Preface ........................................................ xi
Acknowledgments ................................................ xv
About the Author ............................................. xvii
1 Introduction to Electromechanical Systems ................... 1
Homework Problems .............................................. 12
References ..................................................... 13
2 Analysis of Electromechanical Systems and Devices .......... 15
2.1 Introduction to Analysis and Modeling ...................... 15
2.2 Energy Conversion and Force Production in
Electromechanical Motion Devices ........................... 19
2.3 Introduction to Electromagnetics ........................... 29
2.4 Fundamentals of Electromagnetics ........................... 33
2.5 Classical Mechanics and Its Application .................... 42
2.5.1 Newtonian Mechanics .................................. 43
2.5.1.1 Newtonian Mechanics, Energy Analysis,
Generalized Coordinates, and Lagrange
Equations: Translational Motion .............. 43
2.5.1.2 Newtonian Mechanics: Rotational Motion ....... 47
2.5.2 Lagrange Equations of Motion ......................... 53
2.5.3 Hamilton Equations of Motion ......................... 70
2.6 Application of Electromagnetics and Classical Mechanics
to Electromechanical Systems ............................... 73
2.7 Simulation of Systems in the MATLAB Environment ............ 94
Homework Problems ............................................. 118
References .................................................... 123
3 Introduction to Power Electronics ......................... 125
3.1 Operational Amplifiers .................................... 125
3.2 Power Amplifiers and Power Converters ..................... 134
3.2.1 Power Amplifier and Analog Controllers .............. 134
3.2.2 Switching Converter: Buck Converter ................. 139
3.2.3 Boost Converter ..................................... 146
3.2.4 Buck-Boost Converters ............................... 152
3.2.5 Cuk Converters ...................................... 153
3.2.6 Flyback and Forward Converters ...................... 155
3.2.7 Resonant and Switching Converters ................... 157
Homework Problems ............................................. 162
References .................................................... 163
4 Direct-Current Electric Machines and Motion Devices ....... 165
4.1 Permanent-Magnet Direct-Current Electric Machines ......... 165
4.1.1 Radial Topology Permanent-Magnet Direct-Current
Electric Machines ................................... 165
4.1.2 Simulation and Experimental Studies of Permanent-
Magnet Direct-Current Machines ...................... 174
4.1.3 Permanent-Magnet Direct-Current Generator Driven
by a Permanent-Magnet Direct-Current Motor .......... 182
4.1.4 Electromechanical Systems with Power Electronics .... 188
4.2 Axial Topology Permanent-Magnet Direct-Current Electric
Machines .................................................. 196
4.2.1 Fundamentals of Axial Topology Permanent-Magnet
Machines ............................................ 196
4.2.2 Axial Topology Hard Drive Actuator .................. 200
4.3 Electromechanical Motion Devices: Synthesis and
Classification ............................................ 211
Homework Problems ............................................. 214
References .................................................... 215
5 Induction Machines ........................................ 217
5.1 Fundamentals, Analysis, and Control of Induction Motors ... 217
5.1.1 Introduction ........................................ 217
5.1.2 Two-Phase Induction Motors in Machine Variables ..... 219
5.1.3 Lagrange Equations of Motion for Induction
Machines ............................................ 229
5.1.4 Torque-Speed Characteristics and Control of
Induction Motors .................................... 233
5.1.5 Advanced Topics in Analysis of Induction Machines ... 246
5.1.6 Three-Phase Induction Motors in the Machine
Variables ........................................... 252
5.2 Dynamics and Analysis of Induction Motors Using
the Quadrature and Direct Variables ....................... 266
5.2.1 Arbitrary, Stationary, Rotor, and Synchronous
Reference Frames .................................... 266
5.2.2 Induction Motors in the Arbitrary Reference Frame ... 271
5.2.3 Induction Motors in the Synchronous Reference
Frame ............................................... 281
5.3 Simulation and Analysis of Induction Motors in
the MATLAB Environment .................................... 285
5.4 Power Converters .......................................... 295
Homework Problems ............................................. 305
References .................................................... 309
6 Synchronous Machines ...................................... 311
6.1 Introduction to Synchronous Machines ...................... 311
6.2 Radial Topology Synchronous Reluctance Motors ............. 314
6.2.1 Single-Phase Synchronous Reluctance Motors .......... 314
6.2.2 Three-Phase Synchronous Reluctance Motors ........... 319
6.3 Radial Topology Permanent-Magnet Synchronous Machines ..... 330
6.3.1 Two-Phase Permanent-Magnet Synchronous Motors and
Stepper Motors ...................................... 330
6.3.2 Radial Topology Three-Phase Permanent-Magnet
Synchronous Machines ................................ 341
6.3.3 Mathematical Models of Permanent-Magnet
Synchronous Machines in the Arbitrary, Rotor, and
Synchronous Reference Frames ........................ 364
6.3.4 Advanced Topics in Analysis of Permanent-Magnet
Synchronous Machines ................................ 370
6.4 Axial Topology Permanent-Magnet Synchronous Machines ...... 385
6.5 Conventional Three-Phase Synchronous Machines ............. 399
Homework Problems ............................................. 421
References .................................................... 422
7 Introduction to Control of Electromechanical Systems and
Proportional-Integral-Derivative Control Laws ............. 423
7.1 Electromechanical Systems Dynamics ........................ 423
7.2 Equations of Motion: Electromechanical Systems Dynamics
in the State-Space Form and Transfer Functions ............ 429
7.3 Analog Control of Electromechanical Systems ............... 434
7.3.1 Analog Proportional-Integral-Derivative Control
Laws ................................................ 434
7.3.2 Control of an Electromechanical System with
a Permanent-Magnet DC Motor Using Proportional-
Integral-Derivative Control Law ..................... 443
7.4 Digital Control of Electromechanical Systems .............. 454
7.4.1 Proportional-Integral-Derivative Digital Control
Laws and Transfer Functions ......................... 454
7.4.2 Digital Electromechanical Servosystem with
a Permanent-Magnet DC Motor ......................... 464
Homework Problems ............................................. 472
References .................................................... 473
8 Advanced Control of Electromechanical Systems ............ 475
8.1 Hamilton-Jacobi Theory and Optimal Control of
Electromechanical Systems ................................ 476
8.2 Stabilization Problem for Linear Electromechanical
Systems .................................................. 480
8.3 Tracking Control of Linear Electromechanical Systems ..... 491
8.4 State Transformation Method and Tracking Control ......... 493
8.5 Time-Optimal Control of Electromechanical Systems ........ 498
8.6 Sliding Mode Control ..................................... 502
8.7 Constrained Control of Nonlinear Electromechanical
Systems .................................................. 509
8.8 Optimization of Systems Using Nonquadratic Performance
Functionals .............................................. 514
8.9 Lyapunov Stability Theory in Analysis and Control of
Electromechanical Systems ................................ 527
8.10 Control of Linear Discrete-Time Electromechanical
Systems Using the Hamilton-Jacobi Theory ................. 536
8.10.1 Linear Discrete-Time Systems ...................... 536
8.10.2 Constrained Optimization of Discrete-Time
Electromechanical Systems ......................... 541
8.10.3 Tracking Control of Discrete-Time Systems ......... 546
Homework Problems ............................................. 548
References .................................................... 549
Index ......................................................... 551
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