Electromechanical Motion Devices_by Krause_IEEE_2ed_2012
书籍名称：Electromechanical Motion Devices作者：Paul C. Krause, Oleg Wasynczuk, Steven D. Pekarek
出版社：IEEE Press
格式：PDF
CONTENT
1 MAGNETICALLY COUPLED CIRCUITS1
1.1 INTRODUCTION1
1.2 PHASOR ANALYSIS2
1.3 MAGNETIC CIRCUITS9
1.4 PROPERTIES OF MAGNETIC MATERIALS16
1.5 STATIONARY MAGNETICALLY COUPLED CIRCUITS . . 21
1.6 OPEN- AND SHORT-CIRCUIT CHARACTERISTICS OF STATIONARY MAGNETICALLY COUPLED CIRCUITS . . 30
1.7 MAGNETIC SYSTEMS WITH MECHANICAL MOTION. 36
1.8 RECAPPING45
1.9 REFERENCES45
1.10 PROBLEMS45
2 ELECTROMECHANICAL ENERGY CONVERSION49
2.1 INTRODUCTION49
2.2 ENERGY BALANCE RELATIONSHIPS50
2.3 ENERGY IN COUPLING FIELD57
2.4 GRAPHICAL INTERPRETATION OF ENERGY CONVERSION65
2.5 ELECTROMAGNETIC AND ELECTROSTATIC FORCES . 68
2.6 OPERATING CHARACTERISTICS OF AN ELEMENTARY ELECTROMAGNET74
2.7 SINGLE-PHASE RELUCTANCE MACHINE80
2.8 WINDINGS IN RELATIVE MOTION86
2.9 RECAPPING90
2.10 PROBLEMS90
3 DIRECT-CURRENT MACHINES97
3.1 INTRODUCTION97
3.2 ELEMENTARY DIRECT-CURRENT MACHINE98
3.3 VOLTAGE AND TORQUE EQUATIONS108
3.4 PERMANENT-MAGNET dc MACHINEIll
3.5 DYNAMIC CHARACTERISTICS OF A PERMANENT-MAGNET dc MOTOR116
3.6 INTRODUCTION TO CONSTANT-TORQUE AND CONSTANT-POWER OPERATION119
3.7 TIME-DOMAIN BLOCK DIAGRAM AND STATE EQUATIONS FOR THE PERMANENT-MAGNET dc MACHINE128
3.8 AN INTRODUCTION TO VOLTAGE CONTROL132
3.9 RECAPPING141
3.10 REFERENCES142
3.11 PROBLEMS142
4 WINDINGS AND ROTATING MAGNETOMOTIVE FORCE145
4.1 INTRODUCTION145
4.2 WINDINGS146
4.3 AIR-GAP MMF-SINUSOIDALLY DISTRIBUTED WINDINGS149
4.4 ROTATING AIR-GAP MMF - TWO-POLE DEVICES . . . . 156
4.5 P-POLE MACHINES164
4.6 INTRODUCTION TO SEVERAL ELECTROMECHANICAL MOTION DEVICES171
4.7 RECAPPING180
4.8 PROBLEMS180
5 INTRODUCTION TO REFERENCE-FRAME THEORY 185
5.1 INTRODUCTION185
5.2 BACKGROUND187
5.3 EQUATIONS OF TRANSFORMATION - CHANGE OF VARIABLES188
5.4 TRANSFORMATION OF STATIONARY CIRCUIT VARIABLES TO THE ARBRITARY FRAME OF REFERENCE192
5.5TRANSFORMATION OF A BALANCED SET AND STEADY-STATE BALANCED OPERATION197
5.6VARIABLES OBSERVED FROM SEVERAL FRAMES OF REFERENCE202
5.7EQUATIONS OF TRANSFORMATION FOR THREE-PHASE SYSTEMS208
5.8RECAPPING210
5.9REFERENCES210
5.10 PROBLEMS211
6 SYMMETRICAL INDUCTION MACHINES213
6.1 INTRODUCTION213
6.2TWO-PHASE INDUCTION MACHINE214
6.3 VOLTAGE EQUATIONS AND WINDING INDUCTANCES . 220
6.4TORQUE226
6.5 VOLTAGE EQUATIONS IN THE ARBITRARY REFERENCE FRAME228
6.6MAGNETICALLY LINEAR FLUX LINKAGE EQUATIONS AND EQUIVALENT CIRCUITS232
6.7TORQUE EQUATIONS IN ARBITRARY REFERENCE FRAME VARIABLES234
6.8ANALYSIS OF STEADY-STATE OPERATION238
6.9DYNAMIC AND STEADY-STATE PERFORMANCE-MACHINE VARIABLES251
6.10 FREE ACCELERATION VIEWED FROM STATIONARY, ROTOR, AND SYNCHRONOUSLY ROTATING REFERENCE FRAMES262
6.11 INTRODUCTION TO FIELD-ORIENTED CONTROL. . . 266
6.12 THREE-PHASE INDUCTION MACHINE273
6.13 RECAPPING281
6.14 REFERENCES282
6.15 PROBLEMS282
7 SYNCHRONOUS MACHINES287
7.1 INTRODUCTION287
7.2TWO-PHASE SYNCHRONOUS MACHINE288
7.3 VOLTAGE EQUATIONS AND WINDING INDUCTANCES . 294
7.4 TORQUE301
7.5 MACHINE EQUATIONS IN THE ROTOR REFERENCE FRAME302
7.6 ROTOR ANGLE309
7.7 ANALYSIS OF STEADY-STATE OPERATION310
7.8 DYNAMIC AND STEADY-STATE PERFORMANCE . . . . 326
7.9 THREE-PHASE SYNCHRONOUS MACHINE335
