A6.

Regulator

An electric wheelchair uses a motor with a torque constant of 1.1 Nm/A, powered from a 24 V
battery, with an internal resistance of 0.25Ω. We are interested in designing a controller with 44
Nm continuous torque capability, both in driving and braking modes at all speeds, with the
widest possible operating speed range, both forward and reverse direction using the given
battery. The following power circuit is used for the purpose.
24 V battery

C M

A transient electrical analog equivalent circuit of the traction motor running on flat terrain can be
represented as follows
Traction motor

La Ra Κω
+ −
Ia

K Ia

+ ω −
Rr

Ra [0.25Ω] is the resistance of the armature of the motor and La [1 mH] is the inductance of the
armature of the motor. Rr [0.5 (rad/s)/Nm] is the equivalent rolling resistance coefficient of the
motor and K [1.1 Nm/A or V/(rad/s)] is the speed constant or torque constant of the motor.
It is desirable to develop a closed loop torque regulator for the motor. The command for the
torque regulator varies from –2V to +2V to cover the entire range of torque capability of the
converter and motor. Design a closed loop torque regulator including an appropriate sensor gain,
with acceptable steady state and dynamic properties.
Make suitable assumptions as necessary and justify them.

 Giri V, University of Wisconsin-Madison, March 3, 2003 ECE 412 Power Electronics, Preliminary