The paper represents the results of research of electromechanical processes in an electric locomotive with an asynchronous traction drive, carried out applying a developed computer model of the electric locomotive as a controlled electromechanical system. Electrical and electromechanical system transfer functions. Summary modeling of electromechanical systems page 3 of 54 file. In the electrical part of the system we consider the back emf of the electrical circuit. Electromechanical systems chapters 1 and 2 ch t 1 i t d ti tchapter 1. Dynamic modeling and control of an electromechanical control. The metaaction chain methodology can estimate the system reliability under different operating modes by modeling the components with varieties of failure sensitivities. Dynamic modeling and control of electromechanical coupling. Me 375 system modeling and analysis section 6 electromechanical systems spring 2009 school of mechanical engineering douglas e. The chapter presents the first, rather basic, simulink model of such an emm. Dynamic modeling and control of electromechanical coupling for. Modeling of electromechanical systems aalborg universitet.
Yedlin the department of electrical and computer engineering, the university of british columbia. After completing the chapter, you should be able to describe a physical system in terms of differential equations. Modeling of mechanical systems for mechatronics applications 9. Springs and dampers are connected to wheel using a flexible cable without skip on wheel. Contents of this lecture basic ideas of electromechanical energy conversion from a network modeling point of view. Alexeev, nizhny novgorod, russia 2institute of machine building of russian academy of sciences, nizhny novgorod, russia 1corresponding author. Mathematical model of electromechanical system with variable dissipativity alexsandr baykov1, boris gordeev2 1nizhny novgorod state technical university n. The basic procedure of feedback and feedforward cascade control system design is presented for the.
The examples anticipate the general requirements of pupils and students for. Mathematical modeling of systems school of electrical. These are the essential skills that a controls engineer must have to operate in industry. Modeling and control of an electromechanical disk brake. The concept of an object represented by a system of connected material points and the concept of a rigid body and connected bodies are presented. Microelectromechanical systems mems, also written as micro electromechanical systems or microelectronic and microelectromechanical systems and the related micromechatronics and microsystems is the technology of microscopic devices, particularly those with moving parts. For this example, we will assume that the input of the system is the voltage source applied to the motors armature, while the output is the rotational speed of the shaft. Parameter estimation and physical realization of the overall system is the major design objective of electromechanical modeling. We discuss methods for numerically solving the generalized master equation gme which governs the timeevolution of the reduced density matrix of a mechanically movable mesoscopic device in a dissipative environment. Dc analysis techniques dc analysis techniques are of course important for analyzing dc circuitscircuits that are not dynamic. Engineering sciences 22 systems electrical modeling page 2 voltage can also be defined in terms of potential energy of a unit charge.
Well focus on mechanical and electrical systems, but will m ention some others too. The key ingredient in this course and what differentiates it from many other related courses is the uncertainty that is encountered whenever a built system is actually installed in the field. Stochastic modeling for system remaining life prognosis. Sections dealing with mechanical systems concern holonomic and nonholonomic objects with multiple degrees of freedom. Lecture 4mathematical modeling of electrical systems free download as powerpoint presentation. System modeling electromagnetic forces dynamic principles for electric and. In this chapter, let us discuss the differential equation modeling of mechanical systems. Write all the modeling equations for translational and rotational motion, and derive the translational motion of x as a. There are two types of mechanical systems based on the type of motion. In this paper modeling, simulation and control of an electromechanical actuator ema system for aerofin control afc with permanent magnet brush dc motor driven by a constant current driver are. A mathematical model of a dynamic system is defined as a set of equations that represents the dynamics of the system. The representation of lumpedparameter electromechanical systems by means of mathematical models has been the subject of the preceding. At this stage in a model, only the interactions of multiport systems are captured in a general fashion. Sign conventions as in mechanical systems we must define the sense of each variable we use, and mark that on the diagram in electrical systems, a circuit diagram or schematic.
Mathematical model of electromechanical system with variable. To analyze such systems we will always employ two diagrams, one for the mechanical system and one for the electrical system. Introduction to electromechanical systems chapter 2. Reliability modeling of electromechanical system with meta. Systematic conversion of a simple electromechanical system model into a bond graph representation 5. Modeling of electromechanical systems carles batlle ii eurongeoplex summer school on modeling and control of complex dynamical systems bertinoro, italy, july 1822 2005. Electrical modeling page 1 introduction to electrical systems modeling part i. Nonlinearity characteristics, such as backlash, in various mechanisms, limit the performance of feedback systems by causing delays, undesired oscillations and inaccuracy. Jongeun choi department of mechanical engineering university of british columbia lecture 8 modeling of dc motors 2008 fall 2 course roadmap laplace transform transfer function models for systems electrical mechanical electromechanical block diagrams linearization modeling analysis design time response. Firstly, they provide good practice and help build intuition for circuits. Mathematical modelling of control system mechanical.
