EE595S

Homework 4, Problem 4

Parameters
−3
v batt := 200 Lq := 11.4⋅ 10 J := 0.005

rs := 2.98
rbatt := 2 Ld := Lq

−6
Cdc := 1000⋅ 10 λ m := 0.156 P := 4

Steady-State Operating Point

TL := 1 ω rm := 200

P
ω r0 := ⋅ ω rm
2

φv0 := 0

v ds0 := 0

TL
iqs0 :=
3 P
⋅ ⋅λ
2 2 m

ω r0⋅ Lq ⋅ iqs0
ids0 := Since d-axis voltage is zero - because of phase shift
rs

v qs0 := rs⋅ iqs0 + ω r0⋅ λ m + Ld ⋅ ω r0⋅ ids0

v qs0 = 83.677

m0 :=
( )
v batt ⋅ cos φv0 −
2
( )2 − 6⋅ cos(φv0)⋅ vqs0⋅ (iqs0⋅ cos(φv0) − ids0⋅ sin(φv0))
v batt ⋅ cos φv0

3 ⋅ cos( φv0) ⋅ ( iqs0⋅ cos( φv0) − ids0⋅ sin( φv0) )

m0 = 0.421

3
( ( )
v dc0 := v batt − ⋅ m0 ⋅ iqs0⋅ cos φv0 − ids0⋅ sin φv0
2
( ))
v dc0 = 198.65
Problem 5

⎡ −1 3 ⋅ m0 3 ⋅ m0
⎢ − ⋅ cos( φv0) ⋅ sin( φv0) 0
⎢ Cdc⋅ rbatt 2 ⋅ Cdc 2 ⋅ Cdc
⎢ m ⋅ cos φ
⎢ 0 ( v0)
−rs −Ld −λ m Ld
⋅ ω r0 − ⋅i
⎢ Lq Lq Lq Lq Lq
A := ⎢
⎢ −1 Lq −rs Lq
⋅ m0 ⋅ sin( φv0) ⋅ ω r0 ⋅i
⎢L Ld Ld Ld qs0
⎢ q
⎢ 1 3 ⎛ P⎞
2
1 3 ⎛ P⎞
2
⋅ ⎡( Ld − Lq ) ⋅ ids0 + λ m⎤
⎢
⎣
0 ⋅ ⋅⎜
J 2 ⎝2⎠ ⎣ ⎦ J 2 ⎝ 2 ⎠ ⋅ ( Ld − Lq ) ⋅ iqs0
⋅ ⋅⎜ 0

⎡ −3 ⋅ i ⋅ cos φ − i ⋅ sin φ ⎤
⎢ 2C ( qs0 ( v0) ds0 ( v0) )⎥
⎢ dc ⎥
⎢ ⎥
⋅ v dc0⋅ cos( φv0)
1
B := ⎢ Lq ⎥⋅ 1 The 1/2 is because m=d/2 for
⎢ ⎥ 2 sine triangle modulaton
⎢ −1
⋅v ⋅ sin( φv0)
⎥
⎢ Ld dc0 ⎥
⎢ ⎥
⎣ 0 ⎦

⎛0 0 0 2 ⎞ The output is mechanical rotor

C := ⎜
⎝ P⎠ speed

N := 100

i := 0 .. N − 1
i
logf := −3 + ⋅6
i N− 1

logf i
f := 10
i

s := j ⋅ 2 ⋅ π ⋅ f
 −1
⎡⎢ ⎛⎜ 1 0 0 0⎞ ⎤⎥
H := C⋅ ⎢s ⋅ ⎜
1 0 0⎟
− A⎥
0
⋅B
i ⎢ i ⎜0 0 1 0⎟ ⎥
⎢ ⎜0 ⎥
⎣ ⎝ 0 0 1⎠ ⎦

mHdB := 20.0⋅ log H

i ( i)

( i)
180
aHdeg := arg H ⋅
i π
 60

40

20
mHdBi
0

20

40 3
1 .10 1 .10
3
0.01 0.1 1 10 100
fi

50

aHdegi 100

150

200 3
1 .10 1 .10
3
0.01 0.1 1 10 100
fi

By inspection, the gain margin is infinite, the phase margin is roughly 20 degrees
 ⎤
⎥
⎥
⎥
⎥
ds0⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎦