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Escuela Superior de Ingeniera Mecnica y Elctrica, Unidad Culhuacn IPN, Mxico D.F.
Centro de Investigacin en Ciencia Aplicada y Tecnologa Avanzada IPN, Mxico D.F.
3
Centro de Investigacin en Computacin IPN, Mxico D.F., Mxico.
Telfono (55) 57296000 Ext. 73250 E-mail: jsvaldezmtz@yahoo.com.mx
2, 3
( ) =
ea
R + k ( )
(2)
T ( ) = kia 2 ( )
Pm ( ) = ( ) T ( )
Pe ( ) = ea ia ( )
Pp ( ) = P( ) e Pm ( )
( ) =
(3)
(4)
(5)
(6)
Pm ( )
Pe ( )
(7)
Where:
Symbol
( )
ea
i ( )
Units
rad / s
volts
Ampers
R( )
T ( )
Ohms
Torque
Nm
J ( )
Kgm 2
Pe ( )
Moment of
Inertia
Coefficient of
viscous friction
Simulation
sampling interval
Time index of
sampling
Motor Constant
Mechanical
power
Electrical power
Pp ( )
watts
watts
( )
Efficiency
Non dimensional
Fig. 1. Diagram of a series wound DC motor. The dotted lines show the
electrical, mechanical and magnetic component.
k
Pm ( )
Meaning
Angular Velocity
Voltage
Armature current
Total resistance
(1)
ia ( ) =
k i ( ) ea + RJ ( )
RJ + Rb + k 2 i 2 ( )
1073
Nm / rad / seg
sec onds
Non dimensional
Non dimensional
watts
Where:
Within the DC motor components (magnetic, mechanical
and electrical sections) energy is exchanged (From
electrical energy to magnetic energy and from magnetic
energy to mechanical energy) and in these mechanisms
exchange, there are power losses.
Symbol
Se
Vcol
Dcol
Vcol =
Vg =
(9)
Length
dg
Diameter
n
PRC
Speed
Friction losses in
the slip bearings
[cm]
Dcol n
(16)
(17)
[cm]
[cm]
[RPM ]
watts
Units
[m / s]
V =
( )
(13)
(19)
VV =
[m / s ]
(11)
6000
lg
(10)
n dg
Meaning
Peripheral speed
[cm ]
S e = Brushes Surface
Where
Symbol
Vg
Kg / cm 2
6000
Where Brushes surface friction Se is:
Where,
Pm
n
l g = 2. 5d g
Units
Non dimensional
And:
(8)
d g = 2 .8 4
Meaning
Brushes friction
coefficient
Specific Brush
pressure
Brushes friction
surface
Collector
peripheral speed
Collector
diameter
DV n
6000
(20)
Pe =
Pm
Efficiency (%)
(21)
(15)
1074
(22)
(23)
Where:
Symbol
PMR
PRC
PRE
PV
Meaning
Mechanical losses
Friction losses in
the slip bearings.
Brush friction loss
Ventilation losses
Units
watts
watts
watts
watts
= a 20 c [1 + [T 20 C ]]
That is:
PMR = PRC + PRE + PV =
(24)
w2 [ea ]
Pf (t ) =
2
12 ( NA)
2
(25)
Pcu = Ria
R ( )
(28)
L
a 20 c [1 + [T 20 C ]]
A
A
= R a 20 C [1 + [T 20 C ]]
=
(29)
(t) =
k i(t)ea+ R( )J(t )
R( )J +[R( )b+ k2i2 (t)]
(30)
ia (t ) =
ea
R( ) + k (t )
(31)
Pcu = R( )ia (t )
(26)
1075
deterministic disturbances.
PV
Fig. 3 Friction
(t ) .
1076
R( )
VII. CONCLUSIONS
By including the powers losses in the series wound DC motor
simulation in addition to the disturbances a series of graphs
were obtained which give broader information of the possible
behavior of the system (in this case the electric motor) thru its
evolution laying down the guideline to possible ways of control
that allow visualize in these graphs and to decide thereby which
should be the best control to be applied.
VIII. REFERENCES
[1]
[2]
Fig. 10 Torque vs. Angular speed
[3]
[4]
[5]
[6]
[7]
[8]
1077