THE NATURE OF AN INDUCTOR INTRODUCTION The primary object of our attention in this essay is the inductor. This circuit theory element is ordinarily introduced to all of us in a study of AC circuit theory. We are told of Michael Faraday, Joseph Henry and Heinrich Lenz. We learn that Lenz’ law explains the signature of the induced current. An induced electromotive force (emf) gives rise to a current whose magnetic field opposes the original change in magnetic flux. As we shall soon demonstrate, there is no obvious way to employ this early-nineteenth century explanation for the behavior of the simplest inductor in a circuit. We shall show that in a series RCL circuit, holding an ideal inductor ๐ฟ, that there is no electric field inside the inductor of any kind. Our illustrations in this paper shall depict a DC voltage source (battery), but the methodology and the details of all explanations are identical for an AC voltage source (generator). Definitions Voltage ๐ฃ๐๐ , from a to b: line integral from b to a of an electric field. EMF : open-line integral in direction of an energy converter’s electric field Induced EMF: closed-line integral in direction of an energy converter’s electric field Notes Voltage is a well-defined term, for either a conservative or non-conservative electric field. The phrase “from a to b” signifies that point ๐ is selected as the reference point. Potential difference is only defined (outside this paper!) for a conservative field. An energy converter, such as a battery or electric generator, develops an electric field of nonelectrostatic origin as well as an electric field of electrostatic origin. Starting with Field Theory, we interpret how an inductor works in an electrical circuit. We also show that Kirchhoff’s Voltage Law is valid for an RCL circuit. Doubt had been cast on this latter point by a Professor at M.I.T. As is customary in discussions of “lumped” circuit elements, we assume the dimensions of our circuit are small compared to a wavelength of radiation. To avoid a commonly made error in such discussions, we show that care must be taken with the (real) meaning of a voltmeter as opposed to merely discussing “voltage” as a Field Theory concept. DISCUSSION A sketch is now provided to show the objects of this discussion: an ideal battery with no internal resistance, a resistor of conductivity ๐, a capacitor of permittivity ๐, and a large single-turn inductor. A SPST switch is also 1 THE NATURE OF AN INDUCTOR provided, so that transient response can be followed. The battery could just as well be a voltage generator in all the following discussion. Figure 1. Sketch of a Single Loop Inductor Circuit ๏ณ ๏ฅ J Our circuit has four elements: a battery, a resistor, a capacitor and a large, single-turn loop. We imagine this one equivalent inductor accounts for an actual inductor and for a second inductor that is a parasitic inductor due to the rectangular circuit loop. Mutual inductance between these two inductors is ignored. In consideration of this abstraction of adding two inductors, we now regard the rectangular loop lying to the left โ threading it. The depiction shown here is of the much larger circular loop as having no induction field ๐ต “physical,” as in a snapshot. One should studiously avoid mixing circuit theory symbols with field theory symbols. Mixing of such pictures causes an error made by many writers. The Maxwell-Faraday Law, like any law, provides no “why.” A physical law, by definition, is but a concise mathematical equation relating physical quantities. In words, the Maxwell-Faraday vector equation states โ is accompanied by a non-conservative electric field ๐ธโ and that a time-changing