Chapter 3

1.

di a
Va = i a ( R a + R se ) + ( La + Lse ) + Mi a ωm (3.1)
dt

Te = Mi 2a (3.2)

In steady state

i a = Ia = constant (3.3)

di a
=0 (3.4)
dt

va = Va (3.5)

Therefore the steady state equations are,

Va = RIa + MIa ωm (3.6)

Te = MIa2 (3.7)

where

R = R a + R se (3.8)

From (3.6),

Va
Ia = (3.9)
R + Mωm

Substituting this in (3.7),

M
Te = MIa2 = Va2 (3.10)
( R + Mωm )
2

Normalization is as follows:

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 Te MVa2 1 MVa2 1 Va2 1
= ⋅ = ⋅ 2 = ⋅
Tb ( R + Mωm ) Tb ( R + Mωm ) MI b ( R + Mωm ) ( Vb Zb ) 2
2 2 2

2 2 (3.11)
 Va   1  Van2
=   ⋅   =
 Vb   ( R + Mωm ) Zb  ( R n + M n ωmn )
2

where

Va 
Van = , p.u. 
Vb

R 
Rn = , p.u. 
Zb 
 (3.12)
M
Mn = , p.u. 
Lb 

ωm
ωmn = , p.u.
ωb 

The subscript b denotes base values and subscript n indicates normalized variables.

2.

2πN 2π× 1750

ωmr = = = 183.26 rad sec
60 60

100 × 745.6
Ter = = 406.85 N ⋅ m
ωmr

Ter
Iar = = 153.76 A
Kb

(i) Ia = Iar:

em1 = Vmax − Iar R a = 500 − 153.76 × 0.088 = 486.47 V = e mr

e m1 486.47
ωm1 = = = 183.85 rad s
Kb 2.646

ωm1 183.85
ωm1n = = = 1.0032, p.u.
ωmr 183.26

(ii) Flux weakening region:

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 em1 486.47
emn = = = 1 p.u.
e mr 486.47

emn 1
φfn = =
ωmn ωmn

ωmax = 2 p.u.

emn 1
φfn ( min ) = = = 0.5 p.u.
2 2

1
Ten = φfn Ian = φfn , p.u. = for {1.0032 < ωmn < 2}
ωmn

(iii) Armature Control:

Ia = 1.2Iar

Te max = K b Ia

Te max
Ten = = 1.2 p.u.
Ter

em = Vmax − 1.2Iar R a = 483.76V

e m 483.76
ωm1 = = = 182.828 rad s
Kb 2.646

ωm1 182.828
ωm1n = = = 0.9976 p.u.
ωmr 183.26

Flux weakening control:

e max 483.76
en = = = 0.9944
em1 486.47

en
ωmn =
φfn

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 en 0.9944
∴φfn = = for ωm1n < ωmn < 2
ωmn ωmn

1.2 × 0.9944 1.1933

Ten = φfn Ian = φfn × 1.2 = 1.2φfn = = , p.u.
ωmn ωmn

The machine characteristics are then plotted and shown in Figure 3.1.

Ten , Pan , en , φfn

Pan ( Iar = 1.2 p.u.)
0.9976 p.u. speed
1.2 e an = 1 p.u. ( I ar = 1 p.u.) , Pan

1 also ( Iar = 1.2 p.u.)

for Iar = 1.2 p.u. 
0.9944 p.u.

Iar = 1.2 p.u.

1.0032 p.u.
ωmn , p.u.
0 1.0 2.0

Figure 3.1 Machine characteristics in first quadrant- Problem 2 CH3.

3.

2π ⋅1750
ωmr = = 183.26 rad/sec (3.13)
60

100 ⋅ 745.6
Ter = = 406.85 N ⋅ m (3.14)
ωmr

Ter 406.85
Iar = = = 153.76 A (3.15)
Kb 2.646

Va = R a Iar + K b ωmr = ( 0.088 ⋅153.76 ) + ( 2.646 ⋅183.26 ) = 498.44 V (3.16)

But

Va = 1.35V cos α (3.17)

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 and therefore,

 Va  −1  498.44 
α = cos −1   = cos   = 36.62
o
(3.18)
 1.35V   1.35 ⋅ 460 

The subscript r denotes rated values.

4.

V = 1.35V cos α = R a Ia + K b ωm (3.19)

but Ia = Iar as load is constant and ωm varies from 0 to 1 p.u. Normalize this equation as

1.35V cos α R a Ia + K b ωm
=
Vb Vb
(3.20)
R I K ω
1.35Vn cos α = a a + b b = R an Ian + ωmn
Zb I b K b ωb

From this,

 R I + ωmn 
α = cos −1  an an  (3.21)
 1.35Vn 

Ra
R an =
Zb

Vb
Zb =
Ib

Vb = 500V

I b = Iar = 153.76 A

500
∴ Zb = = 3.252 Ω
153.76

0.088
R an = = 0.027 p.u.
3.252

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 V 460
Vn = = = 0.92 p.u.
Vb 500

Iar
Ian = = 1 p.u.
Ib

Hence,

 0.027 + ωmn  −1  0.027 + ωmn 

α = cos −1   = cos  
 1.35 ⋅ 0.92   1.242 

The plot of triggering angle vs. normalized speed is plotted and shown in Figure 3.2.

