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6.013/ESD.013J Electromagnetics and Applications, Fall 2005

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6.013, Electromagnetics and Applications

Prof. Markus Zahn, November 8 & 10, 2005
Lecture 16 & 17: Electroquasistatic and Magnetoquasistatic Forces
I. EQS Energy Method of Forces
a) Circuit Point of View

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

q = C ( ) v

i=

dC ( )
dq
d
dv
C ( ) v = C ( )
=
+v
dt
dt
dt
dt

= C ()

Pin = vi = v

dv
dC d

+v
dt
d dt

d
d
dC d
C ( ) v = C ( ) v
+ v2
dt
dt
d dt

= C ()

d
dt

d
dt

1 2 dC d
1
2
2 C ( ) v + 2 v d dt

dW
dt
W=energy
storage

6.013, Electromagnetics and Applications

Prof. Markus Zahn

1 2
2 dC d
2 v + v d dt

d
dt

mechanical power
(force velocity)

Lecture 16 & 17
Page 1 of 23

W=

1
1
dC
C ( ) v2 , f = v2
2
2
d

1 q2 dC
1
d 1
= q2

2
2 C ( ) d
2
d C ( )

b) Energy Point of View

vi = v

dq dWe
d
=
+ f
dt
dt
dt

vdq = dWe + f d dWe = vdq f d

f =

We

;v=
q= cons tan t

We
q

= cons tan t

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

0
We =

f d

q=0

v=

vdq

= cons tan t

q
C ()

We =

=cons tan t

f=

we

q
1 q2
dq =
2 C ()
C ()

=
q = cons tan t

1 2 d 1 1 q2 dC ( )
q

=
2
d C ( ) 2 C2 ( ) d

6.013, Electromagnetics and Applications

Prof. Markus Zahn

1 2 dC ( )
v
2
d

Lecture 16 & 17
Page 2 of 23

II. Forces In Capacitors

From Electromagnetic Field Theory: A Problem Solving Approach, by Markus Zahn, 1987. Used with permission.

s = +Ex =

+v
x

q = s A = Ex A =

(Lower electrode)

vA
x

= C ( x ) v

C (x) =

From Electromagnetic Field Theory: A Problem Solving Approach, by Markus Zahn, 1987. Used with permission.

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17

Page 3 of 23

a) Coulombic force method on upper electrode:

1
1
1 v2
fx = sEx A = E2x A =
A
2
2
2 x2
1
because E in electrode=0, E outside electrode = Ex
2

Take average

Energy method: C ( x ) =

fx =

1 2 dC 1 2
d 1

1 v2A
v
= v A
=
2
dx
2
dx x
2 x2

v=

q
qx
1 A q2 x2
1 q2
fx =
=
=
2 x2 2 A 2
2 A
A
C (x)

b)

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

A
1
1
1
A
=
; Ca = 0 , Cb =
+
C ( ) Ca Cb
b

+
0 A A

+ 0b

0 A

1
q2
1 2 d 1
d
1 q2
f = q

b) =

= 2
(
0
0 A d
2
d C ( )
2 0 A

f =

1 2 d
1
d 0 A
1
v
C ( ) = v2

=
2
d
2
d + 0b
2

6.013, Electromagnetics and Applications

Prof. Markus Zahn

v220 A

( + 0b )

Lecture 16 & 17
Page 4 of 23

III. Energy Conversion Cycles

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17

Page 5 of 23

vdq = dw

f d

vdq = f d

vdq, f d > 0

Electric energy in, mechanical energy out.

vdq, f d < 0

Electric power out, mechanical energy in.

B

vdq = vdq + vdq = 2 C (0) V

A

2
0

1
C (L ) V 2
2

C ( 0 ) V0 = C (L ) V

vdq =

C (0)
C (L )

C (L ) C ( 0 ) 1
1
= C ( 0 ) V2
C ( 0 ) V02 1
0

2
C 2 (L ) 2

A L + b

C (0)
1

C (L )

( A )
0

1
2
vdq = C ( 0 ) V0 1

L + b

1

= C ( 0 ) V02

0b
2

L
< 0 (electric energy out)
0 b

fd = f L
0

2
2
A
1 q2
1 C ( 0 ) V0
1
f0 = +
=+
= + C ( 0 ) V02

0 A
2 0 A
2
2
b0 A

fd = 2 C (0) V

2
0

L
=
0b

vdq

fd < 0 mechanical energy out is negative means mechanical energy is put

in
Mechanical energy is converted to electrical energy
6.013, Electromagnetics and Applications
Prof. Markus Zahn

Lecture 16 & 17
Page 6 of 23

IV. Force on a Dielectric Material

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

C () =

f =

0 (b ) c
a

c
a

1 2 dC ( )
v
2
d

1 2c
v
( 0 )

