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series motor when load is removed.It also developed a high starting torque when load is
increased. This makes it suitable for such applications like rolling mills, shears and punching
presses. It is also a preferred motor for application of such as cranes and elevators that requires
(a) high starting torque, (2) are prone to sudden load change and (c) present a possibility of going
from no load to full load.
2.2 CHARACTERIZATION AND CONFIGURATION OF THE COMPOUND MOTOR
General characterization of the motor :
=
Field Current, =
+
R Total
(2.1)
(2.2)
EB = Back EMF
RTotal = Total Resistance of the armature circuit = Ra+Rse
Ra = Resistance of the armature
Rse = Resistance of the series winding
RF = Resistance of the field winding.
= =
(2.3)
2
60
V Ia R T
V Ia R T
V Ia R T
=
=
KB
K B se + sh K B K sh IF + K B K se Ia
(2.4)
(2.5)
Now,
T = K T Ia = K T se + sh Ia = K T (K sh IF + K se Ia )Ia = K T K sh IF Ia + K T K se Ia 2
(2.6)
where, C1 = K T K sh IF and C2 = K T K se
T = C1 Ia + C2 Ia 2
(2.7)
Now, from Eq. (2.7), expression for the current can found in terms of developed torque as,
Ia =
C1 C1 2 + 4C2 T
2C2
(2.8)
23
C 1 C 1 2 +4C 2 T
2C 2
K B K sh IF + K B K se
=
C 1 C 1 2 +4C 2 T
2C 2
C 1 +C 1 2 +4C 2 T
K1 + K 2
RT
2C 2
RT
C 1 +C 1 2 +4C 2 T
2C 2
2C2 V + C1 R T R T C1 2 + 4C2 T
2
2C2 K1 K 2 C1 + K 2 C1 + 4C2 T
(2.9)
24
2500
65
= 38.46 rad/sec
This primarily calculated value will be used to design and calculate different parameters of the
motor.Now, from Eq. (2.3)
= 38.46 =
KB =
EB
KB
EB V Ia R T 60 (40 0.15)
=
=
= 1.42
38.1
T = 65 = (K T )40
KT =
65
= 1.625
40
(2.10)
(2.11)
25
K T = 1.144K B
K B se + K B sh = 1.42
K T se + K T sh = 1.625
Let us assume 70% of the total flux is provided by the series field and 30% of the flux are
(2.12)
(2.13)
(2.14)
(2.15)
Similarly,
0.4875
= 0.0852
1.1444 5
K B K se =
1.1375
= 0.02485
1.1444 40
(2.16)
(2.17)
K B K sh
0.0852
=
= 3.4286
K B K se 0.02485
K sh = 3.4286K se
sh
= 3.4286 se
IF
Ia
26
sh = 3.4286
5
se = 0.4286se
40
sh = 0.4286se
(2.18)
KB =
K B se + sh = 1.42
1.42
= 99.4 V/rad. Wb
0.01 + 0.004286
sh
IF
K se =
2.3
0.004286
= 0.0008572 Wb/A
5
se 0.01
=
= 0.00025 Wb/A
Ia
40
dia
+ Ia R T + EB
dt
diF
+ IF R F
dt
EB = K B se + sh
(2.19)
(2.20)
(2.21)
27
T = K T Ia = K T se + sh Ia
= K T K sh IF Ia + K T K se Ia 2
(2.22)
(2.23)
TL is the torque required to drive the load then, then the developed torque balance equation can
be written as;
T=J
d
+ B + TL
dt
(2.24)
Using Eq. (2.19) to Eq. (2.24) the electromechanical model of the motor can be obtained. But
due to the product of variable type non-linearities present in Eq. (2.23), it is not possible to
obtain a transfer function of this model. However, these equations can be linearized by
considering a small perturbation at the operating point. Before deriving the linearized transfer
fuction, let us develop a complete block diagram of the motor considering the non-linearities
which is shown in Figure 2.2.
28
Assuming the field current is constant, this block diagram can be further simplified into the
following based on Eq. (2.4) and Eq. (2.6).
Figure 2.3. Non-linear block diagram representation of the compound motor, assuming field
current is constant
2.4
REPRESENTATION :
All the system parameters can be defined around their operating point as follows;
V = V0 + V;
T = T0 + T;
EB = EB0 + EB ;
Ia = Ia0 + Ia ;
TL = TL0 + TL ; = 0 +
IF = IF0 + IF ;
The following basic equations will be needed to describe and represent the electromechanical
system of compound motor along with its load.
V = LT
dia
+ Ia R T + EB
dt
EB = K B K sh IF + K B K se Ia
V = LF
diF
+ IF R F
dt
29
T = K T K sh IF Ia + K T K se Ia 2
T=J
d
+ B + TL
dt
Recognizing that, Ia0 and (Ia )2 are very small and hence tending to zero, all the above
Equations can be linearized to;
V = R T Ia + LT
d(Ia )
+ EB
dt
(2.25)
d(IF )
dt
(2.27)
EB = K B K se (Ia0 + Ia 0 ) + K B K sh (IF0 + IF 0 )
V = R F IF + LF
d()
+ B() + TL
dt
(2.26)
(2.28)
(2.29)
These five equations are sufficient to establish the block diagram of a DC Compound motor
drive as shown in Figure. 2.4.
A further simplification in the block diagram can be possible by rearraging the blocks as shown
in the following Figure. 2.5.
Figure 2.5. Linearized Block diagram of the compound motor assuming field current is constant
After using the block diagram simplification technique, the final linearized transfer function of
the motor is obtained as,
T(s) =
where;
C1 (SLF + R F C2 ) + C3 (SLT + R T + C4 )
(Js + B)(SLF + R F )(SLT + R T + C4 ) + C1 C5
(2.30)
C3 = K T K sh Ia0
C4 = K B K se 0
C5 = (K B K se Ia0 + K B K sh IF0 )
31
s + b0
+ a 2 s 2 + a1 s + a 0
R F C1 + R T C3 + C3 C4 C1 C2
LF C1 + LT C3
a0 =
a1 =
s3
BR F R T + BR F C4 + C1 C5
JLF LT
(2.31)
(2.32)
(2.33)
(2.34)
(2.35)
rated = T rated = K
rated
P rated
T I a (rated )
2500
65
32