KAUNAS UNIVERSITY OF TECHNOLOGY

DEPARTMENT OF CONTROL TECHNOLOGY

ELECTROMECHANICAL ENERGY CONVERSION

COURSE PAPER

STUDENT: _______________
GROUP: UA
LECTURER: assoc prof. A.LIPNICKAS

KAUNAS 2006

Initial Data :
a
b
7

J mech = 0.d = 0.5kg m2 ;

Time intervals: t1 = 1; t2 = 2; t3 = 1; t4 = 1; t0 = e = 1;
t st1 + t w1 + t br1 = t1 + t 2 + t 3 + t 4 = 1 + 2 + 1 + 1 = 5 min;
t st 2 + t w 2 + t br 2 = t1 + t 2 + t 3 + t 4 = 1 + 2 + 1 + 1 = 5 min;
Since e is odd, i g = 1 and speed direction is changed in the 2nd part of the speed curve, DC motor
should be selected.
The values of mechanism load torque, Nm, are:
TL ,m1 = 2 a = 2 7 = 14 Nm;
TL ,m 2 = 4 b = 4 8 = 32 Nm;
TL ,m3 = c = 9 Nm;
TL ,m 4 = 3 d = 3 5 = 15 Nm;
Because e = 04, then nM .max 1400rpm; Tl ,m reactive;
Speed ratio of the drive: D = 10 : 1 (because e = 1).
CALCULATIONS
1. Calculation and drawing of the load diagram for the electric drive:

t1 = 60s; t2 = 120s; t3 = 60s;

t4 = 60s; tw = t1 + t2 + t3 + t4 = 300s; t0 = 60s;
tc = t w + t0 = 300 + 60 = 360 s = 6 min;
ig = 1 ;
TL = TL ,m TL1 = 14 Nm; TL 2 = 32 Nm; TL 3 = 9 Nm; TL 4 = 15 Nm;

M ,max =

nM ,max

1400 3.14
= 146.53rad / s
30

30
t
300
= w=
= 0.833;
tc 360

0.6; tw = (3 4) {?????????????????}

So we have the continuous working duty.

Average power:
Pav =

PL1 t1 + PL 2 t 2 + PL 3 t 3 + PL 4 t 4
k1 ;
t1 + t 2 + t 3 + t 4 + t 0

k1 = 1.1 1.3 (Constant losses), k1 = 1.2

= M ,max = N = 146.53rad / s
PL = TL ;

PL1 = TL1 = 14 146.53 = 2051, 42W ;

PL 2 = TL 2 = 32 146.53 = 4688.96W ;
PL 3 = TL 3 = 9 146.53 = 1318.77W ;
PL 4 = TL 4 = 15 146.53 = 2197.95W .
Pav =

2051.42 60 + 4688.96 120 + 1318.77 60 + 2197.95 60

896763.6
1.2 =
1.2 = 2989.21W ;
60 + 120 + 60 + 60 + 60
360

Pav = 2.9892kW ;

Condition for preselecting motor: Pav PN

DIAGRAMS:

2. Preselection of the motor power for technological mechanism and calculation of starting and
braking times

Height
of the
shaft

Parameters are taken from 2PN series DC motors catalog, row number 19:
nN PN UN IN N MN Mmax nmax
Ri Rp,p Li
T Tm Te

mm r/min kW V A % Nm Nm r/min rad/s2 min ms ms

mH kgm2 kg
132M 1500 4,0 440 10,90 79,0 23,5 94,0 4000 2540 12,7 30 11,2 2,28 1,44 42 0,038 86
J
0.5
= mech
J mech
= 2 = 0.5kgm 2 ;
2
1
i
= 1.2 0.038 + 0.5 = 0.546kgm 2 ;
J = k1 J M + J mech

nN 1500 3.14
=
= 157 rad / s;
30
30
U
440
= 40.37;
RN = N =
I N 10.90

N =

PN

TN =

4000
= 25.48 Nm;
157

Tmax + TL1 94 + 14
=
= 54 Nm;
2
2
T
94
= 47 Nm;
Tbr = max =
2
2
N
157
= 0.546
= 2.14 s;
t st = J
54 14
Tst TL1
N
157
tbr = J
= 0.546
= 1.38s;
47 + 15
Tbr + TL 4
Tst =

