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EE 4002: Project #2
Name: ……………………
Due day: 11.10.2004
A car is driven by the four hub permanent magnet DC motors (see Figs.1 and 2). The
road the car is driving on consists of five parts as shown in Fig.3.
Motor parameters
: R
a
= 0.066 Ω, L
a
= 6.5 mH, J
M
= 25 kg
ּ
m
2
, K
T
= 1.33 N
ּ
m/A,
K
E
= 1.33 V/(rad/s).
Car parameters
: mass M = 9X kg, where X is the last two digits of your ID #
(e.g. 980 kg),
Aerodynamic drag force F
Ad
= 0.046C
w
ּ
A
ּ
u
2
, where: C
w
= 0.5,
A = 1.8 m
2
, speed u in km/h and F
Ad
in N.
Diameter of the wheel: D
w
= 0.6 m.
Tasks:
1) Design the current and speed control loops for the motors which allow to drive the
car with constant speed u = 50 km/h at the following assumptions:
a.
PWM converter
parameters:
i.
switching frequency f
s
= 33 kHz,
ii.
k
PWM
= 12
b.
current loop
i.
in designing the current loop neglect the effect of the back emf due
to large inertia of mechanical system
ii.
crossover frequency f
c,I
= 1 kHz,
iii.
phase margin ф
pm,I
= 90
o
.
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 Fall '06
 Scalzo

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