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Compound Motor

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series motor when load is removed.It also developed a high starting torque when load is

increased. This makes it suitable for such applications like rolling mills, shears and punching

presses. It is also a preferred motor for application of such as cranes and elevators that requires

(a) high starting torque, (2) are prone to sudden load change and (c) present a possibility of going

from no load to full load.

Analysis and Design of the compound motor for EV :

General characterization of the motor :

Ia =

Field Current IF =

..........(2.2)

EB = Back EMF

RTotal = Total Resistance of the armature circuit = Ra+Rse

Ra = Resistance of the armature

Rse = Resistance of the series winding

RF = Resistance of the field winding.

EB = KB = V -IaRT........(2.3)

where = Total Flux = se+sh

se = Flux produced from Series field (Wb)=

sh = Flux produced from Shunt field (Wb)=

= Angular velocity (rad/sec) =

From Eq. (2.3)

(

(

Now,

(

Eq. (2.6) can re-written in the form,

(

where,

and

Now, from Eq. (2.7), expression for the current can found in terms of developed torque as,

(

Putting the value of

in Eq. (2.4),

where,

and

. Here Negative sign is discarded as current cannot be

negative during motor mode operation.

Specification and Designing of the motor :

The specification of motor is as follows :

Voltage, V = 60V, Ia(rated) = 40A , IF = 5A, Total Current, ITotal = 40+5=45A

Total armature Resistance, Rtotal = Rse+Ra = 0.15; Field Resistance, RF = 12

Rated power, P

No load Speed of the motor, NNL = 1800 RPM

No load angular velocity, NL = 188.4 rad/sec

To overcome the maximum torque offered by the load (i.e. the vehicle itself) the motor must be

capable of developing a torque of 65Nm at rated condition. This particular value of torque will

be obtained when the traction load characteristic was analyzed (discussed in detail in chapter 3).

So, the rated torque of the motor should be 65N.m and must be developed at rated power. So, we

know,

P= Torque x Angular velocity = T

so, rated =

= 38.1 rad/sec

This primarily calculated value will be used to design and calculate different parameters of the

motor.Now, from Eq. (2.3)

(

(

)

(

(

Let us assume 70% of the total flux is provided by the series field and 30% of the flux are

provided by the shunt field. So, we can write,

Similarly,

Let,

So,

Now from Eq. (2.13),

(

From Fig. () the following set of Equations can be written;

(

(

(

where,

)

(

)

(

is the torque required to drive the load then, then the developed torque balance equation can

be written as;

where,

= Viscous friction constant (N.m/rad/s)

Using Eq. (2.19) to Eq. (2.24) the electromechanical model of the motor can be obtained. But

due to the product of variable type non-linearities present in Eq. (2.23), it is not possible to

obtain a transfer function of this model. However, these equations can be linearized by

considering a small perturbation at the operating point. Before deriving the linearized transfer

fuction, let us develop a complete block diagram of the motor considering the non-linearities

which is shown in Fig. ().

Assuming the field current is constant, this block diagram can be further simplified into the

following based on Eq. (2.4) and Eq. (2.6).

All the system parameters can be defined around their operating point as follows;

The

following

basic

equations

will

be

needed

to

describe

and

represent

the

and (

Recognizing that,

(

(

( )

)

)

)

(

(

)

(

(

These five equations are sufficient to establish the block diagram of a DC Compound

motor drive as shown in Figure. ().

A further simplification in the block diagram can be possible by rearraging the blocks

as shown in the following Figure. ().

After using the block diagram simplification technique, the final linearized transfer

function of the motor is obtained as,

( )

(

(

)(

)

)(

where;

(

( )

where,

(

)

(

(

The step by step block diagram reduction technique to obtain the transfer function is

given in Appendix ().

Maximum Allowable Armature current is twice than its rated value i.e. (40x2=80A). For current

control/limiting purpose, hysteresis controller is used and as the current will switch between two

certain limits of upper and lower level of current defined by the hysteresis controller, it is a good

approximation to consider the starting current as 1.6 times the rated current. As a result the

starting torque of the motor will be around 1.5 times to its rated value. Using Eq. (2.5) the

starting torque of the machine can be calculted as(

where,

(

rated =

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