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Chapter 4: Magnetic Circuits Lo Yew Chiong Course Contents Magnetic materials: diamagnetic material, paramagnetic material, ferromagnetic material. Hysterisis loss and eddy current loss, reluctance and permeance. Analysis of linear magnetic circuits (with air-gap problems). 2 Magnetic Materials All materials are composed of atoms, each with a positively charged nucleus and a number of orbiting negatively charged electrons. Orbiting electron Spinning electron nucleus (1)Orbiting electron (2)Spinning electron Magnetization describes to what extent they are affected by magnetic fields, and also determines the magnetic field that the material itself creates. Magnetization in a material is mostly due to the magnetic moment of electrons, generated by two principal mechanisms: (1) orbital motion of the electrons, mo (2) spinning motions of the electrons, ms 3 Magnetic Moment Magnetic moment, m = loop area A current I. e eu T 2r m0 IA I T = time for one revolution = 2r u u = velocity of the electron eu 2 r 2 r eur 2 e Le m0 2me Le = angular momentum = meur me is electron mass e 2me e m Spin magnetic moment, s 2me Orbital magnetic moment, m0 4 h 6.626 10-34 J s ħ = h/2 , h is Planck’s constant Le = 0, ħ ,2ħ, … Magnetic Permeability Magnetization vector M = vector sum of magnetic dipole moments of the atoms contained in a unit volume of the material. (Unit= (A x m2)/m3 = A/m) Total Magnetic flux density, B= µ0H + µ0M = µ0(H+M) External applied magnetic field Magnetization of the material M = mH where m is magnetic susceptibility constant. m - Degree of magnetization of a material in response to an applied magnetic field B = µ0 (H + mH) = µ0(1 + m)H B = µH µ= µ0 (1 + m) , µr = µ/µ0 = 1 + m Permeability, µ : Degree of magnetization of a material that responds linearly to applied magnetic field. 5 H Diamagnetism In this material, all the orbital moments pair off. Fig: Orbital diagram for Neon (1s22s22p6)- 10 electrons When H is applied, electrons in this material rearrange their orbital motion and the magnetic moment will oppose H. Diamagnetic materials have a very weak and negative susceptibility (m) to external magnetic fields. 6 Diamagnetism Diamagnetic materials do not exhibit permanent magnetism, and the induced magnetic moment disappears when the applied field is withdrawn. Ex.: hydrogen, copper, gold, silicon, germanium, graphite, bismuth, helium, sulfur. 7 H Paramagnetism Paramagnetic materials have some unpaired electrons that produce the net spin magnetic moments which tend to align themselves in the direction of the external magnetic field. Fig: Orbital diagram for Aluminium They are weakly attracted to magnets and have a small positive susceptibility (m) to magnetic fields. Paramagnetism is temperature dependent: It becomes more magnetic when its temperature reduces. It becomes less magnetic when its temperature increases. Ex.: Aluminum, Platinum, air, potassium, tungsten, liquid oxygen. 8 Ferromagnetism In these materials strong interactions between atomic magnetic moments cause them to line up parallel to each other in regions called magnetic domains. When there is no externally applied field, the orientations of the domain magnetizations are random. But when H field is applied, they tend to orient themselves parallel to the field. The domain boundaries also shift, the domains magnetized in the field direction grow (A), and those magnetized in other directions shrink (C). Fig: Domain theory 9 Ferromagnetism Ferromagnetic materials have a large and positive susceptibility to an external magnetic field. Ferromagnetic materials lose all their magnetic properties if they are heated to a high enough temperature, due to the magnetized domains will organize themselves randomly after their atoms are being heated. The temperature at which a ferromagnetic material loses its magnetism is called the Curie temperature and it is different for every metal. Ex: cobalt, nickel, iron are usually used to fabricate permanent magnets due to the ability to retain their magnetism properties for long time. 10 Fig: Curie point Ferromagnetism Experiment of Curie Temp.: Nickel-iron as ferromagnetic. Domains of electrons align causing the sample to be attracted to the magnet. Heating the sample scrambles the alignment of the electrons. The sample is no longer attracted to the magnet. After the sample has cooled down, the electrons realign and the ferromagnetism returns. 