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System Analysis Spring 2015 1 Lecture 6-3 Electrical Systems III
System Analysis Spring 2015
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Lecture 6-3Electrical Systems III
System Analysis Spring 2015
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D’Aarsonval Meter
System Analysis Spring 2015
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DC MotorsBrushed DC Motor
Brushless DC (BLDC) Motor High efficiency, no voltage drop across brushes High output power/frame size.Because BLDC has the windings on the stator, which is connected to the case, the heat disipation is better Higher speed range - no mechanical limitation imposed by brushes/commutator
Higher cost of construction Electric Controller is required to keep the motor running
Two wire control Low cost of construction/ Simple and inexpensive control No controller is required for fixed speeds
At higher speeds, brush friction increases, thus reducing useful torque Poor heat dissipation due to internal rotor contsruction Higher rotor inertia which limits the dynamic characteristics Brush Arcing will generate noise causing EMI
Other Motors:
System Analysis Spring 2015
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ControllerMotordrive
MotorMechanical
systemu v T5V 250V
Constitution of DC Servomotor System
PWM1
Q1
Q2
Q3
Q4
Q5
Q6
PWM3 PWM5
PWM2 PWM4 PWM6
DC+
v
u
w
NS N
SH3
H1
H2R
Hall sensor output
Current sensing
3 phase BLDC motor driver :
Motor drive system :
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MotorController
Guide rail
Elevator cage
Tail code
Counter weight
Shock absorber
e+
-
J
pe rm anen t m agne t
E lec tr ic E ne rg y M echan ic a l ene rg y
DC servo motor : ex) Elevator structure :
Constitution of DC Servomotor System
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fi constant
: armature resistance,: armature inductance, H: armature current , A: field current , A: applied armature voltage, V: back emf , V: angular displacement of the motor shaft, rad: torque developed by the motor, N- m: equiv
a
a
a
f
a
b
RLiiee
TJ
2
alent moment of inertia of the motorand load referred to the motor shaft, kg- m
: equivalent viscous- friction coefficient of the motorand load referred to the motor shaft, N- m/rad/s
b
Variables :
Armature Control of DC Servomotors
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:aT Ki K motor torque constant
:b b bde K K back emf constantdt
aa a a b a
diL R i e edt
2
2 ad dJ b T K idt dt
Armature Control of DC Servomotors
The torque of motor :
For a constant flux, the induced voltage :
Armature circuit D.E :
Inertia and friction :
fi constant
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2
( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
b b
a a a b a
a
K s s E s
L s R I s E s E s
Js bs s T s KI s
( ).( ) ( )
( 1)
a
a a a b a b
a
m
m
KR Js KT F
E s s R Js R b K K R b K Ks sR J
Ks T s
/ ( )
/ ( )m a b
m a a b
K K R b K K motor gain constantT R J R b K K motor time constant
Laplace transforms of equations :
b bde Kdt
aa a a b a
diL R i e edt
2
2 ad dJ b T K idt dt
Armature Control of DC Servomotors
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ex) servo-motor system
1
2
: armature resistance,: armature current , A: field current , A: applied armature voltage, V: back emf , V: angular displacement of the motor shaft, rad: angular displacement of the load shaft, rad: torque developed by t
a
a
f
a
b
Riiee
T
he motor, N- m2
12
2
: equivalent moment of inertia of the motor, kg- m: equivalent moment of inertia of the load, kg- m
JJ
aT Ki
:b b bde K K back emf constantdt
The torque of motor :
For a constant flux, the induced voltage :
Example of a DC Servomotor System
constant
1Gear
2Gear
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a a b aR i e e 2
11 1 2
2eq
nJ J Jn
2( ) ( ), ( ) ( ) ( ) ( ), ( ) ( ) ( ) ( )b b a a a b a aK s s E s L s R I s E s E s Js bs s T s KI s
( ).( ) ( )
( 1)
a
a a a b a b
a
m
m
KR Js KT F
E s s R Js R b K K R b K Ks sR J
Ks T s
Example of a DC Servomotor System
Armature circuit D.E : Inertia and friction :
Laplace transforms of these equations :
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Electric VehicleSafety and Maneuverability Control Allocation for 4WD Electric Vehicle
• System Configuration
- Objective: Driving Control Algorithm for Maneuverability, Lateral Stability and Rollover Prevention
- Main Controller Input: Human Driver Input, Measured Vehicle Signal
- Actuator: Front and Rear Driving Shaft Motors, Independent Brake Module
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Rear wheel drive electric vehicle:DC Motor
Motor selection1. Max speed : 120 kph2. Max accelerations: >0.6G3. 0-100 kph : 8seconds
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e-4WD Motor Specification
Motor max
power
120 kW (Front)45 kW (Rear)
Battery capacity
47 kWh
Motor max
speed12000 RPM
Motor max
torque
280 Nm (Front)120 Nm(Rear)
0 20 40 60 80 100 1200
50
100
150
200
250
300
0 2 0.40.6
0 6
0.8
0.8 0.8
Vehicle Speed [kph]
Torq
ue [N
m]
0 2 0 40.6 0 6
0.8
0.8
0.8
Tmax
OOL
0 50 100 150 200 250 3000
20
40
60
80
100
120
0.8
0.8 0.8
0.9
0.9
0.9 0.90.9
Vehicle Speed [kph]
Torq
ue [N
m]
Tmax
OOL
System Analysis Spring 2015
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End of Lecture 6-3
