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Speed control of dc motor: armature voltage; field weakening; dc choppers; controlled rectifiers; closed loop; tachogenerator; reversal; braking; waveforms Torque control of dc motor: armature current control loops; speed reversal; braking; single quadrant; four quadrant operation; regeneration Industrial dc motor controller: preparation and interpretation of circuit and block diagrams; setting of parameters (eg min/max speed, ramp up/down time, current/torque limits) applications (eg process control, mills, pumps, CNC machinery); specification and selection
(02)
Fig 01
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Assumption, Flux f is kept constant. The motor is initially driving a load at a speed of m.
(03)
Input power to armature , because Loss in the resistance of armature winding Because
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Take the Laplace transform of equation (04), (05), (06) and (07)
(08) (09) (10) (11) (12)
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(13)
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Block diagram representation of the motor and load (without any feedbac)
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(15)
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Simplification, Usually friction is small. It will be neglected by setting B=0 in equation (14) Analyze motor without load. Then J term in equation (14) will consist only the motor inertia Jm.
(16)
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(19)
(20)
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Generally Therefore,
, approximation;
by
(22)
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determines how quickly the armature current built up, in response to a step change in the terminal voltage.
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determines how quickly the speed built up, in response to a step change in the terminal voltage.
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Power electronic converter supplying a dc motor should have following characteristics. Should allow both its output voltage and current to reverse in order to allow fourquadrant operation. Should be able to operate in a currentcontrolled mode by holding the current at its maximum acceptable value during fast acceleration and deceleration. To ensure the accurate control of position, the average output of them should vary with its control input, independent of the load on the motor.
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To minimize the fluctuation in torque and speed of the motor, converter should have good form factor. The converter output should respond as quickly as possible to its control input.
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If the inertia of the motor is sufficient enough, we can assume that, instantaneous speed at the steady-sate operation is constant.
(23) (24) (25)
Where,
(26)
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As we know Ra, is very law. So La primarily determine the armature ripple current.
(28)
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For a PWM bipolar voltage switching; Ripple voltage is maximum when the average output voltage is zero. All switches operate at equal duty ratios.
(29)
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For a PWM unipolar voltage switching; Ripple voltage is maximum when the average output voltage is half of input dc voltage.
(30)
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(31)
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Therefore La and fs must be selected very carefully. La can be increased by adding an external inductor in the series with the motor armature.
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EXERCISE
1.
Discuss the following block diagram which is used to control of servo drives.
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EXERCISE
2.
Discuss the following block diagram which is used to control of servo drives.
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EXERCISE
3. 4.
Discuss the difference between two block diagram given earlier. Define the term blanking time and discuss the effect of blanking time.
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ADJUSTABLE-SPEED DC DRIVES
Response time to speed and torque command is not critical. Can be used either; 1. Switch-mode dc-dc converters 2. Line frequency controlled converters
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We can use single-quardrant operation where the speed remaining unidirectional and breaking is not required.
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Once a thyristor or pair of thyristors is triggered on bellow circuit, the delay angle that controls the controller output voltage applied to the motor terminal cannot be increased for a potion of 50Hz cycle. Although output of the power converter can reverse polarity , the current through the converter is unidirectional.
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When we need regenerative breaking, two backto-back connected thyriastor converter can be used.
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HOMEWORK
1. 2. 3.
Find ten applications of dc motors. What are the specification of dc motors? How we select the motor for specific application and what are the major factors we need to consider?
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