Objectives of the course

After completion of the course content, a student will be able

to:-
 Define basic principles of singly excited and doubly excited
electromechanical energy conversion systems.
 Explain the concept of harmonics effect in transformers,
describe parallel operation and basic design aspects of
transformers.
 Understand IM windings, winding factors, circle diagram and
design aspects, etc,…
 Understand the concept of dc machine windings, dynamic
equations and control aspects.
 Analyse salient pole synchronous machines using direct -
quadrature axis theory, and power- load angle relationship.
 Analyse transient conditions in synchronous machines.
 Define fractional horse power motors, and different single
phase motor types.
1
 Chapter one
Principle of Electromechanical energy conversion
INTRODUCTION
 There are various and unlimited forms of energy in our real
world. Eg. Electrical, Mechanical, Solar, Heat, Chemical,
magnetic etc …
 The objective of this topic is to develop the electromechanical
energy conversion principles with field energy as the base, and
expressions for how forces and torques are developed in terms
of field variables.
 Thus, the topic is mainly concerned with the important devices
that change mechanical energy into electrical or Vice Versa.
 Currently, among other forms, electrical energy holds the
highest rank, because it is economical, efficient, easily
controlled and utilized.

2
 Most often, Electricity is generated in large installations,
transformed in appropriate voltage, and transmitted over
distances; then is transformed to lower and desired voltages to
be utilized.
 Thus, conversion of other forms of energy into electrical energy
with the aid of electromechanical devices such as Generators,
Motors, Relays, Telephone receivers, Loud speakers is a common
practice.
 The structure of these devices may differ depending on their
particular function.
 Some are used for continuous energy conversion. eg. Motors and
Generators
 Some are used to produce transitional force (limited mechanical
motion)
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eg. Solenoids, relays, actuators etc…
 Electromechanical system

Electrical system Magnetic system Mechanical system

Voltages &
Magnetic flux Position, speed &
current
acceleration

Force or
Circuit equations Torque Force/Torque equations by
Newton's laws
by KVL & KCL EMF

4
Concept map of electromechanical system modelling
Energy conversion principles
 Energy conversion process is based on basic principles of energy
conservation. i.e.
“ Energy is neither created nor destroyed, only be changed
from one form to the other”
 Electromechanical energy conversion devices obey this principle.
 The three essential parts in electromechanical energy conversion
process are: -
1) Electrical system
2) coupling media (Field)
3) Mechanical system
 In any energy conversion device, the energy balance equation
could be:-
Total
Desired Stored Losses
input = + + 5

energy output energy (dissipated)

Example
For a motor action, this energy balance equation seems:-

Total Total
Mechanical
electrical = energy output + energy + Total energy
energy input dissipated
stored

Wei = Wmo + ( Wes + Wms) + [I2R + core loss + Mech.loss]

Where, - Wei – total electrical energy input.
- Wmo – Mechanical energy output.
- Wes – stored energy in the mag. System.
- Wms - “ “ “ “ mech. System.
- I2R loss – Ohmic loss
- Core loss – hysteretic & eddy current loss.
- Mech. Loss – friction & windage loss. 6


 If similar terms are grouped together, the energy balance
equation becomes,
(Wei - I2R) = (Wmo+ Wms+Mech.loss) + (Wes+ Core loss )
Wele = Wmech + Wfld

Wele - Net electrical energy input

Wmech - T. Mech. Energy (output, stored & mech. loss
T. Field energy (field stored & field losses
Wfld -
 General representation of electromechanical conversion device
energy conversion device.