magnetic induction field ๐ต vice versa. By “non-conservative,” we mean that whenever the right-hand side of the following equation is nonzero, then this electric field ๐ธโ cannot be described by the gradient of a scalar potential: ∇๐ฅ๐ธโ = − โ ๐๐ต ๐๐ก (1) Note well that there is no causality implied by this equation. No general statement can be made about which 2 THE NATURE OF AN INDUCTOR side of this equation creates the other side! The nature of the electric field is not addressed; that is, parts of the electric field appearing on the left-hand side of this equation can be electrostatic or non-electrostatic in origin. Yes, this James Clerk Maxwell 1861 expression certainly had its origin in Michael Faraday’s (Joseph Henry’s) 1831 work, but this Equation (1) is far more general in scope. By use of the Kevin-Stokes theorem, this vector differential Equation (1) can also be written in integral form. Our focus is stationary circuits, so the time derivative simplifies. One obtains: โฎ ๐ธโ โ ๐๐ = − โ โ ๐๐ ๐โฏ๐ต ๐๐ก (2) The next pair of sketches shows the sign conventions used with this Equation (2): โ of the Maxwell-Faraday Law in Integral Form Figure 2. Sign Conventions for Magnetic Induction ๐ต dl ๏ณ ๏ฅ da B J Notes The line element ๐๐ and area element ๐๐ are related by the right-hand rule according to the KevinStokes theorem. (The clockwise direction of ๐๐ is arbitrarily chosen.) Placing one’s thumb in the direction of ๐๐ and grasping the wire loop shows that area element ๐๐ points into the page. The โ also point into the page. direction of the current density ๐ฝ makes the magnetic induction field ๐ต 3 THE NATURE OF AN INDUCTOR Figure 3. Sign Conventions for Electric Field ๐ธโ of the Maxwell-Faraday Law in Integral Form E b b c E Area = A, Length = l Ee E En Ee d c E a Area = S, Gap = d d b a ๏ณ c ๏ฅ d E e e Notes 1) Circuit element nodes ๐, ๐, ๐, ๐ and ๐ are defined in the lower, left inset. 2) Every battery has three(3) associated electric fields, as illustrated. We choose the internal โโโโ๐ ; otherwise, ๐๐ธ โโโโ๐ = −(๐๐ธ โโโโ๐ + ๐), where resistance ๐ of this battery to be zero so that โโโโ ๐ธ๐ = −๐ธ ๐ is the viscous force associated with internal resistance ๐, so that | โโโโ ๐ธ๐ | > | โโโโ ๐ธ๐ | . 3) The direction of the electric field from point ๐ to ๐ is explained in the body text. Two Loop Circuit: one non-conservative and the other conservative Here we further interpret the Faraday-Maxwell Equation (2), for this circuit. 4 THE NATURE OF AN INDUCTOR According to Circuit Theory, we have a one loop circuit. According to Field Theory, we have (at least) two closed loops. Recall that a loop, according to conventional interpretation of Equation (2), can consist entirely of wire or it can consist of wire and air or it can consist entirely of air. Consider the large closed circular loop, lying to the right. This is our inductor. By closed, for this loop, we mean a line integral can be taken entirely around the wire and the air gap combination. We shall find (below) that an induced voltage exists across this air gap. A voltmeter placed in this air gap will indicate the magnitude and direction of this voltage. This closed circular loop has a non-conservative electric field, because the right-hand side of Equation (2) does not vanish. Consider the smaller closed rectangular loop, lying to the left. As earlier assumed, this loop has no induction โ threading it. We suppose the height of this rectangle is as small as we please; further, we suppose the field ๐ต three elements (battery, resistor and capacitor) are as small as we please. We seem “to hit a wall” that was mentioned in Carson’s 1927 Bell Labs paper on the foundation of Circuit