100
90
80
70
α, degrees 60
50
40
30
20
10
0
0 0.2 0.4 0.6 0.8 1
ωmn , p.u.

Figure 3.2 Normalized triggering angle vs. speed – Problem 4 Ch3.

5.

(i) V = R a Iar + K b ωmr

Ter
Iar =
Kb

P 250 × 745.6
Ter = = = 1, 424 N ⋅ m
ωmr 2π× 1250
60

2π×1250
ωmr = = 130.89 rad s ec
60

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 Substituting for Iar ,

R a Ter
V= + K b ωmr
Kb
( ωmr ) K 2b − ( V ) K b + R a Ter = 0
V ± V 2 − 4R a Ter ωmr
∴Kb =
2ωmr
 V 
 only positive sign as K b > 
 2ωmr 
∴ K b = 3.6654 v/rad/sec

Te 1424
Iar = = = 388.496 A
K b 3.6654

(ii) Va = K b ωm + R a Ia

Va − K b ωm
Ia =
Ra

Kb 3.6654
Te = K b Ia = [1.35V cos α − K b ωm ] = [1.35 × 460 × cos α − 3.6654ωm ]
Ra 0.052
Te = 70.488 [ 621cos α − 3.6654ωm ]

Te 70.488
Ten = = [ 621cos α − 3.6654ωm ]
Ter 1424
Ten = [30.74 cos α − 0.1814ωm ] , p.u.
Ten = [30.74 cos α − 0.1814 × 130.89ωmn ] , p.u.
Ten = [30.74 cos α − 23.74ωmn ] , p.u.
 ωm 
Q = ωmn or ωm = ωmn × ωmr 
 ωmr 

The torque –speed characteristics as a function of triggering angle is shown in Figure 3.3.

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 30

α = 0o

20
= 30o
Ten , p.u.

10
α = 60o

α = 75o

0 0.5 1

ωmn , p.u.

Figure 3.3 Torque vs. speed for various triggering angles –

Problem 5 in Ch3.

6.

Note to the instructor: The line to line voltage for the phase controller is 100 V. Please
announce this to your students.

The electromagnetic torque is,

Te = K b I a
K b [1.35 V cos α − K b ω m ]
= = B t ω 2m
Ra

Let rated torque be,

Ter = B t ω 2mr = K b I ar
Te 1.35Vn cos α − ω mn
Ten = =
T er R an
B t ω 2m
Tln = = ω 2mn
B t ω 2mr

but,

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 Ten = Tln

and equating the right hand sides of the Ten and Tln expressions, we get

 ω (1 + R an ω mn ) 
α = cos −1  mn 
 1.35Vn 

where Vb = 120 V

P 2.625 × 745.6
Ib = o = = 16.31 A
Vb 120
Vb 120
Zb = = = 7.357 Ω
I b 16.31
Ra 0 .8
R an = = = 0.1087 p.u.
Z b 7.357
V 100
Vn = = = 0.833 p.u.
Vb 120

Varying ωmn from 0 to 1 p.u., α vs. ωmn and Ten vs. ωmn are evaluated and shown in figure
3.4. The program for this problem is also given below.

Ten

Figure 3.4

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 %
% Chapter 3 Problem 6
%
clear all; close all;
%
Po=2.625 % Rated output power, hp
Vb=120; % Rated machine voltage, V
Ra=0.8; % Armature resistance, Ohm
La=0.003; % Armature inductance, H
Kb=0.764; % Emff constant, V/rad/sec
V=100; % Line to line ac volt -not given in the problem- assume
%
Ib=Po*745.6/Vb
zb=Vb/Ib
ran=Ra/zb
vn=V/Vb
n=1;
for wmn = 0:0.05:1
n=n+1;
alfa(n)=acos(wmn*(1+ran*wmn)/(1.35*vn));
ten(n)=wmn^2;
speed(n)=wmn;
end
%Plotting
plot(speed,alfa,speed,ten);
grid on;
ylabel('Alfa,rad & air gap torque, p.u.');
xlabel('speed, p.u.')

7.

