6 1 El t i l M t 6-1. Electrical Motor

System Control System Control

6 1 El t i l M t

6-1. Electrical Motor

Professor Kyongsu Yi

©2009 VDCL

©2009 VDCL

Vehicle Dynamics and Control Laboratory

Seoul National University

Electrical Motor

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008

TOYOTA Freer Movement Control System

4Wheel independent drive

4wheel independent steering

4wheel independent braking

By ‘wheel-in-motor’

TOYOTA Freer Movement Control System

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008

TOYOTA Freer Movement Control System

TOYOTA Freer Movement Control System for Auto-Parking

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008

TOYOTA Freer Movement Control System for Auto-Parking

6WD6WS Vehicle

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008

Vz

6WD6WS Vehicle

Vz

Ψ

S4 Zu6

S6

Vx Vy

Ф

Θ

Zu2 S2

Zu1 S1

Z 2

S3 Zu4

Zu5 S5

w4 Zu3

w6

Fx2

Z u 2

Fx4 Fy4

Fx5 Fy5

w2

w1

w3

Fx6 Fy6 w5

Fx2



Fy2

Fx1 Fy1

Fx3 Fy3

Fy5

v

x

 

BLDC Wheel-in-Motor of 6WD6WS Vehicle

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008

Sectional View of BLDC Motor

Sectional View of BLDC Motor

Constitution of DC Servomotor System Constitution of DC Servomotor System

Motor drive system :

Controller Motor

drive Motor Mechanical

system

u v T

 5V 5V  250V y

  250V

3 phase BLDC motor driver :

PWM1

Q1 Q3 Q5

PWM3 PWM5

DC+

p

Q2 Q4 Q6

PWM2 PWM4 PWM6

v w

u

N S N H3 S

H1

R H2

Hall sensor output Current sensing

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008

Constitution of DC Servomotor System

M t

DC servo motor : ex) Elevator structure :

Constitution of DC Servomotor System

Motor Controller Guide rail

e

+ -

J

p e rm a n e n t m a g n e t

Elevator cage

E le c tric E n e rg y M e c h a n ic a l e n e rg y

l d

Tail code

Counter weight

Armature Control of DC Servomotors

Variables :

Armature Control of DC Servomotors

: armature resistance, : armature inductance, H

a a

R L



Variables :

i

f

 constant

: armature current , A : field current , A

: applied armature voltage, V

a f a

i i

e pp g

: back emf , V

: angular displacement of the motor shaft, rad : torque developed by the motor, N- m

a

e

b

T



: equiv J

2

alent moment of inertia of the motor and load referred to the motor shaft, kg- m

: equivalent viscous- friction coefficient of the motor b : equivalent viscous friction coefficient of the motor

and load referred to the motor shaft, N- m/rad/s b

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008

Armature Control of DC Servomotors

i

f

 constant a :

T  K i K motor  torque constant

The torque of motor :

f

b b b

:

e K d K back emf constant dt

 

For a constant flux, the induced voltage :

a

a a a b a

L di R i e e dt   

Armature circuit D.E :

Armature Control of DC Servomotors

Laplace transforms of equations :

( ) ( )

( ) ( ) ( ) ( )

b b

K s s E s

L R I E E

 

b b

e K d dt

  di

a

L R i

2

( ) ( ) ( ) ( )

( ) ( ) ( ) ( )

a a a b a

a

L s R I s E s E s Js bs s T s KI s

  

   

a

a a a b a

L R i e e

dt   

2

2 a

d d

J b T K i

dt dt

    

( )

_a

K R J

s K

T F 

  

 

dt dt

.

_a

( ) (

_{a a b}

)

_{a b}

a m

T F E s s R Js R b K K R b K K

s s R J

K

       

 

( 1)

m

s T s

m

  / ( )

/ ( )

m a b

m a a b

K K R b K K motor gain constant T R J R b K K motor time constant

  

  

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008

Example of a DC Servomotor System

ex) servo-motor system

i

R 

1 Gear

: armature resistance, : armature current , A : field current , A

a a

f

R i i



1

: applied armature voltage, V : back emf , V

: angular displacement of the motor shaft, rad

a b

e e



₁

constant Gear 2

2

g p ,

: angular displacement of the load shaft, rad : torque developed by t

T



he motor, N- m

: equivalent moment of inertia of the motor kg- m

2

J

₁

2 2

: equivalent moment of inertia of the motor, kg m : equivalent moment of inertia of the load, kg- m J

J

T  K i

The torque of motor : T K i a

The torque of motor :

Example of a DC Servomotor System

n

2

 

a a b a

R i   e e

_{1 1} ¹ ₂

2 eq

J J n J

n

 

   

 

Armature circuit D.E : Inertia and friction :

Laplace transforms of these equations :

( ) ( ), ( ) ( ) ( ) ( ), (

2

) ( ) ( ) ( )

b b a a a b a a

K s  s  E s L s  R I s  E s  E s Js  bs  s  T s  KI s K

Laplace transforms of these equations :

. ( )

( ) ( )

a

a a a b a b

K R J

s K

T F E s s R Js R b K K R b K K

s s R J

   

    

  

 

( 1)

a m

m

R J K

s T s

 

 

 

Seoul National Univ.

School of Mechanical and Aerospace Engineering

Fall 2008