Modeling of DC motor - Ultra Birdultrabird.weebly.com/.../modelling_of_dc_motor.pdf · DC Motor...
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Modeling of DC motor
Prashant Ambadekar
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DC Motor Electrical Equations
Considering the figure shown below:
The impedance of a DC motor’s armature can be modelled as a resistance R in series with the parallel combination of an inductance L and a second resistance RL .
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• However, as the conducting armature begins to rotate in the magnetic field produced by the stator, a voltage called the back Emf Eg is induced in the armature windings opposing the applied voltage.
• The back Emf is proportional to the angular velocity of the rotor
ω in rad/sec:
Eg = Ke ω -----------------(1) • where, the proportionality constant Ke is called the voltage constant of the motor.
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Applying Kirchoff’s voltage law,
where, La = inductance of armature, Ia = armature current, Va = armature voltage Ra = armature resistance
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Since, value of La is very small, we can neglect it,
This represents electrical model of a DC motor.
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Electromechanical model The mechanical load on a motor consists of the inertia and the constant torque due to friction or gravity.
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KT = torque constant, I = current, J = Polar MI of motor and load, Tf = Friction torque opposing armature rotation
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Derivation for maximum Power output The torque generated by a DC motor, Tg is directly proportional to the armature current,
where KT = torque constant Ia = armature current
--------(1)
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HEAT DISSIPATION IN DC MOTOR
• The main factor that limits the performance of a DC motor is • Heat dissipation in the armature
Let ,
Wc = energy dissipated in a motor tc = time for which the motor rotates (seconds) Now,
• P = time rate of work done
----------------(1)
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HEAT DISSIPATION IN DC MOTOR
• Also , P = I2 R
• Also , T α I
• T = KT I
----------------(2)
----------------(3)
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HEAT DISSIPATION IN DC MOTOR
Factors that influence heat dissipation: • Two factors are:
• Velocity profile • Coupling ratio
• Velocity profile:
• It refers to the way in which the angular velocity of the motor is varied with time as the load moves.
• Coupling ratio: • It refers to the ratio of angular velocity of the motor
inertia JM to the velocity of the load inertia JL
• The optimum velocity profile w(t) and Coupling ratio Go
may be determined to minimise Wc.
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VELOCITY PROFILE OPTIMIZATION
Three possible velocity profile for DC motor:
• Parabolic • Triangular • Trapezoidal
• The effect of friction is neglected while finding optimum VP.
• It is assumed that friction is independent of velocity.
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VELOCITY PROFILE OPTIMIZATION
Three possible velocity profile for DC motor:
Parabolic Triangular Trapezoidal
• Load accelerated smoothly • Load decelerated smoothly
• Load accelerated at fixed rate • Load decelerated at same rate
• 3 equal time zones • Acceleration zone • Run time • Deceleration zone
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VELOCITY PROFILE OPTIMIZATION
• The parabolic velocity profile is given by
If we substitute the three velocity profile in the equation Then , Energy dissipation during tc can be expressed as,
----------------(1)
where,
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INERTIA MATCHING
Three possible ways to couple motor to a load are:
• Gear Transmission
• Belt pulley drive
• Lead screw drive
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INERTIA MATCHING
Gear Transmission • A DC motor driving a load via a gear reducer unit is shown.
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INERTIA MATCHING
Gear Transmission Let, Angular rotation, Load inertia, Load torque • These load parameters are related to the motor shaft by the
following relations:
where, is the ratio of number of teeth to the gear to the number of teeth to the pinion.
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INERTIA MATCHING
Gear Transmission • The energy dissipation equation becomes ------------(A)
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INERTIA MATCHING
Gear Transmission
• In order to minimize the heat dissipation in the motor for a given load,
• Differentiating equation (A ) w.r.t. N2 and equating to zero
-------------(B)
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INERTIA MATCHING
Gear Transmission
• In the absence of load torque,
equation (B) becomes This is known as inertia matching.
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INERTIA MATCHING
Belt pulley drive • It consists of a motor turning a pulley. • The pulley pulls a belt to which a load is attached. • Thus a rotary motion is converted to a translatory motion.
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INERTIA MATCHING
Belt pulley drive • The coupling ratio G is the reciprocal of the radius r of the
pulley connected to the motor.
Let, • m = load to be moved at a distance x, in time tc. • F= opposing force
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INERTIA MATCHING
Belt pulley drive • The energy dissipation in the motor armature during time tc
is
• where
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INERTIA MATCHING
Belt pulley drive • The optimum coupling is easily determined by
• Thus the optimum pulley radius is
• If the load F = 0, then
• Therefore an exact inertia match is
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INERTIA MATCHING
Lead screw drive • A typical lead screw drive is shown in figure.
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INERTIA MATCHING
Lead screw drive • The pitch is taken as the number of revolutions per unit
length.
• As, G = motor rotation in radians per unit length,
• The optimum pitch for inertia matching is