Electromechanical Motion Devices_by Krause_IEEE_2ed_2012

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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 CIRCUITS  1
1.1 INTRODUCTION  1
1.2 PHASOR ANALYSIS  2
1.3 MAGNETIC CIRCUITS  9
1.4 PROPERTIES OF MAGNETIC MATERIALS  16
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 RECAPPING  45
1.9 REFERENCES  45
1.10 PROBLEMS  45

2 ELECTROMECHANICAL ENERGY CONVERSION  49
2.1 INTRODUCTION  49
2.2 ENERGY BALANCE RELATIONSHIPS  50
2.3 ENERGY IN COUPLING FIELD  57
2.4 GRAPHICAL INTERPRETATION OF ENERGY CONVERSION  65
2.5 ELECTROMAGNETIC AND ELECTROSTATIC FORCES . 68
2.6 OPERATING CHARACTERISTICS OF AN ELEMENTARY ELECTROMAGNET  74
2.7 SINGLE-PHASE RELUCTANCE MACHINE  80
2.8 WINDINGS IN RELATIVE MOTION  86
2.9 RECAPPING  90
2.10 PROBLEMS  90

3 DIRECT-CURRENT MACHINES  97
3.1 INTRODUCTION  97
3.2 ELEMENTARY DIRECT-CURRENT MACHINE  98
3.3 VOLTAGE AND TORQUE EQUATIONS  108
3.4 PERMANENT-MAGNET dc MACHINE  Ill
3.5 DYNAMIC CHARACTERISTICS OF A PERMANENT-MAGNET dc MOTOR  116
3.6 INTRODUCTION TO CONSTANT-TORQUE AND CONSTANT-POWER OPERATION  119
3.7 TIME-DOMAIN BLOCK DIAGRAM AND STATE EQUATIONS FOR THE PERMANENT-MAGNET dc MACHINE  128
3.8 AN INTRODUCTION TO VOLTAGE CONTROL  132
3.9 RECAPPING  141
3.10 REFERENCES  142
3.11 PROBLEMS  142

4 WINDINGS AND ROTATING MAGNETOMOTIVE FORCE  145
4.1 INTRODUCTION  145
4.2 WINDINGS  146
4.3 AIR-GAP MMF-SINUSOIDALLY DISTRIBUTED WINDINGS  149
4.4 ROTATING AIR-GAP MMF - TWO-POLE DEVICES . . . . 156
4.5 P-POLE MACHINES  164
4.6 INTRODUCTION TO SEVERAL ELECTROMECHANICAL MOTION DEVICES  171
4.7 RECAPPING  180
4.8 PROBLEMS  180

5 INTRODUCTION TO REFERENCE-FRAME THEORY 185
5.1 INTRODUCTION  185
5.2 BACKGROUND  187
5.3 EQUATIONS OF TRANSFORMATION - CHANGE OF VARIABLES  188
5.4 TRANSFORMATION OF STATIONARY CIRCUIT VARIABLES TO THE ARBRITARY FRAME OF REFERENCE  192
5.5  TRANSFORMATION OF A BALANCED SET AND STEADY-STATE BALANCED OPERATION  197
5.6  VARIABLES OBSERVED FROM SEVERAL FRAMES OF REFERENCE  202
5.7  EQUATIONS OF TRANSFORMATION FOR THREE-PHASE SYSTEMS  208
5.8  RECAPPING  210
5.9  REFERENCES  210
5.10 PROBLEMS  211

6 SYMMETRICAL INDUCTION MACHINES  213
6.1 INTRODUCTION  213
6.2  TWO-PHASE INDUCTION MACHINE  214
6.3 VOLTAGE EQUATIONS AND WINDING INDUCTANCES . 220
6.4  TORQUE  226
6.5 VOLTAGE EQUATIONS IN THE ARBITRARY REFERENCE FRAME  228
6.6  MAGNETICALLY LINEAR FLUX LINKAGE EQUATIONS AND EQUIVALENT CIRCUITS  232
6.7  TORQUE EQUATIONS IN ARBITRARY REFERENCE FRAME VARIABLES  234
6.8  ANALYSIS OF STEADY-STATE OPERATION  238
6.9  DYNAMIC AND STEADY-STATE PERFORMANCE-MACHINE VARIABLES  251
6.10 FREE ACCELERATION VIEWED FROM STATIONARY, ROTOR, AND SYNCHRONOUSLY ROTATING REFERENCE FRAMES  262
6.11 INTRODUCTION TO FIELD-ORIENTED CONTROL  . . . 266
6.12 THREE-PHASE INDUCTION MACHINE  273
6.13 RECAPPING  281
6.14 REFERENCES  282
6.15 PROBLEMS  282

7 SYNCHRONOUS MACHINES  287
7.1 INTRODUCTION  287
7.2  TWO-PHASE SYNCHRONOUS MACHINE  288
7.3 VOLTAGE EQUATIONS AND WINDING INDUCTANCES . 294
7.4 TORQUE  301
7.5 MACHINE EQUATIONS IN THE ROTOR REFERENCE FRAME  302
7.6 ROTOR ANGLE  309
7.7 ANALYSIS OF STEADY-STATE OPERATION  310
7.8 DYNAMIC AND STEADY-STATE PERFORMANCE . . . . 326
7.9 THREE-PHASE SYNCHRONOUS MACHINE  335
7.10 RECAPPING  340
7.11 REFERENCES  341
7.12 PROBLEMS  341

8 PERMANENT-MAGNET ac MACHINE  345
8.1 INTRODUCTION  345
8.2 TWO-PHASE PERMANENT-MAGNET ac MACHINE . . . 346
8.3 VOLTAGE EQUATIONS AND WINDING INDUCTANCES OF A PERMANENT-MAGNETIC ac MACHINE  351
8.4 TORQUE  354
8.5 MACHINE EQUATIONS OF A PERMANENT-MAGNETIC ac MACHINE IN THE ROTOR REFERENCE FRAME . . . 355
8.6 TWO-PHASE BRUSHLESS dc MACHINE  357
8.7 DYNAMIC PERFORMANCE OF A BRUSHLESS dc MACHINE  362
8.8 PHASE SHIFTING OF STATOR VOLTAGES OF PERMANENT- MAGNET ac MACHINE  366
8.9 INTRODUCTION TO CONSTANT-TORQUE AND CONSTANT-POWER OPERATION  375
8.10 TIME-DOMAIN BLOCK DIAGRAMS AND STATE EQUATIONS  384
8.11 DIRECT AND QUADRATURE AXIS INDUCTANCES . . . 390
8.12 THREE-PHASE PERMANENT-MAGNET ac MACHINE . . 392
8.13 THREE-PHASE BRUSHLESS dc MACHINE  401
8.14 RECAPPING  410
8.15 REFERENCES  411
8.16 PROBLEMS  411

9 STEPPER MOTORS  415
9.1 INTRODUCTION  415
9.2 BASIC CONFIGURATIONS OF MULTISTACK VARIABLE-RELUCTANCE STEPPER MOTORS  415
9.3 EQUATIONS FOR MULTISTACK VARIABLE-
RELUCTANCE STEPPER MOTORS  422
9.4 OPERATING CHARACTERISTICS OF MULTISTACK VARIABLE-RELUCTANCE STEPPER MOTORS  426
9.5 SINGLE-STACK VARIABLE-RELUCTANCE STEPPER MOTORS  430
9.6 BASIC CONFIGURATION OF PERMANENT-MAGNET STEPPER MOTORS  435
9.7 EQUATIONS FOR PERMANENT-MAGNET STEPPER MOTORS  439
9.8 EQUATIONS OF PERMANENT-MAGNET STEPPER MOTORS IN ROTOR REFERENCE FRAME -RELUCTANCE TORQUES NEGLECTED  443
9.9 RECAPPING  448
9.10 REFERENCE  449
9.11 PROBLEMS  449
10 UNBALANCED OPERATION AND SINGLE-PHASE INDUCTION MOTORS  451
10.1 INTRODUCTION  451
10.2 SYMMETRICAL COMPONENTS  452
10.3 ANALYSIS OF UNBALANCED MODES OF OPERATION . 456
10.4 SINGLE-PHASE INDUCTION MOTORS  465
10.5 CAPACITOR-START INDUCTION MOTOR  467
10.6 DYNAMIC AND STEADY-STATE PERFORMANCE OF A CAPACITOR-START SINGLE-PHASEINDUCTION MOTOR  470
10.7 SPLIT-PHASE INDUCTION MOTOR  474
10.8 RECAPPING  474
10.9 REFERENCES  475
10.10 PROBLEMS  475
APPENDIX A ABBREVIATIONS, CONSTANTS, CONVERSIONS, AND IDENTITIES  477
APPENDIX B MATRIX ALGEBRA  481
APPENDIX C THREE-PHASE SYSTEMS  489
INDEX  493

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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