with th o dlHeren ce t h a l the in it i al vefoc t t.y lolr is ot h er l h lln zet O>
(F igs . 2 . ( 5 , 2 .16) . T he IIH\I Y!lis of t eet lr t p receseee i n voh' ing ~ an
" . I
Fig . 2.t4 . nl!ye raill~' t he '\Jl -3t1<\ lnducti",,, motor
1', _ : ~ s w . ... _ : t ~v . Nn _ I l'~ l l.m, ' , _ 8 1 .. , "'. c " 1\ ) N "" .I _ ~ Ol ~~ ' ' M'
• ~ ..~
0
,I
'" -,.< ,.. ., .,
0;:::
•':1 I...... ,
• .J I
,,
I'v -!
,
Fig. 2. Hi. Hes....rti ng \.he A]J.- Stl4 Dw' Fi~. 2.1 6. n eltarting a Dlow r n~ t hl>
tor H t he lollls r sfl'I'ed or 0 .91ln "'jith lm t id ! peed or 0. 2111\. wi lli t ll/! field
the rll'ld dC'C lyed ,l(!u yt' d
T.bl . 2.1
• • 11" Q u. ntltie. In l r. .... le ntt
Ni>\ I n ..
'"
M,.
11.0
U ...
19 .5
. ,.
33.' 88 . t
3."
113 .2 213 .8
3 .i6 a.s
"'.1
U ,
210.4
2 .37
/'~
J~..
' .55
3.'
5. ' 2
5. 12
,."
5.2 1
5. 21
' .92
' .M
' .8
..., ..,
' .08 U, e.ss
' .M
qualltil ies (in rel ati ve un ital d escrib ~~ tramden ts in mc ac ra. T h.e
dynamic processes are of importance in the a nalys is of a nu mbor of
dri ves, t herefore it is ex pedient th at t pe guides to electric machines
should include t he characteri sti cs of IlrlUlsients along wit h s tead y-
state c har acteris tics.
Th e th eor y of eynchroneus mecbtnes widel y us ee the Dotions of
stea dy·state, sub t r-ausi ent , Bnd tran1Jient co nd itions and t he para-
meters descri bing t hese condit ions. 'Draus ien ta in Induc tion machines
were given ins ufficie nt tr eat ment. Because of 1'I n arrow gap ill th ese
mach ines, t here hl\$ been no need. until recently, to in tr od uce t he
para meters ot s te ad y-stato nnd t ransient con ditions.
T he developmen t of t he general theor y of elect ric machi nes and
the th enr y of transie nla in Ind ucti on machi nes has necess itated t he
Int roduc tion of transient pa rameters for induct ion machin es. Ind ue-
tlve reacta nces greaUy var y until a molar aUalM its ope rat ine
speed. In Ap pend b: II 11119 i iven the t rans ient par am eters for some
machi nes of t he 4A se ries. T he anal Ytical evaluation of Inductive
param eters W illi made for t he ate ady-stat.e C(lnditio Wi. TransIen t
pau mete" cln be defined by using comput ers tor t he SO I UUOD of
energy conversion eq ua ti on".
"
ea Ch. 2. El.etromed).a"l~el En.'gy Co "" e "ion
wmwt lead to opttmum result s. All analog computer wllit$ the system
.
of f/~'t equauo ns. T here 'are optimu m r,ela tlons bttU-'f1f111 th e equation.
coefficients at whIch the requisite quant tttes exhIbit extrema.
Figure 2.21 illus trate s the plots of M I"" i,,,, , lind t. , versus Rr
for the reversal process in t he A2-102-8 motor: Figs. 2.22, 2.23,
,• , .
r- ~m
.. 8 •
•, t-
r- •,
• ,
M, i, m
• a
"
, • a •
."
1
1"
, o
o 1: 4 6 8 10 12 M
,
Fig. 2. 17. Star ti ng elUl e I". curreu t
I/m' a nd w rq uc M I", VeB US rotor rcete-
FIg. 2.18, The cu rves or 1./1 "11m' nnd
11 m versu s mull.n] ind uel" Jl(c
lanc e
(M
• "".., "" d. ,",)
I I 1/
I
"
\ , ,'st.
i,", 8 J
• / i,,,, • ,1\'
•1/ 0- ,
M, •
i' lI> t-.::
, • , • V '"
, -l- ---
o 2. 4 6 8 10 12 J o 0.25 0.5 0.75 J.O 1.2 5 1.;, •
Fig. 2.19. The curv es or t."
Al l"" and
IfI>< "cr~u & moment of ' " cr UIl
H g. 2.ID. The curves "', ' .1 ' M r"" and
lim verS\ls roto r leakage indu ctance
, " • •
I.
• s ,•,
, r:
, ,.
, ,•
e
1,. I'--
,
0
J
,
z '"
, , 1
, I
o " , 0 2. 6 1 10M
,
Fic· 1.2 1. The eulYU of "I'
I,,,, ve nll. rotor ~tln«, ..
M,,,,,
re~na
aDd Fir. 2. 22. I'1M wn'" of 'ot, M .... and
"'" ver$\l$ lDut ua l .IDduet.a1lCC in ",,-er·
al Pg
,
e ,.
•",
I j I. M
• , 8- 8
•• 0 ,. ," •
1/
, ~ 8
0- 0
J 0 ,
,,,
a
'"
, 0
, "" ,
I
I '" ,
o 2 , • s J 00.25 0.50.15 1.0 1.25 t;,
"'" "·8
h is of interest to l ook al t he pro cess of reversing with t he field
n ill und a mped. With a ra t her fas t reversal af ph ases a t ma chine
term inals , t he li eld in th e ab ga p hB.!l no ti me lo give up its s tored
energy. In other words, ' he fiel d bes nol yU decay ed a t tile IDUant
3.1. Infinite .... bil'e'y Spectrum 01 Field . in Ai' G a p 71
Ch apt e r 3
General ized m-n W inding C onver ter
,. ' oj
I"
u'..... ""'i) .....
..
..J) OIl•
u'
.. """i)
-t' W ••
i
u:. w;.
Usi ng t be mod el of tho gene rali zed converte r we can desc r ibe
s ym me t ric m ul t ipbllSfI m ul tipole r ffiaj;;h in os on t he ass um pt ion t ha t
t hey e re t rausform ab le t o a n eq uival en t for m l.o matc h t he t wo-phase
two-p ole ma chine.
As seen fro m Fig. 3.2, each phase wind ing: nee ne d eslg n aelom
eubecelp ts Cl: lind ~ iden tif y t he ax es: a long wh ich wi ndi ngs w Ho;
1, 2 , .. . , m. n s tlUld for t he ordinal n umb or of t he wind in", 011
t he s t a tor e nd r ot or reepec rlv el y: And s u persc rip ts a a nd v den ot e
ti le s ta t or an d ro to r win d i ngs . 1'eSpOctively, eu ppl led with vo l ta-
ges u .
E ach p air of t he wind in gs is fe d fro m a n ind iv id u al s up pl y sou rce
or a ll wi nd ings a lTllnl:ed in an y kiiub of ne t we rks draw cu rren t
fro m a s ingle source. In the gener alized co nv ert er. mac net ic li nk
betwoen t he groups of windings on ,the n me lids m a y DOt e:ziat..
E ach pa ir of windings (co ils) on the s ta to r prod uces a circ ul ar field
i n t he a ir ga p. As is k n own, tb e generaliud convert er is an unsa t u-
rat ed ma ch in e , whi ch allows m to use t he princip le of eu pee pcaitton.
The field in the a.ir ga p ca n 'be .set u p by a ppl ying to t he win di oirS
t ho voltag es of d iff ere nt a mp li t u deS and freq uencies , sh ifted i n
78 en. 1. G...... . llted ....... W ind ing Converter
"- I,
"'
"- 0 0 A&' AI
u:.. u~ . ",.
and u,
Each elemen l in tb e eb e ve mat rix is .. subm U rb. Rere
ere mnt rtx columns :
i~ =
.
'l"
,~
Ii;. =
,.
~ ;a
'"
Ii .... ih
.,
i& =
ih
il,e
(3.5)
, .,
':" I~
'"' '.,
[0 Eqs. (3.4), It:... u:.., . . ." u:..c.: u~ .., u;". ., u~,,; u~ e- u~-" ...
~ . _, ur. ~ ; u: D. u: e, . . " u:.,. ~
are t he s t at or and rotor volta ges
alc ug thea and ti axes. In Eqs. (3.5), t:", i;.., .. " "..
a; I ~ ... t;... . .
. . _, i~ .. ; lill ' t; D' . . ., l~~ ; 1;/1, i:
1h . . _, i:"s are Ute currents
.a long~lthe a. and ~ axes in the stator and rotor.
Volta ge equa tions (3.3) may be written i n a mor e gBllCfal form
Iii] = 1z1 X II) (3.6)
The Impedance ma trix [zj incl udes 12 sub me t rtces. Four impe-
<d ance matn cee He along (he d iagonal:
-t, + (d ld t ) Lt", (d/dt) .Mh:. (dldt) }\'11 """
A:" = (dldt) M !I .. r1",+ (d /dt ) L\ .. . . • (d :dt ) ,'1-1'_
(3.i )
(3. 10 )
suppl ied wit.h nonelnusclde l aSl' m m~tric vcl reg ce. nonslnusotdal
IDllgnet ic- fiel d mac hines. and moot o~ t he ether electr ic mac hines .
T he equations here are w ritten in t he i;t - ~ coc rdtn ate sys tem , th ough
they ca n also be set u p in ot her eoordtna tes.
E qua t ions (3.3) t hrough (3. 12) con tedn integral pa r ame te rs desp tta
Ole fact tha t a wind ing consis ts of t urns. I n t he ana lysis of surges.
the trea t men t of t he processes in II winding should be give n with
regar d to voltage distr ibution among t he tur ns. Note also t hat
"6lt.!lges distr ibu t e t hemselves nonuuiformly among t he t ur ns a t
the slo t bottom , near the s lot wedge, a t t he t op an d in t he mid dle of
the wind ing , and also at the end end sl ot tu r n port tons. It is t hu s
possib le t o form ulate a marhemaucel model assuming t hat t he
energy converter has distri buted par ~meters .
The methernancel modo! beco mes 1 more complex iJ a mac hine
has two, th ree, or II degrees of freedom. This is a machin e whe re t he
st at or end r ot or are hoth rotating members , or t be ro to r lias the
sha pe of a sphere with t he s pheeteal ~t at or being either stationary
or in mot ion. In t ile elec t rcmecha ufcal eq ua t ions for elect ric-field
eDergy conver ters, c fl pac i t a nces s1J bs~ i tu to for induc tan ces.
T he conce pt of t he gener al ized converter conti nues to develop
in keeping with t he ad va ncem ent of II,e theory of eleet romech enlcal
energy conversion. G. Kron was th e firs t to introdu ce t he noti on 01
a pri mitive machi ne in the 1930s. TI(e r;enara lized el ecreomech en t-
cal energ y converter represents t he 'model for descrl hin g energy
conversion processes in magnetic-fi el d machines having one degre e
oJ freedo m, an infini t e s pect ru m of har monics , and an y n umber of
loops on th e st ator an d rotor. T he notion of the ge neralized converter
can be ex te nded t o ('0\'1)1' mach ines wjth any number of degrees of
freedom, electr ic-fiel d con ve rte rs . lind electrom agnetic Held conver-
ters.
ChClpter 4
Typical Equat ions
of Electric M9chines
"
Ch. •. Tl plu l Eq ",. t10 M 01 Ele drlc M.chi .....
maehln es, onorg ~' ee nveners s upplied fro m nonstn useld al yol t age
sou rces, and for ot her actual mectnnes sh owln&, a co mpli ca ted in~er·
acti on bet"..een harmonics. Orveu the equ at ion for the mo~ t ca mp-
In ,"-II win dine machin e , ..... e can gra du all y ~ i mpli f~' the ma tllellul"
t ica l d!l5Gription in t he eoU1S8 of anal ysis to transform t ile model
t o the s implest one s pecific to a circul ae field in the air gop, the
equ auens of which ha'"e been g h' en ea rlier In th e te xt . Bu~ • useful
a pproach ts to begin with s imple eq uati ons and t hen gnd uaUy
tra nsfor m t hem t o II rnol'tl ee mplae form.
As is knowe , t he sya te m of equa tio ns comp rising four voltage
equa ucne (1.34) and t he nssdcl lled equa t ion of moti on (1.35) desert-
bes t he processes of energy epo vers iol1 where t hl! fiel d in t he air gop
Is olecula r in shape. T he expreeetcn for t ho elec tromag neti c t orque
inclu des rwo prod uc ts of ~u rre n ts .
A circ ula r fiel d ill t he air gap con be Silt up by a few wl nd iogs
o n t he stat or and rot or. Firllt,cnosi de r a machine model havi ng 0 pair
of windings on the stlto r, which produ ces a circular field in the air
ga p and t wo paif9 of wlndlnga on t he rot or (Fig. 4.1). Th e voltage
equations de rived fr om lbe equations (or lU I m- Il win ding machi ne
heve tbo for m
,
R1.+ 7i M u 1t"'I! o o o II.
+ :t L;",
.•• , R~", + L~ ""r Mhlll. l~~
71 M n :. Mh M 1Ic..•
+ :, L~'3
•,.
,
Iii 111 2• :, M;\ R ~ ", + MS!w. L;~w . ~/2I(1), 15.
ur~
- - lI1 u Ul . -L~",Ill,
+ :'
- Af h w,
L2'"
R'ill + ~ M'i2
,
dt Mil
X
i;~
+ d.~ L~~
uh M 2I w,
, m~ +
, i;'
-M211ll, - L6.CIl. 71 M 21 7t M ! .
-
+ :, L u
o o ;. ,
Iii
, R1,+ ..
"I Mil 7t M u
,
+ di' L111
'"
(4. 1
~. 1. T. llnsil io n ' rom Simp l.. 10 M,o r.. Co mp t•• Eq...lll io n>
.,:-R
'.-i' w'...
w'., ·:·ti
."~' w' , u.:il
,e.....p W,•'
II:, .
w'••
ll ~ ,
.'•
Fig. 4 ,1. 'T h. ch 'C'l,I lu -lIeld DJllchln c f' l i!" 4,2, Th e ma chino model wi ~h two
model ""ith. two pa in o r p halle win o pain o r ph u e wlndl ll.(t!I on 1he 11.1:>101
tlint;lI. on th o rotor alld 01111. pair of ph alle wi nd ings on
1be rot or
in the air ga p be ing es Lab lis hed , t be vol tages across the Sl a to r and
r ot or wi n d ings mus t p roduce m agnetic fi el ds wh ic h are sla tiona ry
wit h res pect t o each oLber.
T he t orq u e eq ua tio n l or this m od el is
AI. _ .111\ (i 1"lh - 11..t. , ) + M n (li...l h - J1... ii,> (-'. 2 )
Eq u8U on (4. 2) in cl udes t wo com pc ne o ts
Jl1 . ,.,.. k In + Al it (-'.28)
The fi rs t co m pon en t hi due to t he interac t io n bet we en t-be eur-
ren ts in the fi rs t wi ndings Oil t he stator an d rot o r, an d t he secon d
is d ue t o t b e ln t eraetion be twee n t he cu r ren ts i n t he fi rs t s t a t o r
wind ings a nd th e s ec ond rotor w hl ~ i np .
A circu lar fi d d In the air gap of a machine hoVin g two pa in 0/ win·
d Ing, on tlu stator and one pa ir of loind ing, on the rotor (F ig. 4.2) il
def ined bV .ff~ w ltage equation. ; the d ectromtlgnetlc torque produced.
ee
M re COfU u l f of t wo rompont:n~
tago cqua ttnns . a nd th e t orque oq unt;ion con tains nine com po uenrs :
M . """ M, +
J/ 1 +M ~ ,..j-. M u + .1111
+
M 13 +
.'1111 + ;M 3 1 + M ~ ! (4.7)
If t he fie ld in t he nir gnp has three ha rmo nics an d the sta to r a nd
rotor cllrry severa l wind i ngs, t ile nu mbe r or equations t u be Inrmu-
lated grow s. In the next. sto ps of t he a na lys is , the e quat ions a re set
up for four . fi ve. lind 11 harmo nics. '
Th us the ty pi ca l eque ttous Inc tud o, t he equ at ions for c irc ula r an d
eHipt ic fields wi t h three, four, an d more harm onics. T he eq uatlcns
become more com plex wilh Itn increas ing nu mbe r of wind ings on
t he s ector Mid rot or . Not e th fl. t th o solut ion of t he abov e e lect rome-
cha nica l equat io ns for most electric machines req uires writi ng cor-
respond ing programs wh ich w ill enter i nto t he librnry of sta nda rd
progrfl. ms .
4.2 . Energy Conver's ion Invo lving
an Elliptic 'Fie ld
As mentione d above . t he e lli pt ic 'fIeld consis ts of a forw ard a nd II
backward Hold . An exa mpl e of the motor exhib it. ing a n ell ipt ic
field in the a ir gap is a single-
phase motor wi th one windi ng on
the s ta tor (F ig. 4.3). T he rue th e-
ma ticn l mode l of a sins le-p hase
motor is the modol of Fig. 3.3.
ba Ying ~wo pa irs of windings on
th e sta t or a nd t wo pai rs 0 11 t he
rotor . O ne pa ir of wi ndings, w:,.
and w:~ . is fed wit h poslttvo-
sequ e nce volt ages to produce a
forwar d field nnd the other pa ir ,
,
W:" a nd w; ~ , with negative-se-
q uence vol tag es to se t u p a back-
ward field . I n a s ing le-p hase mo-
to r t he pos it ive- And negc uve-
sequ e nce voltages a re th e sa me
and tho amplit udes 01 t he forward
a nd backward field s an> eq ual to , FIll" 4.3. A s lngle_pha. e mOIt>r
ea ch other.
A u el lt pt tc fie ld is bu il t up in sy n:llr-et l'ie lind asymme tric machtncs
when sup plied fro m asy mme tr ic an d sy m metric voftage sources res-
~c liv ely .
For a n e lect r ic machi ne modeled in ter ms of t he macht nc of
Fig. 3.3 t he sy ste m of equatto ns (4 18) holds . T h is set of eq uatio ns ;s
deriv a ble from t he eq ua tions for t he ge uoeal tzod conve rter on coud t-
88 Ch. 4. Typkal Equal1 on, 01 Electric Machine,
H I;:' 4.4. " two-eta toe two-ro tor IDa- Fig. 4.5. The ee mmon-ro tc r machine
chine model model Hluetrative of the illt erllcti oD
between th e pcsntve- a nd uegett ve-
sequence volt ages or eueeca te
Wig. 4.4 ) and a lso a model e9mposed of two sta tors an d a common
rotor (Fi g . 4 .5).
4.2. f ne .!JY Co nveuio n l n vo l ~ l ng .n f m pl l~ Fie ld
M . = M IL ...... M2 ~ (4 .1O}
I n th e commo n-ro to r mode l of F ig: 4 .5 t here exists coupling he-
tween th o p osi tive p hase sequence lind, t ho nega ti ve pha se seq ue nce;
and the t or qu e eq ua t ton t hus has t ho for m
M . = iIl l(i1 ~ I 'i u - i1",j;: ~) ....... (i hiia.- il",i26)
+ ( t 1~ 1 k. - t1" i h) ""f'" (l hj~n - iin t'is)]
= M ll - l\{n+M,~ ""' M 2 ' (4 ,11}
The interactio n between, the positi ve- and T/egative-uquenct curre'l/.$
gives ru e 10 pulsati ng torqlUs which do nol prOVide the mean tcrqu.e
component in, the steady-state operatio n -and al/ect the course 01 a tra ~
sisnt !Jecau.se tn the transient region tht currents art decaying and the
mean value 01 current over a cucle varies .
Whe n ~ = t and t he Itold pulsa tes , t he re!lUltant t orque is zero,
so t here is no s La rtin g to r que on the mo to r sha ft (F ig. 4 .6(1). In or der
t o sta rt a stugle-p ha se motor , it is necessar y to set the ro tor in mo-
t ton by a n au x ili ar y mo tor o r reduce th e bac kward fi ol d; 1I111 motor
th en acqui res II to r que wh ich keeps ii \ go ing in the d ir ect.ion of t he-
a ppl ied torq ue . T he most popu lar met h od of sWlr ti ng II s ingle- phase-
mot or is to red uce t he am pli tu de of t ho backward field , Le. t o t ra ns-
for m II pu lsati ng fie ld int o a nellipticouc (Fi g . 4. Gb). t.-Ia ny ap proa ch-
es are np pfi ca bl u for produ cin g lin ell iptic field in the a ir ga p of
1\ m ot or su p plfed Ir om a s i uglc- phese cireui t. . O ne of t ile wid es pread
methods u t ili zes a n aux il iary st art ing windi ng dt epl ace d 00° i n.
space fr om t he ma in w ind ing, th e excitatioD currents i ll bot h wi n-
dings boing brought into the d e.'l i rc~ ti me- ph ase rel a t io n (Fig, ~ . 7 ) .
An ell iptic field in II ey mme u-lc mo tor is set up hy im pn>ss ing
asy mme tri c vcneges ;ItrOS!! t he wind ings, \ Vith t he im press ed volta-
ges be ing n t asy mme try, t he eq uat ions ex presse d in terms of fl ux.
li nkages t a ke o n the for m
d'V:"./dl =- u: u- R' t:,,_ d1V ~ I\!dt = u:~ R 'i: 1I -
d'l' ;n1dt = R'i;" - P Wr'¥~ ... . dlJ1~ !I'ld t = R ' i~ ~ + p w.'I'; 8
(4. 12)
d'V:,,Jdt = ±u:... - R ' i: n , dlf: ~ ldt =< ±1l:/1 - R't; B
d'Y:"jdt = _R' f~ ~ + pm r'l' : /I' dW;/I:'dl = - R'i; /\ - p<o,'V;...
Ch, 4. Trek.1 ~qil a tlo ... of Elec lr lc M achi","
Resc tv tng tho flux li nkngl!.'j a nd curre nts i nto sym met r- ic ccmpo-
uouts , we can obta in t he ai-fJ equations expressed in terms of flux
.ilinkages lind c urre nts. It is a dvtsa ble to re present flu x linkages as a
M
M.o 0,
• j
w'
•
M,'.
,/00 0 o~
o 0 c
'" 0
o
0
0
wi
~oo oy
FIg_ 4,7. A ca paeitor-s tarl stngte-pheee
induction motor
Fig, 4.6. Th e me chanical characte r ia·
ti c oJ a alngle-phll5e me ter
M . • _Io. qlle due ", pc.ol llv_ q uon • • Udd:
I
'M M • • _ 10"1"" <Iue t o n • • • Uy_ qu un<:ef lol d ;
M j _ tOIU ( .....ull anl) lor q"'l
,
aum o r th e prod ucts o r curre nts an d Indu ctances , ex presse d in rel a-
't.ivo u nits . T ho procedure odsi mul;,'l tio n on a n Ilnatog computer will
uhen require fewer I\ d de r.~ b..jtQ USC the flu x lt nkegea (i re the s ums of
cu rrc uta w it h defi n ite coe fffcrent.s:
=
'¥~ .. L'ii", + .~fj~" , 'Ir :~ = L'i: ~ + Mi ~ ~
'II:" = L' I;" + Jilt;" , 'Y: ~ = Ui: ~ + M I;a (' .13)
'¥~a. = U li" + ftli:" , 'I'~ ~ = Ui: ~ + Mi: ~
'1': " = Ui~ .. + "Ii:", 'Y;s = UI ~ ~ + !l-/l:~
SolVing t he algebra ic equa tlc ns, wh ich enter int o t he ge neral sys-
t em or eq uenc ns (4. 12), for curre nts iT" . i~", r", an d i~ ~ expressed
tn ter ms of flu x li ok ages '1'(.. , qr; 6' \I'~ .. , 'V~ lJ (oi.13) , we obta i n uie
:$'l t of eq ua t io ns
where h, - ji;. and i; jh n~(!. t he pos iti ve- and 1ll!!l"3 t tve-se q lienee
st a t or cu rrents rcap ect.ivel y. .
,
Foe t he rot or t he fo llowitig equations hold:
U~ =U~+U~,
('. 19)
"I' + /./',..
/. 1I, = - 1p
, • •• I
.....ilere Up, U~ . J.p. l~ are t he ro t or vo lt ages end cu rr ents of the posi-
tive and t he negnt tve sequence, res pectively.
Equations (4·.17) t hro ugh (4 .19) fo llow fro m t he mod el of Fig. 3.3
showi ng lour pairs of windings on the stator lind rot or . S in ce t he
model re presents all u nsa t ur ated ma chine. coupflng be twee n the
negative-seq uence win tli ngs does not extst.. T he - to r q ue can be deli-
ned by usc of the com mon-rotor mod el or Fig , 4. ' Of t ho two- stator
two-rotor mod el of Fig. 4 .5 .;
Cous tda r tng th e processe s i n a muchine Illollli' t ile Cl. ax is for t he
posittve-sequence var tebles. Ir ojn (4.1i ) t hrough (4.19) we get
iJ~ - (r' + j r ) it T jxj~ (4.20 )
- b ,,= l:Cmi~ + VX m ( - jit) + (r" + jff) i p+ vzr ( - ji~) (4. 21)
Chapter 5
Energy Con.version Involving
No nsinusoidal
and A symmetric Supply Voltages
~
.
u:.. w". ,.
u~" ...;..
u:.. "':..
I:lll' .5. 1. 'fhe model of a m3ch ine lor th e ana\ysi. 01 tmergy eGDv,rsi oG p~
a t Doud Duao lda l an d uy rn lDe~r:Ie s upply ..oll,a~s
I.
tho a a nd JI a xes ra t her tha n m: a nd vd ndi ngs on th e s tato r nnd ro-
lor, respect ivel y. T his model is ana logo us to t he model of t he gene-ra-
lized eo nvertee.
For t he mach ine w it h m wind ings be t h on th e sta tor an d on t he
rot or , .....e deri ve t he s ys tem of e>qullt io ns from i3 .3). In these aq ua-
U: .
u.:..,llu:.!
\iODS, U :8 are the ste tor voh a ges At t he Iundam unta l Ireq ue ncy ,
lind are th e stator \"ol tages prod uci ng t he fie ld of a thi rd
har mo nic . Th e laller vo lta ges ha ve a fre q ucnc~' f . = 3/1 li nd li n
ampli t ude t hllt corresponds to the IImp,li tude of t he fiel d of the t hird
Rarm on ic. \ 'ol ta ges u;... U;, corrt"spo nd to tile fifth harmonic of fre-
queocy /. _ 5/1' a nd voltage' u:..... u:' 1\ are t M vcl tegee of th o m lh
ha rmon ic., f .. =- m/I' The phazea a nd t ile dt eeeucns of ro tat io n of
t he field har mon ics res ul t from th e cortE-spo ndlng vol ta ges pcross
the sta tor wind i nas . If the a ir gap u hib ils s ubharmonics. t.e . the-
Cields whose frequ enci es are betew the Iund amente l rreq uency . II
pllrt of th e wi.ndi nga a re fed wit b voltages at freq uencie s lower t ha n.
'!Il) Ch. S. e .... gy Co nv"rslon .1 l'olonsln. .. AIyl'l: Vo lI!glll
1I11:~ Iunda me ntel . If the vol tage con tains even harmonics . a par t of
t he windings a re euppljed wit h vol tages displaying eve n harm on ies.
For t ach p... ir or 'rindi ng; on the s tato r t here is a corresponding
pa ir of wi nd ing! on the rot or. IU rega rds an ind uctio n machine . lho
voltages ac rOM t he rotor win d intrS are eq ua l to te ro for a shorL-<:i rcui-
100 rotor. nnd po......ee is fed t hrou gh t he sta re r: i~ ... 8 •
't he statoe a nd rolo r curre nts of t he firs t har mon ic;
t: i:i;
j ~1 a re
i' l ' i~ ..,
I' ~ ore th e s tator an d roto r cu rre nts of the second harmo nic: a nd
I~ ... i:" ~ . i:;'.. , I:' " are t he sutor nud rotor curre nts of t he mth har-
mo nic.
T he equations for no nstnu sc tdal asymme tri c lllipply V OIt8 ~S can
be derived from Eq s. (3.3) Of tlle aen e ra lize d con verter. T he volt age
a nd eu rre nr matnces for t he coso a t hand have the sa me for ro as in
{a.4) and (3.5), but t he imppIlllnce IOlltrix is differe nt .
T1.., (our impeda nce mntr iecs arranged along the d iagonAl of t he Z
ma tri.o:: have t he form
r~ ... + (dl dt) L~ ll 0 o
o rb + (dldt) Li... o
A:'= (5.1)
o o r:"'" + (d ldt ) L~
where r:", r;". . . .. r..... lire the res is ta nces th e windinl: oUllrs to
the currents of t he 1st , 2nd an d mtll harm onies . D isl'('g ard illg current
dt epla eemen r, t hese rt's i !ltan~s may be tak e n iden ti cal to a suffi-
cle ut degree of accuracy. I'n (5. 1). L:", L:.... an d L:..... are th e total
i nducta nces fff th e leo ps ca rry ing cur rents of the t sr. 2 nd . a nd mlh
ha rmo niC!!.
T he ma tri x A ~ comes froin A~ a fte r t he re placement of t he s uper-
.st ri pt I by r , a nd Ai from A ;' wu h IX re pla ced by ~ . T he impo<h'mco
matrix A& comes out after s ubs tit ut ion of ~ for IX in A ~ .
T he s uhma t rfx A::
has t he term
o o
o
.
A " --
(d ldt ) M r Zll
(5.2)
o 0 (dldt) M : _
Yo')wre M :~ . . ,.,,/:;., ....
Mr:roQ are t he mutual i nd uctances betwoen
t he sta tor- and rotor loops, respecti vel y, over which t ho harm onics of
t he sa me ordcr complete thei r pat hs .
S.I . The Equ atio o$ of Electtlc M&chIOI!l$
T he ma t rices A:"', A f, a nd Ab' Illl l,ie r ive fro m A:; on re pla c ing a.
by ~ a nd i.nt ercl tltll::i ng $ a nd r, I n rn,ach ines su bjec t 10 sa t uravtc n
and other nc nfinearit.iea, the m u tu a l ,i nduct a nces be t weeu t he s ta to r
and ro t or loops . o n the one ha nd . and those be tween tlte rolo r lind
ste tc r loo ps , on t llc ot her . (Da y diHer in ! i~ n
- L , «(o), 0 0
0 - L:a lil, 0
J) ,, = (5.3)
0 0 - L:.o.w.
L'il\w. 0 0
0 L~lIw, 0
D,,= (r..ti )
0 0 L~ lIw .
T he s ubrnarr tces 8"' 11 a nd IJ" ". d iffer in si gn a nd one follows Iruru
the ot her by i nlereh l\ngi ng t he pos i tions of a lind ~ and of r arid 6.
- M ~~ «6) r 0 0
0 -M ~kCll. 0
8«11 S2 (~ , 5)
0 0 - !U :;'_ tol, I
where .\f~ : .., :11;:".. . J1~ ...« I'tre t he m u t ua l Inducta nces be twee n
th e ro tor a nd slAtor loo ps ca rr ying "'Irre nls of res pect ive h::t rmoniCll.
