Scribd
Upload
35 views

Control of DC Machines Drive: Fall 2014 Department of Electrical Engineering GC, University, Lahore

This document provides an overview of a course on control of DC machines drives. The course covers classification of electric drives, DC motor drives, speed controllers, and basic elements of a speed-controlled system. It includes prerequisites of DC machines, power electronics, and control systems. Grading is based on class activities, quizzes, assignments, and a final exam. Contact hours are on Fridays from 10 AM to 12 PM and the instructor's contact information is provided. Approximations made in modeling speed control systems and the importance of z-transform for digital controller analysis are also discussed.

Uploaded by

mayajogi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
35 views

Control of DC Machines Drive: Fall 2014 Department of Electrical Engineering GC, University, Lahore

This document provides an overview of a course on control of DC machines drives. The course covers classification of electric drives, DC motor drives, speed controllers, and basic elements of a speed-controlled system. It includes prerequisites of DC machines, power electronics, and control systems. Grading is based on class activities, quizzes, assignments, and a final exam. Contact hours are on Fridays from 10 AM to 12 PM and the instructor's contact information is provided. Approximations made in modeling speed control systems and the importance of z-transform for digital controller analysis are also discussed.

Uploaded by

mayajogi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 22

Control of DC Machines Drive

EE-7104
M. Naveed Iqbal
Fall 2014
Department of Electrical Engineering
GC, University, Lahore
Course Outlines
• Classification of Electric Drives
• Requirements of Electric Drives
• Converters and control
• DC motor drives
• Inverters and PWM techniques
• Basic Structure of the Speed Controller
• Analog Speed Controllers
• Digital Speed Control
Prerequisites
• DC Machines
• Power Electronics
• Control Systems
Grading policy
• Class activity 40%
• Quiz
• Assignments
• Final Exam 60%
Contact hours
• Friday 10 AM to 12 PM
• Email: [email protected]
• Phone: 0331-9735787
Electrical Drives
• An electrical drive is defined as a form of machine equipment
designed to convert electrical energy into mechanical energy and
provide electrical control over this process
• Converters
• Basic controller design
Speed Controlled System
• Task in motion control:
• Controlling the speed of a moving object or tool
• Actual speed of rotation should be made equal to the set speed
• The difference between the actual and set speed is known as the speed error
• The task of speed controller:
• To keep the speed error as small as possible, preferably equal to zero.
• To achieve this controller generates the torque/force reference
Basic elements of speed-controlled system
• Consider a system:
• The rotational speed ω is controlled
• Inertia of the moving parts is J
• friction coefficient B
• Load torque 𝑇𝐿
• 𝑇𝑒𝑚 represents the driving torque
• The rate of change of the actual speed ω is given by Eq.1
Basic elements of speed-controlled system
•m
Basic elements of speed-controlled system
• So we have set point here ω (desired speed)
• The speed error is ∆ω
• ∆ω is the difference between the set speed and the speed feedback signal 𝜔𝑓𝑏
• The transfer function of speed controller is 𝑊𝑠𝑐(𝑠)
• Controller processes the error signal and generates the torque reference 𝑇𝑟𝑒𝑓 to
counter ∆ω
• 𝑇𝑟𝑒𝑓 then fed to an actuator producing the driving torque 𝑇𝑒𝑚
Basic elements of speed-controlled system

