Mechatronics and Control of Electromechanical Systems

486 Pages·2017·21.72 MB·English

by  Sergey Edward Lyshevski

Mechatronics and Control of
Electromechanical Systems

Mechatronics and Control of
Electromechanical Systems
Sergey Edward Lyshevski
CRC Press
Taylor & Francis Group
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Library of Congress Cataloging-in-Publication Data
Names: Lyshevski, Sergey Edward, author.
Title: Mechatronics and Control of Electromechanical Systems/Sergey Lyshevski.
Description: Boca Raton : CRC Press, 2017. | Includes bibliographical
references and index.
Identifiers: LCCN 2016024616 | ISBN 9781498782395 (hardback : acid-free paper)
Subjects: LCSH: Microelectromechanical systems. | Mechatronics. | Power
electronics. | Electromechanical devices.
Classification: LCC TK7875 .L959 2017 | DDC 621--dc23
LC record available at https://lccn.loc.gov/2016024616
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Perseverance and Indebtedness:
With a sincere gratitude and deepest thanks to all who have empowered us
with scientific knowledge, scholarly learning, engineering developments, and
transformative technologies. With a deep appreciation of the contributions and
discoveries by Michael Faraday and Nikola Tesla who enlighten us with knowledge,
solutions, and technologies.
Sincerely, Sergey Lyshevski
Quotes:
“A pessimist sees the difficulty in every opportunity; an optimist sees the opportunity
in every difficulty.
However beautiful the strategy, you should occasionally look at the results.”
Sir Winston S. Churchill
“Nothing is too wonderful to be true, if it be consistent with the laws of nature; and
in such things as these, experiment is the best test of such consistency.”
Michael Faraday
“Today’s scientists have substituted mathematics for experiments, and they wander
off through equation after equation, and eventually build a structure which has no
relation to reality.”
Nicola Tesla

Contents
Preface...............................................................................................................................................xi
Acknowledgments ..........................................................................................................................xiii
Author ..............................................................................................................................................xv
Chapter 1 Mechatronic and Electromechanical Systems .............................................................1
1.1 Introduction and Examples ................................................................................1
1.2 Role of Mechatronics: From Design to Commercialization and Deployment .........6
1.3 Electromechanical Systems Synthesis...............................................................8
Homework Problems ..................................................................................................13
References ..................................................................................................................14
Chapter 2 Mechanics and Electromagnetics: Analysis, Modeling, and Simulation ...................15
2.1 Introduction and Baseline Principles...............................................................15
2.2 Energy Conversion and Force Production in Electromechanical Devices ......16
2.3 Fundamentals of Electromagnetics .................................................................24
2.4 Classical Mechanics with Applications ...........................................................30
2.4.1 Newtonian Mechanics ........................................................................30
2.4.1.1 Translational Motion ...........................................................30
2.4.1.2 Rotational Motion ...............................................................34
2.4.2 Lagrange Equations of Motion ...........................................................36
2.4.3 Hamilton Equations of Motion ...........................................................45
2.5 Friction in Motion Devices ..............................................................................46
2.6 Application of Electromagnetics and Mechanics to Electromechanical
Systems ............................................................................................................51
2.7 Simulation of Systems Using MATLAB® .......................................................54
Homework Problems ..................................................................................................69
References ..................................................................................................................70
Chapter 3 Electrostatic and Electromagnetic Motion Devices ...................................................71
3.1 Introduction and Discussions ..........................................................................71
3.2 Electrostatic Actuators ....................................................................................74
3.2.1 Parallel-Plate Electrostatic Actuators .................................................74
3.2.2 Rotational Electrostatic Actuators......................................................75
3.3 Variable-Reluctance Electromagnetic Actuators ............................................77
3.3.1 Solenoids, Relays, and Magnetic Levitation Systems ........................77
3.3.2 Experimental Analysis and Control of a Solenoid .............................88
3.3.3 Synchronous Variable-Reluctance Rotational Actuators ...................92
Practice Problems .......................................................................................................95
Homework Problems ..................................................................................................96
References ..................................................................................................................97
vii
viii Contents
Chapter 4 Permanent-Magnet Direct-Current Motion Devices and Actuators ..........................99
4.1 Permanent-Magnet Motion Devices and Electric Machines: Introduction ......99
4.2 Radial Topology Permanent-Magnet Direct-Current Electric Machines
and Power Electronic Solutions .....................................................................100
4.2.1 Electric Machines .............................................................................100
4.2.2 Simulation and Experimental Studies of Permanent-Magnet DC
Machines ..........................................................................................106
4.2.3 Electromechanical Devices with Power Electronics ........................108
4.3 Axial Topology Permanent-Magnet Direct-Current Electric Machines .......112
4.3.1 Fundamentals of Axial Topology Permanent-Magnet Machines ....112
4.3.2 Axial Topology Hard Disk Drive Actuators ....................................117
4.4 Translational Permanent-Magnet Electromechanical Motion Devices .........121
Practice Problems .....................................................................................................124
Homework Problems ................................................................................................125
References ................................................................................................................125
Chapter 5 Induction Motors ......................................................................................................127
5.1 Introduction and Fundamentals .....................................................................127
5.2 Torque–Speed Characteristics and Control of Induction Motors ..................127
5.2.1 Torque–Speed Characteristics ..........................................................127
5.2.2 Control of Induction Motors .............................................................130
5.3 Two-Phase Induction Motors .........................................................................134
5.3.1 Modeling of Two-Phase Induction Motors .......................................134
5.3.2 Lagrange Equations of Motion .........................................................139
5.3.3 Advanced Topics in the Analysis of Induction Machines ................146
5.4 Three-Phase Induction Motors in the Machine Variables .............................153
5.5 Analysis of Induction Motors Using Quadrature and Direct Quantities .......165
5.5.1 Arbitrary, Stationary, Rotor, and Synchronous Reference
Frames .......................................................................................165
5.5.2 Induction Motors in the Arbitrary Reference Frame .......................169
5.5.3 Induction Motors in the Synchronous Reference Frame ..................177
5.5.4 Three-Phase Induction Motors in the Rotor Reference Frame ........181
5.5.5 Three-Phase Induction Motors in the Stationary
Reference Frame ...........................................................................182
5.6 Power Converters ...........................................................................................185
Practice and Engineering Problems ..........................................................................193
Homework Problems ................................................................................................196
References ................................................................................................................197
Chapter 6 Synchronous Machines in Electromechanical and Energy Systems .......................199
6.1 Synchronous Machines: Introduction ............................................................199
6.2 Synchronous Reluctance Motors ...................................................................201
6.2.1 Single-Phase Synchronous Reluctance Motors ................................201
6.2.2 Three-Phase Synchronous Reluctance Motors ................................210
6.2.2.1 Synchronous Reluctance Motors in the Machine
Variables ...........................................................................210
6.2.2.2 Synchronous Reluctance Motors in the Rotor and
Synchronous Reference Frames........................................216
Contents ix
6.3 Radial Topology Two-Phase Permanent-Magnet Synchronous Machines....217
6.3.1 Two-Phase Permanent-Magnet Synchronous Machines
and Stepper Motors ..........................................................................217
6.3.2 Two-Phase Permanent-Magnet Stepper Motors ...............................220
6.3.2.1 Permanent-Magnet Stepper Motors ..................................220
6.3.2.2 Analysis of Permanent-Magnet Stepper Motors Using
the Quadrature and Direct Quantities ..............................226
6.3.2.3 Control of Stepper Motors ................................................227
6.4 Radial Topology Three-Phase Permanent-Magnet Synchronous Machines ......230
6.4.1 Analysis of Three-Phase Permanent-Magnet
Synchronous Motors .....................................................................230
6.4.2 Lagrange Equations of Motion and the Dynamics
of Permanent-Magnet Synchronous Motors ....................................238
6.4.3 Three-Phase Permanent-Magnet Synchronous Generators .............241
6.4.4 Mathematical Models of Permanent-Magnet Synchronous
Machines in the Arbitrary, Rotor, and Synchronous Reference
Frames ..............................................................................................246
6.4.4.1 Arbitrary Reference Frame ...............................................246
6.4.4.2 Synchronous Motors in the Rotor and Synchronous
Reference Frames .............................................................249
6.4.4.3 Synchronous Generators in the Rotor and
Synchronous Reference Frames........................................252
6.5 Advanced Topics in the Analysis of Permanent-Magnet Synchronous
Machines .......................................................................................................253
6.6 Axial Topology Permanent-Magnet Synchronous Machines ........................265
6.7 Conventional DC-Current Exited Three-Phase Synchronous Machines ......274
6.7.1 Dynamics of Synchronous Motors in the Machine Variables .........275
6.7.2 Three-Phase DC-Current Exited Synchronous Generators .............282
6.7.3 Mathematical Models of Synchronous Machines in the Rotor
and Synchronous Reference Frames ................................................285
Practice Problems .....................................................................................................287
Homework Problems ................................................................................................291
References ................................................................................................................292
Chapter 7 Electronics and Power Electronics: Signal Processing, Filtering, Data Analysis,
and Data Analytics ...................................................................................................293
7.1 Microelectronics, Operational Amplifiers, and Integrated Circuits ..............293
7.2 Analog Filters ................................................................................................296
7.3 Descriptive Analysis, Data Analytics, and Statistical Models ......................302
7.4 Power Amplifiers and PWM Converters .......................................................313
7.4.1 Analog Controllers and PWM Amplifiers .......................................313
7.4.2 Switching Converter: Buck Converter .............................................316
7.4.3 Boost Converter ................................................................................321
7.4.4 Buck-Boost Converters .....................................................................325
7.4.5 Cuk Converter ..................................................................................328
7.4.6 Flyback and Forward Converters .....................................................333
7.4.7 Resonant and Switching Converters.................................................335
Homework Problems ................................................................................................337
References ................................................................................................................338