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# 7. Modeling of Electromechanical Systems - PowerPoint PPT Presentation

(Rigid shaft). z 1. in shaft 2:. B y. 4. 3. J m , B m. J L. 2. 1. 2. B. +. V k. K 2. Motor. -. z 2. R a , L a. K i , K b. : Motor ’s current. F. r. 7. Modeling of Electromechanical Systems. Example 7.1 System with DC Motor.

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## PowerPoint Slideshow about ' 7. Modeling of Electromechanical Systems' - camden-davenport

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z1

in shaft 2:

By

4

3

Jm , Bm

JL

2

1

2

B

+

Vk

K2

Motor

-

z2

Ra , La

Ki , Kb

: Motor’scurrent

F

r

7. Modeling of Electromechanical Systems

Example 7.1 System with DC Motor

K2: Rotational spring constant of shaft numbered 2

Ra : Motor’s resistance

La : Motor’s inductance

Jm : Motor’s mass moment of inertia

Bm : Motor’s rotational damping coefficient

Ki : Motor’s torque constant

Kb : Motor’s back emf constant

Vk : Motor’s supply voltage

JL : Load’s mass moment of inertia

By : Rotational damping coefficient in bearings

z1

In shaft 2 :

By

4

3

Jm , Bm

JL

2

1

2

+

Vk

K2

DC Motor

-

z2

Ra , La

Ki , Kb

Lagrange Equation→

Homework 07-Problem 1

Energy equations for Lagrange equation:

Input : Vk

;Generalized variables : qa, θm, θL

k/2

Movable, m

R

b/2

Vk

-

+

fa(t)

C

k/2

b/2

Sabit

Example 7.2 Movable plate capacitor

Inputs: Vk(t) ve fa(t)

Generalized variables: q(t) ve x(t)

Lagrange equation→

Set of non-linear differential equations

Runge-Kutta method

Linearization

Homework 07- Problem 2: Movable core inductance