1 Institute of Mechatronics and Information Systems Control and Driving Systems

2 Institute of Mechatronics and Information Systems Lecture programme: 1.Fundamentals of electromagnetic phenomena in electro- mechanic energy conversion 2.Structure and operating principle of modern electrical machines used in driving systems 3.Power supplies – voltage and frequency converters 4.Control modes for chosen mechanical drive parameters 5.Parasitic phenomena 6.Advantages and disadvantages of various driving system configurations

3 Institute of Mechatronics and Information Systems Structure and operating principle of modern electrical machines used in driving systems 1.Transformer 2.Direct current machine 3.Induction machine 4.Synchronous machine 5.Special configurations

4 Institute of Mechatronics and Information Systems Direct current machine

5 Institute of Mechatronics and Information Systems Direct current machine structure

6 Institute of Mechatronics and Information Systems Direct current machine structure

7 Institute of Mechatronics and Information Systems Direct current machine operation principle

8 Institute of Mechatronics and Information Systems Direct current machine operation principle

9 Institute of Mechatronics and Information Systems Direct current machine operation principle

10 Institute of Mechatronics and Information Systems Direct current machine Brush–commutator assembly

11 Institute of Mechatronics and Information Systems Direct current machine Electromotive force (EMF): where flux: Torque:

12 Institute of Mechatronics and Information Systems Direct current machine Basic characteristics

13 Institute of Mechatronics and Information Systems Direct current machine Armature reaction

14 Shunt connection circuit diagram Institute of Mechatronics and Information Systems Direct current machine

15 Institute of Mechatronics and Information Systems Direct current machine Winding connections

16 Institute of Mechatronics and Information Systems Direct current machine Circuit equations: No-load condition Load condition

17 Institute of Mechatronics and Information Systems Direct current machine Basic characteristics

18 Speed control – natural mechanical characteristic Institute of Mechatronics and Information Systems Direct current machine

19 Speed control – armature voltage control Institute of Mechatronics and Information Systems Direct current machine

20 Speed control – flux (field current) control Institute of Mechatronics and Information Systems Direct current machine

21 Rotation direction and braking Institute of Mechatronics and Information Systems Direct current machine forward brake forward motor backward motor backward brake

22 Institute of Mechatronics and Information Systems Direct current machine Starting current: First moment – t = 0 therefore: and:

23 Start-up Institute of Mechatronics and Information Systems Direct current machine current speed

24 Starter Institute of Mechatronics and Information Systems Direct current machine

25 Institute of Mechatronics and Information Systems Direct current machine Losses and efficiency (Sankey diagram)

26 Institute of Mechatronics and Information Systems Thank You for Your attention