Solutions Manual: Electric Motor Drives
Solutions Manual: Electric Motor Drives
Solutions Manual: Electric Motor Drives
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
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.
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
d
δTe − δTl = J δωm + B1δωm (2.8)
dt
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
sI − A = 0
-3-
which on substitution yields
3.
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
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.
-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
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.
-5-
2π ⋅1000
Speed, ωmo = = 104.72 rad / sec
60
1.061
Rated field current, Ifr = If ( rated ) = =5A
0.2122
Ifr 5
Operating field current, Ifo = = = 2.5 A
2 2
Teo 10
Armature current, Iao = = = 18.85 A
MIfo 0.2122 ⋅ 2.5
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
δVf 1 − e − t τf
δi f =
Rf
-6-
L f 17.7
where τf = = = 0.885 sec
Rf 20
5
δi f ( t ) =
0.34
(1 − e− t / 0.885 ) = 14.71(1 − e −1.13t )
(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)
a1 = 0.7718
a2 = 7.0470e-007
-9-
a3 = 2.6100e-004
100
50
Magnitude, dB
0
-50
-100
-150
Phase,deg -200
-250
-300
100 101 102 103
Frequency, rad/sec
6. Steady state current has to be found from the machine parameters and input variables
as
- 10 -
and
MIas2 = Teo
where
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
−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 -