VR RTEPPING MOTOR

ELECTROMECHANICAL AUTOMATION

MOHAMED HAFEZ 11154275 10/1/2011

Electromechanical Automation

Mohamed Hafez 11154275

TABLE OF CONTENTS
Introduction ............................................................................................................................................................ 2 Objective......................................................................................................................................................... 2 METHODOLOGY ......................................................................................................................................................... 2 ACKNOWLEDGEMENTS ................................................................................................................................................ 2 EQUIPMENTS .............................................................................................................................................................. 2 Figure1. Wound Stator Unwound Rotor ........................................................................................................ 3 Theory ..................................................................................................................................................................... 4 Figure2. Free body diagram for the weight ................................................................................................... 4 Figure3. Time Vs Acceleration ....................................................................................................................... 7 Figure4. Time Vs Position and Speed ............................................................................................................. 7 Figure5. Time Vs Acceleration ....................................................................................................................... 8 Figure6. Time Vs Position and Speed ............................................................................................................. 8 Measurements and Results..11 Moment of inertia ............................................................................................Error! Bookmark not defined. Single step response ........................................................................................Error! Bookmark not defined. Figure 7. : Display the encoder counter position and velocity outputs ..........Error! Bookmark not defined. Variable reluctance stepping motor............................................................................................................. Error! Bookmark not defined. Conclusion ................................................................................................................Error! Bookmark not defined. Bibliography ..............................................................................................................Error! Bookmark not defined. Appendix: Lab2 note...15

OBJECTIVE
The most important aims for this report are to be able to: Calculate and measure the moment of inertia of a rotor. Calculate and observe the single step response of a singly excited electromagnetic system.

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Electromechanical Automation Model and simulate a simple electromechanical system. Compare the calculations with measurement.

Mohamed Hafez 11154275

Set up and observe the operation of a variable reluctance stepping motor with two types of Excitation: single step and 50 Hz.

METHODOLOGY:
It can be found in the lab 2 note in the appendix

ACKNOWLEDGEMENTS:
All work in this report has been done according to the requirements in the Lab Manual. The help of the Lab tutor and the Lecture Notes Given by Dr Quang Ha.

EQUIPMENTS:
Lybotec bench with power supplies. 2-pole, salient pole stator with a rated coil current of 2A . 2-pole, salient pole rotor as used in Lab 1. 36-pole, 3phase, wound stator. 24-tooth (24 pole), unwound rotor. Shaft encoder. Shaft encoder counter. Commutator-mounted torque arm. Fluxmeter. Connecting leads.

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Mohamed Hafez 11154275

Figure 1: Wound Stator Unwound Rotor

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Mohamed Hafez 11154275

THEORY
(I)..Showing that

1ST by using Newtons 3rd law and showing that

)
g

And since, ((m g) - = (m a)

and that s = (1/2)(at2) with ( r) = J (

Figure 2: Free body diagram for the weight

Where is the string tension and a is the uniform acceleration

Then by using Newtowns 2nd law : F = m a Where + (m a) = (m g) gives (m g) - = (m a) hence Since the torque = F r sin = F r [Max Torque] By assuming the string and the shaft face will be perpendicular to one another. the Torque = F r = (m a r) = (m r2 ( ) ) = ( ) r = J ( )where a = =( r = m r (g-a) =Ja( =[J( J = [ (m r2 )( Therefore resulting in; )=mr(g-( ) ( )] )( g - ( )) ] kg/m2 ))

) hence,

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Electromechanical Automation

Mohamed Hafez 11154275

(II)..Verify that

w
Shaft

Since the rotor is a cylindrical shaft plus a rectangular prism, we have;

J=

where dM

dv

p L

r dr

Since p = ( ) = [ ( )] And since, J= r p =p p L p L p L p L = [ (4 m1 = ( L )r4]

dr
L

r dr where R=D/2

) ( )4] - [ ( ) (0)4] ]4 ] d2 L L ]
r D/2

)m1D2..

