Chapter 1 Introduction to Machinery Principles Edit by

Chapter 1 Introduction to Machinery Principles Edit by Chi-Shan Yu Electric Machinery 1

Instructor • 俞齊山 (Chi-Shan Yu), • E-mail: chsyu@tea. ntue. edu. tw Electric Machinery 2

Text book and supplementary materials of this course • Stephen J. Chapman • , PH PTR , 5 th edition (Feb. 18, 2011), 東華書局代理 Electric Machinery 3

Reference book • A. E. Fitzgerald, Electric Machinery, Mc. Graw-Hill , 6 th edition (July 25, 2002) Electric Machinery 4

Electric Machinery 5

Introduction to Electric machinery Fundamental Electric Machinery 6

Introduction to Electric machinery Fundamental Electric Machinery 7

What to learn in this course ? • Energy Conversion schemes are the key ideas introduced in this course • Which types of energy conversion are concerned? • Electric energy to electric energy – Transformer • Electric energy to mechanical energy – Motor • Mechanical energy to electric energy – Generator • Magnetic energy is essential ! Electric Machinery 8

Course Outlines - Overview of relative electromagnetic theories (3 wks) • Magnetic field: Ampere’s law • Magnetic flux: magnetic material, hysteresis characteristics • Transformer: Faraday’s law, Len’s law Electric Machinery 9

Course Outlines - Overview of relative electromagnetic theories (conti) • Magnetic circuit • Motor/generator: Induced voltage, induced force Electric Machinery 10

Course Outlines - Transformer (3 wks) • Ideal/non-ideal transformer • Equivalent transformer circuit • Voltage regulation, efficiency Electric Machinery 11

Course Outlines - Basic electric machine (motor/generator) theories (3 wks) • AC machine : induction machine, synchronous machine • DC machine : separated excited, shunt excited, series excited, compound excited • How the motor rotates ? – Torque/speed • How the generator to build output voltage ? – Voltage/current Electric Machinery 12

Course Outline - induction (asynchronous) machine (3 wks) • Induction motor (IM) – the most widely used ac motor in the world – – Structure and operation theories of IM Equivalent circuit of IM Torque/speed characteristics Basic motor control • Induction generator (seldom used) – Output voltage control – Voltage/current characteristics Electric Machinery 13

Course Outline - synchronous machine (3 wks) • Synchronous generator (SG) – the most widely used generator in the world – – Structure and operation theories of SG Equivalent circuit of SG Voltage/current characteristics Parallel operation • Synchronous motor – Operation principles – Starting of synchronous motor – Torque/speed characteristics Electric Machinery 14

History of Electric Machinery 15

History of Electric Machinery 16

History of Electric Machinery 17

History of Electric Machinery 18

Today’s development • DC Machine – Motor – Generator • Transformer – Single phase – Three phases • AC Machine – Synchronous machine – motor, generator – Asynchronous machine (induction machine) – motor, generator Electric Machinery 19

Today’s development and future trends • Micro-stepping motor • Permanent magnet synchronous motor (PMSM) – Brushless dc motor (BLDCM) • Linear motor • Reluctance motor – Synchronous reluctance – Switched reluctance • Ultrasonic motor • Bionic robotics • MEMS motor Electric Machinery 20

Course relation • 碩/博班入學與高考科目 • It is the fundamental course of the electrical engineering • Future courses – – – Power electronics Motor control Electric motor drive Power systems Renewable energy Electrical vehicle Electric Machinery 21

Chapter 1. Introduction to machinery principles 1. Rotation motion, Newton’s law and power relationships 2. The magnetic field 3. Faraday’s law 4. Produce an induced force on a wire 5. Produce an induced voltage on a conductor 6. Linear dc machine examples 7. Real, reactive and apparatus power in AC circuits Electric Machinery 22

Rotation motion, Newton’s law and power relationships • Clockwise (CW) and Counterclockwise (CCW) – CCW is assumed as the positive direction, CW is assumed as the negative direction. • Linear and rotation motion – Position and angular (meter) (degree or radian) – Speed angular speed Electric Machinery 23

Rotation motion, Newton’s law and power relationships – Acceleration and angular acceleration Electric Machinery 24

Torque Electric Machinery 25

Torque Electric Machinery 26

Newton’s law of rotation 1. Force 2. Torque Electric Machinery 27

Torque and Work Electric Machinery 28

Power (rate of doing work) Electric Machinery 29

Conversion between watts and horsepower 1. Watts and horsepower 2. Conversion between two units 5252 / 7. 04 = 746. 02 1 hp = 746 W = 0. 746 k. W Electric Machinery 30

