02 - Machine Dynamics - Lec2 - DC Motor2

dc Machines Dynamics
Tanta University Electrical Power and Machines Engineering Department EPM4124 Electrical Machines Dynamics Assoc. Prof. Said M. Allam Faculty of Engineering
Lecture Outlines
 Dynamic Modelling of a Separately Excited dc Motor
 Dynamic Modelling of a Separately Excited dc Motor

Under Constant Excitation
Electrical Machines Dynamics
Dynamic Modelling of a Separately Excited dc Motor
1- Voltage Equations
2- Flux Linkage Relations
3- Electromagnetic Developed Torque Expression
4- Electromechanical Equation
1- Voltage Equations
2- Flux Linkage Relations
Hence
 Armature Voltage Equation
Equal zero
 La is constant due to existence brushes and commutator

(this results in constant flux path)
 M equals zero because the angle between field winding

and the equivalent armature winding ( ) equals 90
M = Mmax cos ( )
= - Mmax sin ( ) = - Mmax equals 90
= ωr = ωm Hence − Mmax ωr
Mmax ωr
Mmax ωm
 The Back emf always opposes the terminal voltage

 The effect of – ve sign in the maximum rotational inductance
(- Mmax ) is reflected on the direction of speed
 Field Voltage Equation
Equal zero
 Lf is constant due to cylindrical rotor structure
 equals zero because the field winding is stationary
 Voltage Equations
Mmax ωr
 Instantaneous Input Power
𝒂 𝒇
3- Electromagnetic Developed Torque Expression
𝒎𝒂𝒙
4- Electromechanical Equation
Non Linear Model
inputs
States (Outputs) 𝒎
Order
 Can this model be

transformed using Laplace Transform?
written in state-space representation form?
Mmax ωr
ωr
Linear Model
inputs
States (Outputs) 𝒎
Order
 Using state-space representation form
 Using state-space representation (in matrix form)
 Using Laplace transform
Block Diagram
Dynamic Modelling of a Permanent Magnet dc Motor

02 - Machine Dynamics - Lec2 - DC Motor2

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dc Machines Dynamics

 Dynamic Modelling of a Separately Excited dc Motor

 Dynamic Modelling of a Separately Excited dc Motor

2- Flux Linkage Relations

3- Electromagnetic Developed Torque Expression

2- Flux Linkage Relations

 Armature Voltage Equation

 La is constant due to existence brushes and commutator

 M equals zero because the angle between field winding

 Armature Voltage Equation

= - Mmax sin ( ) = - Mmax equals 90

 Armature Voltage Equation

 The Back emf always opposes the terminal voltage

 Field Voltage Equation

 Lf is constant due to cylindrical rotor structure

 equals zero because the field winding is stationary

 Instantaneous Input Power

3- Electromagnetic Developed Torque Expression

Non Linear Model

 Can this model be

 Using state-space representation form

 Using state-space representation (in matrix form)

 Using Laplace transform

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