Overview of motors and motion control

Save this PDF as:
 WORD  PNG  TXT  JPG

Size: px
Start display at page:

Download "Overview of motors and motion control"

Transcription

1 Overview of motors and motion control. Elements of a motion-control system Power upply High-level controller ow-level controller Driver Motor. Types of motors discussed here; Brushed, PM DC Motors Cheap, rugged, high-reliability ow Torque ripple tepper Motors Cheap, rugged, high-reliability o brushes, suitable for any environment Do not require feedback At low speeds, provide up to 5 torque of brushed motor, torque of brushless motor uffers from resonance and long settling times Consume current regardless of load or motion, run hot osses at speed are high Undetected position loss as a result of open loop operation Brushless DC Motors o brushes, suitable for any environment Brushless AC Motors o brushes, suitable for any environment

2 tepper Motors Half tepping Phase A Phase B

3 Full tepping: Phase A Phase B

4 tepper (cont.) Wiring arrangements for various teppers 6Ω 4-lead 5-lead 6-lead 8-lead Behavior of stepping-motor ) A typical step motor has full step positions. Thus, the typical stepper will move.8 degrees in one step. ) When the stator portion of the stepper makes a step (but prior to the rotor actually moving), the stepper sees its maimum torque. As the rotor moves under the influence of this torque, the torque drops to a zero value when the rotor reaches the end of its step (.8 degrees). ) This results in a static torque curve that may look something like: Torque Ma T. tart step table degrees.8.6 4) Considering the static torque curve above, the rotor on a step motor could lag commanded motion by as much as.8 degrees during an acceleration phase, or lead by as much as.8 degrees during deceleration. ote that the static torque curve of a stepper behaves similar to a mass-spring system with a non-linear spring. From this model, the response to a single step move would look something like;

5 angle time 5) Due to this behavior of the step motor, driving the motor at a step speed near its natural frequency can greatly increase the oscillations during response. The natural frequency of the motor depends on the stiffness (electro-magnetic field) and rotational inertia. Higher inertia will decrease the natural frequency of the system and provide more separation between typical driving frequencies and ω n. Typical ω n for an unloaded stepper may be - Hz. 6) An additional consideration in driving steppers is the acceleration profile. Remember that the maimum torque of the system cannot be eceeded. Therefore, to operate at a desired rotation or slew rate, the motor must be started (and stopped) in a profiled manner, approaching the desired speed such that the motor is not driven past maimum acceleration.

6 Brushed DC motor: The iron-core brushed DC motor has been one of the most common motors used in servomotor systems. A basic schematic of the motor is shown in the following figure; Permanent magnet i F=iB B Armature/ rotor brushes +V commutator -V The armature contains many more windings than the one shown in this figure, and therefore generates an output with fairly low torque ripple. The commutators provide a mechanical means to sense the position of the motor and send current to a new set of windings. Brushed DC motors have two primary difficulties; ) Contact between the brushes and commutator creates carbon dust, sparks, wears out ) The armature generates heat as a function of the power loss equation i R, and this heat must escape through the magnets or motor shaft. Motor Dynamics: The behavior of this motor can be described through a system of equations that relates the input to the motor, voltage, to the motor output, motion (position, velocity, acceleration) under a given load. This model will require; ) a description of the current flow in the motor, ) equations of motion defining rotation of the motor, ) electro/mechanical relation in the motor. Motor Electronics: + R V in - + umming voltages throughout the circuit gives, V = k e ω emf

7 V in = di + Ri + k e ω, dt a first order ODE in current, i, with, R the motor inductance and resistance, k e the electric constant, V emf the back emf and ω the rotational speed of the motor (rad/s). Motor Mechanics: θ, ω, α J motor g motor J load g T The rotational inertia, J as seen by the motor is, d g J = J + motor J load, d g accounting for motor inertia (rotor) as well as gear train and load inertia. Motor Dynamics: J && θ + C & θ = T T friction This second order ODE in rotation, θ, with C viscous damping in the system, T the motor torque and T friction the friction torque describes the motor dynamics. Finally, the electro-mechanical relation is approimately given as an equation that describes motor torque as a linear function of current in the motor, T = kti where k t the motor torque constant. These equations can be combined to result in two equations, a st and nd order ODE with two unknowns, i and q; J && θ + C & θ kti = T friction i + Ri + k & e θ = V in These will be cast in state-space form to result in a system of three st order DE s = θ & = = & k θ & C t = T J + J friction = i k R V & = b + in or;,

8 = + = y y y V R R k J k J C b t & & & Matlab provides a variety of tools to easily model this system. A simple first step could be to observe a step response of this system (step input of the motor voltage) using the command; >step(a,v*b,c,d) with A,B,C the matrices shown above (in order). teady-tate Motor Behavior: At steady state, the dynamic motor model above can be greatly simplified (i_dot, θ_dot = ) to yield the equations; k e V in Ri = + ω + i k T t = ω = R k k V k R T t e in t, This equation represents a linear torque/speed relation for a PM dc motor. The response (assuming a constant input applied voltage) looks like; Torque Power T,P T stall ω no load ω The maimum generated torque occurs at rest (stall), and decreases to zero at the maimum motor speed under no load. At this speed, the back-emf voltage in the motor is equal to the input voltage (minus a small amount to overcome inefficiencies in the motor).

