SEPARATELY ECXITED DC MOTOR

  

Applied Newtonian mechanics to find the differential equations for mechanical systems. T T T d[ Using Newtons second law: J : equivalent moment T ! JE ! J

dt

of inertia

Electromagnetic torque developed by separately excited DC motor:

Te ! Laf i f ia
 

Viscous torque : Tviscous ! Bm [r Load torque : TL

SEPARATELY EXCITED DC MOTORS

rfr rf ra ia rar

if

La

TL [ r , Te

quadrature axis ua direct axis armature

uf Lf Ea ! Laf i f [r field

Equivalent circuit for separately excited DC motors

SEPARATELY ECXITED DC MOTOR

From Newtons Second Law, Torsional-Mechanical equation is given as

d[ r 1 1 L ! Te  Tviscous  TL !  af ia i f  Bm[ r  TL dt J J
The nonlinear differential equation for separately excited DC motor which is found using Kirchhoffs Voltage Law

Laf dia ra 1 ia  i f [r  ua ! dt La La La
1 uf dt Lf Lf Laf d[ r B T ! ia i f  m [r  L dt J J J ! rf if  di f

SEPARATELY ECXITED DC MOTOR



Using Newtons second law :

d[ r 1 1 L ! Te  Tviscous  TL !  af iai f  Bm[r  TL dt J J



Dynamics of rotor angular displacement :

dU r [r dt

The derived three first order differential equations are rewritten in the s-domain

ia ( s ) !

1  Laf i f ( s )[r ( s )  ua ( s ) ?La s  ra A

1 u f (s) L f s  rf 1 [r ( s) ! Laf ia ( s )i f ( s )  TL ?Js  Bm A i f ( s) !

? A ?

SEPARATELY ECXITED DC MOTOR

From Newtons Second Law, Torsional-Mechanical equation is given as

SEPARATELY ECXITED DC GENERATOR

d[ r 1  Te  Tviscous  Tpm ! 1  Laf iai f  Bm[r  Tpm ! dt J J

The nonlinear differential equation for separately excited DC generator which is found using Kirchhoffs Voltage Law

Laf dia ra 1 ia  i f [r  ua ! dt La La La
1 uf dt Lf Lf Laf d[ r B T ! ia i f  m [r  L dt J J J ! rf if 
The expression for the voltage at the load terminal u a must be used. For the resistive load R
L

di f

u a ! RL ia

Analysis of eqn(3) indicates that the angular velocity of the separately excited motor can be regulated by changing the applied voltages to the armature ua and field u f windings.

ua  ra ia ua ra !  [r ! Laf i f Laf i f Laf i f

Te      (3)

The flux is a function of the field current in the stator winding, and higher angular velocity can be achieved by field weakening by reducing the stator current i f [eqn(3)] However, there exists a mechanical limit imposed on the maximum angular velocity. The maximum allowed (rated) armature current is specified as well, one concludes that the electromagnetic torque is bounded.

Te ! Laf i f ia

SEPARATELY ECXITED DC MOTOR Example

A separately excited, 2 kW DC motor with rated armature current 20 A and angular velocity 200 rad/s operates at the constant voltages u a ! 100V and u f ! 20V . The motor parameters are: ra ! 0.18; , r f ! 3.5; , Laf ! 0.1, , and Bm ! 0.007 Nms / rad . Calculate:  The steady state angular velocity at the minimum and maximum load conditions, TL min ! 0 Nm and T L max ! 10 Nm.  The armature current at the minimum and maximum load conditions, T ! 10 Nm. ! 0 Nm and T
L min
L max

ua  ra ia ua ra !  [r ! Laf i f Laf i f Laf i f

Te      (3)

Steady state condition

Te ! TL

if !

uf rf

TL min ! 0 Nm

100 0.18 [r ! 0.007[r  2 0.1v 5.7 0.1v 5.7 TL max ! 10 Nm 100 0.18 10  0.007[r [r !  2 0.1v 5.7 0.1v 5.7

Te ! Laf ia i f


Steady state condition

Te ! TL

Te TL  Bm[r ia ! ! Laf i f Laf i f TL min ! 0 Nm Te 0.007 v [ r min ! ia ! Laf i f 0.1v 5.7 TL max ! 10 Nm Te 10  0.007 v [ r min ia ! ! Laf i f 0.1v 5.7

Example
Plot the torque-speed characteristic curves for a separately excited, 2-kW DC motor if the rated (maximum) armature voltage is ua max ! 100V and the field voltage is u f ! 20V . The motor parameters are: ra ! 0.18; , r f ! 3.5; , , and Laf ! 0.1, Bm ! 0.007 Nms / rad The load characteristic if TL ! TL 0  Bm[r
TL 0 ! 5 Nm

% parameters of separately-exited motor ra=0.18; Laf=0.1; Bm=0.007; If=5.7; Tl0=5; Te=0:1:10; for ua=11:10:100; wr=ua/(Laf*If)-(ra/((Laf*If)^2))*Te; wrl=0:1:200; Tl=Tl0+Bm*wrl; plot(Te,wr,'-',Tl,wrl,'-');hold on; axis([0, 10, 0, 160]); end; disp('End')

SEPARATELY ECXITED DC MOTOR (cont~)

        

%transient dynamics of a separately excited dc motor function yprime=difer(t,y); ra=0.18; rf=3.5; La=0.0062; Lf=0.0095; Laf=0.1; J=0.04; Bm=0.007; T1=0; %T1=10; ua=100; uf=20; yprime=[(-ra*y(1,:)-Laf*y(2,:)*y(3,:)+ua)/La;... (-rf*y(2,:)+uf)/Lf;... (Laf*y(1,:)*y(2,:)-Bm*y(3,:)-T1)/J];

SEPARATELY ECXITED DC MOTOR (cont~)

           

%transient dynamics of a separately excited dc motor clc t0=0; tfinal=0.4; tol=1e-7; trace=1e-7; y0=[0 0 0]'; [t,y]=ode45('CHP5_1mdno',t0,tfinal,y0,tol,trace); subplot(2,2,1); plot(t,y(:,1),'r-'); xlabel('Time (seconds)'); title('Armature Current ia, [A]'); subplot(2,2,2); plot(t,y(:,2),'g-.'); xlabel('Time (seconds)'); title('Field Current if, [A]'); subplot(2,2,3); plot(t,y(:,3),'b-'); xlabel('Time (seconds)'); title('Angular Velocity wr, [rad/s]'); subplot(2,2,4);plot(t,y(:,1),'r-',t,y(:,2),'g-.',t,y(:,3),'b-') xlabel('Time (seconds)'); title('LAB 1');

SEPARATELY ECXITED DC MOTOR (cont~)

Arm ature Current ia, [A] 300 200 100 0 1 -100 0 0.05 0.1 0.15 0.2 0.25 Tim e (seconds) Angular Velocity wr, [rad/s] 250 200 150 100 100 50 0 0 -100 300 200 0.3 0.35 0.4 0 0 0.05 0.1 0.15 0.2 0.25 Tim e (seconds) LAB 1 0.3 0.35 0.4
X: 0.03529 Y: 270.5

Field Current if, [A] 6 5 4 3 2

0.05

0.1

0.15 0.2 0.25 Tim e (seconds)

0.3

0.35

0.4

0.05

0.1

0.15 0.2 0.25 Tim e (seconds)

0.3

0.35

0.4

SEPARATELY ECXITED DC MOTOR (cont~)

1 G a in 5 1 G a in 3 1 S te p 0 .0 0 6 2 s+ 0 .1 8 Tra n sfe r F cn S ig n a l G e n e ra to r P ro d u ct a rm a tu re cu rre n t co m b in e To W o rksp a ce

0 .1 G a in

1 0 .0 4 s+ 0 .0 0 7 Tra n sfe r F cn 2

1 G a in 2 co m b in e

0 .1 G a in 1 1 S te p 1 0 .0 0 9 5 s+ 3 .5 Tra n sfe r F cn 1 P ro d u ct1 1 G a in 4 tl a n d te

a n g u la r ve lo city

fie ld cu rre n t

SHUNT CONNECTED DC MOTOR



The armature and field windings are connected in parallel

ra
ia rf if uf rfr Lf La TL [ r , Te

rar

quadrature axis
ua

Ea ! Laf i f [r

field

direct axis
armature

SHUNT CONNECTED DC MOTOR

From Newtons Second Law, Torsional-Mechanical equation is given as

d[ r 1 1 L ! Te  Tviscous  TL !  af ia i f  Bm[ r  TL dt J J
The nonlinear differential equation for separately excited DC motor which is found using Kirchhoffs Voltage Law

Laf dia ra 1 ia  i f [r  ua ! dt La La La
di f 1 ! if  uf ; dt Lf Lf rf ua ! u f

Laf d[ r B T ! ia i f  m [r  L dt J J J

Steady state condition

ua ! u f

ua if ! rf ia !


u a  Laf i f [ r ra

Substituting the currents equation into torque equation, gives

Te ! Laf ia i f Laf Laf [r 1  Te ! ra rf rf



2 u a

It shows that
The electromagnetic torque is a linear function of the angular velocity The electromagnetic torque varies as the square of the armature voltage applied

SHUNT CONNECTED DC MOTOR (Example)

A shunt connected motor, drives a fan.  Given Laf ! 0.15,, rar ! rfr ! 0, rf ! 23;, ra ! 0.12;, u a ! 100V the angular  When one applies velocity is 150rad/s. For steady state operating condition and assuming the viscous friction is negligibly small, find the developed electromagnetic torque and the currents in the armature and field windings


SHUNT CONNECTED DC MOTOR (cont~)

Laf Laf [r 1  Te ! ra rf rf 2 u a

0.15 0.15 v150 1 Te ! v 100 2 ! 11.8 N .m 0.12 v 23 23

100 ! ! 4.35 A if ! 23 rf

uf

Te ! Laf ia i f

Te 11.8 ! ! 18.1A ia ! Laf i f 0.15 v 4.35

SERIES CONNECTED DC MOTOR



The armature and field windings are connected in series

ra La
TL [ r , Te ia ! i f

rar

quadrature axis
ua

rf Lf

Ea ! Laf i f [r

field

direct axis
armature

The nonlinear differential equation for series connected DC motor which is found using Kirchhoffs Voltage Law

dia ua  Laf ia[r !  a  rf a   a  L f r i L dt dia  Steady state condition !0 dt ua ia !  Then, currents equation Laf [r  ra  rf


Substituting the currents equation into torque equation, gives

Te ! Laf ia

Laf Laf [r 1  Te ! ra rf rf


2 u a

It shows that
The developed electromagnetic torque is proportional to the square of the current Saturation effect should be taken into account

SERIES CONNECTED DC MOTOR

From Newtons Second Law, Torsional-Mechanical equation is given as

d[ r 1 1 L ! Te  Tviscous  TL !  af ia i f  Bm[ r  TL dt J J
The nonlinear differential equation for series connected DC motor which is found using Kirchhoffs Voltage Law

ra  r f Laf 1 dia ! ia  ia[r  ua dt La  L f La  L f La  L f

Laf 2 Bm d[ r T ! ia  [r  L dt J J J