by Neil E. Cotter

Research Assistant Professor

Last Updated: 9/30/06

 

(† = missing, * = article)

 

Motors

Deriving motor equations

Rotor angle worksheet (pdf)

Coil current

Angular velocity

Angular Acceleration

Example 1 (pdf)

Electronics

Motor circuit models

Stationary Motor = R and L

Brush DC motor = R, L, and EMF (pdf)

Op-amps

Positive gain

Negative gain

Current source

Power loss in linear control

Example 1 (pdf)

Switching circuits (pdf)

Position sensing

Optical encoders

Resolvers

DQ transform

Rotor angle worksheet (pdf)

Rotation matrix

Preserves length/power

Unitary

Inverse

†Example 1 (pdf)

Ref frames: rotor, mag, v

†Example 1 (pdf)

Example 2 (pdf)

Permanent magnet motors

Linearized model

Example 1 (pdf)

Brush DC motors

Physical construction

Commutation | (pdf)

Motor equations

Example 1 (pdf)

Derivation of motor equations

Equivalent circuit

Laplace-domain model (pdf)

Control schemes

Open-loop

PI velocity control

Modified PI control

Modified PID position control

Symmtric optimum position control

Example 1 (pdf)

Field Weakening

Max torque = max iq

I limit

V limit

I-V limit

†Series DC Motor

Synchronous 2-phase motors

Physical construction

Motor equations

Derivation of motor equations

Equivalent circuit

Linearized model

†Example (pdf)

DQ motor equations (pdf)

Control schemes

Open-loop

DQ control

Synchronous 3-phase motors

Physical construction

Motor equations

Derivation of motor equations

3-phase to 2-phase transform

DQ motor equations

Control schemes

Open-loop

DQ control

Induction motors

Physical construction

Motor equations

Rotor angle diagram (pdf)

Derivation of motor equations (pdf)

Equivalent circuit

General case

Steady-state

Impedance vs slip

Torque vs speed

Example 1 | (pdf)

Example 2 (pdf)

DQ motor equations

Control schemes

Open-loop

Slip control

Field-oriented control

example 1 (pdf)

Modified PID position control

Symmtric optimum position control