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D.C motor
Pcf=ia2Rf P
Pca=ia2Ra
60 P
=
P is normally given 2 N
60 Po
Pin = Pout + total losses for output / load torque , o =
2 N
Where, 60 Pm
for mechanical torque, m =
Pca =armature copper loss 2 N
Pcf =field copper loss P
Efficiency, = out
P=stray, mech etc Pin
Pm= Ea ia
Series Motor (cont)
• Example 1:
A dc machine in Figure 1 is ia Ra Rf
consumed a 6.5kW when the 12.5 A
of armature current is passing thru
the armature and field resistance of
3.3 and 2.0 respectively.
Assume stray losses of 1.2kW. M Ea VT (dc
Calculate supply)
a) terminal voltage, VT
b) back emf, Ea
Figure 1
c) net torque if the speed is at
3560rpm
d) efficiency of the machine
[520V, 453.75V, 12N-m, 68.8%]
Series Motor (cont)
• Example 2:
A 600V 150-hp dc machine in Figure 2 Ra Rf
ia
operates at its full rated load at
600rpm. The armature and field
resistance are 0.12 and 0.04
respectively. The machine draws
200A at full load. Assume stray losses M Ea VT (dc
1700W. Determine supply)
a) the armature back emf at full load, Ea
b) developed/mechanical power and
developed/mechanical torque Figure 2
c) assume that a change in load results in
the line current dropping to 150A.
Find the new speed in rpm and new
developed torque. {Hint: Ea=K1K2ia}
[568V, 113.6kW, 1808Nm, 811.27rpm, 1017Nm]
Shunt motors
Pcf=if2Rf P
Pin=VTiL Pm Pout
Pca=ia2Ra
60 P
=
P is normally given 2 N
60 Po
Pin = Pout + total losses for output / load torque , o =
2 N
Where, 60 Pm
for mechanical torque, m =
Pca =armature copper loss 2 N
Pcf =field copper loss P
Efficiency, = out
P=stray, mech etc Pin
Pm= Ea ia
Shunt Motor
• Example :
• A voltage of 230V is applied to armature of a machines results in a full load
armature currents of 205A. Assume that armature resistance is 0.2. Find
the back emf, net power and torque by assuming the rotational losses are
1445W at full load speed of 1750rpm.
VT = Ea + ia ( Ra + R f 2 ) M Ea Rf1 VT (dc
supply)
note : iL = ia + i f
VT = i f R f 1
Compound motor (power flow diagram)
Pca=ia2Ra Pcf2=ia2Rf2 P
Pin=VTiL Pm Pout
Pcf1=if2Rf1
60 P
=
P is normally given 2 N
60 Po
Pin = Pout + total losses for output / load torque , o =
2 N
Where, 60 Pm
for mechanical torque, m =
Pca =armature copper loss 2 N
Pcf =field copper loss P
Efficiency, = out
P=stray, mech etc Pin
Pm= Ea ia
Separately Excited Motor
Circuit analysis:
Rf Ra La
2 pnZ If ia
Ea = = K f if n = K f n
60C
Vf Lf M Ea VT
VT = Ea + ia Ra
note : ia = iL
Permanent Magnet motors
= −
2Ra 2Ra
=0
n=0 n nNL n
Speed Control for shunt motor and separately
excited dc motor
= −
2Ra 2Ra
• note that, there are three variables that can influence the speed of the
motor, V
Variables
If
Ra
• Thus, there are three methods of controlling the speed of the shunt and
separately excited dc motor,
i. Armature terminal – voltage speed control
ii. Field speed control
iii. Armature resistance speed control
Speed Control for shunt motor and separately
excited dc motor
VK f I f
start = c =
2Ra
K f 2 I f 2n Will be changed
slope = −
2Ra
Speed Control for shunt motor and separately
excited dc motor
Ra1
Ra1 < Ra2 < Ra3
Ra2
Ra3
n3 n2 n1 nNL n
Speed Control for shunt motor and separately
excited dc motor
1 < 2 < 3
n1 n2 n3 nNL2 nNL3 n
Base speed
nNL1
Speed Control for shunt motor and separately
excited dc motor
V3 < V2 < V1
n3 n2 n1 nNL2 nNL1 n
nNL3
Speed Control for shunt motor and separately
excited dc motor
The compound motors are of two types namely the cumulative compound of differential
compound motors.
DC Motor Applications:
Shunt motor application
1. printing machinery
2. Paper machines
3. Centrifugal and reciprocating pumps
Series motor application
1. Electric trains
2. Cranes
3. Hoists
4. Conveyers
Compound motor application
1. Elevators
2. Punches
3. Shears
4. planers
MERITS DEMERITS
MOTORS.. APPLICATIONS…
Kp = 1;
Ki = 0.8;
Kd = 0.3;
C = tf([Kd Kp Ki],[1 0]);
rlocus(Ga*C);
Kp = rlocfind(Ga*C);
Gc = feedback(Ga*C*Kp,1);
figure(9); step(Gc,0:0.01:5)
Penjelasan program