Com bi ning th e eubma t elcea of vo ,ca!:OS. curre n ts, e nd Im peda nces
rives t he oq uations of a n elee u-tc mac,,"ioe su p plied from n IIOlUlinu-
soida l vo lta ge source , ea ch !Set of equations bei ng wr it te n for a defi -
nit e harmo nic. '
Fo r a eea t mach in e hav ing on" pa ir or wl ndi ngll o n t he stato r a nd
one pa ir on t ho ro to r , the res is ta nce in the ma thelll 8tiea l mode l m. y
be eonaide eed equ a l to ea ch other . T he to t a l in d uc t an ces o f the sta-
tor lin d rote r wi ndi ngs along th e a IlPd II U N ma y differ fro m eltch
other because of t he d ifference be twee n t he leaka ge fluxes (t he de.sig-
natio n! of th650 in ducta nces a re th o ,SlIme /115 for rosistanees). Tho
mutual i nd uc t a nce s be twee n t he s ta t or a nd rotor wi nd inp ma y be
tak en equa l tc each o t her .
' _ Ut H
S i nce t he machi ne modol is 111)Ral m a ble , th ere is 1M) co u pli ng be-
twee n t he st a tor wi nd inG" !lIang tho sa me ax is. H y pc t he tt ce l w ind ing:!
prc duci ug the fie ld in ure flir gllp hav e no co u pling bet wee n each
ot her: in the ma ch ine under s t ud y t he non sm usot da l curre nts fl ow
in o ne win din(: .
As in t he cue of a ll o l llp~ie Hold . he ro we ca n cc nstd cr t wo mod els
to de ri ve th e e q uat ion for t he e lec t ro ma gnetic torq ue . T he- fi rs t model
Fig. 5. 2. Til. m..fltllle r e -rotor maelline model for d<lle rmlnl o(r M .
(F ig . 5. 2) 11, :';/11 s tlllorsa nd m ro t ors . th e la tter bei ulI: r ie:idl y cou ple d.
Ellell s tll to r is fed wit h \'o lt llgt"s of the fi rst a nd uppe r h llrmo niC$.
For t ile mod el re prc!Ontilli t ho processe s o f l'ucrln' eenverstc e in
Fig. 5.3. The ...-m Ulr comm on -rotor maehlne mod.l for de term ining !J .
For the solutio n of Eqs . (S. t) t hrough (5.6) , t he n umeric a l Run ge-
K utta tech niqna is most pop u lar. In ~ an d li n g t he eq ua tions. it is of
impo rtance t o ma ke the righ t choice of t he step of o perutto ns. for it
determ ines t ho t imo a nd /l.CCUfIlCy of com pu ta ti on .
T he programs for th e cal cula tion o ~ both s tatic a nd d yn a mi c eh n-
ractertsucs of an energy converter supplied Irom /I. noua lnuso lda l
vo lt ngo sou rce a re we fuc n by exper ienced pr ogra mmers . In wide use
are s tanda rd progra ms for ex pa nding the c urv es into a har monic se-
ries, de te rmi ni ng t he eff.ectivo va lues of her-mo nies and their init inl
phase . T he eq ua tio ns are solved for hot h tw o-phase and t hrua-ph ase
machi nes wit h a nd without regard t o t he multtpor t a con nected to
the stator a nd rotor .
Of gre.a t s ig nifica nco is t he cetime t lon of s te uc chara cter is t ics for
machines w it h ncn s inusofdal vll!tnge ·su ppl)'. By use of t he vo ltage
oqua rrons expressed, for e xa mple , in a- ~ cc ord rna ees. t he cnleu.la tfon
of curre nts is don e for "ariolls a ng ular vetocntes of t he rot or .
For t he s teady-state ope m tion , the mean value of to rq ue over a
pl? riot! is
T
.
= I", ,,+jI ,,r
. (5.12 )
'. ,. ,. ..
ric cur re nt and vol tage componen ts ;assumes the form
An energy convertor can be built so: that ita field angular velocity
would vary with the amplitu des an d 'phases of field bar montce an<t
Ule rotor would pass from one s ynchro nous s peed to ano the r wit b>
changes i n th e harmonic s pectrum. This woul d enab le effi cien t angu -
lar \'elocit y cont rol. But design ing oflsu ch a machi ne tc vc tvee con-
sldet-able diflicu !ties and necessitates cont rollable frequency con-
v&rters . It is theoreticall y possible to very t be amp li tudes of hereoo-
Dies in a regula r fashion to en ab le a linear v eeteuon of the field
veloci ty and the desi red cont rol of EC parame ters.
, "
",-, e.,.-.---
"," I ..,,
r- »-
I" ':C '
I
1
I ~t.<';C·2 I
l \'KI
" ,I
I
I
I " ___J ,, ,'
L_
'1'"" . 5.$. T M l'I,!vef1libl e lhrrlalOr supply cIrculi lOT all huh..;tion ml chlne
N= A}
fJlAI = IJl AII 'llt
'll i\' l = lJ' RI =lpB~ at N = 8 (5.25)
{
lpC I=lpC" at N=C
T o obtain t he most fle xibl e modelIcr s imul at ion, control ove r e ach
th yristor mus t be separa te. Thus t he 'COnd uction engles of th yristors
1 and 2 lire in de pendent of each ot her and can v ary in differen t fas h-
ions t o en abl e the indu ct ion motd.r to run i n any of t he s pee tned
operating co nditlcns .
To effect the operation of loho TVR -induc.loion motor system. in va-
rious conditi ons, it is good practic e to lock lorigger pulses coming to
t he gale of. eaeb N lth th yristo r (i - 1,2) wit h the corresponding li ne
vohage (FIg. 5.6 ). To accom plis h the end. tho co uducrlc n angle of
thyristor N, la coun ted orr from t he %oro through which U~I passes
at II cer tain insts nl. Th ug lor t he t1lyr isl or A J (N _ A, t: = 1)
tri ggered to con duct corrent Iri t he forwl rtl djrection from th e su pp ly
".
,,'
Fig_ S.t!. The $Cbeme o r Ipply lng trigger pul5l!S t.o driv e lbyrist.orll in to eenduc-
ti on
lino into LIle ph ese wind ing a. the phase shift aAJ between the lrlIVCr
pulses is cou nted oU from tlle Zl!rO of the positive halfwave of li ne
voltage u A B , end for A 2 (N _ A . l = 2) conducti ng in the re verse
directi on, 0:.." ill counte d off from tho eere of t he negati ve halfwave
of U A IJ'
To est imate the moments at which trigger pulses arr ive at thyri-
sta rs, look into th e process Involved in t he control teehuique based
on the compar i.!lon between t!!e sawtooth pulae volt8ge U /'II proportio-
nal to the ph ase of the corresponding llne v clt ege and the vol tage
proporti onal to the con duction angle 0: ,.- of N l . Tbo equ at ion of t he
sa wt oot h pulse voltogc over th e holf-cyd e for the N 1th th yrlstor
(t he lnt l'rme dln lo t ranSformll'tio ns boing omit te d) lakes 011 the fortn
(5. 26)
(5.28)
(5.29)
The ex press ions i n terms .of Ilne voltages are co nv enient for t he
analysis o f t hyrl!lors olHlrat,,:d fro m t he uymmetric vol ta ge s u pply.
For exam pl e, t he equ atio ns for II t hree-ph ase s q ui rrel-cage ind uc ti on
mot or with thy ris to rs oper nd ng in t he stato of t hree- pha se conduc tion
A BC ha ve t he form
U,• • = UA B . U ob e - Us c . u. u ... u e A
.; -f I,. + i ., - 0
5.). The Ind " djio n Motel Sptem
t d'l'~ vs d '¥~)
(5,3'}
-T.~ +-,- "
X (
It.. =
-Z"BC + UA8
3 t L d l • e + L.
= r • •e 11. --;n- --r:;-
+
_..!..
d 'l'~ _ 1/ 3 d'l'8) (5,32)'
X ( Zdt 2 · dt
Eq . (5.32 ) c a ll be dt soarded since for the phose c we beve
It.. = - (It ,. + al b), f H = + l.b) -«...
For rot or ci rcuits th e equ ations assume the form
0 .... - r. (L rnIL , ) I." +
(r,I L,) iV& + do/&'dt + ltI,'P6 (5 . .'l3}-
0= - r ; (LmIL , ) [(2t.(.+ [",) (Val + (" , IL, ) '1'$
+d 'Y ~ldt _ IIJ ,'¥; (5 .34»
The elect ro mag net ic torque eququc n is given by
M
1-
- ..!.
2 P
Lm
Lr
[1f' (:<
(21.;,, + t. ~ l
'V 3
- 1f"ill."] (5 .35),
- -
"n
i~
B , TCA u ,~ <.
b
~~
~ 0, /
~
TC, U.., .
Uu
f Usb
1I, . to
-
" ><
~
TCe
•
t·lg. 5. 7, The scheu tic dlqram of a T \'n-iodudioa 1Il010r SYlltem
:C hep ler- 6
Multiwindlng Machines
, of MultlwJndlng M aehin es
6.1. The Equations
A ll dectriC machj"~$ ca ll be regarded as mull/windi ng (multtloop )
ma chln t$. The magn e ti c: COrell of eloetri c lnaeh illQ$ gene ra ll y riavolcp
eddy currants which should be taken in to eccoc nt in the ana lys is
of elOCltOllllttbanic al e nore ~ cc nve rsrco pro CC$SClI. Mos t of t he real
ma ch ines ha ve a few Windings . An elee tri c m achiue ha vi ng
oee wind ing (i. e. two ph as,e windings) o n t he s \a tot and one wro-
d i ll# [i. e. t wo ph ase wi ndi f1i5) o n th e totor is a ptil:nit ive machi ne
adopt.ed i n t he a nalysis pre cr jce , t he const ruc tio n of which c alls
for a rtlth er large number of ccnsrra tnrs.
Sy nchronous machines ha ve a damper win ding a nd III field win'
d ing on the rotor. Diuegard lnll edd y cur ren t loo ps , t he mo d.,1 of III
synch ronous machi ne cerrillS on e wi nding (h -I,) phase windi ngs ) on
t he s tato r a nd t ..... o wind il,gs (four ph ase win d ings) on t ho roto r.
A de ma ch ine has win di p.gs of co m muta t ing poles (co romut ntin g
wind ings) and a co mpon snthlg windin g; i ts fi eld Windi ng may COI\-
s ist of a c ot! of s hu nt (pal'nUo!) exc ita t io n and n co il of series exolta-
uon. With al lowenee mad e 'fQr ed dy c urren t 10(,1 1'9, t he de machin e is
a t hree- to Ifve-wtndin g machine. A cross-Held con tr ol generntoe
he a con trol wi nd ing eo n..., i~ ling of a few coils,
Indus try produces in d uction ma ch in es wit h two windings on t he
s .....to r an d t wo or t hree wi nd ings on t he roto r. These are mu l ti ple -
s peed mec htnes wit h pole-pllir changers , wh ich cons t it ute a wide
cl ass of dOtlble squ irrel-caae mach ines.
A d eep-slot macb ine can els e be cl assed with mu lth dn d ing me-
c;.hines H we con side r t ha t ;a few para ll el-co nnected cond uctors ov er
t he slot hei ght form sev er"" l oops. In t he process of s ta rt ing of a n
inducti on moto r, the cu rre nt s prea ds ou t non un lform Iy over the sl ot
heig ht beca use of its displa gement. T bi! fa.ct can be taken int o at-
W UDt by sol vlDg equa ti ons for n p aeal lel -eena ected conduc to rs ple C8d
o n t he ro to r.
A SUitor winding is oftell built u p of • few parallel-eou nect ed
em ductoes. Solving t he equatio n for a multiwind ing mach ine. we
c.an a llow (or th e non uniform cur rent dis l rib utio n over the co ndu-
cters , if thi ! is t he elise.
Elect romagneti c conve r ters, t.e. transform erg, nrc built Wi llI t WO
or th ree windi ngs. Th ey Me else mill tiwindl ng energy conve r ters
If eddy CUrrent loops are ta ken ln te accoun t.
In Sec. 3.2 were gh'en t he equ.tions for II hypoth eti cal m~n ""in-
diog mse hln e. As a pa rti cul ar CMe, ""'e ca n use these eqUitions to
Iermula te th o equations for any muHiwlnding ffi ae.h ine mel with in
practice. I n th o equl'lioos describing the prceessea of ene lll'Y co nver-
sion In lIlul ti wind ing machines. mu lUll1 ind uctances dele rmi nl.' t he
link bet ween wind ings, each wlnrllng being assu med to oxhi bit a
defin ite magne tic leak age. T he eleet:romag netie torque Is defined as
t he produ c,l.1 of cur rents enteri ng into t he equations. Unde r these
cond iti ollS, Eqs. (3.3) t hrough (3.12~ attl th e equations of mnfti-
"'indlng Inae.hin es.
" ...
dIng, field windin g, and dtJ.m per windi ng (IS shewn in Fig . 6.1. In
t he si m plt!lSt case. 815)' l\c hrono~ mechln e is a tb re0-wind ing machi ne.
its mod el h eing represented hy si x ph ase windings .
118 Ch. 6. M"tti .... lnClng ~o:hl n .. 1
+_ =1l".: '"
t. _ J m ., ~ , and vol tage II. =
= u......P ~ . We t hen ha ve t he flu x
li nkage '¥ I> - U bl (i) b. i m ped ance
: 11 - u ,,!i ,,. and ind uc t ance L b =
+A f"Tq
= ; b! CJ) b - U 61i 6 flJlr Here i}f G,, -
..... :1:.. ". ill." - z .. q. 1.." - Z",
L, = z" L , - %}> L .... - % .. " ,
and L ,,'l. - %"" .-
In mOd eli n~ pc rm an entrmlgnet 9'1s. 5.2. The model of « 'f1Id u'OftOla
_ hiDe
' ynclironou.s mach ines , t he dee-rea
of exci t a t ion of a magnet is de-
lined as t he p rodu ct of cu rren t J ... tl me.a t he mu t ua l Lo..du ctanee of
t he a rma t u re windi ng and the fi ct itious curre nt of t he magn et. Pe r-
manent mag nets a re re presented by an eq uiva len t inetti aless and
Ioaalees loo p ellppli ed fro m a dc sou rce (see A ppend ix I , Fig. A6).
W ha t co m pli cat es th e s i mu!at ion.ol sy nc h ronous machi nes la a ee-
t urati on -ind uced chaege in the parame ters wit h load . In s el t en t-
pol e machines, th e d iapla cemem of th e fiel d nxls with respect to t he
nu of poles a dds st ill more to t ha complex it y of t he model.
T he t ran s ien ts were giv en tre at ment fi rst i n s ync hron ous me-
c hi nes, As fat bac k as t he l a le t920s P ark an d G ore v fonn ula t&d Eqs .
(6.t ) wh ich now bear t.he names of P ark an d Oeeev. T he need for
the s t ud y of t t ans ien ts in s ync hro no us machi nee a rose in th e cou rse
of de velopmen t of power sup pl y s yst ems; t he aim was to in vesti g ate
the effect of t he emerg en cy opera t ion of one O1ncbino on t he s tab ili -
ty of parall fll o per at ion 01 ot her llI,ach lnes. Since com pu ters c ame
into being m uch la t er, it was Im posatble t o s elva E qs. (6.1) l or the
oese of a vary ing ang ular veloc it y. Tho onl y wa y out was t o si m pli -
fy t he in it ial equat.ions to descri be the main e ven ts dete rmini ng
t he beha v iou r of a mac h ina !in condi Uons co nside red most im port an t
l rom t lla pr acti cal v ie w poin t. I n perfor ming th e anal )'Sis, it W all
D&ce5!!ary t o define I set of param, rers cbarl cterb ing th e mac.hin e
". Ch. 6. Multiwlnd lng MachlrlO'
In con junct.lon with t rad itiqoall y adopted tec hn iq ues. The guide-
li ne for t he anal ysis of ulien t rPole and aonaal tent- pole ma chines wit h
t hree rotor win dings an d t....;o stat or wind ings s hou ld envisage the
U!8 of universal rout ines to ~e dll!llgned for so lving t he 8t8 ady -sta te
a nd t ransie nt perform ance on digit al comp uter.l. h ill of much im.-
portauce lO t.e5t a nd make th e right choice of models obtai ned by
t he meth od of experi men t al 'design. Th is wUl open u p new (Kmib l-
I n tes for st udyin g th e perf0f,mance of synchro nous machines.
-.
-, q
non of problem vee tabtes by dir ect currents and voltages. Nonli nea r
coupli ngs make t he modellug of a de machine a ra t her complicated
prob lem, T hese cou pli ngs ar ise from aa tu ranc n, q- an d d -a:d ll tra n-
sient arma t ur e rea ctances , ccm m u tat.in g armatur e rea ctions, a nd
also as a result or eddy curren t iuflu enc ea. It is impossibl e t o allow
accurately tor all th e abo ve facto rs. T herefore, in the s t ud y of de
mech tnes , t.he cpen-circu jt characteris tic is taken ltneer and t he
u, u
Lo
I.
t roll ed- rec Ufiar com mut a lor mac hines widely use s ta tio nary ac
w ludlu gs. N"o" stl li~lI t .pol e ue machines wilh a cn mpeastlt io, win-
d illg someti mes fi nd use i n practice. T he geuc r,Hzed 3pproa(:h to
.studying sy nch ronous and de machi nes will promote (urUtcr the t helr
ry of elect elc mach ines.
z. x.
Vq = Z. %"
x. (z.+ :r;')
(6.9)
6.~ , The Dou bl e Squ;" el-<:ag" Ind ue/io n Mal o,
where
(o;)O'l"1 Xu Xu
z. wo'1'.... Xo
Do,= Xo (,)00/.. (rp +x')
%0 (,>00/.. X"
», Xo WU'+'"
D"l = X o X' I Iw olf..
Xo (.1'0 +;[:') (l)01Y...,
T he evsrem (6. 7) i ncludes th o voltage equations roe t he etetor ond
for tho fi rst and t he second rotor cage; t he sys tems (6.8) and (6.9}
Inclu de t he current equarlous fOl' windings on the u and /J axes res-
pectivel y. In t hese eq ua tion s , 11' ~ 1 and '1'" lire the flux Hnkagll'!l of
t he sta tor a long th e u a nd v exes: '1 ',1, nud \(1.. are t he flux li nknge9
oj th e fi rst rotor cago along the I' ar,d II axes : 1J'~, and Iy" are t he
I'
flux link ages of t he second rotor cage along t he and IIe xes; R . (R , ,,
R ..) stands for resist ances of t he phase in volving t he etatc e and rot or
wind ings ; x . (x,!, x,,) st ands for ind uctive reactances corresponding
lo th e total inducta nce of t he pJ'8Se ~llv o l v i ng t he stator a nd rotor
wind ings; x Q is t he reactence of m Ul u ~1 ind uct ion for a correspondtng
pair of windings, which is due to tJl1
mai n field of t he machine; ~'
is t he reactan ce of mut uel induction lor rotor cages; and v = de /de
Is t he angular velocit y of t he rotor. I
T he ana lys is of the most popular t hree-phase induction machine
with two roto r wind ings culls for t}\e formul at ion of t he relat ions
bet ween self- and mut ual induct ances- of windings and use of the de-
si gn parameters ap plie d in th o thcon ; of electric machines , The rela-
tions aee obtainab le from t he compnr tsun of t he electromechanical
equat ions l or t ho s tood y sta te (w, is conatan t] with t he classical
equations for a t hree-phase double-cage moto r:
x . = (j)~ (L1 - .;11 )
%~ = (j)~ (L . - .111. )
~ = "' ~ (L. _ ~f.) (6.10)
~~ = (j) o (312) J1.f'o
x' = (o.)~ (312) (At' u - M 0)
whore L I is the ind uc tance of the s ta tor phase; L. is t he ind uctance
of t he rotor phase (first cage); l...3 is tlje induct ance of t he rotor phase
(sccond Cagll); M I is t he mutua l inductance between st ator win d ings;
128 c e. 6. Mu lliwi nding MoKhln,u
M l is t he m ut ua l ind uct ance b etween the ro tor windi ngs of the. Hrst
c age: j\1 a is t he mutual Inductance between the rotor windin gs of
the sec ond cage; an d M IJ ill the mutual in ductan ce be tween the ro-
t or windings locat ed on th e'aama axis.
SOl ti ng Q)e - W T • (O r c: \'lo or ro~ = 0 all ows us to ccnstder t he
conve ner in the most prefdrahl e system of coordinates. The equa-
t ions exp ressed in the o;-f} coor dinate system have the form
di ~ 1<:" R' _, Mi di~ a; M dl 2a
d j =V- v t" - !7 (i/ - v --;rr
~ u~ R' ., /If I ai ; ~ M dit/l
dl = "7::' - 77 111 - Lt j~ - v"""'dt
ill l " R~ .r
- --~ I -
(u.. . At r .r )
1~ + t t l\ + --1 2 11 - -
AI di:'" M r dlfa.
- - - - --
---
dt L; <Z
'Y -
Ll" L'1 L'j 41 L'j 41
-
d Il l!
d-~ -
1/\
-
_r
llll + V -
M ; .. ( ,
1.« + 11 ,,+-M, .r)
- ',.
I L'i L't L'j
_ 1!.. 2d • _ !!.: ~
,' .
(6.11)
L, 41 L'j jdl
• Dr I
4 12(1; " 2 .r (ft~T . , or M " )
-- ~ - - - 12",,- "1 ---.- lfl ..J- £ ~ lI + -- "
dl L2 ~' ·L 2
d/Zfl
--- - -
n2 12f1+V
• (M • •
-re- i",+ I1<:<+ -
"1' l rt o:)
dl ~ ij ~
AIr ll ~ Mi' dl~lI
-[7'71
, -/T"dI
e
The equation of mo tion i ~
+
(dv ldt ) = [1/(J I pH [(mpI2) ~1 (iDI'ia- t~i ~ ll i~' ;' - i~i2f1) - M .J (6.12)
In Eqa, (6.11) and (6.1~). M is the mutual in ductance between
t he st at or and rotor windjngs , and Mr is th e mu tual in duct ance
be tween ro tor w indings .
T ile rud ucrances of sta tor an d rotor windings are
L"=M +l~. L~=lIf + l~<1 ' Ls =M + lill (IL 13)
where 1:' , l l ~ ' and l20' are ehe leak age Inductances of stator and ro tor
windings.
It can be shown t hat fo~ the s te ady stat e, d ifferentia l eq uations
4..4. Th. Double Squltrel=Cage Induct ion Mot", 12.
(6,11) eOllv eI'l t o complex equati ons f or the ph ase of a do uhle-cage
tnducttcn ma ch ine. Replacing in vol tag e equations (6.11) the diffe-
rentfal op era t or hy j w, we obtain for th e steady-st ate performa nce
c.i~ .... R' i~ + jw[.' h + jwM i t.. + j ooMi'i,.
u~ = ll' i~ + jw L, j-~ + jwM i t ll + jlil Mii ll
_U I..""' Rjh~ + j IilL i" h .. + j~M h + Mj~'Y +Lri r/lv
+M,j;lI'Y + j wM ' i;;",
-U'ill= Rji te+ I(o)Ll i'iIl 4- /(i)Mj~ - Mhv
- Li:ii..'Y-M' i;.,.+ j w!w hll (6.14)
•
- (xt + :£0)
•
h.v'• + 1:1:';I ;;11• + I xoiz ,ll - :l:' h.., -e' r2<t V '
- ZO
( t / V) (i~ ",U cO!! "¥ - \R' / L') f.. M" 1o. -V1h;
,. V
.\1.,
/II ., /If .,
I7, ''' -V'2
, «
JJ .. .v ..
-q ' 1" - -
L; "
- - - - - - - - -M,i.+- - - - M,
Mno..,~Io::::::'JE:=1=====\!::====~~---'
o z ,
M,
!II dl b, _
[
!!..
-rr 11..+ yr Ii.. + lio. +-Lf" i'i..
MM
.... .
dj~/I _ M '
.~
dl ~ ll
. At'
. )
u~ _i:::+ i,..r.,.
~; = O= i;::+i. r...
- ';j _ 0_ h:{' -J»; + i~/l';' (\ - ')" + i:r'i;- (6.25)
_ ;j ~ "'" 0 = i :'::;' + i...:", + i{Jl~' ( t - ')1' + j r! i r
,
i . -- i ,· +i ' +; ', · -l..i~
"
10 Eq . (6.25) . t he impedance! of (t l\l~ d ~ wind ing! are taken equa l.
'"
and t he curren ts a nd voltages beat Indexes to ide nt ify t he first and
second lll.. tor an d rotor wi nd ings. I
Solv ing (6.23) a nd (6.24) on a d igilp.\ co mpute r. we ca n esti mate
the offect of ed dy cu rre nt l oo ps on the d ynamic Rnd stAt ic model! of
cpera tio n DC an in ductio n ma ch ine .
As found from inves t igation s. t ho effec t of a lItnt nr eddy-currant
loop during th e period of s ta rli ng 11 7-!<W motor ill gr ent er th a n t hAt
af 8 rotor eddy-cur rent l oop. hut both loo ps have fin eq ual ertcct Oil
t he hnp nct slarli ng c urre nt i n t he eta rcr wi nd i ng. A p p l~'i n l: th e
e:lpt'ri mollt plllnnlnlr techniq ue to t he nnn lysis of mo tors of vertoua
p OWCll'S a nd wit h diJf eren t numbe rs of poles , we ca n e valua te t he
etreet of eddy c urre nt loops in the s ta tor llil d rotor o n the dy ne mte
lind 51,a l ic ehe reerertsucs of mo to rs .
Whe nl a few loops lire in yoly tld in the peoeesa of en f'rg)' ec nvere-
ion, of much importan ce is a n Acc ura te dete rmi nation or t he wi nd-
i nlt para meters, for which purp ose :l freq uen c)' methOd is arlvlllll all-
OOWJ . T he pamme tera of sta tor edd )'~urre.nl loo p", l<cl,-n be found from
t he vnJue of iro n loss . T he ca lculatio n me th od t ho t more full y a llows
fo r mllnufa cturi ng lectors gives te uee results. T IlE; effec t of eddy
curronL.O\ o n t he chnrncte rist ics ola machin e is accounted fo r by th e
interact io n ' o r 1111 eoetrtctcnts en teri ng into Eqe. (6. 23). an d (6.201).
Th e sta tor a nd rotor s teel s hee t t h tck noss, atea l gra de, a nd ma nu-
fact url n:: o pe ra tio ns lire c hosen alter lllo a na lys is of (6.23) a nd (G.24)
and also after constdera uc n of ocooolll ic Iecto es.
I n Eq. (IL23), th e vo ltages on th e second l oo ps in the e re tor a nd
ro to r mil}' be ot he r t ha n eerc . If tb~ voltage impressed aeross th o
-sta tor .....indin g is th o sa me nnd t hus the fie ld i n tile a ir gap is c ir-
cu lar, t he pr oblem red uces to the Sl u"',. of current d is t ribu t ion a mong
t he parallel branches nf wi ndi ngs . A small d i!lCrepancy be tween t he
in ductive eeacieoeea a nd resi.!ltancos '01 pa ra lle l bea ucb es eauses a
no nunifor:m distribution of cue reo ts lind t h us affects t he per for ma nce
of t he ma ch ine i n the stea d y-s ta te a nd t ra ns (en\ conditio ns .
~y (.)
0) lb)
I
-E-t- -i3.--d--
,
I
I I
I I ,~
(0)
,
Fig_ 6.6. Cap Donunif~lTlllhy due to m.n url>e~urlnll bctore
M a fir st. a ppro::d ma tioD , U!WDO that. the m achi ne has n sh wrs-
and a common rotor . Supposing that there ill no li nk between n sta-
tors, Lbe voltage e quations thea take on the fonn
", Cl I,
.> Cl I,
(C.26)
", Cl " >,
". Cl I.
I n Eqa . (6.26), u,
lind 'f
ere t he vol tag e nnd current matrices of
thy lth machi ne . I n th e impedance ma trix of (6 .26), th e sq ueree
donole t he im peda nce mat ri ces of 8 ma chi ne wiLh a circ ula r fie ld.
Each im pedance mat-fi x eouse tna c9rrespondiog para meters. The-
elect romag net ic torque here is eq ua l t o t he sum of prcd ucta cur- or
rents in each e le me nta ry m achine
(6. 27}
i, = i + 1. + . . . + j"
l (6. 20)
. . . . . .
where UI> V " .. , U" an d II ' I lo . . '. I . Are ure vo lttges ond
euerenre i n ele me nt ary machines.
If, apart. from the linkage between the clementlll}' pieces d ue to
the ro t or cu rre nt, we co nsi der t he li n kage resu lting fr om t he ," ach ille
". en. 6. ~u'ItJwl nd;ng M ...hlne,
(6.30)
", D O 0 0 •
"
". ,0 0 0 9 '.
The torq ue will then co nt~ in not Dil ly tilt> products of curren ts in
t he s ta tor a nd ro to r bu t a lso tho products of c u r re ll t ll w it la d iffore nt
sii08:
+ J/, + . . . +!lI,,+Mu
+ . .. + J il l + . . . + !HI" + .. . + M eA_u "
(6.3\ )
.~ I:'::~~(I) :, (I) At I 0,
I
o .
'.
.
." d
Iil M (t )
ra (t J+
d
+ 7I Lz(t, ]
I
\ L 2 (t ) w,
, x
'.
(7. 1)
r z (l) + :, M(t)
- N (t) Ill, - L,. (I ) 10), + :, 7( t) "
rl (t ) +
I , ,
o o I dT 1W;(l) + 71 Ld t ) ';
lIf. _!If" ( t ) (IAli. - i~I ') (7. 2)
dW, .'d t = ( p l J (Ill 1~1f. - M , ( t )l (7.3)
T he modol of a ll e ne'1!:f co nvener. ll!l sho w n in Fill:. 7.1 , cc ereepe uds
t o Eqs . (7. 1). (7.2 ), nod (7.3).
'" Ch. 7. Mo de l. ot Elect, lc Ma ch ine .
-,-,..
•
•
•
"I a
i- JotUQ
• •
+ "'iii L.l a
,.
7f "' h Ill
•,
""Tt"M:•.....
··
71 "' 11'1
"
-a-1>ltl .
d
7r
..lI , r
."""
-ar -" "b oa
---.. · . .,.·
" '1
,
• :, )I', . .a. n _ '-"71
• •• ~ 71 .u"'
" I..
•
*.• u"'_•
-,. ·"'.
• .- •
7<"' .-
11.. "'iiT.u I _ + 71 (,' 7l M. -
• IVoil ","
'To" : . )12_
-- ·"'. -
71 21.. 2_ • M :0 I ..
0
71 . 'a ~ .lf-' • • 1..
7i" ·\1..
o
' - +71 t _
• •
o ", -l.~ "". ·
-"'1_ ",
-" _ lI .... . . - .vI......'
• _M" .", - ).Ii ....." ,
-" - ·\ft"' ''~' -·'111<''',
-:..
•
- .&1'"" ,,", .
-.,- "'. .., -.'1:"1..- ,
,
_ L~ ,
'"• • • •
." • • e •
":.~ 0 0 0 0
The TlfJIIUntu ,ilg of the p aram eltn a/Ill! ener gy converter operating
at dnuj(jldal voltact i, ru pon, ible jor lhe emergellce 0/ a harmonic
spectrum in the aIr gap.
FiE_ 7.1. Th. mod fl or an ek!ctr ic mac hine . 'l th nonll nt!u p.:U;lIIr~ lA'n
• e • I:....
L~ ~"'r M:;' ~"r Mu ll". "' I"'~'" t l ..
, ,;.
M211l", .\ltm~'" !II .I Il"' . M. meOl r
, ., .
·\I:;' I~.'
" Ill + ""ifi'" LIlI 7i
L~"',
,
Nl .~
·
U. 1. ..,
71 >filII " T
·"" -
Jf.. m. ....
·,
:, ')'~11l
,
.s:
.,
., "';011\ •
To ~;",a II a"~
·•
7i l woC:
,. II
,;.
