Emdsoln 01

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SOLUTIONS MANUAL FOR
1TDO IC IIsMitlHHANsICAL
IDINAAMICl
HERBERT H. WOODSON
PART I: Discrete Systems/
JAMES R.MELCHER
JOHN WILEY & SONS, INC.
NEW YORK * LONDON o SYDNEY
ELECTROMECHANICAL
DYNAMICS
Part I: Discrete Systems
HERBERT H. WOODSON
Philip Sporn Professor of Energy Processing

Departments of Electrical and Mechanical Engineering
JAMES R. MELCHER
Associate Professor of Electrical Engineering
Department of Electrical Engineering
both of Massachusetts Institute of Technology
JOHN WILEY & SONS, INC., NEW YORK - LONDON . SYDNEY
PREFACE TO:
ELECTROMECHANICAL DYNAMICS, PART I: DISCRETE SYSTEMS This manual presents in an informal format solutions to the problems found
at the ends of chapters in Part I of the book, Electromechanical Dynamics. It is intended as an aid for instructors, and in special circumstances for use by students. We have included a sufficient amount of explanatory material that
solutions, together with problem statements, are in themselves a teaching aid. They are substantially as found in our records for the course 6.06 as taught at M.I.T. over a period of several years. Typically, the solutions were originally written up by graduate student tutors whose responsibility it was to conduct one-hour tutorials once a week with students in pairs. These tutorials focused on the homework, with the problem solutions
reproduced and given to the students upon receipt of their own homework solutions.
It is difficult to give proper credit to all of those who contributed to these solutions, because the individuals involved range over teaching assistants, instructors, and faculty who have taught the material over a period of more than four years. However, a significant contribution was made by D.S. Guttman who took
major responsibility for the solutions in Chapter 6. The manuscript was typed by Mrs. Barbara Morton, whose patience and expertise were invaluable.
H.H. Woodson J.R. Melcher
Cambridge, Massachusetts
July, 1968
LUMPED ELECTROMECHANICAL ELEENTS
PROBLEM 2.1
We start with Maxwell"s equations for a magnetic system in integral form:
di =
I Jda
B-da = 0 Using either path 1 or 2 shown in the figure with the first Maxwell equation we find that J*da = ni
To compute the line integral of H we first note that whenever must have HRO if
p-* we
E=pH is to remain finite.

Then
Thus we will only need to know
H in the three gaps (H1,H2 and H 3 ) where the fields are assumed uniform because of the shortness of the gaps.
fH*di = H(c-b-y) + H
path 1
C
path 2
3x
= ni
r.
LUMPED ELECTROMECHANICAL ELEMENTS
Using the second Maxwell equation we write that the flux of B into the movable slab equals the flux of B out of the movable slab U H1 LD = or H1L = H2a + H3b Note that in (c) H2 aD + UoH3bD
determining the relative strengths of H 1 ,H 2 and H3 in this last This means
equation we have let (a-x) = a, (b-y) = b to simplify the solution. that we are assuming that
x/a << 1, y/b << 1

Solving for H1 using (a), (b), and (c) ni(y/a + x/b) HI = (c-b-y)(y/a + x/b) + L(y/a * x/b) The flux of B through the n turns of the coil is (x,y,i) = nB 1 LD = npoH LD 2 j n (y/a + x/b)LD i (c-b-y)(y/a+x/b) + L(y/a'x/b) then
(d)
Because we have assumed that the air gaps are short compared to their cross-sectional dimensions we must have
(c-b-y) << 1, L y/a << 1 and x/b << 1
in addition to the constraints of (d) for our expression for X to be valid. If we assume that a>L>c>b>(c-b) become x << b y << b as shown in the diagram, these conditions
LURIPED ELECTROMECHANICAL ELEMENTS
PROBLEM 2.2
Because the charge is linearly related to the applied voltages we

know that q1 (v1 ,V ,e) = q 1 (v 2
1
,O,e)
+ q 1 (O,v
2 ,8)
EV
V
w + ( +
q1 (V ,O,) = 1
q1 (O,V2 ,8)
Hence
=
EV 2
V Ra- w
S (n/4+6)R 1 ,2, ) = v 1 (+o -2 E ()+/4-O)R
2(V1,V2,)
PROBLEM 2.3
The device has
cylindrical symmetry
so that we assume that
the fields in the gaps
are essentially radial
and denoted as shown
in
the
= -Vl ~+
fi-ure
Ampere's law can be

integrated around each of the current loops to obtain the relations
PROBLEM 2.3 (Continued)

gH1 + gHm = Nil (a)
gH2 - gHm = Ni 2
In addition, the net flux into the plunger must be zero, and so
0o(d-x)2nrH1 - 2d(2rrr)0oH m (d+x)(2Tr)o H 2
(b)
(c)
These three equations can be solved for any one of the intensities.
In
particular we are interested in H I and H2, because the terminal fluxes can
be written simply in terms of these quantities. For example, the flux linking
the (1) winding is N times the flux through the air gap to the left
,1
j 0oN(d-x)(21Tr)H 1
(d)
Similarly, to the right,

X2 = p oN(d+x) (27)H (e)
Now,
if
we use the values of H1 and H2 found from (a) -
(c), we obtain the
terminal relations of Prob. 2.3 with jo' rN2d L = o PROBLEM 2.4 2g
LIUPED ELECTROMECHANICAL ELEMENTS

Part a
2 Sf = Ma = M dx 2 i dt
dxt
f
; coul
dx d Mdt dx
fDAMPER
-B t
dt
M
x -dx
dt
- f(t)-B - + f dt coul
dx
2 M dx2 +B dx =- f(t) - UdMg dX1 dt 2

dt
Id--I
dt
Part b
dx I
dx
First we recognize that the block will move so that dx
dt
> 0, hence
coul
Then for t > 0 Md 2 x
g;-
> 0
dt
which has a solution
dx
=-l
dMg
1d
Mg
x(t)
= - 0
-(B/M) t
t + c1 +c 2 e
Equating sintWlarities at t
2
M x(t) (0) dt = Io
(0)
dt
= 0
I = - io(t)
S=dx = d2 x Then since x(0 ) = -(0 ) -( 2 dt dt
PROBLEM 2.4 (Continued) I
dx (0+
; x(0+
Hence x(t)
u-1(
t +
Ud
2) (1-e-(B/M)
t O0,at which
dx
Actually, this solution will only hold until to , where dx(t o) point the mass will stop.
Jx
10o
i~.
t
PROBLEM 2.5
Part a
Equation of motion
M (1) f(t)
2 + B dt = f(t)
dt
dt
= IoUo(t) I (B/M) t)
(1-e(
x(t) = u
(t) B 1

as shown in Prob. 2.4 with Vd = 0.
(2) f(t) = F u l(t) Integrating the answer in (1)
F -(B/M)t -1)]ul(t) [t + M (e
x(t) =
Part b
Consider the node connecting the

damper and the spring; there must be no
net force on this node or it will
suffer infinite acceleration.
-B or
B/K dx
- + x = y(t)
dx
+ K(y-x) = 0
dt
1. Let y(t) = Auo(t)
X) x'X
Bdx
+x=O
-
K dt
t>O
t > 0
x(t) = C e - K/Bt But at t = 0 B dx

K J-t(O) Now since x(t) and -(t) dt
Ao
are zero for t < 0 AK AK C e - (K / B)t all t
dx
+ x(O )
x(t) = Ul(t)
2.
Let y(t) = Au
(t)
LUMPED'ELECTROMECHANICAL ELEMENTS
PROBLEM 2.5 (Continued) Integrating the answer in (1) -(K/B)t x(t) = ul(t) Yo(1-e
all t
PROBLEM 2.6
Part a
k].
(.
dx fl = B 3 d f3
=
; f2
K3 (x 2 -x 3 -t-Lo) d f 4 = B 2 ~(x
1 -x 2 )
K2 (x 1 -x 2 -t-Lo); f5
=
Kl(h-x 1 -Lo)
Part b
Summing forces at the nodes and using Newton's law
Kl(h-x1-Lo) d (X1-X2) = K2(X1-X2-t-Lo) + B2 dt 2 + M d xl 2 1
dt
K2 (x 1-x
2 -t-Lo)
d (x1-~2) + B2 dt d2x2
o)
= K 3 (x 2 -x 3 -t-L
+ M2
dt
dx3
-
2 d2x 3 2 2
K 3 (x 2 -x
3 -t-L
o ) = f(t) + B 3
+ M
dt

Let's solve these equations for the special case
M1 =M2 = M3 = B2 = B3 = Lo = 0 Now nothing is left except three springs pulled by force f(t). equations are now
Kl(h-x 1 ) = K2 (x1-x
2
The three
(a) (b)
(c)
K 2 (x1 -x2 )= K 3 (x2 -x3 ) K3 (x2-x3)= f(t)
We write the equation of geometric constraint
x3 + (x2 -x3 ) + (x1 -X2 ) + (h-x )-h = 0

1 or (h-x ) = (x2 -x3 ) + (x -x2) + (h-x ) 3 1 1 (d)
which is really a useful identity rather than a new independent equation.

Substituting in (a) and (b) into (d)
K 3 (x2 -x3) (h-x

3)
+ 3
K 3 (x2 -x3) K 3 (x2 -x3)

+ 2 K2 K1
= 3 (x 2 -x which can be plugged into (c)

1(K + 2 K K
+
+ 3
2 +1
K )1
K (h-x )=f(t) 3
which tells us that three springs in series act like a spring with
-1 K' = (-
+ 1 -)
K
1
73 z
PROBLEM 2.7
B,
1i
f
= B
ldt
dxl x d(x2-x I )
Kx
1 1
f3 Node equations:
B2
dt
f4 = K2 (x 2 -x 1)
Node 1
Node 2(x 2
dx1 B1 dt + K11
B2
d(x 2 -x 1 )
2 dt + K2 (x2 -xl)
= f
dNode 2 -x)
dt
+ K2 (x 2 -x 1 )
To find natural frequencies let f = 0

dxl B + K X, = 0 Let x st = e
1 dt
11
Bl1
+ K, = 0
s1 0
- K1/B1
d(x 2 -x 1 )
B2 dt + K2 (x 2 -x 1 ) Let (x 2 -x
1)
st
e
B2s + K 2
s2 =
K2/B
The general solution when f = 0 is then

X1 -(K c 1 e
1 /BI)
X2 o (x 2 -x 1 ) + x 1
c ele
-(K
/Bl)t
+ c2 e
-(K2/B2)t
PROBLEM 2.8
ae LtVDLJ
From the diagram, the change in ir in the time At is 1iA.
Hence
di dt Similarly,
di dt
lim ii
A8 A6
O At
d8
d
8 dt
(a)
At-*O
= -
lim At0
- A - = . r At
dO rdt
(b)
Then, the product rule of differentiation on v gives
dv dv
dt
d - i
2 di r d r + 1 dr + O6 (r r dr i - 2 dt dt r dt dt
dO + i -)
dt
d
dt
(r -) d
dO
(c)
and the required acceleration follows by combining these equations.
LUMPED-PARAMETER ELECTROMECHANICS
PROBLEM 3.1 This problem is a simple extension of that considered in Sec. 3.2, having
the purpose of emphasizing how the geometric dependence of the electrical force
depends intimately on the electrical constraints.
Part a
The system is electrically linear. that must be applied to the plunger is
Hence, W' m i Li 2_ and the force f
_fe
o 1 2a (+
Li
x2
a
The terminal equation can be used to write this force in terms of X f = -fe = X2 /2aL Part b With the current constant, the force decreases rapidly as a function of
the plunger gap spacing x, as shown by (a) and the sketch below
Z= cor1;50_'M
x
With the current constant, the drop in
IH'dR! across the gap increases with x,
and hence the field in the gap is

Part c
reduced by increasing x.
By contrast with part b,
at constant X, the force is
independent of x
ftm
With this constraint, the field in the gap must remain constant, independent
of the position x.
PROBLEM 3.2
Part a
The terminal relations are
V1 = S1
2
+ S12 2 (a)
= S2 1 q1 + S22q2
Energy input can result only through

the electrical terminal pairs, because
the mechanical terminal pairs are
constrained to constant position. We v= dq l+ v 2 dq 2 (b)
=
Thus,
8,
First carry out this line integral along the contour A: from a-b, ql from b-c, dq2 = 0. Hence,
0, while
We = o and using (a),

We
=f
0
2(0q 2 )dq2 + o
1v 1(,Q
2 )dql
(c)
22 2dq2 + fJ
0
(S1 1 q 1 +
S 1 2 Q2 )dql
(d)
and for path A,

1 2 2
22 2
2 +
12
11
(e)
If instead of path A, we use C, the roles of ql and q2 are simply reversed.

Mathematically this means 1+2 and 2+1 in the above.
/
Hence, for path C
1 2 2 SllO + S212 1 +
2 222 f)
(To use path B in carrying out the integration of (b), we relate q2 and ql
13
PROBLEM 3.2 (Continued) q2 =
Q 2
1 q1
Then, (a) becomes,

v 1 1 [Sl + '1 1 ]q ; 1 11 1
12 2
v2 = [S2 1 + 2 21
S22
1 Q q 1q I
and, from (b), where dq and Q dql/Q 2 2 1

1I[ + S12Q2 [S11 Q
e-o
dq +
o [S21
1_
S2 Q 2 2Q
1
2
Q2 dq
e = 2 Part b
2 11 1
1 2
I2Q21I + 21 S2 1 1Q2 + 2 2
2 2Q 2
The integrations along paths A, B and C are the same only if as can be seen by comparing (e), (f) and (j). Part c Conservation of energy requires aW dW(qlq 2)
= vldql +
S21 = S12
v2 dq 2
dq l
aW q
dq 2
Since ql and q2 are independent variables

e 1 =ql e q
v2
Taking cross derivatives of these two expressions and combining gives
av 8v1
3q2 or, from (a), S12 = S 2 1 '
PROBLEM 3.3
av2
3v2
3q
1
The electric field intensity between the plates is

E = v/a
LIUMPED-PARAMETER ELECTROMECHANICS
PROBLEM 3.3 (Continued) Hence, the surface charge adjacent to the free space region on the upper
plate is
of = E v/a (b)
while that next to the nonlinear dielectric slab is
3
+
Of=a
afffi
-2
+ o a
0 Y
(c)
It follows that the total charge on the upper plate is

dxE v q
+ d(.t-x)[--
av
a
E V o 3 + a ]
(d)
The electric co-energy is

d v 22
+ d(-x)cv 4 ov W W qdv = d(-x)av e 2a 4a 3 Then, the force of electrical origin is
e
f
(e)
aw' e
= ax
f
4
dav
4a3 (f)
PROBLEM 3.4 Part a
The magnetic field intensity in the gap must first

excitation current. From Ampere's law, Ni = dHd + xH
be related to the
(a)
where the fields Hd and Hx are directed counterclockwise around the magnetic circuit when they are positive. These fields are further related because the magnetic flux into the movable member must equal that out of it lowbHd From these two expressions H
=
I lowaHx
(b)
da Ni/(i-- + x)
(c)

The flux linked by the electrical terminals is X (c) is N2a NU awH which in view of
= Li; L =
Part b
da
(d)
+ x)
The system is electrically linear. and from (d),

+ x) S2 (-( N2a
2 Np aw
Hence, W m
X 2 /L (See Sec. 3.1.2b)
da
wm
(e)
Part c (,x). From conservation of energy fe = -~W /3x, W =Wm 2 Part d In view of (d) the current node equation can be written as (remember 2
Hence,
that the terminal voltage is dX/dt) i(

-da + a
x)
I(t) = R d dt
b N20aw 1
(g)
Part e
The inertial force due to the mass M must he equal to two other forces, one due to gravity and the other fe. M Hence, (h)
2 dx d2
dt
= Mg
2 X2 2 N2oaw
(g) and (h) are the required equations of motion, where (X,x) are the
dependent variables.
PROBLEM 3.5 Part a From Ampere's Law H 1 (a+x) + H 2 (a-x) = N il + N 1 2 12 Because fBnda = 0 S
loH1A1 = solving for H 1 + N2 2 A A 1 1
a(l + -) + x(1 - A A
NlH oH2A2
Now the flux $ in each air gap must be the same because
$ = poH1 A1
jiH2 A2 o
=
and the flux linkages are determined to be X i these ideas
N1P and X2 = NO.
Using
AX = N2L(x)il + N N 2 L(x)i 2
1 X2 = N2N L(x)i 1 + N 2 L(x)i 2
BoA1
where
=
L(x)
A
a(l +
A2 Part b
A 2 )
From part a the system is electrically linear, hence
+ 1 2 2 N2 W' = L(x)[ 2lil + NIN2ii 2 m 1 2* N21 2 ]
where
L(x) = a(l
pA A
+ A2 ) + x(l
A
A2
PROBLEM 3.6
Part a Conservation of energy requires that
dW = idX - fedx In addition, dW = so that aw aW - dX + -2 dx (a)
ax
ax
(b)
e = ; feW
(c)
Now if we take cross-derivatives of these last relations and combine,

ai Safe e (d)
This condition of reciprocity between the electrical and mechanical terminal pairs must be satisfied if the system is to be conservative. terminal relations, For the given
ai
afe aX
oX + ( )
(e)
o o a 0 x
0 ]/(1 + xf)2 a
and the system is conservative.

Part b
The stored energy is
I W = id = 1
x
10 2A
2 +
1
4
4 4
3
(g)
_a
LUMPED-PARAMETER ELECTROMECHANICS I
L
,
PROBLEM 3.7 To find the co-energy from the electrical terminal relations alone,
we must assume that in the absence
of electrical excitations there is no
force of electrical origin. Then, the # L 6JO o
system can be assembled mechanically,

with the currents constrained to zero,
and there will be no contribution of
0
"
g ti
co-energy in the process (see Sec. 3.1.1).
L--dC
The co-energy input through the electrical terminal pairs with the
mechanical system held fixed is
Wm
lldil +
2Ai2 d
For the path shown in the (il,i 2 ) plane of the figure, this becomes
W' =
i2
o
(O,i)di
+lil o
(i',i2)di
amd in view of the given terminal relations,
the required co-energy is
W' m PROBLEM 3.8
4
a c 4 -xi +bxxii +-xi
4 Xll1 4 x2i2 + b1X2i2il1
(a) and (b) establish the flux in the rotor winding.