(i) Problem 5

La 2 ⋅10−3 2
τa = = −3
= = 0.0385 s
R a 52 ⋅10 52

(ii) Problem 6

J 5
τm = = = 83.33 s
Bt 0.06

8.
(i)

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 Vr = 500V
1250 ⋅ 2π
ωmr =
60
K b = 3.665
Iar = 388.5A

1.35V 1.35 ⋅ 460

Kr = = = 62.1V V
Vcm 10
1
Tr = = 1.388ms
12f s
J
Tm = = 83.33s
Bt
V 500
Vc max = r = = 8.052V
K r 62.1
I max = 2Iar = 2 ⋅ 388.5 = 777A
V 8.052
H c = c max = = 0.01036 V A
Imax 777
B 0.06
K1 = 2 t = 2
= 4.467 × 10−3
K b + R a Bt 3.665 + 0.052 ⋅ 0.06
2
1 1 1  Bt R a  1  Bt R a   K 2b + R a Bt 
− ,− = −  + ±  +  − 
T1 T2 2  J La  4  J La   JLa 
T1 = ( 9.7 + j25.5 )10−3
T2 = ( 9.7 − j25.5 )10−3
K 2 = K1K r Tm = 23.11
 1 
T1T2
Kc ≅   = 1.1189
2Tr K 2Hc 
Tc ≅ 4Tr = 0.0056sec

Open loop current transfer function:

K (1 + sTc )
GH i =
(1 + sT1 )(1 + sT2 )(1 + sTr )
K1K c K r H c Tm
K= = 48.23
Tc

Closed loop transfer function:

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 Kc
K2 (1 + sTc )
Tc
=
b0 + b1s + b 2s 2 + b3s3
K
b 0 = 1 + K 2 c H c = 49.231
Tc
b1 = T1 + T2 + Tr + K 2 K c H c = 0.2887
b 2 = ( T1 + T2 ) Tr + T1T2 = 7.712 ×10−4
b3 = T1T2 Tr = 1.0338 × 10−6

From open loop response, zero cross over occurs with a slope of −20 dB dec and has a
phase margin of 40o .

The closed loop system has a bandwidth of 400 rad/sec and has an overshoot of 35%.

Closed loop poles are:

 −2.0468 + j3.1554 
100*  −2.0468 − j3.1554 
 −3.366 

The poles of the system without approximations are:

 −2.0468 ± j3.1554 
100*  −3.366 

 −0.001 

The responses are shown in figure 3.5. Identical frequency responses for the system with
and without approximations are noted.

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 Open loop frequency response Closed loop frequency response

Figure 3.5 Current controller design- Problem.8 in Ch3.

% Ch3 Problem 8
% Case (i) Linearized controller (ii) Not linearized controller
close all; clear all;
J=5, Bt=0.06;
Ra=0.052; La=0.002;
Vr=500; nr=1250;Kb=3.665; Iar=388.5, Vcm=10;;fs=60;
V=460;
%
%Kr=1.35*V/Vcm %Case(i) Linearized converter
Kr=-1.15*V*(pi/2)/(-Vcm) % Not linearized converter
Tm=J/Bt
Tr=1/(12*fs)
Vcmax=Vr/Kr
Imax=2*Iar
Hc=Vcmax/Imax
%
K1=Bt/(Kb^2+Ra*Bt)
a=-(Bt/J+Ra/La)/2+sqrt(1/4*(Bt/J+Ra/La)^2-(Kb^2+Ra*Bt)/(J*La));
b=-(Bt/J+Ra/La)/2-sqrt(1/4*(Bt/J+Ra/La)^2-(Kb^2+Ra*Bt)/(J*La));

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 T1=-1/a
T2=-1/b
K2=K1*Kr*Tm
Kc=T1*T2/(2*Tr*K2*Hc)
Tc=4*Tr
% Open loop transfer function
K=K1*Kc*Kr*Hc*Tm/Tc
num1=K*[Tc 1]
den1=[T1*T2 T1+T2 1]
g1=tf(num1,den1)
num2=[1]
den2=[Tr 1]
g2=tf(num2,den2)
ghi=g1*g2 % Open loop transfer function
figure(1);
bode(ghi) % Open loop bode plot
% Closed loop transfer function
b0=1+K2*Kc/Tc*Hc
b1=T1+T2+Tr+K2*Kc*Hc
b2=(T1+T2)*Tr+T1*T2
b3=T1*T2*Tr
num=K2*Kc/Tc*[Tc 1]
den=[b3 b2 b1 b0]
cltf=tf(num,den) % Closed loop transfer function
figure(2);
bode(cltf) % Bode plot closed loop
figure(3);
step(cltf) % Step response
% Accurate computations of Kc and Tc
kc=(T1*T2-(T1+T2+Tr)*2*Tr)/(2*Tr*K2*Hc)
tc=2*K2*kc*Hc*((T1+T2)*Tr+T1*T2)/((T1+T2+Tr+K2*kc*Hc)^2-
2*((T1+T2)*Tr+T1*T2))
tc1=2*K2*kc*Hc*T1*T2/((T1+T2+Tr+K2*kc*Hc)^2-2*T1*T2)
%They are correct!!!
K=pole(cltf)
%Transfer function without approximations
num4=Kc*[Tc 1]
den4=[Tc 0]
Gc=tf(num4,den4) % Current controller transfer function
num5=Kr
den5=[Tr 1]
Gr=tf(num5,den5) % Converter transfer function
num6=K1*[Tm 1]
den6=[T1*T2 (T1+T2) 1]
Gvi=tf(num6,den6)
num7=Gc*Gr*Gvi

