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Theory of Operation
Force is exerted on a current carrying conductor in a magnetic field.
Simple DC Motor Commutation: Periodic reversal of current Torque is greatest when Parallel (most flux)
DC Motor Theory http://hyperphysics.phyastr.gsu.edu/HBASE/magnetic/motdc.html DC Motor Java Applet http://www.magnet.fsu.edu/education/tutorial s/java/dcmotor/index.html Flash of various motors http://www.st.com/stonline/products/support/ motor/tutorial/motor.swf
DC Motor cutaway
1. 2. 3. 4. 5. 6. 7. 8.
Bearing Case/end bell Brush holder Rotor Windings (Armature) Brushes Commutator Stator windings (Field) (permanent magnets in this motor) Armature Bars
Toque is based on Armature Current and Magnetic Flux of the field T = kTIA Generator Action: Moving a conductor though a field produces a voltage (EMF) based on flux and speed: EMF = KES In a motor this EMF is opposite applied voltage.
Induced voltage counters applied voltage, and is called counter EMF or CEMF Va = Vin CEMF Ia = (Vin CEMF)/Ra Speed therefore is: S = CEMF/KE
CEMF S
IA Vin CEMF T IA S
Speed Regulation: ability of a motor to maintain rated speed under load. Based on no-load and full-load speed. %speed regulation = (SNL-SFL)/SFL X 100
Series-Wound Motor
Initial current is very high until motor comes up to speed. Provides large starting torque Car starters. Under no-load can run-away (over speed)
Stall Torque Maximum torque a motor can supply without stalling No-Load Speed Speed of motor with no load. Any motor that is doing something useful must be running at less than no-load speed. Reversing applied voltage does NOT change motors direction. Changing only armature connections would.
Shunt-Wound
Lower stall and no-load speeds. Much less speed change from NL to FL (15%) Speed control via line voltage. Reversing only shunt or armature will reverse motor.
Compound Motor
Combination of series and shunt. Good starting torque and good speed control.
DC Motor Control
Adjusting voltage or using PWM
Analog Drive
Direction Control
Problems:
Higher frequencies lead to higher power dissipation by driver (more time switching). Due to inductance, current will lag and may not be linear with shorted/faster duty cycles.
Generating PWM
Braking
Braking: Since a motor generates voltage, by applying a load when power is removed, the generated power is consumed by a load resistor absorbing the power of the generator and slowing it. Plugging: Monetarily reversing the supply BUT - CEMF and Supply voltage will combine potentially leading to damaging currents.
Brushless DC Motor
Electronic Commutation to control which magnet is on. Uses Hall effect sensors to detect rotor position and control field coils to control speed.