EE 531

Mechatronics

RIT

Rochester Institute of Technology Electrical Engineering Department

EE 531 Mechatronics Laboratory Experiment # 3 Permanent-Magnet Direct-Current Machines (Motors, Generators, and Motor-Generator System)
Purpose The objective of this laboratory is to study permanent-magnet motors and generators used in high-performance mechatronic systems. The results obtained from experiments and numerical analysis should be validated. In particular, permanent-magnet motors and generators will be comprehensively examined. Specifications and Data The permanent-magnet motors and generators are highperformance permanent-magnet electric machines, and the catalog data is provided in the appendix for two different motors/generators (you need the following parameters for the machines ra =xxx ohm, La = xxx H, k a =xxx V-sec/rad, k a =xxx N-m/A, J=xxx kg-m2 and Bm =xxx N-m-sec/rad you must measure the armature resistance for two electric machines and used the measured ra1 and ra2 in your calculations). The angular velocity is measured using the voltage generated by the taxogenerators, and, therefore, the voltage-velocity constant (so-called taxogenerator sensitivity) of the taxogenerator should be used (see the appendix). All data must be reported in the SI units. Motivation and Significance Permanent-magnet motors have been widely used in high-performance electric drives and servo-systems, while permanent-magnet generators are used in the power systems. Figure 1 illustrates the permanent-magnet DC machine which can be used as motors and generators.
r o to r m a g n e tic a x is o f a r m a tu r e w in d in g q u a d r a t u r e a x is

S ta to r R o to r
Permanent Magnet

B ru s h Permanent Magnet S lip r in g s t a t o r m a g n e tic a x is d i r e c t a x is

ua

A ir g a p

Figure 1. Schematic representation of permanent-magnet DC machines Mathematical Model Developments To the equations of motion, a schematic diagram of permanent-magnet DC machines is illustrated in Figure 2.

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ra ia La

rar

r , Te

TL

L oad
ua

+
Permanent Magnet

q u a d ra tu re a x is
F ie ld A r m a tu re

Ea = k a r

d ire c t a x is

Figure 2. Schematic diagram of permanent-magnet electric machines (current direction corresponds to the motor operation) Using Kirchhoffs voltage law and Newtons second law of motion, the differential equations for permanent-magnet DC machines can be easily derived. Assuming that the susceptibility is constant (in reality, Curies constant varies as a function of temperature), one supposes that the flux, established by the permanent magnet poles, is constant. Then, denoting the back emf and torque constants as k a , we have the following differential equations describing the transient behavior of the armature winding and tortional-mechanical dynamics
dia r = a ia dt La d r k = a ia dt J ka 1 r + ua , La La Bm 1 r TL . J J

(1)

An s-domain block diagram of permanent-magnet DC motors is illustrated in Figure 3.

ua
+

1 La s + ra

ia

ka ka

Te
+

TL
-

1 Js + Bm

Figure 3. Block diagram of permanent-magnet DC motors

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The angular velocity can be reversed if the polarity of the applied voltage is changed (the direction of the field flux cannot be changed). The steady-state torque-speed characteristic curves obey the following equation
r =
ua ra ia ua ra = 2 Te , ka ka ka

(2)

and the torque-speed characteristics are illustrated in Figure 4.

r ro =
ua ka TL = f ( r ) ua max ua1 ua2 ua3 0 Te , TL

C u r r e n t lim it
ua1 > ua 2 > ua 3

Figure 4. Torque-speed characteristic curves for permanent-magnet motors The steady-state torque-speed characteristic curves are available from catalogs and must be calculated using the data reported in the Specifications section.

Part I: Permanent-Magnet DC Motor Assignment 1: Calculate and plot the torque-speed characteristics
1.1. Problem to be solved and laboratory procedure: Calculate and plot the torque-speed characteristic curves for a permanent-magnet DC motor studied. Plot the load characteristic for different applied voltages (using different values for ua, e.g., 20%, 40%, 60%, 80% and 100% of the rated ua) and different load values. Simply use the values for three different load values, which will be found in the next section. Plot these on the same graph. 1.2. Problem to be solved and laboratory procedure Plot the theoretical torque-speed characteristics using the motor Specifications in the MATLAB environment. Compare them with the experimental torque-speed characteristics, see Example 1.1. Example 1.1 A family of the torque-speed characteristic curves are found applying (2). In particular, plugging the different values of the armature voltage ua in r =
ua ra ia ua ra = 2 Te , ka ka ka

the steady-state characteristics are found and plotted in Figure 5. The load characteristic, as given by TL = f ( r ) = 0.05 + 0.0001 r2 , is documented in Figure 5. The MATLAB m-file developed to calculate and plot the steady-state operating characteristics is given. MATLAB script (ch_5_02.m)
% parameters of a permanent-magnet DC motor ra=2.7; ka=0.105;