Since the density p = (m2 / v) = [ (m) / (wdL) ] and Where dm2 = p dx dy dz We have; - p x
-

dr Rectangular Rotor

y dx dy dz
L

* * * = p( =[( = ( ( ) m2 + * d

+ +
x

d W

y w/2

+
-/2

r /2 x

3w) + (w3

3w) + (w3

d
-w/2 Note: r2 = x2 + y2

2+w2).....................................(2)

Then by adding the two equation of (1) & (2) We will get;

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Electromechanical Automation

Mohamed Hafez 11154275

J = [ ( )m1D2 +

) m2 (2 + w2 ) ]

p is the mass density of steel at 7860kg/m3. and since we are given; 4 0-3m L 50 0-3m 48 0-3m -3 w = 78 0 m

5 0-3m

Subbing these values into the expression of the Rotor inertia equation we have; J = [ (1/8)m1D2 + (1/12) m2 (2 + w2 ) ] = [ (1/8)(m1 4 0-3)2 + (1/12)(m2)( ( 48 0-3)2 + w2 ) ] .

(III) Write a differential equation or a state space model to obtain the motor step response given the rotor moment of inertia, the electromagnetic torque, and the assumed load torque.

From the Hints in the question we can find that The State Equation: T J ) +B( ) + Tc Sign( )

the E ectro echanica torque is T - |T |sign ,and sign(x) = +1 if x > 0 or -1 if x < 0 We have Torque T For F r sin TL Fr TL

ax torque wi resu t in: T

So the load Torque is TL= Tc Sign (w) + Bw TL Tc Sign ( ) + B ( ) J )( ) r ) ) )

Since the electro- echanica Torque > F r J J J J resulting in : T J

) + Tc Sign ( ) + B ( )

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Mohamed Hafez 11154275

(IV) Calculate the rotor angular acceleration , speed , and position against time for approximately 5 oscillations. Use the chart function of the spreadsheet to plot the results. For B = 0.005 100 50 0 -50

Acceleration, rad/

-100

-150 -200 0 0.5 1.5 Time, s Figure 1 Time Vs Acceleration 1 2 2.5

2 Position, rad 1 0 -1

0.5

1 Time, s

1.5

2.5

10 Speed, rad/s 0 -10

-20

0.5

1 Time, s

1.5

2.5

Figure 2: Time Vs Position and Speed

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Mohamed Hafez 11154275

(v) Experiment with the coefficients in your spreadsheet. Find out what the simulated angle and velocity settle to and what happens when B=0.005 and when B=0.02 Nms/rad. Comment. 100

50 0 Acceleration, rad/ -50

-100

-150 -200 0 0.5 1 Time, s Figure 3 Time Vs Acceleration 2 1 Position, rad 0 -1 0 0.5 1 Time, s 10 Speed, rad/s 0 -10 -20 0 0.5 1 Time, s Figure 4 Time Vs Position and Speed For B = 0.02 8|Page 1.5 2 2.5 1.5 2 2.5 1.5 2 2.5

Electromechanical Automation (vi) The step angle is calculated by: 60 60 4 5

Mohamed Hafez 11154275

10 15

(vii) In one electrical cycle, there are 2m steps at a frequency supply frequency. Since in 1s there are 4 cycles or at 2mf steps/sec. 50 00 steps/seconds

As the number of steps in one revolution is s=mNr then We can use ( (2mf)/(s) ) = [ (2mf)/(m Nr) ] = (2f)/(Nr) rev/sec Hence, So in 1 minute, the number of rev/min (rotational speed) where 60

0 50 4

50

(viii) The Time duration for ts, is determined by; 60 60 50 60 8000 4 0.00 . sec 0 s .

