אאא

אאאא

- 0 -

ئؤرةو

אWא

אאאאאא

א

אאא

אאאא

- 1 -

،א،אאאW،

אאאאאאאאאאא،אאאאאא

אאאאאאאאאאא

אא؛Kאאא א א אא א

،אאאאאאאא،א

،אאא א אא א אאאאאאא

،אאאאאאאאאאא،אא

Kא ?אאאאא??

אא?אאאאאאK

אאאאאא א ،א א אא

،א א א א Kאא

אאא؛אKא

אאאא

אאא

אאאא

- 2 -

א

א א ١

٥ אאאW ٧

١ JאאאWאא ٨

א ١٠

٢ Jאאאאאא ١٥

אWאאאאא ١٦

٣ Jאאאאאאאא١٨ א

אא ١٨ א١٩ א

א٢٣ א

٢٤

Wאאאא ٢٨ אאאא ٢٩

אאא ٣٠ אאאאאא ٣٣

אאא ٣٦ אאא ٣٧

אאאא ٤٠ אא ٤٠

אא ٤١

אאא

אאאא

- 3 -

א א ٤٢

Wאאא ٤٤ אא ٤٥

א ٤٧ אאא ٤٥

אאאא ٤٨ אאא ٤٩

אא ٥٢ אאאאא ٥٣

אאאא ٥٤ אאאא ٥٤

٥٥ Wאאאאאאא ٥٨

אאא ٥٩ אא ٥٩

אאאאא ٦١ אא ٦١ אא ٦٣

אא ٦٣ אאא ٦٤

אא ٦٦ ٦٧

אאאאאאW ٦٩

אאא

אאאא

- 4 -

א אאאאא ٧٠

אאאא ٧٠ א ٧٠

א ٧١ אא ٧٢

א ٧٣ אאאאאא ٧٣

אא ٧٣ א ٧٦

אא ٨٠ ٨١

אא ٨٢

אאא

אאאא

- 5 -

א א K א ،א אWK

א אא ، א א א אא א א ،א א

א א א ،א אא א Kאאאאאאאאאא

Kא،אאאאאאא

אאאKאא א א א א א אאאאאא Kאאא

אאK

א א א א א אא א א،א א

Kאאא

אאאאאאאאאאאאאאאא אא א א Kא א א

א א Kאא א א א،אאאאאאא א א א א K א

א א אא א Kא א א א א Kא א א א א אאאא אאא

Kאא

אאא

אאאא

- 6 -

אא

אאאא

אאא

אאאא

- 7 -

אWאא

אאWאאאאK

אאאW

١K אKאא

٢K אKאאא

٣K אKאא

٤K אKא

٥K אKא

٦K א א א א א אא Kא

אאא

אאאא

- 8 -

א (Stepping Motors)

،אא،אא،אאא

א،،אאאאאא

אאאKאאאאאKאאאאאא

אא،אאאאאאאאאאאאא

א،אא،אאא،אאאא،

א،אאא،אא،אאאאא

אאאאאאאאKאאא

Kאאאאא אא،W

١K Wאאאאא

א א אא א، א (Stacks)، ، א

א، א (Phases) ،אא א،אאאאאא،

א אאאא אא (eddy current losses)K(Stack) אא،

אאא

אאאא

- 9 -

א א ،א K אאF١ J١E

אאאאאאK

١ J١אא

אאאF١ J٢Eאאא،אא،

אאא،F،אא

אאKEאאאKאא

אאא

אאאא

- 10 -

א١ J٢אאאK

Wא

א?A?،אאא?A?،א,א

?B?א?A?א،אאאאאא،אא?A?

א?B?،אאאאאא،אאא

?B??אKC?אאאאא،?B?،א?B?

א?C?،אאאאאא،אא?A?