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Te=0:0.01:1; for ua=5:5:30; wr=ua/ka-(ra/ka^2)*Te; wrl=0:1:100; Tl=0.05+0.0001*wrl.^2; plot(Te,wr,'-',Tl,wrl,'-');hold on; axis([0, 1, 0, 300]); end; disp('End')

r , rad sec

Torque Speed and Load Characteristics

300

250

200

r = T ( Te )

150

100

TL = 0.05 + 0.0001 r2
50

0 .2

0 .4

0 .6

0 .8

Te , TL , [ N m]

Figure 5. Torque-speed and load characteristics

Assignment # 2. Simulate permanent-magnet DC motors

Problem to be solved and laboratory procedure: Simulate a permanent-magnet DC motor studied. Plot the transient responses (motor behavior) for different applied voltages (using different values for ua) and load torques (Te= 0, 20, 40, 60, 80 and 100%). Let us simulate permanent-magnet DC motors in SIMULINK (you can use classical MATLAB and ode solvers). Two linear differential equations must be used to model the motor dynamics (see Equations 1). In particular, we have
dia r k 1 d r k B 1 = a ia a r + ua , = a i a m r TL . dt La La La dt J J J

Using an s-domain block diagram documented in Figure 3, a SIMULINK diagram is built and illustrated in Figure 6.
Gain1 ra/La Scope: x1 (ia) 1/J Signal Generator (Tl) Gain6 ka/J Gain4

1/La Signal Generator (ua) Gain5 Sum

1 s Integrator1

1 s Integrator2 Gain3 Sum1 Bm/J Scope: x2 (wr)

Gain2 ka/La

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Figure 6. SIMULINK diagram to model permanent-magnet DC motors Example 2.1 The motor parameters (coefficient of differential equations) must be assigned to perform numerical simulations. Let, the motor parameters are assigned to be: ra =5 ohm, La = 0.01 H, k a =0.2 V-sec/rad, k a =0.2 N-m/A, J=0.0005 kg-m2 and Bm =0.00001 N-m-sec/rad. Let the applied armature voltage is u a =50rect(t) V, and the load torque is TL =0.2rect(2t) N-m. One downloads these motor parameters in the Command window by typing
ra=5; La=0.01; ka=0.2; J=0.0005; Bm=0.00001;

The transient responses for the state variables (armature current x1 = ia and angular velocity x2 = r ), are illustrated in Figures 7. It should be emphasized that the plot command was used. In particular, to plot the motor dynamics one uses
plot(x1(:,1),x1(:,2)); xlabel('Time (seconds)'); title('Armature current ia, [A]'); plot(x2(:,1),x2(:,2)); xlabel('Time (seconds)'); title('Velocity wr, [rad/sec]');

Armature current ia, [A] 20 15 10

Velocity wr, [rad/sec] 300

200

100
5 0 -5 -10

-100

-200
-15 -20

-300
0 0.2 0.4 0.6 0.8 1 1.2 Time (seconds) 1.4 1.6 1.8 2

0.2

0.4

0.6

0.8 1 1.2 Time (seconds)

1.4

1.6

1.8

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Figure 7. Permanent-magnet motor dynamics

Example # 2.2: Simulation of permanent-magnet DC motors in the state-space (optional) Our goal is to simulate permanent-magnet DC motors in S IMULINK using the state-space form. The differential equations to model permanent-magnet DC motors were found to be
dia r k 1 d r k B 1 = a ia a r + ua , = a i a m r TL . dt La La La dt J J J dia ra k a i 1 a L La + La u That is, in matrix form we have ddt = a . Bm a r ka 0 r dt J J Denoting the state and control variables to be x1 = ia , x2 = r and u = u a , one finds dx1 ra k a x 1 1 ia 0 x10 dx dt La La + La u = = with initial conditions = x . dt dx2 B r 0 20 ka m x2 0 dt J J y = r . The output equations is

Hence, y = r = Cx + Du = [ 0 1]

ia x1 + [ 0]u a = [ 0 1] x + [ 0]u , C = [ 0 1] and D = [ 0] . r 2

Using the State-Space block, the modeling can be performed. To attain the flexibility, the symbolic notations are used. The State-Space block is illustrated in Figure 8.

Figure 8. State-Space Block with parameters of permanent-magnet DC motors The developed SIMULINK diagram is documented in Figure 9.

x' = Ax+Bu y = Cx+Du Signal Generator (ua) Scope: x2 (wr) State-Space

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Figure 9. SIMULINK diagram to simulate the motor dynamics The simulation can be performed assigning the motor parameters and initial conditions. The following motor parameters are used: ra =5 ohm, La = 0.01 H, k a =0.2 V-sec/rad, k a =0.2 N-m/A, J=0.0005 kg-m2 and Bm =0.00001 N-m-sec/rad. The voltage is u a =50rect(t) V. The initial conditions are: = = . x 100

r0

ia 0

x10
20

To perform the simulations, in the Command window we download the motor parameters and initial conditions as
ra=5; La=0.01; ka=0.2; J=0.0005; Bm=0.00001; x10=5; x20=100;