Steps X 2=IL om 2
With the current constrained on the stator coil, as in step (c), the current
ii is known, and since the flux X2 is also known, we can use the second terminal equations to solve for the current in the rotor winding as a function
of the angular position
L
2
[IO -
I(t)cos8]
L2
0 To complete the
This is the electrical equation of motion for the system. picture, the torque equation must be found. the co-energy is
From the terminal relations,
W'm
Jf1 1
+ ldil
12 di2 =
12 1i2 2 11
+ ili2Lm cose +
12m
12 i2L 2 222
(c)
and hence, the electrical torque is
awl
T ae= = -i l i2 Lm sine (d)
Now, we use this expression in the torque equation, with 12 given by (b) and i i = I(t) Jd26 IL2
=
-
d
dt
2
L2
m (I -
I(t)cose)sine
o
(e)
This is the required equation of motion. 1 2 from (b)
Note that we did not substitute
into the co-energy expression and then take the derivative with This gives the wrong answer because we have assumed in using
2
respect to 0.
the basic energy method to find the torque that il, independent variables. PROBLEM 3.9 Part a
and e are thermodynamically
From the terminal relations, the electrical co-energy is (Table 3.1.1)
r
m
or
=
Jdil + X2 di2
ax 2 i+bx2 xlili2
(a)
~.1
Wm =
+
Part b

Cx2i
2 4
(b)
required forces are

It follows that the e f
awl
ml
,m-e = Iaxi
awl 1m1
2 + bx2 1i2
x2 42
(c)
f2e =
f2 Dx
2bx xii
(d)
2112
2 2
PROBLEM 3.9 (Continued) Part c There are four equations of motion in the dependent variables il,i 2 ,x1 and x2: two of these are the electrical voltage equations, which in view of the terminal equations for the A's, are d 2 3 2
ilR 1 = -dt(ax1 il + bX2X1 i 2 ) d 2

v 2 (t)-i
2 R2
(e) 23
2i 2
dt(bx 2li
+ cx
(f)
and two are the mechanical force equations
0 =- axlil + bX2 1
0 = 2bx 2 xlili2 + PROBLEM 3.10
Part a
1
- Kx
dx2 dt
(g)
(h)
4 x22
Because the terminal relations are expressed as functions of the current

and x, it is most appropriate to use the co-energy to find the force. W'm which becomes,
1 2 W' = - L=i m 2 0 1 dil + X di Hence,
(a)
+ 2 Ai
.1
2(b) 2
o 2
b)
From this it follows that the force is, Se 1 2 22 2
(C)
The currents ii and 12 and x will be used as the dependent variables. Then, the voltage equations for the two electrical circuits can be written, using th electrical terminal equations, as
d
el(t) e2'(t) iR i2R
1
(d)
(e)
+ d(Loil + Aili2x) + d(Ai 1i2 x + Loi 2 )
21
PROBLEM 3.10 (Continued) The equation for mechanical equilibrium of the mass M is of motion 2 Md 22 Ai i2 1 2 2 1 o the third equation
dt 2
PROBLEM 3.11
Part a
The electrical torques are simply found by taking the appropriate
derivatives of the co-energy (see Table 3.1.1)

T=
m = -M sin8cos
awl
i11
(a)
T 2 =. Part b
= -M cosOsin* i1
(b)
The only torques acting on the rotors are due to the fields.
In view
of the above expressions the mechanical equations of motion, written using 8,p, 11 and 12 as dependent variables, are J dt J2 dt Remember that the terminal voltages are the time rates of change of the res
pective fluxes. Hence, we can make use of the terminal equations to write
= -M sinecos$ p11
2
(c)
= -M cosOsin*
(d)
the current node equations for each of the circuits as

(Llil + Mi 2 coscoscos) (Mi1 cosOcos + L2 i) + iI + 12
l(t) = C
dt
(e)
I2(t)
= G
Thus, we have four equations, two mechanical and two electrical, which involve the dependent variables 8,P, i i and 12 and the known driving functions I1 and 12.
LUMPED PARAMETER-ELECTROMECHANICS
PROBLEM 3.12 We can approach this problem in two ways. energy, dW First from conservation of
= Aldil +
1 1
2di2 + Xdi
2 2
3 3
aW' m di
aw' m
Hence,
aW'
m+ di2 +
ai 1 1 aw' m
2 aW'm2
2
=at
aw'
S3 Mi
3
Sail
Taking combinations of cross-derivatives, this gives
aAI xi1 a12
ax 2
a32 1
Di 3 3i
3
2
3
3 '1 i I 3
L12
L2 1 ; L2 3 = L 3 2 ; L 3 1 = L13 to carry out the integrations along
Another way to show the same thing is the three different paths shown
Since
wm ff
1 diI
+ A di 2
+ x3 di
PROBLEM 3.12 (Continued) these paths of integration lead to differing results. have 1 2 1 2 1 2 For path (a), we
2111
21li2
L22i2
L31Y13
32i2i3
2 L3313 (g)
while for path (b) m 2+ 1 2 L2212 + L32i2i3

1
L 33i
2+
+L i 2 +L L3i31 L2 i + L122 1
(h) (h)
and path (c) W 1 2 + 1L 1 2 +L ii +L ii + L 2 +L ()
2 L3313
2 L11
+ L133il + L211
22L222
L23 3i2
These equations will be identical only if (e) holds. PROBLEM 3.13

Part a When 8 = 0, there is no overlap between the stator and rotor plates, as compared to complete overlap when 8 = w/2. Because the total exposed
area between one pair of stator and rotor plates is ITR2/2, at an angle 6 the area is A =R 8 R2 (a)
There are 2N-1 pairs of such surfaces, and hence the total capacitance is
C (2N-1)8R2 o/g (b)
The required terminal relation is then q = Cv. Part b

The system is electrically linear. Hence, We
Cv 2
and
T T Part c
eW'
e ae
(2N-1)R C v
o 2g
(C) (c)
There are three torques acting on the shaft, one due to the torsional
spring, the second from viscous damping and the third the electrical torque.

d2 J d = -K(e-a) - B de + 1 v2 (2N-I)R2E d g 2 dt dt2 dt Part d
The voltage circuit equation, in view of the electrical terminal equation
is simply
V (t) 0 Part e When the rotor is in static equilibrium, the derivatives in (d) vanish
and we can solve for O-a,
V2 (2N-1)R2E
(d)
R d dt
(2N-1)R28s v o ]+ v g
(e)
8-a
= o
2gK
(f)
This equation would comprise a theoretical calibration for the voltmeter if

effects of fringing fields could be ignored. In practice, the plates are shaped
so as to somewhat offset the square law dependence of the deflections.
PROBLEM 3.14
Part a
Fringing fields are ignored near the ends of the metal coaxial cylinders.
In the region between the cylinders, determined by the voltage. the electric field has the form E = Air/r, where r is the radial distance from the axis and A is a constant This solution is both divergence and curl free, and hence satisfies the basic electric field equations (See Table 1.2) everywhere between the cylinders. The boundary conditions on the surfaces of the dielectric slab are also satisfied because there is no normal electric field at a dielectric interface and the tangential electric fields are continuous.
To determine the constant A, note that
(a)
b Erdr
= -v = Aln( );
A = -v/ln(
The surface charge on the inner surface of the outer cylinder in the regions
adjacent to free space is then

VE o o In -)b (b)
while that adjacent to regions occupied by the dielectric is
af
In( )b
(c)
It follows that the total charge on the outer cylinder is
q = v
In ( Part b
[L(c +E)-x(E--E
)]
(d)
Conservation of power requires

dW
v d dt Parts c and d
It follows from integration of (c) that
W dt + f dx e dt
(e)
e
where
C =
Iq__ 2C
2 or
1 W =Cv W' 2 e
(f)
In() Part e
[L(E +E)-x(Ec- )] o o
The force of electrical origin is therefore

awl e x
fei
1 2
(C-EC o )
(g)
Part f
The electrical constraints of the system have been left unspecified.
The mechanical equation of motion, in terms of the terminal voltage v, is
d2x d 2x
dt
2
= -K(x-k)- 1 v2n 2ib
(E-, )
(h)
2 In( -)

Part g In static equilibrium, the inertial term makes no contribution, and (h)
can be simply solved for the equilibrium position x. x=- 1V2 Tr(-C ) 2 o o (i)
2 PROBLEM 3.15
Part a
K In(-)
Call r the radial distance from the origin 0.
Then,
the field in the gap
to the right is, (from Ampere's law integrated across the gaps at a radius r
N = i/(O-a-e)r
(directed to the right)

(a)
and to the left H

= Ni/(B-a+8)r
(directed to the left)
(b)
These fields satisfy the conditions that VxH =0 and VB*=0 in the gaps. The flux is computed by integrating the flux density over the two gaps and multiply ing by N S= DN which, in view of (a) and (b) becomes,
(H + Hr)dr (c)
S= Li, L = p DN21n(b) a
o S Part
b
-+
1 -]
(d)
The system is electrically linear, and hence the co-energy is simply

(See Sec. 3.1.2b)
W' = Li2 m 2
Part c
(e)
The torque follows from (e) as

e 1 2 Part d
The torque equation is then
J2d-2 -K6 + T e = dt Part e
This equation is satisfied if e=0, and hence it is possible for the wedge
to be in static equilibrium at this position.
PROBLEM 3.16 We ignore fringing fields. Then the electric field is completely between The (g) oDN 2 1n(b)[ 1 (a+e)2 1 (B-a-)2
(f)
the center plate and the outer plates, where it has the value E = v/b. constraints on the electrical terminals further require that v.= V -Ax. The surface charge on the outer plates is E v/b and hence the total charge q on these plates is de q = 2(a-x) bv It follows that the co-energy is
(a)
e
and the electrical force is
fe
aW'
de
o2
(c)
ax dE
fe
Finally, we use the electrical circuit conditions to write

do (V -AX)2 (d)
0
One might substitute the
This clearly
The major point to be made in this situation is this.
voltage, as it depends on x, into (b) before taking the derivative.
We have assumed in writing (c) that

gives an answer not in agreement with (d). the variables (v,x) remain thermodynamically independent until after the force
has been found. Of course, in the actual situation, external constraints
PROBLEM 3.16 (Continued) relate these variables, but these constraints can only be introduced with care
in the energy functions. the force has been found.
PROBLEM 3.17
To be safe they should not be introduced until after
Part a The magnetic field intensities in

the gaps can be found by using Ampere's
law integrated around closed contours
passing through the gaps. Hg = N(i H1 = Nil/d H2 = Ni2/d In the magnetic material, + i2 )/g These give
(a)
(b)
(c) the flux densities are B1
1
3
1
+
od
d
3 d
33 N2
2
o2Ni d
The flux linking the individual coils can now be computed as simply the flux through the appropriate gaps. For example, the flux A1 is
]
AX = ND[9,Hg + x1 Hl+(-x)B
(f)
which upon substitution from the above equations becomes the first terminal relation. The second is obtained in a similar manner. Part b
The co-energy is found by integrating, first on ii with 12 = 0 and then on i2withil fixed at its final value. Hence,
PROBLEM 3.17 (Continued) Wm= fldl + X2 di2 1 = (1+ i d2 g 4 +1 1 1 +-LoB(1 x d 4 )i + Lo (g)
1 L +1Lo
di L(1+d)i
2
Part c
(*-)
The force of electrical origin follows from the co-energy functions as, fe S=- 1 L Lo
ot
i 4 +1 Lo +---1 4 t
1 2
(h)
PROBLEM 3.18
Part a
Assuming simple uniform E fields in the gaps
E1 = (V -Vr)/g; E 2 E = E5 = Vr/d
=
'4
V /d = E3
)Q~9
60,~jOb
Vr
These fields leave surface charge-densities 'on the top electrodes
01 = Eo(Vt-Vr)/g ,
02 = c o Vt/d
a 3 = [a(V /d) + Co (V9/d)

04 = [a(Vr/d)2 + e ](Vr/d)
a 5 = C (V /d)
These urface charge densities cause net charges on the electrodes of

s 3
owb owLV V
= owb r
(-V)
d
wcL
+ aw(L-x)
)
V
(V
) +
Vr +
w(x-g)(d
Part b
1
W' =
2
qdV + f q1
o
q2= 0
o qrdVr
1 ow(L-x)d 4 wb
VV
Ew(b + ) -Ew(+-)ySV
d
Va
+ EW( +
f awl e owd
[
V Y. r
ci (x-)d (r) 4 d
Vr
V )
]
(pulled to side with more voltage)
PROBLEM 3.19
Part a
The rotating plate forms a simple capacitor plate with respect to the other two curved plates. are ignored. There is no mutual capacitance if the fringing fields
For example, the terminal relations over the first half cycle
of the rotor are

(ct+O)RDov1 -a<O<a; q
=
(a-e)RDeoV ; 2 0 Aa)
a<<-c-a;
l 12=
2aRDEoV 1
o ;
=
(b)
So that the co-energy can be simply written as the sum of the capacitances for the two outer electrodes relative to the rotor.
2 1 2 C1Vl +
2 1 2 C2v2
The dependence of this quantity on 6 is as shown below
dAID
.-
TTa.
PROBLEM 3.19 (Continued) Part b

The torque is the spatial derivative of the above function
Te
Part c The torque equation is then Jd dt where Te is graphically as above. PROBLEM *Part a The electric energy is
w where 3.20
Sd 2
2
Te e
= T
q2/C
(a)
EX
C = EA/d(l-+ C-) (b)
It follows that the force on the upper plate due to the electric field is, .-f=f
ffe
aW e
ax
1 --
2 E0 A
So long as the charge on the plate is constant, so also is the force.

Part b
The electric co-energy is
W'
Cv 2
(c)
and hence the force, in terms of the voltage is

_ffe aw'2 e = 1 ax 2
0
2 V2e2A 2
ix
d-E (l + c d
The energy converted to mechanical form is
f fe dx.
The contribution to this Hence,
integral from d+c and b+a in the figure is zero.
J2 d/e
Energy converted to mechanical form EOd/d

fe( 2 QX)d
oI +ddQ
d2 fe( o,x)dx
0
=- 3 Ac de
2c d/E
That is, the energy 3dQ /2Ac is converted from mechanical to electrical form.
PROBLEM 3.21
Part a The magnetic energy stored in the coupling is
W 1 X2 / L (a)
where L = L /(l + X)
Hence, in terms of X, the force of electrical origin is _f=fe= ax m x_/2aL 2 o (b)
PROBLEM 3.21 (Continued) Part b According to the terminal equation, i depends on (X,x) according to
S=
L
0
(1+ )
a
Thus, the process represented in the X-x plane has the corresponding path
i
n t
hU
e
i
-
A
p
lLL
ane
Path c
At the same time, from (b) is,
A,
the force traverses a loop in the f-x plane which,
LOD
--ID
F'
PROBLEM 3.21 (Continued) Part d

The energy converted per cycle to mechanical form is ffedx. Hence,
Energy converted to mechanical form =
fedx + fAfedx
(d)
= -(1 2 -_x)(X -X 1 )/2aLo 2
(e)
That is, (X2_

1)
the energy converted to electrical form per cycle is (X 2-X 1 )/2aLo. (Note that the energy stored in the coupling, summed
around the closed path, is zero because the coupling is conservative.) PROBLE 3.22 Part a The plates are pushed apart by the fields. Therefore energy is converted
from mechanical form to either electrical form or energy storage in the coupling as the plate is moved from Xb to X a . To make the net conversion
from mechanical to electrical form, we therefore make the current the largest during this phase of the cycle or, I >12 Part b
With the currents related as in part a, the cycle appears in the i-x plane
as shown
I-
1l,
-11
&
- T 'V
PROBLEM 3.22 (Continued) Quantitatively, the magnetic field intensity into the paper is H = I/D so that X = pIxh/D. Hence, S (xn - )
2
I
S'=
fe
aw' m =1 ax 2
o h
Because the cycle is closed, there is no net energy stored in the coupling,
and the energy converted to electrical form is simply that put in in mechanical
form:
B
Mechanical to electrical energy per cycle = fedx -
D
fedx (c)
A
I= J Part c
C -X)
2h 2 (d)
From the terminal equation and the defined cycle conditions, the cycle
in the
A-x plane can be pictured as
h1/t
--- C
7 _
The energy converted to electrical form on each of the legs is
PROBLEM 3.22 (Continued) p oIIlX h/D (A--+B) Ild =foI1Xbh/D oI2 h D D
ld =-
) XaXb
(e)
(B-.C) (B-+C)
-idX - id
j II h/D
X Io 2 a h XDdX X a 1 Xah lXh/Doa a
2
Xh oa (2 D
(f)
(C-D)
1 2d = 2
idX =
(Xa-Xb)
(g)
(D-+A)
2Db (o 2
2)
(h)
The sum of these is equal to (c).
Note however that the mechanical energy in
put on each leg is not necessarily converted to electrical form, but can be
stored in the coupling.
ROTATING MACHINES
PROBLEM 4.1 Part a

With stator current acting alone
the situation is as depicted at the
right. Recognizing by symmetry that we use the contour
Z(R+J
S10 +
Hrs(4rw)= -H rs()
shown and Ampere's law to get
2Hrs
+IrNs is g sin i'](R+g)dV' =
from which
Hrrs (i) s
s
N i cosQ s5 S
iN e
oi
2g
and
SNsi scostS
rs Part b Following the same procedure for rotor excitation alone we obtain
poN i cos(I-e) Brr() 2g 2g
Note that this result is obtained from part (a) by making the replacements
N
s s
-- P N
r
r
---
Part c
The flux density varies around the periphery and the windings are distributed,
thus a double integration is required to find inductances, whether they are found
from stored energy or from flux linkages. The total radial flux density is
B =rs + Brr rs rr 2g [Ni s cosi + Nri r cos(*-8)]
a r We will use flux linkages.
ROTATING MACHINES

Taking first the elemental coil
on the stator having sides of angular
span dip at positions I and *+i illustrated. of flux
as
This coil links an amount
dXa2(R+g) sin(R)d =
number of turns in elemental coil

ji N (R+g)t
flux linking one turn

of elemental coil
.+w
dA =
sindi
I[N i cosi' + N rr
cos(i'-P6d1' i
+ Nri sin(i-6)]dip
UoNs (R+g),
dA = sinV[N i sins To find the total flux linkage with the stator coil we add up all of the
contributions
poN (R+g)2 w 0 sin [N i g io (R+g)t N I g
A =
5
sisnp + Nri sin(*-6)]dt
rr
X
s This can be written as
[- N
2
ss
+- Ni cosa] 2 rr
As
where
L i S
+ Mi cosa r
m' N2RA
Ls =s
ml N N Rk
M = and we have written R+g osr
%R
because g << R.
When a similar process is carried out for the rotor winding, it yields
A = L i r
where Lr =
rr
+ Mi cosO s
oN2Rk
or
and M is the same as calculated before.
ROTATING MACHINES
PROBLEM 4.2
Part a
Application of Ampere's law
with the contour shown and use of the
symmetry condition
Hrs (~r)=-Hrs (i) yields 2H 2H
rs rs
(')g = Nsis (1se ss a
iT
); for 0 < for r <
< n
(')g = Ni (-3t 2);

7
<Z
f vZ
F-or 0 :-- Y -c
The resulting flux density is sketched

I)
(,
\,I
2 LI
Part b The same process applied to excitation of the rotor winding yields
B&,
Y1
S?- ) r" -
ROTATING MACHINES

Part c
For calculating inductances it will be helpful to have both flux densities
and turn densities in terms of Fourier series. is expressible as
The turn density on the stator
4N 4
rs (R+g) nodd
-- sin n
and the turn density on the rotor is

4N
n = -r 7w2R nodd
1 sin(q-9)
and the flux densities are expressible as

4jiNsi Brs = n cos ni 2 n2 B = cos n=r nodd n gn
Brr 1nodd .t
h t..T t
2
.lUfl
gn
2 cos n(i-O)
isl
e oU
aa
UJ.~
ux
ens
ty
=B
rs
+B
rr
First calculating stator flux

linkages, we first consider the
elemental coil having sides di
long and 7wradians apart dAXs
= n (R+g)di
Br (ip')(R+g)f(dt']
number of turns
flux linking one

turn of elemental
coil
Substitution of series for Br yields

d's = n (R+g)
2 2
81 N nodd i 2o gn
1881i
sin n + nodd
8N Nir
1r 3 r sin n(4-0)1 r gn
The total flux linkage with the stator coil is
32u N (R+g) Zi 32 oNs(R+g)

rg
r
0 odd
sinn
nodd
Ni -s s in n +
n nodd
Ni
- r rsin n(*-6) d#
ROTATING MACHINES

Recognition that
sin n* sin m(P-O)di = 0 when m # n

simplifies the work in finding the solution 321 a N (R+g)t s g nodd 7N i s4 2n +
WN i
rr 2n cos nO)
This can be written in the form S= where L i +
[
nodd
M cos nO i
16p N2 R9, s
=
3 S3g
16
nodd n
M
n
T gn
NsN rR 4osr
3 4
In these expressions we have used the fact that g << R to write R+g A similar process with the rotor winding yields + S= Li rr r
1 R.
[
nodd
M
n cos nO i s
where
Lr
16
3
2
1
nodd n 4
7 g
16p 4sRa
and M n is as given above.
PROBLEM 4.3
With reference to the solution of Prob. 4.2, sinusoidally distributed, Xs becomes if the stator winding is
32pN (R+g)t
s
0
g
Ba g
o
=
sin[Ni sin 'P + nodd 0 when n # 1
Ni r 3 r sin n(-)
n
d*
Because
Jsin
o
sin n(P-6)
3210N (R+g) 9,
F
o sin sNi sin * + Nir sin(-
a =
4g
d*
and the mutual inductance will contain no harmonic terms.

Similarly, if the rotor winding is sinusoidally distributed,
ROTATING MACHINES
PROBLEM .3 (Continued)
4
3210N (R+g)2.
s 4g
IT
o nodd
-s in n
Ni
n3 s Using
the orthogonal
Ni
+ Nrirsin(-8) d*
Using the orthogonality condition
sin n sin(P-e)d 32oN s (R+g)2. S =P0 when n#l
l"g
4g
o Lnodd n-
adsin ) -- sin 2 n + Nr ir sin sin(e- d )I
and the mutual inductance once again contains only a space fundamental term.
PROBLEM 4.4
Part a
The open-circuit stator voltage is
dX
vI
s dt
dt
M
-- cos nwi
nodd n
(M I
(t) nodd
Part b
-sin nwt
n
V
V
sn s
_1
n3
Vs
s3_=n -3 1 s =
27
4 percent
This indicates that uniform turn density does not yield unreasonably high values of harmonics.
ROTATING MACHINES

Part c
9J'ees)
PROBLEM 4.5
Given electrical terminal relations are
S= L i s s X + Mi r
cosO
cos6 + L i rr r = Mi s Select
System is conservative so energy or coenergy is independent of path.
currents and 6 as independent variables and use coenergy (see Table 3.1). Assemble system first mechanically, then electrically so torque is not needed in calculation of coenergy. for i and i we have
r s Selecting one of many possible paths of integration
ROTATING MACHINES
i W'(i, i ,) =
m s r
J As (i',O,e)di' + s
s
Ar(is,i',)di' rs0 r r
w'(ii m s'r
Te
PROBLEM 4.6
21 1 0r)= -! Li2 + Mi rs 2 s
2 cosO + 1 Lrir 2 r r
aW'(is, r,6)
m = - Mi i cosO
36 rs
The conditions existing at the time the rotor winding terminals are short-
circuited lead to the constant rotor winding flux linkages
Ar
= MI
This constraint leads to a relation between ir and is = i(t) MI i

r
= Mi
L
cos8+ L i
rr
0
[I -i(t)cosel ] r
The torque equation (4.1.8) is valid for any terminal constraint, thus
Te = -Mi i cos =
r
(t)[Io-i(t)cos]sin6
of The equation motion for the shaft is then
d26 2 dr 2 M2 L r i(t)[Io-i(t)cos68]sin
dt PROBLEM 4.7 Part a Coenergy is
W'(i si ',6) = -
1 2 1 2 L i + - L i + L ()i i sr sr 2 ss a 2 rr ii
s r
Te
Te
aW'(i m
i-iir
,i ,) r
dL sr(8)
dO
Do
[M1sinO + 3M3sin36]
Part b
With the given constraints
Te = -II rsinw t sinw t[M sin(w t+y)+ 3M sin3(wmt+Y)] 3
ROTATING MACHINES

Repeated application of trigonometric identities leads to:
Te = s r 4 sin[(W+ws-W) t+y]+ sin[(m +w )t+y] -w m s r mflL r
s -sin[(w m 3M I3I 4 +mw+r)t+y]-sin[(wm-ws )t+Y]3
r
sin[(3m+ ws -Or) t+3y]+ sin[(3wm-ws+
r)t+3Y]
-sin[(3w
r s
s++
r n
)t+3y]- sin[(3wm- -w
s
rsr
)t+3y]
To ave a time-average torque, one of the coefficients of time must equal

h zero. This leads to the eight possible mechanical speeds
w +w
t = + W + and + r
s-
For
Wm = +(Ws -
w )
sin y sin
Te avg For
MeIsIr
1
4 s
wm
+(Wts + w )
sin y
T avg For W = +
m Te 4
(ws 3
3M3I I
3 s
sin 3y
For
m Te PROBLEM 4.8
S=
( + w)
=
avg
3M31s1
rsin 3y
From 4.1.8 and the given constraints the instantaneous torque is

Te= -I M sinw t cos(w t+y)(I slinw t + I Repeated use of trigonometric identities leads to:
sin 3w t)
ROTATING MACHINES
II M
.
Cos[ (r+mW
s) t+Y]-cos[mr+W
t+
+ cos[(rW -Wm )t-y]-cos[(w -w +s )t-y]

rIs3M
4 s3
cos[ (wr+w -3w )t+y]-cos[ (o +w +3w )t+y]
+ cos[(W r-w -3ws )t-y]-cos[ (wr-m+ 3ws )t-y]l

For a time-average torque one of the coefficients of t must be zero. to eight values of w :
m
This leads
W For
= + W
-
r-
+ W
and
= + w
-
r-
+ 3w
= +(Wr-W
-tr
) s
II
Te avg For
S=
r sl1
4 cos
s)
+(r +
Te T avg
For
II M r sl
cos 4
W e
= +(W
3w )
IrIs3M
4
avg For w
m
= +(w
+ 3w )
s
Te Ir s3 T = avg 4 PROBLEM 4.9
II
M
cos y
Electrical terminal relations are 4.1.19-4.1.22.
For conservative system,
coenergy is independent of path and if we bring system to its final mechanical

configuration before exciting it electrically there is no contribution to the
coenergy from the torque term. Thus, of the many possible paths of integration
we choose one
ROTATING MACHINES
(Continued)
PROBLEM 4.9 i W' (i ia)
=
as
(i'
,0,0,0,8)di'
+ fibs bs(ias ib sO90,0)dibs

0
iarX (i
o 0
ar
0s as5ibs ,' ar ,,6)di' ar
4.1.19-4.1.22 in this expression yields The use of W, i as L i' i' + s as as J m o + iar(L ri'r ar L o iibs sS
sibs
+Mi as cos
+ Mi bs sin)di' ar
-+
0
br(Lrbr - MiassinO + Mibscos )dibr
Evaluation of these integrals yields
2 1 W'=-Li +-L sbs +-Li r at ++L r br 2 2 2 2 sas m + + Mia i cos8 M b i sine
- Miasibrsin 0 + Mibsibrcos
The torque of electric origin is then (see Table 3.1)

Te = Te
m(as
ibs
ar'ibr'19
-
Te = -M[ asiarsin PROBLEM 4.10 Part a
iibsiarcos +iasibrcos+.sibs
rsinO]
Substitution of currents into given expressions for flux density +4B B =B Br ra rb B r
1JN
o 2g [IaCos a t cos * + Ib sin wt sin 4] b
ROTATING MACHINES
Part b
Application of trigonometric identities and simplification yield.
uN Br r 2g [ I 2 cos(wt-i) + I 2 b cos(wt + 4)]
II
b + j- cos(wt-0)pN
B =
cos(wt + 4)]
)cos(wt+P)]
[(Ia+Ib)cos(wt- 1)+(Ia-I
The forward wave is B rf

=
1oN(I + Ib 4g 4g
cos(wt-0)
For constant phase on the forward wave

wt f = constant dt
The backward wave is

SN(I
Brb
For
- Ib) cos(wt + ')
rb
4g
wt + ' Wb Part c dt
= constant
=
-
The ratio of amplitudes is
B B
rbm rfm
I -I
Ia
I+L
ab
Sr rfm Part d When Ib - Ia
as
Ib
Brf = 0 This has simply reversed the phase sequence.
ROTATING MACHINES
PROBLEM 4.11
Part a
Br
= Bra + Brb
z NI
Br Part b
Using trigonometric identities
i NI
[cos wt cos * + cos --- [cos wt cos P + sin(wt + 8)sin*]
Br =
8 sin wt sin
q + sin B cos wt sin
$]
Br
Bo
cos(t-)+ cos(wt-*0+
cos(wt+r)
cos8
cos(wt+8) + cosB cos(wt-4)- -2-2 2 2
+ sinB sin8 n sin(wt+i)- 2 sin(wt-e)]
p NI
Br 4[
(l+cosB)cos(wt-*)-sinBsin(wt-)
+ (1-cosa)cos(wt+i$)+sinBsin(wrt+p) ]
Forward wave is i NI Brf = 4g [(l+cos8)cos (wt-p)-sinasin(wt-i)]
For constant phase

wt and
Wf
= constant
dt
Backward wave is
l NI
Brb
-w-{-(-cos)
cos(wt+-)+sin$sin (wt+l)]
For constant phase

wt + i = constant and
Ob dt
ROTATING MACHINES

Part c
The ratio of amplitudes is
rbm
-cos)
22
2
+ sin
Brfm
as 8 Part d rbm 0,
-
(1+cos8)
+ sin 8
1i-cos
l+cos8
-0..
rfm
=
The forward wave amplitude will go to zero when 8
W.
The phase sequence
has been reversed by reversing the phase of the current in the b-winding. PROBLEM 4.12
Equation 4.1.53 is
Pe =Vasias + Vbsibs For steady state balanced conditions we can write ias= I cos wt; ib = I sin wt
Vas = V cos(wt+4);
then
Pe
=
vbs = V sin(wt+)
VI[coswtcos(wt+$)+sinwt sin(wt+0)]
Using trigonometric identities

pe
=
VI cost
Referring to Fig. 4.1.13(b) we have the vector diagram
ROTATING MACHINES

From this figure it is clear that
wLsI cos (remember that 6 < 0) VE Then pe sin 6 = -Efsin
wL
which was to be shown.

PROBLEM 4.13
For the generator we adopt the notation for one phase of the armature circuit
(see Fig. 4.1.12 with current convention reversed)
A,
E-
The vector diagra
From the vector diagram XI sin' = Ef cos 6-V XI coso = Ef sin 6 Also, the mechanical power input is
EV
P = sin 6
Eliminating 0 and 6 from these equations and solving for I yields
ROTATING MACHINES
- 2
(-)
()
+ 1
V Normalizing as indicated in the problem statement we define

I = rated armature current
Ifo= field current to give rated voltage
on open circuit.
Po = rated power
I(f)
0
I fo
+ 1- 2
I fo
-()
2 P X 2
(P
(V
Injecting given numbers and being careful about rms and peak quantities we have
S= 0.431 f 0
If
2
+ 1 - 2
I
(-)
2
92
fo
fo
-3.
(-) 0
Ifo = 2,030 amps

and
= 3.00 S ) fo max
The condition that 6 =2 is
PX f = V-
f ( ) fo mi For unity p.f.,
PX
n
PX V2
2 =
1.98
P P
fo V
cos c = 1, sin Ef cos 6 = V
= 0 Ef sin 6 = IX
and
eliminating 6 we have
I o
V__
( )2 -1 o
of
S0.431
0
F
fo
ROTATING MACHINES

for 0.85 p.f.
Ef sin 6 = 0.85 IX Ef cos 6 - V = 1-(0.85) 2 IX
eliminating 6, solving for I, and normalizing yields
I
I - = 0.431
o
- 0.722]
[-0.527 +
(--) I
fo
This is double-valued and the magnitude of the bracketed term is used.

The required curves are shown on the next page.
PROBLEM 4.14
The armature current limit is defined by a circle of radius VI o , where Io is the amplitude of rated armature current. To find the effect of the field current limit we must express the complex power in terms of field current. Defining quantities in terms of this circuit
The vector diagram is
A
S
jx jx A
VE*-V22
A
P + jQ = VI* =
-ix
VEfe = X
V2
Palej anordire
-A
a te)
re-ld
CFIr e
(reI4
sto 1% ta~b ib bI
* -
zero p4.F
0.I
0.5
11.
2.0
1j,
ROTATING MACHINES

If we denote the voltage for maximum field current as Efo, this expression
becomes
P+JQ = -j
VEfo
fo
VEfo
sinS + j
fo
cos6
On a P+jQ plane this trajectory is as sketched below
P
t- L, 1W
0i
The stability limit (6= 2) current limit.
is also shown in the sketch, along with the armature
The capability curve for the generator of Prob. 4.13 is shown on the next
page.
P and Q are normalized to 724 MVA.
PROBLEM 4.15 The steady state deflection ip of the rotatable frame is found by setting sum of torques to zero Te + TS = 0 = Te - K* where Te is electromagnetic torque. Torque Te is found from This equation is solved for
i)
4.
ROTATING MACHINES
LLI
captb II
Ca"el
Problem
4.14/
ROTATING MACHINES
awe
Wm(il'i2i3'
and the magnetic coenergy for this electrically linear system is W' = - Li + -Li 2 1 m 2
21
2
2
+ - Li 2 3 3
+ Mili 3 cos (O-)+Mi i 3 sin($-9)

2
from which
Te = Mili 3 sin(4-t) - Mi 2 i 3 cos(4-1)
For constant shaft speed w, the shaft position is

0 = wt. Then, with 1 3 = 1o as given dX
-t
=
di
MI sin(wt-0)+L
-ilR
and
dX 2
d--
di
WMI cos(wt-p)+L dt= -i
2R
Using the given assumptions that
IL
we have
I-diRand
L
' dt <<-Ril 1
il 0MI
Ro sin(wt-0)
di
dt
i<<Ri
wMI
i2=e and the torque T is
cos(wt-9)
TMI Te = MIo(~)[sin2 (wt-9)+cos 2 (wt-)] Hence, from (1)
(MIo)
KR
which shows that pointer displacement 0 is a linear function of shaft speed w which is in turn proportional to car speed. Suppose we had not neglected the voltage drops due to self inductance. Would the final result still be the same?
ROTATING MACHINES
PROBLEM 4.16
The equivalent circuit with parameter values as given is
W 5
(L.
0)=.o3 XL
(L-.) -j 0.3 _n
=I Y00 'O
p.
:s0. <
%
From (4.1.82) the torque is
k2
e s
L
s
(-) (- ) (L-)v s
[w
(
l-k
)Lr 2+(Rr/s)
where k
M2 LL LL rs
and s =
-_m
t
s
Solution of (4.1.81) for I yields

s VR 2
VI
s
2)
R 2 (-r) + [wsLr(1-k
5s
volt-ampere input is simply (for two phases)
(VA)in = VIs
The electrical input power can be calculated in a variety of ways, the

simplest being to recognize that in the equivalent circuit the power dissipated
in, R /s (for two phases) is just ws times the electromagnetic torque, hence
in T s
Finally, the mechanical power output is

mech m
Numerical constants
These five quantities are shown plotted in the attached graphs. used in the computations are
ROTATING MACHINES
rEdetbon
/Vlace
Crves
foY
ProbleMvA
416
r -
OK
I)
4-oo
200
00
2160o
ZS620
'SL4'
LO
O.
0,
o,.7
0.o .s
0,
0O3
0..
-Sh1,
?oc
60C
9oo
0oc
C
I i i
Lo
0.9
0.6
0.7
04
OS
60
0, 4
t-
0.1
o0
~c .o
jLF
ROTATING MACHINES
PROBLEM 4.16 (Continued) w L ss = w L = wM + 0.3 = s r S = 0.878

4.80
4.5
= (-)
117
s
0.342 +
0.01
s
newton-meters
2 0.01 0.01
s 2
23.0 -+ Is
147 amps
(K.
0.342 +
smT =0.188 PROBLEM 4.17 Part a For ease in calculation it is useful to write the mechanical speed as wm = (l-s) and the fan characteristic as T With w m = -B
3 (1
-s)
= 120w rad/sec Bw3 = 400 newton-meters
The results of Prob. 4.16 for torque yields 117 400(1-s)3 = s
0.342 +
0.01
2
s
Solution of this equation by cut-and-try for s yields: s = 0.032 Then Pech = (400) (1-s) 3w = (400)(w )(l-s)4
Pmech = 133 kilowatts into fan
mech
input =
input
mech -s = 138 kilowatts 1-s
Circuit seen by electrical source is
ROTATING MACHINES
j0.3 K
jo.3
3o 3 -0
Input impedance is
Zln in
JO.3 + (j4.5)(3.13+j0.3) 3.13 + j4.8

= 100.60 -
= -2.79+j15.0 3.13+j4.8
in Hence,
56.80 = 43.80
p.f. = cos Part b
in = 0.72 lagging
Electromagnetic torque scales as the square of the terminal voltage,

thus
e
117
2
s
s 0.01
0.342 + 2 2
so
where V so
found from
/W 500 volts peak.

3
400(1-s)
The slip for any terminal voltage is now

117 2
V
s
s 0.01 (V= 0.342 + 0 2 so

s
The mechanical power into the fan is P e mech

=
400 wa (1-s) s
electrical power input is

Pmech
1-s
in
ROTATING MACHINES

and the power factor is of the circuit
found as the cosine of the angle of the input impedance
.'s
-j C
O,/I
These quantities are protted as required on the attached graph. PROBLE4 4.18
Part a The solution to Prob. 4.1 can be used to find the flux densities here.
For the stator a-winding, the solution of Prob. 4.1 applies directly, thus,
the radial component of flux density due to current in stator winding a is
ra(2)
()
2g
aocoss
Windings b and c on the stator are identical with the a winding except for the
indicated angular displacements, thus,
Brb Nsaib 2vr 2 cos('P- -) SoN i 2 2g cos((47 3)
Bb Brc($) rc
Cos
The solution in Prob. 4.1 for the flux density due to rotor winding current
applies directly here, thus,
B ( orr N io) rr2g rcos(Q-e)

2g
trr()
Part b
The method of part (c) of Prob. 4.1 can be used and the results of that analysis applied directly by replacing rotor quantities by stator b-winding quantities and 0 by 2w/3. g << R) The resulting mutual inductance is (assuming
ROTATING MACHINES
5i1I
L1KV)
PC vVF
0,7T5 150 I
250
Iooif
0.256
/IN
LJ
. v
5501
.s
(volrs oe-r
pFEAK)
L4Md10i Ldu o su
Ma"e,
LU tvesV _... _Y~ieC~e _-------
Proble.-K 4A7
ROTATING MACHINES
PROBLEK 4.18 (Continued)

L
N 2 29
= irp 0osRi 27r
2gab cos -
2g
4g
j N Re
os
ab
2
Note that
where Ls is the self inductance of one stator winding alone. Lac Lab because of relative geometry.
Part c
The X-i relations are thus
L a sa L L
L L
s b
2 L
si
+ McosOi
+ Mcos=Li
b~- 2- ia+Ls ib 2- ic + Mcos(e- 3)ir
Sc
Lsic
Mcos(O-
44w
--)i
2w
Xr = McosOia + Mcos(e- 32)ib + Mcos(6where from Prob. 4.1, L = s 2
2g
)i + Li 3 )ic + Lrr
1ri N2 R
wyo N N R.
2g
wup N2 R
L = r Part d
The torque of electric origin is found most easily by using magnetic
coenergy which for this electrically linear system is
or
2g
W'(iibii,)
m Ls(i 2
1 L (2
+ c
2 +
+
c)
+ 1 L(iib + ii + iic)+Mcosoi i
2 s a ac r a + Mcos(-
2w
-)it + Mcos(0- -)i ic

3 rcb o3 r
4w
The torque of.electric origin is
ROTATING MACHINES
Tae
Te
aW'(iLbi ,i ,e)
m= Mi(ia'sic ir
+ ibsin(87--)+ i sin(O- f)]
Te = -Mir[i sin
PROBLEM 4.19
Part a
Superimposing the three component stator flux densities from Part a
of Prob.
4.18, we have
Brs rs 2 Ns [i a cosa + ibcos(pb 2T)+ i cos(P- -)] 3 c 3
Substituting the given currents

