DC Motor Control: Theory and Implementation

By Chung Tan Lam

CIMEC Lab.
I. Introduction
A DC motor speed drive
The mathematical model of dc motor (permanent magnet type) can be epre!!ed by the!e e"uation!
#here
a
V
: $rmature %oltage &'(
a
i
: $rmature current &$(
e
T
: Electromagnetic tor"ue &).m(
L
T : Load tor"ue &).m(
a
L
: $rmature inductance &*(
a
R
: $rmature re!i!tance & (
K : Coupling coefficient &).m+$(
J : Momen of inertia &,g.m
-
(
m
B
: Damping coefficient
The bloc. diagram of a ca!cade clo!ed/loop !peed control of the dc motor i! !ho#n belo#.
DC MOTOR MODEL
0
CASCADE SPEED CONTROL OF A DC MOTOR DRIVE
Typical dynamic re!pon!e! are al!o !ho#n. The motor i! initially at !tand!till and
at no load #hen a !tep command in !peed i! applied1 #hen !teady/!tate condition! are
reached2 a re%er!al of !peed i! commanded follo#ed by a !tep load application.
The !y!tem i! highly nonlinear due to the introduction of !aturation needed to limit
both the current deli%ered and the %oltage applied to the motor. The !y!tem i! in the
!aturation mode #hen the error! are large1 a! a con!e"uence2 the controller function! a! a
con!tant current !ource2 that i! tor"ue2 re!ulting in the ramping of the !peed !ince the load
in thi! eample i! a pure inertia. The inclu!ion of !aturation limit! on the 3I integrator i!
therefore nece!!ary to pro%ide anti#indup action. The pre!ence of the !ignum function in
the tor"ue epre!!ion i! re"uired in order to in!ure that the load i! pa!!i%e #hether the
!peed i! po!iti%e or negati%e (a! i! the ca!e here).
-
1. DC Motor Transient Running Operation
Thi! demo !imulate! the running of a DC motor #ith con!tant field or pm
ecitation (4 hp -56' 0-66 rpm) rated tor"ue Tr 7 86 ).m

BL9C, DI$:;$M M9DEL 9< $ DC M9T9;
8
M9T9; T;$)=IE)T ;>))I): 93E;$TI9)
Electrical system equation:
va = Ra.ia + La.dia/dt + ea
where ea = K.wm

Mecanical system equation:
Te = J.dwm/dt + Tl.signum(wm) + f(wm)
where Te = K.ia
=imulation ;e!ult!
M9T9; =3EED &rad+!(
5
M9T9; C>;;E)T &$(
2. DC Motor with bipolar PWM excitation
Thi! demo !imulate! the running of a DC motor #ith 3?M (bipolar) ecitation (4
hp -56' 0-66 rpm) rated tor"ue Tr 7 86 ).m
4
DC Motor ?ith Bipolar 3?M Ecitation
DC Motor Model
=imulation ;e!ult!
@
'oltage $%erage $pplied To Motor
M9T9; =3EED (rad+!)
Motor Current ($)
3. DC Motor with unipolar PWM excitation
A
Thi! demo !imulate! the running of a DC motor #ith 3?M (unipolar) ecitation (4
hp -56' 0-66 rpm) rated tor"ue Tr 7 86 ).m
DC Motor Model
=imulation ;e!ult!
B
'oltage $%erage $pplied To Motor
Motor =peed (;ad+=)
Motor Current ($)
4. Automatic Starter of a DC Motor
C
Thi! demo !imulate! the !tarting of a DC motor #ith automatic !tarter
(4 hp -56' 0-66 rpm) rated tor"ue Tr 7 86 ).m
The !tarter i! !imulated by a !peed/dependent effecti%e armature re!i!tance u!ing a loo./up table.
Mathematical model of the dc machine

'