Running simulation and using the following plotting statement

plot(x2(:,1),x2(:,2)); xlabel('Time (seconds)'); title('Angular velocity wr, [rad/sec]')

the dynamics of the motor angular velocity results, see Figures 10.
Angular velocity wr, [rad/sec] 250 200 150 100 50 0 -50 -100 -150 -200 -250

0.2

0.4

0.6

0.8 1 1.2 Time (seconds)

1.4

1.6

1.8

Figure 10. Motor angular velocity waveforms, u a =50rect(t) V

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Part II: Modeling and Analysis of Permanent-Magnet Direct-Current Motors and Generators
We study the permanent-magnet DC generators driven by the prime mover. Our goal is to thoroughly study the transient dynamics and perform the steady-state analysis. To solve these problems, a mathematical model should be derived, and simulations must be performed augmenting the generator and prime mover dynamics. Let us assume that the permanent-magnet DC motor is used as a prime mover, and the power generation system considered is illustrated in Figure 11.

rapm iapm Lapm Lag

rag
+

Load +

iag

u apm

Prime mover

Generator
rpm , Tepm
Teg

+
Permanent Magnet

u L RL

Permanent Magnet

Eapm = k apm rpm

Eag = k ag rpm

Figure 11. Permanent-magnet DC generator driven by DC motor The mathematical model for permanent-magnet DC generator circuitry dynamics, if the resistive load is studied, is found using Kirchhoffs law diag r + RL k = ag iag + ag rpm , dt Lag Lag and Newtons second law of motion maps the torsional-mechanical dynamics of the generator prime mover system d Tepm ( Bmpm + Bmg ) rpm Teg = ( J pm + J g ) rpm , dt where iag is the generator armature current; rpm is the angular velocity of the prime mover and generator; rag and Lag are the armature resistance and inductance of the generator rotor winding; RL is the load resistance; kag is the back emf (torque) constant of the generator; Bmpm and Bmg are the viscous friction coefficients; J pm and J g are the moments of inertia of the prime mover and generator.

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The electromagnetic torque developed by the permanent-magnet DC motor (prime mover), which is denoted as Tepm , is Tepm = k apmiapm , where iapm is the armature current in the prime mover rotor winding; k apm is the back emf (torque) constant of the prime mover. The load torque for the prime mover is the generator electromagnetic torque, and we have Teg = k ag iag . Thus, one obtains d rpm k apm B + Bmg k ag = iapm mpm rpm iag . dt J pm + J g J pm + J g J pm + J g The mathematical model for the prime mover circuitry dynamics is diapm r k 1 = apm iapm apm rpm + u apm , dt Lapm Lapm Lapm where u apm is the voltage applied to the armature winding of the prime mover; rapm and Lapm are the armature resistance and inductance of the prime mover rotor winding. We have diapm r k 1 = apm iapm apm rpm + u apm , dt Lapm Lapm Lapm diag dt = = rag + RL Lag k apm iag + k ag Lag

rpm , rpm
k ag

iag (3) dt J pm + J g J pm + J g J pm + J g In the MATLAB environment, the mathematical model derived for the permanent-magnet DC generator - DC motor generation system is used to perform simulations. In particular, a SIMULINK diagram is developed based upon a set of differential equations (3). The resulting diagram is illustrated in the book, see Figure 5.33 (file name is pm_pmg_1.mdl).

d rpm

iapm

Bmpm + Bmg

Assignment # 3. Simulation and Analysis of the Motor-Generator System

(Section 5.8) 3.1. Problem to be solved and laboratory procedure: Simulate a permanent-magnet DC motor generator system studied in the MATLAB environment. Plot the transient responses (motor and generator behaviors) for different applied voltages (using different values for uapm, e.g., 20, 40, 60, 80 and 100% of uapm max) and loads (load motor using the generator using different values for RL, e.g., RL= 12, 18, 24, 30 and ohm). Use Table 1 to enter the experimental data and calculations for different uapm and RL. Compare the experimental and theoretical (steady-state) results. Using the motor-generator system studied, examine the transient responses and steadystate characteristics for different loads and different angular velocities of the prime mover, which depend upon the armature voltage applied uapm. Measure the induced voltage by the generator uL and iag for different loads and angular velocity. Report the steady-state data in Table 2 (the simulation results must be reported as the Figures).

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Table 1 DC Motor Measurements

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uapm (% of uapm max) 20 40 60 80 100 20 40 60 80 100 20 40 60 80 100 20 40 60 80 100 20 40 60 80 100

ua

RL 12 12 12 12 12 18 18 18 18 18 24 24 24 24 24 30 30 30 30 30 (no load) (no load) (no load) (no load) (no load)

ia

ug

ig

r (RPM)

r (rad/s)
(calculated)

(calculated)

Te

Efficiency
(calculated)

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Date __________________