Brs 2--)cos(W=oNs [I a cos wtcos + I b cos(wt- 3
2g 2) 3
+ I cos(wt- 3 -cos (P-T-)

Using trigonometric identities and simplifying yields
47
47
rs
oNs [( 2g
+ Ib + Ic cos(t 2
+ IbCOS + I cos )cos(Wt+)
+ (I
+ -(I
sin
sin 2 )sin(wt+)
Positive traveling wave has point of constant phase defined by

wt from which dt
This is positive traveling wave with amplitude
constant
yoN
rfm =4g (a b c Negative traveling wave has point of constant phase

wt + P = constant from which d_ = _ dt This defines negative traveling wave with amplitude
ROTATING MACHINES

oNs
B
b
rbm
IS
4g
(I
a2
2 )2 22
Ib+
2 2
2c
Part b When three phase currents are balanced I = I = I a b c and Brbm = 0 leaving only a forward (positive) traveling wave. PROBLEM 4.20 Part a Total radial flux density due to stator excitation is
oUN
Brs
= (i cos 21 + ibsin 2*)
rs
2g
UoN
Substituting given values for currents rs =Part b
(Ia cos wt cos
p+ I
sin wt sin 24)
+ Ib
Brs
b cos(wt-2*) + (a
)cos(wt+2q)
The forward (positive-traveling) component has constant phase defined by

wt - 24 = constant from which
d_~*w
dt 2
The backward (negative-traveling) component has constant phase defined by
wt + 21 = constant
from which
dt Part c
From part b, when IIa goes to zero. to zero. When Ib = b a -b = 0 and the backward-wave amplitude 2
a, Ia + Ib = 0 and the forward-wave amplitude goes
ROTATING MACHINES
PROBLEM 4.21
Referring to the solution for Prob. 4.20,
Part a
12N
Brs =-N (ia cos p rs 2g a
rs = Part b
Using trigonometric identities yields
N B I
+ i b sin p)
+ Ib sin wt sin p$)
(Ia cos wt cos pI
= _o rs 2g
+ I 2a b-)cos(wt-p$) +
Ia
Ib
cos(t+p4)
Forward wave has constant phase

wt - pp = constant from which dt p
Backward wave has constant phase

wt + pJ = constant from which dt Part c
From p'art b, when Ib = Ia to zero. When Ib
,
p
and backward-wave amplitude goes
- I b = 0,
a, Ia + Ib = 0, and forward-wave amplitude goes to zero.
PROBLEM 4.22
This is an electrically linear system, so the magnetic coenergy is
Wi(ii B) m(s, r Then the torque is
=!(L + L 2 cos 2)i2 +1 2 L r 12 + Mi r i s cos 6 r 2
Te PROBLEM 4.23
Part a
TW'(i 'i 8) 2 =-Mi is sin 6 - L 12 sin 20 r m 2 s r s T6
L
L
0
(1-0.25 cos 46 - 0.25 cos 88)
ROTATING MACHINES

The variation of this inductance with 0 is shown plotted below.
LO
lo
o0
30
40
so
Roroe
Posi rlov
o6 0 (ereEs)
70
80 B
ROTATING MACHINES
PROBLEM 4.23 (Continued) From this plot and the configuration of Fig. 4P.23, it is evident that minimum The wi,.... reluctance and maximum inductance occur when 0 = 0, w/2, i,... 7 ni 2 37r IT inductance is symmetrical about 0 = 0, ,... and about 0 = 4' + which ought as it should be. Minimum inductance occurs on both sides of e = to be maximum reluctance.
The general trend of the inductance is correct for the geometry of Fig.
4P.23 but the equation would probably be a better representation if the sign
of the 86 term were reversed. Part b
For this electrically linear system, the magnetic stored energy is
m Wm(XO)
2
1 X 2 L
wm
X2(1-0.25 cos 46 - 0.25 cos 80)
2L
The torque is
then e awm(X,0)
me
Te = Part c With X = A
(sin 40 + 2sin 80)
cos wt and 0 = Ot + 6 A 2 cos wt

6 [sin(4Qt+ 4 6 )+2 sin(80t+8 )]
o2L
Te
Repeated use of trig identities yields for the instantaneous converted power
rTe
PA
6 4L [sin(4it+4 6 ) + 2 sin(86t+8 )
sin(2wt + 49t + 46)+1 sin(4Ct - 2wt + 46)
+ sin(2wt + 8St + 86)+ sin(80t - 2wt + 86)] This can only have a non-zero average value when Q t in one argument is zero. S1 When S = + -2 [e Savg
-
# 0 and a coefficient of
This gives 4 conditions
+ W A o sin 46 8L
ROTATING MACHINES

and when
9 = + -

QA
avg [
2
4Lsin 86
PROBLEM 4.24
It will be helpful to express the given ratings in alternative ways. Rated output power = 6000 HP = 4480 KW at 0.8 p.f. this is 4480 -- 80= 5600 KVA total
4 0.8
or
2800 KVA per phase
The rated phase current is then
2800 x 10
Is Given:
Direct axis reactance w(Lo+L 2) = 4.0 ohms w(L -L2 ) = 2.2 ohms wL2 = 0.9 ohms We assume 2 poles.
s
3 3 xx 10
=933 amps rms = 1320 amps pk.
Quadrature axis reactance wL = 3.1 ohms
The number of poles is not given in the problem statement. Part a
Rated field current can be found in several ways, all involving cut-and-try
procedures. Our method will be based on a vector diagram like that of
thus
Fig. 4.2.5(a),
Do"IARY
Ais
) ,) ) AID MEAs UeFD

.4
Ls ro V AD os, r,E A-S

A/.
I~AL ais
ROTATING MACHINES

Evaluating the horizontal and vertical components of V s we have (remember that
y < 0)
Vs cos 6 = Ef cos( V sin 8 = Ef sin(
+ y) +
uL2 1scos(i + 2y)
+ y) + wL2 I sin(j + 2y) + wL0 I
Using trigonometric identities we rewrite these as

V cos 86= -Ef sin Y - wL I
s
sin 2y
V s sin 6 = Ef cos y + WL2Icos 2y +WLo1 Next, it will be convenient to normalize these equations to V s,
wL2I
cos 6 = -ef sin y V sin 2y
WL2I sin 8 = ef cosy +

s
wLoI
cos 2y +
where
E Ef
-ef =E V f
s
Solution of these two equations for'ef yields

wL I WLI 21 cos 2y os
2 s
V
s
sine-
f = -cos
ef =
cos y wL 2s
I
V sin 2y
sin y
For rated conditions as given the constants are: cos 0 = p.f. = 0.8 sin 6 = - 0.6 (negative sign for leading p.f.) WL2I V wL I
s = 0.964
-
= 0.280;
Solution by trial and error for a value of y that satisfies both equations
simultaneously yields
y = - 148"
ROTATING MACHINES
PROBLEN 4.24 '(Continued)

and the resulting value for ef is ef = 1.99 yielding for the rated field current
Ve
Ir =
where Vs is in volts peak.
Part b
24.1 amps.
The V-curves can be calculated in several ways.
Our choice here is to
first relate power converted to terminal voltage and field generated voltage
by multiplying (4.2.46) by w, thus
P = tTe f
2
EfV (Xd-X )V f-s sin 6 s sin 26 X 2X d X d dq = w(Lo+L2 )
where
Xd
Xq = w(Lo-L 2 )
We normalize this expression with respect to V /Xd, then PXd
-=
- e
f
sin 6 -
(Xd-X )
2X
sin 26
V2
Pull-out torque occurs when the derivative of this power with respect to 6 goes
to zero.
Thus pull-out torque angle is defined by
(
The use of (4.2.44) amplitude as
PXd
= -ef cos 6 -
(Xd-X)
cos 26 = 0 q
and (4.2.45) then yield the armature (stator) current
V Is = q A more useful form is sin 6)

2
V + d
s cos 6
E d
V Is
d
2
q
sin 6) + (cos 6-
ef)2
The computation procedure used here was to fix the power and assume values of
6 over a range going from either rated armature current or rated field current
to pull-out. For each value of 6, the necessary value of e is calculated
ROTATING MACHINES
PROBLEM 4.24 (Continued) from the expression for power as PX - + V2 V ef

s
(Xd-X) 2X sin 26 q
-sin 6 calculated from
and then the armature current magnitude is V I s For zero load power, X d X Xd sin 6) q
2
+ (cos 6 - e f )2 from the vector diagram given earlier,
y = 0 and 6 = 0 and,
the armature current amplitude is
SIv
- Efl
w(Lo+L
2 )
The required V-curves are shown in the
with pull-out still defined as before. followinggraph.
Note that pull-out conditions are never reached because range of
operation is limited by rated field current and rated armature current.

PROBLEM 4.25 Equation (4.2.41) is (assuming arbitrary phase for Is ) Vs =J L
With y = 0 as specified Vs = jw(Lo+L2)I + JWMIr
+ jWL2 Is ej
+ JMIr er2e
The two vector diagrams required are
v5ri
.\A
4A
Lo
I tJo
V5>J
ri VE_
CAW
V3 4
ROTATING MACHINES
V- CIRVE-S
A RMATuVE
aupeEA/r
Foe .RoIEM
4,Z4
(AMPs I MS)
1coo
AReM~ril~E
CuI~EjLv
::333 AAMeS JE'M
o600
03
FIELD
C U eEN I-
(AMPS~
&V~i 4,i AMPA. =2
ROTATING MACHINES
PROBLEM 4.26
Part a
From Fig. 4P.26(a)
1
_
e +
j.
VS
jXs
from which the ratio of the magnitudes is

1
Asl
N/
cosol2+1 sino + xs 2
For the values Y =0.01 mho, Xs = 10 ohms
i_
100
2
s^I J(100 cos)

Then, for 0 = 0 100=
+ (100 sin+10)2
0.995
IVs
and, for
V1l0,000 + 1O
= 45*
S 100 s
Part b
0.932
2+ (-i
+ 10)2
It is instructive to represent the synchronous condenser as a susceptance

jB, then when B is positive the synchronous condenser appears capacitive. circuit is
Now the
'Xs
ROTATING MACHINES
Now the voltage ratio is

1
V Ye-+
jB jB
V Vs
V
V
Ye-+
+ +1
1
jxs
1 + jXYe
JXs
-BXB x s
5-s
Then
lsl
For C = 0
1-BXs
Ysin)2+(X YCosO)2
x+X
JL
Il
If this is to be unity
2 (1-BXs)2 + (X Y)
(1-BXs ) 2 + (X Y)2 = 1 1-BX = 11-(X Y)2 1- (XsY)

s for the constants given
B=
1- l-0.01 10
0.005 10
0.0005 mho
Volt-amperes required from synchronous condenser

(VA)sc = Real power supplied to load
PL Then (VA)sc P For B Y 0.0005 = 0.05 0.01
f
V 2B B
(2)(1010)(5)(10-4) = 10,000 KVA
12 Y cos
=i
2 Iy
for O
= 0 the synchronous condenser needs to supply reactive volt ampere5 equal to
5 percent of the load power to regulate the voltage perfectly.
77
ROTATING MACHINES
PROBLEM 4.26 (Continued) For
= 45*
A1
IV
I
-
2
+
2 +
BX In order for this to be unity

1-BX
+X Y
1+ s
B =
\ 1s
jX Y 2
21s
For the constants given

B = 1 + 0.0707 - V1-0.005 = 0.00732 mho 10
Volt-amperes required from synchronous condenser (VA)s = VB = (2)(1010)(7.32)(10

-
3
) = 146,400 KVA
Real power supplied to load
P
Then
IV1 2Y cos # =
for O = 450
(VA)sc PL ....
B2 Y
(/2) (0.00732) 0.01
1.04
Thus for a load having power factor of 0.707 lagging a synchronous condenser needs
to supply reactive volt-amperes equal to 1.04 times the power supplied to the
load to regulate the voltage perfectly.
These results, of course, depend on the internal impedance of the source.
That given is typical of large power systems.
PROBLEM 4.27 Part a This part of this problem is very much like part a of Prob. 4.24. results from that problem we define
Using
ROTATING MACHINES

ef, where V
S
Ef Ef V
s
wI
rI r V
s
is in volts peak.
Then
WL2 I s
wL I
2y
V
sin 8 e f=
2 sos
V
s
cos y
wL I
cos
-cos 8
s
sin 2y
sin y
ef = From the constants given

cos 0 8 1.0;
sin 8 = 0 wL2 = 0.5 ohm
WLo = 2.5 ohms

Rated power
PL
=
1000
= 746 KW
Armature current at rated load is

I = 746,000 /2 1000 = 527 amps peak = 373 amps RMS
s
Then
wL I S0.186;
5
wL I
os -s = 0.932
Using the constants

e =
-0.186 cos 2y - 0.932 cos y -1 - 0.186 sin 2y sin y
ef
The use of trial-and-error to find a value of y that satisfies these two equations simultaneously yields
Y = - 127* and ef = 1.48
Using the given constants we obtain

I
efVs (1.48) (/2)(1000) = 1

wM 150
14.0 amps
For Lf/Rf very large compared to a half period of the supply voltage the field
ROTATING MACHINES

current will essentially be equal to the peak of the supply voltage divided by
the field current; thus, the required value of Rf is
R I A r Rf = Is= r Part b
We can use (4.2.46) multiplied by the rotational speed w to write the
output power as
E V P
=
(1000) N (1000) 14.0
100 ohms
WT e
sin 6 -
(X-X)V q s
2
sin 26
L
where
Xd
Xd q
Xd = w(Lo+L 2 ) = direct axis reactance Xq= (L -L2 ) quadrature axis reactance
With the full-wave rectifier supplying the field winding we can express
E Then PL
= -
= WMI WM V2
f
(Xd-X)V
2 2
- sin 6 RfXd
sin 26
X xq
2 Factoring out V s yields
2=
sV
RM sin 6 RfXd
2 XdXq
Xdq
sin 2
Substitution of given constants yields

746 x 103 V 2 [-0.500 sin 6 - 0.083 sin 26]
To find the required curve it is easiest to assume 6 and calculate the required
Vs, the range of 6 being limited by pull-out which occurs when
aP
S=
0 = - 0.500 cos6
- 0.166 cos 26
The resulting curve of 6 as a function of V s is shown in the attached graph.

Note that the voltage can only drop 15.5% before the motor pulls out
of step.
-3
ROTATING MACHINES
PULL
6o
OUr
40.
0 raD
VoL4 4L E
C)
00
__
Zoo
400
o00
J 4&s
1000
2C0
Rviw-ruvE vo/-rs
Although it
was not required for this problem calculations will show that
operation at reduced voltage will lead to excessive armature current, thus,

operation in this range must be limited to transient conditions.
81
ROTATING MACHINES
PROBLEM 4.28
Part a
This is similar to part a of Prob. 4.24 except that now we are considering
a number of pole pairs greater than two and we are treating a generator. Consider
ing first the problem of pole pairs, reference to Sec. 4.1.8 and 4.2.4 shows that
when we define electrical angles ye and 6 e as
Ye = P and 6e 6
where p is number of pole pairs (36 in this problem) and when we realize that the electromagnetic torque was obtained as a derivative of inductances with respect to angle we get the results Te =
V Ef
sf Xd sin 6 e
p(Xd-X
V2
s sin 26 e
d q w2XdXq
where Xd = w(Lo+L 2 ) and Xq =
m(Lo-L2), and, because the synchronous speed is w/p
(see 4.1.95) the electrical power output from the generator is V P = p

=
E
(X -X )V2 + e
- sin 6 Xd
2X
2XdXq
sin 2& e
by -I
Next, we are dealing with a generator so it is convenient to replace Is

in the equations. To make clear what is involved we redraw Fig. 4.2.5(a)
with the sign of the current reversed.
EAL
A15
-.1
IA I,
ROTATING MACHINES
PROBLEM 4.28 (Continued) Now, evaluating horizontal and vertical components of Vs we have V cos 6 - wL2Is sin 2Ye = Ef sin Ye + wL 2 I s cos
2
-Vs sin 0 = WLO From these equations we obtain oL2I cos 8 ef sin y
ye + Ef cos Ye
sin 2ye
wL I
wL2I s cos 2
-sin ef =
O s
cos Y
where
Ef
ef V
s
MI
, V
5
with
in volts peak
I s in amps peak w is the electrical frequency For the given constants cos wL2I s =-p.f. = 0.850 sin
e = 0.528
=1.00
wLoIs
V and
ef =
0.200
V s
0.850 - 0.200 sin 2ye sin Y -1.528 - 0.200 cos 2ye
ef =
os ye
Trial-and-error solution of these two equations to find a positive value of

Ye that satisfies both equations simultaneously yields
ye = 147.50 and ef = 1.92
From the definition of ef we have
I = U = (1.92)()(0,000) (120) (7) (0.125) = 576 amps
wM
ROTATING MACHINES

Part b
From Prob. 4.14 the definition of complex power is
VI*
ss
P+
jQ
where V
and I
are complex amplitudes.
The capability curve is not as easy to calculate for a salient-pole

machine as it was for a smooth-air-gap machine in Prob. 4.14. (Xd-X )V2 sin 6 + d q 2XdX q e It will be easiest
to calculate the curve using the power output expression of part a

VE P = -Xd the facts that sin 26
P = V I
as
ss
cos 8 sin 6
Q= V I
and that Is is given from (4.2.44) and (4.2.45) as

V
Is = sX sin 6e)
2 e
+
V
s cos 6 X e
E 2 d
First, assuming operation at rated field current the power is P = 320 x 106 sin 6 We assume values of 6
e
+ 41.7 x 10 6 sin 26
watts.
starting from zero and calculate P; then we calculate Is

for the same values of 6 from
e s = 11,800 (1.50 sin 6 ) e + (cos
-1.92)
amps peak
Next, because we know P, Vs, and Is we find 6 from cos 8 = P
VI
ss
From 6 we then find Q from Q= VI sin 8.
This process is continued until rated armature current I is reached. The next part of the capability curve is current which defines the trajectory
limited by rated armature = /i 10,000 amps peak
ROTATING MACHINES
rP2 2
where V
and I
are rated values.
For Q < 0, the capability curve is limited by pull-out conditions

defined by the condition
dP = 0 e V Ef s f
2 (X -X )V d q a cos 26 cos 26
cos 6 + e e XX e
dq
dd
To evaluate this part of the curve we evaluate ef in terms of 6e from the power
and current expressions
PX V2 ef f
s
(X -X ) (XdXq) sin 26 e 2X sin 6

e IX 2
-
2 sin 6e)
ef = cos
e-
(Isd
s
(
q
For each level of power at a given power factor we find the value of 6e that simultaneously satisfies both equations. used in the stability criterion
The.resulting values of ef and 6e are
dP=a dS e
dP V2e
Xd
f cos 6 + e
(Xd-X )Vs
d q X X
cos 26
d q
e-
> 0
When this condition is no longer met (equal sign holds) the stability limit is reached. For the given constants - 0.25 sin 26 e
167 x 10 6 ef = sin 6
e
I
ef
2
- (1.5 sin 6 )2
cos 6 e e f
11,800
e
dP dd
cos 6
+ 0.5 cos 26
> 0
e-
The results of this calculation along with the preceding two are shown on the
attached graph. Note that the steady-state stability never limits the capability.
In practice, however, more margin of stability is required and the capability in

the fourth quadrant is limited accordingly.
ROTATING MACHINES
FIELD
P'I.E 1
REAL
lPOIAE (MW)
tso
A~eMtArTeE
CU~I~
SirABlLTry LIMiT
ROTATING MACHINES
PROBLEM 4.29
Part a
For this electrically linear system the electric coenergy is
We(v 2,6)
=
1 2
2 Co(l + cos 26)v 1
1
+-
Co(l + sin 26)v 2
The torque of electric origin is
T Part b With v
3We(vl'V2'8)
29 e
= c
2 'v
22 cos 26 - v sin 26)
= V
cos wt; v2 = Vo sin wt
Te = C V2(sin2 wt cos 2e - cos 2 wt sin 28)

Using trig identities
C V2
Te
-~o2[cos 26 - cos 2wt cos 26 - sin 28 - cos 2wt cosZO]
C V2 C V2
-
Te
o- (cos 26 - sin 26)
[cos(2wt-26) + cos(2wt + 26)]
Three possibilities for time-average torque:

Case I:
Shaft sitting still at fixed angle 6
Case II:
Shaft turning in positive 6 direction
6 = Wt + y
where y is a constant Case III:

Shaft turning in negative 6 direction
=w where 6 is a constant.
Part c
The time average torques are:
Case 1:6 = const.
2 C V
t + 6
<Te>
-- (cos 26 - sin 28)
ROTATING MACHINES

Case II: 6 = wt + y <Te> Case III: 0 = - wt + 6
2
C V
<Te>_ oo cos 26
2 C V o
cos 2y
PROBLEN 4.30
For an applied voltage v(t) the electric coenergy for this electrically
linear system is
W'(v,e) = -(C
+ C1 cos 26)v
The torque of electric origin is then
aW'(v,6)
Te = For v ee
=
C I sin 20 v2
= V o sin wt
T e = - C V2 sin2wt sin 2e
1 o
Te = Te -
C V2 o2(sin 20- cos 2wt cos 26)

2 2
C1V
2
CV
o=sin 28 +--
o [cos(2wt-20) + cos(2wt+26)]
For rotational velocity wm we write
8 = and then
Te
2 C V
t +y m
12o sin 2(wmt + y)

C1 V
+1
2
{cos[2(w-wm)t-2y]
+ cos[2(w+wm)t + 2y]}
This device can behave as a motor if it can produce a time-average torque for w
m
= constant.
This can occur when

W m = + W
LUMPED-PARAMETER ELECTROMECHANICAL DYNAMICS
PROBLEM 5.1
Part a The capacitance of the system of plane parallel electrodes is
C = (L+x)dEo/s (a)
and since the co-energy W' of an electrically linear system is simply -CCv
(remember v is the terminal voltage of the capacitor, not the voltage of the
driving source)
fe 9W' ax I dEo 2
2 2
- --- v
(b)
The plates tend to increase their area of overlap.