Theory. Maxwell’s (macroscopic) Equations cannot deal with chemical EMFs (batteries)! Although no magnetic induction threads this rectangular loop, the line integral of electric field around this rectangular loop cannot vanish, even though the right-hand side of Equation (2) does vanish for this rectangular loop! So it becomes clear that the Maxwell Equations cannot deal with the EMF of a battery. To make this point yet clearer, consider the case where the induced voltage across the air gap is zero. That is, consider the case where the circuit has no changing current. The switch has been closed for a long time and the transient behavior has decayed. The current in this circuit is zero, the right-hand side of Equation (2) for this rectangular loop is zero, but the left-hand side of Equation (2) is the line integral for this rectangular loop. This closed loop line integral has the value of the EMF of the battery. Are we stumped? Not in the least! Consider that we have no interest whatever in the value of a line integral though the left-hand, rectangular loop. In building a map from Field Theory to Circuit Theory, we must forgo interest in “theoretical” line integrals and consider line integrals taken through the paths occupied by voltmeters. See Figure 4. We need only bear in mind that even in the absence of a real (extended) voltmeter, all the electric fields still exist. None of these electric fields that traverse any one of these voltmeters pass though the interior of our battery! Thusly, the theoretical problem with Maxwell’s Equations not being able to deal with the EMF of a battery is obviated! This key point has apparently been overlooked by too many other authors! Figure 4 or, optionally, Figure 5, shows the circuit as it must be considered. Real voltmeters across circuit elements are employed in Circuit Theory, not ill-considered line integrals. What do we know of voltmeters? We know they display the values of line integrals taken through devices ideally having infinite impedance. Our rectangular loop contains no magnetic flux, so this rectangular loop has zero for the right-hand side of Equation (2). Our loop of four voltmeters in this rectangular loop contains three line integrals of electric fields of electrostatic origin (voltage ๐๐ต , voltage ๐ฃ๐ , voltage ๐ฃ๐ถ ) and one line integral of an electric field of non-electrostatic origin (voltage ๐ฃ๐ฟ ). 5 THE NATURE OF AN INDUCTOR Voltage is but work per unit charge, and we show below that Kirchhoff’s Second Law (KVL) works perfectly fine when the algebra is done correctly for these four voltages. (Three of these voltages are indeed expressible as potential differences, but the induced voltage cannot be expressed as a potential difference.) Maxwell-Faraday Equation for the Non-Conservative Right-Lying Loop In this section, we shall find an expression for the value of voltmeter voltage ๐ฃ๐ฟ . Inductor Voltage ๐๐ณ Consider the right-lying circular loop as a closed (Maxwell-Faraday) loop consists of the coil and its highimpedance voltmeter ๐ฃ๐ฟ alone. The left-hand side of Equation (2) has no contribution from the large circular loop of the inductor, because the electric field inside a perfect inductor vanishes. This vanishing of the electric field inside the inductor wire is the result of Ohm’s Law in field vector format ๐ฝ = ๐๐ธโ (9) so that the electric field ๐ธโ inside the inductor becomes ๐ธโ = ๐ฝ , ๐ (10) which goes to zero as the conductivity ๐ goes to infinity. Another argument can be provided to show that the field inside a perfect conductor vanishes. A perfect conductor cannot contain an electric field because the skin depth is zero. Note Skin depth is ๐ฟ = √2/(๐๐๐) , which vanishes at all angular frequencies except for ๐ = 0 or DC. Re-express Equation (2) as โฎ ๐ธโ โ ๐๐ = − โ โ ๐๐ ๐โฏ๐ต ๐๐ = − , ๐๐ก ๐๐ก (11) where the flux ๐ is related to the loop current ๐ = ๐ฝโ๐ด , and where the directed cross-sectional area of the wire is designated by vector ๐ด . 