9 If we consider power in the motor, write a linear equation for T as a function of motor speed; T ( ω ) = T ω s ω ma and then epress power as; P ( ω ) = T ( ω ) = ωt ω s. ω ma The maimum power occurs at; dp ( ω ) = T ω = dω ω s ma or ω = ω ma T,P T stall Torque ma Power Power ω no load / ω no load ω Eample Problem: Motor election This eample will demonstrate the process of analyzing a particular motor in the mechanical system demonstrated below. This system requires a DC brushed motor to move payloads along an inclined conveyor. The motor drives the conveyor through a gear reducer simply shown with pulleys g and g. θ, ω, α J motor g motor M J load g T θ

10 Problem givens; M=kg; r w =8cm; g:g=gr=5; J load =. kgm ; θ = deg., consider friction in the system as a percentage of the static load. Analysis Approach; First we need to get our state equations. These will consist of equations of motion, our KV equations and our electro-mechanical relations as derived above. The KV relation will be identical to that above. Create a simple FBD of the motor system to get the equations of motion; FBD: J equiv θ, ω, α T Mgsin(θ)/g Equations: J & equivθ + C & θ kti = Mg sin( θ ) T friction GR GR i + Ri + k & e θ = V in ote that the variable q is the motor rotation. Jequiv. is the equivalent inertia of the system as seen by the motor and determined using the relation described above. Remember that inertia s are magnified by the square of intermedi gear reductions. In this case, Jequiv. is given as; J equiv = J armature + J conveyor + J payload GR GR J = Mr payload w Equations in tate-pace Form: = θ = & θ = i

11 & ( ) = C k + Mg sin T friction & t θ J J J GR J GR & k b R RV rw y GR r y = w GR y ote that in describing that observers or outputs, y a conversion is made to output displacement and velocity in meters and m/s respectively, y still represents current. olution approach: Implement using the step function in Matlab. In this case, the system will be described in state space form with the matrices A, B, C (D=[]) as above. Eample: Consider the MA motor from Parker automation (page 88 in 99 computmotor catalog). The specifications on this motor are as follows; J armature =.e-4 kg m ; k t =.45.A; k b =5.68*6/(*pi*) m s; = 4.8e- H, R = 9.65O, V=4 Matlab code: M=; %Payload mass g=9.8; %gravity Jconv=.; %Conveyor inertia rw=.8; %Wheel radius dg=;dg=5;gr=dg/dg; J_motor=.e-4; %Motor inertia J=J_motor+Jconv*(/GR)^+M*rw^*(/GR)^; %Total inertia at motor C=.79e-5; %Viscous damping theta=*pi/8; kt=.45; % torque constant kb=5.68*6/(*pi*); %Back emf constant =4.8*e-; %Inductance R=9.65; %Resistance V=; %Input voltage Tf=.5; %frictional torque as a percent of dead load A=[,,,-C/J,kt/J,-kb/,-R/]; B=[;(-M*g*rw*sin(theta)/GR)*(+Tf)/J;V/]; C=[rw/GR,,;,rw/GR,;,,]; D=[;;]; step(a,b,c,d)

12 tep Response 6 - From: U() To: Y() 4. Am plitude To: Y().5 To: Y() Tim e (sec) ote that this eample shows the motor provides a reasonable response time, and low current at steady state. On the other hand, our final speed may be a little low (.65 m/s), so try decreasing the size of the gear ratio to 5: This yields the following results;

13 .5 tep Response From: U() To: Y() Am plitude To: Y()..5 To: Y() Tim e (sec) ow we have a maimum speed of.5 m/s, a maimum current draw of appro..5 A and a fast response. Perhaps this motor is larger than needed (note also that this motor is intended to run at -7V). o, an M6A motor is tried with the 4V input voltage; J armature = 5e-6 kg m ; k t =.8.A; k b =4.*6/(*pi*) m s; =.5e- H, R=.4 O

14 .6 tep Response From : U() To: Y().4..6 Am plitude To: Y().4. 4 To: Y() Tim e (sec) otice that the response time is still acceptable, but the final speed is low and the current draw is high. If a higher motor volatage is tried (4V):.4 tep Response From: U(). To: Y().. Amplitude To: Y().5 To: Y() Tim e (sec)

15 Final velocity is now acceptable, but the current may be to high, (near to slightly above the motor maimum ratings). Therefore, this motor is too small for this application.

Stepping Motors. Chapter 11 L E L F L D

Stepping Motors. Chapter 11 L E L F L D Chapter 11 Stepping Motors In the synchronous motor, the combination of sinusoidally distributed windings and sinusoidally time varying current produces a smoothly rotating magnetic field. We can eliminate

More information

School of Mechanical Engineering Purdue University. ME375 ElectroMechanical - 1

School of Mechanical Engineering Purdue University. ME375 ElectroMechanical - 1 Electro-Mechanical Systems DC Motors Principles of Operation Modeling (Derivation of fg Governing Equations (EOM)) Block Diagram Representations Using Block Diagrams to Represent Equations in s - Domain

More information

Motor Info on the WWW Motorola Motors DC motor» /MOTORDCTUT.

Motor Info on the WWW Motorola Motors DC motor»   /MOTORDCTUT. Motor Info on the WWW Motorola Motors DC motor» http://www.freescale.com/files/microcontrollers/doc/train_ref_material /MOTORDCTUT.html Brushless DC motor» http://www.freescale.com/files/microcontrollers/doc/train_ref_material

More information

E11 Lecture 13: Motors. Professor Lape Fall 2010

E11 Lecture 13: Motors. Professor Lape Fall 2010 E11 Lecture 13: Motors Professor Lape Fall 2010 Overview How do electric motors work? Electric motor types and general principles of operation How well does your motor perform? Torque and power output

More information

Texas A & M University Department of Mechanical Engineering MEEN 364 Dynamic Systems and Controls Dr. Alexander G. Parlos

Texas A & M University Department of Mechanical Engineering MEEN 364 Dynamic Systems and Controls Dr. Alexander G. Parlos Texas A & M University Department of Mechanical Engineering MEEN 364 Dynamic Systems and Controls Dr. Alexander G. Parlos Lecture 6: Modeling of Electromechanical Systems Principles of Motor Operation

