Electric Drives/Spring 2021 Constantin Apostoaia

ECE 42600 ELECTRIC DRIVES:

LAB 1 - Computer Assignment

Mechanical Systems Modeling for Electric Drives

PURPOSE
The objectives are: (1) understanding the requirements imposed by mechanical systems on electric
drives; (b) practicing Simulink/MATLAB to model and analyze the basic dynamic rotational systems

DISCUSSION
Fig.1 consists of a rigidly coupled motor and load, and Fig.2 represents an equivalent rotational
mechanical system of a motor and load already referred (reflected) to the motor shaft. Simulink block
diagrams should be drawn based on the modeling equation describing the rotational motion. Then, the
created models are used for simulation and analysis. The plots of variables of interest, such as the
electromagnetic torque and the system angular position, will be obtained in MATLAB's Figure
Window.

PROCEDURE

Part A

1. Create a Simulink block diagram for the general system shown in Fig.1(a), with the combined
motor and load inertia Jeq = 0.058 [kgm2]. The rotating system is required to have the angular speed
profile shown in Fig.1(b). Assume a zero load torque, and the shaft with infinite stiffness (rigid
shaft).
m
Tem TL Load
Motor

(a)

(b)
Fig.1 (a) Motor rigidly coupled with a load;
(b) Desired (imposed) angular speed (see [1], Fig.2-7)

2. Run a simulation to calculate and plot the changes in angular position, and the electromagnetic
torque required from the motor, all as functions of time. Print the block diagram of the model
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Electric Drives/Spring 2021 Constantin Apostoaia
in Simulink and the plots edited in MATLAB's Figure Windows for your report.

3. Vary the inertia and look at the output position and electromagnetic torque changes. Do the results
agree with what you expect?

Part B

4. Create a Simulink block diagram for the equivalent system shown in Fig.2.
Analyze the angular position and the speed for the following given system parameters: J = 1 Kgm2,
B = 1.3 Nms/rad, and K = 0.95 Nm/rad. The variation with time of the applied torque is a ramp
from 0 to 8 Nm starting at zero time and during a 5 seconds interval. The ramp is followed
by a constant step of 8 Nm torque during the next 10 seconds (simulation time stop is 15 s).

5. Using the block diagram Simulink file created in section 4 (Part B), write a MATLAB code and
do the following: a) start the simulation of the .slx file ( .mdl file in older Matlab versions) and create
the matrix form of the system's state space representation by using the linmod command; b) then,
convert the system's state space form to its transfer function(s) representation; c) plot in MATLAB
the speed and position for the input torque described in section 4.

Fig.2 (a) A rotational mechanical equivalent system;

(b) the system's free body diagram (FBD)

REPORT
Individual reports are required. Record observed data in a form suitable to be turned in. Discuss or
comment on the data (your comments are important). Turn in the report by the required time.
As part of the report:

i. Attach the Simulink models and the print-outs of the simulation results. Be sure to use titles
and/or label the graph axis so that the content and differences are clear.
ii. Describe the impacts on the simulation results due to changing the inertia and viscous friction
coefficient.
iii. What Simulink library blocks did you use?
iv. What did you observe and learn?

References

[1] Ned Mohan, Electric Machines and Drives-A First Course, WILEY, 2012
[2] Analogy between mechanical and electrical systems, lecture handouts.
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