11 After 25 seconds Properties of Magnetic Materials 12 Hysteresis Definition: A property of systems that do not instantly react to the forces applied to them, but react slowly, or do not return completely to their original state. Measuring the magnetic flux B of a ferromagnetic material while the magnetizing force H is changed. o-a – The material has never been previously magnetized or has been thoroughly demagnetized will follow the dashed line as H is increased. The greater the amount of current applied (H+), the stronger the magnetic field in the component (B+). a – Almost all of the magnetic domains are aligned and an additional increase in the magnetizing force will produce very little increase in magnetic flux. The material has reached the point of magnetic saturation. 13 H H 0 H=0 Fig: Hysterisis Loop Hysteresis a-b - H is reduced back down to zero. b - Some magnetic flux remains in the material even though the magnetizing force is zero. This is referred to as the point of retentivity on the graph and indicates the remanence or level of residual magnetism in the material. (Some of the magnetic domains remain aligned but some have lost their alignment.) H H 0 H=0 b-c - As the magnetizing force is reversed, the curve moves to point c. Fig: Hysterisis Loop 14 Hysteresis c - Where the flux has been reduced to zero. This is called the point of coercivity. (The reversed magnetizing force has flipped enough of the domains so that the net flux within the material is zero.) The force required to remove the residual magnetism from the material, is called the coercive force or coercivity of the material. c-d - Magnetizing force is increased in the negative direction. d - The material will again become magnetically saturated but in the opposite direction. 0 H 15 Fig: Hysterisis Loop Hysteresis d-e - Reducing H to zero brings the curve to point e. It will have a level of residual magnetism equals to that achieved in the other direction. e-f - Increasing H back in the positive direction will return B to zero. Notice that the curve did not return to the origin of the graph because some force is required to remove the residual magnetism. The curve will take a different path from point f back the saturation point where it with complete the loop. 0 H=0 a-b-c-d-e-f-a - Complete close loop is called as a hysteresis loop. H 16 Fig: Hysterisis Loop Hysteresis Consider the solenoid that shown in figure, when the current I is increasing, the electromotive force (e.m.f) induced in the winding opposes the increase in current according to Lenz’s law, the extra power spent by the source is where A is the cross sectional area of the core, N is the number of turns, B is the magnetic flux density induced in the core, and is the magnetic flux generated. From the relation of NI = HL, where L = the length of the core and V = AL is the volume. 17 Hysteresis Energy supplied by the source in going from the point g to the point b, This integral corresponds to the shaded area in the figure and is equal to the energy supplied per unit volume of the magnetic core. When the current is in the same direction but is decreasing, the polarity of the induced e.m.f. is reversed, according to Lenz’s law, with the result that the energy is returned to the source. 18 Hysteresis Finally, the energy supplied by the source during one cycle is where the integral is evaluated around the hysteresis loop (gbcdefg). Work done per cycle = volume of material x area of loop (Joule/cycle) Work done per cycle per volume = area of loop (Joule/m3cycle) Sometimes the energy dissipated per unit volume per cycle is also named as the hysteresis loss. This energy loss is due to the friction encountered during domain-wall motion and rotation. 