ELECTROMECHANICAL

ENERGY CONVERSION
Dr.V.Kamaraj
Professor
Department of EEE
SSN College of Engineering
Outline
Twelve points about electromechanical energy
conversion principle
1. How to establish methods of analysis that may
be applied to all electromechanical devices?
2. Block diagram of an elementary electromagnetic
system
3. Nature of electrical and mechanical energy
distribution
4. Energy relationships and energy balance
diagram
5. Coupling field losses and conservative field
Outline
6. Energy relationships for a singly excited
electromechanical system
7. Energy balance equation in differential and
integral forms
8. It is noted that dynamic behavior of electrical
systems and mechanical systems are governed
by KVL,KCL and Newtons law
9. Graphical interpretation of energy conversion
10.Energy and Co energy
11.Force calculations in Singly and doubly excited
Electromechanical devices
12.Force and Current Expressions
Electromechanical Energy
Conversion

The aim of electromechanical energy conversion theory is

to establish an expression for electromagnetic force or
torque in terms of device variables, such as the currents
and the displacement of the mechanical system

An electromechanical system consists of an electrical

system, a mechanical system, and a means whereby the
electrical and mechanical systems can interact.

Interaction can take place through electromagnetic field

common to both systems

Energy is transferred from one system to the other as a

result of this interaction

The methods of analysis developed in this lecture is

applicable to all electromagnetic devices
Electromechanical Energy
Conversion
W
E
= W
e
+ W
eL
+ W
eS
Total
Energy
supplied
by an
Electrical
Source
Energy
transferred to
the coupling
field by the
electric system
Energy losses
in the electrical
system.
Basically, I
2
R,
Eddy current
and Hysterisis
lossses
Energy stored in
the magnetic
field
Not coupled with
the Mechanical
System
Consider the block diagram depicted below
Electromechanical Energy
Conversion
W W
M M
= = W W
m m
+ + W W
mL mL
+ + W W
mS mS
Energy
supplied by a
mechanical
source
Energy transferred
to the coupling
field from the
mechanical system
Energy losses of
the mechanical
system
Energy stored in the
moving member and
compliance of the
mechanical system
W W
F F
= = W W
e e
+ W + W
m m

Total energy
transferred to
the coupling
field
Energy transferred to
the coupling field by
the electric system
Energy transferred to the
coupling field from the
mechanical system
W W
F F
= = W W
f f
+ W + W
fL fL

Energy stored in the
coupling field
Energy dissipated in the
coupling field
The energy transferred to the coupling field can be represented by:
Electromechanical Energy
Conversion

The electromechanical systems obey the law of

conservation of energy : thus

This energy relationship in an electromagnetic

System is shown schematically :
W W
F F
= W = W
f f
+ W + W
fL fL
= W = W
e e
+ W + W
m m

W
E
W
eL
W
eS
W
fL
W
mL
W
f
W
mS
W
M
Electromechanical Energy
Conversion
If the losses are neglected, we will obtain the
following formula
W W
F F
= W = W
e e
+ W + W
m m

Energy transferred
to the coupling field
by the electric
system
Energy transferred
to the coupling field
from the mechanical
system
Electromechanical Energy
Conversion

Consider the electromechanical system given

below:
Electromechanical Energy
Conversion

Mechanical forces resisting motion:

1. Inertia force
2. Damping force
3. Spring force
2
2
dt
x d
M f
M

dt
dx
D f
D

Kx f
K

Electromechanical Energy
Conversion

The equation for the electric system is expressed by KVL :

The equation for the mechanical system is expressed by

Newtons Law of Motion :
f
e
dt
di
L ri v + +
e
f x x K
dt
dx
D
dt
dx
M f + + ) (
0
2
2
Electromechanical Energy
Conversion

The total energy supplied by the electric source is :

The equation for the mechanical system is:

dt
dt
dx
f dx f W
M


,
_

+ +

dt i e
dt
di
L ri dt i v W
f E
Electromechanical Energy
Conversion

For the Electrical System

idt e W
idt e idi l dt i r W
vidt W
f e
f E
E

+ +

2
First term in the second
equation represents energy
loss due to resistance of the
conductors.W
eL
Second term reperesents
energy stored in the
electromagnetic field external
to the coupling field. W
eS
Third term must be the total
energy transferred to the
coupling field from the
electrical system
Electromechanical Energy
Conversion
For the Electrical System
idt e W
idt e idi l dt i r W
vidt W
f e
f E
E

+ +

2
First term in the second
equation represents energy
loss due to resistance of the
conductors.W
eL
Second term reperesents
energy stored in the
electromagnetic field external
to the coupling field. W
eS
Third term must be the total
energy transferred to the
coupling field from the
electrical system
Electromechanical Energy
Conversion
For the mechanical system

dx f x x K
dt
dx
D
dt
dx
M dx f W
e
Potential
Heat
M

,
_

+ +
system
mechanical
the from
field coupling
the to d transferre
energy Total
spring in the stored
Energy
0
(Wall)
friction the due
loss
mass in the stored
energy Kinetic
2
2
) (


Electromechanical Energy
Conversion
Energy Balance Equation:



+

+
K
k
mk
J
j
ej f
e f f
m e f
W W W
dx f idt e W
W W W
1 1
) 2 ( ..........
) 1 ( ..........
The field is assumed to be
conservative that is losses of
the coupling field are
neglected.
W
fL
= 0
Considering for a multiple
electrical and mechanical
input system we obtain
energy supplied to the
coupling fields from
Equation 1.
Thus Equation 2 represents
the energy supplied to the
coupling field.
Electromechanical Energy
Conversion
Energy Balance Equation:

