Solutions Manual: Electric Motor Drives

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The document discusses the dynamic modeling and analysis of DC motors, including deriving transfer functions from the nonlinear dynamic equations.

The dynamic equations of the dc series machine are given as (2.4) and (2.5) on page 1.

The process of linearizing involves perturbing the state variables around a steady state operating point and neglecting higher order terms as shown on page 2.

Solutions Manual

ELECTRIC MOTOR DRIVES


Modeling, Analysis, and Control

R. Krishnan

Prentice Hall
Upper Saddle River, New Jersey 07458

27 July 2001

-1-
Chapter 2
1.

Te = K b i a (2.1)

as K b = Mi f and i f is constant

Ia in steady state is,

Va − E Va − K b ωm 220 − 0.331ωm
Ia = = = = 158.27 − 0.238ωm , A (2.2)
Ra Ra 1.39

∴ Te = K b Ia = 0.331{158.27 − 0.238ωm } , N ⋅ m
(2.3)
= 52.38 − 0.0788ωm , N ⋅ m

2.

The dynamic equations of the dc series machine are

di a di
Va = ( R a + R se ) i a + ( L a + Lse ) + Mi a ωm = Ri a + L a + Mi a ωm (2.4)
dt dt

where

R = R a + R se

L = La + Lse

Te = Mi 2a

dωm
Te − Tl = J + B1ωm (2.5)
dt

As the equations are nonlinear, to find transfer functions, they have to be perturbed
around a steady state operating point. The steady state operating point is denoted by an
additional subscript ‘o’ and the small signal variable preceded by δ . Therefore, the new
state variables after perturbation are:

-2-
va = Vao + δVa
i a = Iao + δIa
Te = Teo + δTe
ωm = ωmo + δωm
Tl = Tlo + δTl

Substituting these in equations (2.4), (2.5), and (3), and neglecting the product of two
small signal variables and canceling the steady state operating point variables on the right
and left hand sides of the equations, we get

 d
δVa =  R + L  δi a + MIao δωm + Mωm δi a (2.6)
 dt 

δTe = 2MIao δi a (2.7)

d
δTe − δTl = J δωm + B1δωm (2.8)
dt

In state space form, the system equations are,

x& = Ax + Bu

where

d
x = [ δi a δωm ] , x& = px when p =
t

dt
u = [ δVa δTl ]
t

 ( R + Mωmo ) MIao 
− − 
A= L L 
 2MIao B 
 − 1 
J J 

1 
L 0 
B= 
0 1

 J 

The characteristic equation is

sI − A = 0

-3-
which on substitution yields

 B R + Mωmo   B1 ( R + Mωmo ) 2M Iao 


2 2
s2 + s  1 + +
  + =0
 J L   JL JL 

3.

Motor details are given in 2.12.1

ω m ( s) Kb
= G ωv ( s ) = 2
V (s) s ( JL a ) + s( BL a + JR a ) + ( BR a + K 2b )

220
V (s ) =
s

72.82
ωm ( s ) =
s ( 3.64 ⋅15 + 0.002788s + 0.1165 )
−6

ωm ( t ) = Inverse Laplace of {ωm ( s )} = 624.995 + 40.9e−721.9t − 665.895e −44.94t

It never reaches beyond 624.995 rad/sec because the friction constant requires more than
its rated power as shown in Figure 2.1. The error has been introduced by approximating
friction constant from 0.0045 to 0.005 N ⋅ m / rad / sec in the problem. Time taken to read
steady state is 0.21 sec.