6 (12) THE NATURE OF AN INDUCTOR Under the assumption that the dimensions of our circuit are small compared to a wavelength of radiation, the ratio of magnetic flux ๐ to current ๐ is a constant called inductance ๐ฟ. Thus, for this right-lying circular loop, the right-hand side of Equation (2) becomes simply − โ โ ๐๐ ๐โฏ๐ต ๐๐ ๐(๐ฟ๐) ๐๐ = − = − = −๐ฟ ๐๐ก ๐๐ก ๐๐ก ๐๐ก (13) In this case, the left-hand side of Equation (2) becomes two clockwise integrals. ๐ ๐ ๐ โฎ ๐ธโ โ ๐๐ = ∫ ๐ธโ โ ๐๐โ + ∫ ๐ธโ โ ๐๐โ = ∫ ๐ธโ โ ๐๐โ , ๐ ๐ (14) ๐ because the electric field within the wire of our perfect conductor loop is zero. With the assumption that the current is increasing so that ๐๐ ⁄๐๐ก > 0, Equation (13) informs us that the electric field through the voltmeter points downward. Thus this clockwise line integral is taken against the induced electric field ๐ธโ . According to our voltage definition we find that ๐ ๐ฃ๐ฟ ≡ ๐ฃ๐๐ = ∫ ๐ธโ โ ๐๐ (15) ๐ is therefore positively valued, as illustrated in Figure 4. Note In Equation (15) the integration element ๐๐ is a dummy variable having no necessary relationship to the element ๐๐ appearing in Equation (2). In fact the element ๐๐ of Equation (15) happens to be the negative of the element ๐๐ appearing in Equation (2). Equation (2) was freely selected as clockwise, and here the direction of the line integral is freely chosen to be counterclockwise from point ๐ to point ๐. Substitution of Equations (13) and (15) into (11) yields the sought inductor voltage ๐ฃ๐ฟ indicated on a voltmeter in Figure 4 as ๐ฃ๐ฟ = ๐ฟ ๐๐ . ๐๐ก (16) Maxwell-Faraday Equation for the Conservative Left-Lying Loop Here, Equation (2) becomes simply โฎ ๐ธโ โ ๐๐ = 0. (17) . Next we determine the three remaining voltmeter readings ๐๐ต , ๐ฃ๐ and ๐ฃ๐ถ , by examining three clockwise line integrals. 7 THE NATURE OF AN INDUCTOR Battery Voltage ๐ฝ๐ฉ By definition, the voltmeter reading or voltage ๐๐ต across the battery in Figure 4 is given by ๐ ๐๐ต ≡ ๐๐๐ = ∫ โโโโ ๐ธ๐ โ ๐๐ . (18) ๐ Note that a line integral through a battery vanishes (unless it has internal resistance); this is the reason a voltmeter is placed across a battery. The “currency” of Circuit Theory consists of voltmeters and ammeters. We obviate the need for an ammeter in this discussion, because a resistor is present in the left-hand loop. The voltmeter ๐ฃ๐ across this resistor can also inform us if the circuit current is increasing (decreasing). Resistor Voltage ๐ฝ๐น By definition, the voltmeter reading or voltage ๐ฃ๐ across the resistor in Figure 4 is given by ๐ ๐ฃ๐ ≡ ๐ฃ๐๐ = ∫ ๐ธโ โ ๐๐ . (19) ๐ Note that ๐ฝ (and therefore ๐ธโ , as illustrated) are pointing clockwise. This line integral can be simplified to ๐ ๐ โโโ โ ๐๐ = ∫ ๐ฃ๐ = ∫ ๐ธ ๐ ๐ ๐ฝ ๐ฝ ๐ผ ๐๐ = (โ๐) = โ๐ = ๐ผ๐ . ๐ ๐ ๐ด๐ (20) Capacitor Voltage ๐ฝ๐ช By definition, the voltmeter reading or voltage ๐ฃ๐ across the resistor in Figure 4 is given by ๐ ๐ฃ๐ถ = ๐ฃ๐๐ = ∫ ๐ธโ โ ๐๐ . (21) ๐ Consistently with the assumption that a positive charge ๐ sits on the left-hand plate of this capacitor, a real voltmeter placed externally across capacitor ๐ถ “reads” the value given by ๐ ๐ ๐ฃ๐ถ = ∫ ๐ธโ โ ๐๐ = ∫ ๐ ๐ ๐ โ๐ ๐ 1 ๐ก ๐(0) ๐๐ = ๐ = = ∫ ๐๐๐ก + . ๐๐ด ๐๐ด ๐ถ ๐ถ 0 ๐ถ (22) Circuit Fields are Very Narrow and Very Harmonious The non-conservative inductor loop is one-dimensional (parameter) contour through includes an open loop through an ideal conductor that is