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 feedc=tf(Hc,1)
GI=feedback(num7,feedc,-1)
%GI=G/(1+Hc*G)
KP=pole(GI)
figure(4);
bode(GI)
figure(5);
step(GI)

(ii) The controller is not linearized. Then the design procedure is very similar but for the
modeling of converter circuit. It is derived as follows:

Vdc = 1.35V cos α

dVdc
= −1.35V sin α
dα

As α varies from 0 to π 2 , the gain varies from 0 to –1.35V. If there is a prevalently

used operating point, which, we say is α = π 4 , then the gain is –0.955 V. Therefore,
taking the average of maximum and operating point voltages, the gain is given by –1.15
V for the converter alone. But the converter precedes a block that transforms a control
voltage into triggering delay, α . It will convert, in the present case, from 0 to –10 V into
a variation of triggering delay of 0 to π 2 linearly. Therefore, its transfer function is

α π2 π2
= = = −0.157 rad V
Vc1 Vcm −10

The overall gain of the converter and its triggering control circuit is the product of their
gains and given by

dVdc α
Kr = ⋅ = −1.15V × ( −0.157 ) = 0.1806V, V V
dα Vc1

The time constant is the same for the linearized converter, Tr . Hence the transfer function
is given by
Kr 83.1
Gr (s ) = =
1 + sTr (1 + 0.00139s )

Using this G r ( s ) , the current controller is designed much similar to that of the linearized
converter case and the results are given below.

Case(ii) Converter not linearized.

With approximations:

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 Iar = 388.5000
Kr = 83.0951
Tm = 83.3333
Tr = 0.0014
Vcmax =6.0172
Imax = 777
Hc = 0.0077
K1 = 0.0045
T1 = 0.0097 + 0.0255i
T2 = 0.0097 - 0.0255i
K2 = 30.9241
Kc = 1.1189
Tc = 0.0056
K = 48.2310

Open Loop Transfer function:

0.2679 s + 48.23
----------------------------------------------
1.034e-006 s^3 + 0.0007712 s^2 + 0.02075 s + 1

Closed Loop Transfer function:

34.6 s + 6228
-------------------------------------------------
1.034e-006 s^3 + 0.0007712 s^2 + 0.2887 s + 49.23

Closed loop poles K =

1.0e+002 *

-2.0468 + 3.1554i
-2.0468 - 3.1554i
-3.3666
Calculations without approximations:

Closed Loop Transfer function:

0.1922 s^2 + 34.6 s + 0.4152
--------------------------------------------------------------------
5.743e-009 s^4 + 4.284e-006 s^3 + 0.001604 s^2 + 0.2735 s + 0.003215

KP (closed loop poles) =

1.0e+002 *
-2.0467 + 3.1554i
-2.0467 - 3.1554i
-3.3667
-0.0001

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 There is hardly any difference in the results between the two cases. With the limiter in
time domain simulation, a small difference will be noted because of a higher gain in case
(ii).

9.

Note: It is not a unity feedback voltage loop since the voltage command and actual
voltage are at different levels. The block diagram with inner voltage loop will be as
shown in Figure 3.6
Kr
vc + Kv vdc
− 1 + sTr

1
Kr

Figure 3.6 Inner voltage feedback loop -Problem 9 Ch3.

The transfer function between vdc and vc is

Vdc ( s ) Kv Kr
=
Vc ( s ) 1 + K v  Tr 
1+ s  
 1+ Kv 

If K v > 1 , which normally is the case, then

Vdc ( s ) Kr
=
Vc ( s ) T 
1+ s  r 
 Kv 

The transfer function has only changed in terms of its time constant by Tr K v as
compared to Tr . The time constant has decreased by K v and will result in fast response
of the converted.

The current controller gain will increase by K v times as shown by

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 1 T1Tc  1   1 T1Tc  1 
Kc =   = Kv   
2 Tr K v  K1K r H c Tm   2 Tr  K1K r H c Tm  

Because of this, the current response will be faster.

10.

The Matlab program is given below for this problem and then the results follow.