Td ,br

157
= 40.06 Nm;
tst
2.14

157
= J N = 0.546
= 62.12 Nm;
tbr
1.38

Td , st = J

= 0.546

T1 = TL1 + Td , st = 14 + 40.06 = 54.06 Nm;

T4 = TL 4 Td ,br = 15 62.12 = 47.12 Nm;

T1 t st + T12 (t1 t st ) + T22 t 2 + T32 t3 + T42 (t 4 tbr ) + T42 tbr
t st + (t1 t st ) + t 2 + t3 + (t 4 tbr ) + tbr + 0 t0
2

Teq =

1 + 0
; 0 = 0.25 0.55 0 = 0.4;
2

1 + 0.4
= 0.7;
2

Teq =

54.062 2.14 + 142 (60 2.14) + 322 120 + 92 60 + 152 (60 1.38) + 47.122 1.38
=
0.7 2.14 + (60 2.14) + 120 + 60 + (60 1.38) + 0.7 1.38 + 0.4 60

= 22.36 Nm;
Checking :
Teq TN 22.36 25.48
0.7TN Teq TN 17.84 22.36 25.48 Nm;
Tmax, fact
TN

Tmax,cal
TN

47
94

1.84 3.69;
25.48 25.48

The type of motor is preselected: 132M.

3. Calculations needed to draw speed-torque characteristics of the electric drive.

U
TR
2 2
k k
Rm = Ri + R p , p = 2.28 + 1.44 = 3.72;

k =

U N I N Rm

440 10.90 3.72

= 2.54Vs / rad ;
157

U N 440
=
= 173.23rad / s;
k 2.54
D = 10 :1
U
440
= 44V ;
U min = N =
10
D
U
44
= 17.32rad / s;
0,min = min =
k 2.54

0 =

TR
U
21 2
k k
TR
U
22 2
L 2 =
k k
TR
U
23 2
L3 =
k k
TR
U
24 2
L 4 =
k k

L1 =

440 14 3.72

= 165.16rad / s;
2.54 2.542
440 32 3.72
=

= 154.78rad / s;
2.54
2.542
440 9 3.72
=

= 168.04rad / s;
2.54 2.542
440 15 3.72
=

= 164.6rad / s;
2.54 2.542

Tsh.c = k * I sh.c = 2.54 *118 = 300 Nm;

I sh.c =

UN
440
=
= 118 A
Rm 3.72

Dynamic characteristic points:

( 14 ) 3.72 = 8.07 rad / s;

U = 0 T1 R
2 2 = 0
k k
2.54 2
( 32 ) 3.72 = 18.45rad / s
TR
= 22 2 =
k
2.54 2
TR
( 9 ) 3.72 = 5.19rad / s
= 23 2 =
k
2.54 2
( 15 ) 3.72 = 8.63rad / s
TR
= 24 2 =
k
2.54 2

d 1 =
d 2
d 3
d 4

T1 = 14;
T2 = 32;
T3 = 9;
T4 = 15;

0 = 0.

4. Selection the converter type and technical data:

Type

ETU-3601-62

Ud,N

230

Id,N

40

U1

Pd,N

440

Automatic disconnection,

IN, A, then UN, V;

50A, then 25 V;

9.2

Selection the transformer type and technical data:

Type

P2N

U1

U2

Ut,j,%

I0,%

OSVM-6.3

6.3

220

400

2.45

96.4

5. Connection diagram

(LF,D + Li)

0.95

Conclusions:
According to the given data, I have selected the motor for technological mechanism and have drawn
the speed torque characteristics and load diagrams. The chosen motor has been theoretically proven to
be reliable and suitable for the mechanism. Furthermore we have selected the converter and drawn
connection diagram.
References:
1.
Masteika R. Elektros pavaros. Teorija, schemos, projektavimas, udaviniai, pavyzdiai. Mokomoji knyga. - Kaunas: Technologija, 2003. 125p.
2.
Masteika R. Elektros pavar mechanika.

3.

Subrahmanyan V. Electric Drives. -USA: McGraw-Hill, 1996. Pp. 715.