closed by voltmeter ๐ฃ๐ฟ path. 8 THE NATURE OF AN INDUCTOR By contrast, the conservative loop is a one-dimensional contour that includes a serial voltmeters paths (๐๐ต , ๐ฃ๐ and ๐ฃ๐ถ ) that are closed by voltmeter ๐ฃ๐ฟ path. At any instant, a test charge ๐ that is imagined to traverse the right-hand loop consisting of a perfect conductor in series with a voltmeter ๐ฃ๐ฟ acquires energy ๐๐๐ฟ , because the electric field on this contour is non-conservative. At any instant, a test charge ๐ that is imagined to traverse the left-hand loop consisting of four voltmeters acquires no energy, because this contour is conservative. No manner of conflict exists with the intersection of these two contours, due to the fact that the voltmeter ๐ฃ๐ฟ path is common to both loops. Figure 4. Resulting Circuit Theory Picture LEFT-LYING LOOP VB RIGHT-LYING LOOP vR vC R C vL i Collecting the voltmeter indications for the left-lying “conservative” loop yields ๐๐ต = ๐ฃ๐ + ๐ฃ๐ถ + ๐ฃ๐ฟ , 9 (23) THE NATURE OF AN INDUCTOR for time ๐ก ≥ 0. Substitution of Equations 16, 19 and 22 into this expression yields ๐๐ต = ๐๐ + 1 ๐ก ๐(0) ๐๐ ∫ ๐๐๐ก + + ๐ฟ . ๐ถ 0 ๐ถ ๐๐ก (24) Differentiation of Equation (24) and division by ๐ฟ yields the familiar expression 0 = ๐2 ๐ ๐ ๐๐ 1 + + ๐ . 2 ๐๐ก ๐ฟ ๐๐ก ๐ฟ๐ถ (25) Note that each of the four circuit voltages has been determined by eliminating any unnecessary (induction) area between the voltmeter and a particular circuit element. By eliminating unnecessary voltmeter lead loop areas, all four voltages are identically the same as given by the “Laws” of Circuit Theory. Equation (2) teaches us, for three of the four circuit elements (battery, resistor, and capacitor), that the electric field of electrostatic origin is indeed conservative for the respectively indicated zero-area voltmeter “loops.” Thus, in each of these three cases, the electric field of electrostatic origin just outside any of these three circuit elements is identical to the electric field of electrostatic origin within that same element. One should not connect a voltmeter to the inductor loop except as illustrated: from terminal ๐ to terminal ๐ of the inductor. The length of the leads of a voltmeter must always be minimized when connecting them to a circuit element; otherwise, one will not get what is expected from their measurement. It is noted that the constant battery voltage ๐ can alternatively be described in terms of the battery’s EMF ๐๐ต = ๐๐ต , because ๐ ๐ โโโโ๐ ) โ ๐๐ = ๐๐ต . ๐๐ต = ∫ โโโโ ๐ธ๐ โ ๐๐ = ∫ (−๐ธ ๐ ๐ for an ideal battery with no internal resistance. Thus we can construct the next figure as an optional description of this circuit: 10 (26) THE NATURE OF AN INDUCTOR Figure 5. Alternative Depiction of the Resulting Circuit Theory Picture ๏ฅ B vR vC R C vL i The historical form of Kirchhoff’s Second circuit law (KVL) might have been: The sum of the EMF’s in any closed loop is equivalent to the sum of the voltages in that loop. This 1845 law was developed long before the vector calculus was developed by Josiah Willard Gibbs at the close of the nineteenth century. Thus, it might be unfair to say that the (development of the) KVL is originally based upon the fact that the line integral of the electrostatic electric field vanishes. Proceeding clockwise, one applies Kirchhoff’s Second Law, in historical voltage format, to find ๐ ๐ ∑ ๐๐ = ∑ ๐ฃ๐ . ๐=1 (27) ๐=1 so that ๐๐ต = ๐ฃ๐ + ๐ฃ๐ถ + ๐ฃ๐ฟ . (28) It follows that the historical form of the KVL is obeyed perfectly! Now what did become of the (“Back”) EMF opposing the change in current? Did we learn all that Lenz’s Law stuff for nothing?! In the limit of the inductor being a perfect conductor, it is not possible to