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[Date]
ECEN 2270
Lab #2
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ECEN 2270
Lab #2
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ECEN 2270
Lab #2
= magnetic flux density vector = vector aligned with conductor of length l in the direction of current
(1)
(2) k = motor constant [Nm/A] Additionally, by placing this loop of wire in a separate magnetic field (created by the stationary magnetic poles), a force will be generated between the two fields. This force will act upon the loop of current, creating a torque that will work to rotate the loop with a strength set by (2). When the loop reaches a position perpendicular to the main field, there is no interaction between the flux lines to cause the loop to rotate (the neutral plane), but the loop continues to rotate due to inertia. In order to maintain continuous rotation of the rotor, a commutator switches the current flow through the loops every 180. Together, the commutator and wire loop are model known as the motors armature. Being a loop of wire, the armature forms a natural inductive effect. Being a long wire, there is also a resistive effect. And according to Faradays Law (3), the time-varying magnetic field of the wire will also generate an electromotive force VEMF, which can be modeled as a dependent voltage source. Fig. 2 shows the DC motor equivalent armature circuit model with these considerations, resulting in (4). (3) (4) Using this understanding of the DC motor, armature resistance RM can be found from a locked rotor experiment: with the motor being powered from the bench power supply, current runs through the motor and the end result is the wheel freely spinning. By holding the wheel so that the speed of rotation is zero, all terms in (4) go to zero but for . Measuring VDC and IDC, RM can be solved for using Ohms Law (5) (5) An Agilent 34401A multimeter was used to measure VDC and IDC. There were found to be: Locked-wheel VDC: V Locked-wheel IDC: A From our measurements, RM was found to be Part A.2: determine k, B, Tint As for the mechanical model of the DC motor, the torque generated by (2) can also be calculated by (6). The load torque is the combined internal gear and load torque, shown in (7). (6) J = moment of inertia B = friction coefficient
Fig. 2. DC Motor equivalent armature circuit
(7) A circuit equivalent model is shown in Fig. 3. The moment of inertia J is the property that resists change in angular velocity, similar to a circuit capacitors resistance to change in the circuits voltage. It can be symbolized in parallel with the generated torque. The generated torque itself is modeled after a
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ECEN 2270
Lab #2
dependent current source, as it will depend on how much current is flowing through the DC motor. As with any real physical motion, there is a friction element to consider which is shown as a resistor in Fig. 3. The resulting angular velocity is modeled in Fig. 3 as a current. Angular velocity can be found by using the optical encoder. There are 12 output pulses per motor shaft rotation coming from the optical encoder. The optical encoder is also connected through a motor shaft to a 64:1 gear box, which then turns the wheel shaft turning the wheel itself. The encoders output pulses, measured as the encoder frequency fenc, are proportional to the speed of the motor according to (8). The angular velocity can be found using (9).
Fig. 3. Simple DC motor equivalent mechanical circuit model
(8) n = wheel speed, rpm (9) Motor constant k, friction coefficient B, and internal motor torque can be estimated from an unloaded motor experiment: while letting the wheel rotate freely, VDC is varied from 0 to 10 V, with IDC and fenc measured at each point. With the wheel rotating freely, there would be no external load on the motor, driving to zero and leaving the motors total load torque equal to the internal motor torque in (7). At each point, measuring only after the system has reached steady-state behavior would also mean that there is no change in angular velocity , driving its derivative term in (6) to zero as well. For VDC between 0 and 6 V, the separate 06V terminals were used, while keeping encoder VCC = +10V. For VDC between 7.5 V and 10V, both VDC and VCC together from the same supply voltage. The measured current IDC could be used with (4) to measure the VEMF. The encoder frequency fenc could be used to calculate angular velocity . Together, these could be used with (3) to estimate the motor constant k, which would then be used with (2) to calculate the generated torque . In the report, include measured data and explain how you determined k, B, and Tint . You may use an Excel spreadsheet to enter data and perform calculations Part A.3: determine J The moment of inertia J can be estimated from a motor turnoff transient in an unloaded motor experiment: Turn on the motor at +10 V and let the wheel rotate freely at constant +10 V input. Then, turn off the motor supply voltage (using the supply output on/off button) to bring the supply current to zero. A probe connected to an Agilent DSO1024A oscilloscope was used to measure VDC during the transient. As stated earlier, J is the property that resists a change in angular velocity and can be seen in Fig. 4, the screenshot of what was seen using the oscilloscope probe. In the report, include measured scope screenshots and any data measured on the scope, and explain how you determined J Part A.4: Validate the model An LTspice model for the motor was provided from the Lab 2 website. We updated the model parameters based on our results determining RM, k, B, , and J. The resulting circuit can be seen in Fig. 5.
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ECEN 2270
Lab #2
The equivalent of a locked rotor experiment was setup and run to compare the model to the measurements taken in Part A.1. This was accomplished by . The resulting waveform can be seen in Fig. 6. Afterwards, the equivalent of an unloaded motor experiment was setup in simulation and run to compare the model to the measurements taken in Part A.2 We were able to verify the expected VDC, IDC, and fenc. The resulting waveform can be seen in Fig. 7. Finally, we simulated the equivalent of Part A.3, letting the speed settle at a given input VDC, then turnoff the supply, meaning bring the supply current to zero. The resulting waveform can be seen in Fig. 8. In the report, include recorded LTSpice results and simulation waveforms. Compare the simulation results to the experimental results and comment on the behavior of the model
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ECEN 2270
Lab #2
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ECEN 2270
Lab #2
Appendix
DC Motor power supply set-up: powered using an Agilent E3631 bench power supply configured to provide VLIMIT = 10V and ILIMIT = 1A. Measurements for current and voltage taken using an Agilent 34401A multimeter. Measurements for frequency taken using an Agilent DSO1024A oscilloscope with probes set to 1x attenuation. Part A.1: Determine RM Measurements Locked wheel VDC Locked wheel IDC RM = VDC/IDC = Measurement V A
V DC
f enc
RM
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