+ +
+ +
a e
m a
L m
m
e
a a a
a
a a
Ki T
K e
T B
dt
d
J T
e i R
dt
di
L V

#here
a
V
: $rmature %oltage &'(
a
i
: $rmature current &$(
e
T
: Electromagnetic tor"ue &).m(
L
T : Load tor"ue &).m(
a
L
: $rmature inductance &*(
a
R
: $rmature re!i!tance & (
K : Coupling coefficient &).m+$(
J : Momen of inertia &,g.m
-
(
m
B
: Damping coefficient
=imulation ;e!ult!
06
M9T9; =3EED
M9T9; C>;;E)T
00
0-
T i t l e
S i z e D ! u m e n t " u m # e r R e v
D a t e $ S h e e t f
% & ' ( ( . '
) u l l * r i d g e D r i v e r
% +
( ( , e d n e s d a - . / a - ( ( . 0 ' ' 1
R 1
( K
% " (
(
2 T
0
2 (
3
4 (
5
% " 0
6
2 T
+
4 0
1
2 0
7
8 5 9 2 3 ( 5
% " (
(
2 T
0
2 (
3
4 (
5
% " 0
6
2 T
+
4 0
1
2 0
7
8 7 9 2 3 ( 5
(
0
6
+
1
7
5
3
:
( '
( (
( 0
( 6
( +
J 1
2 ; " ( +
; u t 0
; u t ( ; u t ( ; u t (
(
0 6 + 1
C
R ( 6
+ < + 5 '
D (
R 2 ' / T ( 2 K =
2 7
( ' 6
> ! !
(
= "
0
2 ; /
6
L ;
+
> #
3
? ;
5
> s
7
" 2
1
8 (
= R 0 ( ' 1
D 1 @ 9 , / (
0 + > D 2
( 1 > D 2
R 7
1 ' K
; u t (
D 5 @ 9 , / 0
0 + > D 2
( 1 > D 2
; u t 0
? ; (
? ; (
R 2 0 / 2 % 9 (
6
0
(
3
+
-
+
8 6 %
L / 6 1 3
1
7
5
3
+
-
+
8 6 *
L / 6 1 3
> s (
(
06+1
C
R 0 +
+ < + 5 '
D ( 6
D '
D (
D ( +
D 0
D 6
D ( 1 D ( 7
L ; (
+ 2 ( 0
6 6 u ) & 7 + >
D 1
2 (
( ' +
? ; 0
R 4 0
> s 0
(
06+1
C
R ( +
+ < 0 0 K
L ; (
L ; 0
1 > D 2
= n +
= n 6
D 7
> s (
L ; 0
1 > D 2
= n 0
D 5
= n (
+ 2 ( 6
6 6 u ) & ( 7 >
1 > D 2
R ( 1 + 5 K
S e n s i n g
D 3
= n (
R 4 (
1 > D 2
D 0
D (
2 :
( ' +
D +
D 6
D 7
D 1 @ 9 , / (
R ( 7 + 5 K
R 2 + / S D =
D 5 @ 9 , / 0
R * ' / = " T '
R * +
R * ( / = " T (
R 2 1 / S D ;
= n 0
% " '
R 4 0
R 4 (
R * 1
0 + > D 2
A " D
R 2 (
R 2 0 / 2 % 9 (
(
0
6
+
1
7
5
3
:
( '
( (
( 0
( 6
( +
J (
2 ; " (
(
0
6
+
1
7
5
3
:
( '
( (
( 0
( 6
( +
J 0
2 ; " (
9 ; R T > 2 2
R 2 ' / T ( 2 K =
> 2 2 @ = ;
4 B T > 2 2
R 4 ' / R D
R 4 S 4 T C
R 2 6 / S 2 K
D '
= n 6
R ( 5 + 5 K
S e n s i n g S e n s i n g S e n s i n g S e n s i n g S e n s i n g S e n s i n g
= n +
R ( 3 + 5 K
% " '
D 0
> ! !
(
= "
0
2 ; /
6
L ;
+
> #
3
? ;
5
> s
7
" 2
1
8 0
= R 0 ( ' 1
2 0
( ' +
? ; 0
= "
(
; 8 T
6
A
"
D
0
