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The DC motor is a power actuator device that delivers energy to a load, as shown in figure below.
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direct current (DC) electrical energy into rotational mechanical energy. A major fraction of the torque
The DC motor converts generated in the rotor (armature) of the motor is available to drive an external load. Because of features such as
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high torque, speed controllability over a wide range, portability, well-behaved speed-torque characteristics, and adaptability to various types of control methods,
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robotic manipulators, tape transport mechanisms, disk drives, machine tools, and servovalve actuators.
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1. a linear approximation to an actual motor, 2. and second-order effects, such as hysteresis and the
voltage drop across the brushes, will be neglected.
3. The input voltage may be applied to the field or armature terminals. 4. The air-gap flux of the motor is proportional to the field current, provided the field is unsaturated.
So that
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http://pecworld.zxq.net/Software/Matlab/Part_3/Details/11_dc_motor_tra...
The torque developed by motor is assumed to be related linearly to and the armature current as follows:
It is clear from above equation that, to have a linear system, one current must be maintained constant while the other current becomes the input current. Field current controlled motor First, we shall consider the field current controlled motor, which provides a substantial power amplification. Then we have, in Laplace transform notification,
Where ia=Ia is a constant armature current, and km is defined as the motor constant . The field current is related to field voltage as
The motor torque Tm(s) is equal to torque delivered to the load. This relation may be expressed as
Where TL (s) is the load torque and Td(s) is the torque, which is often negligible.
disturbance
However, the disturbance torque must be considered in systems subjected to external forces such as antenna wind-gust forces. The load torque for rotating inertia, as shown in figure below
is written as
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http://pecworld.zxq.net/Software/Matlab/Part_3/Details/11_dc_motor_tra...
Therefore, the transfer function of the motor-load combination, with T d(s)=0, is:
The block diagram model of the field-controlled DC motor is shown in figure below.
Alternatively, the transfer function may be written in terms of the time constants of the motor as
Where f=Lf/Rf and L =J/b. Typically, one finds that L > f and often the field time constant may be neglected. Armature-controlled DC motor The armature-controlled DC motor uses the control variable. The stator field can be established by
armature current ia as
The armature current is related to the input voltage applied to the armature by
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http://pecworld.zxq.net/Software/Matlab/Part_3/Details/11_dc_motor_tra...
Where Vb(s) is the back electromotive-force to the motor speed. Therefore, we have
voltage proportional
Where (s)=s(s) is the transform of the angular speed and the armature current is
The relations for the armature-controlled DC motor are shown schematically in figure below.
However, for many DC motors, the time constant of the armature, (964)a=La/Ra, is negligible; therefore :
Where the equivalent time constant (964)1=Raj/(Rab+KbKm). Note that Km is equal to Kb. This equality may be shown by considering the steady-state motor equation and the power balanced when the rotor resistance is neglected. The power input to rotor is (Kb(969))ia, and the power delivered to the shaft is T(969). In the steady-state condition, the power input is equal to the power delivered to the shaft so that (Kb(969))ia=T(969); since T=Kmia, we find that Kb=Km. Electric motors are used for moving loads when a rapid response is not required and for relatively low power requirements. Typical constants for a fractional horsepower motor are provided in table below.
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