, 111
*. ':;'11
71"'''' .. . 'mll+ iiT L ... rtf
• ~ m ill
t: "'iI !II_
"~
· -ar M •l>n.fI
-n- .\Ill ' II •
",j''"11 ' I B T 7T LIB 'l ll
" • • • ""2m!!
• I;.
dT ·'12111
"7i·
"
"
M ... I .
7lM Z~
"
7l .'II'"
.. ~
71 "'2111
-#;-uO... ,• '
7i
..
•.... + 71 L-S I:"
(7 .·n
two ro tor wi odi nlr-l and operating 'rom rhe symmet ric suppl y volt age
so urce is t he m~n winding ma ch in e Ijlodel of F ig . 3.2.
E ach har mo nic of the fie ld ca n be II!l t up on tho model by choollin g
a pa ir of wind ings on the II t at or or r:o ~o r and apply ing to thei r term-
inaa approp ri a tol y phese-sblf ted s inysoida l voltage s of cor respo nd.
in(r ampli t udes and fr eque nc ies . \
Voltage equa tions (7. 4) describe ~ he mod el of Fig. 3.2. The
torq ue equation foll ows from (3.12) by su bsrtturlng m for n .
The nonli nearit y of at least o ne o f tbe ooeffieie nta in the electro-
rneebllniclll equa tions gi ves rise to a n i nfinit8 spectrum of field
har mon ies , and th e equati ons beco me s im ilar to these for t he goneral-
ized m-n wi ndi ng ll Il(! rg}' conver ter. IHowever, th e model here b as
the same num ber of w indi ngs bo th on
t he sta t or and on the rotor ,
aDd the dete rm i natten of li nk s betw'een harmonics {between treu-
ucus wind ing!! ill th o model) diHers iw lth each paramete r. W ith a
change of tbo load or volmge o n t he aermi nala of an energy con verter.
the coupli ngs between harmonica (mut ual Indu ctances in the e qua-
ti ons) undergo changes too . '
Th us, the a nalysis of a n electric ma chine with nonlinear para meu rs
is possi ble by WIe of t he two notat,lon" for the electromechan ical
equ ations. Specify ing the pa rame te rs as fun ctions of currenU or
142 Cn. 7, Model. of Electric M.c hln• •
ti me , or other Fact ors , we can impl eme n t t hese Iuuct tons on th e 1I0n-
llne r u- u nits of a n ann log com pu ter or- realize t hem in t he for m of
ta bles on a d igit a l computer and t hen solve Eqs. (7 .t) t o (7 .H), A second
a pprce ch is to choose th e req uired numbe r of ha r mo nics ;11 the
mode l of th e m-wlnd tng m achtno and solve Eq s. (7 ,4) O il 11I l a na log
or d ig it::d comp u tar ualn g constan t coetncrsnts or coem cie nt s vary ing
with loa d, tem pera t ure.. volt ago , etc. tsee Llllow) .
The equatio ns for th o herm o otcs to he chosen in each cas e 81"l'
cumberso me , but t he)' offer lar ge peselbilttlea for t he study 01 sss-
toms , For exam pte , t lICY per m it us t o determine Ih e er toct of each
harmon ic on t he t orq ue being produced, to consider t he pr oduc ts of
cu rren ts due to ve rt cue lJa l',!\on ics, t o vn ry coupli ng , e tc. Eq s . (7.1)
t o (7 .3) arc more rea d ily solvable b ut they do not a llow for a n easy
a ssess men t of ma ny peculiart t.iea.
T he oqun tl ons wi th nonlinear eoe lr tctcnts ere not a meue ble t o
an nccurute so lulioll as is seen from tho ana lys is of t he sy s te m of
OqU UIiOllS (7.4) . Howe ver, tn king i nto accou nt so me no n\i nearit ies
an d so lvi og t he eq ua tt ous or 3 d igita l com pu te r , it is possi bl e to
ob wtu t ho res u lt t o a des irl'd accu racy.
~ 1,1,,1..
full y t ho processes i n tbe donli near tran sfor mer because i n t he ete-
euue wit h ccou neer para meters mere ex ists a ll Inte ractio n bet wee n
t he components of the harmonic earres.
T he nonli near (sat urated)' t ra nsforme r is a ge nera tor of uppe r har-
monics. Such a l ransformer !can be represented as a li near mul tl por t
(Fig. 7.2) with a si n usoidal voltage of one freq uenc y (u1 ' h ) supplied
to i ts input termi na ls e nd ':.speCl r Um of har monies a t its out put ter-
mina ls:
d d d d
'. r 1+ (fiLl dI '\['2 dI 111 II
, dI Min i,
d . d d
r' + 71 L l ' lit M u :1ilf,,, i,
" di M !1
, d
dt
d
rr+j. di £/ •. ,
d
7t M ",
x
" lU Mit ill /:
"
,
." d
df M nl
d
diM,,: dt /'111 .. /
d
. r" + liI L .. i.
(i . I t.)
Th, im ped an ce matri x h" the Ior-m
z 1l 'n Zli
, ","
.- 'n
'" "'".
ZII
(7.15)
'n ::11 'd ::/
Inl 2 .. 2 2 .. ; 2 .. "
o
Fill;' 1.3. Detenn l"inll the
eoerflclen13 of coupling b...
t ...·~D hara'ooi es
ma ch in e re qu lees more lo bor for its lIIu nu fl'd urc e nd has 1'I lallt'f
dJllmt'te r i n com pa r iso n with III fo l nt w it h dee p dew-drop or te u te-
shnpsd s lo t , so i n des lVni ng new ve ratons of t uducu cn ma chines
the p refere nce is S;\' on t o uie laUer rolo r . By choos ing 0 pr /)pe r
shape of t ho s lo t . it is posslbfe t o b ~ iog t he dynnm ic rha l1lcle r isl ics
oJ • dee p-eln t ffi:1l ch fno c lose to th 9se- (o r ~ d cubte-ea ge me enroe .
I n n rea l Ind nc t tc u mecn t nc. Ilpa rli from c urre nt d tepl aecment , Ihe
ffill g nol ic co re s.... tu ro ti nn lind erld y enrrem s r;rrc llll )' ll.ffee l \110 pro-
eesses II I l'tllrli ng . T he llnl!l l ~'s i s ur these fa ct ors i n cumlnna ti on ea n
give t he eq unt io ns for (I mull iwin d illg mechlne wil li nont tnea r pa rn-
me ters .
An a pp roa ch at rned li t J"l.'d uciIlg the errec r. o r c ur rent d ispl aee ment
0/1 li la o per-a ti un of sy nc hr o nnus nr;ll d e ma chines in steady-state
cooclitio llS is. to tr a nspose couduc tors tnnd dcorco:lo t hei r cross secuon.
In inducti on m ac hi nes t he errect ot cu rre n t dtsplecement is tnken
n d vs n l~ g<' of for im pf u y i n ~ rhe d yna mic C,htll'llc Lor iSlics.
a t rlllu ie ol hea vil y depe nds 011 t he i;nitial values of freq ue nc)' an d
VOJtll~. T'ransie nt a at cousl nn l L" Rud cons tllnt ! l'C'present 8. par t. i·
cula r case .
In wid espr ead \l .so lire eJlerl:Y o.;o ll" e r le rs desi gned t o opeente a t
0, ec astan t volta ge nnd peri'ld icllll r "!Jrr in !: load (drives of cr ushOMl,
roll tng mu!s . e tc .}. T Ile cha racte r of ~h a ngcs i n /If r ca ll be me st d ir·
Ierent , In a machine opera ti ng a t All hu pact load , t ho ai r ga p eo nre tns
har mo nics wi th peak am pli tu des . bllt. tile l::lp ill free from t hese
har mon ics at a s uulsoidal lea d IPi* . 7.6). If lin energy ec nvertee
is cumpaeahl e in powe-r wit h t he Ii i"! . IJu~. impllcl load d is lor U t ile
vo lt ages lind eurre nts ill t he EC. IIn(l the u pper IllIrmonies a r iSll ill
t he line a Dd a ffect t he ope.l'1I li l)1I of o,,",c r dev ices.
The inde pe ndent " ar iables U a ud ~l , lind dtlpe nd\llll ". ri8 bles i
and Ill , can iUlE'reha llgc pl aces . For exam p le . i [ we cont ro l eu erem in
• gtllM'rlIWI' ( in ;I :e-nerlllo r- motot s)'stem cal led the curren t dr i" c),
t ile freq uency a nd "oltage will nn dt!~ chrlnees a t t he o ut pu t. In
sources wit h se m icond uc to r oleme llj.s. the eo mroltod vlIr illblQ is
cur ren t ra th er t han ,·ollll;;:t'.
The meth od of sym met ric eom po nonts lind too tbeory of roLll 1h ll:
fiel ds II~ t he mai n lool s lor the s lu d )' of AS)' mmelric ECs.
The IIl4lJumaUral /k«rlptlon 0/ t il er,,, corlQullo/i ill 11I1rlImlr fc
Ee, repnu nl, part tcular (JIM 0/ Ihe a1Ully~i' 0/ (Uum~t'/f: Ees.
II:
f or th is reaso n it is not nlws;ys jud ici olls to ext end the ectdevemen te
in the t heor y of s ym me u-lo , m ach tncs into Ill o 1\l1!11 oj 1Il!1'1Il" lct ri <:
mechrn es. On t he whole, \\~h Rte vtJ r the comp lexit y of esvm me rr tc
me clunes e nd JUJw(l\'C'r tlh'c rse the asy m motric cond itions in whi ch
tIm)' operate , Lilli a nnlylli9 esse nt ia ll y involves th e st udy flf th o lIir-
ga p field . For th e sol u ti on ,of th e proh lems s ta te d, the resea rc her
mu st of CO UtsC thorOllgll l)' deFino the alr ga p i n wh ich t he m agne ti c
fiel d stores l'oofgY a nd then give t he m athl.'m llli ~ 1 desc rip ti on o{
energy conversio n processes.
I II An esym me u-ie m lld d lle oJl'!'raUng o n s ymmet ric "olt a~ s u p ply ,
the a tr gn p co nta ios bot ll $I 10r . . . .tlrtl ( posit ive--seq ucoc;c) e od It be ck-
wnnl (negALive-sequence) n ~ l d . In th eee- phese lind multlph nse ma-
chines . zero-seq uence fields appear under ce rt ain con d u tona. A ~ym
melry Is rerponslble for the butl cWp oj a zero-sequsnce f ield in llle air
lJajJ . 7" ~ study of energy conberslrm in uJymmc trlc much incs in a f irst
apprQx imal Um rt duu.r 10 solvi ng the eledrom~cJUllllra t equfdloM f or
the two f uM, f/1 t he aI r gap ~
IIf ,. = M A .. '= M
a nd a long t ho II ax is
M fj =MJH != kM
Hence .
MA ~ .... M ~ A = M cose , M Sb ""M u = kM cos O (g .~ )
This done, set up the voltage eg1j:at ions. F irst , express the fl ux
linkages as
,
+ fr{ [cos e i .. - s in e t~ )
'If A = £ ;'1;'
W = Ll lA + k M (sin G f.. + cos 0 f~)
B (8 .5)
W.. = L' i~ + it! cos 0 I.. + k At sin 0 i 60
'If~ = L'i~ _ M s in ,S i .. +: k M cos O 160
T he alec reom agnet fe torque ca n be: defined as 11 par tin l der kvative
of th e t o ta l ste rad electromaensrIc, e nergy with respect t o the geo-
'"
mut r!c an gle:
Ch. a Asymm. tric Enet9 y Converters
The se t up in ' "(lIvi ng the $\.ar li ng and ope fU lng cap aGi ta llf e5 for tile>
~lu tioD 01 t( luatlo rl$ on an 110110; eoOlpu\.t'r
- u:,
f ir_ 8-3. The !Il!Wp for tbe tolUUOD of ~q. (8. 13) on aD 1118101 eo.r:nputu
model mu st inco rpora te opcru Lonal ; am pliH eu . For exam ple. i ",
I'oh'ini E q . (8 .'12) for II. mo tor with ·C .. or (: ",,, th e model h as to-
include an add tt tonal setu p Ot to cut! out COl (Fig . 8 .2). The model
ror (8.13) wit h C and r. should be rtued with an attachme nt such
as in Fi ll. 8 .3.
'Vitll th e ma t hematiclll model se t up Oil a n lloa Jog compute r . we
can Jnvestignte t he effec t or th e pa rameter s or the mechl ne Allt l its
phase-shifti ng elements on lh e sta rt c Rnd d}'na mie cll afllcte ri~tks .
nf;-------z
~t---, .~
Usin. ,( --tAw~ <, y:,
. ,
/ -" \
\
\
B \w;
n '
UCQ so,t
1'1ll' 8. 4. lll uslrating tb e motion, o l wind ings wilh respect to each other tbu
!'I.'9ul15 In the ecnv erslcn 01; the circula r fiold to th e pulsating one
'e ach nth er , the am plitudes inf th e pos l tf vn-s equence a nd negative-
seq ue nce fie ld compone nt s of til l.' ell ip ti c Held undergo changes. If
th o w inu ing IllC E'S fi re eni ncide nt , we ca n supe r pose one w indi ng on
the other an d co nstruct the ~n ode l of 11 single- ph ase m achine .
A t epac ta l asy mmetry .
L A A = L A A = llf cO!f 0 , LA ~ = L b A = ill si n 0
(8 .15)
L fl b =L b S = ft{ si n(6-6) , Ls" =L,, s =M cos (1l -6)
F or asy mm etric Wind ings sh ifte d i n s pace , t he Ilux linkages of
pha se ass ume tlt e for m
'I' A = L At A +L A sill .it- M (cos Of" - s in 6 i lt)
If' s = L iJi fI +
L lJ Af A +
kM lcoe (ll - 6) t" +
s in (ll - O)i bl
+
'I'" = L <l f" + M cos 6t;.- k M cos (ll - 6) I II (8 .1G)
'I' b """ L~ t b - At sin Oi.... +
kill s i n (6 - OJ i R
In tra ns form i ng the sot of eq c a ti o ns 10 the a. an d ~ cooedrna re
ues, we sho u ld re mem be r that
.,
t'lg. S.!>. Slngl.. phase induet lom OIDW,", w,\h a $l''''l'lt ol ,bad lng 10011 "'" We
poll' (A) I ml U :(U1 ll\Ntlc nla!:"l't k ~)'~ lrm (h I
-rf:b
: " ../ ~
"4$:
-......... :
.o
~<:l.
,{I ".
rq- I
"
'" (bl
'"
I n duet ton m<.>WI'lI wllh one , ho rt.:od I OfIp on the l' ole ( lI ) , Il few shor t ed
lor,ps on the pole (bl , an d nsymmer.rtc mllgncl lc S!"S U' DI ( c)
Fig. 8.8. TIu! t wo-ph .... eDl!l'gJ' Wllverte r as a t ...-o-eluo nllel lou rpo rt sho..l ~ the
po!llll.....-q_ a nd aeg.U..~ueQCe Tol tagn u~ . up and w:.. ,,:;,
re!lpl!Ctlv el y
t he p~ rll me l e rs: or e le....e nts cunnee tc d to 1I,e Shllo r e nd rotor d reui l.5
( Fig. 8.1). I n th e fi ~\I re. Z, lind Z, aee asymmet r tc mu ltipor ts re-
present ing t he eleme nts con nected 10 t he st nt or an d rotor c ircu its
re spectivel y.
8.S. The E ! ecl n ~ M.~h;n • •• • n , f l..., .", of In. Syole".. HIS
Chap le r 9
The Equations f or Electric Machines
of Various Designs
9. f. The M athematical Models ot Energy
Converters w ith a -Few Deg rees of Freedom
As is know n, the e tecr rc mecha ntce ! energy co nverter s wit h o ne
d eg ree of free do m are e lectr ic machi nes h av ing one rot at ing member ,
namel y , II 1'0101'. Th e e uer g v co nver ters w it ll tw o deg rees of fr eedom
lire electr-ic m ac hines i o wJli f h hot h the rotor (rotors) a nd stator nre
ro lal i ng members (Fig. \l. I ,. These n re d c ubts- eora uo o ma c h ines
d escr tbed hy t il£' s q uauous
"~
u,;
u~
,,~
!I), l hat se t iu II I 110 load become flillctinns (If t he mom ents or i nor l,;a ,
J , FInd J • . \Vi t ll n 1lll'gO in crease i n 0 110 or the mo ments o r i n€"r l ill. ,
II ro tor w il lt n 10 \\" I'f mom en t of inerl in sl a rts ecce lcraung , I n th o
enr rg y couv e rtc r <lr (h~· nbove
ty po. it 11 0 e5 nM 11111 11 01' whe re 1110
energ y I IlII l t he I' ; ' gnp rec e ives
ec mcs ( ru in ~ i ll r l1 eil.! l()rf,r the r o-
tat in g mcm l)()Nl o r t ho m uchiue
hAll II contac t arraugcme nt . Such
II machin e h nll lim it ed app ti oa-
nons , I,ho ugh some of its fen tn rcs
deserve ccuctdeee r to u.
1AJt u,!! tur u our nt le nt.iun to all
electric tlIll.c1l1ne with Ihroo .1<.> S'-
rel'$ (If Ireedo m (f i::. U.2). J .\ t hi s
m ~l e bllHl- . t hl' rot or i n t he Inrm of Fig, 9. 2- T he cOlll'Jry conver ter ...llh •
a s phere is kept s us pe nded b)' ure s pherical rotor
llctiufi of superconduc t.lng lou p.s I -" P~ t l ~. L rotor. , - ' lu ' 5l;olOf; ' _ ~
. - A' . ' or
atc ve t wo se m ici rc u la r s t a t ors .
olle being tnrned !lO" wit ll respect tn tlio ot he r: lito m achi ne win di ngs
produce t wn tra vi' li og f ic.lds . Otlpend hl~ on t he t orq ues peed uesd by
the ~ t M loMi, t l u~ s phere ca n rota te in n t b. ree-dt mensioual epaee .
An e loct ric m/lch ine witb uoec degreE'S of Ieeedcm is desc ribed
b)' e i::h L vo hlll.'1l eq uation s wh ich (till lit' re present ed in tile te rm of
a mat r ix
11.1 1 = [Z l li l
T he imped an ce ma tet x for t w o immob ihl l ta tot3IHls four rows whe re
t he emfs of rot a l ion arc eq ua l t o eerc. 1 f .....e lI{'gl{'('/ the ffiAl!llot ic
Ch. 9. e"".I;"... ,... IEI. d r;c MoIehl ....
""
co up li ng be twee n the 1'111'0 s ta ters, Ute vollltll'fI equa t io ns lo r th is
I'll. ch ill(' OOc:f"lOle s imil a r to t be vo 1Lal:@ equllt ions for III mach inr with
a n {'lIi pli c Held . There a re th ree eq uatlo ns o f mo lio n:
(J . ,Jp) (d lt). ", ld f ) =- .1/ u: - M , ,, (9 ,5)
(J ,y Ip) (d ro'lI fdt) "" M ' I/ - M ' II (9 .6)
(J " Ip) (dw ••.'d t ) - .II u - M •• (9 .7)
H ero J." . J.,. a nd J ,. oro t l,e r otor's mome nta of l ner t. in n lOl\1l uie
L , 1/. nndc a xes ; are t he ro tor vel cc t li esa lOllg t he x . Y .
Io)n , (0) ' 11 ' llll il . til"
nn d :: ox cs: Jl1 .,.. .'l ey. I\lItl JlI n are e1ccttu llla i llc l ic t orq ue, a long
.>t.
u.e %. y. e nd :: R:!:C'S; and J ! " 1' 11 ' lind ,11.. li n> res i! t ill g torq ues a lo ng
W (' :T. y, a nd :: ax ea.
As we di d for t ile mll('hine wilh two degrees or
Creed om , he re .....e
lloN I t o inl rol'luro o nc m e ee eq untr ou i ll i)rllt'r l iia l t ile 8ys l em of
llil"il l ions for t he m nch iuo mut e r ~ ~ lId y sh nll1d be det er mjue te:
w,x + w .~ + 00,. = w (9 .8)
Th us. tw el r;e equtd loWl, namely , tight /,Joll agl' equuliolls , three eq U{l~
li ons oj motion , (lnd one "elocUy eqll!1.tion deu nbf< lil t. procesus of elleTgy
renverdon /'1 a IIweh ine wf l h. t hree dt /lrL't1 01 ! rud/J/Il .
Por a sy m met r ic nHt ch ine li t J/, x =- ,1I., = .11., ... ,11r' Eqe , (9 ,5)
t hro u2h (9 .i) become si m pler. ' Vbon .11u = .11c, = "ll . . ..nd J •• =
_ J " = J " . t he vel ocit ies al anw t he a sp s a re eq ual to
(lU I)
Mll.ch iue! wit h II. s pher ical rot o r Hnd oppli ca tio n in Illw ig8 t ion
de vices . l f one of the 5tn lor" is mod e \0 re vol ve flOou t t he ro lor ,
t he m achi ue 10 des ig ned shows fou r deg rees " f Ireed orn. If two sta -
to rs eevclvc in d p.p6nd crl tJ ~' nbout. t ho roto r , th e mnc hi rw wiIJ ha ve
tr ve dl'groCS of Ireedom . If \\ill r ig idl y CIH m OI: t t Wll s t a t ors II 1HI 1I 110w
t holll t o revnlve ab ou t t he f ph el'i<.'8 1 rn lo r, t he IllAchi ne will ha ve
a il[ Ileg reel of freed om .
Bascd Oil tb e eq uRt ions for a mac h ine w it h thrill' degree s o f free-
d om , it is easy t o i ncrcA!8 t he nu mbe r of equ8 ti o ns a nd 11 l\~ de-
sc r ioo a 1,)'poth Cl t ica l ma cl, lne "d l h II (lrgrees of r-eedcec, S ud' a me-
eh tue ca ll be l.hought. t o CII rry D rew wi ud ,nB!' Oil th e stAto r and r ot or,
opera te fnun nons i" ul'I oi d lil .su pply, end e x h i bit non li llt" nr il les . FIJr
i ll! d ellCript iOil. wo wou ld neell t o uc r tve n n i nl i nne num bor of vo lt llge
equruio us nod cq c c t tone of me rto n , wh ich wou ld be I lie mos t ge ner a l
oqun tions or e lootrome eha nical energy co nv ors to n.
R l' ~lt rd i n G ty p tca l equa t.inns , we s!tolJJd note !lIn t the a bove
u mch tnos are deecelba b!e by the e n-Ill a nd ll'e od d se t ...f oqonuo ns ,
wid Ie ccnvenuona t ma chlnea need th e od d se t of ('qlla tions for t he ir
d escript io n.
9.2. Unee. Enet9V .C onve .tltu 16>
.~
~
,
,OJ
'0
Fig. 9.;1. Ce neeme r ty pe.!
'<'
(oj .,."-, . ..,,lona l; (b j "" , ,,,enl a l ; 1<1 lJ n ~ ~ r
,m~----,i
,I'~,,--'''----1
,
--' ,,
'\,:.rI. ,'
, I
U~Af...
,. 'V
Fi, . 9.1;. A l[nN f motot mood (", u d the plot
}. (b)
f)f ~ '"
nod Its dt'ri u tlve WI'S U'
The i U$lllll ln neo lls eleet rcmaguetic force Mc li n!? on the work in"
m orn ber of H linclIl' moto r is g ive n by
(9 . 11)
where lJ iJS th o ma[!" rlOI ic. 1I11x de ns ity i n t he ", i t gnp: and I t is ure
~ o n dll r)'
ClIf1'N 11 in the a rea of t ho rio hl s lrnc:t llre.
T I,o inst nu lnllOO1l5 va l ue 01 the e lec t romag llcUe power is
t he eame IAAnner as Ior lin oro iUlI. r)' uyrnme l rie ma ch ine w ith due
'"
rega rd for UIO .... oorfi.. . te nts de pellding pn the d es ig n of t ho Iillellr
motor . T he d r iv ing teeee is fou nd proceed ing from t he assump t te n
th ol the powe rs ill Ihe rotalionl\ l llnd t rn Ml!t li olll\1 mot ion a re e qtllll:
M (l ip) 2111 ( I - ' r) _ F'2 TI (1 - , ,) (1l.13)
where s. n nd $, or o t he s li ps i ll re t nt.ioual lind tran!'lllt io nul -notton
raspective ly .
Suc h 11.1\ a p proac h eert.ni n ly g i ves \'eC)' approximate resul ts. but
it en u prove ve tt d in l1)o l " t i,' o eel eula uens and a lso ill t ile enleula-
lion 0 1 llInlLlpo hi r mechlues.
Li nea r motors ha ve recently foun d lt~ in h illlt·spee<! 1", 'ISpor L
fliCiliLil'll r id ing o n (I m ag ~ Lic e ushte u. I n t he I rll'L~ por L lly-te ms of
,
jODDu OOOO \-1
Fir . 0.5. All eteerne c:au puh
1 _51._ .2_ .........
t his t ype . II,,, Sinlor is It l(lug line e xte nd lng int o I"'IJ> a nd h und red s
of k ilo me ters a nd the ro lor is n (IIr slls pc nd lld a beve tim Hue bell .
I n des ig lli ni mag netic-eus hi cn Irllllliport ve htc tes . the elillincc r lia.~
to eotve t he pro blems of cont rol lind sl ob ili za.l illn (Iev ita lion) of u
peseeugcr c er, le t elo ne the problem of de crensl ng the cost " f gucl.
Do t ra ns por l systarn.
III t he a rea or linear mot ors t be re lire ye l ma ny co m plcx prnb-
Jems t!la t a wa il Ihe ir solution , of which the DlOSL co mp lex o ne CO IO\lS
10 t ile fo llow ing . A5 far bec k U tbe m iddl e 1930:1 electeie ClI lop" lt.s
were bu il t wit " l he e lm t o im pa rl a ll I'I dd ilional e ece te eauc» 10
fl)'in: vehicl es (F ig. 9 .5). While i n 19round l nll rnlport aj-stema t he
ga p be tween t he bed a nd t he cor must be kep t accura te t o II h igh
degree . in Cll in pu iting Ihe {l'ap is mad e 10 vory (t he rot or m e s into
space lind t" o per e me te rs i ll equeuone und ergo clu. ng{,!I) . I n IIID
la t ter CIIM! t be re is 8 nerd for ca tc ulnt'ing t he d r iv ing terce li nd RCCe--
lerat.iou . Mot e d iffic ull pro ble ms Mise III lin nuo m pt t o brl "g the
rolor he ck a nd tak e off 1.1'13 defi nito a mounts of t'nerg}' from h to
('ffeel the des ired decelerlliion .
Alt houg h they lire not devoi d of s horlco m in{l's, line a r mo la rs e njoy
n!le in graph plo llers. mn nipllilito rs o f me lAl p tecee. pus her" , and
I" orhe e etecrne d elves . Il e\"ersi ng the. motion of a li near mOWi r g ives
Ch. 9, ~qu"'tl on. [0' ~ [ ,,( !,it Moch lne .
a n osc ttle tcrv-monon mot or. T he ana ly sis of Hnea r mot ors ell"lbJes
us 10 e xte nd the result s t o rtet er mt ne th e rcleuon between electr ic
machines nnd appara tu s in wh ich t he d r ivi ng el cm ents mni ni y exec.
ute Iiuear dlsplae omonts w ith v ~ r~' i ng pa ramet ers of ctecu tc circuit s .
- ,
)
,
fi eld \I'm influe nce t he mot ion of th e flui d . If An iouree d gus I'll plas-
mu) or il lllag ne t ic li q uid i1; d r jven throu gh t he chan ncl , we ob ta in
A ll energ y conver ter called II 'TllagJlo lohyllr ody,mmic (MHO) generato r
(F ig. lUi ).
An MH O generator conv er ts the rnecha nimli (ki netic) e nergy of
pbsmi\ par ticles t o etcet ric tcne rgy M t ho conducting plasma Ilcws
t h re ugh a ch an nel l III wh ich magne t fc co ils 2 pln ced nlougsid e t he
p ipe pr nduco II magn eti c fi eld IJ . Th e cond uc t ivi ty of the hot gas grow9
with the ad d iti on of 11 11 easil y ion ized ~!<lo't' d~ al ka li metnl such as
potassiu m T he motion of the pla sm a tit II speed u ill li lt' mng net ie
field lnduccs II volLlIgc 0 11 elect rodes 9 and g ives nsc t o 11 curr e nt I
t hat fl ows i ll an externa l ci rcui t R I • T he load curre nt comple tes
its path acros s t he cha nnel and pro duces the arm at ure fpla.o-ma)
]·enc l io)l. t here by di slorli ng lil" exciti ng Hold antl t he lC>U-'l'it tidinnl
v o l l a ~ cem pcn unt-c-the H all voltage. T he H all emf E is i n a di-
roctj on normal to th e p lan e. 07.
T ho pr ocess of MH"O power ge ner ntio n ca n he IJf t he open cy cle if
the work in g rnedinm passes t hrough t he cbanuet onl y on ce . or of
t he closed cyc lo if thu me dium is made t o fl ow t hrough t he genernt or
repeated ly. An MHO ge nera to r uses a n invertor to change direct
current col.leete d on the elec trodes to a fternuting curre nt . The MHD
cha nuei is bu ilt up of segme nts . each helng' insulated from t he other.
Electrodes operate i n heavy cond iti o ns an d th eir Hfe dater mines
th e serv ice life of the gene-n tor. Th e p ulse and sho rt- ti me mode s of
opera t io n s how pro mise all regards th~ life e xpec ta ncy.
M!lg netic hydrod Yllfimics that stud ies t he motion of li qui d a nd
gaseous conducti ng med ia i n a magne tic fie ld belo ngs to electrome-
chanf cs . foe t he tntera onou of II hlgh-velocity conducting Sll'eam
wit h 8 magnetjc f ield ca uses t he convors ton or t ho kinet ic e nergy
of th e s trea m into elec t ric e nergy .
A c,onducting medium th at moves in a n e xte rnal magn0l k field
in a d irect-ion nor ma l to the pla ne Bv in du ces nn e mf , so th a t. an elec-
tric tlnergy of direct co-re m an d of tow voltage ca n be take n off t he
electrodes. As in co nvent. inna l energy eo nver tera, in MHO gs ncre.to re
the lend field exerts an in flue nce 01\ t he externn l fiel d , with the
result tha t cmrs appea r which aHec t l;ioth t he mot ion of the medium
as a whole a nd t ile mot ion of individua l portions of the stream. A
change in t he ex ternal 7J fie ld also causes ene rgy co nvers io n (see
Fig. 1. 13). Th e la ws of alocrromocha rttcs al so hold for MHO g<lncra-
tors , so t hese co nverte rs cer tAinly beloog to elect ric machi nes.
Much effort bas boon spe nt in the 4 SSfl a nd US A {o r t he devel op-
me nt of MHD gener ators us ing plasma ns a movi ng eouductoe. 'rVi tll
th e ndvancemeut s i n t he f ield of fusion reacto rs . cosmol ogy. a nd
aatro phystcs , a furt her devel opme ot of magnetic hydro d ynamics
become s yet me re urgent. So far , l\1H D genera tors arc i nferior to
conve nt iona l energy converters from t he econ om ic e ud techn ica l
viewpoi nts. There lUll rather ma ny modifica tio ns o r MHO pumps
a nd MH D geneeatora, and more Improved designs are li kely to be
devi sed i n t he fut ure. T he ma t he ma t ical descri pt ion of ene rgy con-
versio n in MHD genera tors comes to th e stm uu eneoue solution of
Maxw ell's eq ua t io ns defining eloctromagne tic processes rind the
Nav ler-Stokes s q ua t to ns defi ning tl\6 processes in liq uids. T he
s imu ltaneous eoluuo n or t hese equations is only possible for sim ple
cases Involving laminar flows.