The magnetic field Electric Machinery 31

Produce a magnetic field – Ampere’s law 1. The magnetic field is produced by ampere’s law 2. The core is a ferromagnetic material Electric Machinery 32

From the magnetic field to magnetic flux density 1. When the magnetic field is applied on a ferromagnetic material, the magnetic flux density B will be produced Electric Machinery 33

Magnetic flux density and magnetic flux 1. Magnetic flux density 2. Magnetic flux Electric Machinery 34

Magnetic Circuit – magnetomotive force Electric Machinery 35

Magnetic circuit 1. Magnetic circuit Electric Machinery 36

Electric circuit and magnetic circuit Electric Machinery 37

Electric Machinery 38

Electric Machinery 39

Reluctance in magnetic circuit 1. Series connection 2. Parallel connection Electric Machinery 40

The errors in magnetic circuit computation Electric Machinery 41

The errors in magnetic circuit computation 4. Air gap “fringing effect” Electric Machinery 42

Example 1 -1 Electric Machinery 43

Magnetic circuit Electric Machinery 50

MATLAB Programs Electric Machinery 51

Example 1 -2 Electric Machinery 52

Example 1 -2 Electric Machinery 53

Example 1 -3 Electric Machinery 60

Magnetic behavior of ferromagnetic material - Saturation Electric Machinery 69

Magnetic curve for a typical steel Electric Machinery 70

A plot of relative permeability mr Electric Machinery 71

Example 1 -4 Electric Machinery 72

Example 1 -5 Electric Machinery 73

Energy loss in ferromagnetic core – hysteresis loss Electric Machinery 80

Hysteresis loop – residual flux Electric Machinery 81

The effect of magnetomotive force on the hysteresis loop Electric Machinery 82

Magnetization curve Electric Machinery 83

Hysteresis loss Electric Machinery 84

Hysteresis loss Electric Machinery 85

Electric Machinery 86

Faraday’s law – induce voltage from a time-varying magnetic field 1. Induced voltage magnitude and polarity Electric Machinery 87

The induced voltage polarity – Lenz’s law Electric Machinery 88

Flux and flux linkage Electric Machinery 89

Example 1 -6 Electric Machinery 90

Produce an induced force on a wire Electric Machinery 93

Example 1 -7 Electric Machinery 94

Example 1 -7 Electric Machinery 95

Relationship between electric-magnetic variables • Magnetic field: Ampere’s law • Magnetic flux: magnetic material, hysteresis characteristics • Transformer: Faraday’s law, Len’s law Electric Machinery 96

Induced voltage on a conductor Electric Machinery 97

Example 1 -8 Electric Machinery 98

Example 1 -9 Electric Machinery 100

The linear DC machine – a simple example Electric Machinery 102

Starting a linear DC machine Electric Machinery 105

Starting a linear DC machine 1. Current 2. Induced force 3. Induced voltage Electric Machinery 106

Starting a linear DC machine Electric Machinery 107

Summarize of a dc machine starting Electric Machinery 108

DC linear machine operates at no-load condition Electric Machinery 109

Linear dc motor • While the load is applied • The conversion power between mechanical and electrical Electric Machinery 110

Summarize of a dc motor operation Electric Machinery 111

Linear dc generator • While the external force is applied on the moving direction Electric Machinery 112

Summarize of a dc generator operation Electric Machinery 113

Starting problem of dc linear machine Electric Machinery 114

Example 1 -10 Electric Machinery 115

Example 1 -10 Electric Machinery 116

Matlab/Simulink simulation • Equations: – – F = il. B e = v. Bl i = (Vb-e) / R dv/dt = (F-Fload)/m • Simulation parameters: – Vb=120 V, R=0. 3 W, l = 1 m – B=0. 6 T, m=0. 1 kg – Fload=10(u-1)-20(u-2) nt Electric Machinery 121

Matlab/Simulink simulation Electric Machinery 122

Real, reactive and apparatus power in AC circuits • Power in DC circuit Electric Machinery 124

Real, reactive and apparatus power in AC circuits • AC source applies power to an impedance Z Electric Machinery 125

Instantaneous power Electric Machinery 126

Instantaneous power Electric Machinery 127

Average power and reactive power Electric Machinery 128

Reactive power Q and apparatus power S 1. Reactive power Q (var) is defined from instantaneous power 2. Apparatus power S (VA) is defined to represent the product of voltage and current magnitudes Electric Machinery 129

Complex power representation Electric Machinery 131

Complex power representation Electric Machinery 132

Power direction Electric Machinery 133

Power factor Electric Machinery 134

Example 1 -11 Electric Machinery 135

Three phase concepts • The three phase concepts are also introduced in Appendix Electric Machinery 138