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DC Motor 𝑉𝑜 𝐷2

=
𝑉𝑑 𝐷2 + 𝐼𝑜
𝑃 = 𝑇𝜔 4𝐼𝐿𝐵𝑚𝑎𝑥

𝐸𝑎 = 𝐾𝐼𝑓 𝜔 ∆𝑄 1 1 ∆𝐼𝐿 𝑇𝑠
∆𝑉𝑜 = =
𝐶 𝐶2 2 2
𝑇 = 𝐾𝐼𝑓 𝐼𝑎
∆𝑉𝑜 𝜋 2 𝑓𝑐 2
𝑉𝑎 𝑇𝑅𝑎 = (1 − 𝐷) ( )
𝜔= − 𝑉𝑜 2 𝑓𝑠
𝐾𝐼𝑓 (𝐾𝐼 )2
𝑓
∆𝑉𝑜, 𝐸𝑆𝑅 = ∆𝑖𝐶 𝑟𝐶 = ∆𝑖𝐿 𝑟𝐶
𝑉𝑎 = 𝑘𝜑𝜔 + 𝐼𝑎 𝑅𝑎
∆𝑉𝑜 ≈ ∆𝑉𝑜, 𝐸𝑆𝑅 = ∆𝑖𝐶 𝑟𝐶
𝑉𝑖𝑛 − 𝐾𝐼𝑎 𝜔
𝐼𝑎 =
𝑅𝑎 + 𝑅𝑓 𝑉𝑠
𝑉𝑜 =
1−𝐷
Phase-Controlled DC Motor Drives
𝑉𝑠 𝑉𝑠 𝐷𝑇
𝐼𝐿𝑚𝑖𝑛 = −
1 √2𝑉 𝐸𝑎 (1 − 𝐷)2 𝑅 2𝐿
𝑖̅𝑎 = { [𝑐𝑜𝑠(𝛼 − 𝜑) − 𝑐𝑜𝑠(𝛽 − 𝜑) − (𝛽 − 𝛼)]}
𝜋 𝑍 𝑅𝑎
𝐷(1 − 𝐷)2 𝑅
1 𝐸𝑎 √2𝑉 𝛼−𝛽 𝐿𝑚𝑖𝑛 =
− {𝑡𝑎𝑛 𝜑 [ − 𝑠𝑖𝑛(𝛼 − 𝜑)] [𝑒 𝑡𝑎𝑛 𝜑 − 1]} 2𝑓𝑠
𝜋 𝑅𝑎 𝑍
∆𝑉𝑜 𝐷
1 =
𝑣̅𝑡 = [𝐸 (𝜋 + 𝛼 − 𝛽) − √2𝑉(𝑐𝑜𝑠 𝛽 − 𝑐𝑜𝑠 𝛼)] 𝑉𝑜 𝑅𝐶𝑓𝑠
𝜋 𝑎
𝐷
Chopper-Controlled DC Motor Drives 𝐶=
∆𝑉𝑜
𝑅 ( ) 𝑓𝑠
𝑉𝑜
𝑑𝑖𝑎 𝑅𝑎 𝑖𝑎 𝑣𝑡 − 𝐸𝑎
+ =
𝑑𝑡 𝐿𝑎 𝐿𝑎 ∆𝑉𝑜, 𝐸𝑆𝑅 = ∆𝑖𝐶 𝑟𝐶 = 𝐼𝐿,𝑚𝑎𝑥 𝑟𝐶
𝑉 − 𝐸𝑎 𝑡
− 𝑜𝑛
𝑡
− 𝑜𝑛
𝑖𝑎 = (1 − 𝑒 𝜏𝑎 ) + 𝐼𝑎2 𝑒 𝜏𝑎
𝑅𝑎

𝐿𝑎
𝜏𝑎 =
𝑅𝑎

𝐼𝑎2 is the initial condition current


𝑡
− 𝑜𝑛
𝑉 (1 − 𝑒
𝜏𝑎 )
𝐸𝑎
𝐼𝑎1 = 𝑇𝑝 −
𝑅𝑎 − 𝑅𝑎
(1 − 𝑒 𝜏𝑎 )

𝑡𝑜𝑛

𝑉 (𝑒 − 1) 𝐸𝑎
𝜏𝑎

𝐼𝑎2 = −
𝑅𝑎 𝑇𝑝 𝑅𝑎
(𝑒 𝜏𝑎 − 1)

𝑟𝑚𝑠 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑓𝑢𝑛𝑑𝑎𝑚𝑒𝑛𝑡𝑎𝑙


𝑟𝑖𝑝𝑝𝑙𝑒 𝑓𝑎𝑐𝑡𝑜𝑟 =
𝑎𝑣𝑒𝑟𝑎𝑔𝑒 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑐𝑢𝑟𝑟𝑒𝑛𝑡

DC-DC Converters

𝑉𝑜 = 𝐷𝑉𝑑
𝑣𝑐𝑜𝑛𝑡𝑟𝑜𝑙
𝑉𝑜 = 𝑉𝑑
𝑉̂𝑠𝑡

𝑡𝑜𝑛
𝑉𝑜 = 𝑉
𝑇𝑠 𝑑

𝐼𝑑
𝐼𝑜 =
𝐷
𝑉𝑑 𝑇𝑠
𝐼𝐿𝐵 = 𝐷(1 − 𝐷)
2𝐿

𝐼𝐿𝐵 = 4𝐼𝐿𝐵𝑚𝑎𝑥 𝐷(1 − 𝐷)

(1 − 𝐷)𝑅
𝐿𝑚𝑖𝑛 =
2𝑓𝑠

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