Control Systems (ES-353)

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 Lec#08-09
Mathematical Modelling of
Electromechanical Systems
CLO-1

3
 Reference Books

1. Modern Control Engineering, (latest Edition) By Katsuhiko

Ogata.

2. Modern Control Systems, (latest Edition) By Richard C. Dorf

and Robert H. Bishop.
 Outline

• Electromechanical system
• Potentiometer
• DC Drives
 Electromechanical Systems
• Electromechanics combines electrical and mechanical processes.
• Devices which carry out electrical operations by using moving parts
are known as electromechanical.

– Relays
– Solenoids
– Electric Motors
– Switches

6
Potentiometer

7
 Potentiometer

• R1 and R2 vary linearly with θ between the

two extremes:


R1  Rtot
 max

 max  
R2  Rtot
 max

8
 Potentiometer
Figure-1
• Potentiometer can be used to sense
angular position, consider the circuit of
figure-1.

• Using the voltage divider principle we

can write:

R1 R1
eout  ein  ein
R1  R2 Rtot

R1  Rtot
  max
eout  ein
 max

9
 D.C Drives
• Speed control can be achieved using
DC drives in a number of ways.

• Variable Voltage can be applied to the

armature terminals of the DC motor .

• Another method is to vary the flux per

pole of the motor.

• The first method involve adjusting the

motor’s armature while the latter
method involves adjusting the motor
field. These methods are referred to as
“armature control” and “field control.”
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D.C Drives Parts

11
D.C Drive Parts

12
 D.C Drive -Basics
Yoke: The outer frame of a dc machine is called as yoke. It not only provides
mechanical strength to the whole assembly but also carries the magnetic flux
produced by the field winding.
Poles and pole shoes: Poles are joined to the yoke with the help of bolts or
welding. They carry field winding and pole shoes are fastened to them. Pole
shoes serve two purposes; (i) they support field coils and (ii) spread out the
flux in air gap uniformly.
Field winding: They are usually made of copper. They are wound in such a
way that, when energized, they form alternate North and South poles.
Armature core: Armature core is the rotor of the machine. It is cylindrical in
shape with slots to carry armature winding. The armature is built up of thin
laminated circular steel disks for reducing eddy current losses. It may be
provided with air ducts for the axial air flow for cooling purposes. Armature is
keyed to the shaft.
Armature winding: It is usually a former wound copper coil which rests in
armature slots. The armature conductors are insulated from each other and also
from the armature core.
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D.C Drive Parts

Commutator and brushes: Physical

connection to the armature winding is
made through a commutator-brush
arrangement. The function of
a commutator, in a dc generator, is to
collect the current generated in armature
conductors. Whereas, in case of a dc motor,
commutator helps in providing current to
the armature conductors.

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 Example-1: Armature Controlled D.C Motor
Ra La
Input: voltage u B
ia
Output: Angular velocity  u eb T J

Electrical Subsystem (loop method):

di a
u  R a ia  La  eb , where e b  back-emf v oltage
dt
Mechanical Subsystem

Tmotor  Jω  Bω
Example-1: Armature Controlled D.C Motor
Ra La
Power Transformation: B
ia
u eb T J
Torque-Current: Tmotor  K t ia 
Voltage-Speed: eb  K b ω

where Kt: torque constant, Kb: velocity constant For an ideal motor

Kt  Kb
Combing previous equations results in the following mathematical
model:

 di a
 La  R a ia  K b ω  u
 dt
 J ω  B  -K i  0
 t a
Example-1: Armature Controlled D.C Motor

Taking Laplace transform of the system’s differential equations with

zero initial conditions gives:

 L a s  R a I a (s)  K b Ω(s)  U(s)


 Js  B Ω(s)-K t I a (s)  0

Eliminating Ia yields the input-output transfer function

Ω(s) Kt

U(s) La Js 2  JRa  BLa s  BRa  K t K b
Example-1: Armature Controlled D.C Motor
Reduced Order Model
Assuming small inductance, La 0

Ω(s)

 K t Ra 
U(s) Js  B  K t K b Ra 
 Example-2: Armature Controlled D.C Motor
If output of the D.C motor is angular position θ then we know

Ra La
d B
 or ( s )  s ( s ) ia
dt u eb T J
θ

Which yields following transfer function

(s)

 Kt Ra 
U(s) sJs  B  K t K b Ra 
 Field Controlled D.C Motor- HW
Rf Ra La

if
ef Lf Tm J ea
B ω

Find the transfer function of field controlled DC motor

 Homework
An armature controlled D.C motor runs at 5000 rpm when 15v applied at the
armature circuit. Armature resistance of the motor is 0.2 Ω, armature
inductance is negligible, back emf constant is 5.5x10-2 v sec/rad, motor torque
constant is 6x10-5, moment of inertia of motor 10-5, viscous friction coefficient
is negligible, moment of inertia of load is 4.4x10-3, viscous friction coefficient
of load is 4x10-2.
Ra La
Bm N1
ia
ea 15 v eb T Jm
BL

JL
L
N2

1. Drive the overall transfer function of the system i.e. ΩL(s)/ Ea(s)
2. Determine the gear ratio such that the rotational speed of the load is
reduced to half and torque is doubled.
 System constants
ea = armature voltage
eb = back emf
Ra = armature winding resistance = 0.2 Ω
La = armature winding inductance = negligible
ia = armature winding current
Kb = back emf constant = 5.5x10-2 volt-sec/rad
Kt = motor torque constant = 6x10-5 N-m/ampere
Jm = moment of inertia of the motor = 1x10-5 kg-m2
Bm=viscous-friction coefficients of the motor = negligible
JL = moment of inertia of the load = 4.4x10-3 kgm2
BL = viscous friction coefficient of the load = 4x10-2 N-m/rad/sec
gear ratio = N1/N2