find this EMF inside the large wire loop. Nonetheless, a phantom or vestige can be conjured in the following way. Assume 11 THE NATURE OF AN INDUCTOR the conductor is slightly imperfect; i.e., assume that the conductor has a large but finite conductivity. Consistently with this provisional assumption, an electric field can now exist within the inductor loop. This assumed field has the identical direction (counterclockwise) as the illustrated field extending from point ๐ to point ๐. What was intended (1835) by Heinrich Lenz has been explicitly found. This induced EMF, in turn, induces a current that opposes the change in current ๐๐ ⁄๐๐ก > 0 we earlier assumed occurred in the clockwise direction. Analogously to Newton’s third Law, but now expressed in terms of continuous electric fields, a force cannot be applied to (work done on) an inductor unless the inductor reacts by counter-posing that applied force. Interpretation of the ideal inductor based upon Superposition In our idealized version of this perfectly conducting inductor, we earlier stated that Ohm’s law (vector form) informed us that the electric field inside the inductor wire is zero. As an alternative argument for the electric field vanishing inside the wire loop, we stated that the skin depth of an ideal inductor is zero. In earlier discussion, we also found an induced electric field pointing from node ๐ to ๐. Again see Figure 3 and Equation 15. Although the electric field inside the inductor wire is zero, this electric field can be regarded as the net electric field based upon two counter-posed components: a counterclockwise induced field โโโโ ๐ธ๐ of nonโโโโ โโโโ electrostatic origin and a clockwise field ๐ธ๐ = −๐ธ๐ of electrostatic origin. Thus, superposition yields a zero field inside this wire loop. โโโโ๐ arises from surface charges induced at the pair of terminals (nodes ๐ and ๐) of the inductor. The field ๐ธ Positive charge ๐๐ฟ sits on node ๐ and an opposite charge −๐๐ฟ sits on node ๐. This pair of charges have been separated by the induced field โโโโ ๐ธ๐ . Notes Again see the second Note beneath Figure 3. An inductor, then, is like a battery having a variable magnitude. (If the circuit voltage source is a generator with alternating polarity, then the polarity of this inductor can alternate, too.) Particularly, three electric fields are associated with this energy converter: a pair of counter-posed fields โโโโ ๐ธ๐ and โโโโ ๐ธ๐ within the wire and a third field โโโโ ๐ธ๐ that is external to the inductor. A component of this external field is illustrated in Figure 3, pointing from node ๐ to node ๐. [If this inductor is non ideal, then the magnitude of โโโโ ๐ธ๐ exceeds the โโโโ magnitude of ๐ธ๐ .] We have just created a linguistic issue by stating the field established externally to this inductor is electrostatic in origin. A re-read of recent sentences shows that this external (third) electric field โโโโ ๐ธ๐ has its ultimate origin in the non-electrostatic field โโโโ ๐ธ๐ within the inductor wire. By means of this third electric field โโโโ ๐ธ๐ , which lies externally to the wire of the inductor loop, the inductor exerts its reaction forces on the rest of the electric circuit. 12 THE NATURE OF AN INDUCTOR Just as the left-lying loop has a conservative electric field, the inductor has its own conservative electric field โโโโ ๐ธ๐ whose closed-line integral around the inductor loop vanishes! In fact a simple, closed-line integral of all electrostatic fields contained in both loop contours vanishes! That is, clockwise (or counter-clockwise) integration from node ๐ to ๐ to ๐ to ๐ to ๐ (around the big loop) followed by return through the closed switch to node ๐ vanishes. 13