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DC Machines
Shunt-connected DC Machine
DC Machines
di f
Va ea ra ia Lla
dt
dia
dt
ea r Laf i f
DC Machines
For the field winding :
V f rf i f L ff
di f
dt
L ff
rf
d
dt
V f rf (1 f )i f
For the armature winding :
di
Va ea ra ia Lla a
dt
L
a aa
ra
ea r Laf i f
Va ra (1 a )ia ea
Te TL ( Bm J p)
if
1
rf
f p 1
V f G1
1
ra
Va r Laf i f G2
if
a p 1
1
Te TL G3
J p Bm
Te Laf ia i f
Vf
G1
if
Laf
G2
G3
ia
Va
X
r
Vf
X
if
6
State-space equations
Let
X t i f , ia , r
r r (t )dt r (0)
0
rf
L ff
if
1
Vf
L ff
L
dia
r
1
a ia af i f r
Va
dt
Laa
Laa
Laa
Laf
Bm
d r
1
r
i f ia TL
dt
J
J
J
The field flux in the Permanent Magnet machines is produced by a permanent magnet located on the stator.
Therefore,
Lsfif is a constant determined by the strength of the magnet, the reluctance of the iron, and the number of turns of the armature winding.
Laf i f K v Constant
Dynamic equations,
Va ra (1 a P )ia ea
Laa
a
,
ra
d
P
dt
Te TL ( Bm JP) r
Te K v ia ,
ea K v r
10
1
ia
ra
1
G1
ea ra a p 1 a p 1
r
1
G2
Te TL JP Bm
11
Va
+
ea
G1
ia
Kv
Te +
-
Kvr
G2
TL
Kv
12
State-space equations
dia
ra
Kv
1
ia
r
Va
dt
Laa
Laa
Laa
Bm
Kv
d r
1
r r TL
dt
J
J
J
13
X AX BU
P
ia
ra
Laa
Kv
J
Kv
Laa
Bm
1
ia Laa
r 0
0
Va
1 TL
14
Transfer Function,
Let
G1
r
,
ra
G2
ra
a11
Laa
Kv
a12
Laa
Kv
a21
J
Bm
a12
J
1
b11
Laa
1
b22
J
r
TL
15
In a matrix representation,
a12
( P a11 )
a
( P a22 )
21
ia b11Va
b T
r 22 L
AX B
17
Solving for ia
a12
b11Va
b T ( P a )
22
22 L
ia
( P a11 )( P a22 ) a12 a21
ia
b11Va ( P a22 )
18
Let m be,
Jra
m 2
Kv
1
1
Bm
ra P
( a m )TL
Va
a
J
Kv
ia
1 Bm
1 1 Bm
2
P
J
a
a m J
19
a m Va P TL
Kv
a
J
r
1 Bm
1 1 Bm
2
P
a J
a m J
2
n2
n
G1
with TL 0 ( No - Load Condition)
Va
n
G2
with Va 0
TL
21
damping factor
n
b1,b2 n n 2 1
22
23