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CHAPTER 2
2.1 INTRODUCTION
The stability of the system was done using transfer function model
of DC motor and other analysis of the system was done using equation
modeling of DC motor and DC-DC buck converter. In a DC series motor, the
armature current and field current are the same. Figure 2.2 shows the
equivalent circuit of DC series motor. From the equivalent circuit consider
Ra=Rarm+Rse and La=Larm+Lse+2M
22
(2.1)
(2.2)
Let us consider that is the armature current and is the motor speed.
eb ia
eb= Kaf ia
From the Figure 2.3 the motor voltage i.e chopper output is
(2.4)
(2.5)
Kt = Torque Constant
24
(2.6)
Since the quantities ( ia)2 and ( ia) ( ) are very small the above
equations (2.1) to (2.5) can be linearized to
(2.7)
(2.8)
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(2.9)
(2.10)
(2.11)
(2.12)
(2.13)
(2.14)
(2.15)
(2.16)
Also
(2.17)
(2.18)
(2.19)
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(2.20)
(2.21)
(2.22)
(2.23)
( s) 2k af I a 0
Va ( s) JLa S 2 ( JRa k af 0 J BL a ) S [( BR a K af 0 B) (2k af I a 0 ) (k af I a 0 k res )]
(2.24)
27
(2.25)
(2.26)
(2.27)
(2.28)
where,
28
(2.29)
(2.30)
(2.31)
(2.32)
(2.33)
(2.34)
(2.35)
(2.36)
When the gate pulse is applied the device is turned on. During the
period the input supply connects with the load. When the gate pulse is
removed the device is turned off and the load disconnected from the input
supply. The circuit and waveform of DC-DC converter is shown in
Figure 2.9.
(2.37)
where, and
34
Converter
Load
Switch Position Output voltage
Operating (Motor)
V0
mode Current
Motoring Freewheeling
Mode1 Mode2 io
(Mode 1) (Mode 2)
Forward MOSFET (Q) Diode
Vs 0 + ve
motoring ON (DF) ON
2.6 CONCLUSION