More information

ENGG4420 LECTURE 7. CHAPTER 1 BY RADU MURESAN Page 1. September :29 PM

ENGG4420 LECTURE 7. CHAPTER 1 BY RADU MURESAN Page 1. September :29 PM CHAPTER 1 BY RADU MURESAN Page 1 ENGG4420 LECTURE 7 September 21 10 2:29 PM MODELS OF ELECTRIC CIRCUITS Electric circuits contain sources of electric voltage and current and other electronic elements such

More information

Introduction to Control (034040) lecture no. 2

Introduction to Control (034040) lecture no. 2 Introduction to Control (034040) lecture no. 2 Leonid Mirkin Faculty of Mechanical Engineering Technion IIT Setup: Abstract control problem to begin with y P(s) u where P is a plant u is a control signal

More information

Spontaneous Speed Reversals in Stepper Motors

Spontaneous Speed Reversals in Stepper Motors Spontaneous Speed Reversals in Stepper Motors Marc Bodson University of Utah Electrical & Computer Engineering 50 S Central Campus Dr Rm 3280 Salt Lake City, UT 84112, U.S.A. Jeffrey S. Sato & Stephen

More information

Automatic Control Systems. -Lecture Note 15-

Automatic Control Systems. -Lecture Note 15- -Lecture Note 15- Modeling of Physical Systems 5 1/52 AC Motors AC Motors Classification i) Induction Motor (Asynchronous Motor) ii) Synchronous Motor 2/52 Advantages of AC Motors i) Cost-effective ii)

More information

FEEDBACK CONTROL SYSTEMS

FEEDBACK CONTROL SYSTEMS FEEDBAC CONTROL SYSTEMS. Control System Design. Open and Closed-Loop Control Systems 3. Why Closed-Loop Control? 4. Case Study --- Speed Control of a DC Motor 5. Steady-State Errors in Unity Feedback Control

More information

Mechatronics Engineering. Li Wen

Mechatronics Engineering. Li Wen Mechatronics Engineering Li Wen Bio-inspired robot-dc motor drive Unstable system Mirko Kovac,EPFL Modeling and simulation of the control system Problems 1. Why we establish mathematical model of the control

More information

ECEN 420 LINEAR CONTROL SYSTEMS. Lecture 6 Mathematical Representation of Physical Systems II 1/67

ECEN 420 LINEAR CONTROL SYSTEMS. Lecture 6 Mathematical Representation of Physical Systems II 1/67 1/67 ECEN 420 LINEAR CONTROL SYSTEMS Lecture 6 Mathematical Representation of Physical Systems II State Variable Models for Dynamic Systems u 1 u 2 u ṙ. Internal Variables x 1, x 2 x n y 1 y 2. y m Figure

More information

Rotational Systems, Gears, and DC Servo Motors

Rotational Systems, Gears, and DC Servo Motors Rotational Systems Rotational Systems, Gears, and DC Servo Motors Rotational systems behave exactly like translational systems, except that The state (angle) is denoted with rather than x (position) Inertia

More information

Mathematical Modeling and Dynamic Simulation of a Class of Drive Systems with Permanent Magnet Synchronous Motors

Mathematical Modeling and Dynamic Simulation of a Class of Drive Systems with Permanent Magnet Synchronous Motors Applied and Computational Mechanics 3 (2009) 331 338 Mathematical Modeling and Dynamic Simulation of a Class of Drive Systems with Permanent Magnet Synchronous Motors M. Mikhov a, a Faculty of Automatics,

More information

Equal Pitch and Unequal Pitch:

Equal Pitch and Unequal Pitch: Equal Pitch and Unequal Pitch: Equal-Pitch Multiple-Stack Stepper: For each rotor stack, there is a toothed stator segment around it, whose pitch angle is identical to that of the rotor (θs = θr). A stator

More information

6) Motors and Encoders

6) Motors and Encoders 6) Motors and Encoders Electric motors are by far the most common component to supply mechanical input to a linear motion system. Stepper motors and servo motors are the popular choices in linear motion

More information

Step Motor Modeling. Step Motor Modeling K. Craig 1

Step Motor Modeling. Step Motor Modeling K. Craig 1 Step Motor Modeling Step Motor Modeling K. Craig 1 Stepper Motor Models Under steady operation at low speeds, we usually do not need to differentiate between VR motors and PM motors (a hybrid motor is

More information

A FORCE BALANCE TECHNIQUE FOR MEASUREMENT OF YOUNG'S MODULUS. 1 Introduction

A FORCE BALANCE TECHNIQUE FOR MEASUREMENT OF YOUNG'S MODULUS. 1 Introduction A FORCE BALANCE TECHNIQUE FOR MEASUREMENT OF YOUNG'S MODULUS Abhinav A. Kalamdani Dept. of Instrumentation Engineering, R. V. College of Engineering, Bangalore, India. kalamdani@ieee.org Abstract: A new

More information

Exercise 5 - Hydraulic Turbines and Electromagnetic Systems

Exercise 5 - Hydraulic Turbines and Electromagnetic Systems Exercise 5 - Hydraulic Turbines and Electromagnetic Systems 5.1 Hydraulic Turbines Whole courses are dedicated to the analysis of gas turbines. For the aim of modeling hydraulic systems, we analyze here

More information

Feedback Control Systems

Feedback Control Systems ME Homework #0 Feedback Control Systems Last Updated November 06 Text problem 67 (Revised Chapter 6 Homework Problems- attached) 65 Chapter 6 Homework Problems 65 Transient Response of a Second Order Model

More information

Laboratory 11 Control Systems Laboratory ECE3557. State Feedback Controller for Position Control of a Flexible Joint

Laboratory 11 Control Systems Laboratory ECE3557. State Feedback Controller for Position Control of a Flexible Joint Laboratory 11 State Feedback Controller for Position Control of a Flexible Joint 11.1 Objective The objective of this laboratory is to design a full state feedback controller for endpoint position control

