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9 - Akp
9 - Akp
Fall 2017
c 1 / 22
G. Ducard
Outline
c 2 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Pelton Turbine: presentation
Lecture 5: Electromagnetic Systems
Pelton Turbine: modeling
Lecture 5: Electromechanical Systems
Outline
c 3 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Pelton Turbine: presentation
Lecture 5: Electromagnetic Systems
Pelton Turbine: modeling
Lecture 5: Electromechanical Systems
c 4 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Pelton Turbine: presentation
Lecture 5: Electromagnetic Systems
Pelton Turbine: modeling
Lecture 5: Electromechanical Systems
Outline
c 5 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Pelton Turbine: presentation
Lecture 5: Electromagnetic Systems
Pelton Turbine: modeling
Lecture 5: Electromechanical Systems
w Rω
w − Rω
v
ω
dm
R
w − Rω
c 6 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Recalls
Lecture 5: Electromagnetic Systems
Electric Oscillator
Lecture 5: Electromechanical Systems
Outline
c 7 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Recalls
Lecture 5: Electromagnetic Systems
Electric Oscillator
Lecture 5: Electromechanical Systems
Introduction
c 8 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Recalls
Lecture 5: Electromagnetic Systems
Electric Oscillator
Lecture 5: Electromechanical Systems
Mathematical modeling
d d
Conservation law C · dt U (t) = I(t) L · dt I(t) = U (t)
c 9 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Recalls
Lecture 5: Electromagnetic Systems
Electric Oscillator
Lecture 5: Electromechanical Systems
These rules are equivalent to the energy balance and are usually
more convenient to use.
c 10 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Recalls
Lecture 5: Electromagnetic Systems
Electric Oscillator
Lecture 5: Electromechanical Systems
Outline
c 11 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Recalls
Lecture 5: Electromagnetic Systems
Electric Oscillator
Lecture 5: Electromechanical Systems
I(t) L R
C
u(t) UL (t) UR (t) y(t)
UC (t)
d d d2
Reformulation: I(t) = C · dt y(t), dt I(t) =C· dt2 y(t)
d2 d
Result: L · C · dt2
y(t) +R·C · dt y(t) + y(t) = u(t)
c 13 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Permanently Excited DC Motor: introduction
Lecture 5: Electromagnetic Systems
Modeling of a DC Motor
Lecture 5: Electromechanical Systems
Outline
c 14 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Permanently Excited DC Motor: introduction
Lecture 5: Electromagnetic Systems
Modeling of a DC Motor
Lecture 5: Electromechanical Systems
c 15 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Permanently Excited DC Motor: introduction
Lecture 5: Electromagnetic Systems
Modeling of a DC Motor
Lecture 5: Electromechanical Systems
DC motor
DC Motor Principle
c 17 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Permanently Excited DC Motor: introduction
Lecture 5: Electromagnetic Systems
Modeling of a DC Motor
Lecture 5: Electromechanical Systems
Outline
c 18 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Permanently Excited DC Motor: introduction
Lecture 5: Electromagnetic Systems
Modeling of a DC Motor
Lecture 5: Electromechanical Systems
ω(t) Tl (t)
I(t) R L Θ
Remarks:
The motor is permanently excited, parameters κ in the motor and generator laws are constant.
The mechanical part has friction losses.
c 19 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Permanently Excited DC Motor: introduction
Lecture 5: Electromagnetic Systems
Modeling of a DC Motor
Lecture 5: Electromechanical Systems
c 20 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Permanently Excited DC Motor: introduction
Lecture 5: Electromagnetic Systems
Modeling of a DC Motor
Lecture 5: Electromechanical Systems
→ Tm (t) = κ · I(t)
Inserting equation (2) into equation (1),
d
L· dt I(t) = −R · I(t) − κ · ω(t) + u(t)
(3)
d
Θ· dt ω(t) = κ · I(t) − Tl (t) − d · ω(t)
c 21 / 22
G. Ducard
Lecture 5: Hydraulic Systems
Permanently Excited DC Motor: introduction
Lecture 5: Electromagnetic Systems
Modeling of a DC Motor
Lecture 5: Electromechanical Systems
Next lecture
Case study: Loudspeaker
Thermodynamics systems
Examples: Stirred Tank, Heat Exchanger, Gas Receiver
c 22 / 22
G. Ducard