19 Hysteresis Fig: (a) Hard Material (b) Soft Material Hard material High retentivity and coercivity - suitable for permanent magnets. Large hysteresis loss - not suitable for alternating magnetization. Soft material Small hysteresis loss - suitable for armature and transformer core. 20 Modeling Hysteresis Loss Power of the hysteresis loss is empirically given by Steinmetz hysteresis law, Ph fkh Bpx where f is the frequency of excitation, kh is a constant determined by the nature of the ferromagnetic material experimentally, Bp is the peak value of the magnetic flux density, and x is the Steinmetz coefficient ranging from 1.5 to 2.5. Unit = W/m3 21 Eddy Current It is caused when a moving (or changing) magnetic field intersects a conductor, or vice-versa. The relative motion causes a circulating flow of electrons, or current, within the conductor. These circulating eddies of current create electromagnets with magnetic fields that oppose the effect of the applied magnetic field (Lenz's law). 22 Eddy Current - (Lenz's law) As the magnet approaches the loop, the applied B field in the centre increases. This is a change. An Induced Field is created which attempts to negate the applied field - ie to keep the total field at zero - its original value. This Induced field must be associated with a current the INDUCED CURRENT in the loop whose direction is determined by the first version of the RH rules 23 Example 1: Eddy Current A rotating disk in a magnetic field. Fig: Eddy current on a rotating disk Magnetic flux is flowing through a portion of disk in the direction perpendicular to the disk surface. Element Ob: Moving across the magnetic field; e.m.f. will be induced along it. Elements Oa and Oc: Not in the magnetic field, but connected to the disk and the element Ob. Applying Lenz’s Law, these would serve as the return path for charges in element Ob to move back from b to O -> EDDY CURRENT. 24 Example 1: Eddy Current B F I Fig: Eddy current on a rotating disk Eddy current along Ob (in magnetic field) will cause a force that goes against the disk rotation. The current in the return path is outside of the magnetic field, and thus, does not produce any force. The interaction between the eddy current and the magnetic field would act to stop the disk rotation. 25 Example 2: Eddy Current Consider the core of an AC transformer. The a.c. current in the primary coil of transformer will supply alternating flux in the core, and an e.m.f. will be induced in the secondary coil. Since the iron core is also a conductor and the cross section like AA can be considered as a closed conducting circuit, with one in the other one, thus there will be eddy current flowing. The flowing of eddy current will dissipate energy and therefore is not needed. 26 Example 2: Eddy Current To reduce the eddy current losses, the resistivity of the material is increased by adding silicon in the metal or ferromagnetic materials. Another effective way to achieve low eddy current loss is by using laminations of electrical metal sheets. These metal sheets are coated with electric insulation which break the eddy currents path. Fig: Laminated core transformer showing edge of laminations at top of unit. 27 Eddy current for domain wall model The power due to the eddy current loss, Pe is given as where f is the frequency of excitation ke is a constant determined by the nature of the magnetic material, Bp is the peak value of the magnetic flux density, d is the thickness of the lamination. The formula is obtained under the assumption of global eddy current. This is incorrect for ferromagnetic materials due to the magnetic domains. Fig: Eddy current for domain wall model When the excitation field varies, the domain walls move accordingly and local eddy currents are induced by the fluctuating of the local flux density caused by the domain. 