Documente Academic
Documente Profesional
Documente Cultură
2006
List of symbols
vf Rf Lf if ,I f
Ia K
Introduction
According to D.C. motor equations, we will build a block diagrams using Matlab/Simulink. We will observe torque/speed characteristics, try using feedback signal.
vf Lf
Rf if di f
Lf
di f dt
Second equation: t e
KI a I f
According to this equation, we change our diagram add gain K 1 to the beginning and KI a to the end (to get torque, which we want to observe)
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Third equation: t e
Js
d r dt We can rewrite this equation exactly as it was with the first one: d r J dt Then the block diagram can be drawn like this: J
te
KI a I f
Lf Rf
0.8 15
0.162e 3
b 6.5e 3
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When we run the simulation, we get following graphs of torque/time and speed/time:
speed(Yax)/time(Xax)
(when b = 1.3e-3)
torque(Yax)/time(Xax)
(when b = 6.5e-3) When b changes, it doesnt have any effect on torque, so the graph of torque/time remains the same.
speed(Yax)/time(Xax)
From the graphs, we can obtain steady state values of torque and speed: t e 0.0133
r1 r2
2.0513 , where
r1
is speed when b
6.5e 3 and
r2
when b 1.3e 3
10.26 We can easily suggest torque/speed curve. Torque value does not depend on speed, so the graph should look like this:
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If we recast motor equations by removing d/dt terms, we get those equations of steady state: vf Rf if te b r It means that torque is proportional to speed and the graph should look like this:
Simulation 2
In this simulation, we need to change the block diagram as follows: (picture) K t 0.23 We set K 1 1 and we run the simulation.
b 0 Then we changed final values of step input voltage: 0, 0.5, 1.5 and 2. We obtained steady state values of speed, and then by using matlab we got the resulting graph voltage against steady-state speed:
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Concluding comments
The simulation speed/time plots show that, before steady state conditions are reached, the following occurs. (a) The speed takes a certain time to initially reach the level of the final value (the rise time). (b) The speed overshoots the level of the final value. (c) The speed oscillates about the level of the final value. We tried to change value of K 1 1 to suggest a suitable value that appears to give a good compromise between short rise time and amount of overshoot and oscillation. The three values of K were 2, 0.62 and 0.5. The value of 0.62 seems like that it is the wanted compromise. The pictures below show obtained graphs:
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K = 0.5
K = 0.67
K=2