8 + K = 5 3 ( 1
> s 0
(
0
6
+
1
J 6
4 n ! d e r
R * ' / = " T '
(
06+1
C
R ( :
+ < + 5 '
0 + > D 2
(
0 6 + 1
C
R 0 '
+ < ( 1 '
R * 1
(
06+1
C
R 0 (
+ < 0 . 0 K
( 1 > D 2
(
06+1
C
R 0 0
+ < + 5 '
% " (
(
2 T
0
2 (
3
4 (
5
% " 0
6
2 T
+
4 0
1
2 0
7
8 1 9 2 3 ( 5
R * +
D +
D 6
; u t 0 ; u t 0
2 5
( ' +
; u t ( ; u t ( ; u t ( ; u t ( ; u t ( ; u t (
1 > D 2
R +
( K
R * ( / = " T (
R 2 (
1 > D 2
*/B;ID:E D;I'E; M9D>LE
(*/Bridge Dri%er D - output D5 input D 5 Indicator LEDE!)
T i t l e
S i z e D ! u m e n t " u m # e r R e v
D a t e $ S h e e t f
% & ' 0 (
? & * r i d g e 9 w e r / ; S ) 4 T
%
( ( , e d n e s d a - . / a - ( ( . 0 ' ' 1
A " D
; u t D u t 0
; u t D u t (
= n D u t 6
A " D 6
= n D u t +
A " D +
(
0
6
+
1
7
5
3
:
( '
( (
( 0
( 6
( +
J 6
T ? & * r i d g e D r i v e r
; u t 0
; u t (
> s (
? ; (
> s 0
? ; 0
L ; (
= n D u t +
L ; 0
= n D u t (
= n D u t 0
= n D u t 6
2 u r r % m D
0
(
6
T (
= R ) 1 + '
0
(
6
E D
= R ) 1 + '
; u t D u t (
; u t (
0
(
6
E 2
= R ) 1 + '
/ (
2 6
( ' +
> S (
> S 0
? >
? >
0
(
6
E *
= R ) 1 + '
+
2 +
( ' ' ' u ) & 7 + >
0
(
6
T 0
= R ) 1 + '
; u t D u t 0
; u t 0
0
(
6
E %
= R ) 1 + '
R (
' . ' ( & ( ,
+ 2 1
6 . 6 u ) & 7 + >
) (
) 8 S 4
(
0
6
+
1
7
5
3
J (
; u t D u t (
(
0
6
+
1
7
5
3
J 0
; u t D u t 0
/ 0
? >
A " D
? >
2 7
( ' +
R 0
' . ' ( & ( ,
2 u r r % m D
R 6
( '
R +
( '
R 1
( '
R 7
( '
? ; (
L ; (
? ; 0
L ; 0
= n D u t (
A " D (
= n D u t 0
A " D 0
08
3o#er M9=<ET Module
T i t l e
S i z e D ! u m e n t " u m # e r R e v
D a t e $ S h e e t f
8 S * 2 % " 2 n t r l l e r & 8 S * 2 % " . D F ( . (
2 % " @ 8 S * = n t e r f a ! e
% +
( ( , e d n e s d a - . J u l - 0 3 . 0 ' ' +
D * 0
D * (
9 ; R T > 2 2
4 B T 1 >
D * +
D * 6
( 0
J 9 0
8 S * 1 >
D * 7
D * 1
( 0
J 9 6
4 < t . 1 >
D * 5
R 2 + / S D =
R * +
R 2 (
R * ' / = " T '
R 2 1 / S D ;
> 2 2
R * ( / = " T (
(11,12,13,14): Only for USB Controller
(
0
6
2 " ( 6
% D 0
> 2 2
% " 0
2 5
( ' +
/ 2 L R
R 4 0 / 2 S
R e s e t @ S ,
% " '
(
0
6
2 " ( (
% D '
R * 1
R 4 ( / , R
R 2 '
S , 0
S t a r t
(
0
6
2 " ( +
% D 6
> 2 2
% " 6
2 3