[f we Assume t hat 1111 pe euclea of R liquid move a t n co nsta nt
speed , i. e . the li qu id beha vas Ilka It; soli d, t he problem becomes s im-
pl er an d the eee egy conversion processe s in MH O generators CIlA be
treated usi ng the equations for convenuonat ele ctric machlnes. Such
an approach was put forwa rd by A . 1. Voldek i n 1957.
T he equa tions for elect ric circuits sim ilar to E qs. (1.34) t hrough
(1.. 37) or (3. 3) together with the equatio ns of magne ti c hy dro dynam-
ics give a better descri ption of energy conv ers ion processes in MHD
gene rators .
The effediveness of an energy cOrnJrter with a liquid or gaseous rotor
Mpends on the magneuc /l eld 8 and out flOW veloctt y v, T herefore , the
uS' III tlu ~ reo nd tlct i nl: mag llt't ic !yste ms which peoduee l!igh ma g net·
it riulds otre-r:s co ns ide ra b le promise for improving the pe rformance
of MHO generators . The kJne t ic energy of t he .!S t rea m r ises as a
ca ll>l(lq lle llf c of he-u illlt of lhe- gil! 10 2 000 (n ;3 (00 K " lid it s acee-
loro li l' " liS i t lell>('$ t he uoeal e .
T h", !'IOl ul io li of th e above pro b lem s in e lec t remeche n ice l'f'q u il'l.'l1
ti le jo in t IJ rrOl'1 or l,herm e l phys ic is t s nud elcctro mec hn uic a l QDll'i-
nee re, For th e envenceme nta i n I I, ill oren to be 10 0 l"e ta ngi ble . tll Are
is tin urgent nee d r U I" a p ro found lear n in g of t horm AI nn d e loct ro mllq.
1101Ic fi eld s a nd ti le prOCOSBClI of convoesto n of e ne rgy fr o m one form
t o a no t he r ,
I n t he las t yea rs e tuctromecha uics ha s at arted ll!:,ing m ai:lle li zi ng
Jiquitb (f l'rrOmllll oot ic Ii qlli lb ) . These arc co llo ida l Iiqu id~ whose
c r i ~it'.:. 1 c ha ract(lr is t ic~ d epend 0 11 l he 8l 11 I,i1il Y nnd s i·too or put iclos.
~fla g lleli :r.illg liq l,id!l Clt n perform t he (.mdio n of seals. PCrlllllnOllt
11I aj!:ne ts produc..... tl fie ld in tlu~ rell'ioll se p:u8\i ng II rota t ing member
fr um /I sLn liO Ill. r~· 011 1.'. Fe rrom lllflll.'llC pa r t icl e!' Ii",e up in the !ield
df eectio u nod thll s mak e ure E<lIl J l igh t . T ld s tlp pron ch cnsblEl!" tm-
pro"ill~ t lll~ eee ts withollt Sll~la ll l.ill l "cs ii'll ,·llri lltiOlls . Magiteti:r.i llif
li q Uids ril lt! ot her , th ough Iim iled . IIpp licn t ion1'. The reas on is lh nt
l hu)' nee cOlIs il!crllbly infer ior to e lect r iCII I-shcol S1t*'ls ill n1 Agn" li c
proper-ties,
So me lwld a view poln t th OI M HD gc nc ro tors dircctly couv ert
tlil.'r llllli Qlll:/rg y t o e lec t ri c \lllt'rgy. Whllt is m eant here is l/JIlI :'.I I-1 D
power gOIlt'I'llUOIl d ispe n!!Cs wilh n s tea m tur bi ne whtch is II co mmo n
reet uec i ll t he c lnlls iclIl cycle or COlwl.' rti ng I1011 L10 e lec tric energy.
E norgy cOllverter" are monifold both in desi gns n nd p rinc ipf es or
IIctiofl . Electric ma ch ines lire a vaila bltl whi ch COI\ \'tlcl hea t 10 e ltlt t dc
o r m cc lHHl ica l energy_ T hese CO nv e r te rs operat e 0 11 t he pr inci ple of
c hnnaes in tilt' permeabilit.y of lerr om ag lle u ne ar t he Curie poi nt.
A dlllo: e in li m inducta nct'll witb tem pe ra t ure ClI IlSe5 a cha nl!\! in
t.ho parame ters of tile wi ndi ng. MRg not io- lh ecm ll1 (! oC'£gy eonvcr ters
resem b le p arame l ri c convar tars, s ince in both t ypes enurgy eenver-
' io n ro.~ "lls from clta nges in Uw parame t ers of t he cooffi cien ts thllt
e nte r i nlO elecrrcmechemce l equa t tons. MlIglletiCrt her mal C l1 e~'Y
co nver te rs were s ugges ted by N. Te s ta and T . Ed iso n IU. ea rl y as
the ond of th e 191h co muey , but t her, d id not trllin recogn iti o n for
tho teehrucal a nd oconom ic rea so ns . I'he sea rc h for new so u rce s of
etc cretc energy has aroused more in leres t ill ui esc ECs in t he Ills t
yoor,.
9.4. Other Types 01 Energy Converters
H ca t re moval fr om a n e lec t rt c mach i ne i3 as a n i mportant prcb-
lem as tho improveme nt of i ts e nerg}' cha racteristics. 10 v enrtlated
ma chines, t he fan ro ta tes togv ther with th e ro to r ood blows the CO(l I-
i og ai r over or through the m achine . In lew -s pee d co nte 'l l m otors,
9 .4. O ilier Ty.... 0 1 Energy C on.........
hewevce. s uch :I coo li ng sy d c.m i" inerrCCl in !. Dc~i ll, ing II mnch in e
..it II two ro tors ca n rt'medr the "ll,ia lio n (F It:. 9 .7). All inle rUlI1
roto r I with 8 I& r~ mom en t of inert ia se rves 10 d ri ve l hl.' flln lind 11 11
u terml l rolor 2 i n the Ie rm of II h oll ow cup ac ts a! Ih e r<)lor p rope l
01 t he co nt rol moto r. Th e ma ch ine h:"SIl com mon et e t cr 3. By vir t ue-
of Hill rec t t hn t th e rot oe 1 haa » I" w res tste ncc . its .speed I' HI'dl y
Ch n Ol{Cll wit h vn ' t.I1 ~p. wht!e t he speed of t he ho llow rotor de pe nd s
on the vo ltage .
T ho!lt' t of cq uru tons {or II two-rotor- lllllc!,ine Includes lwn eq ua-
t ions of mnno n , wilh J"~ (Id inn hlc by lJ,u prod uC't ll of cur n)n l.s ill
Ihp 1I1810r a nd ro tor. an ll six vo ltAge e qua t io n!'. T Ill! se t o( vo lt age
equ ntio ns co m pr i.'M:'J'I t"''' eq ua tio n.~ fOf th e s ltltor wi ndi ngs Oil Ihe a.
lind ts Il;'( e" c ud fonr equa tio ns for t he wj nd illjr! o n t he two rct e-e,
I lTiI lIg\ld n l o n/; Ih~, a IIDd ~ nx,",s ~:'I f!'e<' t i vt! l r. The sy!~ m of e lill, t
eq ua t io ns descri bM 1I,e pro«'~s of ~ 'K' rgy ce nve raio n in lhi s t ype
of m nchi ,X" .
f or th o allal}'si !!of an t'ncr~r ce uvenee hll. v ill¥ n roto rs end III COIII +
m Oll !lttllur . we need t o fo rm two voltage eq un t to na fo r 11'0 ! t llto r ,
2n volt age eqll1l.tion s l or the rot ors . lind n eq un t .ie ns 01 mo t m n. In
ell, th e sys tem wil l co n ta in 3", + 2 e qua t ions . The eq ullt io lls for lin
n-roto r lllollc h illO t'IHI Appl y t o llil e lll!cg}' conve ne r with n li q u id ro tor
lI ' H I ~'r cer La i" nss u m ptin ns .
D i~p ll1C' i n2' t ill! rot or wi lli re epcot to t he st ator, I'! O Lllnl in the Ii mil
the n,l lJr nlm cst COIDCS i n co nta ct wil h the s te to e, gives n new f'lIcrg y
converte r celicd III mot or wilh Il r oll ing ro tor (FIr:. 9 .&). In t h is
muio r the ro tor ro ll s by wa y of o oe-s icled magneti c :lt lra ct io n. \ Vh ile
ill ure e nerg}' con ver te r wit h II unU;Oflll gap t he torq ue ~ ('qu al t o
th t' prrNluc t of s ln tor Illld rot or curren'" flo1\' ing in di ffere nt phases,
I " ~ me rollin~- rotor m otor t he thrust arises fro m t be currents d ue
Ch. 9 . Eq uatio no tor Elaet'lc Mac hi","
ec one phase :
M. ""M"I:'Ii. -/Ifsi&il (!l.t4)
Si nce M o. a nd M /I d iffer subs tantia lly from each other i n value,
the th r us t moment ap pea rs. Tile point of tangency A (Fig. 9.8b)
revol ves at tho Held veloeil'}'along the in lier surfa ce of t he stator.
T he roto r rev olve s a t a s peed
n2 ... n, ( fl~ - R, )/R , = 60/ (R . - R .)/R , (9,1.5)
Stnce II roll ing-rot or muter is made two- polar, the rotor speed
depe nds on the s upply li no freque ncy and the d i(fC'Tenee bet ween t he
'0 ~)
~'
·0 ,
.0,
·0,
Fir. i.i. A rolll llg-rotor tlUICb loa at t'lg . 0. 10. A tbtu-l'Otor machloa
F, > 1'01'"
F. 0.,. 0" In¢ 0. _ nllor l;COI.len .... O. - • •
O. _ O. - M i l ot _
lI .. ~ ly
....1... . - - 10< ""'" ...,Il1O.
mod el of suc h lin eteerro mec na n tce r !lys tem , eenst deeeuc« should
be i1"iv(' n to t he ('rfC"l:t of one rotor o n t ho o the e a ud th e in le ractl on
of onc h ro tor fie ld wit h lh .. s ta t e r He ld . Prec uca t ap plico t iollS of
mururo tc r c n(,l"gr co uve r te -s a re yet u nk nown .
T hill nbc vc-descj-ibe d mod if ications of energy conver ters nre ma de
possibl t' by chAng i ng t he des ign of a ro to r. As rue nt.ioned earlier , ener-
g ) ' convcrs ton i ll pa r am etric dev ices res ults fro m th e cha nges i n t he
pa ram et ers of coe ff icie nts e uto rfng in t o vo ltago eq uat ions .
I n Eqs . (1.34) a ni! (2.3 ), t he impeda nce me t rt x co nt a ins t he ter ms
of th a fo rm
(dld t) u.</:lJ.d' ).'I1l
Bo t h eueee n te a nd in d uc ta nces usual 'ly vllry in a h nr mon ie manner .
I n t ransfor m ing t h<> {'«\II1 Lion!!, 0 00 s t r i" es to make u p t he equa ti ons
whh conslll Ols L " a d .11 a nd v&tyi ng cur rents t,
It is poss ibl@ t o en su re e nergy co n voeston whe n i is const a nt a nd
L . ud /If undergo v"rlllt io ns , The eq uat ions then have the t.erms of
t he form
i (dfdt ) L . l (dld t) M
'"
T hese are a Iew ways or deslgn tng an olle rgy co n ver te r ill wllicll
La nd M may vary h armol1 i cBlI ~' . A prefera ble design is t he one
.mown i n Fig. 9. 11, whero th e lIir gap v aries in " harmonic ma n ne r
IS l bo ro tor is tu rn ing . T hill is AD i ndu cto r ~oera tor which tnetudes
• SlIlM ha ped roto r I in wllle;h rbe num ber of s lots is equal 10 h" ll
the n um ber 01 slou in th e s tater. As t be ma chine kee ps ru nn ing. the
fi eld se t u p by • de wi.ndi ng 4 pulsa t es , thereby in duci ng tlt e emf
i n Sta tor wind inp a. I n orde r lh at the pll19alions may not bellv il)'
1:5k- -~-/-~
, V ...
J'ta:. 8.tI. Ao IndUdor pof-rawr
Chapte r 10
Elect ric-Field end Electromognetic-Field
Energ y Co nverters
= - J (1)1)10/ ) q$ + I (5 xv ) dl (i O.3)
HlvJ.. B J.. dT au d uJ.. DJ.,. dT, from (10 .2) and (1.0.3) we ,,,
r == Blv (10.')
h -"'" D 1» ( to.5)
where l is rue le/lglh of I cond uc to r in a ma(lletic-fi eld EC t hnt ill
equal 10 rue wid t h of an e lectrode in I n elC(:lrie-fit"ld EC.
Th e phen omenon of elel tromagnetic ind uctio n ts put to use in
mag neti c-f ield ECs. Ind lilt of etee t resta ue i nductio n in etec wte-
fie ld ECs. S im il a rl )·. usip\:: two-phase , t hree- pb ase , al'id m.·p hl!lll
s yste nlS of e lectrodes , we ~n produce rola ti rli electric fie lds .
lS.
T he
•
p rocesses of {J.n(' ri:'~· con versio n in Jllllg lle li r.·fie id el ectrome -
chan ica l sy s te ms rea u l t fr om t he i nter net.to n of magn eti c cha rges
Imaqnc t te poles) a nd build u p of an elecrnc fie ld whose S O.lI t rE' S a re
electric ch a rges . E nergy co n versio n In electr tc-He td sys te ms s te ms
from th e Inte r-a ct.ion of ete cer tc cha rges lind bui ldup of a magn etic
field wh ose sou rces lit e magn e t ic ch arges .
T he equa t.ions tha t can adva ma geously for m t he bas i.!i of t he t heor y
of elec t r ic- f ield ECs are t he sy s te m of e q ua t io ns which a re d ual-
inve rse wuh res pec t t o Ma xwell's equa uons for movlng medi a . T he
theor y of t h ts c l as.~ of E Cs nl fl y re ly nn t he e qua t ions a nalogous to
those for mn gne t.ic- ficl d E Cs .
10.1. The Equations for Elec1ric·Field
Energy Converters
P r oceed i ng from the t heor y of d uet-r everse el ect eodvne m tca,
we form ulate t he fo llowing d ual- Inv erse e q ua t ions for th e generali e-
ed e lectric-fi e ld energy conve r ter \ls i~ng Eqs. ('1.34) a nd (1. 35):
i~
t;'
"il
g:' + (d ld t ) C:'
.
f
(dJdt ) C O O U~
(d /dt ) C g~ + (d/dt) C;. qoo,. CID,.
-Coo,. - C~ oo , g~ + ( dl d ~ ) C~ (d /dt )C X "I
o 0 {d ldt)C d +(dldt ) q "I
('I .7)
Me =C (u~;' - u :,u&) (10.8)
Equat io ns (10 .7) and (10.8) follo ,v from ( 1 . ~) and (1 .35) lifter
t he in terch ange of u a nti t , tnd oewnces L:',~ a nd tOl lll onpncttances
G.'.'n . mu tu al Inducta nces M lind tn teroleetrode capacita nces C, e nd
r esist a nces r:': ,'6 find con duct a nces .G~ti.
18 2 Ch. 10. e l u j rle - F i e(~ end Eledromlg ne tie-Fle ld EC
Here u~ , %, u~, uq are the d.g stator e nd rotor vol tages l n t he t wo-
phase mac hine; i~, i; , I~, ~ lire t he cur rents in t he sta tor a nd rot or
electrodes: n, g~ , g:i, g~ are .the cond uctances of th e ste toc a nd ro tor
elect rodes; CJ:; represents tota l capecttnncea equid to
a ~~ =c+,~~
where c;',~ re presen ts th e se lf-ell. paci~ nces 0 11 t he sta t or a nd ro tor
elH'trodes ; a nd C s la nd! for ea pac itll ncell be t ween the sta t e r a nd
rolo r e lec t rodes .
An asy nchro nous electric-field meeh tne comes from t he sy nehro--
DOW! mech t re if i n t he la ller we repla ce the roto r by III dielect ric
d isk or use a rol.or th at I. u the sa tne n umbe r of phe eee as t he s ta to r
.00 a pply to the ro lor II volt age at a sl ip fre q uen cy .
A commuta tor maehilUl CA n a b o be bll il t lro m t he s y nchro nous
IDlc,hiDe by i nser ti ng II co mmut a to r lnt o t ts lie d rc uit.
In a n elecrrt c-Ital d t ra nsfor mer it is 'H I el ec tric fiel d t hat li nk.
the e lectrodes. T ho eq ua t ions of this 'tra nsfor mer have t he form
I,
- It
I= 1 8 1+(d ld t ) C 1
(d ld t ) C
(dldt) C I 1"'1
u,
8t + (d ld t ) C, X (10 .12)
Hero subscripts 1 and 2 s tand for- ~he pri mary lind secondary res-
peet rvel y. T ile curre nt t rllTl.<;forma t io ll ra ti o de pends on the n u m-
ber of efee reodes cOllneetf'd in pa -
ralle l or eertes .
Ma themAt ica l nlode b are ev a u-
a ble for t he dese rip tin n of eoo rgy
eenverescu processes in eleemc-
field 1,Il1l.e1l i ne5_ However. com-
merc ial high -po wer converters of
t.h is etass do not pra ct ica l I)' ex ist .
Th ts ~ beca use i D ve5 t i la to~ have
t ried to copy magne ti c-fie ld eo n -
veners i n ev cl vt eg E'J eclrie- rield
t ypes . l hollgh t ho Ja iler occ upy a
spec tnl place a mong ot her COllver-
te rs lind comp lemen t t ho for mer
rather IhAn rep luee t hem.
T he mos t or igi na l a nd s uccess-
ful des iqo of an elec t r ic-field
ene rgy converter i., th o convec-
ti ve-t ype Vall de G raa rt genera t or.
al 50 clllle d Ut(' c tec uosre ue M OO- • • • • ••
Ierater (F ig . iO.2) . in wh ich A
movi ng rub ber belt l rllnl;pnrl.'!
cl.ul.rgn heiD g separated out by a
coron a di sc hArge teem 000 term i-
na l 8 nd deposits them at t he other •
t lk-reby produc ing A la rge po te nti al d iffe re nce . E \'CD in its a p pean nee
lhl~ ge ue ra tor differs fro m co nventiona l E:C!l. lt is II 6-k W, 15-m ln V,
1 l.UJ-mA setup 15 10 20 m hi gh . pla ced in a cas ing a llli fill ed with 8
l as 8t h il h pressure . T he ge nera to rs oJ t ili! 1)-po t ind use in lest un n s .
<8, ,
Ch. 10. Eledtic_Fi. ld .nd EllCh o m.-gooo lic. Fi. ld EC
u,
fi g. 10.8. An t1t etrl&-li eld ~ne ra lor \lllibi ng 11) ~ ('Dl'rgy 01 &ell "'llV~
d ieluGlries a nd Ier rcelecu-ics offer st ill grea te r poss ib iliti 6S. T h&
cr ystals or bertum litUlIll ttl a nd pota ssiu m n ihyrltophosphat e have
fl pe rmittiv it y between 9 X 10· lind (1 X 1O~ , While mllgnet ic. liel d
E~ s tore t h(> ll11tll'oetlC lipId e nergy in t he nir I:fl p, e tectric-fiald
ECs must co nce uwe te the elt'ct r ie-fio Jd e net gy in li qui d or sol id
dfelee tr tcs . SlJlOO t'nergy conver ters m ust have cle ments movi ng wi t h
res pect 1.6 QUit a not her , eleetr-ic-Hcld EC design.'! prov ide for mechen-
iea l c:aps or ellVis.'\go llle use of liq u id me teete ts to ~T\'C t he p urpos e
of a rotor ,
Porametr tc tllclrfr-!Uld t ntrlU eolw~rtul openue on I he pr lndple
01 a ptriodlc ~~ ngt tn c:apa~ltll~ at t Onst4llt u c:ftation: I;olta~ U••
All exam ple of I llch a n ene rgy co nverte r is II gcn etRtor uti liz i ng t be
onergy of SlI rf (f ig. 10.3). Milny a tte mpts to co nve r t the (lnerl )' of
chaot ic moti on of 5C1I waves to el<-cttic t'nergy by use of meeh aniea l
ar rnn ae men U lind c(ln\'e-nlio.na l oloet r ic mach ines have not led to
t he ACGe pUlbie e ngi noor ing so lutions.
T he electr ic- field generasce of F ig. 10.3 cOllsis~ of II me-till rod 1
coa ted wuh a lfl}'er of b igb -per m iU ivi t y d ielf'cl r ic 2 a nd mad e fast
00 1\ balK! a. T he rod se r....es as one of the ca}lllcitor pla tes lind the
1;03 surface IIcls 08 t he ot her plllte . A \IIIWe ch llngc.!l t he dev ice ca pac-
ita nce l.!I it r uns in at the [00 lind awa y fr om It: the capaci tor ('ha rge
variel! lit eons tl\n t U•• lh enb)' in d ud ng a n Alte rna t ing curre nt
i = dqldl at U , that flows ju t he 10AtI e trcun. Connect ing such rod"
Piezoelectric Energy Conve, ten
10,~,
'"
in paenllnl and ro ctif)'jng t he cueren vca n gt ve a subete nua t power
at the output . or cou rse. suc h a gene rator differs from the conv e nt-
tona l ty pe, bu t it a lso belongs t o clect rcmechant cal eMrgJ" convert-
er s .
Of i nt ere st lire elect.rfc-fie.ld machines wit h II liq u id or gaseous
rot or . T here ill a possibility of crellt i/"ig s uch machines th ll t wo uld
ha ve hi gh outflow veloc fti es (a bo ve t he sou nd velocit)' ) and s tro eg
elec t ric fi eld s .
It docs no t see m right to t h ink that e lec t r ic-field Eo., rna )' replace
some conve nt ton al elec t ri c ma ch ine s ou ly where t he lut te r- do not
produce the des ired tech uical erreeu. Elect r- ic-Held ECs e re li kely
to fi nd use in or lgina l a pplica tio ns in t he near ruture .
in te rms of t he t heo ry t)f e.lect.rc mec ha nical energ y con vers ion. Apar t
f ro m the piezoel ec tri c effe ct , e ma gne tcet r tert ve effect occurs 10
cer ta l n Ierrc magnetic metals, 'which appears as a cha nge in tile vel-
u me ami form of a ferro magnet when placed in It ffillgn etic f iel d . It
is possi ble t o crea te magueteetr icrive vi bra tors lil ili t ing t he phano-
m onon of mng ne toet.nc non tp COli vert the ene rgy of a mag ne t.ic field
t o meche nl ca l energy. Til e :r~~ v l\rse magnet ost rf ctlve effe ct al so oc-
curs. which s hows n eelr IIIl .. chan ge ill th e mngnat izatlo n or a fer-
e-cmegnet whon sub jected to com p ressi on or ten sio n .
B oth th o theory a nd t he pra cti ce o f imple men ling plezoe lectric
and magnetns t r fct.ive onorgy co nverters ca n not, as ye t boas t of great
.ectosvemonis . T hese converters are or much prllcti r.'1 1 interest nnd
e rc l ike ly to rind wide a pplfcnt.ions in t he fut ure .
/'01""8
0d
ECI EI<d ECo
,
!>la,nc:" e: \
,
I Ek<l rie:
flc:ld \ I flc:1d
8
EIc:c:u(lInq Iln ,e: " n.l d ECo
EJe<:IfOmaS...... r.. 1d
cc mme rcialfy a vaifah lu, though t he)' are wides pread in nature . Btc-
logica l energy convert ers c ~n probabl y be t hough t to b elo ll~ to t h is
cl ass of conver ters.
A ma chine illus t rnted ill }";ig . 10. 5 ca n bo t ake n es lin exa mple or
t he alactromngnutic-Ituld me.
T he ma chi ne con s ist s or two por ts .
T ho firs ~ par t 0 11 t ho lef t or F ig . 1.0.5 includes :I coi l 1 in wh ich a
s tee l rod 2 rcclproca tee a " l:! a n Inductance co il 3 exc ited by a d e
voltage U r ' T hi s is in esse nce a l inea r m ag net ic-f iel d EC (',0 11 p led ~' ill
a n Mill d- t o the othe r- pa rt o( the machiua, which cons is ts of a capac it-
10..5. EI"ct'omagnlltic<F'ald E....'gV Convarlars 181
Chap le r 11
Application of ' Experimenta l Design
10 Electric Machinery Analysis
(1U)
11,1. Gene, . Info...... tion ".
where b• • hi . b ll , lind h ll ore polynomia l coe fficients; Z, lind -LI are
".ri.ble pnr8 mt>leN:. or Iect crs; II is th e m achine operat ing factor
under s t udy: lind n is t h.e nuw ber of v a r i. bles (foc\o I'S).
Th us. the ED tec h n iq ue offers t he 1II1"VIl nt agu of ( I ) hi gh offet-t ive-
IIeS.'l since it ca lls for II mll ll er numbef 01 tes ts to obtere the du lr ed
inform a tio n; (2) s iffinlt8 nco u!i st udy of th e effeGt of a few "arillble
plfllmele rs 01 t ho machiDO on i\...s operlltinl: factors . lind (3) I he POll-
sibili l)' 01 ca r ry illg out t ile tests so th a I t ho "'lIrJance o'l (bl ) of pol y-
nomia l cm,(ficients in th e case o f ea ud om er ro rs is II I a m i ni nillm .
Tile E D thoory re li es 0 11 th e Iact t ha t the te s' lh l:l of a n )' uperi -
m ~llt s in t he n-dtmeustonal b cto t spare can bo re presented by Hnear-
iU'd eq lla lj o n~ of t he form
Yl = + .:tu bl + %,Ib, + . , . + zub~ +
%o,bo
bo +
11 1+1 .." "'0(4+ 1 ) + x.
X ll l +l)b lhi + . . . ( I+-l) (t 1 .2)
... + X' ( I Hlb ~ + . . .
The result s of N t('l'lS ha ve the foll ow ing maid:!: form
y = Xii (11.3)
"'here 1" is the colum n vecto r of euserva u ons: f{ is t he inf ormation
matrix : !l Ol l li is t he colum n vect or of coefficients. The- equU iODB
for 11. Y , an d .Y a re of t he fo rm
I"
""
%"%01 ••• X"1I
b, z"J'tt Zu
(11.4) y,,", ( I L a) ~ .. ( I t,6)
..
V.."' blt IOC' ....
T. t No.
"
•
a
-, -,
-,
3
+'
-, -,
• +• <'
-, , +' •,
poin t.!! 5. 6 . 7. 8 a nd 9. 09pendi ng
00 tho inCor mlll ioo ma tr ix , I.e.
tho poi.nts llt wh ich t he u .peri menl
• is to be run. the re.selU'Cher ob t a ins
t he correspo odi ng pol yn omi al re-
- , ,
la ti o M between the var illble Iee-
Ion a nd machine opera t ing te e-
• lon. These rel at ions have im por·
t.nt pro per t ies. nam el y , tlla y
• eo ab le a simp le calcu lat ion of t he
Fl, . !t.'. A t wo-d! tlIfll5i olUlf factoJ polyno mi al eoe[ficie nt s a nd tb~if
SlI·c~ va r lence. One attache.!! m uch
im porta nce to t ho ca lcu la ti on 01
polynomi al coeffic ients beca use the meth od of leest equa ree a pplie d
In expe ri mental design giv6S cum bersom e expu.!I5ions for t hes(
coefficients. Th U-'J in t he .!!!mplest tlI.!!e of one teeter, the , foJmul ll!
193
(11 .9)
x N N
N ~ Y.."' ,, - L; II" 2:; "u
bl = u ~t N u;.,~'V .. - I (t 1.1 0)
N ~ zf.- (~
.. _ 1 .. _ 1
."t
If t he lnfcrma tio n ma t r ix is orthogonal, th e p olynom ta l coe f-
ficien ts are Iouud from s imple Iorm ulaa of t he Lirst-ord et des ign
•
bo=b,= L: x,!uy "IN
.-, (11.11 )
Th o ver teucc of t he ca lcul nted pol ynom tnl coelf tcjen ts determ ines
the acc uracy of the polyn omial as fI whole if we use lilis pol ynom ial
to calcula te t he ob jective funct ion (the mecht nc operat ing fact ors)
with.i n the Iactor space.
The eFE infor mat ion matr ix for , ~8 Y , the first-order deatgn d is-
plays the op tf mel prope rty of sim pl icit y of the design form ul as {or
polynom ial coeffi ci en ts a nd a ls o t he, p rope r ly of th e identical a nd
min imum variance of t he coefficients . I n t he second-order desi gn ,
t he firs t and second properties a re eo nt mdfctory. H t he ma tri x is
or th ogonal. t he vart ence estimates of poly nomial coeffi c ients are
not ident ical :
N
(I: {b l } = 02
.-.
(y} /rn ~ X~j (11 .J 2)
Hen ce , the prediction acc uracy for th e objective fun cti on y v a ries
wi th t he d irect ion of moti on in t he fact or s pace .
If the informat io n mat r ix 'X exbi'bits t he propert y of r or at nhi flt.y,
the sol ut ion accuracy does not depend o n t he d irection of motion ,
13 - 0 1 17 8
,,.. C I\. II , Ap plicaHon of h pe,i.... nl.1 0. ' ;9"
.. ~
_.
N
b" = ~ {C'l ((n + 2p ., - nl ~ 2=~lJf .. + C(t - A., )
N
X ~ ~ z~.Y . - n ,c h %'. ,V..} ( 11.1 4)
i. ,... , ...- 1
N
~
b. = ,;
--, %'" .11" (11.15)
C· .'"
bu = 7i'i:'" ~ ;I:", z " JY.. ( I LtO)
11 .. _ I
N
C =NI 2;
--,T..i ( 11.1 7)
(1U S)
( 11.19)
(t 1. ;1.0 )
Kumber or
Hm '
I,e- I
2 , •
,a
" 8
e"e
18
5 32
T4blc 11.2
Vari a tio n Ra ng es lo r Va rlo u< Factor ial De. 19 M
Do\.< '1:tl
Tr ,al No.
2'CP E 2 0CJ' E 2 ' C ~- P; 2' - ' PI' E I 2 0" 1'<'1:;
, 8 32 re as
a '"
:'t2 32 ,)4
a "
32
" 128'" 64
'"
Til e prac t ica l rocommc udationa o r how 1_0 choose t he varia tion
It cu ts re d uce 10 Il l horovgll u lllll r s is o f II priori Inf orm ation o n th e
t es t o f IOR<,:h i I\QI:I I.R ll111og ~ ) de pending 00 ea ch of the h c ll> rs sot up
sepa nucf y (F ig. l L 3). So Jong as the one -di mens io na l rel atio n
t M , = t (2"\) is UO(!1l r or a pp roaches t he Hllea r form . t he ent ire runge
ca n be cho se n as tho in te rv a l of rect o r var ta t tcn . If th e ran ge ex te nds
beyond the limit A , tho pn ly no mi al modnl ma y become Inad eqnnt e..
, 1.2. , t.. Techmq.... of E. p., lm.nl al o..ign
ThaL is why in PE' rfor min g leslS n " eosr ly o bjoeta :!Il.lcb as Ill.-elri c
'"
m a c h i lle ~ , it is obli£atory 10 co llect_~ m axi m ,"n amou nt of • pr ior i
IMurm nli on wld ch mus t be g tve u prope r !5Crll ~iny te mllke II dee f-
SiOl' 0'\ th e ra nge of "ar illblt's . '
A!L'fllme the stated p roblem rllq u lrd 10 estima to k. = f (.z:,l . where
%/ represe nts ~ ecl:!ll! role(\ lest fac tors. Conside r a n c:tllm ple of Lhl' 1lO1,,-
tlon 10 t hi s prohlem us ing II mod ifie d version o f rho ED techniq ue .