Part b
The force equation is
d2 x dtdt
2
=-Kx +
1 dEo
2 s
while the electrical loop equation, written using the fact that the current
dq/dt through the resistance can be written as Cv, is
dE v]+ V(t) = R d-(L+x)v (d)
v These are two equations in the dependent ariables (x,v).
Part c
This problem illustrates the important point that unless a system
involving electromechanical components is either intrinsically or externally
biased, its response will not in general be a linear reproduction of the
input. The force is proportional to the square of the terminal voltage, which Hence, the equation of motion is
in the limit of small R is simply V2(t).
(c) with
V
2
v 2 u2(t) u= (t)
1
=
o (1-cos 2wt)
(e)
2 where we have used the identity sin 2t the equation of motion is normalized
(1-cos 2wt).
For convenience
PROBLEM 5.1 (Continued) d2x d2 dt where 2 = K/M ; a = V2 d E/4sM

o 0 0
2 x = aul(t)(l-cos2wt) o
To solve this equation, we note that there are two parts to the particular
solution, one a constant
x= 2
and the other a cosinusoid having the frequency 2w. part solve the equation
To find this second
2 dx +
dt for the particular solution
x =
2
2 x=- Reae 2jwt 2

o
-acos 2wt
2 W _ 4 2
o
The general solution is then the sum of these two particular solutions and the
homogeneous solution t > 0
x(t) a 2 o a cos 2wt a cos 2t + A sinw t + Bcosw t o
o 2 2 _ O
(j)
The constants A and B are determined by the initial conditions. dx/dt = 0, and this requires that A = 0.
At t=0,
The spring determines that the initial
position is x = 0, from which it follows that

2 2 2 2 B = a4w /w (W - 4w )
Finally, the required response is (t > 0)

( -) cos ot
x(t) = 2
0
cos 2wt
1-( 2]
0
PROBLEM 5.1 (Continued) Note that there are constant and double frequency components in this response,
reflecting the effect of the drive. In addition, there is the response
No
frequency w0 reflecting the natural response of the spring mass system. part of the response has the same frequency as the driving voltage.
PROBLEM 5.2
Part a
The field intensities are defined as in the figure
t,
Ampere's law, integrated around the outside magnetic circuit gives

(a)
2Nli
= H1 (a+x) + H 2 (a-x)
and integrated around the left inner circuit gives

N1il - N2i2 H 1 (a+x) - H 3 a (b)
In addition, the net flux into the movable plunger must be zero 0 = H1 - H2 + H 3 (c)
and
These three equations can be solved for H1, H2 and H3 as functions of i 1 12 . Then, the required terminal fluxes are A, = NlPodW(H1+H2) X2 = N2p dWH 3 Hence, we have N 1 2 o dW 2 [il6aN 1 + i2 2N2x] (d) (e)
(f)
12 =
2 Part b
[ il2N1x + i22aN 2 2- 2 i 1 2 1 2 2
3a -x
(g)
To use the device as a differential transformer, it would be

excited at a frequency such that
2w
<< T -where T is a period characterizing the movement of the plunger.
(h)
This means
that in so far as the signal induced at the output terminals is concerned,

the effect of the motion can be ignored and the problem treated as though x
is a constant (a quasi-static situation, but not in the sense of Chap. 1).
Put another way, because the excitation is at a frequency such that (h) is
satisfied, we can ignore idL/dt compared to Ldi/dt and write
dA2 dt w2N1N2 odWxI o o sin wt 2_x2
(3a -x )
At any instant, the amplitude is determined by x(t), but the phase remains
independent of x(t), with the voltage leading the current by 90%. By
design, the output signal is zero at x=0O and tends to be proportional to x over
a range of x << a. PROBLEM 5.3
Part a
The potential function which satisfies the boundary conditions along
constant 8 planes is
=vO
(a) The constant
where differentiation shows that Laplaces equation is satisfied.
has been set so that the potential is V on the upper electrode where 8 = i, and zero on the lower electrode where 0 = 0.
-
Then, the electric field is

_-_ v
1 3
=E V =-i Part b
0 r ;3E
6 ri
(b)
The charge on the upper electrode can he written as a function of (V,p)

by writing
S= DE b V -dr ip 0 fa DE V I
I(T )
(c)

Part c Then, the energy stored in the electromechanical coupling follows as W = Vdq = dq
q
(d)
Deoln( )
and hence
DE ln( )
T
Part d
aW
1 q2 I 2 2Doln( b )
(e)
The mechanical torque equation for the movable plate requires that the
inertial torque be balanced by that due to the torsion spring and the electric
field
2 Jd29 2 dt
a(*o o
2
2
12 b
Dc ln()
The electrical equation requires that currents sum to zero at the current node,
and makes use of the terminal equation (c).
dO
dt Part e
dq +
dt
d
dt
q
ln(
g)
o
With G = 0, Q(t) = q(t).
(This is true to within a constant, corresponding We will assume that this constant
to charge placed on the upper plate initially. is zero.) Then, (f) reduces to
d2+ d2
a
J
a o
0O
o
(l+cos 2wt) (h)
JDEo ln(-) a
2 1 where we have used the identity cos t =-2(1 + cos 20t).
solution with a constant part 2
dt
is equation has a This equation has a
1 4S 41
o
b aDE ln () o a
(i)
and a sinusoidal steady state part

Q
cos 2wt
J4Dol n(b)[
J
a
- (2w)2
LUMPED-PARAMETER
ELECTROMECHANICAL DYNAMICS

as can be seen by direct substitution. The plate responds with a d-c part and a
As can be seen from the
part which has twice the frequency of the drive.
mathematical description itself, this is because regardless of whether the upper

plate is positive or negative, it will be attracted toward the opposite plate
where the image charges reside. The plates always attract. Hence, if we wish
to obtain a mechanical response that is proportional to the driving signal, we

must bias the system with an additional source and.used the drive to simply
increase and decrease the amount of this force.
PROBLEM 5.4
Part a
The equation of motion is found from (d) and (h) with i=Io, as given in
the solution to Prob. 3.4.
d2 dx Mdt
= Mg-
12 (N vaw) 1 o(a)
Io
2
da( da 2 (+ x)
Part b
The mass M can be in static
equilibrium if the forces due to the
field and gravity just balance, f or Mg =. 1 = 2

2 o (N2 oaw) g
= f
da
2 + x)
2
Y
A solution to this equation is shown

graphically in the figure. The equilibrium is statically unstable because if
the mass moves in the positive x direction from xo, the gravitational force
exceeds the magnetic force and tends to carry it further from equilibrium.
Part c
Because small perturbations from equilibrium are being considered it is
appropriate to linearize. in (a) to obtain
We assume x = x +x' (t) and expand the last term
1 -- I2 (N 2 V aw) + o da + + 2 + 2 (N 2 oaw)
(b
X) o
o (-b
da +
Xo) 0
x' + ...
(c)
(see Sec. 5.1.2a).
The constant terms in the equation of motion cancel out by
virtue of (b) and the equation of motion is
2d~x d x dt 2
2 x'
I12 (N2 = O; a (-+
oaw) (d) x )M
Solutions are exp + at, and the linear combination which satisfies the given initial conditions is
V
x
PROBLEM 5.5 Part a
ea-
ea]
(e)
For small values x relative to d, the equation of motion is

of
M
which reduces to
2 d2x
dt
QO
1 o [2
d
2x d
3
1 d
2x
d'
(a)
-d2x + dt 2
2 x = 0 where w 2 = Qo_1 0 Ned 3 0
(b)
The equivalent spring constant will be positive if
QolQ 0 Q > rcd
(c) The system is stable if the
and hence this is
the condition for stability.
charges have like signs. Part b The solution to (b) has the form x = A cos w t + B sin w t
o o
(d)
and in view of the initial conditions, B = 0 and A = x .
95
LUMPED-PARAMETER ELECTRCOECHANICAL DYNAMICS
PROBLEM 5.6
Part a Questions of equilibrium and stability are of interest. equation of motion is written in the standard form
M where V = Mgx - W' (b)
d2
Therefore, the
dt
x 2
V ax
(a)
Here the contribution of W' to the potential is negative because Fe = aw'/ax. The separate potentials are shown in the figure, together with the total potential. From this plot it is clear that there will be one point of static
equilibrium as indicated.
Part b
An analytical expression for the point of equilibrium follows by setting
the force equal to zero
av
Solving for X, we have
2L X
~ 3x
Mg +
2LX
0
b4
(c)
1/3
x =-
[
2L I
(d)
Part c
It is clear from the potential plot that the equilibrium is stable.
PROBLEM 5.7 From Prob. 3.15 the equation of motion is, for small 0 J K+
2
dt2
DN2 In(
)I2
46
)3
(a)
Thus, the system will have a stable static equilibrium at 0 = 0 if the

effective spring constant is positive, or if
21
2
DN
K > -
3 )
in(
(b)
LUMPED-PARAMETER ELECTROMECHANICAL DYANAMICS
IV
/1 /I
I I
1/
(~)
.a\e s +C c k-, , "v W
Figure for Prob. 5.6
LUMPED-PARAMETER ELECTRCMECHANICAL DYNAMICS
PROBLEM 5.8
Part a The coenergy is
W' =
o
1 ) 1(iO,x)di'
+ 12 X (il,i',x)di'
o
(a)
which can be evaluated using the given terminal relations

' = [
T-1
+ Mil2
M1 2
L2i/(
+ x
(b)
2 L2 i2
If follows that the force of electrical origin is

fe = aW' fe Part b
The static force equation takes the form
= _fe Mg or, ith i2=0 and il =I,
w 2 1 (d) 2 3 a[Llil
+ +
2Mil2
2i/ 2i/( +
(c)
3
2a
L1
[1 + --o
Mg
required equilibrium position X Solution of this equation gives the Xo 1 1/4 L I
Part c
= [
2a
_ _ ]
Mg
- 1
(f)
For small perturbations from the equilibrium defined by (e), M
d2 x x,
2
6L 1 6L 2
x'
+
dt
X 5
o) a
= f(t)
(g)
where f(t) is an external force acting in the x direction on M. With the external force an impulse of magnitude I at rest, one initial condition is x(O) = 0. equation of motion form 0 the to 0
+
and the mass initially
The second is given by integrating
+ dt
0
+ od 0 dtl)dt - constant f 0x'dt dt

0
+ I. 0= .0 (t)dt
0
(h)
0a
The first term is the jump in momentum at t=0, while the second is zero if x is to remain continuous. By definition, the integral on the right is Hence, from (h) the second initial condition is 0
MA
Mo
()
0o
In view of these conditions, the response is
= X'(t)
(e - e )
I2
117.
x o 5 aLl2aM'
where
a = LI2/a2M (1 + o
Part d
With proportional feedback through the current 12 , the mutual term in
the force equation makes a linear contribution and the force equation becomes
d2x' 6L12 "4t
sr ~=
M-
2[[
X a 2 ( 1 + ao-)5-
"a
]x'
= f(t)
0 dt
The effective spring constant is positive if X% ? aI > 2L I /a (1 + -- ) M

1 a
and hence this is the condition for stability. Part e
However, once initiated
oscillations remain undamped according to this model.

) With a damping term introduced by the feedback, the mechanical
&5ee \
equation becomes
M where
K d2 x' 3MI4 + a Sdt dx'
- + K x' = f(t)
e
t
3MIa
2suX fho
the 5 a
of the form exp st, where substitution shows that
(3MVI61
2aMo,
6L 1
3:,4
-G LtI
This equation h ias soluttns
s = 3MIB + 3M
2aM -
e Mo
(n)
For the response to decay, K must be positive (the system must be stable with
e out damping) and 6 must be positive.
23~4
n~IT
> I- Ohc-
Ic~ic~P
tFo
'7
'7
LUMPED-PARAMETER ELECTRCMECHANICAL DYNAMICS
PROBLEM 5.9 Part a

The mechanical equation of motion is
M
d 2x
K(x- )-B
dt
S2
dt
fe
(a)
Part b
where the force fe is found from the coenergy function which is (because
the system is electrically linear) W' = fe = 3W'= 3 f = ax 2

Part c
Ax 2 Ax i
1
Li
1
=
32
Ax i (b)
(b)
We can both find the equilibrium points X0

and determine if by writing the linearized equation at the outset. and (a) and (b) combine to give
they are stable
Hence, we let x(t)=X +x'(t)
d2 x' Md x
dt2 dt
- K(Xo-Po)-Kx' - B
0 0
dx'
dt
2 2 3 + - AI (X + 2X x') 0 + o 2
(c)
With the given condition on 1o, the constant (equilibrium) part of this equation
is
X o o
3X2
o 16Z (d)
0
which can be solved for X /Z, to obtain
o o
x o
1/3
12/3
(e)
The perturbation part
That is, there are two possible equilibrium positions. of (c) tells whether or not these are stable. of Xo and the given value of Io, becomes
2 M d x' dt_2
That equation, upon substitution
-K[l- (
3/2
1/2
)]x'
- B
dx'
dt
(f) Hence,
where the two possibilities correspond to the two equilibrium noints.
we conclude that the effective spring constant is positive (and the system is stable) at XO/k = 4/3 and the effective spring constant is negative (and hence the equilibrium is unstable) at X /0o = 4.
Part d The same conclusions as to the stability of the equilibrium noints can be
made from the figure.
Consider the equilibrium at Xo = 4.
A small displacement to the right makes
the force fe dominate the spring force, and this tends to carry the mass
further in the x direction. Hence, this point is unstable. Similar arguments
show that the other point is stable.

PROBLEM Part a The terminals are constrained to constant potential, so use coenergy found from terminal equation as W' = qdv = -4
2o
5.10
(l + cos 2e)V2
o
Then, since Te = aW'/ae and there are no other torques acting on the shaft, the total torque can be found by taking the negative derivative of a potential V =-W', where V is the potential well. the figure. A sketch of this well is as shown in
JUMPED-PARAMETER ELECTROMECHANICAL DYNAMICS
I
SSa~b\C ~c~-.$ c~;~lb~;a
Here it is
clear that there are points of zero slope (and hence zero torque
and possible static equilibrium) at
e = o0 o 7 ,
Part b
3r
From the potential well it is clear that the first and third equilibria
are stable, while the second and fourth are unstable.
PROBLEM 5.11
Part a
From the terminal pair relation, the coenergy is given by
Wm (ii,i2'e)= (Lo+M cos 20)il + (Lo-M cos 20) 2 + M sin 2i ili 2
so that the torque of electrical origin is

T e = M[sin 20(i 2 -i ) + 2 cos 26 ili 2
1 21
2 11 Part b For the two phase currents, as given,
1 i _i 1 2
2 2
12
cos 2w t s s
i1
1
1 sin 2w t
so that the torque Te becomes
PROBLEM 5.11 (Continued) MI 2 [-sin 20 cos 2w t + sin 2wst cos 20]
Te or
(d)
Te = MI2sin(2 s t - 20)
(e)
Substitution of 6 Te
T=
w t + 6 obtains
m
2
- MI sin[2(wm-w)t + 2]
(f)
and for this torque to be constant, we must have the frequency condition
W
m
=W
s
(g)
under which condition, the torque can be written as

Te = - MI2 sin 26 Part c
To determine the possible equilibrium angles 60, the perturbations and time derivatives are set to zero in the mechanical equations of motion. T
o
(h)
= MI 2 sin 26
(i)
Here, we have written the time dependence in a form that is convenient if

cos 260 > 0, as it is at the points marked (s) in the figure. points are stable. Hence, these
At the points marked (u), the argument of the sin function and the response takes the form of a sinh
and the denominator are,imaginary, function.
Hence, the/equilibrium points indicated by (u) are unstable.

For there
Graphical solutions of this expression are shown in the figure.
to be equilibrium values of 6 the currents must be large enough that the torque can be maintained with the rotor in synchronism with the rotating field. (MI > T )
MAI 2
r
76
maa
VIA

Returning to the perturbation part of the equation of motion with wm = us, J 2 (Wt + 6
dt
2
+ 6') = T
o o
2 + T' - MI
sin(26
o
+ 26')
(j)
dt
linearization gives
J A-+ dt 2 (2MI 2 cos 26~)6' = T' (k) With T' = Tuo(t) and
where the constant terms cancel out by virtue of (i). initial rest conditions,the initial conditions are * ( 0+ ) = -o
dt
(1)
6'(0 + ) = 0
and hence the solution for 6'(t) is
(m)
S2MI
6'(t) = o 2MI2co s 26
sin
cos 26
o t (n)
PROBLEM 5.12
Part a
The magnitude of the field intensity\ (H) in the gaps is the same. from Ampere's law,
H = Ni/2x (a) Hence,
and the flux linked by the terminals is N times that passing across either of the gaps.
2 ~ adN
2x
i = L(x)i
(b)
Because the system is electrically linear, W'(i,x) =
Li
, and we have.
2
fe =
ax
N2ad=o i
4x
(c)
as the required force of electrical origin acting in the x direction.