More information

DC Motor Position: System Modeling

DC Motor Position: System Modeling 1 of 7 01/03/2014 22:07 Tips Effects TIPS ABOUT BASICS INDEX NEXT INTRODUCTION CRUISE CONTROL MOTOR SPEED MOTOR POSITION SUSPENSION INVERTED PENDULUM SYSTEM MODELING ANALYSIS DC Motor Position: System

More information

Chapter 7: Stepper Motors. (Revision 6.0, 27/10/2014)

Chapter 7: Stepper Motors. (Revision 6.0, 27/10/2014) Chapter 7 Stepper Motors (Revision 6.0, 7/10/014) 1. Stepping Angle Analysis The following analysis derives the formula for the stepping angle of the stepper motor. It has been reproduced and edited from

More information

DcMotor_ Model Help File

DcMotor_ Model Help File Name of Model: DcMotor_021708 Author: Vladimir L. Chervyakov Date: 2002-10-26 Executable file name DcMotor_021708.vtm Version number: 1.0 Description This model represents a Nonlinear model of a permanent

More information

Conventional Paper-I-2011 PART-A

Conventional Paper-I-2011 PART-A Conventional Paper-I-0 PART-A.a Give five properties of static magnetic field intensity. What are the different methods by which it can be calculated? Write a Maxwell s equation relating this in integral

More information

Massachusetts Institute of Technology Department of Electrical Engineering and Computer Science Electric Machines

Massachusetts Institute of Technology Department of Electrical Engineering and Computer Science Electric Machines Massachusetts Institute of Technology Department of Electrical Engineering and Computer Science 6.685 Electric Machines Problem Set 10 Issued November 11, 2013 Due November 20, 2013 Problem 1: Permanent

More information

Lesson 17: Synchronous Machines

Lesson 17: Synchronous Machines Lesson 17: Synchronous Machines ET 332b Ac Motors, Generators and Power Systems Lesson 17_et332b.pptx 1 Learning Objectives After this presentation you will be able to: Explain how synchronous machines

More information

INC 341 Feedback Control Systems: Lecture 3 Transfer Function of Dynamic Systems II

INC 341 Feedback Control Systems: Lecture 3 Transfer Function of Dynamic Systems II INC 341 Feedback Control Systems: Lecture 3 Transfer Function of Dynamic Systems II Asst. Prof. Dr.-Ing. Sudchai Boonto Department of Control Systems and Instrumentation Engineering King Mongkut s University

More information

MATHEMATICAL MODELING OF OPEN LOOP PMDC MOTOR USING MATLAB/SIMULINK

MATHEMATICAL MODELING OF OPEN LOOP PMDC MOTOR USING MATLAB/SIMULINK MATHEMATICAL MODELING OF OPEN LOOP PMDC MOTOR USING MATLAB/SIMULINK 1 Mr.Dhaval K.Patel 1 Assistant Professor, Dept. of Electrical Engineering. Gidc Degree Engineering College Abrama, Navsari. ABSTRACT:

More information

Mathematical Modelling of Permanent Magnet Synchronous Motor with Rotor Frame of Reference

Mathematical Modelling of Permanent Magnet Synchronous Motor with Rotor Frame of Reference Mathematical Modelling of Permanent Magnet Synchronous Motor with Rotor Frame of Reference Mukesh C Chauhan 1, Hitesh R Khunt 2 1 P.G Student (Electrical),2 Electrical Department, AITS, rajkot 1 mcchauhan1@aits.edu.in

More information

LO-COG DC Gearmotors. Series GM8000. Series GM9000. Series GM BULLETIN LCG Series GM8000, GM9000, GM Power Your Ideas

LO-COG DC Gearmotors. Series GM8000. Series GM9000. Series GM BULLETIN LCG Series GM8000, GM9000, GM Power Your Ideas BULLETIN LCG Series GM8, GM9, GM149 LO-COG DC Gearmotors Pittman brand LO-COG brush-commutated DC gearmotors offer smooth, quiet operation and long life. LO-COG gearmotors feature sintered steel spur gears

More information

Revision Guide for Chapter 15

Revision Guide for Chapter 15 Revision Guide for Chapter 15 Contents tudent s Checklist Revision otes Transformer... 4 Electromagnetic induction... 4 Generator... 5 Electric motor... 6 Magnetic field... 8 Magnetic flux... 9 Force on

More information

Mechatronics Modeling and Analysis of Dynamic Systems Case-Study Exercise

Mechatronics Modeling and Analysis of Dynamic Systems Case-Study Exercise Mechatronics Modeling and Analysis of Dynamic Systems Case-Study Exercise Goal: This exercise is designed to take a real-world problem and apply the modeling and analysis concepts discussed in class. As

More information

Selection of precision micro drives

Selection of precision micro drives Selection of precision micro drives Overview Drive System and Selection DC and EC motors Motor data sheets, motor theory Motor gearhead selection 2017 maxon motor ag, Sachseln, Switzerland Media The Selection

More information

The basic principle to be used in mechanical systems to derive a mathematical model is Newton s law,

The basic principle to be used in mechanical systems to derive a mathematical model is Newton s law, Chapter. DYNAMIC MODELING Understanding the nature of the process to be controlled is a central issue for a control engineer. Thus the engineer must construct a model of the process with whatever information

More information

Selection of precision micro drives

Selection of precision micro drives Selection of precision micro drives Systematics of the drive selection Situation analysis, boundary conditions How is the integration into the environment? Preselection Determining the load requirements

More information

Model of a DC Generator Driving a DC Motor (which propels a car)

Model of a DC Generator Driving a DC Motor (which propels a car) Model of a DC Generator Driving a DC Motor (which propels a car) John Hung 5 July 2011 The dc is connected to the dc as illustrated in Fig. 1. Both machines are of permanent magnet type, so their respective

More information

(a) Torsional spring-mass system. (b) Spring element.

