BOOK REVIEWS

ELECTROMECHANICAL ENERGY CONVERSION, constraints of the system. The authors'

by David C. White and Herbert H. Wood- equation ~(iOki - f ~ ) = 0 evidently refers
son. 646 pages, illustrations, 6 X 9 in. to a system of forces acting on the
New York, John Wiley & Sons, Inc., 1959.
k~h coordinate, where pk = ~pk~ = ~,mxi Oxl
Price, $12.50. axk
The generalization of the analysis of elec- Now the generalized inertia force referred to
tromechanical systems is a welcome feature the generalized coordinate xk is ~m~; Ox~ and
of this book. In as much as we introduce the Oxk
nmre intangible electromagnetic and electro- d ( Ox~ ~ Ox~
static field theory, in the analysis of reactions, not ddP; ' dt 'mJc' Ox---k]' since--Ox, is, in gen-
couplings and energy transfer from electric eral, a function of the several independ-
circuits to mechanical systems, the statement ent or generalized coordinates of the system.
of suitable parameters or coordinators in the Thus D'Alembert's equation should read
dynamical approach is important.
~mY:i Ox--L~-- ~-,fki dp, OT ~fki = O,
To be sure, the application of generalized Oxk dt Ox~
coordinates to electromechanical systems and Ox~ dx~
the use of Lagrange's equations are well known where p~ = ~ m ~ - - . Since ~ m : ~ i ~ = pk,

in the literature, but the authors have credit-

Oxk Oxk
the authors' equation ~:~k~ = 0 seems mean-
ably extended its applications to many in-
ingless. With nonholonomic systems the
teresting problems, which hithertofore have
additional constraint reactions refer to con-
been approximated by piecemeal circuit
dition relations ~ Ak:~, = O, for the assumed
analysis. (k) ,
In connection with the coupling reactions non-integrable coordinates defining the mo-
between electrical and mechanical systems, tion of the system.
in place of the usual explicit introduction of Actually, the dynamical interpretation to
mutual and self-inductance as coefficients closed circuits corresponds to generalized
describing the properties of the electromag- coordinates and the nature of the forces is
netic field, the authors have directly presented quite different. Moreover, such coordinates
the parameters in terms of the flux linkages are characterized as cyclic (or momentum) co-
and the geometrical parameters and have ex- dpk OT
tended the analysis to nonlinear electromag- ordinates. Then in the equation
dt Oqk
netic systems, where the energy f i ( X , x)dk OT
or the co-energy f x ( i , x)di are utilized. In = Fk, the t e r m - - should be deleted. The
its application for computing electromechani- Oqk
OV
cal forces, the authors have carefully presented generalized force is Fk = -- - - + f~. Then
the distinction between these different forms. Oq~,
In the authors' "Fundamental Relations in we have n independent equations in the form
Electromechanics," the expression for D'Alem- pk -- Fk = 0, for the n loops, where the cou-
bert's principle is confusing, if not incorrect. plings between the circuits may appear in any
The concept of D'Alembert's principle is not dpk 0V
postulated on the equilibrium of forces but one of the terms, ~ - or -Oqr~
- or explicitly in
rather on the equation of virtual work ex-
f~. This gives a physical interpretation and
tended to the inclusion of the inertia forces.
not an analogy. It seems, therefore, unnec-
Its extension to dynamical applications, as
with Lagrange's equation or in direct ten- essary once the generalization is established,
sor form, is postulated on a choice of in- to introduce such terms as the inertia force
dependent coordinates consistent with the of the kth node and the ~k velocity of the k th

422
May, 196o.] BOOK R E V I E W S 423

loop when circuit coordinates physically counter e m f and the corresponding electro-
characterize the system. mechanical energy transfer. The mutual
Extending T to include the complete elec- coupling between circuits renders this method
tromechanlcal system, then, since some of the of approach particularly applicable to a
coefficients of the electrical coordinates ~, may matrix tabulation, that is, a tensor analysis of
be a function of the mechanical displacement electrical machines.
OT The authors have extended this procedure
x, then - - accounts for the electromechauical
Ox to the analysis of various types of transducers
forces. It should be pointed out that the and to generalized rotating machines, followed
motional emf's, dependent on the mechanical by specific applications to comnmtator ma-
velocities ~, which are time derivatives of the chines and to a-c. machines as induction
coefficients with respect to x, of the momen- machines. In conjunction with the tabula-
tum terms of the electric circuits, account for tion for complex rotating machine circuit
the electromechanical energy transfer and are analysis, the authors include some discussions
of a gyroscopic nature, with respect to the on system dynamics and control analysis and
electromechanical forces. These couplings corresponding block diagrams, with the an-
disappear in the over-all energy equation. In alytical techniques as solutions by Laplace
llke manner, the electrostatic capacity coeffi- transforms.
cients of q when a function of x then includes In the authors' Generalized Rotating Ma-
0V chines a systematic analysis is developed
.... for the electrostatic-mechanical forces, through a well-defined grouping of windings.
Ox
along with the elastic mechanical reactions; Two phase belts on stator and rotor with
0V excitation are distributed sinusoidally at rr
while - - - - correspond to the capacity emf's electrical radians. The two phase belts arc
Oq
at quadrature. Arbitrary a* and b* stator
for the electric circuits.
magnetic excitation axes at quadrature are
The authors state the Lagrangian T - V = L
used as reference axes. The mechanical
as not sufficiently general to allow it to be
rotational angular coordinates 4) establishes
extended directly to nonlinear systems. Ac-
the phase relation of the rotor quadrature coil
tually, L applies to either linear or nonlinear
belts a and b. Obviously this can be extended
systems, though not, without modification,
to any number of phases ultimately reduced
to non-conservative systems.
to quadrature phases. To arrive at the self-
A major theme of this book includes a study
and mutual inductance coefficients between
of coupling forces and the energy transfer
coils, it is necessary to establish the air gap
between the electric circuit system and the
flux distribution. This is calculated from the
mechanical parts with special reference to non-
magnetic energy W M = ½ f H B d v in terms
linear relations of the parameters of the elec-
of the circuit parameters ½NNLcjiljj where
trostatic or electromagnetic field systems.
special consideration is given to pole saliency,
The electromechanical forces are expressed in
From this rotating machine configuration.
terms of either the co-energy or energy form,
the four circuit voltage equations, that is for
0 W~' Ok 0 W,,
where f , - - ~i . With lln- the quadrature a and b phases of the rotor and
Ox Ox Ox stator, respectively, and the mutual torque
n in terms of the rate of change of the mutual
ear relations, these reduce tof~ =il N 0 (M~i~l flux linkages of the several circuits with
r--I 0Xl
respect to the rotor mechanical displacement
0¢ 4. An interesting feature for the derivati<m
=i, - - between pairs of circuits i, and i~ with
of the latter is the use of the derivative of the
mutual inductance M1, where M~ = M i d , . over-all work equation, where the magnetic
The corresponding reactions on the electrical energy WM is first stated in terms of the
circuits are expressed in terms of the rate of energy form and is reduced to its co-energy
change of the flux linkages. The field flux form WM' = f 2 x i ( i , cb)dii. The method is
linkage is a function of both the current exci- also explicitly stated in its Lagrangian form,
tation and the mechanical displacement, where the circuit and electromechanical
where the latter is associated with the moliona! coupling analysis are considered as a system.
424 BooJ~ REVIEWS [J. F. I.