Simulation results are given for the locomotive start as well as for its motion in sections with worsened cohesion conditions in the. Example 1 modeling of dc motors find a set of equations for the dc motor with the armature driven by the electric circuit shown in figure 6a. Modeling of electromechanical systems contents semantic scholar. Mathematical modeling of control systems 21 introduction in studying control systems the reader must be able to model dynamic systems in mathematical terms and analyze their dynamic characteristics. Modeling of electromechanical systems page 5 of 54 file. Principles of electromechanical systems 8 if there is an air gap in the flux path in a core, the effective crosssectional area of the air gap will be larger than the crosssectional area of the iron core on either side. Systemcams modeling of an electromechanical harvester of vibration energy. But why do we discuss them in a dynamic systems class. Pdf numerical models of induction machine were designed using the method of average voltage on the integration step length. Modeling mechanical systems california state university.
Electromechanical system dynamics, energy conversion, and electromechanical analogies modeling of dynamic systems modeling of dynamic systems may be done in several ways. Dynamics of electromechanical systems springerlink. These systems mainly consist of three basic elements. A modern camera is a good example of a mechatronic product. In the industrial application, there may be different operating modes for a multicomponent system. Understand the concepts of reluctance and magnetic circuits. The proposed method evaluates the possible fractional differential equations of the electromechanical. Electromechanical modeling of hybrid piezohydraulic actuator system for active vibration control electromechanical modeling of a hybrid piezohydraulic actuator system for active vibration control was developed. Mathematical modeling of a control system is the process of drawing the block diagrams for these types of systems in order to determine their performance and transfer functions. We further assume a viscous friction model, that is, the friction torque is proportional to shaft angular velocity. Mar 08, 2015 video supplementary lectures from modeling, analysis, and control of dynamic systems, me 360 winter 2015. Fractional order modeling of a nonlinear electromechanical system. Pdf systemcams modeling of an electromechanical harvester. The purpose of electromechanical modeling is to model and simulate an electromechanical system, such that its.
Fingered tooling, or jaws, attach to the grippers to hold an object. A complete drive system consists of many different components, hence this book has been structured to present a logical discussion, on a wide range of topics relating to selection of the complete motordrive system. It merges at the nanoscale into nanoelectromechanical systems nems. Pdf modeling of electromechanical systems based on induction. Engineering sciences 22 systems electrical modeling page 4 now we turn on the power and use the third dimension to indicate voltage. Most of the common electromechanical components, such as electric motors and solenoids are used in combination with mechanical parts to provide actuation or movement. Chapter 2 mathematical modeling in transfer function form file. Characterization and modeling of viscoelastic hysteresis in a dielectric elastomer actuator yunhua zhao, guang meng and wenming zhang state key laboratory of mechanical system and vibration, school of mechanical engineering, shanghai jiao tong university, shanghai 200240, peoples republic of china email. Ece 568 modeling and control of electromechanical systems spring 2020. It first discusses the system level modeling of a second order electromechanical sigma. Chapter is devoted to dynamics of mechanical and electromechanical systems. Researcharticle reliability modeling of electromechanical system with metaaction chain methodology genbaozhang andyangwang collegeofmechanicalengineer,chongqinguniversity,chong, china. As the name suggests, electromechanical systems or devices convert electrical energy into mechanical movement and sometimes vice versa. Designing the controller for an electromechanical system.
Modeling and simulation of dynamic systems using bond. A systematic exposition of modeling of electromechanical systems in the bond graph formalism is presented. Pdf this paper presents a novel modeling technique for a vtol electromechanical nonlinear dynamical system, based on fractional order derivatives. Find materials for this course in the pages linked along the left. In case of system mathematical model plays an important role to give response. The chapter exclusively deals with the second choice. We use the term model to refer to a set of mathematical equations used to represent a physical system, relating the systems output signal to its input signal.
Data for model validation timeseries data generator powers, load powers, line powers, voltages, voltage phase angles, frequency, currents, etc. Course text design of electromechanical robotic systems. These servo electromechanical systems are said to offer a clean, fast, simple, and costeffective alternative to hydraulics and longer life compared to pneumatics. Mathematical modeling of systems in this chapter, we lead you through a study of mathematical models of physical systems. Lecture 2 refers to the following matlab files for solving odes. The purpose of electromechanical modeling is to model and simulate an electromechanical system, such that its physical parameters can be examined before the actual system is built. Lecture 4mathematical modeling of electrical systems. Modeling and control of an electromechanical disk brake 980600 in the scope of a research collaboration, itt automotive europe and darmstadt university of technology are developing control strategies for a lowcost brakebywire system. Backlash nonlinearity modeling and adaptive controller design for an electromechanical power transmission system r. We develop a mathematical model for this system as we did the single loop, but multiply the results by n because of the multiple loops. For instance, for the specification of a rigid body, we need six coordinates, three for the reference point and three for the orientation. This approach has been identified by computing some electromechanical system. Characterization and modeling of viscoelastic hysteresis in a. Aug 19, 20 introduces the modeling of electrical systems from first principles, specifically, employing kirchoffs laws.