2
a

In equilibrium:
Mass density
1 2c
f = v
( 0 ) = g a c

2
a

fluid weight

2
1 v ( 0 )
2
ga2

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 7 of 23

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

a r
2
1 v ( 0 )
=
2 g2r2

V. Physical Model of Forces on Dielectrics

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

) ()

f dipole = q E r + d E r

()

() ()

= q E r + d i E r E r

=q

i E

= pi E

Kelvin force

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 8 of 23

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17

Page 9 of 23

VI. MQS Energy Method of Forces

A. Circuit Approach
v=

dL ( )
d
d
di
L
=
( ) i = L ( ) + i

dt
dt
dt
dt

p = vi = L ( ) i

= L ()

vi=

dL ( )
di
+ i2
dt
dt
d 1 2 2 dL ( )
i +i

dt 2
dt

1 2 dL ( )
1
2
2 L ( ) i + 2 i
dt

d
dt

d 1
1 dL ( ) d
L ( ) i2 + i2

dt 2
d dt
2

dWm
d
1
+ f
Wm = L ( ) i2 ,
dt
dt
2

= L ( ) i f =

f =

1 2 dL ( )
i
2
d

1 2 dL ( )
i
2
d
1 2 dL ( )
2 L2 ( ) d

1 2 d 1

2
d L ( )

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 10 of 23

B. Energy Method
vi = i

dWm
d
d
+ f
=
dWm = i d f
d

dt
dt
dt

f =

Wm

i=

Wm

= constant

=constant

0
Wm =

=0

f =

i d

= cons tan t

i=

Wm =

f d +

L ( )

2
d =
L ( )
2 L ( )
= cons tan t

Wm

1 2 d 1

2
d L ( )

1 2
1 dL ( )
2

2
L ( ) d

= cons tan t

6.013, Electromagnetics and Applications

Prof. Markus Zahn

1 2 dL ( )
i
2
d

Lecture 16 & 17
Page 11 of 23

VII. Force on a Wire over a Perfectly Conducting Plane

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

L () =

0D
ln +
2
R

R 1

[See Haus & Melcher p. 343,

take of Eq. (12) which is the
inductance between 2 cylinders]

A. Energy Method

f =

i2 D
1 2 dL ( )
i
= 0
2
d
4 R

( R )

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

B. Method of Images Approach with Lorentz Force

6.013, Electromagnetics and Applications
Prof. Markus Zahn

Lecture 16 & 17
Page 12 of 23

 0i
i2 D
0i2 D
f = iD
= 0
=

2 (2a )
4 a
4 2 R 2

C. Demonstration: Steady State Magnetic Leviation

Courtesy of Hermann A. Haus and James R. Melcher. Used with permission.

VIII. One Turn Loop

6.013, Electromagnetics and Applications
Prof. Markus Zahn

Lecture 16 & 17
Page 13 of 23

From Electromagnetic Field Theory: A Problem Solving Approach,

by Markus Zahn, 1987. Used with permission.

Hz =

I
,
D

= 0H z x l , L ( x ) =

0 x l
D

0 x l
I
D

A. Energy Method
fx =

1 2 dL ( x )
1 l
I
= I2 0
2
dx
2
D

B. Lorentz Force Law

f=

JB

dV

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 14 of 23

Model surface current K y =

Jy =

I
D

H = J

fx =

I
as volume current of small thickness
D

Hz
I
I
Hz =
= Jy =
( x ( + ))
x
D
D

0 Hz
dx dy dx

0 I

( x ( + ) ) l D dx

I
D
x=

0 I2 l x 2
( + ) x

2
D 2

x=

0 I2 l ( + )
2
2

(
)
(
)
2
2
D 2

0 I2 l 1
2
2
+
( + ) +
2
2
D 2

0 I2 l 1 2

D 2 2

=+

1 0 I2 l
f=
2 D

2 K B

dS

comes from integrating uniform volume

current over small thickness

General formula: f = K B av dS
S

0
For our case: B av

B
+ B air
1
= metal
= B air
2
2

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 15 of 23

IX. Lifting of Magnetic Fluid

A. Energy Method Approach

H=

Ni
S

= H
+ 0 (l ) d

Nd
+ 0 (l ) i
s

= N =

L () =

f =

N2 d
+ 0 (l ) i
s

N2 d
+ 0 (l )
=
i
s

1 2 dL
1 N2 i2 d
i
=
( 0 )
2 d
2
s

f = m g h d s =

h=

1 N2 i2 d
2 s2 m g d

1 N2 i2 d
( 0 )
2
s

( 0 )

