Documente Academic
Documente Profesional
Documente Cultură
(Reference: Dorf and Bishop, Modern Control Systems, 10th Ed., Pearson/Prentice-Hall, Inc. 2005)
o In a armature-current controlled DC motor, the field current i f is held constant, and the armature current is controlled through the armature voltage Va . In this case, the motor torque increases linearly with the armature current.
Tm = K ma ia
(1)
o K ma is a constant that depends on the chosen motor. The transfer function from the input armature current to the resulting motor torque is
Tm ( s ) = K ma Ia
(2)
DC Motor
Va = VR + VL + Vb = Raia + La ( dia dt ) + Vb
(3)
o Vb represents the back EMF induced by the rotation of the armature windings in a magnetic field. Vb is proportional to the rotational speed , i.e. Vb ( s ) = K b ( s ) . o Taking Laplace transforms of Eq. (3) gives
Va ( s) Vb ( s) = ( Ra + La s ) I a ( s )
or
Va ( s) Kb ( s) = ( Ra + La s ) I a ( s)
(4)
o Applying Newtons Law (by summing moments) for the rotational motion of the motor gives
M = T
or
c = J
(CCW positive)
J + c = Tm
(5)
o Thus, the transfer function from the input motor torque to rotational speed changes is
Tm
(s) =
(1 J ) s + (c / J )
(6)
o Together, Eqs. (2), (4) and (6) can be represented by the closed loop block diagram:
Va ( s) +
1 La s + Ra La
I a ( s)
K ma Kb
Tm ( s )
1J s+c J
( s)
o Block diagram reduction gives the transfer function from the input armature voltage to the resulting speed change.
Va
(s) =
La J ) ( s + Ra La ) ( s + c J ) + ( Kb K ma La J )
( K ma
(7)
o If we assume the time constant of the electrical circuit is small compared to the time constant of the load dynamics, the transfer function of Eq. (7) may be reduced to a first order transfer function
Va
(s) =
K ma / Ra J s + (cRa + Kb K ma ) / Ra J
(8)
o The transfer function from the input armature voltage to the resulting angular position change is found by multiplying Eqs. (7) and (8) by 1 s .
Va
(s) =
K ma / Ra J s ( s + (cRa + K b K ma ) / Ra J )
(9)
Note that this transfer function also represents a second order differential equation with inertia and damping, but no stiffness (same form as for a hydraulic cylinder!).