Part b
Taking into account the forces due to the springs, gravity and the
magnetic field, the force equation becomes
104
LUMPED-PARAMETER ELECTRGCECHANICAL DYNAMICS

2 M dt 2 = - 2Kx + Mg N2ado 2 4x 2 i + f(t) (d)
where the last term accounts for the driving force.

The electrical equation requires that the currents sum to zero at the
electrical node, where the voltage is dA/dt, with X given by (b).
I Part c
R dt
2 I adN
[ i] + i
2x
(e)
In static equilibrium, the electrical equation reduces to i=I, while
the mechanical equation which takes the form fl f2 is satisfied if
2 12 2 N2adj o -2KX + Mg = 4X Here, f2 is the negative of the force of electrical origin and therefore (if positive) acts in the - x direction. indicated. The respective sides of (f) are shown in the sketch, where the points of possible static equilibrium are Point (1) is stable, because a small excursion to the right makes By contrast, equilibrium point (2) is f2 dominate over fl and this tends to return the mass in the minus x direction toward the equilibrium point. left.
characterized by having a larger force f2 and fl for small excursions to the
(f)
Hence, the dominate force tends to carry the mass even further from the In what follows, x = X
point of equilibrium and the situation is unstable.
will be used to indicate the position of stable static equilibrium (1).

Part d
If R is very large, then
i : I This approximation allows the removal of
even under dynamic conditions.
the characteristic time L/R from the analysis as reflected in the

reduction in the order of differential equation required to define the
dynamics. The mechanical response is determined by the mechanical
equation (x = X + x')
M-
d2 x' 2x
dt
2
= - 2Kx' +
N adpo
2X 3
0I
2 2
x' + f(t)
(g)
where the constant terms have been balanced out and small perturbations are assumed. In view of the form taken by the excitation, assume x = Re x ejet Then, (g) shows that (h) and define K e E 2K - N2adoI2/2X 3 . S= f/(Ke-0M) To compute the output voltage
d S
o dt i=
p 0a d N2 1 dx'
i=I
22
=i
dt
or
upor adN2 I
=2
o2X
(0)
Then, from (h), the transfer function is

v
o
2
w0 adN I
f PROBLEM 5.13
Part a
2X2 (Ke2jM)
(k)
The system is electrically linear. standard form

W' and it
1
Hence, the coenergy takes the
1 2 +L ii + 1 L 12 111 1212 2 222(a)
(a)
follows that the force of electrical origin on the plunger is

Sx
=
ax
2i 1
+ i
1 2l22 3x
2 2i2 ax 2
(b)

which, for the particular terminal relations of this problem becomes
fe
-if {
(+
ilix 2 x_ 1 2x
2 i
2 (
x dc)
(c)
Finally, terms of this force, the mechanical equation of motion is

in
d 2
-- = -Kx - B T- + fe 2
dt
dt
(d)
and 1 2 are related to the
The circuit connections show that the currents 1 i source currents by
i
1 Part b
= I
=o
+ i
-i
(e)
If we use (e) in (b) and linearize, it follows that
fe
4L I d
oo
4L 12
oo
(f)
and the equation of motion is

dx dx 2
2 dt +
a - +wx = - Ci dt o
(g)
where 4L 12 ao = o
a C Part c Both the spring constant and damping in the equation of motion are
positive, and hence the system is always stable.
Part d
The homogeneous equation has solutions of the form ept where
= = [K + B/M
4L /dM I 2 ]/M
p
or, since the system is
ap + 2 = 0 0
(h)
underdamped
p = - 2 + J 2
2
-
a)
p
02
(i)
LUMPED-PARAMETER ELECTROM4ECHANICAL DYNAMICS
PROBLE~
5.13 (Continued)
The general solution is

CI x(t) = o
t + e
[A sin w t + D cos w t]
(j)
where the constants are determined by the initial conditions x(O) = 0 and dx/dt(O) = 0 CI o D =-; w
o
tCI
A =
(k)
2w w
po
Part e With a sinusoidal steady state condition, assume x = Re x e i(t) = Re(-jI )ej t and (g) becomes
-
and write
x(-w
+ jwa +
2)
= Cj
(1)
Thus, the required solution is

RejCI e ( 2 2
0
t
x(t)
(m)
PROBLEM 5.14
Part a
From the terminal equations, the current ii is determined by Kirchhoff's
current law
di
G L
G1 dt
di+
= I + CMI
sin Pt
(a)
The first term in this expression is the current which flows through G because of the voltage developed across the self inductance of the coil, while the last is a current through G induced bhv the rotational motion. The terms on the right
are known functions of time, and constitute a driving function for the linear equation. Part b We can divide the solution into particular solutions due to the two driving
terms and a homogeneous solution. From the constant drive I we have the solution
(b)
iI = I Because sin Pt = Re(-jej t),
if we assume a particular solution for the ) we have ), we have (I sinusoidal drive of the form i = Re(Ie 1
11
(jDGL 1 + 1) = -
J~GMI
(c)
or, rearranging
-OGMI 2 (GCL1 + j) 1) 2 +(
(d)
We now multiply this complex amplitude by ejot and take the real .part to obtain the particular solution due to the sinusoidal drive 1 -GMI2l 1 2 1+(PGLI) (QGL 1 cos Pt - sin Qt) (e)
The homogeneous solution is

-t/GL 1
= t1 Ae (f)
and the total solution is the sum of (b), (e) and (f)with the constant A
determined by the initial conditions.
In view of the initial conditions, the complete solution for il, normalized
to the value necessary to produce a flux equal to the maximum mutual flux, is
then
Llil MI
2
1e 1+(GL +
2
)
LMI
Q(tGLI)
2
(sin t L1I GGL cos Qt) + 1 1 MI2 (g)
GL1R 2 L+(QG2L 1)
Part c
The terminal relation is used to find the flux linking coil 1
l MI2
GLI) 2 I+I(GL )
LI 1 M 2
GLIQ G~1R 1+(QGLI)

2 (
cos Rt 1+( GL1 )2

L
LI
1
MI
The flux has been normalized with respect to the maximum mutual flux (MI2 ).

Part d
In order to identify the limiting cases and the appropriate approximations
it is useful to plot (g) and (h) as functions of time. two constants, QGL 1 and L I/MI 2 . These equations contain
The time required for one rotation is 2r/S and

Thus,
GL1 is the time constant of the inductance L 1 and conductance G in series.
QGL1 is essentially the ratio of an electrical time constant to the time required
for the coil to traverse the applied field one time. The quantity MI 2 is the
maximum flux of the externally applied field that can link the rotatable coil and is the self flux of the coil due to current I acting alone. is' the ratio of self excitation to mutual excitation.
I1 I Thus, I1I/MI
2
To first consider the limiting case that can be approximated by a current

source we require that QGL To demonstrate this set WGL 1 and = 0.1 and L1I << MI
<< 1 and
GL
1 LI -MI
(i)
MI2
=
(j)
We note first that the
Further
plot current and flux as shown in Fig. (a).
transient dies out very quickly compared to the time of one rotation.
more, -the flux varies appreciably while the current varies very little compared
to its average value. In the ideal limit (GqO) the transient would die out
Thus the approximation of
instantaneously and the current would be constant.
the situation by an ideal current-source excitation would involve a small

error; however, the saving in analytical time is often well worth the decrease
in accuracy resulting from the approximation.
Part e
We next consider the limiting case that can be approximated by a constant-
flux constraint. This requires that
QGL 1 >> 1
To study this case, set
CGL1 = 50 and I = 0
(k)
(1)
The resulting curves of flux and current are shown plotted in Fig. (b).
Note that with this constraint the current varies drastically but the flux
pulsates only slightly about a value that decays slowly compared to a rotational
period. Thus, when considering events that occur in a time interval comparable
(-O)
4-U ;
CA~)
LUMPED-PARAMETER ELECTR(OMECHANICAL DYNAMICS

with the rotational period, we can approximate this system with a constant-flux
constraint. In the ideal, limiting 6ase, which can be approached with super
This initial value
conductors, G-m and X 1 stays constant at its initial value.
is the flux that links the coil at the instant the switch S is closed.
In the limiting cases of constant-current and constant flux constraints
the losses in the electrical circuit go to zero. This fact allows us to take
advantage of the conservative character of lossless systems, as discussed in

Sec. 5.2.1.
Part f
Between the two limiting cases of constant-current and constant flux
constraints the conductance G is finite and provides electrical damping on
the mechanical system. We can show this by demonstrating that mechanical
For
power supplied by the speed source is dissipated in the conductance G.
this purpose we need to evaluate the torque supplied by the speed source.
Because the rotational velocity is constant, we have
Tm= The torque of electrical origin Te is Te in turn (m)
aW'(il,
Te
=
i 2, 2
)
(n)
Because the system is electrically linear, the coenergy W' is

W'
and therefore, 2
Li
1 1
+ M i
1 2
L2
(o) Co)
Te = - M i
12 sin 6
(p)
m The power supplied by the torque T to rotate the coil is
Pin Part g
- T
Mil2 sin Qt I
(W)
Hence, from (p) and (q), it
follows that in the sinusoidal steady state
the average power <P. > supplied by the external toraue is in
<Pin > =
in
1
2
(r)
to
-0
-Ir
trl
c,,
PROBLFM 5.14 (Continued) This power, which is dissipated in the conductance G, is plotted as a function of ~2GL
1
in Fig. (c). ?GL

1
Note that because
0 and L 1 are used as normalizing

Note that for both large and
constants,
can only be varied bhv varving G.
small values of fGT.1 the average mechanical power dissipated in G becomes small.
The maximum in <Pin > occurs at PROBLEM 5.15 Part a
The coenergy of the capacitor is
e
=
GCL 1 = 1.
C(x) V2 = 1 (EA )V2 ox 2
The electric force in the x direction is

aW' EA
e If this force is
e x
1 2
o 2 x
linearized around x = x o , V = V 2 1)2 E AV x E AV v 1 AV' o o o o 1 o o 0 + 0 0 f (x) =0 3 2 2 2 e x x x

O O O
The linearized equation of motion is then
B -0 + dx (KE AV ' )xo)

2
= -
c A 0 V v + f(t)
dt
3
0
2
0
The equation for the electric circuit is

V + R -6 (C(x)V) = V Part b
We can keep the voltage constant if
R -0
2 AV
In this case
B dx + K'x = f(t) = F ul(t); K' = K
0
x The particular solution is x(t)

=
F/K'

The natural frequency S is SB Notice that since E AV
X'/B = (K3)/B x 0 there is voltage V above which the Assuming V
O
the solution to
$ = - K'/B
+K'x = 0
X(t)
F
is
Sr- /d
t
system is unstable.
less than this voltage x(t) = F/K' (1-e

/ (K ' B)t)
Now we can be more specific about the size of R.
We want the time
constant of the RC circuit to be small compared to the "action time" of the

mechanical system RC(xo) << B/K'
R << Part c
K'C(xo)
From part a we suspect that RC(xo) >> Tmech

where Tmech can be found by letting R +
=
m.
Since the charge will be constant
d dt
q = C(x )V = C(X +X)(V +V)

00 0 0
- C(xo)V
dC
+ C(xo)v + Vo 4-c (xo)x
V o (o C(x)
Vx EA dC ( x o o x ) x - + E oA 2 dxxo)X
o
Vx x ox
Using this expression for induced v, the linearized equation of motion

becomes
SAV2 o B + (K)x dt 3 x A
o 0 2
- V x +f(t) 3 o x
o
dxo
dx
B dx + Kx = f(t) dt
PROBLEM 5.15 (Continued) The electric effect disappears because the force of a capacitor with constant charge is independent of the plate separation. same as part (a) except that K' = K. The solutions are the
The constraint on the resistor is then
R >>
PROBLEM 5.16
C(xo )
B/K
We wish to write the sum of the forces in the form

f f
+
aV
3x
(a)
For x > 0, this is done by making
V
as shown in the figure.
1 2
Kx + Fx 2 o
(b)
The largest
The potential is symmetric about the origin.
value of vo that can be contained by the potential well is determined by the peak
value of potential which, from (b), comes at
x = Fo/K where the potential is
V = 1 F2/K (c)
(d)
Because the minimum value of the potential is zero, this means that the kinetic energy must exceed this peak value to surmount the barrier. Hence, (e)
2
or
SMv2
I F2/K
F2
vo=
(f)
LUMPED-PARAMETER
PROBLEM 5.17 Part a The electric field intensities defined in the figure are E 2 = (v2 -v1 )/(d-x) E
1
E\
/
A2E o A o
= v,/(d+x)
1
Hence, the total charge on the respective electrodes is v2A1E o o
q= S v 1 [. 0+ Vl[d+x +
AIC (v2-v ) `2 Part b Conservation of energy requires d-x
0 -x ]-
d-x
vldq 1 + v 2 dq2 = dW + fedx
and since the charge q1 and voltage v2 are constrained, we make the
transformation v 2 dq2 = d(v2 q 2 )-q2 dv2 to obtain v 1 dql-q 2 dv 2 = dW" + fedx this form of the conservation of energy equation that
It follows from (f)
W fe and hence W" H U. To find the desired function we integrate fe= - (f) using the terminal relations.
U = W"= dql - q2dv 2 (g)
The integration on q1 makes no contribution since ql is constrained to be

zero. We require v2 (ql=0,v 2 ) to evaluate the remaining integral
v2A1i
q 2 (q 1 0,v
2)
d-x
Io1 1-
1 A2(dx ) Al(d+x) S
(h) (h)
Then, from (g),
1 0 1 o V 2 d-x
1 A2 (d-x)
(i) 1
A 5(d+x) PROBLEM 5.18 Part a Because the two outer plates are constrained differently once the switch is opened, it is convenient to work in
terms of two electrical terminal pairs, defined as shown in the figure. The plane parallel geometry makes it t straightforward o compute the
terminal relations as being those for
simple parallel plate capacitors, with
no mutual capacitance.
ql
q2
1 VlEoA/a
(a)
(b) +, 00
V 2 oA/a-x
~o 2)~
'4

Conservation of energy for the electromechanical coupling requires
v 1 dql+ v 2 dq2 = dW + fedx (c)
This is written in a form where q1 and v 2 are the independent variables by

using the transformation v 2 dq2 = d(v2 q2 )-q 2 dv2 and defining W"qW-v2 q 2 v 1dq1 2 dv2
dW" + fedx
(d)
This is done because after the switch is opened it is these variables that
are conserved. In fact, for t > 0,
v2 = V and (from (a))ql = VoeoA/a (e)
The energy function W" follows from (d) and the terminal conditions, as
W" = or
1 oAV2 1 (a+x) 2 2 cA q 1 -(g) a-x
q 2
o
vldql-
fq2 dv 2
(f)
c Av2
Hence, for t > 0, we have (from (e))

1 (a+x) 2 2 a
Part b
The electrical force on the plate is fe equation is (assuming a mass M for the plate)
2, dx M dt Kx
2 1 EoAVo o
AV2 o A
1 2
E AV2 2
oAV
a-x
aW"
W"
Hence, the force
1 o
E AV2
(i)
(a-x)
For small excursions about the origin, this can be written as 2 2 2 cAV EAV cAV 2 dx 1 o0o o 01o o M-Kx+ + x
dt
(j)
The constant terms balance, showing that a static equilibrium at the origin
is possible. is positive.
K > c AV2/a3
0 0
Then, the system is stable if the effective spring constant
(k)
Part c
The total potential V(x) for the system is the sum of W" and the
potential energy stored in the springs. That is,
LUMPED-PARAMETER

1 2 2 1 (a+x) 2 2 a AV o o 1 2 E AV o a-x
2
2 aK K1 2 (
E AV oo 2 a
x a
1 x (1- a )
o o
This is sketched in the figure for a2K/2 = 2 and 1/2 c AV2/a = 1. to the point of stable equilibrium at the origin, equilibrium point just to the right of the origin. there is
In addition
also an unstable
PROBLEM 5.19
Part a
The coenergy is
W'
Li
/1
-4 ao
and hence the fbrce of electrical origin is

f
e dw4
'
2L iL/a[l
Hence, the mechanical equation of motion, written as a function of (i,x) is
2
M d x
= Mg +
S21, 2
2L _i
dt
a[1- a -a

while the electrical loop equation, written in terms of these same variables
(using the terminal relation for X) is
V + v = Ri + Vo dt
- [ (1-
)(d)
(d)
These last two expressions are the equations of motion for the mass.
Part b
In static equilibrium, the above equations are satisfied by (x,v,i) having
the respective values (Xo,VoIo). x = Xo + x'(t): Hence, we assume that
i = Io + i'(t) (e)
v = Vo + v(t):
The equilibrium part of (c) is then

2L 12 X 5 a o/(1 - o)
- Mg +
(f)
while the perturbations from this equilibrium are governed by
x 2 +
10 L 12 x' a (lX -) a 6 +
4 LI a(l-
i' X 5 0-) a
(g)
The equilibrium part of (d) is simply Vo = I R, and the perturbation part is L

v = Ri' +
di*
d+
4 LI
00
X 4 [1- -1] a
dt al-
X 5 dt
-o] a
(h)
Equations (g) and (h) are the linearized equations of motion for the system which
can be solved given the driving function v(t) and (if the transient is of interest)
the initial conditions.
PROBLEM 5.20
Part a
The electric field intensities, defined as shown, are
E 1 = (V 1 -V2 )/s; E2 = v2/s (a)
121

In terms of these quantities, the charges are
q1 =
Eo( - x)dE 1 ; q 2
-
o(
-x)dE
o(
+ x)dE 2
(b)
Combining (a) and (b), we have the required terminal relations
q = V1 C11 - v2 C12 q2 =V where
+ 1 12
(c)
V2C22
E ad o
s
Ed o a C11 = (ii s Ed
o
x);
C2 2
22
C12
(
2
For the next part it is convenient to write these as q1 (vl,q2 ) and v 2 (v ,q 2).
v [C1 1 q 1
q2
C2
22
C2
22
(d)
v
Part b
C 22
+ v
C12
1 C 22
Conservation of energy for the coupling requires

v 1 dql + v 2 dq2 = dW + fedx (e)
To treat v1 and q2 as independent variables (since they are constrained to be constant) we let vldq 1 = d(vlql)-q dvl, and write (e) as
-ql dv1 + v2 dq2 = - dW" + fe dx

From this expression it is clear that fe = aW"/,x as required. the function W" is found by integrating (f) W" = to obtain
C2 = 1 V2 [ C 2 o 11 o
o
(f)
In particular,
l(,O)dv'
v 2 (Vo,q)dq2
(g)
C1 2 ] _
C22
2 Q 2C22
V OC o 12 C22
(h)
Of course, C 1 1, C 2 2 and C12 are functions of x as defined in (c).
PROBLEM 5.21
Part a
The equation of motion as developed in Prob. 3.8 but with I(t)=Io=constant,
is
J d dt2 2
-
dt
I L2 1 m L2
(1-cos 6) sine
(a)
This has the required form if we define IL
(cos 0 +
sin 0)
(b)
as can be seen by differentiating (b) and recovering the equation of motion. This
potential function could also have been obtained by starting directly with the
thermodynamic energy equation and finding a hybred energy function (one having
il' X2,6 as independent variables). See Example 5.2.2 for this more fundamental
approach.
Part b
A sketch of the potential well is as shown below.
S= r(u). Part c
The rotor can be in
stable static equilibrium at e = 0 (s) and unstable static equilibrium at
For the rotor to execute continuous rotory motion from an initial rest
position at 0 = 0, it must have sufficient kinetic energy to surmount the peak in potential at 8 =
W.
To do this, 1 j (Lmo Jt 2 dt 2 2IL21

> L (c)
PROBLEM 5.22
Part a
The coenergy stored in the magnetic coupling is simply
W'= Lo(l + 0.2 cos 0 + 0.05 cos 268)
2
(a)
Since the gravitational field exerts a torque on the pendulum given by

T
p
ae
(-Mg X cose)
(b)
and the torque of electrical origin is Te = motion is
~W'/~8, the mechanical equation of
d
where (because I 2 Lo
ro
[t 2
6MgZ)
2 + V
=0
(c)
V = Mgt[0.4 cos e - 0.15 cos 20 - 3] Part b

The potential distribution V is plotted in the figure, where it is evident that there is a point of stable static equilibrium at 0 = 0 (the pendulum straight up) and two points of unstable static equilibrium to either side of center. The constant contribution has been ignored in the plot because it is
arbitrary.
strale
I
\
C/h
~ta
PROBLEM 5.23
Part a
The magnetic field intensity is uniform over the cross section and equal
to the surface current flowing around the circuit. and H = i/D. Define H as into the paper
Then X is H multiplied by Uo and the area xd.
p xd
-i (a)
The system is electrically linear and so the energy is W fe = _ aW/ax, the equation of motion is M
X2 L. Then, since
d2x d2 x 2
dt
= f f - Kx +
1
2
A2D
D 2
(b)
Part b
Let x = X M + x'where x' is small and (b) becomes approximately
d2 x' 2x
dt
2
= -KX
- Kx' +
1
2
2 A D
A2 Dx'
oX3d
00
2d
(c)
The constant terms define the static equilibrium

X = [ 1 A2 D
o
1/3 ]K-
(d)
and if we use this expression for Xo, the perturbation equation becomes,
M
d2 x'
2
dt2
= -Kx' - 2Kx'
(e)
Hence, the point of equilibrium at Xo as given by (d) is stable, and the magnetic field is equivalent to the spring constant 2K. Part c The total force is the negative derivative with respect to x of V where
V =
1 2 1 A2D Kx + A-D 2 2jixd
(f)
This makes it possible to integrate the equation of motion (b) once to obtain
dt
d + = -M
(E-V)
(g) Here again it is apparent that The constant
The potential well is as shown in figure (a). the equilibrium point is
one where the mass can be static and stable. by
of integration E is established physically
releasing the mass from static
positions such as (1) or (2) shown in Fig. (a).
Then the bounded excursions of

The motions
the mass can be pictured as having the level E shown in the diagram.
are periodic in nature regardless of the initial position or velocity.

