Electrical Engineering, UNIVERSITY MALAYA Machine and Drives Assignment

Motivation and Significance

Permanent-magnet motors have been widely used in high-performance electric drives and
servo-systems, while permanent-magnet generators are used in the power systems. Figure 1
illustrates the permanent-magnet DC machine which can be used as motors and generators.

rotor magnetic axis of armature win ding

quadrature axis

Stator

Rotor
Brush

Permanent
Slip ring Magnet sta to r magnetic axis
Magnet
Permanent

dir ect axis

ua
Air gap

Figure 1. Schematic representation of permanent-magnet DC machines

Mathematical Model Developments

To the equations of motion, a schematic diagram of permanent-magnet DC machines is
illustrated in Figure 2.
ra rar

ia

La
TL Load
 r , Te ua

 quadrature axis

Armatu re
Field
direct

Permanent Magnet
E a  k a r axis



Figure 2. Schematic diagram of permanent-magnet electric machines
(current direction corresponds to the motor operation)
Electrical Engineering, UNIVERSITY MALAYA Machine and Drives Assignment

Using Kirchhoff’s voltage law and Newton’s second law of motion, the differential
equations for permanent-magnet DC machines can be easily derived. Assuming that the
susceptibility is constant (in reality, Curie’s constant varies as a function of temperature), one
supposes that the flux, established by the permanent magnet poles, is constant. Then, denoting the
back emf and torque constants as k a , we have the following differential equations describing the
transient behavior of the armature winding and tortional-mechanical dynamics

dia r k 1
  a ia  a  r  ua
dt La La La ,
d r k a B 1
 i a  m  r  TL
dt J J J . (1)

The following motor parameters are used: ra =5 ohm, La = 0.01 H, k a =0.2 V-sec/rad,
k a =0.2 N-m/A, J=0.0005 kg-m2 and Bm =0.00001 N-m-sec/rad. Let the applied armature voltage

is u a =50rect(t) V, and the load torque is TL =0.2rect(2t) N-m. .

 ia 0   x10   5 
    x   100
The initial conditions are:  r 0   20    .

Given all the data above, you are required to simulate Equation 1 in using Rungge-Kutta(ode45,
ode15s…) in Matlab. Plot the results ia and ωr against time.

Then, minimize the ∫ u . ia dt using optimal control theory.(Optimal Control will be thought
in class)

Subject to given constraint equation 1 above and ia<=5A.