% Chapter 2 Problem 3 (Ch2Problem3.m)


clear all;
close all;
% Input parameters and variables
kb=0.331; % emf constant
la=0.00182; % armature inductance
ra=1.39; % armature resistance
nr=6000; % rated speed
va=220; % rated armature voltage
wmr=2*pi*nr/60 % speed in rad/sec
j=0.002; % moment of inertia
b=0.005; % friction constant
% Calculation of transfer functions
a1=j*la
a2=b*la+j*ra
a3=b*ra+kb*kb
num=kb
den=[a1 a2 a3]

-4-
gwv=tf(num,den) % transfer function between speed and armature voltage
num2=220
den2=[1 0]
gin=tf(num2,den2) % Laplace of input voltage
gfinal=gin*gwv % Laplace of speed
% Time responses
impulse(gfinal) % Impulse response of Laplace of speed function
step(gwv*220,1) % Step response of transfer function multiplied by armature
voltage

% It never reaches wmr because friction constant is rounded off to its nearest value from
its %fourth decimal from 0.0045 to 0.005!

700

600

500

Rotor speed, 400


rad/ sec
300

200

100

0
0 0.05 0.1 0.15 0.2

Time,
Figure 2.1. Step response to input voltage

4.

(i) Find steady state operating points for armature voltage and current.

Armature voltage, Vao = E + Iao R a

Induced emf, E = MIfo ωmo

-5-
2π ⋅1000
Speed, ωmo = = 104.72 rad / sec
60

K b = MIf = 1.061 V / rad / sec

1.061
Rated field current, Ifr = If ( rated ) = =5A
0.2122

Ifr 5
Operating field current, Ifo = = = 2.5 A
2 2

E = 0.2122 ⋅ 2.5 ⋅104.72 = 55.55 V

Teo 10
Armature current, Iao = = = 18.85 A
MIfo 0.2122 ⋅ 2.5

Vao = E + Iao R a = 55.55 + 18.85 ⋅ 0.34 = 61.96 V

(ii) Find the small signal equations as follows:

di a
Va = R a i a + L a + Mi f ωm (2.9)
dt

di f
Vf = R f i f + L f (2.10)
dt

dωm dω
Mi f i a − Tl = J + B1ωm = J m ( as B1 = 0 ) (2.11)
dt dt

Perturb (2.10),

d ( Ifo + δi f )
Vfo + δVf = R f ( Ifo + δi f ) + L f
dt
d
∴δVf = R f δi f + L f ( δi f )
dt

Solving then, we get

δVf 1 − e − t τf 
δi f =  
Rf  

-6-
L f 17.7
where τf = = = 0.885 sec
Rf 20

field voltage, Vfo = R f Ifo = 20* 2.5 = 50V

Substituting the values for δVf and motor parameters,

5
δi f ( t ) =
0.34
(1 − e− t / 0.885 ) = 14.71(1 − e −1.13t )

Note that torque disturbance has no effect on the field current.

(iii) To evaluate the effect of torque disturbance, and derive the block diagram, the
following small signal equations are obtained from (2.9), (2.10) and (2.11)

d
δVa = R a δi a + L a ( δi a ) + MIfo δωm + Mx mo δif
dt

d
δVf = R f δi f + L f ( δif )
dt

d
MIfo δi a + MIao δi f − δTl = J δωm
dt

Taking the Laplace transform of these small signal equations, the following block
diagram may be derived and is shown in figure 2.2(a).
MIao

1 δi f
δVf Mωmo
R f + ∆Lf

δi a δωm
- 1 + 1
δVa +- MIfo +-
R a + sLa Js

δTl
MIfo

Figure 2.2(a) Block diagram of the separately excited dc machine in problem 4 in ch.2.

The armature current response is derived from the block diagram as,

-7-
MIfo M 2 Iao Ifo
δi a ( s ) = δT ( s ) − δV ( s )
Js ( R a + sLa ) + M 2 Ifo2
l
{Js ( R a + sLa ) + M 2 Ifo2 } ( R f + sLf ) f
0.5305 2.122
= 2
δTl ( s ) − δVf ( s )
0.03955s + 0.0119s + 0.2814 0.7s + 1.002s 2 + 5.219s + 5.629
3

The response is shown in Figure 2.2(b) using the MATLAB code shown below:

% Problem 4 Chapter 2
clear all;
close all;
ra=0.34;j=0.035;la=1.13;m=0.2122;ifo=2.5;rf=20;lf=17.7;
nr=1000;tl=10; kb=1.061;
dvf=5;dtl=1;
%steady state computations
wmo=2*pi*nr/60
ifr=kb/m
ifo=ifr/2
e=m*ifo*wmo
iao=tl/(m*ifo)
vao=e+ra*iao
vfo=rf*ifo
%transfer functions
a1=(m*ifo)^2
a2=j*ra
a3=j*la
num1=m*ifo*dtl
den1=[a3 a2 a1]
diatl=tf(num1,den1) % TF between armature current and load torque
num2=-m^2*iao*ifo
g1=tf(num2,den1)
den2=[lf rf]
num3=1*dvf
g2=tf(num3,den2)
diavf=g1*g2 % TF between armature current and field voltage
dia=diavf+diatl
figure(1);
step(dia,50) % Combined arm.cur response due to field volt + load torque changes
figure(2);
step(diatl,50) % Response due to load torque change only
figure(3)
step(diavf,50) % Response due to field voltage change only

-8-
Armature
current, A

Time,sec

Figure 2.2(b) Armature current response for simultaneous change in field voltage and
load torque disturbance –Prob 4 in CH2

5.

% Problem 5 Chapter 2
clear all;
close all;
ra=0.027;la=0.0009;kb=0.877;
j=0.29;b=0.1;
%transfer functions
a1=kb^2+b*ra
a2=j*ra*b*la
a3=j*la
num1=[-la -ra]
den1=[a3 a2 a1]
gwtl=tf(num1,den1) % TF between speed and load torque
% Frequency response
bode(gwtl)

Results of the program are:

a1 = 0.7718

a2 = 7.0470e-007

-9-
a3 = 2.6100e-004

num1 = -0.0009 -0.0270

den1 = 0.0003 0.0000 0.7718

Transfer function: -0.0009 s - 0.027


------------------------------------
0.000261 s^2 + 7.047e-007 s + 0.7718

Frequency response is shown in Figure 2.3.

100

50
Magnitude, dB
0

-50

-100

-150

Phase,deg -200

-250

-300
100 101 102 103

Frequency, rad/sec

Figure 2.3 Frequency response for Problem 5 in CH2.

6. Steady state current has to be found from the machine parameters and input variables
as

Vao = ( R a + R se ) Ias + MIas ωms

- 10 -
and
MIas2 = Teo

where

Teo = Tlo + B1ωmo

Using the latter expression,

Teo Tlo + B1ωmo 10 + 0.0025* 205.52


Iao = = = = 12.49A
M M 0.0675

The characteristic equation is (from problem 2.12.2)

s 2 + a 2 s + a1 = 0

where

B1 R a + R se + Mωo
a2 = +
J L a + Lse

 B1 ( R a + R se + Mωo ) 2M 2 I2ao 
a1 =  + 
 J ( La + Lse ) J ( La + Lse ) 

Substituting for the motor parameters and steady state operating points, the characteristic
equation is

s 2 + 109.1s + 412.2 = 0

Its roots are

−105.135, − 3.92

As the real parts of the poles are negative and not repeating, the system is stable.

% Problem 6 Chapter 2
clear all;
close all;
ra=1.5;
rse=0.7;
la=0.12;
lse=0.03;
m=0.0675;

- 11 -
j=0.02365;
b=0.0025;
%steady state operating points
vao=200;
wmo=209.52;
tlo=10;
iao=12.49;
%transfer functions
a1=(ra+rse+m*wmo)*b/(j*(la+lse))+2*m^2*iao^2/(j*(la+lse))
a2=b/j+(ra+rse+m*wmo)/(la+lse)
a3=1
num1=1
den1=[a3 a2 a1]
g=tf(num1,den1) % The system transfer function with the denominator only
%
pole(g)

- 12 -

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