( ' +
(
0
6
+
2 " 1
% u < @ 9 w e r
/ 2 L R
(10): V+=12 or 24VDC depend on Etended !o"rd
R 7
( ' K
R 2 6 / S 2 K
(
0
6
+
1
7
2 " ( '
= 2 D 0
> 2 2
(
0
6
2 " ( 1
% D +
> 2 2
% " +
2 :
( ' +
R 5
( 1 '
(
0
6
2 " 5
4 < t @ 1 >
R * 6 / 2 % " R B
#o$er %"n"&e'ent
R 2 6 / S 2 K
% " 6
R * 0 / 2 % " T B
R % +
(
0
1 7
:
( '
R L G (
R e s e t
R % +
> +
% " +
R 4 ' / R D
R (
( ' K
T B D
(
A " D
0
> 2 2
6
R B D
+
R s
3
2 % " ?
5
2 % " L
7
> r e f
1
8 0
/ 2 9 0 1 1 (
> 2 2
> 2 2
S , (
R e s e t
(
0
6
+
1
2 " 3
S 9 =
2 0
( ' +
> 2 2
4 B T 1 >
> 2 2
> 2 2
R 2 5 / R B
R 2 0 / 9 , / (
S D O
4 B T 1 >
S D (
> 2 2
S C )
R 4 ( / , R
R 2 6 / S 2 K
R 4 0 / 2 S
R * +
C * + ,
C * + -
2 +
( ' +
C * + ,
C * + -
R * ' / = " T '
R e s e t @ S ,
R % ' / % " '
0
R % ( / % " (
6
R % 0 / % " 0
+
R % 6 / % " 6
1
R % +
7
R % 1 / % " +
5
R * ' / = " T '
6 6
R * ( / = " T (
6 +
R * 0 / 2 % " T B
6 1
R * 6 / 2 % " R B
6 7
R * +
6 5
R * 1 / 9 A /
6 3
R * 7 / 9 A 2
6 :
R * 5 / 9 A D
+ '
R 2 '
( 1
R 2 (
( 7
R 2 0 / 2 2 9 (
( 5
R 2 6 / S 2 K
( 3
R 2 + / S D =
0 6
R 2 1 / S D ;
0 +
R 2 7 / T B
0 1
R 2 5 / R B
0 7
A " D
6 (
> D D
6 0
/ 2 L R
(
; S 2 (
( 6
; S 2 0
( +
> D D
( (
A " D
( 0
R 4 ' / R D / % " 1
3
R 4 ( / , R / % " 7
:
R 4 0 / 2 S / % " 5
( '
R D ' / 9 S 9 '
( :
R D ( / 9 S 9 (
0 '
R D 0 / 9 S 9 0
0 (
R D 6 / 9 S 9 6
0 0
R D + / 9 S 9 +
0 5
R D 1 / 9 S 9 1
0 3
R D 7 / 9 S 9 7
0 :
R D 5 / 9 S 9 5
6 '
8 (
9 = 2 ( 3 ) + 1 3
> 2 2
3
; 8 T
1
A " D
+
" 2
(
G 0
; S 2 + '
> 2 2
D (
L 4 D
R 0
( 0 '
R * ( / = " T (
D * 0
D * 6
D * +
2 6
( ' +
D * 1
D * 7
(
0
2 " (
R e m t e 2 9 8 R e s e t
D * 5
R 6
6 6 '
R 2 5 / R B
R * 0 / 2 % " T B
(
0
6
+
2 " 0
R S 0 6 0
R 2 + / S D =
R +
( 1 '
S C )
D * '
(
0
J 9 (
J 8 / 9 @ (
R * 6 / 2 % " R B
D * (
R 1
( 1 '
S D (
(
0
6
+
1
2 " 7
S 9 =
> 2 2
. /
S D O
0 /
% " '
% " (
> +
2 (
( ' +
% " 0
> 2 2
A " D
R 2 + / S D =
> 2 2
(
0
6
+
2 " +
2 % " @ ; 8 T
R * 1
> 2 2
> +
(
0
6
+
2 " 6
2 % " @ = "
A " D
R * 5
% " '
R 2 7 / T B
R 2 1 / S D ;
4 B T 1 >
(
0
6
+
2 " :
% u < @ 9 w e r
A " D
> +
R e s e t @ S ,
R 2 7 / T B
4 B T > 2 2
