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Lecture 05 Electromechanical Systems Transfer Functions

This document provides information about linear control systems and DC motors: 1) It discusses two types of DC motor control: field control and armature control. Armature controlled DC motors are modeled through block diagrams and transfer functions. 2) Parameters like back EMF constant (Kb), torque constant (Kt), motor and load inertias (Jm, Jl), and damping (Dm, Dl) are defined. 3) Methods for determining the motor parameters from its torque-speed curve and dynamometer tests are presented. An example problem demonstrates obtaining the transfer function for a DC motor driving a load.

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Rakhmeen gul
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257 views

Lecture 05 Electromechanical Systems Transfer Functions

This document provides information about linear control systems and DC motors: 1) It discusses two types of DC motor control: field control and armature control. Armature controlled DC motors are modeled through block diagrams and transfer functions. 2) Parameters like back EMF constant (Kb), torque constant (Kt), motor and load inertias (Jm, Jl), and damping (Dm, Dl) are defined. 3) Methods for determining the motor parameters from its torque-speed curve and dynamometer tests are presented. An example problem demonstrates obtaining the transfer function for a DC motor driving a load.

Uploaded by

Rakhmeen gul
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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EE-371

LINEAR CONTROL SYSTEMS


Lecture No 5

“CONTROL SYSTEMS ENGINEERING”


Text Book: Chapter 2
(Electromechanical System Transfer
Functions)

Instructor: Dr. Farid Gul


Class: BEE-2k20-AB

Electrical Engineering Department

1
2
There are two types of dc motor used in control systems:

a) The field control

b) The armature
control

Armature
Controlled dc
motor

?
3
Ea Ea -Em 1 Ia T 1 ϴ
G1  G2  2
Rm  sLm KT Js  Bs
-
Em

Kms

4
Figure 2.35
DC motor:
a. schematic
b. block diagram

d m (t )
vb (t )  K b
dt

Vb ( s)  K b s  m ( s ) (1) Tm ( s )  K t I a ( s)
Tm ( s)
• vb(t) the back electromotive force (back emf) I a (s)  (2)
Kt
• Kb is a constant of proportionality , known • Tm is the torque developed by the motor
as back emf constant
• Kt is the motor torque constant

Loop Equation

Substituting Vb(s) and Ia(s) from (1) and (2)


5
(3)

Figure 2.36
Typical equivalent mechanical
loading on a motor

Substituting for Tm(s) in (3)

6
Neglecting La

How to evaluate
the constants ???

Jm , Dm

Kt/Ra , Kb
7
Figure 2.37
DC motor driving a
Jm , Dm
rotational mechanical load

8
Kt/Ra , Kb ?? Figure 2.38
Torque-speed curves with an
armature voltage, ea, as a
parameter

Ra
Tm ( s )  K bm ( s )  Ea ( s )
Kt

Ra
Tm (t )  K bm (t )  ea (t )
Kt
In steady state
Ra
Tm  K bm  ea
Kt
can be found from a dynamometer test of the motor
9
Example 2.23
Transfer Function—DC Motor and Load
PROBLEM: Given the system and torque-speed curve of Figure 2.39(a)
and (b), find the transfer function, ƟL(s)/Ea(s).

SOLUTION: Begin by finding the


mechanical constants, Jm and Dm.
The total inertia at the armature of the motor is:

The total damping at the armature of the motor is:

From the torque speed curve

10
= 12

= 10

Figure 2.39
a. DC motor and load;
b. torque-speed curve;
c. block diagram

11
Exercise 2.11 Home Assignment
(Don’t submit)
Find the transfer function, G(s) = θL(S)/Ea(S), for the motor and load
shown in the Figure. The torque-speed curve is given by
Tm = - 8ωm + 200
Ra
when the input voltage is 100 volts. Tm  K bm  ea
Kt

12
???
13

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