2.1 INTRODUCTION 2.2 MATHEMATICAL MODELING OF DC SERVO CONTROL Dc servo motor is widely used for industrial and domestic purpose. it is necessary to establish the mathematical model of DC servo motor here we are using armature control DC motor to control speed and position of Dc motor. In armature control of DC motor the resistance Ra and inductance La connected in series and voltage is representing the back emf of DC servo motor. The motor parameter and variable define as follow. Consider armature control dc motor shown in fig 2.2.1ARMATURE CONTROL DC-SERVO MOTOR Ra= resistance of armature (ohm). La= inductance (H) = armature current (A). = field current (A). = armature voltage (V). = back emf (volts). = torque of motor (Nm). θ = angular displacement of motor (rad). = equivalent moment of inertia of motor (kg-m2). = viscous friction coefficient In servo application, the dc motor is generally used in the linear range of the magnetization curve. Therefore, the air gap flux is proportional of the field current, i.e. ………………(i) Where is the constant. The torque developed by the motor is proportional to the product of the armature of the current and air gap flux i.e. ………(ii) Where is the constant. In the armature-controlled dc motor, the field armature is kept constant, so the equation can be written as ………(iii) Where is motor torque constant. The motor back emfis proportional to speed is given as ……...(iv) Where is the back emf constant. The differential of the armature circuit is ………..(v) The torque equation is given as …………..(vi) Taking Laplace transform of equ... ... middle of paper ... ...tion of the process model. we can also add the integrator to the process model. Moreover , we can give all the poles as real and under-damped (complex pole) from the above case the process model is best fit in third order model P3U in figure 2.8. In figure 2.8 we can see that the output of process model exactly follow the input of the process model. Figure2.6 Transient response of the model Figure2.7 Estimation of process model Figure 2.8 Simulated and measured output model of dc-servo motor The open loop transfer function of the dc-servo motor where as angular velocity is the output and voltage as input given below. 2.5 CHAPTER SUMMRARY This chapter gives mathematical modeling of dc-servo motor and a detail of model estimation of system identification toolbox.
A vast majority of our population find operating a manual transmission, or stick shift, to be extremely difficult. However, in actuality all it takes is some serious practice and devotion to make driving a stick shift like second nature. For successful driving, the same steps must be followed each time the car is driven.
In conclusion table 10-1 on page 292 list the three types of models. These models provide
There are several process and challenges found during examining process. In process there is a model called “process model” which is a step to prepare, collect, examine, analysis and report the evidences.
i.e. K ̇(t)=sY(t)-δK(t), L ̇(t)=nL(t) and A ̇(t)=gA(t) it is important to consider the new assumptions that concern the newly added inputs.
...late 17th century, and beginning of the 18th century, transportation was favored by American society so much, the wealthier would hire chauffer’s to take people places. So not only did the motor produce a better and more efficient life style, it also created a huge business industry, as we know it today called, “valeting”. The actual motor worked like this. “Two cups filled with mercury would contain a magnet and a wire with one being fixed and the other free to move. Whenever a current was passed through the wire, the free moving magnet or wire would revolve around its fixed partner due to the electromagnet forces being produced.” (History of Innovation). This first motor was a prime example of the fact that movement could be created by electricity and electricity could be created by friction. This motor was the most useful and applicable invention in the 1800’s.
If you haven’t tried a claw machine before, then good for you, if you haven't, then you probably know how it seems impossible to actually get anything from it. Either the machine’s claw seems like it doesn't have enough power to grab even a feather, or when it actually does manage to pick something up, by the time it almost reaches the toy chute, it tricks you into thinking you almost got it and drops the toy just a few centimeters short. Last summer, a friend and I were at an arcade, and there was a claw machine filled with plush toys. So my friend goes and inserts a few quarters and the machine starts up.
The case revolves around Bob Marvin, president of the Motor Parts Corporation (MPC), and his executive vice president, AL Shepherd, who held a key senior management position in the company. After Bob, Al had the most important job since most of the line functions reported directly to him. His job required a considerable amount of traveling which he was not able to do lately because of his wife’s illness. Al 's wife, Ruth, was suffering from a malignant brain tumor due to which he was spending more and more time away from work to be with her.
Anybody and everybody can become an industrial machinery mechanic; especially, those who are passionate about getting their hands plastered in motor oil, grease, and other mechanical lubricants. These people will more than likely be ecstatic about getting into industrial machinery mechanics. They need to be able to put in one hundred ten percent of their effort into becoming an industrial machinery mechanic. An industrial machinery mechanic’s overall objective on the job is to stop a mechanical error before it happens. An industrial machinery mechanics are often caught repairing, maintaining, and fabricating machinery. They will be required to have certain education and training as well as some on the job training or complete an apprenticeship program. They will receive many benefits for working in this particular field.
Once the ECU has the torque value, the mass air flow control acts on the butterfly valve to reach the torque value (the open percentage of the butterfly valve and mass air flow value come from a table which is used as in the case of torque estimation).
This involves relating the current supplied to the motor, motor shaft rotational speed, motor efficiency, and the power factor as a function of the load of the motor, similar to the figure on page 21 of the Lab Manual.
In a DC motor, the armature consists of any number of windings, each one an electromagnet. The armature is immersed in a directional external magnetic field. This external field does not move, and can come from permanent magnets or electromagnets.
Explain, using diagrams, armature reaction in a dc motor, the effects it has on the motor and methods to reduce it.
One nice thing about the Internal Model Control (IMC) procedure is that it results in a Controller with a single tuning parameter, the IMC filters (). For a system which is “minimum phase”, is equivalent to a closed-loop time constant (the “speed of response” of the closed-loop system). Although the IMC procedure is clear and IMC is easily implemented, the most common industrial controller is still the PID controller [3].
Law two can be used to calculate “the relationship between an objects mass (m), its acceleration (a), and the applied force (f) is F= ma.” This formula is used in all of the above components in the car.
Electrical motors function by converting electrical energy into mechanical energy by using the energy stored in the magnetic field (Sarma, 1981). The mechanical energy (torque) is produced when opposing magnetic fields try to lineup. Therefore, the center line of the north pole of a magnetic field is directly opposite to the centerline of the south pole from another magnetic field (Fitzgerald et al., 1981). The opposing magnetic fields in a motor are generated by two separate concentrically oriented components, the stator and a rotor (Figure 2-5).