אKאאאA, B, C, A, B…..،EאאFאא،אאאא

A, C, B, A,….אאאאאאאאאKא

אאא،אאאא

אאא

אאאא

- 11 -

“Stacks”KאאאאאאאאאK

C B A

C B A

0 0 1 0 0 1

1 0 0 0 1 0

0 1 0 1 0 0

0 0 1 0 0 1

1 0 0 0 1 0

0 1 0 1 0 0

١א J٢ א אא א

אאK

١א J١א אא א

אאK

Fאאאא١ J٣אEאאאF١ J٤EKאאא

א١ J٣אאאאאא

אאא

אאאא

- 12 -

א١ J٤אאאאאא

אאאאWא

C B A

C B A

0 0 1 0 0 1

1 0 1 0 1 1

1 0 0 0 1 0

1 1 0 1 1 0

0 1 0 1 0 0

0 1 1 1 0 1

0 0 1 0 0 1

١א J٤ א אא א

אK

١א J٣א א א

א אK

אאא

אאאא

- 13 -

אאאאאFא١ J٥KE

א١ J٥אאאא

אאאאאאF١ J٦KE

א١ J٦אאאא

VA

VB

VC

Time

Time

Time

ON ON ON

ON ON

ON ON

OFF

OFFOFF

OFF

OFFOFF

OFF

אאא

אאאא

- 14 -

אF١ J٧E،אאאאאאאא،

،אאאא،אאF،א

E،אאאאא،אאאאא،

KF١א J٧Eא،אאAFא،١ J٧Eא،אאB،

Kאאאא،אאאא،אאCF١א J٧EאB،

Kאאאאאאאאאא،אא

אא١ J٢٢ J٢Kאאאאאאא١ J٣١ J٤K

א١ J٧אאאא

אאא

אאאא

- 15 -

Wא

אאא“Stacks”NאאPאWאא

١-١ P.N

360

א١ J١אאאF١ J٢E،15،אאאF١ J٧E،30K

٢K אאאאאאW אאאאא

،אאאאאאא،אF١ J٨Eאאא

א،אאא

אאאKאאא

אאאF١ J١FE٤٥אKE

F١ J٨FE١ J٨E

א ١ J٨א

אאא

אאאא

- 16 -

אאאאאאW א'A'،אא

א‘A’،،אאאאאF١ J٨KEא‘A’א‘B’،

א٤٥אEFאא،א'B'،אאאאאאF١ J٨KE

א'A'אא،אאא،،אאאA,B,A-,B-,A,…،

אאF١ J٥KאאאE

١א J٥אאאא٢א J٧٤٥

Kא

B A 0 1

1 0

0 1 J

1 J 0

0 1

F١א J٩אאאE(A&B) אK

א١ J٩אאאא١ J٨

א

אאא

אאאא

- 17 -

אאאאא١א J٦

١א J٦אאא א F ١א J٨ E

22.5 Kא

B A

0 1 1 1 1 0 1 -1 0 -1 -1 -1 -1 0 -1 1

אF١ J١٠אאאE(A&B) א

Kאאאאא،،אאא،אאאF١ J٥( F١ J٦EKא

א١ J١٠אאאאF١ J

٨Eא

אאא

אאאא

- 18 -

٣K Wאאאאאאאאא

Wאא Hybrid stepper motor

אאאאאא،אF١ J١١E،אא،א

אאאאא،،Kאאא

אאאא،אא،،אאא

،אא،אאאאא،אאKא

אאא،אאאאא،א(A-

A′)،אאאAאאא،אאאA′א،אאאא(B-B′)K

א١ J١١אאא

אאא

אאאא

- 19 -

אאW א،،

אאאF١ J١٢KEאאא(A-A′)אאא،א(A)