R 2 1 / S D ;
R * 7
R 2 0 / 9 , / (
2 1
( ' +
R 2 (
(
0
6
+
1
7
5
3
:
( '
( (
( 0
( 6
( +
J (
2 ; " ( +
(
0
6
+
1
7
5
3
:
( '
( (
( 0
( 6
( +
J 0
2 ; " ( +
R * 5
R 2 + / S D =
R 2 '
R 4 S 4 T C
A " D
R 2 1 / S D ;
4 B T > 2 2
9 ; R T > 2 2
R 4 S 4 T C
> 2 2 @ = ;
R * 7
(
0
6
2 " ( 0
% D (
R 4 ' / R D
> 2 2
% " (
2 7
( ' +
> 2 2 @ = ;
D * '
R 2 6 / S 2 K
05
Motor Controller (3IC0B<54B D 4$DE! D C$) Comm.)
MEASURING MOTOR ARAMETERS
T!ese are t!e motor parameters t!at are need"
Motor %oltage con!tant e
K
(%olt!/!ec+rad)
Motor tor"ue con!tant T
K
(lb/in+amp)
Motor armature re!i!tance a
R
(ohm!)
Motor inductance a
L
(*enrie!)
Motor inertia m
J
(
-
!ec in lb )
Load inertia reflected to the motor armature !haft load
J
(
-
!ec in lb )
Total inertia7 load m
J J +
Total
J
(
-
!ec in lb )
)ote that the abo%e %alue! are !tated for a !ingle #inding #ith dc motor!2 and are
the pha!e %alue! for a BLDC motor. Bru!hle!! dc motor! (BLDC) are u!ually 8 pha!e
!ynchronou! motor! u!ed in a configuration to be treated a! dc dri%e!. $l!o note2 it i!
a!!umed that dc motor! being di!cu!!ed ha%e a permanent magnet field !upply. ?ound
field motor! are not part of thi! di!cu!!ion.
MOTOR RESISTANCE
<or the #inding re!i!tance u!e an ohmmeter. <or a DC motor mea!ure the armature
re!i!tance bet#een the - armature #ire!. The ohmic %alue of the armature re!i!tance #ill
be %ery !mall2 thu! a high !en!iti%ity ohmmeter #ill be needed. If it i! a ?FE connected
BLDC motor2 the armature re!i!tance i! the line/to/line re!i!tance. Thu! di%ide the
re!i!tance (l/l) by - to get the pha!e re!i!tance. The ohmic %alue #ill al!o be %ery !mall.
MOTOR #O$TAGE CONSTANT e
K
To mea!ure e
K
of the motor2 put the motor !haft in a machine lathe and rotate the
!haft at !ome !peed &rpm( !uch a! 0666rpm. ?ith a dc motor2 u!e a DC %oltmeter to
mea!ure the armature %oltage. The e
K
i! then the %oltage you read di%ided by the !peed
in rad+!ec. Con%ert rpm to rad+!ec a!
( &
( &
or
!ec( + &
( &
!ec !ec @6
min radia! -
min
rpm speed
v Volts
rad speed
v Volts
K
rad
x
rev
x
rev
e

