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INTRODUCTION
ELECTROMECHANICAL SYSTEMS
ARMATURE-CONTROLLED DC MOTOR
Voltage is electric potential energy per unit charge
(J/C = V) - referred to as "electric potential.
Electromotive force (emf) voltage (electromotance):
- is that which tends to cause current (actual
electrons and ions) to flow;
- is the external work expended per unit of charge
to produce an electric potential difference across
two open-circuited terminals;
- is generated by a magnetic force (Faradays
law).
ELECTROMECHANICAL SYSTEMS
Faraday's Law
Any change in the
magnetic
environment* of a coil
of wire will cause a
voltage (emf) to be
"induced" in the coil.
* The change of
magnetic field
strength, relative
displacement
between the magnet
field and the coil.
Pham Huy Hoang
ELECTROMECHANICAL SYSTEMS
The back emf voltage across a DC motor:
eb = K e = K e&
ELECTROMECHANICAL SYSTEMS
ia
Ra
La
,& =
Jr
eb
Va
TL
Jd
Bd
vRa + vLa + eb va = 0
di
Raia + La a + eb = va
dt
eb = K e = K e&
Raia + La
dia
+ K e& = va
dt
(1)
Pham Huy Hoang
ELECTROMECHANICAL SYSTEMS
ia
Ra
La
,& =
eb
Va
Jr
TL
Jd
Bd
J = Jr + Jd
T + TL Bd& = J&&
T = Kt ia
Kt ia + TL Bd& = J&& (2)
Pham Huy Hoang
ELECTROMECHANICAL SYSTEMS
ia
Ra
La
,& =
eb
Va
Jr
TL
Jd
Bd
J&& + Bd& Kt ia = TL
di
La a + Raia + K e& = va
dt
&&
&
J 0 Bd 0 0 Kt TL
0 0 .. + K L . + 0 R i = v
i e
a i
a a a
a
a
Pham Huy Hoang
ELECTROMECHANICAL SYSTEMS
ia
Va
Ra
La
,& =
eb
Jr
K, B
TL
Jd
Bd
ELECTROMECHANICAL SYSTEMS
FIELD-CONTROLLED DC MOTOR
Rf
,& =
ia = const
if
Jr
vf
Jd
Lf
eb= 0
Rf if + Lf
Bd
T = Kt i f
di f
dt
= vf
TL
(1)
ELECTROMECHANICAL SYSTEMS
Rf
vf
ia = const
if
Jr
Lf
eb= 0
,& =
T = Kt i f
TL
Jd
Bd
J = Jr + Jd
T + TL Bd& = J&&
T = Kt i f
Kt i f + TL Bd& = J&& (2)
Pham Huy Hoang
ELECTROMECHANICAL SYSTEMS
Rf
vf
if
Jr
Lf
eb= 0
,& =
ia = const
TL
Jd
Bd
T = Kt i f
J&& + Bd & K t i f = TL
di f
Lf
+Rf if =vf
dt
&&
0 Bd K t & TL
J
=
0 L . + 0
R f i f v f
f i
f
Pham Huy Hoang
ELECTROMECHANICAL SYSTEMS
Rf
vf
ia = const
if
Jr
Lf
eb= 0
,& =
T = Kt i f
TL
Jd
Bd
ELECTROMECHANICAL SYSTEMS
MAGNETO-ELECTRO-MECHANICAL SYSTEMS
Lenzs law: increasing current
in a coil will generate a
counter emf which opposes
the current. (The emf always
opposes the change in
current).
ELECTROMECHANICAL SYSTEMS
Magnetic Force and Lorentz force law:
- The force is perpendicular to both the velocity v of
the charge q and the magnetic field B (N/A = Ns/C =
Tesla).
- The magnitude of the force is F = qvB sin
( is the angle between the velocity and the magnetic
field).
ELECTROMECHANICAL SYSTEMS
ELECTROMECHANICAL SYSTEMS
i1
v
i2
R2
R1
k1
y
m1
c1
k2
x1
c2
m2
x2
ELECTROMECHANICAL SYSTEMS
i1
v
i2
R2
R1
1t
1t
R1i1 + i1dt i2dt = v
C0
C0
1t
di2
1t
b
i1dt + L
+ R2i2 + i2dt K 2 x&1 = 0
C0
dt
C0
a
Pham Huy Hoang
ELECTROMECHANICAL SYSTEMS
M O = J O
&x&
K1i2a (k1x1 + c1x&1)b + [k2 ( x2 x1) + c2 ( x&2 x&1)]b = m1b2 1
b
m1&x&1 + (c1 + c2 )b2 x&1 c2b2 x&2 + (k1 + k2 )b2 x1 k2b2 x2 + K1abi2 = 0
F = m2 &x&2
k2 ( x2 x1) c2 ( x&2 x&1) = m2 &x&2
k1
c1
m1
k2
x1
c2
m2
x2
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