K
k
k ek
J
j
j fj f
K
k
k ek
J
j
j fj f
K
k
k ek
K
k
ej
J
j
j fj
J
j
ej
dx f dt i e dW
dx f dt i e W
dx f W
dt i e W
1 1
1 1
1 1
1 1
) 4 .......(
) 3 ...(
) 2 ......( ..........
) 1 ( .......... ..........
Key points:
Equation 3 Energy balance
Equation in Integral form
Equation 4 Energy balance
Equation in differential form
Electromechanical Energy
Conversion
Graphical Interpretation of Energy Conversion:
Consider the elementary electromagnetic
system
Movable plunger moves from x = x
a
to
x = x
b
where x
b
< x
a
The change in field energy is :
The change in W
e
Electromechanical Energy
Conversion
Graphical Interpretation of Energy Conversion:
We know that
Hence,
Electromechanical Energy
Conversion
Graphical Interpretation of Energy Conversion:
The net change in W
m
for the
cycle from A to B and then
back to A is the shaded area.
Because change in W
f
is zero
for this cycle:
Explanation for generator and
motor action
FORCE AND TORQUE CALCULATION

Consider a singly excited linear actuator given

below:
FORCE AND TORQUE CALCULATION
) 4 .....( ..........
) 3 .........( .......... ..........
) 2 ...( .......... dW
) 1 ( .......... W
f
f
dx f id dW
dt
d
e
dx f idt e
dx f idt e
e f
f
e f
e f

FORCE AND TORQUE CALCULATION

x
x W
f
and
x W
i
f
e
f

) , (
) , (

By comparing Equation 4 and Equation 5 we conclude

) 5 ......(
) , ( ) , (
dx
x
x W
d
x W
dW
f f
f

FORCE AND TORQUE CALCULATION

If dx = 0 is assumed, then
di x L x i d
x L
x i
or
i x L x i
id W
idt
dt
d
idt e W W
f
f E f
) ( ) , (
) (
) , (
) ( ) , (

FORCE AND TORQUE CALCULATION

) ( 2
1
) (
2
x L
d
x L
W
f

The force acting on the plunger is in terms of winding

inductance is given by
dx
x dL
i
dx
x dL
x L x
x W
f
f
e
) (
2
1 ) (
) ( 2
1
) , (
2
2

1
]
1

FORCE AND TORQUE CALCULATION

) 4 ......(
) , ( ) , (
) , (
) 3 .( .......... .......... .......... ) , (
) 2 ......( )......... , ( ) , (
) 1 .........( .......... )......... , ( ) , (
dx
x
x i W
di
i
x i W
x i dW
dx f di x i dW
x W idx di x i dW
x W i x i W
C C
C
e C
f C
f C

+
+

FORCE AND TORQUE CALCULATION
dx
x dL
i F
again
x
x i W
F
and
i
x i W
C
C
) (
2
1
) , (
) , (
2

Comparing Equation 3 and 4 we get
FORCE AND TORQUE CALCULATION
FORCE AND TORQUE CALCULATION

) , (
) , (
) , ( ) , (
f
f
f
f
W
T
W
i
d i W
Td id dW
Energy Field

) , (
) , (
) , ( ) , (
i W
T
i W
i
di i i W
Td di dW
Coenergy
C
C
C
C
FORCE AND TORQUE CALCULATION
Doubly Excited Rotating Actuator
FORCE AND TORQUE CALCULATION
1 21 2 2 22 2 2 12 1 1 11 1
1 21 2 22 2 2 12 1 11 1
2 2 1 1
) ( ) (
0
di L i di L i di L i di L i dW
i L i L d i i L i L d i dW
d i d i dW dW
dW dW
f
f
e f
f e
+ + +
+ + +
+
+

Initially the space angle rotor and stator axes is and
both the currents i
1
and i
2
are assumed to be zero. When
the coils are switched on the currents rise from zero to i
1

and i
2
respectively
FORCE AND TORQUE CALCULATION
2 1 12 22
2
2 11
2
1
2 1
0
12 2 2
0
22 1 1
0
11
2 1 12 2 22 2 1 11 1
1 21 2 2 22 2 2 12 1 1 11 1
2
1
2
1
) (
) (
2 1 2 1
i i L L i L i W
i i d L di i L di i L dW
i i d L di L i di L i dW
di L i di L i di L i di L i dW
f
i i i i
f
f
f
+ +
+ +
+ +
+ + +

FORCE AND TORQUE CALCULATION

d
dL
i i
d
dL
i
d
dL
i T
W
T
f
) ( ) (
2
1 ) (
2
1
) , , (
12
2 1
22
2
2
11
2
1
2 1
+ +

CONCLUSION

Methods of Analysis by developing the energy

relationships

Block diagram and principle of elementary

Electromagnetic system is understood

Obtained expression for electrical and

mechanical energy distribution

Finally the energy relationships is represented

by a Energy Balance Diagram

Losses of the coupling field are neglected and

then the field is found to be conservative
CONCLUSION

An Example: To develop energy relationships for

a singly excited electromechanical system

Equations for electrical and mechanical system

is developed

The idea is useful in obtaining Energy Balance

Equation in differential and integral forms

The dynamic behavior of electrical system is

governed by KVL

The dynamic behavior of the mechanical system

is governed by Newtons Law
CONCLUSION

We develop the energy balance Equations in

differential form and integral form

Expressions for the energy in the coupling field

are derived

Graphical interpretation of Energy Conversion is

discussed in detail

Singly excited linear actuator

Energy and Coenergy

Force and Current Expressions