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Electromechanical Automation (ix)

Mohamed Hafez 11154275

Since input supply is DC supplied to each phase, we result in the inductors acting as a short circuit through a DC supply. A To determine the rise time t r of the transient process of the current when we switch to DC supply, we have;

3 3 B 3 C When supplied by AC supply ie) Inductors exists A

22.2mH 22.2mH 22.2mH

3 3

j B

3 Therefore resulting in a rise time of; C When supplied by DC supply ie) Inductors short

(x) 0.00 0.0 5 0.00 6.8

Req = Rwinding + Rextra , and also, since; .5 . = 6.81 3 = 3.81 ohms

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MEASUREMENTS AND RESULTS

MOMENT OF INERTIA
m = 0.5 kg s = 0.85 m r = 0.025 m g = 9.8 m/s2 t = 1.8 s .8 . ) 0.0055 0.85 Which is quite close to The theoretical value of J is 0.00565 kg.m2 ( ) 0.5 0.0 5 ( 9.8

SINGLE STEP RESPONSE

Following, the display of the CRO for the position and velocity versus time are shown, as well as the calculated results graph.
2.50 2.00 1.50 1.00 0.50 0.00 -0.50 0.0 -1.00 -1.50 -2.00 -2.50 -3.00 0.5 1.0 1.5 2.0 2.5 CH1 Volt CH2 Volt

Figure 7: Display the encoder counter position and velocity outputs

Conversion factors Speed: 100 RPM = 3.33 rad/s = 1 V Position: 18 = 0.1 = 1 V The minimum peak of the velocity waveform is about -1.2 V with respect to the origin. 1.2 * 3.33 = - 12.5 rad/s The reading from the graph obtained from the theory part is about - 11 rad/s The minimum peak of the position waveform is about -2.3 V with respect to the origin. 2.3 * 0.1 = - 0.72 rad The reading from the graph obtained from the theory part is about - 0.9 rad

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Mohamed Hafez 11154275

VARIABLE RELUCTANCE STEPPING MOTOR

f..
Voltage across each phase = 4.62 V Current through motor = 1.5 A Therefore resistance per phase = V/I = 4.62/1.5 = 3.08 ohms

g..
In the lab note in the appendix

h..
Step angle = 5 degrees

i..
Step angle = 5 degrees

j..
In the lab note in the appendix

k..
Phase current = 0.97 A Speed = 250 RPM

l..
Phase current = 0.55 A

m..
In the lab note in the appendix

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Electromechanical Automation

Mohamed Hafez 11154275

CONCLUSION AND DISCUSSION

Throughout my laboratory work I was able to come to some conclusions of what I found and determined through my analysis. I was able to determine that a stepper motor is also a brushless, synchronous electric motor that can be divided into a full rotation into a large number of steps. The motor's position can be controlled precisely, without any feedback mechanism. Stepper motors are similar to switched reluctance motors. I was able to observe that a stepper motor basically operates differently from normal DC motors, which basically rotate when a voltage is applied to their terminals. Stepper motors in the other hand, have effectively multiple "toothed" electromagnets arranged around a central gear-shaped piece of iron like the one we used in the lab. The electromagnets are energized by an external control circuit, such as a micro controller. I was able to understand that to make the motor shaft turn, one of the electromagnet is given power, which makes the gear's teeth magnetically attracted to the electromagnet's teeth. When the gear's teeth are aligned to the first electromagnet, they are slightly offset from the next electromagnet. So when the next electromagnet is turned on and the first is turned off, the gear rotates slightly to align with the next one, and from there the process is repeated respectively. Each of those slight rotations is called a "step," hence, number of steps making a full rotation. In that way, the motor can be turned by a precise angle. Comparing pre work to calculated work determined in the lab, I could successfully say there were slight differences in calculations, possibly due to experimental errors. But overall, I was very pleased with the results produced and the analysis obtained from the laboratory experiment and by what I learned in the lab.

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Electromechanical Automation

Mohamed Hafez 11154275

BIBLIOGRAPHY
Lecture notes on Electromechanical Energy Conversion. Lab notes on Electromechanical Energy Conversion. Slemon, F 2005, Electrical machines and drives. Centikunt, S., Mechatronics, John Wiley and Sons, 2007, Chapter 8.

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