Hassane NI, Djouza S, Boudjemaa T

PLLGERlA
Institut d'Electrotechnique,Tizi-Ouzou,

FE& p s e ~ t as niethod for parameters

machine with friction in the
2 % ~ methodt developed for the
M G a h is b& MI the PASEEK method (I) The
machine parmeters are
the aperimen& rnetl3od
permits to conclude the
semitiV7ty ofthe electrical The excitation current if is a constant vdue
time is presented The V' :The mature vokage.
&aim is & o m by the R , The annatureresistance
simuiarion resufts for the speed time response. This
FL&t &k&x &?e kwr&of the m d o d zq: The armature cmmt.
M, rT& k&ae
:'p4;edes@

Mechanical model of Dd:SSS&&E

The &&A mxthod used for the identification of the
on experimental tests.
needs generally one

the development of a new

s what i s done by PASEK in
one experimentai test to identie
s
eters The method used here
cmGsts kr a&xidhg the PASEK method in order to J is the Inertia, f the friction Cr &tar Toque
taks inh the friction in the mathematical model
GE&Z DZ m&ke. Then a new method which will be
MATEEMATICAL MODEL OF I+t€AC-amT
PARAMETERS

~ 3 % ~ i d & presented for the speed t i e

in e b s d imp daws to prove the efficiency of
of the fiiction in the

MATHEMATICAL MODEL

EIectricaf model ofDC machine

The electrical model is obtained with the following

K eEect is neglected in the conductors.

&roperties are linear.

Power Electronics and Variable Speed Drives, 21-23 September 1998, Conference Publication No. 456 0 IEE 1998
 511

In equation (4), the torque variation AC, vanishes 1

because of considering the C, torque steel constant +h
and when the approximation 1 - E 1 is done the
during the perturbation.
equation (1 4) becomes:
Combining equations (3) and (4) yields to the following
current expression :

The current variations during the perturbation for time tl

and 2tl are used in order to define an other variable 6
with the following relation:
with: T, =-LY (7)
R,

J
Tm =r (8)

Equation (17) shows the relationship between and

R I

experimental values of load current.

(9) The mathematical expressions of DC motor
coefficients according to (1),(3) are given by:
The time response is obtained when applying the
inverse Laplace transformers to equation (6) and is
given by:

(10) 4Tr2.K2
J=

T2 =&
The equation (10) permits to deduce the time tl
corresponding to the maximum value of the load current
%-Jt>.
This is done when the time derivative of equation (10) is
assumed to be equal to zero.
The expression of tl time considered is as follows:
(14)
J
.f =-
hTe
K is the e.m.f coefficient and ALRr is the transient
speed variation.
As the coefficient h is unknown in equation (21) and
(22), the parameters J and f could not be identified.
It is why equation (IO) is used to find a reltionship
between load current after perturbation and h parameter
as shown by equation (23):
Aiy ( t = a)is the load current after perturbation
TI,, T2 are given by:
 512

‘‘Q”3

Ti% &eDC motor parameters could be completely

defined.

i~ ~ ~ of DC
~ motor
~ parameters
t ~ o R

The application made is an experimental test for

~~~€~ c h i a t i o n o€the DC motor parameters.
The DC motor considered has the following
m-&sia:

P,= 175 w

N = 1450 tr/min

The z x ~ ~ & faa tl realised in transient mode permits

to have access to transient values which are the time ti
~~~~ to &e m d m value of the load current
Aiq{t,}, the mechanical speed variation and armature
The results obtained are compared to those of classical
method and presented in table I .
The current numerical values of DC motor ~~~~~~~

are obtained with coupling a tachymeter generator to the

The experimerrtat test is realised with,
DC motor.
This tachymeter generator is also used in regulation
AVq= 70 V, i,= I ”4A , St,= 122.9ids study for closed ioap s p e d with gak 4.I2 V/i&s.

&, &irl Qzp are the initial values before perturbation

TABLE 1
The uariations enregistred for time tl=0.08 s are:
DC Motor Proposed Classid M e t M
Parameters Method

K [V/rd/s] 1.023 1.034

R EQI 37 37 36
L [HI 0.63 0.64
Te [ S I 0.017 0.0171
Tm Csl 9 73 9.66

The results given by the proposed method show the

good agreement with those obtained by classid one.
Ai jzt f } The latter needs more than one test for the coefficients
_____ - f( are presented identification of DC motor
&-,S%,f Ln fig.3, the variation of the time constant Te with the
time f 1 is presented. This shows that the numerical
results of the DC motor parameters could be better when
the time t l is more accurate.
 513

CONCLUSION

'flie inndel proposed 'or the paranieters identitication of

IX in;ichine: permit> an analytical rzpi.esent;ition of
~ I ;lode1d~velopedcould be used for
paraniciers. A l i the
the inverse problem v,hich is consits in evaluatins the
transient tiiric /,.'llic inethod has the merit to uses only
one experimental test viith iiicluding friction and to give
results accurately.

Fig 3 Elsctrical constant time Te iriation wiih time t I

1, Jean -Paul L, 199 1,"Actionneurs Electriques. De la
Moddisatioii a la Coil lililIidL"" ,
J ournees E.E.A, Toulouse, 1991,
S i ~ ~ ~ u l i t t iresults
oil
3 Moncef G , 1981, " Modehation dans I'Espace d'Etat
et Coniniande Numc rique d u n Moteur a Courant
Continu,"
'I'liese de Doctoral 3" ('yclc. INSA'I', 'I'oulou~t:, I;rance

s, h u d j e iiaii '1'. 1996, * ' kloddz de la

3 . Lljouzi
Machine i Couriiiii Cctrtinu en vue d'une I<t$ililtion dc
Vitesse",
'I'hkse d'ingeniorat d'itat , Universite de 'Izi-Ouzou,
A L,GlXlA.

4. SIMIJLINK,1995.

K,, =. 403 0 7 , T~ =-'I.;= 0 017 s

'fhc rewlts are given for the speed tiinc rcsponses in

fig.4.a and iig.4.b using siniukition package (4). This
show s the importance of iricluding tlic fi-iction in the
nicchanical niodel especially when lie L)C motor is
usud i i i ccmtrol sped.
Fig,dit, Closed loop res,)oiise time for speed
I 1
with including iiction
 0

0
4

0
N

2
P
i

0
01

I' g
c
4

ti
Lp

C
io

Fig 4 b Closed loop response t i l l . Ibr speed

without friction ( f 4 )