Fur li m iflusvrnt lve p urp ose . w e will han dle lllll pro blem r",r lour
t esl lectors (A lnrgcr number of fll c ~ur s re qutros th e use of s L A nd~ rd
procedu res set rcnn in t he ED the or-y}. LI;lI u.c test rnetor>! hl' tho
test clHlm bcl' tem perat ure X " lll/lchilll' vibra ti on Xz (of cour se more
inte n!'ivl:! t ha n t he n",r1l1 11.1) , e ngula r vclccif y %'~ lind t ime (Bc t",r t
wh ich is c.erta ird)' peese ur in t he ex per tmc nts of tllill type . T he /'t'-
b Uo " : > k" = f 1:%'" :%'•• r.,. I) can IK' found by IL~ of t he fonn nli red
EO peocedu res .... h ich ill,·ul>·e t he fo lle .... illl:: aa t ller inf; II prillr; ill-
for mAt io n: dr term iu illg th e cu rvlll un! o f l hl' fael or space llt roul;:"h
tbe c:mll!~rlI et io n 01 cm e-d hnt'll s illllill eceuous of ""ft = f (:%'1) ' k" ==
- f (.I'z)' il llt! k " - f (.z-, ): d tfJOS illg l l~ lowur d lld up per linl ll.! 01
va,i, Lion of Ihe Is etc rs: carry ing "" I t l ~ I'l:pcri me llt on a p propr illhl
les t tees: gi " lug t l.... mM hemal it'.1 l rt!nt men t of t lo" rcanh a lind In-
ter pr\ll ill8" t he-n .
Suc h I't way of the d it"('cL s ulutln n to tho s ta te d pr ulilem by ~ ll tl
fOl'lllnJizl'fl ED procedures meall" t hat we havll to realize t111l matr ix:
of n po wer IIr at 1f~ 1I .~ t 2 4 (Ta b le ll . ;~l' T he ED t echnlq no erHlhleli liS
to perf or m t ho tes LIl ~ uc~ss rl1 l1 ~' 11 11 de te rnuue til t' rci llti ollS kft _
- f ("" ;tz· %' z. tJ U t he co ust rsl nts 0 11 the sc o pe. of the ex periment
(i.e . the number of mad linI'll 10 IKl p ill 10 test ) a rc rensonahle And
11 0 a mp le a mou nt of a pr ior i tnr erm e uc » i.'!l evelle ble , I1 n m e l ~· . l loe
res ul ts of pre li tn iIlRr }' er per trnent s lind Pro ll,erl)' chose n vllrh. t io n
U II ~S , parti cu lar l)" th e var ia ti on ra nge of t he t ime Ieet c e.
Experi l" \c:e shew! t ha t if is more a.d'·ll nt allOO".'!l to 1L."Cl not th e
stAnda rd E D rne tbods I". t a some ....h.. ~ refined t« h lliq uc bll ~d on
t he se mo r ••lell of t ill' E O l hen ry , Accou nt must be t ake n o f t he
(ael Lhl'l Lan incrt'II!8 in t he scope ct t he experi me nt requ ires I'l corf('!J-
pondi ng Inc rease i ll tile n umbe r 0' test beds a nd in the t est t ime .
I II so lv ing the reli a bil ity prob lems a nd es tlm nting t he fUlieli onAI
re lat- io ns of t he t ype k .. --! (.t ,). n li tt le-k nown bra nch of olect ric
mach ine l'ng illet> r ing hal! 10 be kept' in mmd. wha t ts meant he re
is the physi cs of l hl:! pre cesses of n g ~Jlg a mi wenr of elect r ic mnchlne
elem en ts sud . II ~ comm uta to rs , bellr ings , sli p r illg3, and II win d ing
un der t he cnmplex Ilcl ion of ele" Ilte d tem pera t ures . int e ns ified ,' 1-
brnlion s. a nrt increased s peeds. T ho d a ta on t hese precesses , Il;l Lal ene
l he da ta ill a nnJ)'liclll Iorm , is usua ll)' not Ilvllitoble for a par li cubr
mllch illoll or for II loall'h of t lK' mlld ..; n!?sof Lhe s.me ser ies. I n '\'i ew of
t h ill file t , setting lip t he "ll r i... Lio n limits o n th e ti me fact or bceo rlle:5
pr oblema t ic . An u nllerestimnl ed. " p PE' r l imit does not Illlo .... for th e
T&!:> t. 11.3
I "" 1 "', I ..
-R_
,
1 ,.
a +
a ,
a
... ...... ""
a
,
s
• ...
+
+
+
+
.,
""
7
•a + + ... ""
,,",.....
s +
+ +
e """ +
+
+
+
+
,,....
13 + +
.....
1
+ + +
"" + + + ,
,8
"" +
e
+
0
+
0
+0
0 0 0 0
" "
co m plete IltiliUlion o r t ile ex pe r ime n t. Th e o btal uetl values of the
aceele ral.ed te!'t coe ffi cie nts prcvelcwar thnn t he possi ble oues , which ,
In t he fin a l ana tvsis , longt he ns out th e acce lera ted reliabfli t y t('SI8.
A n () v t! ~s IiOJllted upper linl,it of th e lime teeter ma y render the
ex pe r ime n t u ns uccessfu l because a t lea st oue un reeliaa hle row of the
Illllt r ix mea ns It fa il u re of th e en til't! ex pe rfme nt or. nt best . t he tran-
si t io n to an up per le ve l of fra ction i.'I&:. ie, th e l.n ll8i t ion rro m the
2· com plete fll(.torial to th e 2'--1 fra ct iona l fa eUlr ill1. from tIlt! 2· - '
te the 2"- 1 fa ctor ia l , etc.
T ho se que nce of the so l ut ion 10 t h is pr oblem is a s fo ll ows . Prior
to co nd uct i ng t ile ex per tme n t, t he levels of th e t imo te eter lire left
normal. T he l ower , zero, a nd uppe r lev els lire round on ly for the
acce ler a ted tes t l ect ors s uch as tem pera t u re , vfbrnt.ic n, end s peed .
I n do ing th is , it proves possi blo t o im p leme nt the 24 de st g u rnatr-ix
ror the co m plote factor ial nx per tme nt , T he fi rst Ie ctcr is t he fac tor
of t.ime , T he time rec to r pe rm its n roni ng tl"sts 1I0t on Hi bu r on
8 ma cbiues in tlte 2 6 CF E . O ne a nd th e sa me machi ne ill pu t t o test
bo t h al l im lower and a t t he u ppe r level o f th e t ime (a ct or .
20'
r .,ble 11.4
The CFE ~ sl gn ""!Til 10, h t ilMl ion
01 h ilut e Time
, ,
3 a
2 +
+ '."'"
.•, ,• + +
+ '.'.'.
,,,"
u + +
1
S +0
+
+0
+
.;- '.'.
9
ro u
0
'.
" 0 0
'"
.all y hy 00 0 ha lf , The der ived, rcln t.ions gener all y giv e dHft'fIlnl ac-
cd~ I·ll1.ed It'sl, rauos for CHell of th e elemauts such as bcnnugs. com-
mutn tors , sli p r fngs., lind Wind ings. The sim ulta ncous so lut ion of
e quo tions offers the posaihil.It y of obt"in illg a co m mo n nccelernred
te st rano for t he entira it e m .
Thus ti m d cs c r fbod me tho d ca n de termluc til e accnlertued les t
ra t.ius Iur various e temnnrs of the mach ine u nde r 1.. lIt Ilud at eo 111 0
fa ihltO ti me as a [u nction of uic t est rectors ill l;C V(,l'O test co nd ttt ous,
L('. in the cond itions of buth th e li m ited « mount of II p riori i"r or-
mnlinn li nd t he Hmt tcd scope: o f t he ex per ime nt . T l d ,~ method cnu
II<' ex te nde d t o cover t he deSigns r'Jr va r io us numb ers of acce ler ated
te st. fact ors ,
T ho nee of ox pertm entn l (les ig ll 10 evalua te accelerated test rn-
uos in ~('l<ti ng cte cu-tc ma chiner y rep resents OIlO of the com plex
exam ples tuustra uve of L11!.' pote ntialit ies of t he ED technique.
Consider the »ppl tcauon of th il! t echnique i n s l ll lt ~' i ng ma the mat -
tcaln nd physi ca l models, for e xnet pte , (Ill indu ction ma ch ine model
d ev e loped fro m t he mnthe mn stcn l th eory o f e lectric ma chiucr y and
set up on au :lnalo~ com pur er or an in duc tion- mnchine ma gne f ic
core model for med on \JI \Jc lrka l co nduct tvo paper . Th e in du c ti on
muchinc mode l in the form JJf " com puter a na log pennilJl II flll'. L in·
vps t ig!\lio n of t he m ost div erse mod es of opera t tou of t he machi ne
(its ,ly ll:u n ic a nd stat tc »cuon . dlll flgCS in t ho pernmet ers wit h
um c . c lc.).
l lc we vet-. the attemp ts at scor ch ing for the optima l paramet er s
.or II maohtnc provo imp ract tca ble because of t ho uns t nhle a na log
and 1\ long t ime re q u ired t o re a r ra nge-t he g a i n Ia cto rs o f the analog.
This is also t rue of the ph ysi c a l m ode l b u il l IIp on c on d uc uve pupcr ,
The c a lc ul a tto n o f n e ld s ami nd m tt ta nces e nahle8 eva tua ting pracuc-
lilly o ny pat.tern of t he magnetic clrcult., bu t t-he search for t.he optim-
al geom e t ric pa rameters o f the m a e hinc re q uires II. mu l l ip le refe rence
to t h l! prcblem se tup. I n tlit her of t he t wo OIlSt'S i t is necessary t o
fi 'lt! a GO l1ve n ic n t form o f p rcsanta t Io n of Lloll i ufo r m a t.ion tle rt ve d
u.
H
fro m UU~ m,,,l o l ~ so <111 t o lise it r Ul' tll '!I' for the aotu uou of o p t i mi 1. a~
rton P " Qhlt'nl .~. Th e po fynomiul 1l0 1ll i io n is" eo nvouicut form u]" p ro-
s entnticu.
Let us il lu stra te t he featu re s of ED lor I I,e second ctuss 01 prob lem s
by rQ I ~~ i ded ng nn exa m ple or th e il lIlllog of an Induction lII ol nr-
m a gn e ti c nmpliFiel' s ys t eru , T Ile blo ck d illgl'am of t h is s ys te m wilh
c u r re n t 11 11d volta ge Ieedba ck mechn.nl s ms is show n in F'I~ . 11 .4.
T o uualyzc t he ind uc t io n m a chinc C Q lI~ l n ,e t i o l\ , wu 111'c ,1 10 s t" d ~'
thl' rua chine n nn lc g a nd ob t nin 11m Iunc t ioua l rcln tic n
uII=f( Ku. K, 1
where ~II i81.1,,,, m olor' s /tUg-H IM volOlllly d irrer e nco w rth II change in
t he loa d t.crq uc ov er t he s pe clfled iimits; K lJ li nd K, lire v olte gn
-lIll1l cur re nt Ieed beck rnct cre. .
T he II11111 ysI 5 o f t he mncluce de-:sl~ n s ho u ld be 1l11l,lu "'i t hil1 thc
prodotorm tued ran ges of var tat to n oT 'fM'!Or.l x, Ilnd XI: X, = K () =
= 1.5 10 2 .1 and X 2 = K , = 2.4 10 3 .li.
Tho ED technique is t,Xllcd io n l fl)r usa in d c nH ng with the giv e n
problem [or the follow in g rl'aSllll. we nee d to o bt a tu 11 COl\ VC[liCIlI
and co nctsc rc tnt ton ba two un tI." a nd K u- K , ill the for m of n po tv -
nom tal:
An = b~ + bl4 + b 1x . + b, ~,X1 + b ll r. + bur; + .
(11.2.3)
"" C h. 11. Application 01 hpa r'IM ntel 0'0$;911
,.,
)\0, ~ .. . " 1"'1 ;;- .•i "' O .6 6 ~ ;.~ d_O . 6it
Oblcc l[ Vr
ll"'et lon
P . ~ 1C1 [(Jn
hy Jl CCD
'" I o\. n
+' -, -, +'
+1 - 1 -,
0.333 0 .333 19 76.3 76
,,
z +1
+' -, +1 - 1
0 .333
0.333
0.333
O . 3.~
93
se
93 .5
64 .1; "se
+I ~I +' <. , 0. 333 0.331 ;0 71.3
"
,s +' -1 0 0 0.333 - 0.666 sa 58.' 64 .;;
+' _ 0 .666
7 +I
+'0 -, 0 0
"0
0 .333
- 0 ,666 0 .333
68
'00
61J.l
85.6
10. 1
""
,
6 +'
+'
o
0
+'0 0
-0 .666
- O.66fI
0 .333
- 0. 661S
60
ee
73
1:>7 .3 69. 1
2 , ra
,
a
"as eo
"
For comp ar-ison betwee n the ac cur acies of calculat io n of 1111 e m-
p luying m o aceD and nCCD. Tab le t t.s lists the valuM of 11~
obta ine d wilh the aid of r ot at able desi gn. Let. us note t hat in the
a nal ysi s of p hys ical and matberna tfca l modem of e lecu-ic mac hines
r ot a t a ble des.g us are ca rr ie d cut w ith the \100 of moder n digital com-
p u te rs. It sho uld a lso he po int ed out l h:H thero ar c ot.her ways of
experim ental des ign i n dcnling wlt h t he c tass Qr proble ms u nder con-
si de ra t ion if tho mod el obtained with t he aid of t he fi rst- or der de.....
ign turn, ou t 10 b e i nad eq ua te . The n p pmaches mnin ly i nvo lve the
r epla cem ent. of varia b les a nd llpli tt ing of (he varia tion rBllge of
fact or s into t wo su br egions , I n bot h cases th e objective is to Iry to
r edu ce t he proh lem t o t he first-order desi gn . Howev er, t hese approach-
e s are not a.lwuys eon venie nt lind re spons tblc for (I nu mber of dii·
I tcult.ies in ha ndf i ng op ti mia a t ton prob lem s . The scoo nd-ordur des-
Ch. I I. A",,,,licati o l> 01 E.pa , ima lltal De" ,. "
f ebl. 11.7
Vod al",
olll,..e'po,. · 1~1 g'"l, .1
1,,0\1') " . {Il,
h I m "
Ol>J.... uve
" In "I'"
Jl ~e,ern:.
Ul' p•• ln .\ncl~\
1 + J' ..~1
8 13. ~71
•. 28
1 . &2 X 1 O ~ 0
1.82x lO~0
"'''' " t unetl on
Lo..... le... l _ 3 . 08 2.116 1. 22 >:10-0
" .. .
1
2 +
+ + +
+
+
+ ,
ro
Test No.
,
3
+
+
+ ~.
+ +
+
4.~
3.'
s
,
G +
+
+
+
+
+
+ ,
II
+ + + + e.s
a + + + + + .;
+ ~
As is k now n . i n per form ing the ex peri me nt s fit ver t ices (Fig. 11.5) .
t he Illfges t d iscrepa ncy be twee n t il> a nd t op occurs n t poi nts 1, 2 , 3 .
4. a nd lit c~lIl trlll point a. T heref ore , th e chec k for t he model a deq ua cy
sho uld be done at these pctuts
using Cochra n's test on t he homo-
gene ity of inadeq uacy var ian ce a
"
ast tm a tes:
,
o,na>: = max (S; .aV L: S~ "d
.-. ( 11.25)
I 0 a ' .
where S~
ad {l op} = (t ,p q -
_ t,p 9)' ill t ile inn rlequacy VD- •
na nca for t he 'lth check po int;
lind k is th e num ber of chec k
points. ~ig. 11.:;. The cha rt for perf <Jnl'llng
If the foun d v a lue of lJ m u is cbecke It ven lce$
ema tlcr t han <Jor ta ke n I rom t he
table for correspo nding' deg rees of fre edom . "I e = t and "to = k ,
a nd for the chosen significa nce level q (com monly equ al to 5%). we
l'lC,c ~ p t the hypothe sta of ve rt euec homoga net ty. Nex t we make lin
ct>. I I. Appl i t~li o " of " , pllri me,,'.1 De . ill"
Til l' llbove po l)'llOnJinl eelut icns a re rather si mple s ince th e prc b-
kn. bC'i ng so lved invol ves t he \'a r illUo" of on ll' 10'10 va rtaule pare-
met ers . It eculd be lIS5um('d t ha.l t h... !iC'1I 1'1:1t for 11 0 opf im um u nder
tltl.'H co nd tt toes d oes not {'neou nltlr dtrnc untes. Howeve r , th e a ne t-
)'!li8 of va rtan ts of the scluttons pro vides dUft>l'e-nt resul ts .
T he Inost spec if ic eeses TOc t with in o p l im i~/I t io n of e le.:l r ic lillich-
tnes resu lt from II sha r pl>- red uced rl'~i oll of SHll'I: h . T hE' l onrli in
whi ch lh ~ o bject i" e Iu netio n sa ti s.Iil!s Ihe imposed eons rre lnta a rt!
smnll . so it is d ifficul t, 1.0 o bta lu s uch to nus for t he orga nization of
Ilrpwi..o procedures without constroc ti ng I],Cl secuone. T he solutiun
of opU mlzn t lo ll pro h l elll ~ of Ih is elMI!:I prose ut s d ifficu lti es IISN)Cilll -
ed wi t h t he cho ice of t he re rerenec point »ccded t o inlt la te th e di -
roc tod S/J llrc!, . T hi ~ is e tsc l,he CI\!IC for 11 lorge cla n of pre blom s tn volv-
ed i ll t he a na ly s ls of llle ctr lC mnehtnea. Wlu'll ncccu nts [or th is f/lct
is t lllll a n ind ucno u machine liS t he ob jec t un dor n n(l lr~ is is II fllir ly
wct t et ud led objec t lrom bnt h t he l \;eol~ U r'lI l s ud ti le pra ct ica l am nd-
poi nt. T he mnch i nc, In se r ies pr od l(ctioll /Ire ro ~hcr etose t o o pl illlni
o oos iJ II", Imp osed co nst rain ts are tak e n into accou m . H e nce. thu
poss ibiUlil.'s 01 impro \'ing II.('ir CMl'llct llristks lire noL large., ,, 1111
so t bo ec ne or pcrralaaible sea rch for t he so lu t ion is small .
The pol ynomial re ln l ionll a ud op ti mum sea rch ZOIl('S obla i llc{1 h)'
th e ED technique u sist in choosing th e rt>fcre ncn poi nt needed for
\I,e ol'lrllni l.o'ltion of the directed search. Problems lire me l w it h In
pra.c ti ce in which the sellrch r,,:::-iOIl is d lsco aun ucus, III hllutlling
t hese proble ms b~' nu meri ea.l Dl(l th od ~ , t l,en) Is a ri sk of m i" lJIki nJ:
I lle l)Oint of to pa rt ial ex t ramum for the op t imu m peinl . The 1I 1ln lys ls
I l_~ l l a
210 Ct>. 12. Syn lt>"'i, .. I Eled,i" ,....,ct>in• •
Chap ter 12
Synthesis of Ele ctric Ma chines
t io" : t he fu nc t io n is ' Ii.'gllt iv(l in tl'liling it Icet he max imum . 8.1,d post-
t ivu in l el!Une: it for lite m illim mn . F,nch ptI11 llt~, fu nct ion pro,' ides
II IIUIII('I'ic,,1 np prcach 10 t he di l'ltC t scluuo n of tile prob lem ,
a. T he LlIgl1lll11h, n multi pli er method wh ich rat her of!i ciolltl y
all, ....:! for eq uali t y ce us rrn inta. T ho meth od use s Lagrllngi lul muJ t i-
pli('. rs to introduce t h('. COlll! t rn ints into th o Ill'w l)' implomQn w(\ fu ne-
tio n. T ill! ext rem um of the 1lC1!' fu nct ion can be so ught b)' e mplo)'j ng
stllllllllrd method:! or mll lh~m llti clli p rogTlmm i n ~ ,
L\\Sl! t1 ol inl: WIl ha ve defined uie pro ble m su bject to optim i1ll.tioo.
we Cll 11 choose 000 of the general opti mi ut ioll methods. T hese i n.
etude th e mctl.ods of in vesti gation of va etous dl'si~ n vers too s . wh ich
i OlVO'VO th e u a lr s is of II few peestble S("jlut ions of th e sa me problem
w it h Iho n itll of fimli n!:" the bes t: tn :pcrimonhll .ne lh odll w ith ou t Iho
s i nd )' of corNSpontlillg m l< lhom lll i c ~ 1 ' n..d eb uf t he o bjec ts of i n-
tc~l! li "mph it'lll met hods based o n t ho I:rl'l pldCll 1 rep rese n tat ion of
t ho function be ing opt imil M a od depe nden t on one or two va ri ab le!:
lllllllrlic al me t hod! ruling t.ho e tessrca t pri nciples o f di fferl' nt illl o nd
,' nri llt iOll111 edclI' us; lind numer iclIl meth ods .
For llu~ Solu t ion of cngineer illg pro hhlms involv ioe non li llf llr
rela uo ns. il ill expedie nt t o U.IlIl' uum er ice ! llIt'l hods .
TI,o fl ~ l npprMc!ll,\" to op t inll Xll l ion of uleetr-tc ma ch ines ha ve
rr uuerly roli'HI 0 11 t he met hod. of seq uonttn l t rnc illl! of ."p'ld a l erld
pouus, or nodes . III t lli:> met hod , Ih o per missible lIma of vm-iatlo n
or each or l lll' facto rs is hrokoll down i nl') In I'IH:sIll'.'1 w it h n dcf fnite
s te p 1I0d n n op t imum \·('.l'Sio n i.~ SO ull: hl by II'lIci ng Iho gr id poi uts
s te p l,r s tep. T h6 me tho d , lwill:;:: \' irlllully ~ i m p lll , In-comes rat her
clU !l borso m ~ "·III! nu tncrceee in tho nu mber of des i1;:"1l Vll r i;lblos lind
{I dCt'l'('lIs0 In t ile slo p lengLh. T ho t ol nl num bt' r 01 LlIC sclntloua I,),
11,ls met hod is eq ual tc a pPl'o)(i1na ll,I)' thc pro duct of the ste ps mllcle
for /III \'/lr illblu. t.e . III) X mot . , , tI'I" . Th o met hed co nsumes"
fll ir l ~' {:roal dellI of t ime .
'I'IUl- next melhod 111.:lt ha s received wide l\ppl kn li ou ts t he GIlIlSS-
Sc idl'l re la xl\li on (succl'SS ivl'-d isp l n c~ tne n lS) 10..11101"1. T ile idea of
l ire method lt es in t ile seq uential S('u d l for til l' pa r ti nl ('~I r,.. m u m of
tloo Olltp ut tueeucn for {'a d , va elable of t he sy ste m . l 'lIe l'Carr h is
t erm inntcd .....hen t he 'I\;'x\ point of the s pace tu rns out to 00 the er .
tr cmum in 1111 (oo r4 in/lle di 1'(>{'1 ionl!, Th o met hod is effic ie nt for
IIpp licl1 t,ion 10 Ihe objects in wh ich tl,e (Om l. l io n betwee n t ude-
pt'odcl.t \' rori /l bl e~ UOl.'$ no l c~ L"'t . T IIi' sil~ l e lr:t\'er:llt' throll~b . 11
" lIrillhles ca n t hen lend t o t ~ sohu ion of t ho posed prob lcln . •' or
t l'o objarts ~'i t h II l orge num ber of ,' a r i/lhiM whirh I' orrelll l(' wit h
ea ch other , the met hod peev es Ince uv aut eut ,
T ile Ine lhod of t he s tee pest s lo pe or stecpesi. descent (hco bi's
nlulh od ) ilf a versio n 01 th e grad ien t method . The d irl'Ct io n of senrd .
lM.' re i:< oppos ite 10 tim di~tio n of th e grad ie 'lt . If / (.l"n"'l" ) < / Ix,,),
t lil' nll nimh al ,on procedure rcuows: e ach ~ I C P is t ake n i n th e SOllla
213
direr t iQIJ unu! f (;>'·. + 1) t ur ns out. 10 be geee tce t hll 11 I (x~ ) a t :Il'~r l:lin
s tep. Afttor rc gre!';!iOD 10 U..e potn t r . a nd calcu la tio n of the ~rll,jiel\ t
' PeW. UI(> search ill con ti nued M before. T h is method is m nr o r.Hi-
dell t tha n t he gnldit' n t m<! l hod but becomes i no~ r1Ili ..· o ill lIK' pIT-
MI nco o f inl ernal In te rfer es, T h is demerit li 'nits UIC Use" of tile IIlt'l li-
oct. part tcula r.ly lor o ptiro iUl tio ll of ml ilt ip arllmetrie o b jc<I.!!'.
TI,,, met llod of eO llfi:~\Irll lions C'llsures II. s ueecss rul seareh a lo ll£! 1110
edge uf 1'I sha rp rid ge . Thtl lll gQril l'un of 8ell r c:l, co nsi"is i ll UIU foll ow-
in",. At the fir3t s inge th e illi lill t v nlues of !Ill desig n vllr illbles :rJ'
iud ul.l i olf the iui l inl i" c....m enl tl z J•.am .set 1I11d t he v31110 of I (%)
ts Inund . ElU'-h ve r te ble is t he n mad,. 10 vnry c ycl i~I I I )' by the \'aIIlO
of the a do p ted i nure ment in ord er thllt All the pnr llmlllers m ight
thll llg" . H . tor cx a mp la , t ho va l ue of z ' _ ~ -t- .... .t. does nul IIl'H.l
to 1I decrea se ill ti ll' ohjectivo fu nctio n (\ /1 solv inq tho mi ni Fll i~llli\lH
proble m}. J'~ i ~ v/lr ied by - Ax , nml f (;,:) is ag~ i ll t es ted na te rorc.
If till s "lIrill lion dOOlf not " Hll r im provement . 2': i ~ kept conSlll llt.
Th e llt' Xl si nge invo lves II v a na uc n of ~ by 4 T, . mcu 1'1 " nri:lt iOIl of
t he ."til:r~l:'S "·e. "lIria l,le lind so lo ng. l'j {: rch~' d nw gin g 811 110!1i:lll
Vn r illb le.:! lind com pleti rlg t he first c ye te of l ho in vesti ga t ion. At
each !'ltlp mnde in the II n lll~l!- i s of 1111 in depe nd en t " , r ia bl e tile va lue
of 1 12') is co mp ared wi th ils va lue at t he prece dlng poi nt . If the
objee l ive funct ion dec reases a t a gi\'e n ste p. it s preced in g val ue is
ehnn:"ld for. lIe w oue II lul USil'd li t Slbsell "tHll :step" for c(lm p.lIri!i(HI.
To s pee d up the 5('on: h ror the optimum , the length of s tep ~ cAn
be c hllng1!rl b ~· ~.rH xing II eeetatn multipl ie r ;.} > t 10 the q\,an t i Ly
. .t -
Wh lll s hould be rt'g8 rded;os lhe m a ru d iJl::ltlvlln lagt! of lids me t hod
is t lLli l /Ill te nw uve s te ps lire t ak en pnmllel 10 cec rd tna te lI:tC!1 nod
no infor mnt iu n abo ut oll. er di rec t ions is ;'lvlli/oble l!O it is quite posst-
bl e tn mil!s t be ..idp .
Tlll>r/! lire 1I 1.w me thods bnsod on qua dr a tf c co nve rge nce. Fe e
qUlId rn\ ic Iunctrous , L1le.!l(l. me thods enable fin ding II minimum tud e-
pendent of t he refere nce po int rQr a umned numbe r o! iter a t fons .
For rlln ctj OI1 ~ whi ch e re smenoblc to:' higll-dl.'greo of upp ecx tmnt tcn
nenr , Ill' extrem um po in t by I II"" 'l Hltd rll llt: dependence, meso metho ds
ensure quick con verge nce , BUl lhe~' ca ll for th o enlc uln ti o n of «ot
on ly th o fir s t derfvatives b\ll e tsc th e second doetvauves. I II !loh '-
ing man~' e ng i""er ing prob lems, howev er. the cldc ula t ion of pa rti l\!
derl va tiv{'s bo t h a na\ ylicn ll y an d nu merica lly presents d iffi culties .
T he abo ve descrtbed nu mer iea l met hod ' o f seArch for t he ex trem um
ean he pllllced in ll! th o gro " p of determi n istic melhoos because t he
di rect ion of se;or<:h ""it h t hese method s is unlq cel y defined b)' t he
logic o r t he seereh proce ss .
In t he pr acuce of o plimum des ign of e lec t ric mach i nes Ilnot llt'r
gro up of In('th Qrls filld~ wi de Ill!!!. These are s ll")(:hllst ic (rllndo m)
meu.cd s in wh!..l, the d irect ion of sea rch if! Cho.i6n q uite rnno.l O'rlly .
'14
If tllll ohjoctive fun ction sho ws a n i ncrease i ll value ill an y one
direc tion. t he search is carr ied ou t in t hi s di rect io n Ullt il t he ex rrom-
urn is lou no . T hese me t hod s prove ra the r effi cien t fo r t he search of
11[(' ex t remum of t he fu nct.lon whose behav ior is not k nown lit all .
H owever , th e r a ndom sea rch does not use the tn ronoauon on both
t he pr ev ious walk and t he beh av ior of th e h yperpla ne, whi ch leads
t il n co oeidem ble loss of time .
Th e me thods t hat show most pro m ise a re t ho DUel' wh ich success-
fll ll ~' com b ine l ite elem ent s of dete r mini st ic mot hods with thnse of
stecheeuc moth cds of search . O ne of those is the com pl ex me th od .
Th is method Is a mod ification of t he simplex method i nve nted b)'
G . B. Dantzi g and ret ains -tlje ba sic pr tnctple of th e la tter . The
com p le x me t hod uses N + P vcr ucce (P ~ 0). each of wh ich must
sa tisfy constra ints a t a ll K sta ges . I n t ho perm issi ble a rea of th e
teet er s pace t hese ve r tices lire se t up in 0 ra ndom manner, foll owing
w h ich t he va lue of t ho objecuvc fllncli oll is found lit each ve rtex
o f tho complex. T ho vertex at whic h th e fu nct ion f (xl has t he worst
va lue is rep laced by a now vertex l oca ted o n the line t ha t passes
through th e rejected pninl. nod t he ce nter of cluster ol the re ma in ing
vcr n ccs of the comple x a t a d is ta nce equ al 10 or gre eter t hft n the
di st ance [rom t he reje cted point to t he ce nter 01 cl uster . If it ha ppens
th a t th e new ver tex has t he worst. va l ue as aga tna t. tho se of t he venrc-
es of t he new complex , a DCW vert ex is set (I t a hett- d tsra nee from
the wors t poi nt to t he best ver te x of t he compl ex. H t he sea rch is
success ful. the com plex ex pa nds a nd deforms ill the d tr ecuo n of t he
ext remum . The process of S(lIH"C,h oon t fnuos \lllt il t he com plex is
d raw n logeth el' a t the ca nter of clust er wi thi n th e li mi ts of t ill! s pe-
cif ied acc ura cy. The me th od en a bles a successful! s olut io n or mul t i-
ex tr em um pro blems. I n progress toda y is t he develo p me nt 01 new
opt im iza t ion me thods . However . t he num ber of p robl ems to be solv-
ed g ro w~ laster t han the number or met hods req u ire d for t heir so tu-
t ion. It scorns unli kely that sometime a u ntverset method wou ld a p-
pe al' and ed ge out all ot her mot hcd a. More probabl y, tho best op-
um u ntt on meth ods will be fou nd for t he def in ite cla sses or prob-
lems.