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 16 of 23

B. Magnetization force

FX = 0 M i Hx
Hx
Hx
Hx

= 0 Mx
+ My
+ Mz
x
y
z

=0
z

H = J = 0

Hy
Hx
=
y
x

Hy

Hx
FX = 0 Mx
+ My

x
x

1 H
B = H = 0 H + M M =

Hy

Hx
Fx = 0
1 Hx
+
1 Hy

x 0
x
0

1
2
2
= 0
1
2 Hx + Hy

fx = Fx dx dy dz

( 0 )
2

x = y =0 z =0

( 0 ) ds
2

( 0 ) d s
2

(H

2
x

Hx 2 + Hy 2 dx dy dz
x

+ Hy 2

x =

N2i2
s2

1
N2i2
( 0 ) d
2
s

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 17 of 23

X. Magnetic Actuator

H i ds = H ( x + a ) + H ( a x ) = N i
1

11

+ N2i2

0H1 A1 = 0H2 A2 H1 =

H2 A2

A1

A
H2 ( a x ) + ( a + x ) 2 = N1i1 + N2i2
A1

H2
=

(N1i1 + N2i2 ) A
1

A1 ( a x ) + ( a + x ) A2

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17

Page 18 of 23

H1 =

(N1i1 + N2i2 ) A2
A1 ( a x ) + ( a + x ) A2

1 = N1 0 H1 A1 =

0 N1 A1 A2 (N1i1 + N2i2 )

2 = N2 0 H2 A2 =

A1 ( a x ) + ( a + x ) A2

0 N2 A1 A2 (N1i1 + N2i2 )
A1 ( a x ) + ( a + x ) A2

1 = L1 ( x ) i1 + M ( x ) i2

2 = M ( x ) i1 + L 2 ( x ) i2

L1 ( x ) =

0 A1 A2 N12
0 A1 A2 N22
0 A1 A2 N1 N2
; L2 ( x ) =
; M (x) =
A1 ( a x ) + ( a + x ) A2
A1 ( a x ) + ( a + x ) A2
A1 ( a x ) + ( a + x ) A2

= L1 ( x ) L 2 ( x )
dw = i1 d1 + i2 d2 f dx
d (i11 + i2 2 w ) = 1 di1 + 2 di2 + f dx

w (coenergy)
dw ' = 1 di1 + 2 di2 + f dx
f=+

w '
x

i1 ,i2 cons tan t

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 19 of 23

dw ' =

f dx +

1
i1 =i2 = 0

dw ' =

f = +

1 di1 +

L1 ( x ) i1 di1 +

i2 =0
x=constant

2
i2 = 0
x=cons tan t

2 di2

i1
=cons tan t
x=cons tan t

(M ( x ) i

+ L 2 ( x ) i2 ) di2

i1 =constant

x = cons tan t

1
1
L1 ( x ) i12 + M ( x ) i1i2 + L 2 ( x ) i22

2
2

w '
x

=
i1 ,i2

1 2 dL1 1 2 dL 2
dM
+ i2
+ i1i2

i1
2
dx 2
dx
dx

XI. Synchronous Machine

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17

Page 20 of 23

 as = L s ias + Mir cos

bs = L s ibs + Mir sin
r = L r ir + M (ias sin + ibs sin )

dw = ias d as + ibs d bs + ir d r T e d

d ( w ias as ibs bs ir r ) = dw '

w' = ias as + ibs bs + ir r w

coenergy

dw' = as dias + bs dibs + r dir + T e d

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 21 of 23

w'=

T d +

ias =0
ibs =0
ir = 0

as dias +

= cons tan t
ibs =0
ir = 0

ias =0
ibs =0
ir = 0

T d + L s ias dias + L s ibs dibs +

w' =

r dir

= cons tan t
ias = cons tan t
ibs = cons tan t

0
w'=

bs dibs +

= cons tan t
ias = cons tan t
ir =0

=cons tan t
ias = cons tan t
ibs = cons tan t

L
r ir + M (ias cos + ibs sin ) dir

1
1
1
L s ias2 + L s ibs2 + L r ir2 + Mir (ias cos + ibs sin )
2
2
2

Te = +

w '

ias ,ibs ,ir

= Mir ( ias sin + ibs cos )

Balanced 2 phase currents

ias = Is cos t , ibs = Is sin t , ir = Ir , = mt +
T e = M Ir Is ( cos t sin + sin t cos ) = M Ir Is sin ( t )

= M Ir Is sin ( ( m ) t )

< T e > 0 = m
T e = M Ir Is sin

d2
d
= Te

dt

dt2

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 22 of 23

 = m t + 0 + ' ( t ) ,

' ( t ) << 0

M Ir Is sin 0 = 0
sin 0 =

M Ir Is

Pullout when sin 0 = 1 = M Ir Is

Hunting transients: sin ( 0 + ') sin 0 cos '+ cos 0 sin ' sin 0 + ' cos 0
J

d2 '
= M Ir Is cos 0 ' ' = (M Ir Is cos 0 + ) '

dt
2

d2 '
+ 02 ' = 0 ;
dt2

02 = M
Ir Is cos 0 + J

' = A1 sin 0 t + A2 cos 0 t

Stable if 02 > 0

( 0 real)

Unstable if 02 < 0

( 0 imaginary)

6.013, Electromagnetics and Applications

Prof. Markus Zahn

Lecture 16 & 17
Page 23 of 23