ES3D9 Applied Control

Electrical Systems
Lecture 1 of 6
Module Outline Syllabus
Instrumentation principles
Measurements
Motion Drive systems
Overview of DC, single-phase and three-
phase AC for use in machines (with
refresher on basic electrical principles).
Typical forms and uses of: electromagnetic
actuators; DC motors; AC motors; stepper-
motors; and linear motors.
Applied Control
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Electrical Machines lecture 1 of 6 2
Learning Outcomes
Interpret the differing principles of
operation of electro-magnetic actuators
and rotating machines.

http://demonstrations.wolfram.com/OperatingAnACThreePhaseInductionMotor
Wolfram Demonstrations Project . Link noted June 2015.

http://demonstrations.wolfram.com/ElectromagneticDoorbell
Wolfram Demonstrations Project Published: April 27, 2012

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 Lecture 1 of 6 Today we will

Why do we use electrical machines?

Underlying concepts of electrical machines - the
link between electricity, magnetism, and
motion
An experiment to try to demonstrate the link*
An introduction to some applications well
explore in the coming lectures

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Electrical Machines lecture 1 of 6 4
Why are Electrical Machines Prevalent?
Because
Clean
Widely available and continuous supply
Highly convenient : 4hp out of every 13A socket
Wiring is easy
Easy to control

Cheaper
Fewer highly-tolerance interfering parts
More efficient
So
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Electrical Machines lecture 1 of 6 5
So
As a power source its hard to argue it electricity
is anything other than wonderful
Think of a device that uses electricity. Does the
useful energy remain in electrical form?
but in the physical world we need to
change things!
We need to move thigs about

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Electrical Machines lecture 1 of 6 6
Quick case study Powering a 40T truck
Think of the energy required to change the speed of
this huge mass
Yet the driver only controls a low energy electrical volvotrucks.com

signal (via throttle pedal, 24 V, several mA)

ECU Engine Control Unit, throttle demand
converted to drive signal for the engines injectors
volvotrucks.com
(50 V, 10 A amp pulses)
Very small electromagnet used to set amount of fuel
injected with each pulse
delphi.com (E3 injector)
Injectors set engine power
40T truck controlled by something that moves 30m
Electrical machines enable control Ebay.com (E3 Nozzle Control Valve)

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 3 Basic Elements of an Electrical Machine
1. Something to create the magnetism on demand

N S

2. Something to channel the magnetic field

S N

3. Something to be usefully acted upon by the field

F

S N

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The link between Electricity and Magnetism

1820 Oersted demonstrated

motion in a compass needle when
placed next to a wire carrying a
current
Current in magnetism out

Field from wire acts on magnet in

compass to give motion
Magnetism in motion out

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Electrical Machines lecture 1 of 6 9
What are Magnetic Fields?
Idea developed by Faraday, where a magnetic field is
a region of influence, where a force can act on a particle
Field lines form closed loops between north and
south poles
By convention outside the magnet lines emerge
from north pole and enter at south, inside they run
south to north
Lines never cross they imply lines of equal field
strength
Lines always act to shorten themselves a bit like
stretched elastic
Pictorial aid lines arent real, allows you to picture
http://hyperphysics.phy-astr.gsu.edu/hbase/magnetic/elemag.html
how the field exerts its influence through space
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Magnetic Fields and Magnet Structure
Magnet structure
Magnets are dipoles north
(seeking) pole &
south (seeking) pole N S
No matter how small!
N S N S
Moving charge creates a
magnetic field NS NS NS NS
Moving around an atom
Intrinsic electron spin
Large scale current flows

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Magnetic Fields Around a Wire
Moving charge creates a magnetic field
Large scale charge movement in same
direction - current flow - dominant
effect
Charge moving around an atom,
intrinsic electron spin - secondary
effects x into page (arrow tail)

Field radiates outwards from a current out of page (arrow head)

carrying conductor, diminishing in

strength with increasing distance

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Magnetic Fields Around a Wire
Conventions - Corkscrew rule /
Grip rule
Field lines rotate clockwise as
viewed with current going away
from observer
Gripping an (insulated!) conductor,
with the thumb of the right-hand http://2bp.blogspot.com
pointing in the direction of
(conventional) current, the field
rotates in the direction of the fingers
wrapped around the wire
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Ampre
Ampre, (and Biot & Savart) established that the field strength,
B, changed in proportion with the applied current, I, and in
inverse proportion to the distance from the conductor, R. So :
Where B = field in tesla (T), or weber/m2 (Wbm-2);
0 I = current in A,
= r = distance from conductor in m, and
2
0 = constant (known as permeability,
in henry/m, Hm-1) that defines the readiness of a material to accept
magnetization more on this shortly.

From this we see that current can be used to set the field value,
and that the field strength is a function of distance from the
conductor and the intervening material.
This may alternately be expressed in terms of the magnetic flux,
, (in weber) and the enclosed area, A, (in m2), as
= Wbm-2 or tesla (T)

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Loops
What happens if there is more than one conductor?
Current in opposite directions reduces field

Current in same direction augments field

Adding loops magnifies effect

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 Turns
Schweigger demonstrated the additional
effect of extra turns
This device using a winding, also called a coil,
http://physicsmax.com/schweiggers-
galvanometer-7781 or a solenoid.
Each turn develops a given flux, this is
re-enforced by the next turn
More turns means a more regular
field inside the coil outside it is less
regular, and much weaker
The total flux available, the flux
linkage, is the product of the flux in
each turn and the number of turns,
= Wb. Benson, H., University Physics.

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Solenoids
You can adapt the corkscrew rule to
check the direction of the field in
and around a solenoid.

Imagine the fingers of the right-hand aplusphysics.com/courses/honors/

magnets/electromagnetism.html
wrapped in the direction of current
flow the thumb points along the
field.

So, we have our first requirement - a

controllable source of magnetism
But how do we channel this?

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Whats ?
The permeability of a material, , tells us well it develops a
magnetic field under the influence of a magnetizing source.
A coil of so many turns, N, carrying current, I, and having length, L,
develops a magnetic field intensity, H (in At/m) of
H = NI / amp-turns/metre
The useful magnetic field, B, from which is
B = H Weber/m2
So the larger the value of , the greater the field.

The material permeability (m) is often given in terms of the

permeability of free space (0), and the material's relative
permeability to this (r) , or
m= r0 Henry / metre

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Material Matters
Air (and any other non-magnetic material)
No field random alignment
has a permeability, 0, of 4 x 10-7 Hm-1
Ferromagnetic materials are especially good
at developing a magnetic field have high
values
Neighboring dipoles align into domains
Field net domain alignment
No magnetizing field with applied field

domains randomly orientate for minimal energy

Under a field
the nearly-aligned domains align add in field
they expand at the expense of unaligned domains
Material cores are used to channel the field

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Cores and Effect
Cores are good at channeling flux create an iron circuit
A strong field allows high flux density
Relative to the surrounding air, the flux density is many
times more, so:
the field is effectively channeled
Flux much more likely to follow cores than jump outside
Allows us to concentrate field in area of interest

Channeling the field allows concentrated action at

a given point.

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The First Electromagnets
1820 Arago places iron bar inside a
current carrying coil and notes the bar is
magnetized
1825 Sturgeon wraps a few turns
around a horseshoe shaped bar, and uses
this to lift small masses
Soon after Joseph Henry mush improves
Sturgeons design, and ultimately produces www.princeton.edu/ssp/joseph-henry-
project/albany-
electromagnet/AlbanyMagnetPaper.pdf

electromagnets capable of lifting 750 kg

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Force from the Field Acting on a Wire
Experiments such as Henrys proved forces are developed,
but how does this work with current carrying wires?
Think of the flux between two poles (magnet ends), and how
a wire interacts

Fields
Current
Net
Field interfere
into
result
from : forced
page,
:magnet
wire field
CW
only;
weakens
field belowaround
with develops
down conductor, wire,
but no and
wire
strengthens above
current flowing

Result the stronger field on one side pushes the current

carrying charges (and so the wire) away towards the region
of weaker field

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Flemings Left Hand Rule (motors)
The direction of the resultant force can be
anticipated by applying Flemings LH rule
Applying this to the case where current
comes out of the page

Daido-electronics.co.jp (link noted June 2015)

Net
Fieldresult
Current
Fields out:magnet
from wire
interfere : forced
of page,
field up
alone;
CCW
field
weakens
conductor
develops
above
there,
around
wire,
but no
and
wire
strengthens
current flowingbelow
Apply the LH rule to check
Field runs left to right
Current comes out of page
Force must be upwards