% Assignment 3: Finding the transfer functions of the phase

% controlled dc motor drives.
% Problem 3.10
Vac=230;
f=60;
Vdc=230;
Po=745.6*40;
N=1500;
Ra=0.066;La=6.5e-3;J=25;B1=0.4;Hc=0.05;Hw=0.576;Tw=0.002;Kb=1.33;
%
Trated=Po/(2*pi*N/60)
Bt=Trated/(2*pi*N/60)
Bl=B1+Bt
Idc=Trated/Kb
K1=Bl/(Kb^2+Ra*Bl)
Vs=1.35*Vac %DC Link voltage
Imax=1.2*Idc
Max_safe_control_voltage=Hc*Imax
Vcm=Max_safe_control_voltage*Vs/Vdc
Kr=Vs/Vcm
Tm=J/Bl
Tr=(1/12)*(1/f)
a2=-(-0.5*(Bl/J+Ra/La)+sqrt(0.25*(Bl/J+Ra/La)^2-((Kb^2+Ra*Bl)/(J*La))))
a1=-(-0.5*(Bl/J+Ra/La)-sqrt(0.25*(Bl/J+Ra/La)^2-((Kb^2+Ra*Bl)/(J*La))))
T2=1/a2;
T1=1/a1;
Tc=T2
K=T1/(2*Tr)
Kc=K*Tc/(K1*Hc*Kr*Tm)
Kfi=Kc*Kr*K1*Tm*Hc/Tc
Ki=Kfi/(Hc*(1+Kfi))
Ti=(T1+Tr)/(1+Kfi)
T4=Ti+Tw
K2=Ki*Kb*Hw/(Bl*Tm)
Ks=1/(2*K2*T4)
Ts=4*T4
%

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 num1=Kb/Bl;
den1=[Tm 1];
gmi=tf(num1,den1);
num2=K1*[Tm 1];
den2=[T1*T2 (T1+T2) 1];
giv=tf(num2,den2);
num3=Kc*[Tc 1];
den3=[Tc 0];
gc=tf(num3,den3);
num4=(Ks)*[Ts 1];
den4=[Ts 0];
gs=tf(num4,den4);
num5=Hw;
den5=[Tw 1];
gw=tf(num5,den5);
num6=Kr;
den6=[Tr 1];
gr=tf(num6,den6);
% for purposes of cancellation of current controller functions
den2a=[T1 1];
giv1=tf(num2,den2a);
den23=[1 0];
gc1=tf(1,den23);
% current loop transfer function
num7=giv1*gr*gc1;feedc=tf(Hc,1);
iam=feedback(num7,feedc,-1);
%speed loop transfer function
num8=iam*gmi*gs;
%
wmm=feedback(num8,gw,-1);
% poles of the system
[num9,den9]=tfdata(wmm, 'v');
poles=roots(den9)
%simplified speed loop transfer function
num10=[4*T4 1];
den10=[8*T4^3 8*T4^2 4*T4 1]*Hw;
ssloop=tf(num10,den10);
figure(1);
bode(iam);
figure(2);
bode(wmm);
figure(3);
bode(wmm,ssloop);
% Program ends here

Results:

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 Trated = 189.8655 Rated torque
Bt = 1.2087 Load friction coef.
Bl = 1.6087 Total friction coef.
Idc= 142.7560 Rated armature current
K1 = 0.8580
Vs = 310.5000 Max. dc voltage
Imax = 171.3072
Vcm = 8.5654
Vcmax = 11.5632
Kr = 26.8523
Tm = 15.5403
Tr = 0.0014
a2 = 1.2928
a1 = 8.9254
T1 = 0.7735
T2 = 0.1120

Tc = 0.1120

K = 278.4604

Kc = 1.7429

Kfi = 278.4604
Ki = 19.9284
Ti = 0.0028
T4 = 0.0048
K2 = 0.6107

Ks = 171.5492
Ts = 0.0191

Current closed loop Transfer function:

5.184e006 s + 3.336e005
------------------------------------------
s^3 + 721.3 s^2 + 2.601e005 s + 1.668e004

The frequency and time responses are shown in Figure 3.7.

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 Closed speed loop frequency responses: Approximate, and with and without compensation of zero.

Simplified
Actual
Compensated

Simplified
Actual
Compensated

Actual

Simplified
Step responses

Compensated

Figure 3.7 Responses of the system – Problem 10 Ch3.

11.

Note to instructors: Example referred here is 3.6 but not 3.5. Please let your students
know about this error.

Removal of inner current feedback control loop results in the block diagram shown in
Figure 3.8(a).

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 vc v dc
K s (1 + sTs ) Kr K1K b B t
ω *
+ ωm
r
_ sTs 1 + sTr (1 + sT1 )(1 + sT2 )
ωr Speed Limiter Converter Motor
Controller

Hω
( sTω )
1 +

Figure 3.8(a) The speed control system without inner current loop– Problem 11 Ch3.

