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Where R is the winding resistance, L is winding inductance, M is the mutual inductance, G is the rotational
inductance, is angular velocity of the rotor and p is the differential operator
1.1.2 Matrix Representation
From the above voltage equations we can easily derive the matrix form for the primitive machine as:
. .
1 4
. .
2 3
0 0
0 0
d d d dD d
q q
q q qQ
D D
dD D D
Q Q
qQ Q Q
V R L p G M p G i
V i
G R L p G M p
V i
M p R L p
V i
M p R L p
u u
u u
(
+ ( (
(
( (
(
( (
+
= (
( (
(
+
( (
(
( (
+
(
In this equation
and
are negative because the direction of the field produced due to the positive current
and the generated current is opposite in direction. Where as
and
So, the matrix representation would be:
[
] = [
] [
]
The torque developed by the motor is:
= J
Here,
refers to mechanical
load torque.
As we know that,
p
Hence the state space representation would be:
[V] = R[i] + Lp[i] +G
[]
1.3 Separated Excited DC Motor