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Reference:
Power Electronics by M H Rashid
Chapter No. 14: DC Drives
Example No. : 14.14
Pictures of Reference example:
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1.35 × 𝑉𝑟𝑚𝑠
𝐾𝑟 =
𝑉𝑐𝑚
𝐾𝑟 = 29.7
𝑉𝑑𝑐(𝑚𝑎𝑥) = 𝐾𝑟 𝑉𝑐𝑚 = 29.7 × 10 = 297 𝑉
3
𝑉𝑑𝑐(𝑚𝑎𝑥) = 𝑉
𝜋 𝑝𝑒𝑒𝑘
Now,
𝑉𝑑𝑐 𝑉𝑑𝑐(𝑚𝑎𝑥)
=
𝑉𝑐 𝑉𝑐𝑚
220 297.10
=
𝑉𝑐 10
𝑉𝑐 = 7.405𝑉
𝑉𝑐
𝐻𝑐 =
𝑖𝑚𝑎𝑥
𝐻𝑐 = 0.37025 𝑉⁄𝐴
1 1 1 𝐵1 𝑅𝑎 1 𝐵1 𝑅𝑎 2 𝐾𝑏 2 − 𝑅𝑎 𝐵𝑡
− ,− = − [ + ] ± √ ( + ) − ( )
𝑇1 𝑇2 2 𝐽 𝐿𝑎 4 𝐽 𝐿𝑎 𝐽𝐿𝑎
Therefore,
1
− = −49 + 43.5967
𝑇1
𝑇1 = 0.1774𝑠𝑒𝑐
1
− = −49 − 43.5967
𝑇2
𝑇2 = 0.0107𝑠𝑒𝑐
Now,
𝐽 0.06
𝑇𝑚 = =
𝐵𝑡 0.087
𝑇𝑚 = 0.68sec
Also,
𝐵𝑡 0.087
𝐾1 = 2 =
𝐾𝑏 + 𝑅𝑎 𝐵𝑡 1.242 + 6.5 × 0.087
𝐾1 = 0.041
So, the motor transfer function will be:
𝐼𝑎 (𝑠) 𝐾1 (1 + 𝑠𝑇𝑚 )
𝑇. 𝐹 = =
𝑉𝑎 (𝑠) (1 + 𝑠𝑇1 )(1 + 𝑠𝑇2 )
𝐼𝑎 0.02788s + 0.041
𝑇. 𝐹 = =
𝑉𝑎 0.0189818𝑠 2 + 0.1881𝑠 + 1
Also,
𝐾𝑓𝑖 1
𝐾𝑖 = ×
𝐻𝑐 1 + 𝐾𝑓𝑖
63.886 1
𝐾𝑖 = ×
0.37025 1 + 63.886
𝐾𝑖 = 2.65925
Now,
𝑇3 = 𝑇1 + 𝑇𝑟
𝑇3 = 0.1774 + 0.0013888
𝑇3 = 0.1787𝑠𝑒𝑐
Also,
𝑇3
𝑇𝑖 =
1 + 𝐾𝑓𝑖
0.004754
𝑇𝑖 =
1 + 63.886
𝑇𝑖 = 0.002754sec
So, the transfer function is:
𝐼𝑎 (𝑠) 𝐾𝑖
𝑇. 𝐹 = ∗ =
𝐼𝑎 (𝑠) 1 + 𝑠𝑇𝑐
𝐼𝑎 (𝑠) 2.65925
𝑇. 𝐹 = ∗ =
𝐼𝑎 (𝑠) 0.002754𝑠 + 1
Simulation Results:
With limiter:
Model:
Parameters:
Parameters Values
Steady state error 0.21
Peek overshoot 24.6%
Settling time 5.5 sec
Peek time 1.9 sec
Rise time 1.25 sec
Peek undershoot 4.4 sec
Output waveform of Speed:
With PI Controller:
Parameters:
Parameters Values
Response Time 0.3314 sec
Transient behavior 0.6
Peek overshoot 55.9%
Settling time 3.69 sec
Peek time 1.56 sec
Rise time 0.192 sec
Gain Margin 39.9 dB , 71.8 rad/s
Phase Margin 20.3 dB, 6.04 rad/s
Output waveform of Speed:
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Calculations:
By Hands: