Actuating Systems
Instructor: Engr Sadaf Sardar
The Linear DC Machine-A Simple Example
The Linear DC Machine-A Simple Example
The Linear DC Machine-A Simple Example
Starting the Linear DC Machine
• To start the above dc machine, close the switch
• Current flows in the bar, which is given by Kirchhoff’s voltage law:
• Since the bar is initially at rest, eind = 0, so i = VB/ R
• The current flows down through the bar across the tracks. But from
Equation (1-43), a current flowing through a wire in the presence of a
magnetic field induces a force on the wire
Starting the Linear DC Machine
• Because of the geometry of the machine, this force is
• Find = ilB to the right
• Therefore, the bar will accelerate to the right (by Newton's law).
However, when the velocity of the bar begins to increase, a voltage
appears across the bar
• The voltage is given by Equation (1- 45), which reduces for this
geometry to
• eind = vBl positive upward
Starting the Linear DC Machine
• The voltage now reduces the current flowing in the bar, since by
Kirchhoff's voltage law
• As eind increases, the current i decreases
• The result of this action is that eventually the bar will reach a constant
steady-state speed where the net force on the bar is zero
Starting the Linear DC Machine
• This will occur when eind has risen all the way up to equal the voltage
VB
• At that time, the bar will be moving at a speed given by:
• The bar will continue to coast along at this no-load speed forever
unless some external force disturbs it
Starting the Linear DC Machine
• When the motor is started, the velocity v, induced voltage eind, current i, and
induced force Find are as sketched in Figure 1-21. To summarize, at starting, the
linear dc machine behaves as follows:
1. Closing the switch produces a current flow i = VB / R
2. The current flow produces a force on the bar given by F = ilB
3. The bar accelerates to the right, producing an induced voltage eind as it speeds
up
4. This induced voltage reduces the current flow i = (VB - eind↑)/R
5. The induced force is thus decreased (F = i ↓IB) until eventually F = O.
At that point, eind = VB. i = 0, and the bar moves at a constant no-load
speed vss = VB/Bl
This is precisely the behavior observed in real motors on starting.
The Linear DC Machine as a Motor
• Assume that the linear machine is initially running at the no-load steady-state
conditions described above
• What will happen to this machine if an external load is applied to it? To find
out, let's examine Figure 1-22
• force Fload is applied to the bar opposite the direction of motion
• Since the bar was initially at steady state, application of the force Fload will
result in a net force on the bar in the direction opposite the direction of
motion (Fnet = Fload - Find)
• The effect of this force will be to slow the bar.
• But just as soon as the bar begins to slow down, the induced voltage on the
bar drops (eind = v↓BI)
The Linear DC Machine as a Motor
• As the induced voltage decreases, the current flow in the bar rises:
• Therefore, the induced force rises too (Find = i↑IB).
• The overall result of this chain of events is that the induced force rises
until it is equal and opposite to the load force , and the bar again
travels in steady state, but at a lower speed.
The Linear DC Machine as a Motor
• When a load is attached to the bar, the velocity v, induced voltage
eind, current i, and induced force Find are as sketched in Figure 1-23.
• There is now an induced force in the direction of motion of the bar,
and power is being converted from electrical form to mechanical form
to keep the bar moving.
• The power being converted is:
The Linear DC Machine as a Motor
• A real dc motor behaves in a precisely analogous fashion when it is
loaded:
• As a load is added to its shaft, the motor begins to slow down, which
reduces its internal voltage, increasing its current flow.
• The increased current flow increases its induced torque, and the
induced torque will equal the load torque of the motor at a new,
slower speed.
The Linear DC Machine as a Motor
Starting Problems with the Linear Machine
• A linear machine is shown in Figure 1-25.
• This machine is supplied by a 250-V dc source, and its internal resistance
R is given as about 0.10 Ω
• (The resistor R models the
internal resistance of a real
dc machine, and this is a fairly
reasonable internal resistance
for a medium-size dc motor.)
Starting Problems with the Linear Machine
• Providing actual numbers in this figure highlights a major problem with
machines (and their simple linear model).
• At starting conditions, the speed of the bar is zero, so eind = O. The
current flow at starting is:
• istart = VB/R= 250 V/0.1 Ω = 2500 A
• This current is very high, often in excess of 10 times the rated current of
the machine.
• Such currents can cause severe damage to a motor.
• Both real ac and real dc machines suffer from similar high-current
problems on starting.
Starting Problems with the Linear Machine
• How can such damage be prevented?
• The easiest method for this simple linear machine is to insert an extra
resistance into the circuit during starting to limit the current flow until
eind builds up enough to limit it.
• Figure 1- 26 shows a starting
resistance inserted into the
machine circuitry.
Starting Problems with the Linear Machine
• The same problem exists in real dc machines, and it is handled in
precisely the same fashion-a resistor is inserted into the motor
armature circuit during starting.
Thank You