אא(A′)א،(B-B′)،אאאאאF١ J١٢Eאאא،א

א(A-A′)Kאא(A-A′)א(B-B′)،א(B)،א(B′)،אא(18˚)אאא،

אאאF١ J١٢EKאאאאא(B-B′) א(A-A′)F١א J١٢EאK

אאTm אאאאTmאאאאא،

אאאאאKאאאא،אאא

(90˚)،אאאKאאאא،אאאא

א،אKאא

(A-A′)(B-B′)אא אא F١ J١٢E،אW

٢-١ S4

S

S5

S

S3

N

S1

N

S2

NmcoscossinsinsinTT

אאא

אאאא

- 20 -

א١ J١٢אא

אאא

אאאא

- 21 -

אאאאאא،אאאאאא،אאF١ J٢EW

588.0951.0809.00.1309.0TT

54cos18cos54sin90sin18sinTT

m

ooooo

m

٣-١ mT0.863T

א،אא18˚א،אאאF١ J١٢KE

אאF٢ J١Eאאא،א،אאא١ J٥١ J٦

אKאאאאאאאאKאאא

،אאאא،אא١אאאאאא J٧١ J٨K

١א J٧אאא א א ١٨Kא

B A

1 1

1 -1

-1 -1

-1 1

1 1

١א J٨אאא א א ١٨Kא

B A

1 1

-1 1

-1 -1

1 -1

1 1

אאא

אאאא

- 22 -

F١א J١٣WאאאאאE

אF١ J١٣EאאאאאאאאK

א F١ J١٣E א א א א אאאאK

אאא

אאאא

- 23 -

אא אאאא

١WKKKKKKKKKKKאאאאאא

K Kאאאא

K Kאא

K אא

K אK

٢WKKKKKKKKKKKאאאאאאא

K Kאאא

K Kאא

K Kאאאא

K Kאאא

٣WאאאKKKKKKא

K K

K K

K K

K K

٤WאאאKKKKKKKKKK

K אאKא

K K

K Kאא

K Kאא

٥WאאאKKאא

KKאאא

K אאK

K Kאאא

אאא

אאאא

- 24 -

W ١ J١WKאאאאאאאאאא

١ J٢WKא

١ J٣WKאאאא

١ J٤WKאאא

١ J٥WKאאאאאא

١ J٦WKאאאאאאא ١ J٦WKאאאא ١ J٧ W א F ١א J١٤ ،Eא א א

،א، ،אא אא،אאW

K Kא

K אאאאאK

K אאאאאK

K אא،אאא

K אא،אאא

K ،אאא،،K

K א؟؟א،אאאא

א١ J١٤

אאא

אאאא

- 25 -

١ J٨ Wא א،א א אא א אא ، ،א

א،W

KאKא

Kאאאאא

אKאאאא

Kאאאאא

Kאאאאא

K،אאא،،K

Kאאאא،א؟א؟

١ J٩WאFא،אא١ J١٥E،W

K Kא

K אאאKא

K Kאאאא

K Kאאא

K אאאא١א٢K

א١ J١٥

אאא

אאאא

- 26 -

١ J١٠WFאא١ J١٦،Eאאא

،،אאא،אא،אאW

K Kא

K אאאאא

K אאאאא

K אאאאא

K אאאאא

K K،،،אאא

K ؟א،אאאאא؟

א١ J١٦

אאא

אאאא

- 27 -

אאאא

אאאא

אאא

אאאא

- 28 -

Wאאאא

אאKאאאW

אאאW

١K אKאאא

٢K אKאאאא

٣K אKאא

אאא

אאאא

- 29 -

אאאא،אא א אאאאא

א K א אא א אא אאאאWא

אא אא Kg א אאא VaK

א א א אאאK

٢ J١אאWאא

Wאאא

K א א א (V)Kאא אאאK

K אאK

K KgK

K Kא

K Kא

אאא(V)،אאאאאKאאאא

אאאא،אאאאאאאKאאאא

١-٢ .KVga

dt

d

אאא

אאאא

- 30 -

٢ J٢אאאWDirect Current Tacho-Generators

אא،א،אאאא،אאאאאאא

א אא א א א א אKאאאאאאאא

אאאא א א א א א(Solid- states d c power supply)