28 Eddy current for domain wall model The total eddy current caused by the local eddy currents is generally higher than that predicted by the formulation under the global eddy current assumption. The different is known as the excess loss (Pex). where f is the frequency of excitation, Cex is a constant determined by the nature of the metal or magnetic material, Bp is the peak value of the magnetic flux density. The total loss can be calculated as Disadv. of Eddy Current: Reduces the efficiency of a electromagnetic device Adv. of Eddy Current : Used as an non-destructive tool to measure material thickness and coating thickness. It also can be used in the crack detection, material identification, heat damage detection, and heat treatment monitoring. 29 The Concept of Magnetic Circuit A magnetic circuit is a closed path containing a magnetic flux. Consider a ferromagnetic core wound with a coil of N turns carrying a current I, as shown in the following figure. The magnetic flux through the cross section of the core, A can be determined by Ampere’s circuital law. 30 The Concept of Magnetic Circuit Applying Ampère’s circuital law to a circular path of radius R1 going all around inside the toroid, and let R2 to be the inner radius of the toroid, the flux through the core is determined. H .dl NI 2R1 B R2 NI NI B 2R1 R1 R2 B , NI A 2R1 2 Flux = Magnetomotive force × Permeance or Flux = m.m.f. / (reluctance) where permeance = 1/(reluctance) The eqn. is analogous to ohm’s law, Current = e.m.f. / (resistance) where conductivity = 1/(resistance) 31 Comparison between Magnetic Circuit and Electric Circuit Differences between electric and magnetic circuits : 32 The path of the magnetic flux flow B is perpendicular to the current flow J in the circuit. For a given temperature, electric resistance is constant and does not depend on current density. However, the magnetic reluctance depends on magnetic field and flux intensity since the permeability is not constant. Current flowing in a electric circuit involves dissipation of energy, but for magnetic circuit, energy is needed to generate magnetic flux. Magnetic Circuit with an Air Gap A simple magnetic circuit with an air gap of length lg cut in the middle of a leg. The winding provides NI ampere-turn. The spreading of the magnetic flux lines outside the common area of the core for the air gap is known as fringing field. Fig: A simple magnetic circuit with an air gap. Fig: (a)Air gap with fringing (b)without fringing For simplicity, this effect is negligible and the flux distribution is assumed to be the ideal case. 33 Magnetic Circuit with an Air Gap Applying the Ampère’s circuital law, NI H c Lc H g Lg where c = core, g = air gap. =µH, H Bc c c c c Ac Bg g Hg g 0 Ag B According to Gauss’s law of magnetism, the closed surface integral of B must be equal to zero. Hence, the flux of B must be the same over any cross section of the magnetic circuit and the air gap. B ds 0 S c g Bc Ac Bg Ag 34 Magnetic Circuit with an Air Gap Solving those equations, Lc Lg Bg Ag NI A A c c 0 g Magnetic flux is Bg Ag 35 NI Lc Lg A A c c 0 g Reluctances of the core and air gap in series Magnetic circuit equivalent and electric circuit analogy for electromagnet circuit The shown magnetic circuit with air gap is analogous to a series electric circuit Bg Ag NI Rc Rg NI F Rc Rg Lc Lg A A 0 g c c It is analogue to the Kirchhoff ’s voltage law (KVL) in electric circuit theory, F R 0 V 0 k k k k k F R k k k k k k k It states that the algebraic sum of the rises and drops of the m.m.f around a closed loop of a magnetic circuit is equal to zero. In other words, the sum of the m.m.f. rises equals the sum of the m.m.f. drops around a closed loop. 36 Magnetic circuit equivalent and electric circuit analogy for electromagnet circuit The Gauss’s law of magnetism can be interpreted as an analogue to the Kirchhoff ’s current law (KCL) in electric circuit theory, c g I entering I leaving entering leaving where c and g are regarded as the “current entering/leaving” a junction in the magnetic circuit. It states that the algebraic sum of the fluxes entering or leaving a junction of a magnetic circuit is equal to zero. In other words, the sum of the fluxes entering a junction is equal to the sum of the fluxes leaving a junction. 