Certain physical relations of the induction circuits though a step-by-step build-up of

motor are compared with a fluid coupling. the interacting electromagnetic forces and to
Actually, the relations are quite close. The distinguish directly the motional and trans-
working mediums are respectively the air gap form emf's relating to the mechanical energy
flux or the fluid, which transfers the mutual transfer and t h a t to the field. Further,
torque between stator and rotor. The consideration should be given to the field
slippage energy Ts.o~" goes into heat through excitation and flux build-up for the magnetic
the I2R losses in the rotor or in the heating circuit and the gap distribution in relation to
of the fluid with the clutch. The torque reac- the electromechanical forces and hysteresis
tion times the synchronous rotating field is torque. This latter phase is one of the most
equivalent to the counter emf times the stator difficult problems in the design of electro-
currents, or to the authors' stator power mechanical systems.
(Eq. 3-239); and, with the clutch, this is its From the reviewer's point of view, it would
mechanical input from the drive shaft. These seem a more simplified approach of the simple
relations also concur with the authors' Eq. basic characteristics, as to the nature of
3-2.37, where part of the slippage energy is torque, current and flux, motional and trans-
transferred externally from the rotor circuit former counter emf's, field excitation relations,
in the term 12*I~ cos O'. The potentiality of rotating fields, etc., should precede the more
the induction motor as a "controlled" slippage ambitious program in the use of Lagrange's
clutch is great. equations and such matters as quasi coordi-
Undoubtedly the approach through tensor nates. The authors should note a large
formulation of the interactions and energy bibliography on the subject which deserves a
transfer between complicated circuit systems careful scientific review.
is particularly adapted for computer methods, The above is not suggested as a criticism of
but such methods are limited in the over-all the authors' work, which enjoys an important
interpretation of the physical characteristics contribution to the art, but rather as a criti-
of electrical machinery. The concept for cism for a curriculum in teaching this subject.
over-all approximations of field excitation, Moreover, this book deserves special com-
flux distribution, torque and power relation, mendation in the development of a systematic
in terms of distributed current excitation with and most interesting generalized analysis of
stationary and revolving air gap waves; and electromechanical energy conversion systems.
the space phase relations of corresponding RUPEN EKSERGIAN
flux distributions, with ampere turns along The Franklin Institute Laboratories
the gap, in conjunction with various types of
windings treated as over-all macroscopic
MECHANISMS AND MOTION, by K. H. Hunt.
parameters; permit equally important gen-
114 pages, diagrams, 5½ X 8} in. New
eralizations for various classes of machines
York, John Wiley & Sons, Inc., 1959.
with a physical picture of the interactions.
Price, $4.28.
This approach is particularly useful in a-c.
machinery as with the induction motor. It is Since the subject of kinematics is an indis-
important to distinguish the air gap torque pensible preliminary of such fields as dynam-
distribution and relations of space and time ics of machinery and plastic deformation of
phase of the flux and counter ernf's. The frameworks, it is unfortnnate t h a t it should
relations of various methods of excitation, be so poorly treated by writers of engineering
armature reactions, with the above, are neces- textbooks. Most such books contain such a
sary for analytical design. The coordi,aating mixture of vectorial dynainics, drafting room
of these methods with the authors' tensor exercise, practical design limits and illustra-
analysis would be an interesting undertaking. tions of mechanisms of varying complexity
It is to be noted the circuit equations and t h a t the portion devoted to kinematics is
the electromechanical coupling forces can be often barely sufficient to justify the title.
established directly for the majority of While the writer of the present volume has
examples listed. It is equally important to made a laudable a t t e m p t (especially in the
parallel a clear understandillg of the nature of last few chapters) to present the abstract
the reactions and energy transfer between aspects of kinematics, from the point of view