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T Torque-speed curve
generator
Tf1
brake
Tf2
motor
If2
IM
Starter
If1
motor
brake
2 brake
generator
f1 << f2
Starting torque
increase and
the current
decrease with
decreasing
frequency
1
motor
generator
DC
motor
generator
brake
pull out
f1 < f 2 < f3
f1
f2
start
pull in
Load torque
full load
f3
n1
n2
no load
Drive Systems
Types of Controllers
Modeling
Electro-mechanical system
Rotating system
T = Torque input
J B k T
1
G(s) 2
Js Bs k
Control system
Tuning the PID parameters
=0
Stability Study
Large signal (time domain-transient response)
Simulation: (Matrix exponential, Hoen, Simpson, Rung-Kutta,
Merson, England, Cayley-Hamilton)
Catastrophe theory: cusp, manifold, butterfly, hyperbolic, spline,
curve fitting
Lyapunov general method
Small signal (frequency domain-perturbation and noise control)
Bode and Nyquest plots
D-decomposition theory
Lyapunov gradient method
Linear constant transfer function
Routh-Hurwitze criterion
Eigenvalue/eigenvector and root locus
Lyapunov direct method