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LESSON 14: TRANSFER
FUNCTIONS OF DC MOTORS
1 ET 438a Automatic Control Systems Technology
LEARNING OBJECTIVES
After this presentation you will be able to:
lesson14et438a.pptx
Write the transfer function for an armature
controlled dc motor.
Write a transfer function for a dc motor that
relates input voltage to shaft position.
Represent a mechanical load using a mathematical
model.
Explain how negative feedback affects dc motor
performance.
2
STEADYSTATE OPERATION OF
SEPARATELY EXCITED DC MOTORS
Consider steadystate model
lesson14et438a.pptx
ia = armature current
eb= back emf
ea= armature terminal voltage wm
wm = motor speed (rad/sec)
T = motor torque
Tf = static friction torque
Ra = armature resistance
La = armature inductance
Jm = rotational inertia
Bm = viscous friction Review the steadystate relationships
3
Of machine
STEADYSTATE OPERATION OF
SEPARATELY EXCITED DC MOTORS
Relationships of Separately Excited Dc Motor
TorqueCurrent Curve Back EMF Curve
lesson14et438a.pptx
KT=DT/Dia eb KT=DT/Dia
DT DT
Dia Dia
ia wm
Tf
wm
wm=wnl – (Dwm/DT)T
SpeedTorque Curve wnl
Dwm
DT
4
T
STEADYSTATE MOTOR EQUATIONS
Developed Torque KVL in Armature Circuit
T = K T i a Tf N - m ea = i a R a eb V
T = motor torque ea= armature voltage
lesson14et438a.pptx
KT = torque constant eb = back emf
Tf = motor friction torque Ra = armature resistance
ia = armature current
Back EMF Developed Power
e b = K e wm V P = wm T W
wm= shaft speed (rad/s) P = shaft power
eb = back emf
Ke = back emf constant
5
STEADYSTATE MOTOR EQUATIONS
Combining the previous equations gives:
K T e a (T Tf ) R a ea i a R a
wm = (1) wm = (2)
KT Ke Ke
lesson14et438a.pptx
If the load torque is zero (T=0) then the above equation (1) gives the
noload speed
K T ea (Tf ) R a
wnl =
KT Ke
6
STEADYSTATE MOTOR OPERATION
Example 141: An armaturecontrolled dc motor has the
following ratings: Tf=0.012 Nm, Ra=1.2 ohms, KT=0.06 Nm/A,
lesson14et438a.pptx
Ke=0.06 Vs/rad. It has a maximum speed of 500 rad/s with a
maximum current of 2 A. Find: a) maximum output torque, b)
maximum mechanical output power, c) maximum armature
voltage, d) noload speed at maximum armature voltage.
7
EXAMPLE 141 SOLUTION (1)
Define given variables
lesson14et438a.pptx
a) Tmax occurs at Imax so….
Answer
b) Find Pmax
8
Answer
EXAMPLE 141 SOLUTION (2)
c) Find maximum back emf
lesson14et438a.pptx
Answer
d) Find noload motor speed
At noload, T=0. Load torque is zero.
T=0
9
TRANSFER FUNCTION OF
ARMATURECONTROLLED DC
MOTOR
Write all variables as time functions
Write electrical equations
lesson14et438a.pptx
and mechanical equations.
Use the electromechanical
relationships to couple the
two equations.
Consider ea(t) and eb(t) as inputs and ia(t) as output. Write KVL
around armature
dia ( t )
ea (t ) = R a i a ( t ) L e b (t )
dt
dwm ( t )
Mechanical Dynamics T( t ) =J m B m wm ( t ) 10
dt
TRANSFER FUNCTION OF
ARMATURECONTROLLED DC
MOTOR
Electromechanical equations
e b ( t ) = K E wm ( t )
T( t ) = K T i a ( t )
lesson14et438a.pptx
Find the transfer function between armature voltage and motor speed
m (s)
=?
E a (s)
Take Laplace transform of equations and write in I/O form
lesson14et438a.pptx
Laplace Transform of Mechanical System Dynamics
dwm ( t )
T( t ) =J m B m wm ( t )
dt
Rewrite mechanical equation as I/O equation
1
T s = J m s Bm m s m s = T s
12
J
m s B m
lesson14et438a.pptx
BLOCK DIAGRAM OF ARMATURE
CONTROLLED DC MOTOR
Draw block diagram from the following equations
1
E a (s) E b (s) T (s ) = K T I a (s ) m s = 1
I a (s) = T s
L s Ra J m s Bm
T(s)
Ea(s) Ia(s) m(s)
+ 1/(Las+Ra) KT 1/(Jms+Bm)
Eb(s)
Ke
E b (s) = K E m (s)
Note: The dc motor has an inherent feedback
from the CEMF. This can improve system stability 13
by adding a electromechanical damping
TRANSFER FUNCTION OF
ARMATURECONTROLLED DC
MOTOR
Use the feedback formula to reduce the block diagram
m s G s
=
E a (s) 1 G s H s
lesson14et438a.pptx
H(s) = K E
G(s) is the product of all the blocks in the forward path
1/(Las+Ra) KT 1/(Jms+Bm)
1 1 KT
G s = K T =
L a s R a J m s Bm L a s R a J m s Bm
14
SIMPLIFICATION OF TRANSFER
FUNCTION
Substitute G(s) and H(s) into the feedback formula
G(s)
KT
m s L a s R a J m s Bm
=
E a (s) KT
lesson14et438a.pptx
1 KE
L a s R a J m s Bm H(s)
Simplify by multiplying numerator and G(s)
denominator by factors (Las+Ra)(Jms+Bm)
m s KT
=
E a (s) L a s R a J m s Bm K T K E
Expand factors and collect like terms of s Final Formula
m s KT
=
E a (s) L a J m s 2 (R a J m Bm L a ) s (K T K E R a Bm ) 15
Roots of denominator effected by values of parameters. Can be Imaginary.
DC MOTOR POSITION TRANSFER
FUNCTION
Motor shaft position is the integral of the motor velocity with
respect to time. To find shaft position, integrate velocity
lesson14et438a.pptx
d( t )
= w( t )
dt
d( t )
dt dt = w(t ) dt = (t )
To find the motor shaft position with respect to armature voltage,
reduce the following block diagram
Ia(s) T(s)
Ea(s) m(s) Qm(s)
+ 1/(Las+Ra) KT 1/(Jms+Bm) 1/s
Eb(s)
16
Ke
DC MOTOR POSITION TRANSFER
FUNCTION
Position found by multiplying speed by 1/s (integration in time)
1
Q m (s) = m (s)
lesson14et438a.pptx
s
Q m (s) 1 KT
=
E a (s) s L m J m s 2 L a Bm R a J m s K T K E R a Bm
Q m (s) KT
=
E a (s) s (L m J m s 2 L a Bm R a J m s K T K E R a Bm )
Q m (s) KT
=
E a (s) L m J m s 3 L a Bm R a J m s 2 K T K E R a Bm s T.F.
17
REDUCED ORDER MODEL
Define motor time constants
Jm La
= m and = e
Bm Ra
lesson14et438a.pptx
Where: m = mechanical time constant
e = electrical time constant
Electrical time constant is much smaller than mechanical time
constant. Usually neglected. Reduced transfer function becomes…
m (s) Ks
=
E a (s) 1 s s
KT R a Jm
Where K s = and s =
K T K E R a Bm K T K E R a Bm
18
MOTOR WITH LOAD
Consider a motor with load connected through a speed reducer.
Load inertia = JL
Load viscous friction = BL
Motor coupled to speed reducer, motor shaft coupled to smaller
lesson14et438a.pptx
gear with N1 teeth. Load connected to larger gear with N2 teeth.
N1
wL = wm rad/sec N1 N 2
N2
N2
TL = Tm N - m N1 N 2
N1
Gear reduction decreases speed but increases torque
Pmech=constant. Similar to transformer action 19
MOTOR WITH LOAD
Speed changer affects on load friction and rotational inertia
Without speed changer (direct coupling)
BT = B m B L N - m - s/rad
lesson14et438a.pptx
JT = Jm JL N - m - s 2 / rad
2
With speed changer N1
BT = B m B L N - m - s/rad
N2
2
N
JT = Jm 1 JL N - m - s 2 / rad
N2
Where: BT = total viscous friction
JT = total rotational inertia
BL = load viscous friction
20
Bm = motor viscous friction
Jm = motor rotational inertia
JL = load rotational inertia
MOTOR WITH LOAD BLOCK
DIAGRAM
Ia(s) T(s)
Ea(s) m(s) L(s)
+ 1/(Las+Ra) KT 1/(JTs+BT) N1/N2
lesson14et438a.pptx
Eb(s)
Ke
Inertia and
friction of
Transfer function with speed changer load included
N
KT 1
m s N2
=
E a (s) L a J m s 2 (R a J m Bm L a ) s (K T K E R a Bm )
21
MOTOR POSITION WITH LOAD
BLOCK DIAGRAM
m(s)
Ia(s) T(s)
Ea(s) QL(s)
+ 1/(Las+Ra) KT 1/(JTs+BT) N1/N2 1/s
lesson14et438a.pptx
Eb(s) L(s)
Ke
Motor position transfer function with speed changer. Note:
multiplication by s
N1
KT
QL s N2
=
E a (s) L a J m s 3 (R a J m Bm L a ) s 2 (K T K E R a Bm ) s 22
DC MOTOR TRANSFER FUNCTION
EXAMPLE
Example 142: A permanent magnet dc motor has the following
specifications.
Maximum speed = 500 rad/sec
lesson14et438a.pptx
Maximum armature current = 2.0 A
Voltage constant (Ke) = 0.06 Vs/rad
Torque constant (KT) = 0.06 Nm/A
Friction torque = 0.012 Nm
Armature resistance = 1.2 ohms
Armature inductance = 0.020 H
Armature inertia = 6.2x104 Nms2/rad
Armature viscous friction = 1x104 Nms/rad
a) Determine the voltage/velocity and voltage/position transfer
functions for this motor 23
b) Determine the voltage/velocity and voltage/position transfer
functions for the motor neglecting the electrical time constant.
EXAMPLE 142 SOLUTION (1)
Define all motor parameters
lesson14et438a.pptx
a) Full transfer function model
24
EXAMPLE 142 SOLUTION (2)
Compute denominator coefficients from parameter values
lesson14et438a.pptx
Can normalize constant by dividing numerator and denominator by 0.00372
25
EXAMPLE 142 SOLUTION (3)
To covert this to a position transfer function, multiple it by 1/s
lesson14et438a.pptx
b) Compute the transfer functions ignoring the electrical time
constant
26
EXAMPLE 142 SOLUTION (4)
Compute parameter values
lesson14et438a.pptx
27
lesson14et438a.pptx
LESSON 14: TRANSFER
FUNCTIONS OF DC MOTORS
28 ET 438a Automatic Control Systems Technology