Project 2

Project 2 - I. Calculations Motor Parameters: Ra = .066 Kt...

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I. Calculations Motor Parameters : Ra = .066 Ω Kt = 1.33 Nm/A La = 6.5 mH Ke = 1.33 V/(rad/s) Jm = 25 kg*m Car Parameters : M = 997 kg Fad = .046Cw * A * u² U = 50 km/h Cw = 0.5 Diameter of wheel = .6m 1.) PWM converter parameter: a. F s,I = 1kHz b. K pwm = 12 2.) Current Loop a. F c, I = 100 Hz b. Φ pm, I = 90 º 3.) Speed Loop a. F c, Ω = 100 Hz b. Φ pm, Ω = 60 º 2.) Current Loop Controller ώ ci = 2π * 1000 = 6283 rad/s τ a = La/Ra = .098 K cI = ( ώ ci * Ra)/ K pwm K cI = 34.56 K pI = K cI * τ a K pI = 3.40 3.) Speed Loop Controller (K i Ω * K T )/(Jeq * ώ ²) = .5 K i Ω = 7.03 x 10^6 (K p Ω * K T )/ (Jeq * ώ ) = .866 K p Ω = 1.94 x 10^4
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II. Going up the hill by 30 º Nm = the # of motors Fm = mg Jeq = 47.4 kg*m² T T = (Fm * Rm)/ Nm Fm = 9771 N F TM = (9771) sin(30 º) = 4885.5 N Fad = 103.5 Tem = T L + Tin Tin = Jeq dw/dt = 0 since the speed is a constant. T L = T T + Tad T T w M F T R N = T T = 366.6 Nm Ad Ad w M F T R N = T ad = 7.76 Nm
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Armature voltage Va [V]
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Project 2 - I. Calculations Motor Parameters: Ra = .066 Kt...

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