EE_4002Project.2

EE_4002Project.2 - EE 4002: Project #2 Due day: 11.10.2004...

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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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EE_4002Project.2 - EE 4002: Project #2 Due day: 11.10.2004...

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