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Force on a Current Carrying Wire
Dead wire in a field experiences no force
Thermal velocities of free electrons are randomly orientated, so net out
When current flows, the electrons as a whole acquire a slow drift velocity,
vd, experiencing a magnetic force, which is transmitted to the wire
Consider a length of wire of cross-sectional area, A, carrying a
conventional current I (left-to right) perpendicular to a uniform magnetic
field going into the page
Applying Flemings Left-Hand rule we deduce an upwards force.
F = B x -evd
x x x x x x x
A
x vd - I x

x x x x x x x
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Or, more usefully
Consider a length of wire, L, of XSA, A, if there are n conducting
electrons per unit volume, the number of charges is nAL
Each electron experiences
force F=evdB, so total force is

F = (nAL)evdB
We know that current
I = nAevd, so

F = BIL

When the current carrying wire is not perpendicular to the field :

F = B x IL = BIL sin

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Continuous Motion from Magnetism
Faradays experiment

Faraday, Michael (1844). Experimental Researches in

Electricity 2. ISBN 0-486-43505-9. See plate 4.

Current, magnetic field, motion

Magnet revolves around a current carrying wire left side
Current carrying wire revolves around a magnet right side

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Now well try
Need a battery, a magnet, a wire,
and a some volunteers
1. Place magnet on base of battery
2. Create a loosely fitting loop
between the top terminal and
the magnet on the bottom
terminal
3. Give it a nudge

And just in case

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More Early Machines
Schweigger galvanometer
dArsonval made a device that sensed current
using the deflection of a magnet in a field
the moving coil galvanometer
Many turn of fine wire in a field, current causes deflection
against a retaining coiled spring.
Galvanometer rests when spring force = magnetic force
Remember the sin term in the force? Using cylindrically
http://www.physics.byu.edu shaped poles makes field act radially, and the plane of the
wire loop moves in line with the field lines, making sin =1
and linearizing the output such that
=/
Some galvanometers are capable of reading pA.
Sketch of "telegraph" Henry showed
his classes at the Albany Academy. From
A hugely important early electromagnet
Smithsonian annual report for 1857, p. 105.
application was Henrys telegraph.
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Uses
In the remainder of this module element well talk
about engineering applications of electrical machines:
Linear actuators electromagnets that provide linear
movement
Rotational motors mechanical output from
electrical input
Electrical generators and generation mechanical
power in electrical power out
Transmission

Applications
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Electrical Machines lecture 1 of 6 29
Applications Main Types
Linear actuators / electromagnets

computer.howstuffworks.com/ computer.howstuffworks.com nature.com

period7magnets.wikispaces.com

Rotary motors

uk.rs-online.com/web/p/dc- KTM400EXC www.lenze.com/ indiadefenceforum.com

motors/2389692/ electric starter schematic

Generators

densoheavyduty.com/alternators/light-duty www.teslasociety.com/exhibition.htm Telegraph.co.uk

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Electrical Machines lecture 1 of 6 Which do you recognize? 30
Electromagnets - Summary
Current, magnetism, and movement are
linked
Coils develop strong fields
Ferromagnetic materials channel flux
Such materials include : Fe, Co, Ni.
Iron-circuits can be configured to develop
force to produce movement
Movement enables change

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31
Electrical Machines lecture 1 of 6
 Exercises

1. Define permanent magnets; ferromagnetic material;

paramagnetic material; and diamagnetic material.
2. State Flemings Left-hand rule.
3. A straight wire of length 30 cm and mass 50 g lies along
the east-west direction. The earths magnetic field here is
0.8 gauss (8E-6 tesla). With what current would the wires
weight be sustained by the magnetic field?
4. List 10 applications of electromagnets.
5. What 3 elements are required to produce an electrical
machine?

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 Guided Reading and Further Exercises

Hughes, Electrical and Electronic

Technology, Ch6 Electromagnetism.
CH6 in-chapter exercises plus end of
chapter exercises.

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 Looking for more?
JET is the hottest place in the universe just
outside Oxford? What has this got to do with
electromagnets?
https://www.youtube.com/watch?v=3C5hFQeZCT4

Joseph Henrys Electromagnet Experiments

https://www.princeton.edu/ssp/joseph-henry-project/albany-
electromagnet/AlbanyMagnetPaper.pdf

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Electrical Machines lecture 1 of 6 34
 End of lecture 1 of 6
Please see exercises, guided reading and
further reading notes.

Next time well talk about how to harness the

concepts of electro-magnetism to produce
linear actuators.

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Machines lecture 1 of 6