12.1. G eometric Programming
Geometr ic p rogramming is a 'lew br anch of matJumat lcal, programm-
ing , u;hkh call ~ used 10 a4valll age [or the soluti on of opei mizallon
problems i n electromechanics . T he geometric pro gr ammi ng t ech niq ue
ca n effic i6nt l y t ackl e the m in im iza ti on prob lems , i n whi ch t he op-
ti mlllil y lind const raint cr iter ia are ex pre ssed i n t erms of the non-
lilw ar functi ons of th e dcrtnnc form . Geometr ic p rogramming i n com-
bination wUh expertmentol de~ lgn provules a powerfu llool for the con-
3lr l«'Ho1l of Il t W mat./umlQtiral lTl ooeis ap plied ill t he syn thesis of t ller g y
ccnoerters .
In ~peeirie cases. llOOme l rie p rogMlm m ill g ena bles t he l!lliu t io n
'"
of p roblem e IInAlrl il.'IIIl}' fo r qui le 0 d al i nitl,'l elllJl8 o f f u ne li" ns of
the form
•
6 ( t ) ""' ~
•••ud' )
U,(t) ... C, t~" I:h . .. . , t':.! ..
whe re Ii ,. ",_ .. "... ~ ,.r", t ill:' posit ive cc mpone nre of t he f un ct ion
g (t ); £.\. Ct . .. ", C. (lI: C Jl'fls ft ivc ee ust nnt ecer ncte nrs: 0.1/ lire
er bltrllr)' rell l numbers (j _ I . 2 . .. " n: / _ I , 2 , . ", m) ; nnll
'I' I" .. _. t", are pos tt tve independe nt vnetebt es .
Suc h f",w li on.~ lire knuwn es /lfMitilil' polyllnm ia/3, or posynomlo.!5
for sho r t ( nunlinear polyuomluls w ith po ~ ili ,'o coef fici e nts ), nnd
form t il", bas is of th e !lr0l!'rtlm m i ng tcchnlquc , T ho bnstc requtre -
Dlent o f rho tcehutq ne c o mes 10 t IL" j'l'p m selll nl.io n o f t he fu nct ion s
und er IInnl ys is by t he Lin ear su ms of posi tive com ponents Uj _
I II e ng i' ll'er inJl: pro b lc m ~ t l,,, fun ctio llS lire ofte n e xpresse d in
implic it for m . By per r<lrmi .,:; lIpprOprill te t rllnsform a t io ns , t he
fnnr t inn ca n be C:lll t i ll t l,t' rorm of II po5yn om iol t o e na b le t he eoro-
(io ll of lUI tlrJillo1r~' problem of geo met ric progt"lI mming .
The rUn<tion of the form
g (t) _ 1 (I ) +
lq (tjl-h it ) (12.3)
red uCf'!' to Q pnsyoom illl
g (1) _ I (t ) +
t: h (t ) (12.4 )
w ith th e /l id of n n lIddi ti o na l ind e pe nden t vaelahl e to 011 cond itio n
tll a t
t i ' q (t ) "";;; 1
I n t lte n hove Ic r mut a s , / ( t ) . q (I). lind h (ll e ee POs~' I\om i ll ' S in
t ILt! in de pe nde n t \'''' ri lllhle; 1 _ (t l' I , . , ... till); a> 0 : nud
T _ (In' II ' I, . . . .. t M ) rs III mi n im izing [ t ra nsformed ) vecto r v nne -
b le .
T he Iuuc rt cn or t he Iorm
g ( t) _ f ( t) - u (t )
wh ere u (t ) is II single- term posy nomial. al so bel ongs to lI,e c1a s.~ of
p r'lb le llls so lva ble b r t he l:iven (eo: h niq ue because t he lIlin im iZlll io n
of t he Iune uon (12.41 is e q ui \'a le nt to t he m ini m illl t ion of t he June -
t ion
g('f)_ II. H 2,:;)
s u lljeel to the constrai nt
t. fu t l) + f (t )/u (t):O; t
where
'f _ lu (I ) - f (t ), t,. I" .. .. 1",1
T ho slIbjee t of iovesliga l ion in i,'t'om c-t rie prog ram ming is the
ex press tc u
(12_6)
(t 2. 18)
(12 . 18)
In tlri s per t tcul ar ease 1\.11 i ndepe nde nt vnrla btes t 1 are raise d \.0
t he aero power and th e pre-dua l I unct ten is o nly depen dent o n 6 1
positi ve weights.
Ch, 12. Synlhesii 01 eled.lc Meehi"."
'" T he num ber n of r OI\ S of th e ex ponent me t rtx a' l (t == 1, 2. . .
. ., /11;:
j = I . 2, Il ) de ter mines t he di mens ion of t he v"CIOf
-0£ expone nts IIn,1 is ill st r ict corre s pondence wlth tha number of
terms of All posyuomlals. T ho num ber m of colum ns dete rmines the
dim ensi on of the o;!H\C O of the exponents e nd is equlIl to th e numb er
-of ind epen dent vari nhlcs or t he ob jec t ive fun ction .
J( the nu m ber of rows is equa l 10 or sm allc r than t he nu mber of
colum ns, i.e. lite d imensi o n of th e ex punent vector is grea t er than
the dimensi on of t he colu mn "CCIOf of th e e xpc nc ut ma t r ix, t he
-ort hogo nuht. y cond it iun ca nno t 1Jc met a nd , he nce , t he p roblem has
110 sol ut ion. T he q uan t.if. y
d =n - (m+ 1.) (12.HI)
'is terme d th~ degree of d ifJ irult y or a p ro ble m .
If t he di me nsio n of t he e xponent vector is gre a ter th an t he dimeu-
$i Oll ul the column vec t or of t he ex ponent ma t ri x, t hen , in th is par ti-
c ular case. th em is an a nal yticnl sol uti on of t he p roblem .
wbe n II "'" In + 1. thefe exis ts th e s ingle d ire ct ton o f th e so!u-
ucn vector lh at is norma l to a ll col umn vec to rs of the ex pone nt
m nt r !x . T he orth ogonnUt y con dition. which forms th e vector sub-
a pace of tim n-dime us tc nal space. uniq ue ly dete rmines t ho n llfll vector
6 withu ut performlog tim normal tm ti nn proce ss . In t h is ca se t he
n um ber of u nknown cq ua t lons is equal to me num ber of l tuear e qua-
l ions which lIat isl r th e co nditio ns of th e rlual prob lem (pro gram) in
t he form of equali ties . I n t Ill.' genera l caw . when n > m + t , a ll
th e soluti ons for or t]' I>golla.li ty co nd iti ons defi ne on l y t he d ual s pace
w hose d imensio n ts eq ua l to n - til .
Exp ression (I2 .Hj) then t akes th e form
L! (6) =- ( n(C,/6 )OI1Ilm\l{ ,\ ~Il
I_ I 1 (12.2 0)
(12,26 )
Where (lo t) reglou of sem'l:h for tuc o bjec li\'ll fu nc UolI ts e pofnt, the
sea rch for t ho functi on ex t re mu m nnd cnrrespo nding coord in a tes
co mes t o II wclt-Iuunded si ng le eom p m a uo n procedure .
TI ".. ohject.lvc ennstmint \:1I.1l1l0t n ppl y 10 nlI prnblems. l t ca n
u\:t all II useful 1001 in so l v ing problems or th e zero ,lel!l'l'IJ of (l im ·
culty. 1lI1d 11 1.~O in expc r im enta l Ile.'1ign and goOl1lfJll'ir. pr ogr Ulllln in~ .
Chapte r 13
Automated Design of Electric Machines
of tles ijt:nillg'. l\t lh e nge or le clm ica l progress. 11I1 Increased comp lu -
it)' 01 des ig ned objocLs is Inev lta b le, ",nd one (:Ol'Wlillly ca onol TIl! !
t he q uu lily 01 d ~i C D work .. nd e ecclc eatc t ile dQSit:n peoeess Ly just
incre asi ng t he number of dClli¥1I offices. Th o problem is a mell. ble
W the so lu tio n o illy with t he .id of mRlhe mfl ti u l lllelhoos amI eom-
pu1IOll f~ cili ties insta lled at project and dc.sil:lI servj ces , milnu{ae-
l Uf Ulg Ofio Diu tio ns , a nd at var lces plan lS.
Th \! most eff octi ve des ign guideline is 1.0 con ve rt lrom e u toma-
ucn of indi v id ual desigllS to inlegrll tcd illlt(imal io n evo lv i ng f (lf tile
p urpose a utoma ted deefan ! )"s tllms (A DS.~) . The AD S is lin o pera-
t ionn l eng ineering s ystem s csocte tcd w ith deJIign c tnce su bu nits amI
inten ded to fu lfi ll the nss ig nmcnts by t he availa ble e uto maue
mea ns wh ich for m II s pec ific (', " lllp l" x . Tho enmplax e nsures me th od-
teal . program m ing , OI nl ori nl , i nlnrm ation, fw d org<l ni za Uollal s up-
pert.
T he s ubun its ct e dt'si ltl\ office do c,l)urd intlt(lll jo bs us ing harrlwnre
lind re ly ing on orgn llh.nli ono l support . The bllsic fu nctio n of ure
ADS is Lo ca r ry out cc r uputu r-eid ed desi gn at. all s tages or some s Lae'
tIS of t he desjg n pro ced ure usi ng mat.hematica l e nd other mo-
del s .
I n Lh(' $)'sl.em.s of a utoma ted des ign, the opera tor i nle ra cLs wilb
a co mp ut er to tn tred uce approp r ia t e cha nges i nto t ile doscrtp tt c n of
t he desien a nd represent tr In euue bte la ngu ap s . I n so me lIutoma tic
procedures, the co mpu te r performs t hese opera t ions 011 a c1 o...~
sho p bas is .
Str uc t ura lly , the ADS consiSlll of severa l llUbs)·slems . A ", u ~ys le m
is an ADS par t h avi ng iLJ ow n s pecif ic fea t ur es a ml ca pa ble of )'leJd-
ina ec m pte te de!lign so lu tio ns a nd o Lher \l ~fll l illrorm a t ion.
T h.ere are ebject-c efe at ed (objec t) subsystems a nd eh joct-independ-
eDt (i nvar ia nt ) subsystems. T he e bjec t subsys te m de ve lops ti lt des-
Ign of a certa in object ( Il c1 ~ !! of object s) a l A de/ illi le design s \. a::e , It
ca n wor k 011 II dosi gn of mach ine par ts , compone nts. peorluc t to u
pro cesses, etc . Th o invarian t su bsy ste m perfl'lrllls con t rol runct ions
a nd p rocesses Intormat tcn Independe nt of t he Ientures or the n bjecl
bei ng des ig ned . I t ca n control, t he ADS; conversa uo nal procedur es:
numer ica l ana lysis ; c nu mreeuon: input, process ing , anti outp ut of
gr aph ica l info rma t io n; a nd also i nform a ti on r et ri eva l procedures.
An ADS subsys tem co ns ists of components t ntcnded 10 per form II
com mo n object ive Iuncttcn.
A n A DS eempoueut il! a n ele me nt of the mealls of s upport t h. l
per forma a de fin ite fu nc t ion i n i ta ADS SU bl!ys telll . All t he subBYII-
t ems stru ct u ra lly for m till integral sy:s tem by v rr t ue nf t ile Jioks
be twee n t oo .W S co mpone nLs of va r ious suhsystems .
Th e co m ponents of method ica l s uppo rt are t he docu me nta tio n
wh ich offers the foll owing (eithe r fully or gi ves references to pr im .
a ry llO urceS): th e t heo ry. met hods. a pproac hes , mat hem atic. 1 mo-
13.1. Evo lution 0 1 $y.,. "" of Atrio", . t. d De.ign 227
dels , Illgor il hrns, Illgori thmic ll'l ngtlagns for tile tJescripl ion {II Ob]OGls,
terminology , s pec: jfica l ion,. s ta ndards, a nd oth er infor m:!.lion lI~d
eel rcr t he met hod oloJ>' o r des ig n work in the llubs)'s tc lrls. 'I'hll com-
pone nta of prOgl'a romi ng .!tlppor t are II collec t ion of doeumc lll.! co m·
prising var ioll.!! program s , prof:J'a ms complied {Ill machine d nta ClU -
r ters . a nd serv ice form s nnd records for proper 11lIXt io ning {If ee rres-
pood ing su bsystems .
P rogr amming eup poet iuc illdes the a ll-systom 1)'p6 a nd tho a ppl j.
catio n ly pe of sof tware. T he compol)enl!' of a ll-s ystem software a re
opera l ing s yste rns, symbolic eom pl ters , ere . The components of
a ppll car ton software nre progu ms a nd pack s or a pplicllt ioll pee-
grill ms inte nded for desig n eclut ton ~ Ilera l i o n.
T he com po ne nts of mllteriol sUPPQrl a re co mputing fi nd office
mecha niza tion facilitit>s , da ta t ran sfer mea ns. mCllsu rin g devic es ,
a nd oth er ty pes of hardwa re .
T he components of Informe t.lon su pport th at form t he da ~8 bose
of tho ADS arc th e fil es of documents giv i ng t he descr ipti on of
I lflDda rd desig n protoedu rea, sta nda rd des ign soluti ons, sta lldu d
eleme nts , ite ms of sets. ma teri a ls. a nd also o t her i nfor ma tio n, In-
elu d ilijC t he files a nd daill. uni ts with th e record of tbe a bove dcc um-
ent.! on th e ma chine med i um.
Th e compo oonts of orga nilaliona l su pport are methodiCAl an d
ot her ma nua ls , reg ulallona lind i nslnl~l lons ens uri ng the intera ction
betwee n office su buni ts. .
T ho . nal)',is of l he des ign of a n o bjec t is made by way of ai mula-
l ioo of th e objecl on a oomp uter. Th e syntbesis of t he design a nd its
opt imi ution are put i nto effec t by relrievi ng informa t ion Irom the
comp ute r me mory in t he co nvetlla l lonal mode whieh Involves l he
inte r. Cl io n of t he des ig ner wn h th e computer, Th e des ig n work t h us
acq ui res th e Ieaturea of what is k nown all "computer-aided desi gn".
Here t ho computer act.! as II mea ns of io tegra tlo n DI t he part tal mc d-
ela lint! tec hniq ues (dllciaioll-mfl k ing proced ures) starting from t he
ge neral da ta a nd peogramm tng- taehnlcal base of t he AD S.
I n t he ADS , th e design prc eosa requi res ti le i nt rica tel y ccoedl net-
ed wor k of the technica l, program ming , and Infonn ation fac ili ti es.
The computer i nteracts wit h t he e x~na l world t hrough t he means
of i npllt , out put , storage. a od tre neler of i nforma t ion i n a plllnbeti r..
dig it.al e nd grfl phic forms.
P rior to .....ork ing o n t he project of lin . ul o ma ted desig n .IIylll elll,
the ere pa are take n \() l nalyu t he e xis t ing design sla t tlS, s ubsta nli llle
tbe projec t . dl'! term ine t h.e prior ily of a ulo m.tion of individull i d~
ign stoge&, es t imate 11K u pedle n~ level of lII utom. lio n, ra t iona li ze
the flows of informa tion . analY le a Dd improve t he D!C'th ods of so-
Inti o llS to th el pre hle ms.
An A DS we ll s" bsla nti n\.ed ecc ncmiealty cnn ensure t he cho ice
...
of tIll' opt imum problem eelu uc n. desi red /I. CCUflil CY of solnl ions ,
228
s ho rte r li me req u ired to SOh 'Cl pro hiems, fll l,io nn i acq u is it io n lind
p l"O«'!Si llg' o f dola : most effide n t lIt illUl lio ll of operlltiOllrtl poten-
lin li lictl of co rnplIli ng fac ili lie:S n nd o ther means .
Til e le v.,. ) o f " lI t a mRt io n l or the pm jeci is c hos e n on lile basi s o!
()(:onom,' witf co ns idera t io n fo r t he in for ma t io n cil pacil)' . la bor
i npu t n!tl'lired fo r t he so lutio n. co mp u te r s l ofllge ce pa e uy . eueees-
sion o f so lu t io n run s , a nd m u hivariArlt"O of , I'I! eotuuon t o t he prob-
lema.
The hOllie faelor3 used 10 csttm etc t he erree uveness of d('sig n in
th o frRroell-or k n( t ill' AD S arc lite labor producttvl t y. qu nl.it y index-
ee of tho eer uuon to problems. an d due da le s o n the develo pment of
d es ill'fl p ions and epecificatidns.
T he a /l3 1)\~is of li te b..'\sir tltil~ In t he P~ e5l'l o f m om"l l d &5ign
nr ind uct io n ma chi n('5 per m its es ta b l ish illll t he u pt.im um le ~'e l llnd
pr ioril )' of a llto m8 tion o f va rlous de!lign st a ~s in evo lv in; elect ric
m ach ines with t he nld of t he ADS .
T ho Soviet ind ust r y 1 8 rgcl~, produces nu to rne t od des ig n s)'s lelTlll
for ind uCli" o mnchtnes (ADS 1M) . T Ile s)"s le m of t hi s t ypc offers
8u to mn lic m M OS of optim izing t he des igns. per forming g ra phic
opcrati onil. 11 0,1 mllk i ug u p drnw inlr.! in t he devefcprn e nt of gen eral -
purpose le w-volta ge mducuo n mach tnes. P roject.s a n! put fo r war d
for t he devel opm ent of a syste m (or des ig ni ng Anti lin ing gra phle
work on me n- ma c h ine basis.
T he ADS 1M co nta i ns improved m/llh llmn ti ca l model s a nd graphic
se ts of ind uct ion motors . includ inll ata nds rd perrs n oli su basscm hl ies.
T he system c nv isa go"l t ho design o f ma chlncs wh ich are t o i nclude
sta udard 5u bRSS(lm bli es a nd parts s uc h AS hen r ings . bolts , nu ta , and
ke ys ma d e AS s t.lpul nt ed in pert inen l sta nd a rd s. T he mod ified ver-
s ions of II mach-Ina de-sign ca n be b uilt up by vary i ng t he d im e ns io n!
of sta nda rd units a nd parte ifl n l inOll. r Iashte n (Sh8f ts . stat or coree,
etc.) a nd i n a nonli nea r fashio n (foce portio ns of w ind irqr-;, s t a tor
a nd ro tee lllmi natio ns , etc.). The Ieatu res embod ied i n th e sys te m
opcrared on the man-co m p uter bllsi s pe rtnit t he d l'5ig-ne r 10 evolve
n ew units ADd parts of t he machi ne .
A mo lar d t'Sign is made u p 01 elelDen lll obtai ned fro m t he eeteuta-
tion lC!iu ll.S or data read out fro m the co m pu ter st o rllge . At ea ch Stllp
o f the design proce d ure, tho ADS 1M y ie lds t he grAphic so tu uo n 01
t he dellign s hown o n II d isp la y . prese nted as a drawing. Or In lIoy
ot her fonn .
All ADS em ployed for ea ch ·t y pe of elect ric mAch ine h as: its own
fea l ures . In one ca se , t he m ach i oe ca n prese r ve i L, ce rtllin base
s t ruc turn, so a s}'s le m S\Ic h as ADS 1M c a ll lie se l 10 fill in only cer-
la in jl:Il P:l III the des ign . In ;. nOl lter r a!!('. l he e lll ;"" co us t.ruetie u of,
~ )'. Il nl\lI:I,"1(' o( n utc nc m ous power mus t be re bu lll cnmpletely to
chnnge it.ll e lomo nt base, H ere , the ADS ill cn ll t>d up on 1,0 me ke a
e hctce o f 11K" op timum des ign cut o r II. variety 01 t ilt" d eaig n ve rsions,
13 ,1. E~of"ti on o f Syste m. of Au lo moh'd 0 0. 19n 229
real tae blc in the ADS so t liat t im system con exert t he desired lntlu-
e nce o n all dos tgn stages. st arting wlth Iii", re quest for the pr opnsa t
a mi e nd ing w it h t he for ms and reco rds on t he pr odu ction or o. n
e ne- rg>' con v arto r , :
Cons ide r t hl;l sou were or
nil ADS EM. All A D S EM is capable of
dOing both compu tatlolla l and de~'l!lopm.ental IQQrk . from the mc num t
of rrcew fng the order to tht lIIom/"lIl. of issui ng the produdton documen-
tatton and tes ti ng cLpI!rim/"ntal mode" of tht mackl nt (IvUkout menu-
[aeuu-tng the production prototypes),
T he most ,Hfficu l l ,,"d importa nt task is t he tas k of evolv tng
t he sys te ms for a utoma ted des ign of ma ch ines destin ed for work in
a n elect romechan ica l sys te m wlth con tro l clement s a nd feed back
mechauisms. wha t odds to t he d ifUcu lly of t he t ask, apart from t he
fact. t ha t the desig n work must be dOM in the shortes t poss ible poe-
ted. is l ha t l he tl ~~ i g n mu st e uv isage t ile small-ba tch or p iece-work
produe rion of the abo ve ma ehme s ifor opera t ion li t vary ing lre que n-
d es a nd vo ltages a mi u nder d ive rse env ir onme n ta l con d itio ns.
kl men t ioned corlto r , the A DS EM co ns ists of a few subsy stems,
each ln-Ing ca pa ble of so lvi ng Ind ividua l problems Oil the men-eo-n-
put er basi s (Fig. n .2) .
Th o l i r!l ~ su bsystem et rects the opt tmi ea t ton of t ho pa ra meters
of II ma c/ti ne in t he e fac t.rorneeh anica! syst em . G ive n the mat he-
mat.lca l descrf pttou of energy co nvers io n processes and UU'l equ at ions
of t he system e leme nts , it is possib le to pass t o th e represent a t ion
of the mnch i ne .nnd its s upply net work as a sys te m of multfport s a nd
Implement. tb e s yn thea is o r t hl) mul up orts.
I n el ectric dr ives a m otor is l,"ll(le ra ll y fod fro m II ge nera tor or
s rauc [semicondnctor) co nt ro l cteceote whic h can be con nected to
the s ta to r or rotor . T he supp ly sys te m ca n be sp lit li p i nto on in fini te
poWt' r li ne e nd a fetid m ulr tpon. T h is m u ltipo rt Is i ll t um broken
apnr-t. In to II pass ive mu h iport an d a n emf wid elL a lso repn!sellt an
in fhlite power li ne .
T he ge lltril lizcd rou li ne en ables calclll lll lllg the ch:U"act~r il! li Cl
of II machi ne with ils sla to r or rot or windillg supp lied £rom th ., li nt
of Dousi nu:lOidnl a symmet ri c \' olt llge III rough I Hooor mu lt iport of
a rhit nlr )' form h 3v i ng lin t mcme! ene rgy SOurce. The e fectrtc ma chine
eau "" of t he t\Io'o- p ha9 as ym mel ric l.i' p<" or of the m.ptlasc symmelr ie
t ype w it h n de or IIC sllpp l)' SOUl't'B. Fo ll ow ing t he ex pauatou Illto
a h""noll ie se ries , we dele rm ina tile erreeuvc va l ue of a harme uie or
!llI initio! pha se. Ne:r t w., ce lc")lIt e t he t hl l'/lCteris tiu tor ee en har-
m onte a nd ovnh ulle t he hn peda uces of t he ma chine a nd ge- nel'3H1erl
mu ll.iporl .
T ho ex per un ent e! des ig n te chniq ue permi!.s us 10 sirnplify li re
doscl'iptio ll of t ile .Ilys lClrl, .!Ii llg le Dill s ig lllf k a nt a nd in s ig nlficunt
fucl on , And re prese n t the a ppropr ta te rc ln ucns AS pol yn cmlals.
Us i ng' eouune progrllm8 t o e:lli m a to all o pti m um , \VEl l:llli preh miua r-
i1y d e te.rmi nc t he pore merc rs of li m mlu :hilill 11 1111 t ile con t rol lJI ulti-
por t .
T ho seco nd sub sys te m IWSUre5 tho eosvereto u from Ih(' pa ram eter s
t o t Ill! ,,\lOnle ll')' o f t ho nla cldn o, T ho prohle m of tra ns iti o n to lllll
opti mu m l{eolllel r)' :It the g ive ll opt im um IUIl'11 mo te~ of the e loc1ric
m ach i lle ca n be st a t ed AS t ho pr ob lem of ncnlinear prog rlllllmi uiC.
T he lise of r O\l t ino opl imiution p ror:rom s e nA bles fjlldill~ t he
conditio na l ex trem um of t h\' o b}el:li ve fllnet io tl ill the :;h ort l'st t hut:'
possib le. T he t rans tuo u from t he pAram c lc r>< t o t he ge oml'l.ry of the
mllchi llU ean be s peed ed up lilling the me t hod of geo me tric pro gram-
m in i , Alt er dc terrn inina t hu geome t ric d imen s iuIIlI of t im ma chine,
the 1011l' l si llge foll ows Wh ich In volves th e ~t i ",a li o n of paramet ers
(cooUic io" ls 0 11 t he vurtn hle s i.n t he illitl,,1 eq uatio us) a nd t be chock
of th e peeume tc rs to r th e op li mum in t ho sy" te m . If uro di scre pancy
be t wee n tho op t imu rn pll.ram e,ter s in th e fi rst 30 l\ t he seco nd sub -
s vs te m is nuncceptnbl e . BOW eom pu tnt fons ore per for med .
T bu th ird subsys t em )' ieJd:l s t r uc tu rn l uml produ ct ion dr nwings.
It ca n s ll bS l:l ll li a ll ~' cu t dow n load times ,
T ile ADS CII /I Incorp orate A subsys turn fo r rorm i ll~ lin imA ge of
t he machi ne u nde r d eve lopnr e nt on a T\" 8<.:1'«! 1l give n tho mnchme
l,,'tlo motl1' rla tA stored in t ho co mp u te r, S Ul'l1 Il so bsyst em toget he r
w it h the a ut-0 013 te d ("on t rol aYbtem ca n s peed up tl' ll rnach i lle Ile:;ll:ll
proc ed ure .
Moder n com pu t ing fac ilities a llow for t he crea t io n of a subsystem
for testi ng th e C:l:per ime nla l models of a li etecmc mach ine pri or to
IlIAlI lI(a("tur iIlK i ts prod u ction pro totype. Alter t rl'ul.Sla ti llg t ll\, data
0 11 the mae hlne ;come t r )' in t o the com wlllld la ug llhge , we ca n llSCl Il
p rOl:rtlm""'CODtrolJe d OI nelliuc too l t o prod uce l'I mod el oi II mneh ine
sli lmuem b ly. for on mple. II fuJl ~! I IC or geome t ri ea ll )' llim ib. r eorc r.
1) .2. Softw.,e of Automalei:l De,llI n Sy,iem. aaa
At th e mode rn sr nts of th e a rt , it is poss ib le to collect e nough useful
datn for construc t fng 0. geueral- Lv pe rot or mnde l for most oner g y
conver t ers . T hu s , for in d uct ion m aehlnca, II so lid ro tor "wiles for
the m oda l. 'rests ru n o n the roto r m odel unde r cc nditions s tm fla r 10-
felll CO!lfli t iOlli:! e nable us to pr ed ict i lle mIlSS, e ller~y chnractertetlcs,
reliabili t y , a nd o t he r teete rs of t ho machine w rt h t he lIi;1 o r II d igi t nl
com pu te r lind to pass to ti le stnge of ljvolv ing a produ c li on prot oty pe,
One of the im por tant prob lems of com pnt er-aided des ign of e tocrr rc
mach i nes is the pro blem of evcl vlng n system of optimu m desi!:ll'
ccm puta t.ion th at y ie lds the bes t mnc hiue-des ign ver s ton wh ich
AAlisf i e~ t he restri cti ons Impose d by spectrrceuc ne aud eaq ul ram eu ts .
I n it" general st at emen t . t he pr oblem of S)'n lhe sis of eleen-ic run-
chines red uce s In the o ptlrniznt.ion ( nlinim i~llliol'l or ma x imi z" UolI}
oI a ce l'lai " fun ct inll ll] :
{? ) ....... m in 4 s·, it -
s E- S , x'E D ( 13 .1)
wil li D s ub jec t to the co ns tr a in t
filt(.?) =lfHx:, .t;, ... , x:')~O
i = 1. 2, . , ., m , S = {t , 2 , . , " s. . , ., I, } {13 .2}
whe re S is a se t Qf st r oc m res (design versio ns) of e lec tr ic mac hlues:
$0'" is the vec to r (If n ptim um pa ram e ters of t he op tfmum des ign.
T he pr oblem d efined h~' (Uti ) an d GI0.2) cov ers bo th at ruc t. ur nl a nd
parame tr-ic o pumuaucu. The cond utons (J:i.Z, ex press t ho reswrc-
l ions i m posed on th e ma chine design by t he spe cificatlons a nd dcecribo
the pe l'm iSl!ib/11 reg ion D . The reg io n for de finiu g- 1I11l Iune t.I nns.
P' (? ) 1IJl(1 'r1 {? ) 11;1 a cer ta in region D l subject to t im const rahu
'~l t?);<a- 0 , t > 1, 2, • • ., I 0 3.3}
If s = (1 }. I.o . whe n th er e is a need t o opt tmiae the give n t ype
oC ma chine , the opti m um design pro ced ure COUles t o t he so lu tio n uf
the pr ob lem
Fj(x) -I- mi n e>;'- (13.4}
?tE D
wit h D s ubjec t to UlC ilLeqll llli Ly cpustraints
I ... I, 2 , . . " II ~ (13 .5»
Op timu m d esig uing redueee tu the sol uti on of n nonl inear pro-
gl'am m illg p roblem oC th o genera l t yp e t ha t SIIOWS t he smoothness
of the objec tive func tio n, mulrl pa rnm e telc a nd mu hlex tr emc fea-
tu r es , e nd "va lleys" ill t he hyper spn oe cr perrniss thle solu tions . i n
en. 13. Aulomated Oetign of E l e~ j ,l<; Ma~h i"' ,
'mos t ex tre mum -seekl ng pro blems, a " vel le y" associa ted wit h a poor
eo ndltional fw of t he matrix oJ seco nd part ial deri va tives s hows up
!IS a strong elongation (in the t,o pological represe nta tio n} of t he Hues
of the objec tive functi o n level. However . in th e problems u nder d is-
cuss ron, the va lley sttua tl on .ruore oft e n a ppears liS a resul t 01 n
s mall an gle formed b y t he objec t ive- func t ion level line wlt.h Ihe
bounda r y of th e permissible reg ion .
Th e proced ures of round i n!; on co ndu ctor dia mete rs acenrding
to th e tabu la ted data co nsiderably compllce te l he strah'g}' of search
'for the opti mum. Opt fmtaauon met hods diff er from eac h ethor by
the programming procedu res h IVO!vC'd , count t imo, rat e of conver -
geuee , etc, T he a bove fac tors are de pende nt on both th e effec ti veness
e f t he met hods employed a nd o n t he complex i Lr of the optima lit y
cr ite rion nnd geo metr v of the- perm issi ble a rea.
Th ere a re two approache s to the. problem of opli miztlti o ll in tI
bounded nrea , wh ich d iffer in pri nciple si nce one a pproach co netd-
ers const ra in ts in im plicit form lind t he ot her i ll ex plic it form. Tile
implicit me t hods such as Lhli Lag ra ngiun multiplier me th od a nd
penaltv Iunc tton me tho d presu ppose d uo. ifllplemeu t nli o n of t he ge-
netallzed o bjecuve functio n whlc h coinc ides wi th t he ilJiLill i c ptim-
alu.y crite rio n wttht n tho area. bu t grows ra th er rast beyo nd the
a rea or even nea r to its boundary. Tile ex pl tc u me thods (possthle
.d trec u cu methods ) mekc it necessnrv to move i nto t he permissible
a rea an d ta ke s teps i ns ide of it .