• 𝑇𝑟𝑒𝑓 is a digital signal


generated by controller
• It is the input of the torque
actuator, represented by
block 𝑊𝐴 (𝑠)
• To facilitate the speed control task,
• It is desirable to use actuators where the actual torque Tem tracks the reference 𝑇𝑟𝑒𝑓
accurately and without delays.
• Hence, the ideal torque actuator’s transfer function is 𝑊𝐴 (𝑠)= 1 or 𝑊𝐴 (𝑠)= 𝐾𝑀 = const.
Basic elements of speed-controlled system
• Most actuators use power amplifiers with sufficiently large bandwidth
• The power amplifier supplies the motor windings with appropriate
voltages and currents
• A power amplifier use semiconductor switches
• It changes the voltages and currents of the power source into the
voltages and currents required for the motor to generate the desired
torque Tem
• Power amplifiers may perform DC/DC, DC/AC, AC/DC, or AC/AC power
conversion
Limitations
• Time Lag:
• Most available electric drives provide the torque Tem , which responds to the
command 𝑇𝑟𝑒𝑓 with a time lag ranging from several tens to several hundreds
of microseconds.
• Hence, the desired transfer function(WA(s) = KM= const.) can hardly
be achieved
Approximation
• The desired speed-loop response is measured in tens of milliseconds.
• Practically, delays introduced by torque actuators are negligible as
compared with
• dynamics of the mechanical subsystem
• desired response time of the speed loop.
• Therefore, the speed loop analysis and tuning can be performed
under the assumption that
• The torque actuator has a static gain Km with zero delays
Feedback signal response
• Practically, feedback signal 𝜔𝑓𝑏 is not equal to actual speed ω
because
• limited resolution of some shaft sensors,
• owing to the need to filter out the noise and high-frequency content,
• Error content due to specific techniques of speed signal acquisition and/or
reconstruction.
• If we consider a brushed tacho-generator with an RC low-pass
network, said transfer function becomes
𝟏 𝟏
• 𝑊𝑀 𝑠 = =
𝟏+𝒔𝑹𝑪 𝟏+𝒔𝝉
Approximation: Feedback signal response
• When time constants involved in feedback filtering and processing are
found to be considerably smaller compared with the desired speed
response times
• 𝑊𝑀 (s) can be neglected and considered equal to one (𝜔𝑓𝑏 = ω).
• Example:
• The tacho-filtering RC network with τ = 100 µs can be ignored in designing a
speed controller with a desired rise time of τR = 10 ms
Assumptions in speed controller
• Idealized speed measurement system (𝜔𝑓𝑏 = ω)
• Torque actuator that provides a driving torque Tem equal to the reference
𝑇𝑟𝑒𝑓
• A separately excited DC motor that drives an inertial load J.
• The excitation current 𝑖𝑝 and motor field Φ𝑝 are assumed to be constant.
• Hence, torque is in direct proportion to the armature current 𝑖𝑎
• For the given driving torque 𝑇𝑒𝑚 ,
𝑇𝑒𝑚
• 𝐼𝑎 = (where 𝑘𝑚 is the motor torque constant)
𝑘 Φ
𝑚 𝑝
•.
• Power amplifier supply the armature current in Figure 2
• It is reduced to an idealized, controllable current source.
• Switching and conversion losses are ignored
• The amplifier supplies the armature voltage 𝑢𝐴𝐵 to the motor.
• The armature current changes according to the equation
𝑑𝑖
• 𝐿 + 𝑅𝑎 𝑖𝑎 = 𝑢𝐴𝐵 – 𝑒𝑎
𝑑𝑡
• where 𝐿𝑎 and 𝑅𝑎 denote the armature inductance and resistance,
• while 𝑒𝑎 = 𝑘𝑒 Φ𝑝 𝜔 represents the back EMF
• Further considerations assume an ideal current controller where
Ia*=ia
Importance of z/Laplace transform
• Most speed controllers are implemented in a digital manner;
• that is, they reside within the program memory of microcontrollers
and digital signal processors(DSP) dedicated to motion-control tasks.
• their control actions take place at discrete, equally spaced time
• instants, paced by the interrupt events of a microcontroller/DSP
• Analysis, synthesis, involves the z-domain representation of relevant
signals and transfer functions
Importance of z/Laplace transform
• Prior to digital speed controllers, we were using analogue speed
controller
• The analysis of analog speed controllers involves s-domain
representation of signals and functions

You might also like