In order to find the speed controller gain and time constants for this scheme, the
following assumption is made:

Tr << T1 , T2
Tω << T1 , T2

Therefore the closed loop speed to its reference transfer function is,

ωm ( s ) 1 K 2 H ω (1 + sTs ) 1 K 2 H ω (1 + sTs )
= =
ωr ( s ) H ω {s ( T1T2 ) + s ( T1 + T2 ) + s (1 + K 2 H ωTs ) + K 2 H ω } H ω a 0 + a1s + a 2s 2 + a 3s3
* 3 2

where

K s K1K b K r
K2 =
Ts Bt
a 0 = K 2Hω
a1 = 1 + K 2 H ωTs
a 2 = T1 + T2
a 3 = T1T2

Applying the symmetric optimum conditions given by

a12 = 2a 0 a 2
a 22 = 2a1a 3

we get

(1 + K 2 H ωTs ) = 2K 2 H ω ( T1 + T2 )
2

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 ( T1 + T2 ) = 2 (1 + K 2 H ωTs ) T1T2
2

but

Ks
K 2Hω = a 4
Ts

where

K 1K b K r H ω
a4 =
Bt

Substituting the above in previous equation,

 ( T1 + T2 ) 2 
 − 1
 2T1T2 
Ks =  
a4
2a ( T + T ) K
Ts = 4 1 2 2 s
(1 + a 4 K s )
The step response to the speed command without current control loop is shown in Figure
3.8(b) for models with and without approximations.

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 Speed response without approximations
Speed response with approximate model

Step command
Speed,rad/sec

Time, sec

Figure 3.8(b) Step speed response with and without approximations in the system model
– Problem 11 Ch3.

Matlab program for the problem is given below:

% Problem 3.11 For the case where there is a current and a speed loop.
% Finding the transfer functions of the phase
% controlled dc motor drives.
clear all; close all;
Vac=230; % Ac line to line rms input voltage
f=60; % Supply frequency
Vdc=220; % Voltage rating of the machine
N=1470; % Speed, rpm
Ra=4; % Armature resistance
La=72e-3; % Armature inductance
J=0.0607; % Moment of inertia
Bt=0.0869; % Total friction coefficient
Hc=0.3545; % Current transducer gain
Hw=0.065; % Speed transducer gain
Tw=0.002; % Speed transducer time constant
Kb=1.26; % Back emf constant
%
Idc=8.3 % Rated armature current

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 K1=Bt/(Kb^2+Ra*Bt) % K1
Vs=1.35*Vac % DC Link voltage
Imax=20 % Maximum armature current
Vcm=Hc*Imax % Vcmax
Vcmax=Vcm*Vs/Vdc % Vcm
Vcmax=10
Kr=Vs/Vcmax % Gain of the converter
Tm=J/Bt % Mechanical time constant
Tr=(1/12)*(1/f) % Time constant of the converter
a2=-(-0.5*(Bt/J+Ra/La)+sqrt(0.25*(Bt/J+Ra/La)^2-((Kb^2+Ra*Bt)/(J*La))))
a1=-(-0.5*(Bt/J+Ra/La)-sqrt(0.25*(Bt/J+Ra/La)^2-((Kb^2+Ra*Bt)/(J*La))))
T1=1/a2 % T1 of the machine and load
T2=1/a1 % T2 of the machine and load
Tc=T2 % Integral time constant of the current controller
K=T1/(2*Tr) %K
Kc=K*Tc/(K1*Hc*Kr*Tm) % Kc
Kfi=Kc*Kr*K1*Tm*Hc/Tc % Kfi
Ki=Kfi/(Hc*(1+Kfi)) % Current loop gain (approximated)
Ti=(T1+Tr)/(1+Kfi) % Current loop time constant (approximated)
T4=Ti+Tw % T4
K2=Ki*Kb*Hw/(Bt*Tm)
Ks=1/(2*K2*T4)
Ts=4*T4 % Integral time constant of the speed controller
%
num1=Kb/Bt;
den1=[Tm 1];
gmi=tf(num1,den1); % Transfer function between speed and armature current
num2=K1*Kc*[Tm 1];
den2=[T1 1];
giv=tf(num2,den2); % Machine trf. function between armature current and voltage
%num3=Kc*[Tc 1];
%den3=[Tc 0];
%gc=tf(num3,den3); % Current controller transfer function
num4=(Ks)*[Ts 1];
den4=[Ts 0];
gs=tf(num4,den4); % Speed controller transfer function
num5=Hw;
den5=[Tw 1];
gw=tf(num5,den5); % Speed feedback transfer function
num6=Kr;
den6=[Tr 1];
gr=tf(num6,den6); % Phase controlled converter transfer function
% for purposes of cancellation of current controller functions
% current loop transfer function
% Minimize the transfer function - This step is necessary to get the equivalent of
% analytical transfer function