By t he cha racte r or dat a collection, optim iza tion metho ds ca n be
d tvid ed in to the me t hods of loca l lind nonl ocal search. Local search
-me t hods ca ll fo r th e a nalysis of the result s of eac h exper-iment (com-
puto t ton results for the mnthema tica l model ) a nd t he use of the in-
forma t ion so obtained Icr t hc ne xt experimen t . The fea t ure peculiar
to these me t hods is that. eech successi ve ex per imen t. U5l:\S t he infor-
ma t io n ou t he bahn vioe of 111\1 mathematica l model of the dev ice under
study t hat covers only II smal l reg ion of t he va lues of t he parameters
in Ule I)roced ing ex pcr unont , Loca l search ta kes a rcla tiv el y sma ll
amount of machine t ime hu t yields a t best 00 1)' one loca l extremu m.
Th e mos t important stage of loen l sea rch is lh e choice of t he d iroc-
no n of searc h for an optimum. This choice ca n be made tr orc t he
es tim at e of the gra die nt defi ned with the a td of fi nite diU erences. or
from the s ta tistica l da ta (ra ndom sea rch), or from the es t.ima tes
of PAl'ti 1l 1 de rivatives. [ 0 some cases the direct io ns can be chose n
pre fim tuaril y, for exa mple. a long th e coord i na te axes or a lo ng or t bo-
goonI pa l hs.
In solv ing prob lema for many extrema a nd pro blems inv olVing
va lley cond iti ons. Lito autonomous fun ctioni ng of algo ri thms of
'loca l sea rch proves ineffect ive. :T his s it ua t ion hAS s purred ti le de velop-
ment of nonlo cal searc h methods wh ich in flict re q uire a de finite
.orgiluizaLio n of a s uccess ion of local searc h s tages . T hus th e nnnlocal
Algorit hm for t he so lu t io n to IIllllt ie :l.:tre mlil prob lem s ell\' iSllaes the
cboree of i n itia l po l nLs w it hi n tl l8 g ive n field .nd pr ocessi ng of t he
re.5l.J1 ts nf loca l WArt h ma de from t he se points . T ho Illgor iUull dfor ds
th e Ana lysls o f ti le g iven field And esumauce of local es t roma . I n
use are I\lso Spt'c iAI uo nloea t searc h a lgo r it h ms for t he so lu tio n of
p roblem s i o \'olv inr vlIlIey-co nta i ni rli field s.
O ptrmum dl!s igll of e lect r ic madli nes requi res II pec k of u pplica-
t ion program s a nd pr ogr am s re aliz in g loca l se ar ch l\lgorithms . T hl;'se
aro t ht> al~rithm s fOI' opt imit ation a t t he criter ion i n the peeuuss tbl e
sea rc h Held , II d ire ct ion of motion in t o t he f ie ld Irom a n IlI'bill"llry
Initia l po int , n nd p reli m i llar ~' sOIIl'ch of the give n field l o determine
the loca tio n of ex t re me e nd val teys a nd t o solve t ho prob le ms for
t he fie ld w it h vllll ey s .
T o <lClJo mp1ish ec mp u rer-a ided ll'rl'lph ic constructions l\.;o."oc il\ted
wit h t he ucsreo. il is necessary 10 wo rk ou t a !Cmi gra ph ic mod el
( be i n~ a lso II mn l he m" tica l mod lll) wh ich wo u ld usc t he d/llla 0 11 t lLll
m a ill d tmensions of etatee and rotor COfl'S I., e na b le t he gt'A phi c re-
p~ll tl'lt i on of t he basic d('si~n of Ihe mach ine .
A u lo lnated str uctll ra l de sig n of lUI e le<: tr ic maeh fne iucllld ;lS t wo
bllsi c s t ages : th e d evel opment And e xe cutio n of t he pri nci pIII v iew
o f t he ma chine in long it udina l lind cross sec u o ne: t ho devet opmeut
a nd execut ic n of vtews of assem bly u n its a nd pUl" ts in II pro pel' way
for furf.her use o f the d rawin gs n ~ dll~ igll Iltlpo. r tln ollls nn d en ll'inee r-
InR plnnta .
The two S ~/lg£lS o f des ig n work pr im aril y usc th e re sults of co mpute r-
aided e Joct ro ma!:net ie lind hent-rem cval 8 1l!l1)'ses based on n de finite
c rite rio n for t he au i c me t tc se a rc h of lh o o pt imu m des igu of l he ma ch-
Ine as regards Its d lua ensto ns Dnlt pa ra me te rs . T he geo me t r ic dhae o-
si o l~ of t he act ive pa r t of the mac h ine ( i.e . et ator a nd rotor cores
~..It h sluls a nd w indings) for m the basis for t he lrt'1\p1 Lic rep resent c-
lion at halh sla ge!.
A l 1110 fi rs ~ stage of des ig n _ t he mach ine s t r uc t ur e m us t possess
ce r t ai n ge oera l fea tures spec ifi c to t he ml'leh ll\es of t he g iven t ype.
Furlher wor k o n t ile ge nera l desi g n must be do ne o n t he 1J3sls of a
d ial og of t he des ianer with t he co m pu ter , i n wh ich procedure t he
dealguer must per form a ll ad d it ion al ca lc ul a r tou a neee saary for the
s tructural deSign o f the shatt , benr iugs , a nd Inst ano rs. for th " v t-
hrat.ton-e coust!c Ilonly si s lind Ih e c ho ice of st a ud nrd pa rts , et c . T he
~ oeral dr awi ng o f tho ma ch ine ca n be th ough t c t ee II su m of Ind l-
v id ulIl a le morus e ach of wh ich s ho u ld prncticllll y re prese nt a n Il ~ ·
som bly un it or pa r t of the cons uuc uou.
The des ign er m ust assess th e COlu p\llRt io l"lS a nd e nne r acce pt l ite
resultstc e further use or i nt rod uce c ha nge s in the d ra wi n!:, wh ile
"IIlni n); t h e com p uter in t h.e cc:mve rsa t ion lll mod e . T he nee d (or
int roducing COrrect iOllS ca n appea r IIfler the ca lcu la t io n of II sha ft
a nd bearings. t he eh cc k 00 t ho de pth o f s h iel ds a nd tli e len gl h of
t he feemc for t or N'sponde nce wuh t he ove r h:m g (If th e wi llfling '.!\"
(8C(> Ilor t io05. t he cho ice of fa!~c nc r.!l . etc .. n ru l »tsc i n th e eo ursc of
briJlp: ing 1110 d es j ~ll to tile Il na l Jenn III com plia nce wit h t he fl'q ulI'e-
me nt s of the naelg nment .
Afl('f co mpleLion of t he gcnc:ra l d ra win g of th e mecn tne , t he seco nd
stoge o f des ign t a ll follow , wh ich invo lYf's dC'vr lopin:.: the eesc m bly
u ni lS arul pArI.! of t he co nlll.rllt tion a nll de le rnl il1i' lg t h('!r maas,
d imclllliolls. lind to le ra nces req uired III tho preduc rto n slagI.'. Thi s
dooc , the a utoplorter ca n fi na l!y ma ke up t he work ing draw i ngs i n
co mp lilUlcc wuh the roq uirem(!nts of sillo ndllrdi:r.alion . T ho s u bs}'. .
t ern of d rll\\'lIlg fllc ili t ics pro v id es d es igll lind prod uct ion d ra wings
a nd s ubs ta n tia lly cut! down th e lead t imes.
Tho deve lo pment of auLoma l.(od lJe:li{!1l l!I ~'s lf' J1HI poses a num ber
of co m plex pro ble ms . Of m uch l!i(:'n if iu nctl is th o es tn bfisiunent of
i nt er na t.lo ua l p roKrllm libra r ies whi ch would pu ll in ~iC ll L jfk pe-
Ien tia l 01 e n" " Il.>e rl!' for t he so l ut io n of t he most im po r t a nt pr ob lems
o f alecr rc meeha ntcs .
I n neconte ncc with t he ree tu res of the a utoma ted design process,
o ut pu t de v ices fO I·l:r~ phic infor mt< t;ioll can gc nera llr be d iv ided int o
o n-Hue mflp ping (d is pla y) menus 111'1 d mea ns of pl o tt i ng fi Ulll g mp hs
a nd for ms. T h is is because t he dectsio n o n tho c hotec of th e d c~ i gn
ver-non is commonly token in t ho course of Ute n orettve prncadu re
lnvolvlug eo nstdcra t to n of n [O) W des ig ns befor e a n il' i u!:, lit t he
fi nal deetsto n. I n this connecuou the dovlcos of o n-l i no ma ppi ng
(dLspLay) of grilph ic informat io n mu s t mee t me re q ui re men ts of a
hig h ra te of ma pp ing 1) 11(( t he plot li;ng devices must meet t he requi re-
monts o r 0. h igh accuracy and Ill gll qu ellt y o f graphs lind \Irnwings.
At present t here nre vartous mot boda of out p.n of gl't1 ph ic In foe-
ma tion , T hes e H"C t he me t hods of n,'Hl ki ng up ima ges Oil POP01" a nd
photogra ph ic pa per , display ing tillages O il (I CRT scree n, clw lIging
t he cul nr of pa per by tho reaction of etecu-oty ess . etc. The sys te ms
o r anto ma tcd dealg n wtrlc fy use ole!:-tl'omcch lHliclll. e lccwcntc . a nd
s ca n nin g de llices for out put of gra ph ic Iulorm a tio u.
Ele c l ro mochan iC<l1 nuto mru!c d i"a\lIillg ma ctnnas arc sim iln r to
numerical ly controlled mille rs in design and prin ciple of ac tlou.
Deawtng o n paper (or t raci ng pnpe r] ill broug ht. nhout by nn e xecu -
t ive unn wluc u conetste of II plo t ti ng he ard or dr um. electr!c d rive.
811d n t rac i ng IlIlH . I n nuto mnt.ic enecbtnes (gra ph plotters) of t he
plott.ing boa rd t y po, t he "ra ci ng unit; moves in two mutualfy pcm e u-
dlcula r dtrec uons x lind II whi lc t he c hart cuer toe re mai ns s ta t ionary .
T he prin ciple r"Jf n dr um-type plotter d iffer s fro m t hut of n boa rd-
type ptuste r. I n t he for mer t ho ste p metor-d rlvcu tra ci l1::! unt t mOV N!
on ly llio ng th e ); «x is a nd t he ([rivi ng dru m shifts t ho pa per shee t
a lo ng t ho y ax ls . \Villl t he paper blling ree led 011t fro m t ile roil , tile
t raci ng clement draws II pat h as it euttts i n the x d irec t io n. T he
tracing unit has pen holders to fasten ball- pen or pen-a nd-Ink reco rd-
e rs: tho num ber of re corders ca n var y from one to ro ue. Elich record-
er traces Hues 01" rtrnws sy mbols of n de fin ite thickness o r n defi nit e
color. Aut oma ted des ig n systems witlol j' em plo y tho a bove two t y pos
of nutomatic dr awiug mac hines.
l n use ore also e utoma tt c draw ing ma chines of t ho Iln ifi o{1 system.
T he boa rd- t y pe ma chine of t his class with u plo t r t ug board measu r-
ing 1 200 by 1 150 mm t races a. ~ a ea te of 50 mmhl. TIl(~ machi ne hns
n data convert er which performs lin ea l' a nd c ur vili nea r interpola t ion
find affords a u tom atic tracing of up to 253 sy mbols a nd t hroe t y pes
of li nes , name ly, soli d . dash. a nd dot-and-dash lines. There arc t wo
vers io ns (If d r um-type ma ch ines w ith p ap er rolls of 1.20 X 80 000 IU m
and SiS X 20 000 mm in s ize , wh ich have :'l ma xim um rate of tra -
c t ne of 200 mm/s a nd 150 mm /e respec tively.
Electrcrnechantcal d raw ing mllcJiine-s offer a number of advantag-
es: na mel y. they ensure a h igh accuracy lind quality of l fnes And
s ymbols. can make up d rnwlngs of whatever s ize , rre co lines of a ny
t y pes and colors , a TO adaptable Ior .dot ng o t her jo bs s uch as e ngra v-
238 Ch. 1), A uto mtlt~ De5;gn of Ele ctr;c Mach;","
i og firll l IIlll. rld ng· ol'f, and can nN aa auto nomous dcv tces . H owever .
the y :; IIO \\' a low ra te of tr ac in g. do !lo t nl luw lo r CQI'l't)ct i llg A ll e rror
in th e process of drnwlng , ha ve relati vel y la rge overa ll dtmonst ona,
anrl a lso pre sent oth er drawback s.
E lec trur-heru ica l an d olectrotherme l d('llwing ma uhiues rela te to
re s te r-type devi ces . A c om b of electr ode s form s a r aster end se rves
es 11 t rac ing un it t o prod uce all ima ge a ll ele errocnem tce t paper lm-
pre g na ted with n spocinl olectrolyltl. On o ne of j Is sides the pnpe r CODl-
es i ll contac t with com b lllect rodilS, a nd on i ts othe r si de wiLli n me t al
el ec trod e sh a ped like a cy li" dcr;. 'fh e volla ge IIpplicd t o j'l d ividual
e lectrodes ind uces t he el e clrol y~i s re ecuo n tJw t chQ II!,Tf.'s th e p aper
co lor at ton. Cbangi ng t he vo ltage on the comb electrodes g ives dil -
Ierc nt lilie s on t he pupal' euntlnuous ly uure eked (tQ lll t ilt: roll .
In c om pa r iso n with d rAwing machi nes of t he cleere omec haut cal
t y pe , ras ter - t ype a ut om a ti c mach in es ha ve a Ilighcl" rat e or draw ing .
Bu t t huy demo ns tr ate diff ieu ltic1>l in ob t ei nin g l inea of va ri ous th ick-
neseea, req u tre micro fi lming and s pec ia l moistened pape r , fall t o
fu netiun in the autonomou s mode , e re .
El ec tr onic dev ices ll si n~ a CJil,T aa an ex ecu tive \Jllit are rathe r
pr om is ing gra phi c d isp l ay se t ups. Control of an im age on th e scree n
is brou gllt about t hrough a re panttve display of t he im age lit II dol·
illite regeneration froqua nc y . T he image 0 0 t he scree n becomes stable
a nd fli cker s vanish a t, a fre que ncy of 40 H z. E lect ronic dis play de·
v ices wi t h II cathodo-s-e y s t orage tuoo(CRST ) enjoy lise today. The
number of add ressi ng poi n ts on the screen rea ches 4096 x 4096,
w it h t he worki ng fie ld meesurf ng a bout. 50 em a long t he di ago nal .
This makes i t poss ib le, t o pr oduee q ualit y images on t he scr een and
t hen p hotogra ph t he drawings u p \0 Ute :Mlh shee t she.
The mnin ad va n tages of CBST·bllsed devices !Ire a hi gh speed of
image for ma ti o n o n t he screen , pc saihilit.y of produci ng co lor lind
half-tone images, on-Hue cor recti o n of errors b y era si ng the l in es
and d is pla ying repetitively the Imag es , low cost lind s ma ll overall
dim ensions. The li mitat ions lire a rel a ti ve ly low qua lity of l ines and
symbols. low reso lu tion , necessity of microfil ming, etc.
Automat.ion of the pro cess of in pu t of gr a ph ic informat ion is II ra th-
er urgent pro blem. 10 the ADS, gr a ph ic info rmation input de v ices
(G l Ds) sup plem ent the ma in se t .o f eq u tp men t of th e computer . T iley
eo n be automarl c lind se mi a u tomat ic. Automatic dev ices are of th e
scanning and tracki ng t y pes . In sca nn ing devices, t he scanne r beam
swee ps over the dra win g fie ld , Ii no-b y-li ne . Traeking dev ices track
t he lines of the d rawing and p red ict the ir poss ib le axta n tio n where
a few Lines i nt erse ct. Automatic, devices onn set onl y rather si m ple
graphic data into t he com pu te r an d r eq uire drawings of en ha nced
qua lity .
The st or/lga ca pacity of II compu ter should be appeeci abl y large
to store t hll cede obtained i n automatic rea d ou t. H owev er , reliable
algor i t hrus fur h igh- s peed recognftic n of geome tr ic pa ue rus ar c not
ye t avar lnhle . Fur t h is r ea son , e u t om er rc graphic dllta inp ut devi ces
ha ve net fou nd w ide ap plica tions in AD Ss,
Semtautomn uc G ID s o por e te on t h!.! foll ow ing gen eral principle ,
Wld le a na l,\' ziug t lll,\ tlrnwing, t he 0JIOI'aLo r fi xes t he ec rue t or lit II
deff nite po fnt of t he d l'awi llg a nt! tilt'.n bri ngs the n ov ice in to opera -
tion to ca l cula te t he po in t coo -d tne tes and r epresen t th e da tn in t he
num eri cal co de. T hus t he dev ice automa t Ically ee t cu te te s the cocr d t-
notes of po int s chose n by the operator. AD Ss use 1,0 ad va ntage sem i-
a utom at ic data inpu t dev ices h e v iug a working rillid t 000 mm by
1 OCIIJ mm ill ai ze , wh ich nU! lIS111'C coc r dmatee 10 better than 0.2,':1 mm .
Seurtoutomnttc G ID~ us ing CR T s WiUl rcgonore uon , li ght; pen s .
coorruue t o hells , MId ot.her ac t ua tors IJOld rathe r consfde r a hl a prom-
ise fOI' uso in ADS.'l,
Al o ng with the fllcilitiC's perform i ng the funct ions of da ta i np ut
or date o utp ut, de vi ce s ha ve reccn t ly fou nd use wh ich co n se-rve. both
fun ct ion s. Se t u ps Ilre /lv lli lllb l~ wh fch combi ne II sem ia ut om a t ic
gra ph ic d a t a input de vi ce w nh a n elec t ro mec ha n ica l auto ma ti c
dr awi ng mach ine. The a p proach to in tegra tin g da ta in pu t a nd ou t-
pu t dev ices into single CR T- Imst' d in p ut -out put units h as led 10
the crea tion of II device (or L111l o n-li ne gra ph ic acce ss 1-0 th e comp uter
sto r age. wh ich is k now n as " gra phic dis p lay . T he s ys te ms or euto-
ma te d des ign no w emp'loy graphrc di splnys of ver tous t ypes deve lop-
ed i n severa l cou nt r ies (USSR, USA, Fra nce , J npa n , e te. ).
In evolv ing II Il auto m at ed des ig n system, the set of rnc ruu ee is
ch osen in eecn pnrtt cular ca se w ith cons tdera t ton for th e probl em s
t o be sol ved ; the body lind s t re a ms of infn r ma t.ion; th e time of ge-
nera ti on, process ing , a nd tre usrer of i rifor ma t ion; the fo rm and kind
of input an d Olltpu t d a ta ca rr iers ; compa t ibi li ty of available equ ip-
ment . code and p rog ram fnciJit ie.'l ; t he t ime required lor cons true-
u on of the sy stem: an d t he cos t.
Figuro 13, 3 shows th e block d iagram of a probl em-orie nt ed auto-
me tod design com p lex w ith /Ii u nive rsal set of per ip heral fa cilities.
Th is com p le x can for m th o basis for t he de ve lo pme nt of v a r-i ous
s yste ms of a utoma ted des ign. As see n: from t he figure , the s yst em h as
t hree gr oups of ha rd ware me a ns wh i ch e na b le t he compu ter t o be
run ill t he i nte rac t ive mode . The fi rs t gr ou p in cludes t he facil ities
hav in g a direct li nk w it h. t he cen t ra l processor, T hese are a ca r d r ea d-
er . t ape render-, alphanumecic pr i nte r, graphi c display , and opera tor
conso le com p r is ing a vi deo k eyboard a nd dev i ces of grou p con t rol
aud b lock contro l. T a pe an d di sk stora ges for m ex te r na l stora ge
faciU Ue.'l.
The sec o nd grou p of hardware form·s a sa te lltte s ys tem h a v i ng 8
li nk with t he ce n t ral processor vi a a fro nt-e nd com p ut er of th e int er-
national syst em t)'pe with a small stor age capacity. The external
storllge uni ts here ar e di sk s t or age and laJXl ca rtridge storage u n it s ,
D;l I11 i npu t fucil ilics are card lIun tape readers, a nn a eemi a uto ma t-
rc de ta In pu t devi ce or the 'plo tti ng board t y pe. Othac mea ns or
me teete t s up por t in clu de a n nlphanumer tc pr inter , gra ph plo tter ,
gra phic monito r, microfilming setup. and de v ice for nn-l i ne e xecut ion
of recor ds .
T he third gro up of ha rdware forms a te rm inal sys tem connected
1.0 tne cent ral processor vta i\ commumcatinn line , This sys te m whose
siting ean be in a des ign otttce or ;l s ubd jv teto n en sures para llel
work of Il few auto mated set ups in the netw ork of t he functionally
oriented com plex .
The automa ted se tup for an-ope rator (desi gner) ge nerel ly comprises
n smal l-cap acity computer, graph ic da ta Input- outp ut a nd display
dov lcos. exter nal s torage u nit s , a nd me ans or commu n ication wil li
t he cent ral processor. Soviet 'industry has sta rted t o tu rn out au to-
mated se tups for des ign of rud toetect ronic equi p ment , eolu uo n t o
pro blema involved in too ling-up for prod uct ion , and des ign of mach tn-
cry. The Sov iet-made st andard a uto mated set up consists of a p ro-
I).~ , Conclu sion
a nd d igital com pu ters to the sol ut ion o f the definite tYPIlS of prob-
lems .
An increase in t.he number of comple x sy st ems of d iffer enti al
eq ueucne poses <In importa nt pro blem of s implify ing th e ma t hcmet-
teal models ami oval ua t i ng the acc uracy of sotuuons. Si mplified
me thcmet tca l model s obta ined by t he ex per ime n ta l des ign tech-
nique are fi ndi ng eve r increasing a ppli cation . The deve lopm en t of
poly nomial models a pplied t o t he solu t ion 01 t he probll?ms of sy nth es-
is of electric machines will facilitate th o evolu ti on of mo re unprov-
ed method s of geom etric p rogra mmi ng.
It sho uld he recognized tha t tile adva ncemen ts in t he sy nt hesis
of e nerg y con verte rs lire fa. r fro m bei ng as h igh as they 8 1'0 in the
fie ld of analysi s, so much s till rem uins to be done to ra ise t he prec-
ne e el sy nt hesls 10 a h igher level. T he search tor mom improved meth-
ods of optimiu tio n will cr-ll'tnin ly con t i nue and pro bably yi el d se-
veral op t imization methods Jor the definite classes of pro blems.
Aut omated desig n svs te ms re present t he h ighesl achieve me nt ill
t he field of synt hesis of ener gy converters . Of paramount importance
here is t he estebhshme nt of dat a ba nks a nd progra m lt brartes . To
accomplish the end requ ires the pooling of efforts 1I0t onl y wlthin
n pa rtic ular bra nch of i ndustey but also in the fram ework of th e I mer-
na t iona l Electrotechutea l Comm issi on . The creat ion of a n ADS of
ele ct r ic maehines tha t could do jobs stnrling from t he req uest for
the pcoposa I an t! e nd ing with t he shipmeut of machi nes is au eco nom-
ically warran ted task . t hou gh it is one of th e d iffi cu lt ta sk s and re-
qu ires cc nstdera ble errocts.
T he erea uou o f the gt'lwr a l t heory of ele ctr-ic ma ch ines is essential
for t he unifi ed mathematical description of ene rgy co nversion pro--
cesses in magnatic-fia lrl. electr ic-fie ld, an d elecl rom:lguct ic-fiel d
energ y co nverter s . As is k nown from the h is l ory of alect rcmccha nics.
many sc ie ntis ts ma de a ttem pts t o work out Lhe gl.neral t heo ry of
l.'nergy conveners. T here Are f1 ~ present equa t ions describing energy
eonve rsrcn pr ocesses in alcotrfc-Held an d electromagne li c-fi eld
ma ch ines. How ever. man y difficu ltles ha ve yt't t o be o vercome to
prod uce commercia l ver sio ns cf t hese types of machine. More re-
se ar ch in th e field of the gen eral theo ry of elocu- lc machi nes lind
exte nsive work on the ciea u on of new e lec tr -ical engineerin g meter-
Inls will obv iousl y Iee nne te t he d evelo pme nt of new cres ses of
etecnte machines.
T he equations for 8 generalize([ olac t ro meeha nical euergv conver-
te r permit form ul at ing fI mathe matical mode l praot .ioall v Ior a ny
pr oble m in mod ern e leotromecha nlcs. Th e notion of th e ge nC'rtlli zed
energy conver t er will u ndergo ch a nges with tim e. Th e general model
will obv ious ly be needed t o "wri le equation s for electr ic- fiel d a nd
el ect romagnett c-I leld e nergy convene rs with ma ny degrees of free-
dom , equa t ions for rlescr ibing t ilt' conversion of energy in el ectric
ma ch ines ill e t her form s of en ergi . a nd equa tious lor tilo solu uo n
of uniq ue problems in e lect rfo maclline e n: inl!'e rlng. B il L t he princip-
a l ap proach to tile si multaneous anll.!}'s! s of fie lds /'Iud r urre nt.ll tek-
ing p.rt In ene rg)· ee nversi c n peoeeesee wl1l lArgely remain the sa me.
T he notion of th e e ledric. machi ne as 011 elee tecmeche nice.I e llergy
conv e rte r of Rny design veraie n wiU b.,'e 10 exte nd co ncurren t wit h
t be SCl.rch for new ph y~ ical pben omen a l ha t would enable t he cre-
at io n of an eDug}' ecnvener with unique proper ti es.
TIleorctical investigat ion! into rnagn otic. electr ic. lJlenna l . a nd
mec ha nica l fields find t heir compl icated i nt.eracti on in a n energy
eon "ertet vdJl promote Iurthe r Ui& develo pme nt of th e t neoty of
eleetrtc machi nes an d w ill th us offer innovllUOns in the fie ld of e lec-
t ric ma ehln e ellgim"e rirlg. T he satement that a n electric mach ine
eonvert a ,me rtl' from elee t rfc to mE'Chllnical for m or from mechB nlca.l
to el ectne form wtth t he Ilt tendll n'- Lrfln.'4fotmfltio n of e nergy into
bea t CIlJlS for ex te ll,!h'e ln vestlgat.ion on therma l- physical prob lems.
T horo e re medli nl!$ in whi ch it is d ifficult to givo preference e it her
to eleerre meche nlcel phenom en a or t hN mDl-physicll l phe nomena.
Crvogen ic electric machi nes, MGD e nerg y converters, a nd energy
s t ~r8ge devices may serve as a n example . ':\o dou bt rllrther advance-
men u in t ilt< theory of ele ctromecha nica l e ne-l'gy convers ion will
grelltl y pr omote olccete machine enii neer ing.
n'
Appe nd ice s
. =-;I [ - 77
18
R' "1'+ Q), ({,.. + 77
M{')J M '..lJ
" - 77
", ~,C,
- C,
MU, ~,
"l U,
- '''t
c, ~
-"IU. .,.
i'~ ,
:E:r""
,- II
"I V.
'.',
~ ~ ~
i~~~' -~~
I~,~-@J V ~
:.I,
u-:
Fig_ AI. The block dl l&n.m for the Iilliut ioo of equations of I D induc tion mo tor
(i n eurnm l.!ll
J t o If _ l !l' _ lDUll l phu ,,"' b
.m l'll t l~n ;
T be block dtagra m {or Lite sol uu cn of equ auo ne (in flu x linh ges
and currents) of a n indoct tcn motor is shown in Fig. A3. T ile equa-
'" Appoondke •
.,
~~~
v;
" ,~L_/
_ \~ _r-,
... '-
\ ,'
~
, .
~
);
'
, ". ".
~
\ ", '. , 14
';
V'
, .' ,
Fig. 1\2. The Mock d iagram For the solution or eqcauocs 01 an lndw:t i"n moto r
{ln nux link ages)
1- 11 _ .m l,lIf lt ..: ,\I V - lll ~ l tl P l\ or u n it:/.
'J
,
"
-i[, '.
-<»''' , ~
- I~
(1,) ,,...,,
'",_ r - ,
~' ~L_/
i~
., ~-L_./
- i~ _.r-,
M,
Fig. 1\3. The blo ck d b lf ram lor th o sol ut ion of ecca ucca of on luduction ml, l" ..
(In flux li nkages and ClIrre llts)
l oU _ " n' plit lu 5: stu _ mu ltiplier unl b
whe re I ~ and I ; are lI,(· ( ur re n t" ill t he nr ma t uee c ltctlit lind escita-
li e n ci rc ui t r espoc l i" oly; 0 i.!. t he loa kagt clX'f ficie nt of mai n poles ;
C~ a nd e... nro oJes i2 n eo nsra ms o f ll le mot ue: I II li1l R. Me lbe
J ..
i" d w:.ln nce n nd re s ist all ce of 1111.' nrme t ure t.irellit rcs JI'{'cl ive ly;
" ~"L_J
, 'i!C- .\ 40. 1'he bind , '{i"griln, lor tht' ~'l hn l " l1 of e\ l\lll H ollf ur " de moto r
1'6 - ~" W h ne ..; ,Vl/ _ nOlllll,.a" l \ " "n • • -'lU _ ,",,1111'11('1 unit •
,.o-@-t!
;,
HI." AS. T ile block ui agraol lor 11Ie- so!ulloll of equ ations of a de ge-Il cre lttf
I-If _ ~ m l! I ' lJ e ,"~ N IJ _ M" I 'ne~ " ll " OliO, M V - n-,.. ' tJ p ll .'r lin " .
wa rd mut ua l inducta nces hut woen u.e excl tn tie n c trc un and ermnt-
urn ctrcu it ; 2 .:..\u ~ is t he voltage dro p IIcr OO8 t he bru sh co nta ct ; /n
fwd t , a re the in ~ t lln tant'ou s va l ues in tho ar mat ure an d excna uo n
Append, c.. .
etreena res peettvely: !II". a nd fIl, are the to rques on Lhe shafts of
t he moto r a nd of t be gellC'ra lor; a nd J ". an d J1Il re lh emoments of
inertia of ti,e mete r And geeer atce n,spec t ively.
- s".\-..l
- .m H
' . , 'l'q
C.
"'D
~u
i
4
. ,.
, 9
- '. ~-
_..
<O$ t ~ l
- ' '\ ,
~~~
'-<,j ~ ..
-,
-,-
- \'~ '4 ., Y4iq ~.
I., II
- M, -'I'~1jj '.
..
- vc ~
- e"
.. 1 - 1 ,
,
.
0, I,
" "~" -;,
"'U .'
U
,
D,
>, *,,"
Fi ll· A6. l'h~ black di agtllnJ ror tho ~hl\J on of eqll.UOIU of • 9)1 nchrlln<l1l1 p<! r.
m anen t-D1' l/n ~ t motor
l _l l _ . m p l ltltr• . "R_ poll ,lI" .. l ~ y ; ..11/ _ rtlull lll l l<'r u nU I: ,,·U - nonl ll\l!....llr un l"
the form
d~d = -u",sin O+wr'l'q - i/iR" d;q ..... u ntc os6-W r IY d-l qlf .
dll'D RD ~M' Rf) 1p
dt"='7DD~d-; D
+ ;e<).