37 Magnetic Circuit with a Permanent Magnet The directions of B and H vectors in different parts of the magnetic circuit as shown in left figure: Permanent Magnet Soft Iron A magnetic circuit with a pair of permanent magnets 38 In the soft iron core, B and H are in the same direction and the operating point on the hysteresis curve is situated somewhere in the first quadrant. In the air gap, B and H are also oriented in the same direction. However, B and H are oriented in opposite direction for permanent magnet since the operating point for the permanent magnet is in the second quadrant on the hysteresis curve. Magnetic Circuit with a Permanent Magnet There are neither free currents nor displacement currents, the line integral of H.dl around the magnetic circuit must be zero. H i Li H g Lg H m Lm 0 H i Li H g Lg H m Lm where i, g, and m refer to the soft iron core, the air gap, and the permanent magnet. Hi Hg Hm 39 Bi i Bg g Bm m i i Ai g 0 Ag m m Am Magnetic Circuit with a Permanent Magnet is the same over any cross section, i g m Ai Bi Ag Bg Am Bm Solving those equations, The magnetic flux is Bg Ag L Lg Bg Ag i H m Lm i Ai 0 Ag H m Lm Li Lg A A 0 g i i This equation is similar to Bg Ag NI Lc Lg A A c c 0 g , except that NI is replaced by HmLm. This shows that permanent magnet could be used to replace the current source to establish the magnetic flux in the circuit. 40 Magnetic Circuit with a Permanent Magnet As Rg Lg 0 Ag & Ri Li , Bg Ag i Ai H m Lm Lg Li i Ai 0 Ag can be rewritten as H m Lm Ri Rg The design of a magnetic circuit energized by permanent magnet is complicated due to the position of the operating point (the relation between B and H) on the hysteresis curve. Thus, an operating point is usually used to make the energy product HmBm maximum. 2 Bg 20 energy density stored in the air gap between the two surfaces of the iron yokes 41 Ag Lg 1 H g Lg ( Ag Bg ) 2 volume of the air gap Magnetic Circuit with a Permanent Magnet The m.m.f. - HiLi can be neglected if the reluctance of the iron core is much smaller than the air gap ( HiLi + HgLg = HmLm , AgBg=AmBm). Bg 2 Thus, 2 0 Ag Lg 1 H m Lm ( Am Bm ) 2 1 H m Bm ( Am Lm ) 2 The magnetic energy in the air gap is therefore equal to one-half the energy product multiplied by the volume of the permanent magnet. As a rule, one requires that the volume AmLm be as small as possible, for reasons of economy, size, and weight. Then the operating point on the hysteresis curve is chosen so that the energy product HmBm is max. 42 Attractive force between two iron surfaces separated by an air gap If one of the iron yokes is made to be movable and pulled away from the other iron yoke by a force of P Newton for a distance d meters. The additional magnetic energy stored in the additional volume of the air gap (Agd) is caused by the work done by the force as This indicates that the magnetic energy stored in the air gap can be increased by increasing the volume of the air gap(Agd) . The force required to increase the additional magnetic energy is then given as I d Am2 43 Force P netwon Example 3 Find the value of I required to establish a magnetic flux of = 0.75 10-4 Wb in the series magnetic circuit as shown in Figure Ex3. Calculate the force exerted on the armature (moving part) when the flux is established. The relative permeability for the steel is r = 1424. Fig Ex3 44 Solution (Example 3) The above device can be analysed by its magnetic circuit equivalent and its electric circuit analogy as shown in figure below. (a) Magnetic circuit equivalent and 45 (b) electric circuit analogy Solution (Example 3) From the Gauss law (analogy to KCL in electric circuit), the flux density for each section is 0.75 10 -4 Wb B 0.5 T . A 1.5 10 -4 m 2 The magnetic field intensity of steel is Hc B B 0.5 T 279 At/m. -7 -1 c r 0 1424 4 10 Hm The magnetic field intensity of air gap is Hg B B 0.5 T 5 3.98 10 At/m. -7 -1 g 0 1 4 10 Hm The magnetomotive force drops are H c l c 279 At/m 100 10 -3 m 28 At. 46 H g l g 3.98 10 5 At/m 2 10 -3 m 796 At. Applying Ampère circuital law (analogy to KVL in electric circuit), NI H c l c H g l g 28 At 796 At 200 t I 824 At I 4.12 A. Energy stored in air gap, W = Volume of air gap, Vg × magnetic energy density, W0 Ag l g Bg2 . 