Electromechanical systems, electric machines, and applied. Electrical system modeling electrical system modeling. Nonlinear system a system is nonlinear if the principle of superposition and homogeneous are not applied. Finally, a simulation study shows how the resulting sdp model is able to facilitate nonlinear control system design using linearlike design procedures. The transfer function of piezoelectric actuator was derived from the electromechanical potential energy law. The state variable description of a system is not unique different state variable descriptions are obtained by state transformation new state variables are weighted sum of original state variables changes the form of the system equations, but not the behavior of the system some examples. Introduction realtime operation of numerical models is a necessary condition to provide.
Simulation results are given for the locomotive start as well as for its motion in sections with worsened. The extra effective area is caused by the fringing effect of the magnetic. Computer modeling of electric locomotive as controlled. Magnetic circuits earnshaws theorem and electromechanical stability. The modeling and control of complex dynamic systems are the rapidly. Specific discussion of modeling power electronics and batteries is included. Drive system models for electrical and mechanical terminals, power electronics for control of electrical machines, drive control objectives, dynamic examples, ac motor control methods including fieldoriented control, models of vehicle loads. It is suggested that you read about translating mechanical systems, rotating mechanical systems and electrical systems before starting.
Mathematical modeling of physical systems electrical circuits i this lecture discusses the mathematical modeling of simple electrical linear circuits. Example circuit with voltage shown in the third dimension. Masspulley system a mechanical system with a rotating wheel of mass m w uniform mass distribution. Modeling and simulation of electromechanical systems. The mechanical device of the complex system is considered as a node in generalized coordinate system, the terse nonlinear dynamic model of electromechanical coupling for the electromechanical system is constructed through lagrangemaxwell energy method, and the detailed deduction of the mathematical model is presented in the paper. Electromechanical system dynamics, energy conversion, and. Electromechanical systems laboratory analytical representation 1 sensor measurement z 1. Electromechanical systems, electric machines, and applied mechatronics presents a unique combination of traditional engineering topics and the latest technologies, integrated to stimulate new advances in the analysis and design of stateoftheart electromechanical systems. Sep 16, 2009 the paper represents the results of research of electromechanical processes in an electric locomotive with an asynchronous traction drive, carried out applying a developed computer model of the electric locomotive as a controlled electromechanical system. Now let us describe the mechanical and electrical type of systems in detail. Thanks to my supervisors, paul fisette and damien grenier for their time and the fruitful advices they gave to me, the members of the jury. This page describes the development of mathematical models of electromechanical systems systems with physically coupled electrical and mechanical systems.
Assume the rotor has inertia jm and friction coecient b. Identification and control of electromechanical systems using state. Ultimately, such systems are meant to accomplish specific objectives, and the designers task is to achieve robustness, performance, and costeffectiveness in the presence of uncertainty. Backlash nonlinearity modeling and adaptive controller design. Modeling and simulation of dynamic behavior of physical systems 4. It includes models of semiconductors, motors, and components for applications such as electromechanical actuation, smart grids, and renewable energy systems. Analysis of electromechanical systems and devices introduction to analysis and modeling energy conversion and force production overview of electromagneticsoverview of electromagnetics.
Introduces the modeling of electrical systems from first principles, specifically, employing kirchoffs laws. This general model includes many of the classical electrical machines, as well as linear motors and levitating systems. We may find uncertainty in the operating environment, whether it is a windy airspace, a bumpy road, or an obstaclestrewn factory floor. This paper presents a novel modeling technique for a vtol electromechanical nonlinear dynamical system, based on fractional order derivatives. Translational mechanical systems move along a straight line. Finally, since complex electromechanical systems involve sensors and actuators, we have to acknowledge uncertainty in measurement and feedback control. This book examines four basic electromechanical systems and the components needed to design and construct them. This experience suggested there might be other people much like myselfoutside the power industry, but vitally concerned with it. Principles of electromechanical systems in this chapter, we lead you through a study of the mathematics and physics of electrical machines. System level modeling of electromechanical sigmadelta.
Of course, such approach leads to different models for different uses of the same system. In practice, many electromechanical systems, hydraulic systems, pneumatic systems, and. In particular a control engineer uses a model for the. Basic ideas of electromechanical energy conversion from a network modeling point of view port hamiltonian formulation of electromechanical systems very simple examples. Use the standard equation of motion newtons law for mechanical systems use circuits theorems ohms law and kirchhoffs laws. This paper exp lains different kinds of system such as electrical, mechanical, and hydraulic. For a third example, consider the gripper, a device often used with pickandplace robotic systems.
114 257 1221 638 563 951 108 1087 1322 670 1353 1448 1037 435 411 719 915 1154 770 103 1259 1549 977 450 653 497 269 1252 1402 1530 1348 831 883 674 1310 982 73 1370 1220 719 199 294 901 1409 430 1013 972