University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 7: Linear Machines II

Linear Machines
Recall the basic Electromagnet:

Ac
Rg

v1

tot

i1

Ac

Fb

e1

x
Recall its inductance is given

L( x ) =

k1
+ Ll
2 x + k2

k1 = N 2 Ac 0 ;
where

k2 =

lc

Nathan Ozog 2013

Page 1 of 8

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 7: Linear Machines II

Co-Energy
Definition

i = W f +
123
{
coupling
field
energy

coupling
field
co energy

Mathematically, we express this as:

d (i ) = id + di
i = id + di
{ {
Wf

Wc

Wc = di = i id
{
Wf

Graphically, we express this as:

Non-Linear

Linear (assumed)

i1

i2
i2

Wc = di
i1

i1
i2

i2

i1

i1

Wc = di = Lidi =

Wc =

Nathan Ozog 2013

i2

L 2 2
i2 i1
2

i
)

L 2 1 2
i =
=
2
2L
{
1
23

Page 2 of 8

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 7: Linear Machines II

For a linear system, energy and co-energy will be equal

They are often both simply referred to as energy
Recalling our system, we note that the relationship between current and
flux in the magnet changes with the position
i.e. = h i, x

( )

h(i, xb )

h(i, xa )

The co-energy in the magnet is also

It does not depend on the
present state and relationship

of flux or current, only on their

the equation for change in co-energy in the magnet is:

i ( xa )
i ( xb )

Wc = (i, xb )di (i, x a )di

0
0

Nathan Ozog 2013

Page 3 of 8

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 7: Linear Machines II

This time, we consider the force on the bar when current is held constant
i.e. i = ia
xb

tb

xa

ta

fdx = iedt W f

e=

d
dt

, because flux will change

so, there is addition of electrical energy as the bar moves

xb

tb

xa

ta

fdx = iedt W f

Consider the change in electrical energy graphically

Position a

Nathan Ozog 2013

Position b

Page 4 of 8

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 7: Linear Machines II

The total change is:

Mathematically, we have
tb

tb

b
d
We = iedt = i
dt = i d = i (b a ) =
dt
ta
ta
a

A subtle note:
Current and flux are not functions of each-other in this equation

Nathan Ozog 2013

Page 5 of 8

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 7: Linear Machines II

Next consider the energy in the coupling field

We again have
(i , x a )
(i , x b )

W f = id id
0

Graphically:
Position a

W f =

(i , x b )

(i , x a )

Position b

id id

Nathan Ozog 2013

Page 6 of 8

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 7: Linear Machines II

Wm = We W f

(i , x a )
(i , xb )
fdx = iedt id id
xa
ta
123 1023 1023
0 AD
0 BC
ABCD
xb

tb

xb

fdx = Wc

xa

Remember that Wc =

di

So
ia

ia

Wc = ( xb , i )di ( xa , i )di

ia

= i[L(i, xb ) L(i, xa )]di

0

Nathan Ozog 2013

Page 7 of 8

University of British Columbia

EECE 365 Winter 2013

Elec Machines & Electronics

Lecture 7: Linear Machines II

The equations are converse to what we had when

This time we have
in place of
in place of
This will give the result fdx = d Wc (i, x ) i = i

= a
and

Leads to f ( x ) =

f (x ) =

d
Wc (i, x )
i = ia
dx

Again, assume our linear relationship L( , x ) = L( x ) =

+ Ll

2
2

d
d ia
d ia k1
+ Ll
f ( x ) = Wc (i, x ) i = i =
L( x ) =

a
dx
dx 2
dx 2 2 x + k 2

f (x ) =

= ia

f ( x ) = ia

Nathan Ozog 2013

k1
(2 x + k2 )2

k1
(2 x + k 2 )2

Page 8 of 8