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Motivation and Significance: Stator Rotor

This document provides the mathematical model and equations of motion for a permanent magnet DC machine that can be used as a motor or generator. It includes a schematic diagram and derivation of the differential equations describing the transient behavior of the armature winding and mechanical dynamics. Students are asked to simulate the equations in Matlab to plot the armature current and rotational speed over time, and then use optimal control theory to minimize the integral of voltage times current subject to the model constraints and a current limit.

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Alvin Tan
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© © All Rights Reserved
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Download as DOCX, PDF, TXT or read online on Scribd
19 views

Motivation and Significance: Stator Rotor

This document provides the mathematical model and equations of motion for a permanent magnet DC machine that can be used as a motor or generator. It includes a schematic diagram and derivation of the differential equations describing the transient behavior of the armature winding and mechanical dynamics. Students are asked to simulate the equations in Matlab to plot the armature current and rotational speed over time, and then use optimal control theory to minimize the integral of voltage times current subject to the model constraints and a current limit.

Uploaded by

Alvin Tan
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Electrical Engineering, UNIVERSITY MALAYA Machine and Drives Assignment

Motivation and Significance

Permanent-magnet motors have been widely used in high-performance electric drives and
servo-systems, while permanent-magnet generators are used in the power systems. Figure 1
illustrates the permanent-magnet DC machine which can be used as motors and generators.

rotor magnetic axis of armature w inding


quadrature axis

Stator

Rotor
Brush
Permanent

Permanent
Magnet

Slip ring Magnet stator magnetic axis


direct axis

ua
Air gap

Figure 1. Schematic representation of permanent-magnet DC machines

Mathematical Model Developments


To the equations of motion, a schematic diagram of permanent-magnet DC machines is
illustrated in Figure 2.
ra rar

ia

La
TL Load
 r , Te ua

 quadrature axis

Armature direct
Field

Permanent Magnet
E a  k a r axis



Figure 2. Schematic diagram of permanent-magnet electric machines
(current direction corresponds to the motor operation)
Electrical Engineering, UNIVERSITY MALAYA Machine and Drives Assignment

Using Kirchhoff’s voltage law and Newton’s second law of motion, the differential
equations for permanent-magnet DC machines can be easily derived. Assuming that the
susceptibility is constant (in reality, Curie’s constant varies as a function of temperature), one
supposes that the flux, established by the permanent magnet poles, is constant. Then, denoting the
back emf and torque constants as k a , we have the following differential equations describing the
transient behavior of the armature winding and tortional-mechanical dynamics

dia r k 1
  a ia  a  r  ua ,
dt La La La
d r k a B 1
 ia  m  r  TL . (1)
dt J J J

The following motor parameters are used: ra =5 ohm, La = 0.01 H, k a =0.2 V-sec/rad,
k a =0.2 N-m/A, J=0.0005 kg-m2 and Bm =0.00001 N-m-sec/rad. Let the applied armature voltage
is u a =50rect(t) V, and the load torque is TL =0.2rect(2t) N-m. .

i  x   5 
The initial conditions are:  a 0    10     .
 r 0   x20  100 

Given all the data above, you are required to simulate Equation 1 in using Rungge-Kutta(ode45,
ode15s…) in Matlab. Plot the results ia and ωr against time.

Then, minimize the ∫ 𝑢. 𝑖𝑎 𝑑𝑡 using optimal control theory.(Optimal Control will be thought in
class)

Subject to given constraint equation 1 above and ia<=5A.

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