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 Even though all losses ( electrical, coupling field and mechanical
losses) are always present, they play no basic role in the energy
conversion process.
 To give direct attention to the process of energy conversion, and
to understand action and reaction of coupling field on electrical
and mechanical terminals , we assume a lossless model which
seems:-
i
Lossless Lossless
T,ωr T,ωr
i
e coupling Coupling
F,u
e
field field F,u
Electrical Mechanical Electrical
terminals Mechanical
terminals terminals terminals
b) Lossless Generator
a) Lossless motoring mode
mode
8

Lossless electromechanical conversion device

 The energy balance equation for lossless conversion system in
differential form becomes: -

Where, dWele  dWmech  dW feld

dWele – differential electrical input to coupling field
dWmech- differential mechanical energy output
dWfld- differential change in energy stored in the coupling field

 From general representation of electromechanical energy

conversion devices, the differential electrical input in time dt
is:-
dWei  Vt idt
2
Ohmic loss in resister r in time dt is, i rdt
9
 Thus, differential electrical energy in put to the coupling
field ,
dWelec  dWei  ohmicloss
 (Vt  ir )idt
 eidt
Thus,
dWelec  dWmech  dW fld
General energy balance equation becomes,
eidt  dWmech  dW fld

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Coupling field reaction
 In electromechanical energy conversion process, the interaction
between electrical and mechanical terminals is through the
medium of energy stored in the coupling field. It is a link b/n the
two systems.
 To move or rotate with respect to the other, there has to exist an
air gap between moving and stationary members.
 The coupling field (eg., magnetic field in this case) stored in the
air gap has to produce action and reaction on the electrical and
mechanical systems for the conversion of energy from one form
to the other.
 If the output is mechanical, (motor case) – the coupling field
must react with the electrical system. This reaction is the
counter emf. The coupling field extracts energy proportional to
e.i from the electrical system, converts and delivers energy
proportional to T.ωr, or (F.U) to the mechanical system. 11
Singly excited magnetic systems
 Singly excited magnetic systems have a wide variety of
applications, such as electromagnets, relays, moving iron
instruments, etc. Let us see the important parameters .
A) Electrical energy input
consider a toroid excited by a single coil

Vt  ir  e
d
e
dt
d
Vt  ir 
dt
12
Doubly excited magnetic system
 A doubly excited magnetic system is one which has two
independent sources of excitation. Example:- synchronous
machines, dc shunt machines, tachometers, et.

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 As we have seen, the differential electrical energy input for a
singly excited magnetic system is: -
dWelec= idψ
 The differential electrical energy input from two energy sources
is: -
dWelec= isdψs+irdψr
where, ψs - stator total flux linkage
ψr – rotor total flux linkage
 Assuming the magnetic saturation is neglected; ψs and ψr can be
expressed in terms of self and mutual inductances.
ψs = Lsis + Msrir
ψr = Lrir +Mrsis
Where, Ls – self inductance of stator winding
Lr - “ “ rotor “
Msr = Mrs – mutual inductance
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 Initially, is and ir are zero; and space angle between stator and
rotor is θr. When stator and rotor powers are switched ON, and
assuming the rotor is not allowed to move, the differential
energy balance equation will be:-
dWelec = o+ dWfld ;

dWfld = dWelec =isdψs + irdψr

= isd(Lsis+ Msrir) + ird(Lrir + Mrsis)

2 2
Ns Nr
Ls  ; Lr 
Rs Rr
Ns Nr
M sr  M rs 
Rsr
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 Since the rotor is not allowed to move, the reluctance and
inductances are constant. Thus,
dW fld  i s Ls di s  i s M sr di r  i r Lr di r  i r M rs di s

 i s Ls di s  ir Lr dir  M sr d (i s ir )
is ir i s ir

W fld  Ls  i s di s  Lr i r dir  M sr  d (i i )
s r
0 0 0

1 2 1 2
 i s Ls  i r Lr  M sr i s i r
2 2

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 To obtain Torque, the rotor has to move a virtual displacement
dθr. With the rotor movement, reluctances and inductances must
vary. Thus,
dWelec  dWmech  dW field
1 2 1 2
dWmech  Te d r  is dLs  ir dLr  is ir dM sr
2 2
1 2 dLs 1 2 dLr dM sr
Te  i s  ir  i s ir
2 d r 2 d r d r
W fld
Te  (i s , i r ,  r ) With currents constant
 r
W ' fld
Te  (i s , ir ,  r ) For linear magnetic circuit
 r 17