F٢אא J١KE

F٢א J١Eאאאאאא ،א א א א א א א

אVa אא ،אא ،אRL

a

a

a

E

constant but

KE

NE

٢-٢ .KEEa

where

.KKE

Vf

IL

Ea

Ia Ra

Va = VT RL

If

R

אאא

אאאא

- 31 -

אאאא אIfאאKאאא

אF٢ J٢E א א א Ea אא א (RL = )،אאא

RLאאאW

٣-٢ aaaa RI-EV

Ia،אRaאאKאאEאFא

F א ٢ J٢F א E٢ J٣ Eא Kאאא

אF٢ J٢Eאאאאאא

אאאאא

RL=small

RL=

אאא

אאאא

- 32 -

٤-٢ L

aa R

VI

L

a

aa

aL

aa

aL

aaa

R

R1

EV

ER

R1V

R.R

V-EV

٥-٢

L

a

Ea

R

R1

.KV

אF٢ J٥EאאאVa،RaאKRaאא

אאאאKRLKא

٢אאFאאאא J٢،EאאאW

،אWאאK ٦-٢ rL -

where

arrI.K

אאא،r،אאא،אא،KrאIar،

،אאאאאאאKאא

٧-٢ LL a ..KE

אאא

אאאא

- 33 -

א א Wא א א،אאאאא،

אKאא אא אVbrush ،א א

אF٢ J٣EW

brushaaaaV-R.I-EV

٨-٢

L

ar

brushEa

R

R.K.K1

V.KV

F٢א J٨EאVaאאאאאאאאVbrushKא

אVaאא א ،א א א א ،

،אאאאאאאאKאאא(Dead Zone =)،

אKאאF٢ J٢Eא א אאאאאאא٢ J٨K

٢ J٢ J١אWאאאאא

W א א א א Kא

WאאאKא

אאא

אאאא

- 34 -

F٢ J١E אאאא(Ea = 12 V)א(If = 0.1 A)א(1000 rpm)KאW

EאFאאאאEa א0.15 A)אE(1000 rpm)K EFאאאאEa א0.1 A)אE(1400 rpm)K

Wא Ea1 = 12 V If1 = 0.1 A n1 = 1000 rpm

Ea2 = ? If2 = 0.2 A n2 = 1000 rpm Ea3 = ? If3 = 0.1 A n3 = 1400 rpm

fIN ..KE Ea

11

22

1

a2

.

.E

NI

NI

E f

f

a

Vx

x

NI

NIEaE

f

fa 18

10001.0

100015.012

.

.

11

2212

Vx

x

NI

NIEaE

f

fa 8.16

10001.0

14001.012

.

.

11

3313

א א א א Ea א א אVa א א א Ifא

אKאאא

F٢ J٢E אאא(40 W, 20 V, Ra = 0.025)

אאאKא אאא אאEaKאאאאאEa אא20 V

א50 W

אאא

אאאא

- 35 -

Wא

AII aL 220

40

I V P LTout

VxE

R

a

a

05.20025.0220

I V E aTa

אא

AII aL 5.220

50

VxE

R

a

a

0625.20025.05.220

I V E aTa

F٢ J٣E א א א(50 W, Ra = 0.03) א

FאאאEa= 25 VאאKאאEKאא Wא

AII

VVa

acbbV

cba

VV

V

xV

RIEV

VII

aL

T

T

TT

TT

aaaT

TaL

293.24

50

93.242

)4(

5.1,25,1

05.125

03.05025

50

I V P

2

2

LTout

אאא

אאאא

- 36 -

٢ J٣אאאWInduction Tacho-Generators

אא א א ،אא،א ،א

א، ،א א אאאא(Field winding)

א א א(Generating winding)א K אא א (Drag-Cup Rotor)

א א א،אא ،א אF٢ J٣E

K

א٢ J٣

אאא

אאאא

- 37 -

٢ J٣ J١אאWא

،א א א א אא،אאאKאא

א،אאאא،אKאאאא

א אאא א אא א אאאKאאאאא

א א א ،Fא א אfא אאא E

KאאאאאFfEKא

אאאאאאאאאFErotE،Fאאאאfאא،אE

אאאאאFf،אEאK

frot..K E ٩-٢

אאאErot )(،אאאאאFgEאאא،אאFgEאEaא،

אאEaאאאא Kא

ga

ga

g

g

rotg

rot

KE

const.E

const.

toalproportiondirectly is therefore

E toalproportiondirectly

toalproportiondirectly E

אאא

אאאא

- 38 -

אא،אאאאאאא،אאא

אKאאאא אאאאאא

، אא אאאאאאK

،אאאאאאאא

אאא،אאא א אאFאאאKEאאאא

( 0.5 Zf, 0.5 Zb )א א א אא א אאאא،אאאאKאא

אא ( n ) ،אאאאאא א א א אא א א

א( n )،( Eaf )( Emf )،Wא

f1mfaf

Z0.5.InjEnjE ١٠-٢

m

a

N

Nn where

( Eab )( Emb )א،W

b1mbab

Z0.5.InjEnjE ١١-٢

אאאאא

abafa EEE ١٢-٢

bf1Z-Z.In5.0j ١٣-٢

א ( s = 1) = Zb ) ( Zf ( Ea = 0 )