20 W = mechanical energy to close the air gap = Force, P × length of the air gap, lg Ag l g B g2 2 0 Pl g P 47 Ag B g2 2 0 1.5 10 4 m 2 0.5 T 2 4 10 -7 Hm -1 14.92 N 2 Example 4 Determine the value of I required to establish a magnetic flux of 2 = 1.510-4 Wb in the section of the core indicated in Figure Ex4. The relative permeability for the steel at region bcde, be, and efab are 2 = 4972, 1 = 4821, and T = 2426, respectively. Fig Ex4 48 Solution (Example 4) The above device can be analysed by its magnetic circuit equivalent and its electric circuit analogy as shown in figure below. (a) Magnetic circuit equivalent and (b) electric circuit analogy 49 Solution (Example 4) Rbcde lbcde 0.2 3 53 . 35 10 At/Wb -4 2 2 0 A 4972 0 6 10 m lbe 0.05 3 13 . 76 10 At/Wb -4 2 10 A 4821 0 6 10 m lefab 0.2 3 Refab 109 . 34 10 At/Wb -4 2 T 0 A 2426 0 6 10 m Rbe Since 1Rbe 2 Rbcde R 1 2 bcde 5.816 10 4 Wb Rbe From Gauss Law, T 1 2 (1.5 5.816) 104 Wb 7.316 104 Wb 50 Solution (Example 4) Applying Ampère circuital law for loop 1, NI T Refab 1 Rbe 0 I T Refab 1 Rbe 51 N 80 8 1.76 A 50 Example 5 The core of Figure Ex5 is made of cast steel. Calculate the current I that is needed to establish a flux of g = 6 10-3 Wb at the air gap if fringing field is neglected. [Hint: Additional information can be obtained from the B-H curve on Slide 55] Fig Ex5 52 Solution (Example 5) (a) Magnetic circuit equivalent and (b) electric circuit analogy 53 Consider each section in turn. For air gap, Bg = g/Ag = 6 10-3 Wb/2 10-2 m2 = 0.3 T. Hg = Bg/0 = 0.3 T/(4 10-7 H/m) = 2.388 105 At/m. For section ab and cd, Bab = Bcd = Bg = 0.3 T. Hab = Hcd = 250 At/m. (refer to B-H curve in figure 4.26 in lec note). Apply Ampère circuital law (KVL) at loop 2, Since the flux in leg da flows in the opposite direction of the flux in leg ab, leg cd, and air gap, the corresponding term of Hdalda will be subtractive. Also, NI = 0 for loop 2. Thus, loop2 NI loop2 Hl 0 H ab l ab H g l g H cd l cd H da l da 2500.25 2.388 10 5 0.25 10 3 2500.25 0.2 H da 62.5 59.7 62.5 0.2 H da 54 184.7 0.2 H da B-H curve (Notes) 55 Solution (Example 5) Thus, Hda = 923.5 At/m. Bda = 1.12 T (from B-H curve). 2 = BdaA = 1.12 0.02 = 2.24 10-2 Wb. 1 = 2 + 3 = 2.84 10-2 Wb. Bdea = 1/A = (2.84 10-2)/0.02 = 1.42 T. Hdea = 2100 At/m (from B-H curve). Apply Ampère circuital law at loop 1, NI = Hdealdea + Hdalda = (2100)(0.35) + 184.7 = 919.7 At I = 919.7/200 ≈ 4.6 A 56 Example 6 The core of the magnetic device as shown in Figure Ex6 is made of cast-iron and it is symmetrical both left and right arms. Find the current I that needed to establish flux density of 30 Wb at the right arm of the core. [Hint: Additional information can be obtained from the B-H curve on Slide 55] Fig Ex6 Series-parallel magnetic circuit made of cast iron core 57 Solution (Example 6) (a) Magnetic circuit equivalent and (b) electric circuit analogy 58 Solution (Example 6) Since the magnetic device is symmetry and made by the same material at both left and right arms, we can concentrate the analysis of the circuit on either loop 1 or loop 2. From Gauss law, one gets 1 = 2. T = 1 + 2. = 22. Apply Ampère circuital law at left hand arm, loop1 NI loop1 Hl NI H ek l ek H g l g H mb l mb H bafelbafe NI H ek l ek H g l g H mb l mb H bafe lba l af l fe (1) T 2 2 2 30 10 6 Wb Bek 0.6 T A A 0.01 0.01 m 2 H ek H mb 2650 At/m 59 (from B-H curve) (2) Solution (Example 6) 2 2 T 2 30 10 6 Wb 5 At/m. 10 77 . 4 Hg 0 0 A 0 A 4 10 7 H/m 0.01 0.01 m 2 Bg 1 30 10 6 Wb 0.3 T Bbafe 2 A 0.01 0.01 m H bafe 750 At/m (B-H curve) Substitute (2), (3), and (4) in (1) yields 2650 0.035 4.77 105 0.5 10-2 750 3 0.04 I N 2568 400 6.42 A. 60 (3) (4)