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 cloop1=minreal(giv*gr/(1+Hc*giv*gr)) % Closed loop current transfer function
%speed loop transfer function
num8=cloop1*gmi*gs;
wmm=feedback(num8,gw,-1);
sploop= minreal(wmm) % Closed speed loop transfer function
% poles of the system
Poles=pole(sploop)
%simplified speed loop transfer function
num10=[4*T4 1];
den10=[8*T4^3 8*T4^2 4*T4 1]*Hw;
ssloop=tf(num10,den10); % Simplified speed loop transfer function
figure(1);
bode(cloop1);
figure(2);
bode(sploop);
figure(3);
bode(sploop,ssloop);
num11=[1];
den11=[4*T4 1];
smooth=tf(num11,den11);
spcomp=minreal(sploop*smooth) % Compensated speed loop trf. function with cancelled
zero
figure(4);
bode(ssloop,sploop,spcomp); % Bode plots of all speed loop transfer functions
figure(5);
step(ssloop,sploop,spcomp) % Step responses of speed
%bode(ssloop,sploop,spcomp); % Bode plots of all speed loop transfer functions
%figure(5);
%step(ssloop,sploop,spcomp) % Step responses of speed

12. Tr >> T1 , T2

Using the block diagram for current control loop shown in Figure 3.30 in the textbook
(pp. 76), the characteristic equation of the closed loop system is derived for two cases:

Case (i): Tc = T1

s 2 + 2ζωn s + ωn2 = 0

where

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Full file at http://AplusTestbank.eu/Solution-Manual-for-Electric-Motor-Drives-Modeling-Analysis-and-Control-130910147

 aH c
ω2n =
T1T2
Tm
1 + Hca
T1 H c aTm
2ζωn = =
T2 T1T2
a = K1K c K r

from which damping ratio is

Tm
ζ = aH c
T1T2

Case (ii): Tc = T2

Based on approach outlined in case (i), the damping ratio is derived and given by,

Tm
ζ = aH c
T1T2

Therefore, the damping ratio is not affected by which pole is cancelled in the machine for
current controller design.

13.

(i) Design of gating circuitry: Very much similar to gating circuitry of full wave phase
controlled converter discussed in the textbook except only three gating amplifiers are
required for T1, T3, and T5.

(ii) Harmonic analysis of output voltage: To do this, a load has to be assumed. Consider
a resistive load. In that case, 0< α <120o. The solution is straight forward for this case
using Fourier series considering the fundamental at 360 Hz.

14.

Consider α =60o and find the average output voltage from which evaluate armature
current and hence air gap torque. The mode of operation is determined by evaluating
critical triggering angle vs. speed. The speed at which α c ≥ 60° gives the discontinuous
mode of conduction region. The torque vs. speed plot is shown in figure 3.9 for α = 60° .

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 10 * α c , rad

10 * α, rad

Torque, p.u.

Discontinuous
current
conduction
Continuous current mode
conduction mode

Speed, p.u.

Figure 3.9 Normalized torque vs. speed for triggering angle of 60 deg. –Problem 14 Ch3.

The program for this problem is given below:

% Chapter 3 Problem 14
%
% Assume triggering delay = 60 degrees for this problem.
%
clear all; close all;
% data
v=230; % also line to line input voltage to the converter
po=40*745.6;
nrated=1500;
wb=2*pi*nrated/60;
ra=0.066;
la=0.0065;
kb=1.33;
fs=60;
ws=2*pi*fs;
alfa=60*pi/180
%
vb=kb*wb
vm=sqrt(2)*230;
beta=atan(ws*la/ra)

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Full file at http://AplusTestbank.eu/Solution-Manual-for-Electric-Motor-Drives-Modeling-Analysis-and-Control-130910147

 a1=sqrt(3)/2;
b1=1/2-exp(-pi/(3*tan(beta)));
c1=sqrt(a1^2+b1^2);
theta1=atan(b1/a1);
d1=(1-exp(-pi/(3*tan(beta))))/(sqrt(2)*c1*cos(beta));
%
% Torque vs. speed for alfa=60 deg.
% If Te <0, Te=0.
%

ib=po/vb
ran=ib*ra/vb
van=1.35*v*cos(alfa)/vb
j=0;
for wmn=0:0.01:1
j=j+1;
Ten(j)=(van-wmn)/ran;
if Ten(j)<0
Ten(j)=0;
end
alfac(j)=beta+acos(wmn*d1)-pi/3+theta1;
sp(j)=wmn;
alf(j)=alfa;
end
plot(sp,Ten,sp,10*alfac,sp,alf*10)
%
% compute critical triggering angle as a function of speed.

15.

This problem is intended for graduate students or for a final project. Preferably a team is
assigned to solve this problem and many assumptions are made in the course of solution
and, therefore, a solution is not given.