Ro dqlQ _ R tJ%d<i i
""""ifI --:T'Q'Q q -
Ro If
rQO Q
i =
d
"' DD
:Z:d%DD ":d If 4-
I: M!
z dz!.JD %~
'¥
0-
rDD - :r~ d
:r<t:1'DD :Z::d
e
e
j _ xQQ "If x~ q 1p
q- .2.qZQQ :Z::q q- %ttl"QQ "'~q '.!
-
0
M
2
~
~
Hl (o ~ ,H I I"
0 'l'l O ~ ~· '('
~
~
E
o
~ I~~n-n
" ~
" l(> o ~ · n
~
IWh l 'V ~
~
~
a
\lU l l -V!'
~
'''' IL-V'
H it....'·""
, y ,'1-V\"
-,
-0 0
-. <,'
;;, ~
:£ ,
s i
• •
~
, i
...
~ <
= e
•--
.~
,
•
~
lPl O ~i"- llV l
' S O ~ ~-\'l
,
0
u' 9U -v,
!
1100l: - Vt
W,O'1-'"
I N n l -Y'
-,
~i
<.
00
:
;0
0
tI1 UH:'I'(l"
n rOf ;:· V,
•
r
!'SGU' yt
t lf ~ ~ t · vt
" ~ U · vt
"JI'51 -V'
·
• • •
,,•
j
; uno-v,
••
~ H<Zll- Vt
i
o
v \ VOli- V, II
o
,VU'VV t
,VU-VV"
'Y&~- Vvt
••
I
••
i .. ,. , e
·••, . . .?i ,x .
.,. ,-•...
Stlll._ •<
.•, .•
~ .,<
i! -
~ ••
:le
.• •• .,:Q ,•a
<
••
<
.< < •• . ~ ." .v ~
."
•<
-e <
•
<
" ~
" < -e <
•
<
M,~
M,
M M~
AI,
100
50
35
1
1tXl
50
30
t
roo
m
eo
I
100
50
25
I
roo
so
so
o.tun
" lO
•• .,
0 .1&9
' flO
50
2U
1I .1&!J
' 00
50
so
(J. Hi\)
teo
eo
28
o I [,!J
100
50
",
fU 5(1
1((1
so
es
O. t S!!
'00
O.WJ
.,
50
HiJ
so
",
o.isc
Ml ?6 ,G 2(1 2 21> I 25 eo HL 2 14 .r. 11 .2 14. 2 1-1 .2 1;-1.4 101.1 15.4
Tdbl.. AIl.S
Gainli of Amp Uflers of the Comp lrtet Analog
I 0.28
1 . 1~
u. ~
0 ,86
(; .28 6.28
0 ,5\ 0.1,2 0.30
6.28 O.2S
O.3Q 0.35
6 .28 6 .28 6 .28
~1 ~ - ~I ~ 7 . t 2G 9.8 6.4 7.38 :!BAli 8 .1 7 .70 7 .12 9.49 6 .78 8 .&1 ' .M 9 .8~
~ n -~ l ' fl.!)? 0 .21)2 0. 31/1 0 .249 I).·m O .~ 0 .628 a .ll l l, 0 ." 0 .220 0.143 G.tHS O.t3 5
k ,, - k 1t :U 2 ,(l~ 2 ,53 j!.05 2.3 1.7 t.t,3 L 3 0. 807 L 2~ t .tae 1 .\ tu t.tM
~, ~ = kzo -~' ~ s "": ~-H LSt 2 .388 2.2\, l.St 2 .22 I .M 1. 37 1.29 1. 2 \ 119 l. 158 t.B r .ron
k u ""' kr,o 2.15 2. 56 a.ac r .eas 2 .26 1M 1. 42 1.<12 1.2', 1. 22 U8 t. I i) I 1 ~1
' 51
v. ~ UJiIl'"
D,
U.
k
D,
U. - U.,.sin....
" U.
u.·u..~o_ "
D.
Inn-
U. 0<4U..<05,"1
Fill'_ A7. Th. bloo::k diagr:lln or Lh~ model of " noalinuaoldal "olu ge itllentor
, ... - ."1)111141: ...; JoJV - mu lllpilu _nl'-
D,
R"
"'1 11,
I- R.
R"
D, '.
Fig_ AS. The bl ock dl"lJ1''-Dl of " tt<: tani"l. r puJ.. gen HaUlr
u..,..
, ... - . ",p ll ll..,. . : MlJ - .,,,m pn......11\ P H - -..olarl Ull ....
,/, I T_ Oll n
25' Append1c".
0.
'" ,
nDn
DUD
"T U, A
~U,
>.l''1hU. - <>-<>
U , R,
I PR
Us 1.I 1
u
u"
u, -tJ:J-.t'l7"t;fI,,<1
u.
u,
u,
whe re j'T j ", . ,'Vlo u l ' a nd M, are t he sca les of t he in put q ua ntHy, ou t-
pu t q ua nt ity . and lime respect iv ely. S inc.(l!ll, = 4 V IA, M (} = 100
vo lts per un it. an d M , = 50. we beve k~"'1 = 4 X 12.8/4 X 50 =
= 0.256. k a_, = 4 x 1 116 /100 x 5 = 0 ./)93 , k l>-' = 414 = 1, and
k'H = 4.0 X 03511, ...... 0.935 .
l n II si milar' way t h o cal cu latio n is per for med for other un its lind
t he ga in fa ctors are Ioun d , T he entire block d iagram o f t he com pu te r
setup for th e so l utio n of the system of e quauo na is s he w n in F ig . Al i.
.... p p., ~d i c.,
'-' •
"
r:2l .,
-,.-=>,13:>-'
".'~
l'i So! ' ,\ 11. The block dl;:ll: r~ Ol fur \.he ~ I " tilln or ( 'l uiltiom' of an Indnrllon
nHJt or
WH' " 1..,01 , t hI' moto r pll rll l ne~rs pre !!Cnh' d ill T il hi t< A.I \ '. 1 Il rl;' I ;,1..(' II
Il ~ ba:oi,' va lues , The upper 11I{d lewee Iim il b of t l,l' ~' a ri n bl l' pa ranje-
te r a ro dd i'l£!(\ in Fll'w r da nec wi t l, th(' sp('t:Uied interva ls 110,1 me
d••!,l IHl' put dow!> in the w hle (m a t r ix) . Til l! experimon t IX'in!: de-
si g n('.t1 <:il ll!! for th o varm ticn of a lew vlIriallle rect ors at d in t' re nt
re vet s . Tho 2 1 e F'E tnvorv es oight oom hilllltio ns in the var tat lcu of
v a. i:lb lo fact ors. t bc ecrore for ea ch row of t he rll.'$ ign IT\lltri.l" ""'0 need
"ppo ndiu '
t o oa rry OUI tho a pprop ria te recalculnt.io u of th e g" ius of lim a nal og,
Fo r exam ple , if the vnria Lh.· fnctor is t ake n to be r', t he n it s value
de turm i ncs lhn cocffi cien t affixed to I~.!p , wh ich il> C(llI:11 to 1,2.8 a t II
ba ste v alue of f' ('(\I ~'\I to :~ .[,7Q. I n prcpor nou to Ih is vlllo O) we cn l-
culnre t he gnln "'~ ~ L = O.2!ii;. III SlJlling IIp lh e ox pcriment., th o vullle
o f f ' is mud u t o va ry n \ tw,) levels: th e upp er le vel , + 1 nr 4.28Q ;
th e lower lev el. -1 or 2.86n . I II aec ordn ncc wi t h t hQSO ve toes . the
gain "H lor tl 'e nct wor'k of Fi g . AI1 need he rcenlcula te d .
FI,r the love! wit h II "minus' sig n
k~_t = ll1" ~ I" !ilfin ·l{ t = 4 X 11.6[,.'1, X .10 ".0.2:13
<l nd {or th e le ve l with a ' plul>' s igo n
!I "" bo+~
I_ I
bl2'l + f
I<J
Il 1i%12)+.il bu x1+
I_ L
...
where b., b/o bjJ , bll e r e poly nom ial coarr tcte nrs: X" XJ a re the ve rt s-
Me pa ra met er s of t he i ndu ct.in n motor ; y is the operati ng fa ct or or
faet ors (o bjlwttvo fun ctio ns) of tho mot or in its s ta u c nnd dynamic
opeeat ton: a nd n is t h e num ber of vnri a ble fact or s [pnrc mc tees).
""The po ly nom ia l coeff icie nts in the CFE
Ap p.",d lce.
..
"
M .... """'ro>IllCU in rol Ative u ni ts i n an'"
l ogy ",,11·h t h e d ""lg n m (lt d x }.
(" ,'. or
"--....:. »:
I~ ' I "r Ill' . ...·n _. l i ' n " n " io " " l
"pllC(' fu r I ho ""rl abl,;,s r' ",,0.1 ,.. ' s
flhnw n i " P ll,!. "12 . Th " v crtiee>l
' In-· J.. o f ti,,, H-qUII"-, n r c I I", p o ln l ~ r....
-,~ ,, &> t tl ll ~ up t h e ! 1,cl or;,, 1 " "-lJ'Cr i·
m c n l .''l' hfl SP"C\' ClluHnod wi t!lin
P A
A
A
e
...'L t ho sq ua re is t he inirinl [ichl of
t ho perm tss tbte ~ (/l ll ~iO rt>'! w i th t he
cn nsl.rll i ll t.! d isf('!S'lI r dl'd .
G , N
Till.' ri ri< ~
f ,,.. .... 4.5 -
co ns t rai nt
0.3 r: - 0 .4 r'
Pig. A12. 1'IM! h\l ..dilJll'U5ionaJ raetc r +O. Ir'"r" = 4.5
s~ for ~rillbles r' ulul ,.
represents an tu toeeept of th e hy-
perbola brnncll .lf LV which p ll S!l',;
t h rullj;l, fl (',cIIIrn 1 poin t Il n~1 0 110 of th" veeu ees . This see uon ea n be
pl ntl l~1 U)' bri n:;:in~ t ill' equation for I,.
in to Cll nonic,,1 Ioem or by
.!i u lJ.~ t il ll l ing ( t'rt lli" ( h ell values of rand r .
Tho cnnslrni nl
-l1,.. = 3.5+ 0.5"" - O.!".r' ~ 4
represents au intercept of liltl li lle PLQ passi ng through the points
with coordi nates (- I; 0) lind (0: ..L.l).
1'110 cons t ra i nts so impOlWd li mi t the Held 'If p~ r m is~i lJ ltl sohnioos
Lo n polygon PLNG.
T I ll) rel" l io n
1,1 - 1,jO - 12"" -"-- 2r + 2r""J (10- 1 )
defi nes the fnm ily of C.lI rn'!' rl tlJ,. A : H: , A : IJ, . , ., et c. 0 11 ench
of these ('lIr\"l'~ III(' \'lI lu0 of t . 1 is cousrnnt , I n rno\·ing from. My.
AIB t to AI8~. thl' value of t une t . 1 d~ )"! . T he point L is tile ectu-
lio n Lo 111(' problem s ineii' al t h is poi nt th e um e t .. ta kes 11 minimum
value upon !ati!fying the to lt !ill mi nl1l .w l lip (III / I.. I nu .11/.. . Tllll
coe edinntcs of the ,"tl'iIl Hlln point or the value s of t he op timu m pa-
rameters of lhe Illari d ne ca n 00 found dirl'clly on t ho gr it! of Fi g. A12:
r:1'1 ..., _ 0.45 . r.P/ = 0.58, .1 . 1 = 4.16 9
Append ices
where :1:-; is Ihe f lllln in .!!: v alue of ti ll: mot or pnr nme t nr- in relnti ve
uo its: Xi m is I hi' meA n basic vnluo of t he vo rtehle pnrlUncu,r of the
motor: ;1'1 q'ln is 11m lowe r li mit of the Vllrillbll.• par a me te r: nod Xj
is t he runnhll( value of the mo tor para mete r in rue l unil.s ,
T h us, for r T vru-ied over t he ra ngl' of IIp t o 20 % (sec 'fa bl e A IV .:5).
Xl = r' = a.s. ZI ,Jl.ln = ,. ;" IJl. = :'l .<\
The o pt im um va lue u l Iln- rotor res ts tunee r~l)/ in rel a t ive units
is to /p ' lll t o 0 .;18 . So . O. 5~ = (I'~ 11! - ;L~) !(3 .8 - 3.0-'.) or r; I" =
= 4.v.n .
In ' I s im ilflr wa y we cat culatc 11m SIlllor rcxis t.ancc, r~ " f ~ ., 3.2:JQ ,
an d then suhst.it uta the fou nd v a lues of th e opt i mu m pa rame ters
i'lto thc. s ystem or eq lla li " " s " f' t he lnduc t.ion moto r whh thu simu-
lutiuu in ter-ms of currents ur Il ux Itukages . I n accord anc e wit.h the
op t imu m parcme tors of the motor . we recal cula te tho gllin teeter s
of t he a na log IHhl set up t he pro ble m 0 11 a ll nmll og eo mputer [.0
measure th o opt tmiza t. ic n cri teri on find co natraiut Iu net to ns for LI,e
op t imu m po int.
hble " IV .I
Au11lnrncnt Vati.l'Ils
MGI".. Hram. l t .
.
Var b M :>;". ,
' ... -'/\ ':.- "6 j~- I~
I" I l~ _ j~
"
I
2 ,
3. 8 3 .5 7
a. 7
0 . 2711
0.2.85
0 .2li3
0. 20
0. 2119
0. 28
3
,
2
,
3
,
3.6 3 .7
3 .~
(1.285
o.285
0 .2G
0. 26
11 .28
0 .28 3
s ,
8.(, 3 .'
3.'
0 .28$
0 .285
0 .2(;
0 .25
0 .28
0 ,28
3
2
"7 ,
3 .6 3. 7 0 .285 0.25 O.Z8 3
8 3.5 O .Z&~ 0 .25 0. 28 a
Q
,s.e '1. 5 0 .185
O. 27 ~
0 .2 5
O.2G
o.ae
0 .28
2
z
'"
" :> .1:1
3. 7
3. 7 0.275 o.ac 1).28 3
...
". Appond;cOI
z.:. -t; I~
\'L lU t S D.
~:. - ~1 M ~ -Ji
,,,.
IS a.s 3 .7 0. 273 0 ." 0 .26
a
"""
3 .5 0 .275 0 .25 0 .28
s.e 0. 285 0.25 0.28 I
19 '.G
a.7
a .7
0.285
0 .285
0 .26
0 .26
0 .27
0 .27
o.n
,
a
co 4 3. 5 0.285 0.26 a
21 a.e 3. ' 0.285 0 .26 0. 27 a
22 4 3.7 0 .285 0 .25 0 .27 3
sa ,
3.' 3. i 0 .285 0 .211 0 .27
0 .21 ,
I
NOll, . I . For all vari.nts l he loJlowl!1& ,·_. I ue ~ are 10 be set: I ... l52x fO· '
(I'll m=l. ", _3 . end (,',,- 22:0/3S0 v.
2. t wo ~ ria l ll U lD be l'$ of tbe .... rl.ot.5 IDYoh~ simulat ion t n le no s
of ( utl"!'nl.5. . .... odd se rial J)ul'llbi'~ 10 te rms of fh u; linklll{l!s
,
I r
r "
"I
I
M '"
'"
'" I i ni
M'm
,I( fm
zo
eo
3 AT I, . eo
4
5
"r
o'
J AT 1,. 1,.
'"
'" "'ao20
~ J
u 0' o' M '"1,. M ,...
I,. M ,.
7
•
0
"
"
J
I
~
AT
AT
J
M,.
AI ,,,,
'eoso"
10 "0 ' J AT 1,. 20
II I M eo
U "
~ J M '" 20
13 ~ I'" eo
,0 J "
ao
" " r AT
""'"
Append ices 269
I" " J
I
M '.,
,,"
M / n,
"n
18
"
" "
M
M
I '"
.1' 1... 1,"
"r "M
ra
""'
~
ea
-
"
"
M
"
"
J
I
J!
I
',j
,ll l'"
M,. ',.
J,f 1m
,,"
'"
" .,
." J
'., I'"i'"
" " I
Table A IV.]
The G. ins of Ampl1flers 01 ihe Computer Analog
"
V. rloble
~o" ""'e"
Gai n of 1).• • " nlo,
Rel.r""ce 13 8 IJ 5 1 ~
Upper
1" ' .1 I + II
~ " 2' 28 1 . 82
Tab le AII/.4
I h.e V .l ~ • • e l ille SI~denl '_le.t al 'S~, a Confidenc e l e ul
,
\ 12 .71
4. W
\I
ia
2 .20
2 .t 8
at
zz
Z.08
2 .07
,a 3. 18
2.;8
13 a.re 23 2. 01
5
e
V,7
2.45 ""
16
2.'14
:l .13
2. 12
"
as
26
2.06
2.V<
2.0!!
7 23<; t7 a.u 27 2. 0:;
e 2 .31 18 2 .W ae 2.0~
u
rn
2 . 210
2 .23 "
ao
.2.UlI
2 .09
-
29 2 .0'
l. 96
"
" I~
" c
,
a 10. 1
7 .7
9 .0
6. 9
e.s
e.e
9. \
6.·4
o.c
6. 3
8.'
G. 2
' .7
5 .9
e.e
5 .8
8.'
s.n
5
o S., ,.
e.o
5.S
5.8 , .;
4 .'
5 .2
"3 .'
4.1
5. \
4 .4
4 .0
~ .O
4.3
3 .9
4 .7
4.0
3 .'
4.'
3.8
3. ;
4.4
3. 7
3 .2
9
7
a 5 .~
5.1
'"
e.e
c.a
4 .'
4 .1
3 .9 3 n
3 .7
3.5
3.6
s
3.3
a.t
3. 1
2 .9
2.9
2.7
10 5.0 ' .1 3 .7 3 _~ 3 .3 3.2 2 .~ I 2.7 2 .:'
1, .0 3.' :i.4 3 .2 3. 1 2.8 2 ,U 2. 4
"13
12
' .8
4 .8
4 .7
3.'
3 .8
3 .'
3.4
3.3
3.2
3.\
<1. 0
3 .' 2 .7
2.'
2 .5
2.'
2 .3
2 .2
2'
14 , .c 3 .7 a.a 3.1 3 .0 2 .8 2.5 a.a 2 .1
re 4 .5 3 .7 3. 3 3 .1 2.' 2.8 2 .5 2.3 2.1
16 4. ' 3 .1i 3. 2 30 2 .9 2 .7 2.4 2.2 Z.O
a.z
t7
18 ,.,
4 ..~ 3 .'
3 .6
3.2
3.2
:U
3.0
J..9
2.8
2. '
2. 1
2 .7
2 .7
2 .8
2 .4
2 .3
2 .3
2 .'
2 .1
Z.O
..,
I. ~ l
19
'" 3 .5 2 .'
Apptt ndic"s 2i l
~I
,;
a , e 0-
ac
4.3
.'1.2
,U
;l .;~
30
2 .9
2 .'
2 .<
2 .11
2 .5
2 .5
2 .5
2.2
2t
2 ."
\. () ,.r.
I .1
V ~ r l ~" t
1'\.,. "I'T in '\ 'M 100l or lt Pr i"lt r..... ' ~\ .a ln \ r ~ " tll O"S
,
3 ' Imn
l i m m tn
1'1"';; 6
'1 ~0 . 8J
1 )", "'; 0 ..'17
I., ';;;5
5 I_I ml" '1> 0.8.'1 l ' m ~ O . 3;
u
1
' I'" ml"
'l"'a~
,M,, ,,, e: 0.85
..;;; 0..35
'I" o.as
M I '" "' 0 .8
8 Il mu M I ," ~ 'i. 85 l:oS 'f'> \l .8
M I II , ~ I I. ~ ' 1 ~ ') _8"
"
10
COSq'm u
'1,,,.,,, CQ ~ 'I' > 0.8 l i '~ ';;; 11 .37
'I ~ U. 83 C{l ~ 'f ~ O.8
" 11m mln
'1 :':!> l".8;{ cO~'l'~ U , S2
"13
I " ,n il.
'lm ..,
·l ", . ~
CW 'l' >- 0.8
M I", ';':;; 0 .85 1., ,,, r.
1_/ 0;;;
~,
l. B. ,\ . A o:l k i n~. The Gelltro' Til"" , . , Elt cl,lc Ah. ll ll't•. Lond on , Chopmln
a nd HIlII, 19,,9.
2. D. A. A"e ti~)·an . V. S. Sckol nv, lind V. KII. XII. n. Cotnp u tn - A ld"d Dn /,It
Optlmiu//olt 0/ Elu/ rlc /lI ach /un . MOllCQ w, E lll'rg iYlI. 1076 (i n RlIl'!lilln j.
3. K. J . BllmB and P. J. Lnwrc nscn, A " " I,.sis "" d Compul"U6fl cf £ l' <lrl~
ond M It" u tl. F l. 1<1 }> rllblr Il'I . Oxford . P<!rgn mo n Pree s, 1963.
<I . B. Broe hnll. S"p u<oll dll,r lll, "hr."" S y. u m,. Bt.l;n, Spri nif'r Vt rl .•
1073.
5. Drsll " 01 Blntru. .4112rhlnu. Edllt'd by I. P. Kopyl o'f . ?otOK OW, £ Mrr' Y' ,
198<1 (in Rossl:)n ).
G. DI":rYl , El« II'U Drl"" 1611.\ Sup M "lor,. E d ittd by M. G . Chilik in. Mosco_,
Enttfiylt. l!111 (in Ru ssi an ).
1. fl . J . Duffin . E. L. Pel.l!nIOIl, and C. z eeer. C,.,nodrl c Pro, . OJ..... / II' . r~
.. "" A p p l ko t ip ll . N_ - V",*. Wilo~T, 1987 .
S. AI . n . Huri~. P. I. La Wl'ftl5Qn. I nd M. SLcl'l'naon . Pet- U Nit S lid e", . "'flit.
Srff'''' 1l~/~"JI'u II> F.1n /ric M.clll" n . Camb r idlfl . Unl•. Pn.-ss . ll r; o.
(I. A. V. 1.... ,.o" ·Smo"',,!k y_ F./H ,......." ;lIc F lcldt. Prw- . I" F.l~lrlc
.lh c.'ll ..... • nll 1'lIy"nl M IHI; j("• • M ~O'ili, EMtriYI, 196'01 {Ill R' l.55bnl .
A. hobolr-nJu~. N. r _ IIinMc y. and " p. K OI,)'JO' " e~~rl.WJl I.l Orllr "
...
10. U.
I.. F.~'ro",-~ .,,'c•. MOlICO...... Enecg iYI . li15 (i" "'I$$i, ,.!.
E. V• • I\ . l o' ''l!ky. T..... I. " '. '''' A C 1\1111"" ' 11", Mli!"Co " . USSR .... ndr-my o r
~ itll(:e.o P" h l i~hi n~ H OUR , 1962 (i n R" uillu l.
t a. E. V. K onOllc'f1kn, G. .... . Slp_y ]6v . Bud 1\. A. "Khorkov . j;' /« I rl c J,h rh,,,u.
MMeU"", "ysh.:I~·o d l1<oh, \ \115 (In Il uss h"'l.
13. I. P. l( oV)·l ov. E kclttJl ", crll.niu l P./U'1lI Co nI:t' Jl lu• . "'1 """0,,", En l'l'lilyl ,
... 1'373 (i n Ih l,"ion) .
1. 1'. Kopyl()V. 1". A. ~lamed o", on d V. Va . 8e~ pn l<l v . M " tJ"'''' /tf l r QI M od.l·
' nr hI Jm/"m "" M Q M ln~· Mok ow. En~ "lt l y", 19119 (Ill ll.uOlS; nn-l.
15. /. P . Ko py ]ov 11m] O. P. S ht /'led rin . D l rllill Ch", ,.,,/;r- A l d. d D cll~ " III
Jm/u rl /QIt "Hlldl l,u •. l\!OK Ow, E n,'rg lyn, n '13 l in ll u s.~i lln l .
t e. C;. Kro n. Tm ra. A n" I, ,,:. hI N ;IWhrh. New Yor k, Lond on, """ Cd CIl. ld.
l OO!l.
1; . G. K ron . E If"l ". ',,'" Cfrr ,<lu al E lecl .,c ,lh clluu r, . N~w Yor k , Wil l Y.
100 7.
". \' . V. I\hn,~hc;~v. F,..cfl.~.l J10rl.... P_~
A1 O"<: ow, Ellt'l"l(iya , 19. & (i n Ru:!!:!!ian).
i u. E. Ltv , a nd U.
"'.cAI";' I~' A ot" .... Uc f)cli'C~J.
POIlIPl"_ EIt<-I. . ...I'CIl. /lICJJII l'_e~ e""""""n. New Yo rk ,
,\I e G r. .,· H,Il. 19611.
ce. \". ".. ti l.lImo'\'". TIl~ TMoIl' QJ F.~f';riltU"'. )f ~'. Nauh, 19;1 (lp R u!--
a il.DI.
". C . N. Peue v. ez..c,. fc ." .dIM', M ~._, E ...·"lliy•• Pa rt I : 1(1,4, I' . rt 2;
19&3, Part 3; 19Gd (i n ",,~i an1 · .
". K. lot. Poli ~.no ... F.1Jci:1 rt>d' JIfu . lc. of .11".,,", .U;di• . MO!ll:ont, £nereo lIllat.
19l52 (I u RW;oSill1ll'
273'-
with
06'
fou r t1 ('gT~l~ of frCCd\>lll, 108
New t.on-Il aphll()n me~h od , 29, 39
Nonl tneee \ u nsf\>r " ,er. t44
w ilh fl ve t1 egre e.!l of fT e(!dom,
wH h
06' dl'greeli 01 Ir l"E!dom,
" i;>e Objlletl ve m ult iplier , 220
wi t h 1\
06'
degrees of free dom , bypot he·
Ohm, G . • 13
Opli mintion cri te rion , 210
t ica l. 168
Magn et ic field strengt h, 2 1
Ma gneHc IJUJI d ensit y , dc fin iti on of,
Pae fno t t t, ,\ " 9
20
Mal)ll elshto m , L. I. , 14 PpcJo oU I-Gramme'.i machine , tl-I O
r.lat rh , d('Sign . In p " p;,lebsl , N, D., 14
illveT5e, 4 8 , 19 1 Park , R" 13
noise , H ~ Pe t ro\' , G . N" 13
of com ple te fn<: to ria l c~pHi m ent
i' iezoeloctri c effee t, 185
(er E), r na P lx:tj' ! j:lenc ra l llr , 9- 10
ort hogoll l\\ cen t ra l cc moceu c lIesigll P oiSllOn' s eq llnt ion. 22
(OCeD ), 2{J4 PosHi v,", pnl}'l\ornia )g ( I'Q!~· nom ials) .
ro tata ble C M ~ra l co m posi t,· d,-slgn 2 1S
P owec, ,I<:: \ i".... 'W , 103
cnccr». 205
Max well . I. C " ~ 13 in te rc han ge . 14 (;
Max wl'll's equat tcns , 2(1 , 23·2 4 reacti ve . ro. 1 1
s pecific , 2W
Meth od , bn~(l 011 qU311 rnt ic COllver -
genr e . ~ I J l oh l. 103
complex , 2 14 Pow er i"v a riance , 4(1
Po ynti ng , I. II . , 1::1
dcte ron i n i~t ic . 2 13
Po y n linll ' ~ vector , SI
Ga uss-Sei.lcl I"I.'lax nl ion , 203-209 ,
P re- dua l r,,,, ~ ,;o" , 2 17
a-a
L"g r,lIIg, n!l muh.rpllcr . 212-
of tol\fjR\lr.. t i nn~ , 2 13
of fi nit e eh'm clIlS, 2.8·3 t Ra el , I. . ; 3
of I "a~t squares. 192 R espon,;o f~ q(j(>ncy. l i S
of perm eanc es, s o-a r llel!ta,·ti ng II motor, 64 , 11 (;, a
of s teepcst slope. 2 12 R e ve r~; og " m" L:!r, f>4 . Il.... , t\3-iO
pen al t y fund lon. ZI t l! iehler , R ., 13
ran dom search , 2U'l Itikhman , G. V.. '12
stm ple x . 214 Illl( lenhe rg , R.. 13
stOChast ic, ~1 3 A unge- K " t ~3 lechniqut , l ut
M odlll ~ of el('C t l'ic ruochln ee. J <l. 4~ ,
7;. 78 , 8:>. 87. 1>8, 115, !)8.
I I!), 14 0 . 1s 7 She nlc r . K . I. , 13
l\ l om eo ~,cllJet rm fl8g ll('tk•• :IS. 8 t Sie mens . \V • 10
01 h:lUrti a, 3.... Skin ef lect . j!,i - I!'!l
of roais l.;) nce . 35 Slip. Iii
Ind e1 277
'MI' boo k cov('n r.la ti vcl )' ntlW maU-ri:ll not )'ft full y wo rked
ou t ! ei t'lIt Uical l y . kcllnologlea.lly ud melllodo logiulJ)·. l>ll rticul-
arly ,)(I reg. rd& rOl'l'easti!ll:', pl'lRDinll and contml or la rgE' p..wer
'!l)1' l.t'IIl.ll _ Becauso 01 Its novelt y and some cODt rovt'uiA! vic",lI. the
.!IlIbjec l- In,a Uc r lark.!! un iform ity o f p ~n l .t i on , g elK'r3 1 W !M:l' PU
Rnd ten lll n()l~y , " hesll li m ita li ons e an onl y hI' rem oved b)" furt M r
c:olll'C-livt effm't, and Ihe a ulhur;r wlll IIpprec-ia lll a n)' sU.!igot'l;l ion.!l
Irom n·alh:r>j _~tuden t.', lect urers a nd ~'nll' i n~,\..ra,
T his book hllS.been written U I' stlldy a Id lor st udents at power
and ek c trieal engi neeri ng eoJl~d lind depart ments , especially
whe re t he c..rrleulo includ e ecue es 011 va rlou s aspectll of PQwer-
system eybemet tce.
Apart rrum ~ ~lId e n l$ , t he book may be c value tn J'{'l!l.'nreh
work",rs , p' lllt ~r;uh'lI! e:s and enginl.'Crs euncernctl wit h powc r-~y~ lem
con tml nud alJi('d tJe](l., .
A N I N'I' HOD UCT IO N TO COM J' UT EI\S
Thi .s book coven! the oire ui tr y an rl opeta llnll pri nciple!! 01a na log
a nd d lg ild COl.uputer!!, spectal - purpes e computing dev ices. ma-
.-hl ue!! end sys tem s. a mple s paceis devo ted Io a basic the ory of s imi-
li t ude and slmulatiO Jl, and a la i rl }' detailed deserip rlcn is givon
o f basic Juac t tona l elemerua , assem bhea and un its wh ich make up
I)' piea! a nalog an d d igil al romp uteTll. in ro nj unct ion with a n
in troduction 10 the mat hl"matieaJ and logicnl basis or elec tron ic
.lig itaJ ecm nurees.
Se parnll" S/!'Ct'OM deRi wit h biock-d tag mm sy utbesl$ or a nalog
computeI'!! to sol ve a lgl"l" roie, trensecodentul , ord inary a nd pa rt ial
di fferen t ial (!<jua ti ons and lh eir s)"'te ms. T he read er will find
a suevey o r me thods liSl!rl to prog ram p rohJemsolv ing on an aiog
and d igita l computers a long wil l. /I brief out li ull of d ig ilal diffe-
ren tia l analrtNS and h )'b rld srs tem.'J.
Th e book will be of pri ma ry value to college st uden ts and facul-
t y me Ul b1lrs. and abo to researchers a nd engi nee rs concerned witb
t he de velop ment 8nd ap plica ti on of com p ute rs.