(a) Torsional spring-mass system. (b) Spring element. m v s T s v a (a) T a (b) T a FIGURE 2.1 (a) Torsional spring-mass system. (b) Spring element. by ky Wall friction, b Mass M k y M y r(t) Force r(t) (a) (b) FIGURE 2.2 (a) Spring-mass-damper system. (b)

More information

SRV02-Series Rotary Experiment # 1. Position Control. Student Handout

SRV02-Series Rotary Experiment # 1. Position Control. Student Handout SRV02-Series Rotary Experiment # 1 Position Control Student Handout SRV02-Series Rotary Experiment # 1 Position Control Student Handout 1. Objectives The objective in this experiment is to introduce the

More information

Electric Machines I Three Phase Induction Motor. Dr. Firas Obeidat

Electric Machines I Three Phase Induction Motor. Dr. Firas Obeidat Electric Machines I Three Phase Induction Motor Dr. Firas Obeidat 1 Table of contents 1 General Principles 2 Construction 3 Production of Rotating Field 4 Why Does the Rotor Rotate 5 The Slip and Rotor

More information

State Space Representation

State Space Representation ME Homework #6 State Space Representation Last Updated September 6 6. From the homework problems on the following pages 5. 5. 5.6 5.7. 5.6 Chapter 5 Homework Problems 5.6. Simulation of Linear and Nonlinear

More information

EE 410/510: Electromechanical Systems Chapter 4

EE 410/510: Electromechanical Systems Chapter 4 EE 410/510: Electromechanical Systems Chapter 4 Chapter 4. Direct Current Electric Machines and Motion Devices Permanent Magnet DC Electric Machines Radial Topology Simulation and Experimental Studies

More information

Example: DC Motor Speed Modeling

Example: DC Motor Speed Modeling Page 1 of 5 Example: DC Motor Speed Modeling Physical setup and system equations Design requirements MATLAB representation and open-loop response Physical setup and system equations A common actuator in

More information

Mechatronic System Case Study: Rotary Inverted Pendulum Dynamic System Investigation

Mechatronic System Case Study: Rotary Inverted Pendulum Dynamic System Investigation Mechatronic System Case Study: Rotary Inverted Pendulum Dynamic System Investigation Dr. Kevin Craig Greenheck Chair in Engineering Design & Professor of Mechanical Engineering Marquette University K.

More information

Dynamic Modeling of Surface Mounted Permanent Synchronous Motor for Servo motor application

Dynamic Modeling of Surface Mounted Permanent Synchronous Motor for Servo motor application 797 Dynamic Modeling of Surface Mounted Permanent Synchronous Motor for Servo motor application Ritu Tak 1, Sudhir Y Kumar 2, B.S.Rajpurohit 3 1,2 Electrical Engineering, Mody University of Science & Technology,

More information

Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #02: DC Motor Position Control. DC Motor Control Trainer (DCMCT) Student Manual

Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #02: DC Motor Position Control. DC Motor Control Trainer (DCMCT) Student Manual Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #02: DC Motor Position Control DC Motor Control Trainer (DCMCT) Student Manual Table of Contents 1 Laboratory Objectives1 2 References1 3 DCMCT Plant

More information

Positioning Servo Design Example

Positioning Servo Design Example Positioning Servo Design Example 1 Goal. The goal in this design example is to design a control system that will be used in a pick-and-place robot to move the link of a robot between two positions. Usually

More information

Elementary Theory of DC Permanent Magnet Motors

Elementary Theory of DC Permanent Magnet Motors Much appreciation to David Cowden at Ga. Tech.: Web citation from 10/15/2004 http://www.srl.gatech.edu/education/me3110/primer/motors.htm Motors Introduction This section contains information about implementing

More information

R a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Force-current and Force-Voltage analogies.

R a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Force-current and Force-Voltage analogies. SET - 1 II B. Tech II Semester Supplementary Examinations Dec 01 1. a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Force-current and Force-Voltage analogies..

More information

UNIVERSITY OF BOLTON SCHOOL OF ENGINEERING BSC (HONS) MECHATRONICS TOP-UP SEMESTER 1 EXAMINATION 2017/2018 ADVANCED MECHATRONIC SYSTEMS

UNIVERSITY OF BOLTON SCHOOL OF ENGINEERING BSC (HONS) MECHATRONICS TOP-UP SEMESTER 1 EXAMINATION 2017/2018 ADVANCED MECHATRONIC SYSTEMS ENG08 UNIVERSITY OF BOLTON SCHOOL OF ENGINEERING BSC (HONS) MECHATRONICS TOP-UP SEMESTER EXAMINATION 07/08 ADVANCED MECHATRONIC SYSTEMS MODULE NO: MEC600 Date: 7 January 08 Time: 0.00.00 INSTRUCTIONS TO

More information

R10 JNTUWORLD B 1 M 1 K 2 M 2. f(t) Figure 1

R10 JNTUWORLD B 1 M 1 K 2 M 2. f(t) Figure 1 Code No: R06 R0 SET - II B. Tech II Semester Regular Examinations April/May 03 CONTROL SYSTEMS (Com. to EEE, ECE, EIE, ECC, AE) Time: 3 hours Max. Marks: 75 Answer any FIVE Questions All Questions carry

More information

EDEXCEL NATIONALS UNIT 5 - ELECTRICAL AND ELECTRONIC PRINCIPLES. ASSIGNMENT No. 3 - ELECTRO MAGNETIC INDUCTION

EDEXCEL NATIONALS UNIT 5 - ELECTRICAL AND ELECTRONIC PRINCIPLES. ASSIGNMENT No. 3 - ELECTRO MAGNETIC INDUCTION EDEXCEL NATIONALS UNIT 5 - ELECTRICAL AND ELECTRONIC PRINCIPLES ASSIGNMENT No. 3 - ELECTRO MAGNETIC INDUCTION NAME: I agree to the assessment as contained in this assignment. I confirm that the work submitted

More information

Revision Guide for Chapter 15

Revision Guide for Chapter 15 Revision Guide for Chapter 15 Contents Revision Checklist Revision otes Transformer...4 Electromagnetic induction...4 Lenz's law...5 Generator...6 Electric motor...7 Magnetic field...9 Magnetic flux...