Part d
The constant flux dynamics can be contrasted with those occurring at constant current simply by replacing the energy function with the coenergy function. That is, with the constant current constraint, it is appropriate to find the electrical force from W' =
1
2
Li2 ' where fe =

2
1
W'/ax.
Hence, in this case

(h)
oxd D
A plot of this potential well is shown in Fig. (b). X of stable static equilibrium given by
X
Once again there is a point
DK
(i)
However, note that if oscillations of sufficiently large amplitude are initiated that it is now possible for the plate to hit the bottom of the parallel plate
system at x = 0.
PROBLEM 5.25 Part a Force on the capacitor plate is simply 2 wa2 o 1 3 3W' fe x 21 x f x
due to the electric field and a force f due to the attached string.
(a)
Part b
With the mass M1 rotating at a constant angular velocity, the force fe
must balance the centrifugal force Wm rM1 transmitted to the capacitor plate
by the string.
1 2 or
m
=
2 wa2E V
oo =
2 \Ia a2
0
2 m V2
(b) 1
(c)
2 3M 1
where t is both the equilibrium spacing of the plates and the equilibrium radius
of the trajectory for M1 .
(0,)
V~x
r
OAco s oY\ x---a

%~-0
(b)
LUMPED-PARAMETER
PROBLEM 5.25 (Continued) Part c The e directed force equation is (see Prob. 2.8) on a particle in circular coordinates) M 1[r d2 + 2 dt dt dt which can be written as d for the accleration
d2 e
dr d6
= 0
(d)
dt [M r d- 1 = 0 1
2 dO
(e)
This shows that the angular momentum is constant even as the mass M moves in and 1 out
Mr
2 de
= M1d .
m = constant of the motion
(f)
This result simply shows that if the radius increases, the angular velocity must
decrease accordingly
de dt Part d
2 2
()
The radial component of the force equation for M 1 is 2 Ml[d

where f is
2 - r-) ]= - f (h)
dt
the force transmitted by the string, as shown in the figure.
S(
grv\,
The force equation for the capacitor plate is

Mdr dt e(i)
where fe is supplied by (a) with v = V
= constant.
Hence, these last two
expressions can be added to eliminate f and obtain

2 d (M + 1 1+
2
wa =
2C V 2
o 0, ro oa (j)
2. dt 2
Tr1
If we further use (g) to eliminate d6/dt, we obtain an expression for r(t) that can be written in the standard form
(M 1 2 2
2 dt
M 4
2
V = 0
(k)
where
V =
2
2
7a2
r
2
(1)
2r
Of course, (k) can be multiplied by dr/dt and written in the form

d 1
1
S(M
2)(
dr
+ V] =0 (m)
to show that V is a potential well for the combined mass of the rotating particle
and the plate.
Part e
The potential well of (1) has the shape shown in the figure. The minimum
represents the equilibrium position found in (c), as can be seen by differentiat

ing (1) with respect to r, equating the expression to zero and solving for w
assuming that r =. In this example, the potential well is the result of
a combination of the negative coenergy for the electromechanical system,

constrained to constant potential, and the dynamic system with angular momentum
conserved.
--
PROBLEM 5.26
Part a
To begin the analysis we first write the Kirchhoff voltage equations for
the two electric circuits with switch S closed
dX
V = ilR 1 + dX
0 = i2R 2 d), dt 2
(a)
(b)
To obtain the electrical terminal relations for the system we neglect fringing fields and assume infinite permeability for the magnetic material to obtain*
1 = N1
'
N2 4
(c)
where the flux $ through the coils is given by 21o wd (N1 + N 2 i 2)
$=
g(l + -)
(d)
We can also use (c) and (d) to calculate the stored magnetic energy as**
g(l + x) 2
wd
(e)
We now multiply (a) by N1/R1 and (b) by N 2 /R2, add the results and use
(c) and (d) to obtain
2 2
N
N + (- + 2) R1 R 2 dt
NV 1V1 g(l+ -)
R1 21 wd
(f)
Note that we have only one electrical unknown, the flux 0, and if the plunger is
at rest (x = constant) this equation has constant coefficients.
The neglect of fringing fields makes the two windings unity coupled. In practice
there will be small fringing fields that cause leakage inductances. However,
these leakage inductances affect only the initial part of the transient and
neglecting them causes negligible error when calculating the closing time of
the relay.
**Here we have used the equation W =iL1 m 2 2 +L

1 12
QplPg)b
i
1
i2 +
2
2 i2

Part b
Use the given definitions to write (f) in the form
S Part c
During interval 1 the flux is determined by (g) initial condition is with x = xo and the
(1 +
) +
dt
(g)
= 0.
Thus the flux undergoes the transient
o-(1
SI 1+ - e
+ x-)
t
0 (h)
To determine the time at which interval 1 ends and to describe the dynamics
of interval 2 we must write the equation of motion for the mechanical node.
Neglecting inertia and damping forces this equation is
K(x - Z) = fe In view of (c) (Al and X2 are the independent variables implicit in use (e) to evaluate the force fe as
) (i)
*)
we can
fe
awm( ' x 2 ax
x)
2 41 wd
Thus, the mechanical equation of motion becomes
2
K(x The flux level
t) = -
41 owd
2
(k)
1 at which interval 1 ends is given by
K(x Part d During interval 2,
-)
(1)
flux and displacement are related by (k), and obtain
thus we
eliminate x between (k) and (g)
F
*= (1 +) -
iE-x o
d
T dt
1."
(m)
This is the nonlinear
were we have used (k) to write the equation in terms of
differential equation that must be solved to find the dynamical behavior during interval 2.
To illustrate the solution of (m) it is convenient to normalize the equation
as follows
d(o) o d(o
_-x
0
o 2 ( )3 - (1 1
+)
o
+ 1
We can now write the necessary integral formally as
o
S-x
()
d(-)
2
( )
t 3
-
,) to
(1 +
)
o d(A)
+0
(o)
where we are measuring time t
from the start of interval 2.
Using the given parameter values,
o d(-o) t
T o
400
o -)
ao
+ 9
0.1
denominator into a first order and a quadratic factor

We factor the cubic in the and do a partial-fraction expansion* to obtain
(-2.23 0.156 - + 0.844)
o
Jt
d(o
0
=
0
75.7 ( -)
14.3
+ 1
Integraticn of this expression yields
.
Phillips, H.B., Analytic Geometry and
..
second
....
edition,
. t
John
m q
Wiley
Calculus,
and
Sons,
New
York,
1946,
pp.
250-253.
PROBLEM 5.26 (Continued) t TO

0 0.0295 In 2 [3.46 ( -) + 0.654] - 0.0147 In [231 (-) - 43.5 (-) + 3.05]
+ 0.127 tan - 1 [15.1 (--) Part e
- 1.43] - 0.0108
During interval 3, the differential equation is (g)with x = 0, for which

the solution is t
4 = 02
(%o - 02)( 1
- e
0)
(s)
2 is the value of flux
where t is measured from the start of interval 3 and where at the start of interval 3 and is given by (k)with x = 0 2
KZ =
41 wd
(t)
Part f
For the assumed constants in this problem
01
as functions
The transients in flux and position are plotted in Fig. (a) of time. Note that the mechanical transient occupies only a fraction of the time
interval of the electrical transient. Thus, this example represents a case in
which the electrical time constant is purposely made longer than the mechanical
transient time.
e Y. iV
0Y\ Av
0,4
0.Z
o,os
oo
t/t.
9.
0.20
o.zs
FIELDS AND MOVING MEDIA
PROBLEM 6.1 Part a From Fig. 6P.1 we see the geometric relations r' = r, e' =
e - Pt,
z' = z, t' = t
(a)
There is also a set of back transformations r = r', Part b Using the chain rule for partial derivatives , = () r) + (2j) (L ) + 2(3za) + () (-) (c) e = 8' + st', z = z', t = t' (b)
at
ar
atf
ae
at'
9 (
at
at
From (b) we learn that SO,

Hence,
,=
' =0 O
= 1
(d)
at'
at
ao
p are
(e)
We note that the remaining partial derivatives of
4, = a*
3r' PROBLEM 6.2 Part a
ar '
2t = * ae ' ae'
az'
(f)
The geometric transformation laws between the two inertial systems are x1 = x - Vt, x' x 2, x = x 3, t' = t (a)
The inverse transformation laws are 1 = x' + Vt', x2 x, x= x3 = x t t' (b)
The transformation of the magnetic field when there is no electric field present in the laboratory faame is
P'= W (c)
Hence the time rate of change of the magnetic field seen by the moving
observer is
aB'
=3B
ax
3B
)x
a3B
at
(d)
PROBLEM 6.2' (Continued)

From (b) we learn that atx' V,
ax1 3x2
2
0,
ax3 t
= 0,I,
at
= 1
(e)
While from the given field we learn that
aB
ax Combining these results
B' at,
. kB
kBoo
cos kx
aB
l -ax 2
aB
x3
aB B t t
(f) C
aB'
aB
B, = V
aB
t, '
= VVkB
o cos
kx1
(g)
which is just the convective derivative of B. Part b Now (b) becomes

S
= x'
x2
x ' + Vt,
x 3 = x;, t = t'
(h)
When these equations are used with (d) we learn that
aB' S=aB , = V aB
at, because both PROBLEM 6.3 Part a
Tt ax2
+ aB = 0 t
at
(i)
aB x2
and -
aB
are naught.
The convective derivative is zero.
at
The quasistatic magnetic field transformation is

B' = B (a)
The geometric transformation laws are x = x' This means that '= B E(t,x) = B(t', x' + Vt') = iyo = i B cos (wt' - k(x' + Vt')) (c) + Vt' y',
z',
t = t'
(b)
yo
cos[(w - kV)t' - kx']
From (c) it is possible to conclude that w' = w - kV Part b If w' = 0 the wave will appear stationary in time, although it will still have a spacial distribution; it will not appear to move. (d)

w' = 0 = w - kV; V = w/k = v The observer must move at the phase velocity v stationary.
PROBLEM 6.4
These three laws were determined in an inertial frame of reference, and
since there is no a priori reason to prefer one inertial frame more than
another, they should have the same form in the primed inertial frame.
We start with the geometric laws which relate the coordinates of the
(e)
to make the wave appear
two frames
r' r - v t, t = t', r = r' + v t' (a) and the definitions of the
We recall from Chapter 6 that as a consequence of (a) operators
t =- t'- r
' a'
t +tr
In an inertial frame of reference moving with the velocity vr we expect the equation
to take the same form as in the fixed frame. Thus,
p'i , + p'(v'*V')v' + V'p' = 0 at'

-' at'
+ p', V'*p'v' = 0 p,'(p)
-v'
(c)
(d) (e)
However, from (b) these become
'a
+ p'(v'+vr
)+Vp'
(f)
(g) (h)
+ V.p' (v'+v) = 0 p' = p'(p')
where we have used the fact that v *Vp'=V*(v p'). Comparison of (1)-(3) with (f)-(h) shows that a self consistent transformation rthat leaves the equations invariant in
form is
p' = P; p'
=
p; vt - v
PROBLEM 6.5
Part a
p'(r',t')
P=(r,t) =
p (1- -)=-
o(1-
C(a)
(b)
J' = p'v' = 0 Where we have chosen v r =v i oz so that
v'
v - v
= 0
(c)
Since there are no currents, there is only an electric field in the primed
frame
2
E' (po/o r - r')r =
(d)
H
Part b
O, B' = ' = 0
(e)
p(r,t) =
p(1-
(f)
This charge distribution generates an electric field

(P/ r
3air
(g)
In the stationary frame there is an electric current
S= pV
po(1-
oi )vz
(h)
This current generates a magnetic field
H=
Part c
oVo(
-a)io
i (i)
5-= 5' - P'v Pvr
po(l---)Voi oz
o a
(j)
E= '-vrxB' = E' = (po/Eo - 3

SH' V xD + r' r
' 2
ir
(k) (1)
r
If we include
oo
3a lie
the geometric transformation r' = r,(j), (k), and (1)
become (h), (g), and (i) of part (b) which we derived without using trans
formation laws. The above equations apply for r<a. Similar reasoning gives
the fields in each frame for r>a.
PROBLEM 6.6
Part a
In the frame rotating with the cylinder
E'(r') = -,
Ir
(a)
H' = 0, B' = uH' = O

But then since r' = r, Vr(r) = rwi
(b)
E=' - vr x ' = 2'=-i.r r

V=
(c)
(d)
f
a
Ed
b
a
dr = K In(b/a)
V
The surface charge density is then
1
r
1
r
(e)
ln(b/a) r
In(b/a) r'
- = o a' = i r *8oE' = In(b/a) 1 = a a a a

SE
(f)
= -
a'= -i *E E'
b r o Part b
In(b/a)
(g)
3 = J' + Vy p'
But in this problem we have only surface currents and charges
(h)
= '+ vr
O
' =v r a'
) WE V
0
(i)
e
E V i
awe V
K(a)
In(b/a) iBe 1a
bwE V
In(b/a) 6
(
B
(k)
K(b) =Part c
b In(b/a) WE V
In(b/a)
S(1)0
In(b/a) Part d
S=' + v
x D
x D'
(m)
r'w(1n(bla) r
EOx V
-+(n
6)(iir) x
(n)

we V
in(b/a) iz
This result checks with the calculation of part (c).
PROBLEM 6.7
Part a
The equation of the top surface is
f(x,y,t) = y - a sin(wt) cos(kx) + d =0 The normal to this surface is then
n (a)
= v
Vf
ak sin(wt)sin(kx)ix + iy
(b)
(b)
Applying the boundary condition n*4 = 0 at each surface and keeping only linear
terms, we learn that
h (x,d,t) = -ak sin(wt)sin(kx) h (x,O,t) = 0 We look for a solution for h that satisfies V x Let h = V V2 2, = 0 =, V*h = 0 (e) (f)
(c) (d)
Now we must make an intelligent guess for a Laplacian * using the periodicity of the problem and the boundary condition hy y = 0. Try
A
l/ay = 0 at
cosh(ky)sin(kx)sin(wt)
+ sin(kx)sinh(ky) y]
(g)
(h)
h = A sin(wt)[cos(kx)cosh(ky)i
Equation (c) then requires the constant A to be -ak A sinh(kd)0od Part b
S x
=
VE
~-)-iy(---z)=
(j) (-)
p o A cos(wt)[cos(kx)cosh(ky)ix + sin(kx)sinh(ky)iy] y x 0t
(k)

E = - wU
-_
cos(wt)[cos(kx)sinh(ky)]i Because v(y=O) = 0
0 K
Now we check the boundary conditions.
nx E = (n-v)B = 0 (y=0)
But E(y=O) = 0, so (m) is satisfied.
If a particle is on the top surface, its coordinates x,y,t must satisfy (a). It follows that
Df D Since n =
Vf
3f
-
+ v*V f = 0
-F we have that
(n.v) =
-1
i1 t
af
awcos(wt)cos(kx)
Now we can check the boundary condition at the top surface
--
nxiE f - o
cos(wt)cos(kx)sinh(kd)[i -ak sin(wt)sin(kx)i ] x y inh(kd) ak Ai x + ]
(n.v)B = awcos(wt)cos(kx)
poA sin(wt)sin(kx)sinh(kd)i Comparing (p) surface.

PROBLEM 6.8
Part a
Since the plug is perfectly conducting we expect that the current
and (q) we see that the boundary condition is satisfied at the top
I will return as a surface current on

the left side of the plug. Also E', H' will be zero in the plug and the transformation laws imply that E,H will then
also be zero.
Using ampere's law
I,
Nt
-I 2 ir

Also we know that
V*E = 0, Vx
0 < z < 5
(b)
We choose a simple Laplacian E field consistent with the perfectly conduct

ing boundary conditions
E
=-
(c)
K can be evaluated from

E"ddi = dt da (d)
S If we use the deforming contour shown above which has a fixed left leg at z = z
and a moving right leg in the conductor. The notation E" means the electric
field measured in a frame of reference which is stationary with respect to the

local element of the deforming contour. E"(z) = E(z), Here
= 0 (e)
E"(C+A) = E'(C+A)
E"*d = The contour contains a flux

JB-da = (E-z) S So that
-K
=
Since v
-
'dt
E(z,r)dr = -K In(b/a)
(f)
%oHedr = - V
I ln(b/a)(E-z)
(g)
n(b/a) -K In(b/a) =
dt
a = +
n(b/a) d-dt
(h)
vI
2w 0 Part b The voltage across the line at z = 0 is b V= a
r <z
vpo0 I Erdr = ln(b/a) (k)
vi
o
I(R +
o In(b/a)) = V 2o V
o
(1)
I =
(m)
vi
R + 27r
In(b/a)
2wR
+1
(n)
vp ln(b/a) _V S0
R + 2 n(b/a) < z <
H:
Vo 1<z
(o)
E=
0<z<
r (p)
vy2R
o V11V +(inb/a)
0
rr
<z
<
Part c Since E = 0 to the right of the plug the voltmeter reads zero. The terminal
voltage V is not zero because of the net change of magnetic flux in the loop connecting these two voltage points.
Part d
Using the results of part (b)
Pin
=
SVI= In(b/a)
27r
i
0
1
lIn(b/a)
V2
0
Rn +
Tr dWm d= H 2
(r) 21Tr dr
v fa
R+ V
n(b/a)
PROBLEM 6.8 (Continued) There is a net electrical force on the block, the mechanical system that keeps the block traveling at constant velocity receives power at the rate
1 V1o In(b/a) -- 1 2
27
In(b/a)
2w
V2
o
from the electrical system.

Part e
L(x) =
U0 0H(r,I)x dr IT n (b/a)x I d=
1 2 W e awl m 2 L(x)i fe w x ;W' =

fe 1 3L T 2 3x 2 1 o
In(bla)i In(b/a)T
U
f =fi
22 2
The power converted from electrical to mechanical is then

v
V In(b/a) [ R + v ]
o
2 o In(b/a)
f' = f v e dt e
2 2w
as predicted in Part (d).

PROBLEM 6.9
The surface current circulating in the system must remain
K =
o
(a)
the electric field in the finitely conducting plate is

Hence B
E'
But then
o
oOs
(b)
E= E' - V x = B (
os
(c) v)
v must be chosen so that E = 0 to comply with the shorted end, hence v - (d)
os
PROBLEM 6.10
Part a Ignoring the effect of the induced field we must conclude that
= 0
everywhere in the stationary frame. But then xB
(a)
E' =E+ V xB= Since the platejis conducting
(b)
J' = J
The force on the plate is then F = F Part b
aV x
(c)
3 x B dv = DWd(oV x B)x B
(d) (e)
= - DWd av B 2
M -v + (DWdoB )v = 0 dt o
DWdoB 2 t
(f)
v = v
Part c
(g)
The additional induced field must be small. J' - OB v Hence K'

oo
From (e) (h) (i)
= oB o dv o
oK -o
'
The induced field then has a magnitude

B'
o
=Iadv
() )<<
i
ad <<
1 0plate It 0poorly conducting one. be very a

a thin or must
(k)
It must be a very thin plate or a poorly conducting one.
PROBLEM 6.11
Part a
The condition
W
i
- << H
means that the field Then the

K(I H+
induced by the current can be ignored.
magnetic field in the stationary frame is

H = -H i everywhere outside the perfect
conductors
The surface currents on the sliding conductor are such that
K1 + K 2 = i/W The force on he conductor is then

t
= =
x B dv = [(K1 + K )i x Bi ]WD 12 2 yoz

p H di i
[(- + )
x B
Part b
The circuit equation is
Ri +ddX
-dt Since F = M dv dt MR dv (---H d-) + H d)v = V (o
00
dX
=
dt
H dv
oo
(o H d) v = V o oo
PROBLEM 6.12
Part a
We assume the simple magnetic field
(1 - e MR t )u_ (t)
i
0
0 <x
< x
x< x1
i
A(x)
Part b
= fE*a =
L(x) = X(x,) i
PROBLEM 6.12 (Continued) Since the system is linear
W'(i,x)
1 L(x)i2
1lo1Wx
1
ex
Part d
2 D
The mechanical equation is
dt
+B
dt
The electrical circuit, equation is

d dX dtdt ~ Part e 0WX
(-5-- i) = V o
From (f) we learn that
dx dt o 2
i 2BD
= const
while from (g)we learn that P Wi

D
dx
dt
Vo
Solving these two simultaneously
[DV2
dt Part f From (e)
2BD dx w dt o Part g
As in part (a)
D = (
0
2 oWBEJ 0
2/3
(2B)
1/3
1/3
i
Part h
- i(t)i
3
3
O<X 1
x < x
<X
The surface current K is

K= The force on the short is
i(t) D
12
(m)
f3x
dv = DW ix ( 0
2
2
(n)
poW 2 21 01 20 (t)'l
Part i
xdVx
-7x 1
E
- 5t D dt 13
(o)
_o di _ E2 = [D- x A + C]i
(P)
=o D
di dt
V(t)I W
Part i
Choosing a contour with the right leg in the moving short, the left leg
fixed at xl
=
0'
ad *
C
H '*dt = V(t) Wx =d o
dt
B*da
(q)
S
dx Wd
Since E' = 0 in the short and we are only considering quasistatic fields o2 H (r) (s)
oxat
dt
oo
P Wx ( i(t))
Part k nx (Eb) = V b (t)
Here l
=
n D dt
=
dt
V(t)
D
dx
3 o o D i)i2 (v)
.o x di
W
dx o D 0
dt
dxW dt D Part 1
Equations (n) and (e) are identical.
Equations (s) and (g) are
identical if V(t) = V . Since we used (e) and (g) to solve the first part o we would get the same answer using (n) and (s) in the second part.

Part m
di
Sinced= 0,
dt E 2(x) = PROBLEM 6.13
Part a
K 2 dt Te() + T 2( ) (a)
V(t) 4.
i-
= -
Vo t- iy
(x)
Part b
1 Similarly
ii I 1r D2r ;1
J1
oHio
001 H 1 D2aR
(b)
oHoi
0 0
*
i
(c)
D2R
(c)
Part c
T Te Part d
1 = E 1 (R2 -R 1); Part e
1 E 1 a
=
= [f(r xf)dv]z = oHo(R2-R1)i 2
oHo(R2-Rl)il
(d)
(e)
V2 = E2 (R2 -RI)
GE
H (E1+iB) = d
(EI+RUoHo -)
(g) (h)
-2aDR
-ii
0Ho dt
2a R 1R2 - R
- pH R(R -R1 ) --
(i)
2 Part f
a 2aRD
2-
HR(R -R 1 dt ) 2
K 2oHo(R dt
2 -R1 )i0
u-l(t)
(k)
K(t) - -R1 ) = 2 (R v2 (t) =
t2 0
u-(t) t u-(t) (t)
(1) (m)
2R (poHo(R2R1))2 7200 2 1m)

1 (R2 -R1) + v 1 (t) = [a 2RD 2aRD 2R K H ( 0oo (R2-R 1) K t]ioU- (t) 0 -1 2
Part g K
2
2 dt dt2
oHo (R 2 -R 1 )i
S oHo(R2 -R1 )O2aRD
Hd
SR2R1) d22 + KI d dt dt
dt2 K 1 = [( K2 l(t ) 2
(R2-R 1) o
HoR)2 2aD(R 2 -R )a]/K
p H 2aDR Y
2 K Find the particular solution
P (, t) = R
-JK2 2 K2 o 2o
o e
jt]
K sin(wt+tan (t)
-=
w K+ (t) = A B -Kt K1e + p (w,t)
We must choose A and B so that

(o0) K2 A =KIW v o 1 = 0 B = (0) = 0 K2m (K2 + 2 ) (K~ + 1 v
PROBLEM 6.13(Continued)
Wct)~
Part h
The secondary terminals are constrained so that v 2 =-i2 R 2. Thus, (j) becomes
(w)
~ dt
dt
R3 i ; R RK4 2 3
+ 1 (R2-RI) RD 2 RD
K 4
pH (R -Rl) 2 1
Then, it follows from (a), di dt from which it 2 RK2 4 + i KR 3 2
(d) and (e) that K2 Ri 4 o cos wt KR3
follows that
ji21
0
S K2R KR4 R
RK
2
I
2
R 3 PROBLEM 6.14 Part a
KR
The electric field in the moving laminations is E' J' a J . a i * i OA z (a)
The electric field in the stationary frame is E = E'-VxB 1 Ni

B
i (+ rwB )i y z CA
(b)
(c)
S o12DzN -)i
2D V = (A -
(d)

Now we have the V-i characteristic of the device. inductance and a load resistor Rt=RL+Rint.
2 j N aD p2DrN 2D ]i + d [R + _Y o uA S t S dt Part b
Let 2 2D rNw
ON 2 a D S The device is in series with an
(e)
R1 = Rt +AaA 1 =I
=
S S
, L
(f)
~ 1/L) t
(g)
Pd If
R
i/
[e
t
< 0
4
2D
= R + 2D
2DjorNw
o (h)
the power delivered is unbounded as t Part c
o.
As the current becomes large, the electrical nonlinearity of the magnetic

circuit will limit the exponential growth and determine a level of stable
steady state operation (see Fig. 6.4.12).
PROBLEM 6.15
After the switch is closed, the armature circuit equation is#
diL
(RL + Ra)i
L
i
= GOi
(a)
(a)
+ La -
Since Ghif is a constant and iL(0) = 0 we can solve for the load current and shaft torque
(RL+R a)
Gif iL(t) = (R+Ra) L
(l-e )u_(t) (b)
Te(t) = iL(t) Gif
, = (R+Rai) (l-e
2
(RL+R a )
a
t )u_(t)
(RL+R )
(c)

From the data given
T = La/RL+Ra= 2.5 x 10 Gef
3
sec
(d) (e)
iL
= R+R max RL+R a
628 amps
T (Gif) max
RL+Ra
1695 newton-meters
(f)
-j
428
-1~
1~7
cl~o,
~)
/67s~
PROBLEM 6.16
Part a
With S1 closed the equation of the field circuit is
di
Rfif + Lf dt Vf Since if(0) = 0 f R f
(a)
if(t)
=RP
(1-e
)u_1(t)
Rf
(b)
Since the armature circuit is open
Gif
V Sf C R
(1-e
)u- (t) 1
(c)

From the given data
T = Lf/Rf
V
= 0.4 sec = 254 volts
Vf G6 a max
=
R
f
t o. 4-
Part b
Since there is no coupling of the armature circuit to the field circuit
if is still given by (b).
Because S2 is closed, the armature circuit equation is
dVL (RL+Ra)VL + La - - = RLG f (d)
Since the field current rises with a time constant T = 0.4 sec the time constant of the armature circuit is
while T = La/RL+Ra = 0.0025 sec we will only need the particular solution for VL(t)
(f) (e)
RG VL(t)
f t )ul(t) (g)
(h)
= RL+Ra i = (
RL L a
RL G
RL
a)G
Vf
(1-e
Lf
VL max =
(j-)Vf = 242 volts f
4?_
1!l~
0.4 sec
fY
PROBLEM 6.17
The equation of motion of the shaft is
Jr r dt
+
T o W
o
+ T (t) e
(a)
If Te(t) is thought of as a driving term, the response time of the mechanical circuit is J T =
ro
= 0.0785 sec
(b)
In Probs. 6.15 to 6.16 we have already calculated the armature circuit time
constant to be L a -= 2.5 x 10 -3 sec R +R s
Ra+R L
(c)
We conclude that therise time of the armature circuit may be neglected, this is
equivalent to ignoring the armature inductance. armature is then (R a + RL)iL = Gwif Then -- (Gif)2 (d) The circuit equation for the
Te
ii
f-Gif = Ra + RL L
(e)
(e)
Plugging into (a)

J de d+ r dt Kw
=
(f)
Here
(Gi )2
R +R
K (-R W
Using the initial
); i
= f
R
(g)
condition that w(0) = T T0
wo
/J)
w(t)
(w - -)e
o K
t > 0
(h)
From which we can calculate the net torque on the shaft as
T= Jrdt r dt
and the armature current iL(t)
= (T o -KW o )e
Gi
u
1
(t)
(i)
iL(t) = (R
l)(t)
L*
t >0
(j)
FIELDS' AND MOVING MEDIA
PROBLEM 6.17 (Continued) From the given data T w final

=
= 119.0 rad/sec = 1133 RPM 1890 newton-m w0 700 amps
(k) (1) (m)
Tma x = (To-Kw) Gi i
Gi
it L
max
) = (R R +R,
fna final
793 amps
(n)
K = 134.5 newton-meters,
1
T = Jr/K
0.09 sec
(o)
1i/33
/Ood
i8 O
713
700
PROBLEM 6.18 Part a Let the coulomb torque be C, then the equation of motion is
d0
dt
Since w(0)- = wt -
w(t) - 0 (1-
t)
0 < t < O/C)
to
Part b Now the equation of motion is dw J -+ Bw = 0
dt
w(t) =
-. \
0 e)
wCe
Part
Let C = Bwo,
the equation of motion is now dw J d + BLc= -Bw o dt B

--
{(t)-w0o + 2w oe-JE
< t <
Ji B
( Ct ) 'r = z/0
PROBLEM 6.19
Part a
The armature circuit equation is
diL = Gwif - Va U- (t) Ri L + Laa -1 aL a dt f Differentiating
2
dw
diL dL La - 2 + R -d = Gi Vu (t) f dt ao
a dt a dt The mechanical equation of motion is
J r -4-= - Gi i dt L f Thus, (b) becomes 2 2 (Gif)
di diL L a+R -+-L---i J L a dt 2 dt
-Vu(t)
ao
dw
Initial conditions are

diL +
iLfrom(d) = , and it follows from (d) that iL(t) = (where R a

a a
(0
-at
V a L a
e-esinBt)ul(t)
a 7.5/sec
(Gif)
8
r a
Ra ('-L ) a
= 19.9 rad/sec
LAB - 1160 amps

V
w(t) =
-Gi
Se tsin
t + (e-at cos 8t-l)]
f
V
a Gi
= 153.3 rad/sec
I (k)
IN
Part b Now we replace R a by R+RL in part (a). damping
Ir ~r\~
Because of the additional
iL(t)
where = R +R
2L- (e Y a
a L 75/sec
)u 1 (t)
2L
R + RL2
y = a
(Gi ) Jr La
= 10.6/sec.
2L
W(t) =
a a
Gif r
[2Ly
-(a-Y)t
-(a+y)t + +e
2
c-Y
o)
ii
AL.
. ir" (A 1.t/
vcL
r
PROBLEM 6.20
Part a The armature circuit equation is
v a = R aa + GIfw i f
The equation of motion is

i
J i = GI fa
dt Which may be integrated to yield
w(t)
wt J
dw
J G=
i(t) 'a

Combining (c) with (a) a We recognize that
J
S=Rai + asa 2 Jr
ia(t)
(d)
C = -(e)
(GI ) 2
Part b
J
C= (GIf)2 PROBLEM 6.21
According to (6.4.30) the torque of electromagnetic origin is
Te = Gi i
(0.5) (1.5)2(1)
0.22 farads
fa
For operation on a-c, maximum torque is produced when if and is are in phase, a situation assured for all loading conditions by a series connection of field and armature. between if Parallel operation, on the other hand, will yield a phase relation This gives reduced performance unless
and is that varies with loading.
phase connecting means are employed.
This is so troublesome and expensive that
the series connection is used almost exclusively. PROBLEM 6.22 From (6.4.50) et. seq. the homopolar machine, viewed from the disk terminals
in the steady state, has the volt ampere relation
v Ri + Gwif
Ra
l i n(b/a) 2Oad
and i
For definition of v
shown to the right and with the interconnection with the coil
snhown in rig. or.L2
1 Nia
B
2d
Then from (6.4.52)

Gwi
o
f
(b -a
22 2
BoNi ) =
o a
a (b -a) 4d

Substitution of this into the voltage equation yields for steady state (because
the coil resistance is zero). Ni 0 = Ri + asa 4d
(b -a2
for self-excitation with i 0 0 -a W1oN 2 2

(b -a ) = -R
Because all terms on the left are positive except for w, we specify w < 0 (it rotates in the direction opposite to that shown). number of turns must be 4dR M1lo (b2-a2) N = 21n(b/a)
oralow j(b PROBLEM 6.23 Part a Denoting the left disk and magnet as 1 and the right one as 2, the flux densities defined as positive upward are
With this prov4sion'ithe
4dln(b/a) -2rodwjI p(b

2
-a 2 )
-a
BoN B2
-
(i+i
2)
Adding up voltage drops around the loop carrying current i 2 dB 2dB dB 2 dBil+ ilRa 1 QB 2 _B2a
we have:.
M
,
where Part b
R = a
( In )
2nah
Substitution of the expression for B1 and B2 into this voltage expression and simplification yield di L d
+ il(R+Ra) - Gil + Gi
= 0
162

where
2 N2na
-o
(b -a 2Z
The equation for the circuit carrying current 12 can he written similarly as
di
L ti +2(R (+Ra)-Gi2-GOil = 0
These are linear differential equations with constant coefficients, hence, assume
i Then
[Ls + RL+Ra-GG]I + GOI 1 = 0
Ilest
2
I2est
[Ls + RL+R -G]lI - GoI 1 = 0 2 EliminatCon of I1 yields

+ [Ls + RL R a- G J]2 S
+GS]
+ GO
=0
If 12 0 0 as it must be if we are to supply current to the load resistances,
then
2 [LI + RL+Ra-G]C + (Ga)2 = 0
For steady-state sinusoidal operation a must be purely imaginary. RL + R or

G =
This requires
- G
= 0 RL + I n(W4e 2rh
2 2 --U N(b -a) 21G
This is the condition required.

Part c -When the condition of (b) -
is satisfied
GSG
e+J
+JL
b2 (-2 b2
a -1)Q -)
2*2N
2 2 2 PN(b -a2 )j
N 29oN2 2 2
163
.4

Thus the system will operate in the sinusoidal steady-state with amplitudes
determined by initial conditions. voltage equations show that
1 1fi
2
With the condition of part (b) satisfied the
and the currents form a balanced two-phase set.
164

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SOLUTIONS MANUAL FOR

PART I: Discrete Systems/

JOHN WILEY & SONS, INC.

NEW YORK * LONDON o SYDNEY

SOLUTIONS MANUAL FOR

Part I: Discrete Systems

Philip Sporn Professor of Energy Processing

JOHN WILEY & SONS, INC., NEW YORK - LONDON . SYDNEY

SOLUTIONS MANUAL FOR

H.H. Woodson J.R. Melcher

LUMPED ELECTROMECHANICAL ELEENTS

We start with Maxwell"s equations for a magnetic system in integral form:

E=pH is to remain finite.

Thus we will only need to know

LUMPED ELECTROMECHANICAL ELEMENTS

determining the relative strengths of H 1 ,H 2 and H3 in this last This means

x/a << 1, y/b << 1

LURIPED ELECTROMECHANICAL ELEMENTS

Because the charge is linearly related to the applied voltages we

S (n/4+6)R 1 ,2, ) = v 1 (+o -2 E ()+/4-O)R

Ampere's law can be

LUMPED ELECTROMECHANICAL ELEMENTS

PROBLEM 2.3 (Continued)

Similarly, to the right,

we use the values of H1 and H2 found from (a) -

(c), we obtain the

terminal relations of Prob. 2.3 with jo' rN2d L = o PROBLEM 2.4 2g

LIUPED ELECTROMECHANICAL ELEMENTS

PROBLEM 2.4 (Continued)

2 M dx2 +B dx =- f(t) - UdMg dX1 dt 2

S=dx = d2 x Then since x(0 ) = -(0 ) -( 2 dt dt

LUMPED ELECTROMECHANICAL ELEMENTS

PROBLEM 2.4 (Continued) I

LUMPED ELECTROMECHANICAL ELEMENTS

PROBLEM 2.5 (Continued)

Consider the node connecting the

suffer infinite acceleration.

1. Let y(t) = Auo(t)

x(t) = C e - K/Bt But at t = 0 B dx

LUMPED ELECTROMECHANICAL ELEMENTS

PROBLEM 2.6 (Continued)

K 2 (x1 -x2 )= K 3 (x2 -x3 ) K3 (x2-x3)= f(t)

We write the equation of geometric constraint

x3 + (x2 -x3 ) + (x1 -X2 ) + (h-x )-h = 0

which is really a useful identity rather than a new independent equation.

K 3 (x2 -x3) (h-x

K 3 (x2 -x3) K 3 (x2 -x3)

= 3 (x 2 -x which can be plugged into (c)

LUMPED ELECTROMECHANICAL ELEMENTS

To find natural frequencies let f = 0

The general solution when f = 0 is then

LUMPED ELECTROMECHANICAL ELEMENTS

From the diagram, the change in ir in the time At is 1iA.

Then, the product rule of differentiation on v gives

and the required acceleration follows by combining these equations.

IH'dR! across the gap increases with x,

and hence the field in the gap is

By contrast with part b,

at constant X, the force is

PROBLEM 3.1 (Continued)

Energy input can result only through

We = o and using (a),