7.10 RECAPPING340
7.11 REFERENCES341
7.12 PROBLEMS341
8 PERMANENT-MAGNET ac MACHINE345
8.1 INTRODUCTION345
8.2 TWO-PHASE PERMANENT-MAGNET ac MACHINE . . . 346
8.3 VOLTAGE EQUATIONS AND WINDING INDUCTANCES OF A PERMANENT-MAGNETIC ac MACHINE351
8.4 TORQUE354
8.5 MACHINE EQUATIONS OF A PERMANENT-MAGNETIC ac MACHINE IN THE ROTOR REFERENCE FRAME . . . 355
8.6 TWO-PHASE BRUSHLESS dc MACHINE357
8.7 DYNAMIC PERFORMANCE OF A BRUSHLESS dc MACHINE362
8.8 PHASE SHIFTING OF STATOR VOLTAGES OF PERMANENT- MAGNET ac MACHINE366
8.9 INTRODUCTION TO CONSTANT-TORQUE AND CONSTANT-POWER OPERATION375
8.10 TIME-DOMAIN BLOCK DIAGRAMS AND STATE EQUATIONS384
8.11 DIRECT AND QUADRATURE AXIS INDUCTANCES . . . 390
8.12 THREE-PHASE PERMANENT-MAGNET ac MACHINE . . 392
8.13 THREE-PHASE BRUSHLESS dc MACHINE401
8.14 RECAPPING410
8.15 REFERENCES411
8.16 PROBLEMS411
9 STEPPER MOTORS415
9.1 INTRODUCTION415
9.2 BASIC CONFIGURATIONS OF MULTISTACK VARIABLE-RELUCTANCE STEPPER MOTORS415
9.3 EQUATIONS FOR MULTISTACK VARIABLE-
RELUCTANCE STEPPER MOTORS422
9.4 OPERATING CHARACTERISTICS OF MULTISTACK VARIABLE-RELUCTANCE STEPPER MOTORS426
9.5 SINGLE-STACK VARIABLE-RELUCTANCE STEPPER MOTORS430
9.6 BASIC CONFIGURATION OF PERMANENT-MAGNET STEPPER MOTORS435
9.7 EQUATIONS FOR PERMANENT-MAGNET STEPPER MOTORS439
9.8 EQUATIONS OF PERMANENT-MAGNET STEPPER MOTORS IN ROTOR REFERENCE FRAME -RELUCTANCE TORQUES NEGLECTED443
9.9 RECAPPING448
9.10 REFERENCE449
9.11 PROBLEMS449
10 UNBALANCED OPERATION AND SINGLE-PHASE INDUCTION MOTORS451
10.1 INTRODUCTION451
10.2 SYMMETRICAL COMPONENTS452
10.3 ANALYSIS OF UNBALANCED MODES OF OPERATION . 456
10.4 SINGLE-PHASE INDUCTION MOTORS465
10.5 CAPACITOR-START INDUCTION MOTOR467
10.6 DYNAMIC AND STEADY-STATE PERFORMANCE OF A CAPACITOR-START SINGLE-PHASEINDUCTION MOTOR470
10.7 SPLIT-PHASE INDUCTION MOTOR474
10.8 RECAPPING474
10.9 REFERENCES475
10.10 PROBLEMS475
APPENDIX A ABBREVIATIONS, CONSTANTS, CONVERSIONS, AND IDENTITIES477
APPENDIX B MATRIX ALGEBRA481
APPENDIX C THREE-PHASE SYSTEMS489
INDEX493
Preface
Performance control of electric machines began in earnest with the advent
of electronic switching devices in the mid 20th century and has since grown
into a major industry. This growth has been accelerated in the last 25 years
by the ever-increasing sophistication of switching devices and the emergence
of electric drives, and now, the recent push to develop economically com-
petitive hybrid and electric vehicles and a more efficient and cleaner power
grid. These device improvements have enabled major breakthroughs in the
performance control of ac machines. For example, the permanent-magnet ac
machine and the induction machine can be controlled so that the resulting
performance characteristics are unrecognizable from the traditional steady-
state, torque-speed characteristics. However, it has been found that in the
design of these controls, it is convenient if not necessary to incorporate a
transformation for the ac variables so that the substitute variables resem-
ble those of a dc machine and that this transformation must be embedded
within the control. In addition, detailed computer simulations, which in-
clude the electric and mechanical transients, have become a design necessity.