1
]
1

?ith a BLDC motor u!e an ac %oltmeter to mea!ure the %oltage bet#een any -
#ire! of the 8 motor #ire! and then con%ert the line/to/line %oltage to the pha!e %oltage
%alue by di%iding the line/to/line %oltage by
A8 . 0 8
.
04
A8 . 0
) (
) (
line to line K
phase K
e
e

MOTOR TOR%UE CONSTANT

T
K
The motor tor"ue con!tant (
T
K
) can be computed from the %oltage con!tant ( e
K
)
a!/
1
]
1

1
]
1

rpm
volts
K
amp
in lb
K
l l
e
T
) (
66@B5 . 6
The deri%ation for the abo%e e"uation i! E"uate Electrical 3o#er to Mechanical
3o#er con%erted to ?att!
84@ . 0
0-
T

@6
-
8 N I E

?here
T
: lb/in
I
: $mp!
E
: 'olt! rm!(line/to/line)
N
:rpm
;earranging term! and !implifying:
I
T
N
E
66@B5 . 6
?here
1
]
1

,
_

A
in lb
K
I
T
rpm
volts
K
N
E
T
l l rms
e
con!tant2 Tor"ue
con!tant2 emf Bac.
) (
Con%erting rpm to rad+!ec
1
1
1
]
1

1
1
1
]
1

1
1
1
]
1

!ec
445 . C
-
!ec
@6
min -
min
!ec @6 ) (
rad
v
rad
v
rev
rev v
K
l l
e

Thu!
1
1
1
]
1

1
]
1

!ec
B . 08C@
66@B5 . 6
445 . C
66@B5 . 6 445 . C
) (
rad
v
K
amp
in lb
K
K K
K K
l l
e T
e T
T e
MOTOR INERTIA
m
J
0@
Motor rotor inertia can be mea!ured by ma.ing an eperiment. The inertia can be
calculated from the e"uation
[ ]
1
]
1

