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To begin our studies on Electrical Machines, let's introduce some definitions and establish some basic principles of Electromagnetism. It should be noted that there are several types of motors, and on this site we are interested in Direct Current motors, Induction motors and the basic principles of motors Synchronous. From the knowledge of these types of engines, it is very easy to understand the other existing types, for almost all are derived from those mentioned above.

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The study of Electromagnetism brings with it a very complex theory if we want to be exact. Therefore, in practice, it is desirable to simplify the problem by making some simplifications that lead to very satisfactory results and very close to the exact values. So, for example, in the study of Electric Machines, some magnitudes are such that the term of current of displacement in the Maxwell equations can be disregarded without prejudice to the final result. This term takes into counts the magnetic fields produced in space by time-varying electric fields, and closely associated with the production of electromagnetic waves.

In the course of this study we will come across several definitions and symbols to designate the variables. So, below is a list of the main ones.

To begin the study of electrical machines, let us begin by introducing the concept of a DC Linear Machine, as it follows the same principles and presents the same behavior as the real generators and engines.

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Basically, a DC linear machine consists of a battery, a resistor and a switch connected to a pair of frictionless rails. It is a device that converts electrical energy into mechanical energy through a process known as electromagnetic induction. The operating principle is based on interaction between the magnetic field and the electric current flowing in the conducting bar, resulting in a force that drives the bar along the tracks. This phenomenon is described by Lorentz's Law, which states that an electric current, when exposed to a magnetic field, it experiences a force perpendicular to both the direction of the current and the direction of the magnetic field. A conductive metal bar sits on the rails, having freedom of movement along the tracks. A basic schematic of this machine is shown at Figure 101-01.

The efficiency and performance of the DC linear machine can be affected by several factors, including resistance internal battery and circuit, as well as the quality of the materials used in the construction of the rails and bar conductive. Continuous studies and experiments are carried out to optimize these machines for various applications, such as transport systems and actuators in industrial automation.

The behavior of this machine can be determined by applying four basic equations to the machine. The equations are the following:

eq.   101-01

eq.   101-02

eq.   101-03

eq.   101-04

We use these four equations as tools to analyze the basic behavior of this DC machine.

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    2.1.1   Starting the Linear DC Machine

Closing the key, we are able to start this machine. Thus, when we close the key, there will be a current flowing through the circuit and we can determine its value using the Kirchhoff's law of voltages, that is

Initially, the bar is at rest, so ε_ind = 0, and the equation shown above reduces to I = V / R. Thus, the current will flow down through the bar and close the circuit through the rails. However, we know that a current flowing through a conducting wire immersed in a magnetic field induces a force in the wire, given by eq. 101-01. As a reminder, we have:

And that force is directed to the right. Therefore, by Newton's law, the bar will accelerate to the right. But when accelerating, the bar gains speed and a voltage will be induced on it. The positive polarity of Voltage induced in the bar is at the top of the bar. Thus, current flows through the circuit in a clockwise direction. As we saw in the previous item, the induced voltage, for the case of Figure 101-01, is given by eq. 101-02. As the induced voltage grows due to the movement of the bar, analyzing eq. 101-05 we conclude that the current through the circuit decreases. Eventually, as a result of this action, the bar will reach a constant velocity. steady state, such that the net force on the bar becomes zero. This will happen when ε_ind has grown to equal the battery voltage, V. The bar will continue to move indefinitely at steady state speed as long as there is no load, unless some external force come to disturb her.

This is precisely the behavior observed when starting real motors.

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    2.1.2   The DC Linear Machine as a Motor

Let's assume that initially the linear machine is operating at steady state with no load acting on it. Now let's imagine that a force is applied to the bar, which we call F_load, in the sense of opposing the your movement. The application of this force will result in a net force on the rod in the opposite direction of motion, that is, F_liq = F_load - F_wire. As a consequence, the force will make the bar lower your speed. However, as soon as the bar starts to slow down, the voltage induced in the bar drops, and as the induced voltage decreases, the current flow in the bar increases, according to eq. 101-05. Thus, the force induced in the bar also increases. The effect The sum total of all these events is that the induced force grows until it becomes equal and opposite to the loading force and the bar starts moving again at a steady state, but with a slower speed. Now, there is a force induced in the direction of movement of the bar. Power is also being converted from electrical form to mechanical form to keep the bar moving. And how is power converted from electrical form to mechanical form, so it is operating as an engine. We can express this power as follows:

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If we analyze   Problem 101-1   we will see that to produce small forces, on the order of 20 N or 30 N, we use electrical currents of appreciable value, such as 30 A, associated with an electrical voltage of the order of 120 V. Of course, we can increase the size of the wire length to obtain greater forces. But this implies increasing the size of the machine, making your project almost unfeasible. Another option would be to increase the magnetic induction field, but we know that the magnetic materials used in construction of electrical machines saturate in the vicinity of a field of the order of 1 tesla. Therefore, it is not practical in real life to increase the field magnetic induction to obtain more intense forces.

So, a more practical way is to wind a long wire into several turns, in a cylindrical shape and let it rotate under the action of a magnetic induction field of the most appropriate value, without the need for the magnetic material to work in the saturation zone. Therefore, nowadays, most (but not all) engines are cylindrical in shape, where we easily generate torque and power that can be controlled, whether by mechanical means, electrical or electronic.

Therefore, in the next chapters we will cover this type of engine.