1A design of the DC motor control circuit Abstract:The phase compensation method is applied in the control system design, the speed of DC motor is controlled by using the feedback of both armature current and tachometer voltage. 1. Modeling a DC motor The symbols used in the modeling is defined as follows: L: armature inductance][HaR: armature resistance][Ωi:armature current][Ae: applied armature voltage][VeK: back electromotive force constant]sec/[radVtK: torque constant[ANm/] mJ: rotor momentum of inertia[2kgm]w: rotor speedsec]/[radlJ: load momentum of inertia[2kgm]lB: viscous friction coefficientsec]//[radNmft: disturbance torque][Nm.In this case the electrical equation is given as weaKeiRdtdiL-=+(1.1)and for the mechanical part of the system the torque equation is described as follows: (29fmiKBdtdJJtwwt-=++ll.(1.2)It is often possible to neglect them on the design of a DC motor control system, because the effect of both the inductance Lof Eq. (1.1) and the viscous torque wlBof Eq. (1.2) is very slight. The following block diagram for the design of a DC motor control system can be obtained. eit--1RKtft1JsKewFig. 1 The block diagram for the design of a DC motor control system.The transfer function to the motor speed wfrom the applied armature voltage ein Fig. 1 is described as sTKsesm+=1)()(w,(1.3)where the time constant mTand the gain Kare the following formulation: eammKKRJJTt)(l+=eKK1=.(1.4)
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