Electromechanical

Construction
① DL Motor -

→
armature → winding / coil
→ stator → external / dont rotate

→
magnet "
%
\
electromagnet
permit

)
current
changing

( pq.gg
magnetic
.

Control of DC Motor
Speed
a

¥ *
u¥fIm¥
aµ
① armatmewn
② Fiddanhd_ f)
voltages
 eiedomoot
① Permanent Magnet six
:

Armature
Mathematical Modeling of an

amhNhdDcmoT
←

+4 t¥¥wqT &
innit

1,191M¥ ① bee I'm

electric domain
Im

utters back If -
#a
o¥.
①
② Mechanical domain
←
d¥ w
.

angular poqt i m
Torquato
haf b w. b r the shaft
of

way inertia
T= the of the
mmt of
F- polar
by
y
rot
 ② ③

UH
=
①
re KCL
7 ⑨ -

Electrical tide ( Kirchhoff Gerbert

law)=
- vttl + Ri t L t 0
⇒

/HIo①tv④a-baekIf

:&
↳ drop against current resistor

±
:÷i:÷:÷i÷w .

R -
-

Armature 's Resistance

armature current
-

i=

-
u th t Rit
Ldj tub
+
= 0

back emf
 BakEMj ,
Uba w f, 15 )
)
( bhglatebadina-d.mn
motor Constant
↳ = Kyw7 Kb= Km
↳ the theft
angular velocity of
.

Vb= Km
dog w=%
]
- u CH t Rit
L¥gtVb = 0

tkmohft-ochanicalf.de
- htt t Rit

guiding
-
Im

Torque is
analogous
To
fatty tumsldim
e-
Im = Ti t Tb
-

%) -6 inertial
Isolation damping toque
+

1mg
✓ tape
.
 annalise
Im = motor
torque ⇒ proportional to

current
to
.

and i

kmiyfn.mlon.tl
am =

8=9
"

Ii = JO = Ja
{ Is angular acceleration
inertia
Mar moment of
bw
bit
.

% =
=
big -
③

Im = T.it Is

1km I =
"

JO +
bit

left :

Iffley )
Fl "

)
.

SF19
I ffixlf .

1ft = Fires)
 Mechanical fide

.fi
Electrical side

im
:*:S :::÷±:% .
~
"

55015) t bs %)
U4K 2CS ) ( Rt Lift skmocs)
Its)= - -
②
Km

Its )= Us ) ( Js 't bs )
→
- ① I
Putting the value of Us) from egg ① into
egn②
) 5km 00 )
U1D =
( Rt LS) ( Js't bs t

km

✓ (5) xkm =

¢ Rtl 5) ( Js't bs) Ms)

) t skills )

U1D Xkm = 015)

(( Rt LS ) ( Js't bs ) t S KI )
Us) x km = Ocs) ( s) (( Rtl) ( Jst b) +
KM7
0LY
vcs)xkmS
=

fl ) )Rtl ( Jst b) t
Kmt

motor constant
015) km →
=

⇒
-

g SUR th ) ( Jst b) tkm }

Gharial side
traffic electrical.de ]