More information

JRE SCHOOL OF Engineering

JRE SCHOOL OF Engineering JRE SCHOOL OF Engineering Class Test-1 Examinations September 2014 Subject Name Electromechanical Energy Conversion-II Subject Code EEE -501 Roll No. of Student Max Marks 30 Marks Max Duration 1 hour Date

More information

Mechatronics. MANE 4490 Fall 2002 Assignment # 1

Mechatronics. MANE 4490 Fall 2002 Assignment # 1 Mechatronics MANE 4490 Fall 2002 Assignment # 1 1. For each of the physical models shown in Figure 1, derive the mathematical model (equation of motion). All displacements are measured from the static

More information

ET3-7: Modelling I(V) Introduction and Objectives. Electrical, Mechanical and Thermal Systems

ET3-7: Modelling I(V) Introduction and Objectives. Electrical, Mechanical and Thermal Systems ET3-7: Modelling I(V) Introduction and Objectives Electrical, Mechanical and Thermal Systems Objectives analyse and model basic linear dynamic systems -Electrical -Mechanical -Thermal Recognise the analogies

More information

Appendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2)

Appendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2) Appendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2) For all calculations in this book, you can use the MathCad software or any other mathematical software that you are familiar

More information

2.010 Fall 2000 Solution of Homework Assignment 1

2.010 Fall 2000 Solution of Homework Assignment 1 2. Fall 2 Solution of Homework Assignment. Compact Disk Player. This is essentially a reprise of Problems and 2 from the Fall 999 2.3 Homework Assignment 7. t is included here to encourage you to review

More information

International Journal of Advance Research in Computer Science and Management Studies

International Journal of Advance Research in Computer Science and Management Studies Volume 2, Issue 9, September 2014 ISSN: 2321 7782 (Online) International Journal of Advance Research in Computer Science and Management Studies Research Article / Survey Paper / Case Study Available online

More information

Control Theory. Noel Welsh. 26 October Noel Welsh () Control Theory 26 October / 17

Control Theory. Noel Welsh. 26 October Noel Welsh () Control Theory 26 October / 17 Control Theory Noel Welsh 26 October 2010 Noel Welsh () Control Theory 26 October 2010 1 / 17 Announcements Assignments were due on Monday, except for one team that has an extension. Marking will be delayed

More information

Tutorial 1 - Drive fundamentals and DC motor characteristics

Tutorial 1 - Drive fundamentals and DC motor characteristics University of New South Wales School of Electrical Engineering & elecommunications ELEC4613 ELECRIC DRIVE SYSEMS utorial 1 - Drive fundamentals and DC motor characteristics 1. In the hoist drive system

More information

ME 375 Final Examination Thursday, May 7, 2015 SOLUTION

ME 375 Final Examination Thursday, May 7, 2015 SOLUTION ME 375 Final Examination Thursday, May 7, 2015 SOLUTION POBLEM 1 (25%) negligible mass wheels negligible mass wheels v motor no slip ω r r F D O no slip e in Motor% Cart%with%motor%a,ached% The coupled

More information

EE155/255 Green Electronics

EE155/255 Green Electronics EE155/255 Green Electronics Electric Motors 10/16/17 Prof. William Dally Computer Systems Laboratory Stanford University Course Logistics Solar day is Monday 10/23 HW 3 is due today HW 4 out, due next

More information

Chapter 14. Reluctance Drives: Stepper-Motor and Switched- Reluctance Drives

Chapter 14. Reluctance Drives: Stepper-Motor and Switched- Reluctance Drives Chapter 14 Reluctance Drives: tepper-motor and witched- Reluctance Drives Reluctance Drives 14-1 tepper Motor and witched Reluctance Drives q Reluctance Drives tepper Motor drives - ccurate position control

More information

Synchronous Machines

Synchronous Machines Synchronous Machines Synchronous generators or alternators are used to convert mechanical power derived from steam, gas, or hydraulic-turbine to ac electric power Synchronous generators are the primary

More information

Lezione 9 30 March. Scribes: Arianna Marangon, Matteo Vitturi, Riccardo Prota

Lezione 9 30 March. Scribes: Arianna Marangon, Matteo Vitturi, Riccardo Prota Control Laboratory: a.a. 2015/2016 Lezione 9 30 March Instructor: Luca Schenato Scribes: Arianna Marangon, Matteo Vitturi, Riccardo Prota What is left to do is how to design the low pass pole τ L for the

More information

Rotational Motion. Rotational Motion. Rotational Motion

Rotational Motion. Rotational Motion. Rotational Motion I. Rotational Kinematics II. Rotational Dynamics (Netwton s Law for Rotation) III. Angular Momentum Conservation 1. Remember how Newton s Laws for translational motion were studied: 1. Kinematics (x =

More information

Linear Shaft Motor Sizing Application Note

Linear Shaft Motor Sizing Application Note Linear Shaft Motor Sizing Application Note By Jeramé Chamberlain One of the most straightforward tasks in the design of a linear motion system is to specify a motor and drive combination that can provide

More information

PERFORMANCE ANALYSIS OF DIRECT TORQUE CONTROL OF 3-PHASE INDUCTION MOTOR

PERFORMANCE ANALYSIS OF DIRECT TORQUE CONTROL OF 3-PHASE INDUCTION MOTOR PERFORMANCE ANALYSIS OF DIRECT TORQUE CONTROL OF 3-PHASE INDUCTION MOTOR 1 A.PANDIAN, 2 Dr.R.DHANASEKARAN 1 Associate Professor., Department of Electrical and Electronics Engineering, Angel College of

More information

Physics 102, Learning Guide 4, Spring Learning Guide 4

Physics 102, Learning Guide 4, Spring Learning Guide 4 Physics 102, Learning Guide 4, Spring 2002 1 Learning Guide 4 z B=0.2 T y a R=1 Ω 1. Magnetic Flux x b A coil of wire with resistance R = 1Ω and sides of length a =0.2m and b =0.5m lies in a plane perpendicular

More information

Lab 3: Quanser Hardware and Proportional Control

Lab 3: Quanser Hardware and Proportional Control Lab 3: Quanser Hardware and Proportional Control The worst wheel of the cart makes the most noise. Benjamin Franklin 1 Objectives The goal of this lab is to: 1. familiarize you with Quanser s QuaRC tools

More information

2002 Prentice Hall, Inc. Gene F. Franklin, J. David Powell, Abbas Emami-Naeini Feedback Control of Dynamic Systems, 4e

2002 Prentice Hall, Inc. Gene F. Franklin, J. David Powell, Abbas Emami-Naeini Feedback Control of Dynamic Systems, 4e u Figure 2.1 Cruise-control model x Friction force bx m x u Figure 2.2 Free-body diagram for cruise control S P 278 Figure 2.3 Automobile suspension y m 2 k s b v car x m 1 k w Road surface r Inertial

More information

International Journal of Advance Engineering and Research Development SIMULATION OF FIELD ORIENTED CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTOR

International Journal of Advance Engineering and Research Development SIMULATION OF FIELD ORIENTED CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTOR Scientific Journal of Impact Factor(SJIF): 3.134 e-issn(o): 2348-4470 p-issn(p): 2348-6406 International Journal of Advance Engineering and Research Development Volume 2,Issue 4, April -2015 SIMULATION

More information

Mathematical Modeling and Dynamic Simulation of DC Motors using MATLAB/Simulink Environment

Mathematical Modeling and Dynamic Simulation of DC Motors using MATLAB/Simulink Environment Mathematical Modeling and Dynamic Simulation of DC Motors using MATLAB/Simulink Environment K. Kalaiselvi 1, K.Abinaya 2, P. Ramesh Babu 3 1,2 Under Graduate Scholar, Department of EEE, Saranathan College

More information

Prince Sattam bin Abdulaziz University College of Engineering. Electrical Engineering Department EE 3360 Electrical Machines (II)

Prince Sattam bin Abdulaziz University College of Engineering. Electrical Engineering Department EE 3360 Electrical Machines (II) Chapter # 4 Three-Phase Induction Machines 1- Introduction (General Principles) Generally, conversion of electrical power into mechanical power takes place in the rotating part of an electric motor. In

More information

Two-Mass, Three-Spring Dynamic System Investigation Case Study

Two-Mass, Three-Spring Dynamic System Investigation Case Study Two-ass, Three-Spring Dynamic System Investigation Case Study easurements, Calculations, anufacturer's Specifications odel Parameter Identification Which Parameters to Identify? What Tests to Perform?

More information

EE155/255 Green Electronics

EE155/255 Green Electronics EE155/255 Green Electronics Electric Motors 10/19/16 Prof. William Dally Computer Systems Laboratory Stanford University This week is flipped Course Logistics Discussion on 10/17, Motors on 10/19, Isolated

More information

Rotary Inverted Pendulum

Rotary Inverted Pendulum Rotary Inverted Pendulum Eric Liu 1 Aug 2013 1 1 State Space Derivations 1.1 Electromechanical Derivation Consider the given diagram. We note that the voltage across the motor can be described by: e b

More information

(Refer Slide Time: 00:01:30 min)

(Refer Slide Time: 00:01:30 min) Control Engineering Prof. M. Gopal Department of Electrical Engineering Indian Institute of Technology, Delhi Lecture - 3 Introduction to Control Problem (Contd.) Well friends, I have been giving you various

More information

Torques 1.0 Two torques We have written the swing equation where speed is in rad/sec as:

Torques 1.0 Two torques We have written the swing equation where speed is in rad/sec as: Torques 1.0 Two torques We have written the swing equation where speed is in rad/sec as: 2H Re ( t) T au T mu T eu (1) and when speed is in per-unit as 2H u ( t) Tau Tmu Teu (2) We note that in both cases

More information

WHAT A SINGLE JOINT IS MADE OF RA

WHAT A SINGLE JOINT IS MADE OF RA Anthropomorphic robotics WHAT A SINGLE JOINT IS MADE OF Notation d F ( mv) mx Since links are physical objects with mass dt J J f i i J = moment of inertia F r F r Moment of inertia Around an axis m3 m1

More information

Chapter 3 AUTOMATIC VOLTAGE CONTROL

Chapter 3 AUTOMATIC VOLTAGE CONTROL Chapter 3 AUTOMATIC VOLTAGE CONTROL . INTRODUCTION TO EXCITATION SYSTEM The basic function of an excitation system is to provide direct current to the field winding of the synchronous generator. The excitation

More information

8 z 2, then the greatest value of z is. 2. The principal argument/amplitude of the complex number 1 2 i (C) (D) 3 (C)

8 z 2, then the greatest value of z is. 2. The principal argument/amplitude of the complex number 1 2 i (C) (D) 3 (C) 1. If z is a complex number and if 8 z 2, then the greatest value of z is z (A) 2 (B) 3 (C) 4 (D) 5 4 2. The principal argument/amplitude of the complex number 1 2 i 1 3i is (A) 2 (B) 4 (C) (D) 3 4 3.

More information

Motion Control. Laboratory assignment. Case study. Lectures. compliance, backlash and nonlinear friction. control strategies to improve performance

Motion Control. Laboratory assignment. Case study. Lectures. compliance, backlash and nonlinear friction. control strategies to improve performance 436-459 Advanced Control and Automation Motion Control Lectures traditional CNC control architecture modelling of components dynamic response of axes effects on contouring performance control strategies

More information

Coupled Drive Apparatus Modelling and Simulation

Coupled Drive Apparatus Modelling and Simulation University of Ljubljana Faculty of Electrical Engineering Victor Centellas Gil Coupled Drive Apparatus Modelling and Simulation Diploma thesis Menthor: prof. dr. Maja Atanasijević-Kunc Ljubljana, 2015

More information

ROEVER COLLEGE OF ENGINEERING & TECHNOLOGY ELAMBALUR, PERAMBALUR DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING ELECTRICAL MACHINES I

ROEVER COLLEGE OF ENGINEERING & TECHNOLOGY ELAMBALUR, PERAMBALUR DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING ELECTRICAL MACHINES I ROEVER COLLEGE OF ENGINEERING & TECHNOLOGY ELAMBALUR, PERAMBALUR-621220 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING ELECTRICAL MACHINES I Unit I Introduction 1. What are the three basic types

More information

System Modeling: Motor position, θ The physical parameters for the dc motor are:

System Modeling: Motor position, θ The physical parameters for the dc motor are: Dept. of EEE, KUET, Sessional on EE 3202: Expt. # 2 2k15 Batch Experiment No. 02 Name of the experiment: Modeling of Physical systems and study of their closed loop response Objective: (i) (ii) (iii) (iv)

More information

Master thesis Model-based-design to develop sensorless fan

Master thesis Model-based-design to develop sensorless fan University of Liège Faculty of Applied Sciences Department of Electrical Engineering and Computer Science Master thesis Model-based-design to develop sensorless fan by Anaïs Halin Supervised by Prof. Christophe

More information

Modeling and Analysis of Dynamic Systems

Modeling and Analysis of Dynamic Systems Modeling and Analysis of Dynamic Systems by Dr. Guillaume Ducard Fall 2016 Institute for Dynamic Systems and Control ETH Zurich, Switzerland 1/22 Outline 1 Lecture 5: Hydraulic Systems Pelton Turbine:

More information

Example: Modeling DC Motor Position Physical Setup System Equations Design Requirements MATLAB Representation and Open-Loop Response

Example: Modeling DC Motor Position Physical Setup System Equations Design Requirements MATLAB Representation and Open-Loop Response Page 1 of 5 Example: Modeling DC Motor Position Physical Setup System Equations Design Requirements MATLAB Representation and Open-Loop Response Physical Setup A common actuator in control systems is the

More information

MODELING AND HIGH-PERFORMANCE CONTROL OF ELECTRIC MACHINES

MODELING AND HIGH-PERFORMANCE CONTROL OF ELECTRIC MACHINES MODELING AND HIGH-PERFORMANCE CONTROL OF ELECTRIC MACHINES JOHN CHIASSON IEEE PRESS ü t SERIES ON POWER ENGINEERING IEEE Press Series on Power Engineering Mohamed E. El-Hawary, Series Editor The Institute

More information

Characteristics of DC Motors

Characteristics of DC Motors The Birnie Group solar class and website were created with much-appreciated support from the NSF CRCD Program under grants 0203504 and 0509886. Continuing Support from the McLaren Endowment is also greatly

More information

Department of Mechanical Engineering

Department of Mechanical Engineering Department of Mechanical Engineering 2.010 CONTROL SYSTEMS PRINCIPLES Laboratory 2: Characterization of the Electro-Mechanical Plant Introduction: It is important (for future lab sessions) that we have

More information

A new FOC technique based on predictive current control for PMSM drive

A new FOC technique based on predictive current control for PMSM drive ISSN 1 746-7, England, UK World Journal of Modelling and Simulation Vol. 5 (009) No. 4, pp. 87-94 A new FOC technique based on predictive current control for PMSM drive F. Heydari, A. Sheikholeslami, K.

More information

FORMULAS FOR MOTORIZED LINEAR MOTION SYSTEMS

FORMULAS FOR MOTORIZED LINEAR MOTION SYSTEMS FOR MOTORIZED LINEAR MOTION SYSTEMS Haydon Kerk Motion Solutions Pittman Motors : 203 756 7441 : 267 933 2105 SYMBOLS AND UNITS Symbol Description Units Symbol Description Units a linear acceleration m/s

More information

Influence of electromagnetic stiffness on coupled micro vibrations generated by solar array drive assembly

Influence of electromagnetic stiffness on coupled micro vibrations generated by solar array drive assembly Influence of electromagnetic stiffness on coupled micro vibrations generated by solar array drive assembly Mariyam Sattar 1, Cheng Wei 2, Awais Jalali 3 1, 2 Beihang University of Aeronautics and Astronautics,

More information

Modeling and Simulation Revision III D R. T A R E K A. T U T U N J I P H I L A D E L P H I A U N I V E R S I T Y, J O R D A N

Modeling and Simulation Revision III D R. T A R E K A. T U T U N J I P H I L A D E L P H I A U N I V E R S I T Y, J O R D A N Modeling and Simulation Revision III D R. T A R E K A. T U T U N J I P H I L A D E L P H I A U N I V E R S I T Y, J O R D A N 0 1 4 Block Diagrams Block diagram models consist of two fundamental objects:

More information

Research on the winding control system in winding vacuum coater

Research on the winding control system in winding vacuum coater Acta Technica 61, No. 4A/2016, 257 268 c 2017 Institute of Thermomechanics CAS, v.v.i. Research on the winding control system in winding vacuum coater Wenbing Jin 1, Suo Zhang 1, Yinni Jin 2 Abstract.

More information

An Introduction to Electrical Machines. P. Di Barba, University of Pavia, Italy

An Introduction to Electrical Machines. P. Di Barba, University of Pavia, Italy An Introduction to Electrical Machines P. Di Barba, University of Pavia, Italy Academic year 0-0 Contents Transformer. An overview of the device. Principle of operation of a single-phase transformer 3.

More information