Reference-frame theory is the key player in all of this and it would be highly
beneficial if it were at least introduced in undergraduate study of electric
machines. The present-day academic maturity of the third-year electrical
engineering student is more than sufficient to follow the concept of reference-
frame theory if it is introduced in a straightforward and concise manner.
This second edition is an attempt to accomplish this modernization goal.
The analysis of magnetically coupled windings, a direct approach to en-
ergy conversion that minimizes the traditional array of summations, dis-
tributed windings, and dc machines are covered in the first four chapters.
Therein, the advantages and the performance features of the dc machine,
which are the emulation goals of controlled ac machines, are established.
Controlled converter switching for a dc drive is covered briefly; however, this
is presented without the need for a background in automatic control or in
semiconductor physics.
Reference-frame theory is introduced in Chapter 5. This is not a lengthy,
involved three-phase dissertation; instead, it is a concise two-phase approach
that, if studied carefully, makes the analysis of the electric machines covered
in later chapters a straightforward and less-time consuming task. It has been
the authors' experience that the concepts and advantages of reference-frame
theory is often lost in the maze of the trigonometry involved in a three-phase
analysis. Since most, if not all, of the concepts are contained in the two-phase
approach, the student is able to focus on the basic principles and advantages
of reference-frame theory with minimum trigonometric distraction. In fact,
once familiar with the material in Chapter 5, the student is able to fore-
see the change of variables needed for the machines considered in the later
chapters and the form of resulting transformed voltage equations without
going through any additional derivation. Therefore, the instructor will find
that the time spent on the material in Chapter 5 is paid back with hand-
some dividends in later chapters. Moreover, the analysis and the transient
and steady-state performance characteristics of the two- and three-phase ma-
chines are essentially identical. The minor differences are addressed briefly
at the end of the two-phase treatment of each machine, making the extension
to the three-phase machine direct and easily presented.
Field-oriented control of induction machines, constant-torque and constant-
power regions of permanent-magnet ac machines, brushless dc machines, and
control of doubly fed induction machines for wind turbines are all applications
that have become common in the last 25 years. Several of these applications
are introduced in this text, not in extensive detail, but in detail sufficient to
give the reader a clear first-look at these modern machine applications.
Topics from Chapters 1 through 5 form the basis for the subsequent chap-
ters and the text is purposely written so that once these topics are covered,
Chapters 6 through 9 can be covered in any order. Although topics from
Chapter 6 should be covered before Chapter 10, the ordering of Chapters 6
through 9 is not based on requisites nor should the ordering in the text be
taken as recommended. Although the ordering and depth of coverage are
optional, there are perhaps two scenarios that bracket the possible classroom
use of this text. To emphasize the electric-power area of study, parts of Chap-
ter 3 could be omitted and topics from Chapters 6, 7, and 10 added. For
the electric-drives area, topics from Chapters 6, 8, 9, and part of Chapter 10
could be added. Actually, this book can play various roles depending upon
the background of the students and the goals of the instructor. Certainly,
it is not intended for all of the material to be taught in one undergraduate
course. The instructor can select the topics and depth of coverage so that the
student is prepared for advanced study and to provide a modern background
and a ready reference for the practicing engineer. Moreover, this text could
be used in a two-course series in which the second course is at the senior or
introductory graduate level. The text is purposely organized with material
being repeated for convenient use as a reference. Once the instructor has
become familiar with this feature, it will be found that topics can be covered
thoroughly without presenting material previously covered.
Paul C. Krause
Oleg Wasynczuk
Steven D. Pekarek
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