-
-
!ec
rad
on accelerati !ec / in / lb Inertia ( & on tor"ue $ccelerati in lb
$l!o (rearranging term!)
[ ]
-
!ec
on accelerati
tor"ue accel
Inertia in lb
DC MOTORS
To do thi! te!t it i! nece!!ary to mea!ure the acceleration of the motor rotor and the
acceleration tor"ue of the motor rotor. The!e t#o parameter! are de!cribed a! follo#!:
ACCE$ERATION G Thi! parameter i! determined by putting a !tep in current into the
motor #inding to bring the motor up to rated !peed. The motor #ill accelerate
eponentially. The acceleration i! a mea!ure of the rate of change of %elocity o%er a
period of time. To ma.e thi! te!t2 a dc tachometer !hould be connected to the motor !haft.
The output of the tachometer !hould be connected to a !trip chart recorder. ?hen a !tep
input in current i! applied to the motor #inding2 the chart recorder #ill plot the rate of
change of the motor !haft %elocity a! a function of the tachometer output %oltage. The
tachometer calibration can be u!ed to con%ert %olt! to rpm. The acceleration i! therefore
the change in %elocity for the linear part of the eponential cur%e (!ometime! refered to
a! the @@H re!pon!e of the eponential change in %elocity) di%ided by the time elap!ed
for the detected rate of change in %elocity. The re!ulting calculation of the acceleration
mu!t ha%e the dimen!ion! changed to be in unit! of rad+!ec-.
T9;I>E/ $n ammeter mu!t be in!erted in !erie! #ith the motor input #inding. ?hen
the !tep in input current i! applied to the motor input2 the maimum %alue of current
!hould be noted. Thi! current mu!t be con%erted to tor"ue. The tor"ue i! e"ual to the
maimum %alue of current ob!er%ed multiplied by the motor tor"ue con!tant. Tor"ue
&lbin(7 amp!&a( ,T &lb/in+a(. The inertia i! then the acceleration tor"ue di%ided by the
acceleration / Inertia7 $ccel tor"ue&lb/in(+acceleration&rad+!ec-(7lb/in/!ec-
&$DC MOTORS/ The te!t! de!cribed thu! far mu!t be modified for a bldc motor. $
bldc motor mu!t be te!ted #ith it! !er%o amplifier. The !tep input #ill be a !tep in dc
%oltage to the !er%o amplifier input. The %oltage !tep !hould be large enough to cau!e the
motor to reach rated !peed. ?ith bldc motor! it i! not po!!ible to mea!ure the high
fre"uency pha!e current in a ?FE connected motor. Thu! !ome other procedure mu!t be
u!ed to mea!ure the current or tor"ue and %elocity. Commercial bldc !er%o amplifier!
ha%e t#o dc output te!t point!. 9ne output i! a dc %oltage proportional to %elocity #ith a
gi%en calibration. The %oltage can be directly connected to a !trip chart a! de!cribed
pre%iou!ly to mea!ure the motor acceleration2 $ !econd te!t output pro%ide! a dc %oltage
proportional to tor"ue or a percentage of rated tor"ue. Thi! calibrated %oltage can al!o be
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recorded #ith a !tripchart recorder to ob!er%e it! maimum %alue for a !tep %oltage input
to the !er%o amplifier. The inertia can thu! be calculated a! done pre%iou!ly.
MOTOR INDUCTANCE L
Thi! procedure a!!ume! a model a! a !erie! e"ui%alent ; L circuit. To mea!ure the
motor inductance u!e! a %ery lo# %oltage ac !ource to the motor #inding. The re!i!tance
and inductance #ill be %ery !mall %alue!. <or a magnetic flu field dc motor2 apply the ac
%oltage to the armature #inding. <or a BLDC motor apply the ac %oltage to one pair of
the three #ire!. In both ca!e! mea!ure the %oltage and the current.
;emember that the BLDC motor i! u!ually connected in ?FE. Thu! the reading!
#ill be line/to/line. Fou #ant the pha!e %alue! for the %oltage2 !o di%ide the %oltage by -.
The impedance of the dc motor or the BLDC motor pha!e #inding i! then/
- -
- -
tan impedance !( %ar reactance&
( & tan reacctance impedance The
( &
&amp!( current line
&%olt!( %oltage pha!e or %oltage $rmature
Impedance
ce resis
ohms ce resis
ohms

+

=ol%e for the reactance from thi! e"uation. )ote that the pha!e re!i!tance #a!
mea!ured pre%iou!ly and #ill be !mall in %alue. The inductance can than be calculated
from
inductance fre"uency - !( %ar ;eactance&
The fre"uency i! probably going to be from the ac !ource at @6 *J. Thu!
*J( fre"uency& -
!( %ar reactance&
&henrie!( Inductance

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lowercase Zeta
lowercase Psi
lowercase i
lowercase !me"a
lowercase #psilon
lowercase Ta#
lowercase i"ma Alternate$
lowercase $i"ma
lowercase Rho
lowercase heta AlternateT
lowercase Theta
lowercase me"a alternate!
lowercase Pi
lowercase !micron
lowercase N#
lowercase %#
lowercase Lambda
lowercase &apa
lowercase Iota
lowercase Eta
lowercase 'amma
lowercase hi AlternateP
lowercase Phi
lowercase epsilon
lowercase delta
chi
beta
alpha

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#ppercase Zeta
#ppercase Psi
#ppercase i
#ppercase !me"a
#ppercase (psilon
#ppercase Ta#
#ppercase $i"ma
#ppercase Rho
#ppercase Theta
#ppercase Pi
#ppercase !micron
#ppercase N#
#ppercase %#
#ppercase Lambda
#ppercase Kappa
#ppercase Iota
#ppercase Eta
#percase 'ama
#ppercase phi
#ppercase epsilon
#ppercase delta
#ppercase chi
#ppercase Beta
#ppercase Alpha

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