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電気電子工学科の情報・通信実験における実験項目「直流モータの基本特性と制御」に関する検討 Study on Basic Characteristics and Control of a DC Motor

V

V

VV

V

RL

T

x T x

xxxxxx Ix

R

KK

R

a

ma I

KVR

KIT a

Lgg RR

KI

xxxx

RRs

xx x x x x x x

x

aR D sV

se

Vc c c c c c

RRR

s s RRR

c cc

Lgg RR

KT

DTT g

RR

R

V

VD

V

V

1 8.2 2 8.3

2.1 V

0

5

10

15

20

0 2 4 6 8 10 12 14V)

3.2 Ra

Vm

6.0 V

2 16.6

C=3.3 F

5 s

KR

dId a

R K

x xR

Ia

xx x

RRgs

RRR

cR

R

R RR

RR

R

vi

v

R

2R

R

Rext

R

2R

R

V

VR

I

R RI

extLg

extLi RRR

RRvV

extLg

exti RRR

RvV

extLg

extLi RRR

RRvVV

extR R V V v

Rv

RvV

RvV ppp

VVvRR

p

RRRVVvp

pg vR

RRv

VVR

RVVRR

RR

RRvg

R R

RR R

ggi IRVv

Kvi

gg IRVK

R IV

KIRV gg

gg I

VR

VK

R

y = -0.0069x + 4.1033

00.5

11.5

22.5

33.5

44.5

0 20 40 60 80 100 120 140A)

4.2 =0 Rext=10

V2

V1

(V1)

RR

y = -0.0067x + 4.1208

0

0.5

11.5

22.5

33.5

44.5

0 20 40 60 80 100 120 140 160 180

A)4.3 =0 , ext 5

V2

V1

(V1)

I I RV I

y = 0.0221x -0.4934

0

0.5

1

1.5

2

2.5

3

3.5

4

50 100 150 200

(rad/s)4.4 Ig=0 V1

R R

R

R RR

RI V V

V RV I V V

VV I I

V

RV

V V

012345678910

1000

1200

1400

1600

1800

2000

120 140 160 180 200 220 240 260Ia(mA)

4.6 Rg=6.8 NFBN(rpm) Vg Vc(V) Vg(V)

R

V

V

V

y = 0.0066x -0.0021

y = -0.0074x + 4.2517

0

1

2

3

4

5

0 20 40 60 80 100 120 140 160 180Ig(mA)

4.7 Rext=6.8 ,

Vc(V)Vg(V)V2(V)V1(V)

(V2(V))

1800

1900

2000

2100

2200

2300

120 140 160 180 200 220 240 260 280 300Ia(mA)

4.8 Rext=6.8

N(rpm)

Vg

y = 0.0083x + 0.0117

y = -0.0096x + 4.2756

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

0 50 100 150Ig(mA)

4.9 Rext=9

Vc(V)Vg(V)V2(V)V1(V)

(V2(V))(V1(V))

1800

1900

2000

2100

2200

2300

120 140 160 180 200 220 240 260

Ia(mA)4.10 Rext=9

N(rpm)

Vg

R

VR

y = 0.01x + 4E-16

y = -0.0105x + 4.2469

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

0 50 100 150Ig(mA)

4.11 Rext=10

Vc(V)Vg(V)V2(V)V1(V)

(V2(V))(V1(V))

1700

1800

1900

2000

120 140 160 180 200 220 240 260 280Ia(mA)

4.12 Rext=10 ,

N(rpm)

Vg

I

I

RV

R

1900

1950

2000

2050

2100

2150

2200

2250

140 160 180 200 220 240 260 280 300 320

Ia(mA)4.13 Rext V

Rext=

Rext=

Rext=

Rext=

VV

R

0

200

400

600

800

2 2.5 3 3.5 4V)

5.1

02468

1012

0 1000 2000 3000 4000 5000

1400150016001700180019002000

120 140 160 180 200 220 240 260 280