16.

The MATLAB problem is as follows:

% This is the simulation for Problem 16 in Ch 3 section 3.20,

% Armature Control
clear all;
close all;
% Machine parameters
Hw=0.0634;Hc=0.01124;Tw=0.002;

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 Po=150*745.6;
Vdc=230;
N=1500;
Ra=0.05;La=0.002;
Kb=1.6;
%Rated values
Trated=Po/(2*pi*N/60)
Idc=Trated/Kb
%Mechanical constants
J=0.16;
B=0.01;
% Input supply parameters
fs=60; % Line frequency, Hz
ws=2*pi*60;
Vs=230; % Line to line ac voltage
%Initial conditions
ia=0;
Tl=0;
alpha1=0;
wm=0;
x4=0;
x5=0;
x6=0;
% Times
dt=0.0001; %Time step for integration, second
t_final=0.2; %Final Time, s
t=0; %Initial time, s
%
% speed reference in volts
wmref=(2*pi*N/60)*Hw;
% Control voltage (maximum)
Vcm=10;
%
% Controller parameters
% Current controller
Kpi=100; Kii=1.5;
Tc=Kii/Kpi; Kc=Tc*Kpi;
%Speed controller
Kps=10;Kis=1;
Ts=Kis/Kps;Ks=Ts*Kps;
%
k=1;n=1;
t1=0;
while t <= t_final,
x4=x4+(Hw*wm-x4)*dt/Tw; % state x4
wmerr=wmref-x4;

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 x5=x5+wmerr*dt; % state x5
Iaref=(-Kps*x4+Kis*x5+Kps*wmref)*Hc/Kb;
% Multiplied with Hc for consistency with current feedback

if Iaref>Vcm, % armature current reference

Iaref=Vcm; % limiter
elseif Iaref<0,
Iaref=0;
end
%
x6=x6+(Iaref-ia*Hc)*dt; %PI Current controller
vc=(-Kpi*ia*Hc+Kii*x6+Kpi*Iaref); % control voltage and limiter
if vc>Vcm,
vc=Vcm;
elseif vc<0;
vc=0;
end

wst=ws*t1;
t1=t1+dt;
if wst>pi/3, % rollover of angular position for every 60deg
t1=0;
alpha1=acos(vc/Vcm); % triggering angle computation
end
%
Va=sqrt(2)*Vs*sin(wst+pi/3+alpha1); % armature input voltage
ia=(-(Ra/La)*ia-Kb*wm/La+Va/La)*dt+ia; % armature current
%
if ia<0, % limiting armature current to positive values
ia=0;
end

wm=wm+((Kb/J)*ia-(B/J)*wm-Tl/J)*dt; % rotor speed

t=t+dt; % incrementing time

k=k+1;

%if k==10,

wmrefx(n)=wmref;
wmx(n)=wm*Hw;
Iarefx(n)=Iaref;
Iax(n)=ia;
alphax(n)=alpha1;
Vax(n)=Va;

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 ex(n)=Kb*wm;
time(n)=t;
n=n+1;
k=0;
%end

end
% Plotting begins here with some necessary definitions
zeroline=[0 0];
zerotime=[0 t_final];
figure(1)
subplot(6,1,1) % plot of speed and its reference
plot(time,wmrefx/(wmref),'k:',time,wmx/(wmref),'k')
%axis([0 t_final 0 .5]);
%This set eliminates the y axis values!
set(gca,'xticklabel',[]);
subplot(6,1,2) % Armature current reference, p.u.
plot(time,Iarefx/(Hc*Idc),'k')
%axis([0 t_final 0 1.25]);
set(gca,'xticklabel',[])
subplot(6,1,3) % Armature current, p.u.
plot(time,Iax/Idc,'k')
%axis([0 t_final -.1 4.5]);
set(gca,'xticklabel',[])
subplot(6,1,4) % Triggering delay, rad
plot(time,alphax,'k')
%axis([0 t_final -0.1 1.7]);
set(gca,'xticklabel',[])
%set(gca,'ytick',[0 pi/2])
subplot(6,1,6) % Induced emf, p.u.
plot(time,ex/Vdc,'k')
%axis([0 t_final 0 .5]);set(gca,'xticklabel',[])
subplot(6,1,5) % Armature input voltage, p.u.
plot(time,Vax/Vdc,'k',zerotime,zeroline,'k:');
%axis([0 t_final -1 2]);
set(gca,'xticklabel',[])

The responses are shown in Figure 3.10.

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 ω*rn ,ωmn

i*an

i an

α, rad

v an

ean

0.01 0.02 0.03 0.04 0.05 0.06

Time,s
Dynamic performance of the phase controlled dc motor drive.
Figure 3.10 Dynamic performance of the phase controlled dc motor drive system.

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