אאא

אאאא

- 39 -

אאא ) Ea(אZfZbאא،אאאאא ،אאZf

Zb אאא،אאאאאאK

٢ J٤

אאאא،אאWאאא

12.298.1

3.409.31

7.5159.3I1

jZ

jZ

b

f

אא א אאאאאאS=0.05Kאאאאאא n =

0.8K

Wאאאאא

volt22.9065.69

)92.515.48()7.51436.1(j

12.2j98.13.40j9.317.5159.38.05.0j

Z-Z.In5.0jE

o

oo

o

bf1a

אאאא69.65אאאא90.22 K

אאא

אאאא

- 40 -

٢ J٤אאאאSynchronous Tacho-generators

אא،אאאאאאא،אאאאא

K

אאאאאאאאKאאאאאאא،אא

،אא א Kא אאא، א אא א ،

א א ،א א אKאא

٢ J٥אאW

א،אאאאא א ،א،א Kאא

א،אKא

אאא

אאאא

- 41 -

אא אאאא

١WKKKKKKKKKKKא

KאK

KאאאK

אאK

KK

٢WKKKKKKKKKKKאאא

KאאאK

KאאאK

KKאאאא

KK

٣WKKKKKKKKאאאאאא

K

KK

KK

KK

٤WאאאאאKKKKKK

KK

KאK

KאK

KK

٥WאאKKKKKK

KK

KKאא

KK

אאא

אאאא

- 42 -

KאK

W ٢ J١W ؟אאאאאא

٢ J٢W א א א א א א אאאאאאא؟א؟אא

٢ J٣W ؟אא

٢ J٤WKאאאא

٢ J٤WKאאאא

٢ J٤WKאאאא

٢ J١ Wאאאאאאא אאFאאאאא٢ J٨אאKE

K

٢ J٢W אאאאאאאאKא

٢ J٣Wאאאא،אאWאאא

2.44

3.8064

4.505.2I1

jZ

jZ

b

f

אאאאאאאאאאs

= 0.04אאאאאאKn =

0.9

אאא

אאאא

- 43 -

אאאאאא

אאא

אאאא

- 44 -

Wאאא

אאWאאאK

אאאW

١K אKאא

٢K אא

٣K אKאאאאא

٤K אKאאאא

אאא

אאאא

- 45 -

א

אא (Servo-Motors)،،א א א א א א

،אא،אאאאא،אאאאאא

Kא א אאאאKא

אאאאאאKא א א،א

Kאא،אא

٣ J١אאA.C Servo-Motors אאאאא

Kא אא אאאאאא،א

א א،אא א אא،א،אאא،אKאאא،א

א א א ، אא א FאKE

٣ J١ J١Wא

אאא،אא، א א(constant voltage winding) ،

א א א، א(control winding)KאF٣ J١EאKאא

אאא

אאאא

- 46 -

א،אFא،Eאאאאאאאאא

א א ، א ،אאאאאKאא

אא،אא،א،אאאK

א א א א אא אאאאF٣ J١EW

٣ J١aVT

א٣ J١אא

אאא

אאאא

- 47 -

٣ J١ J٢Wאאא

א א א א א ، א،א،אאא

،אאא אא אאאאF٣ J٢EKא،،אאאא

،אאאK،א א אא

א“c”אאF٣ J٢E،،א א א א

،אאאא،אאאאאאKא

א א "c" א (Va)،אאאF٣ J٣E،אא

אF٣ J٢EW

avV.K.K-T ٣ J٢

א٣ J٢ אאאאא

א٣ J٣אאאא

אאא

אאאא

- 48 -

٣ J١ J٣אאאא(Drag-Cup Servo-Motors)

א،אאאאאאאKאאאא

אא ،א א א א א אאאאא EFא،אאא א א א

Kא

אא،אאאאא ،א א א א،

אאאא،Kא אאאאאאא،אא

א EאFא،אאאא אK א א א אKא א

אF٣ J٤EKא

א٣ J٤אאא

אאא

אאאא

- 49 -

Wאאא

J א (o) W، א א א אLאK

J א(Tst) Wאאא،א

KK

J אאא(J) WFא،EאKאא٢K

J א(α)Wאא،אאאאא،Lאא٢K

J

Tst ٣ J٣

J א א ()א א א W٢٦٣א ٪אא

א،אאאKא אא ،

אא ،אF٣ J٥Eא Wאא

ZאאאאאxKאLא

st

o

T

J ٣ J٤

אאWאא

-t

oe1 ٣ J٥

K א(r)W אא א٪٢٦٣אאאא،אא

אא ،א א אא،אW

Zא٧١xאא

אאא

אאאא

- 50 -

٣ J٥אא

٣ J١W

א ، א 120 ،60،אא אF٣ J٦E،אא0.01Kא٢،אא95

W

K אאאאEאאאFK

K Kאא

K Kא

K Kאא

K אK

K Kאא

٣ J٦

אאא

אאאא

- 51 -

אW

EFאWאא av

V.K.K-T

0.0and volt 95Vat a

avV.K0.75T

00789.095

75.0

V

75.0K

av

rad/sec.2250.0Tat

75.0225K-0.0

line speed torqueof slope0033.0225

0.75K

אאאאEאאאF:

aV0.007890.0033-T

N.m. 0.750.0033-T

EFZא α

7501.0

75.0

J

Tst rad/sec2

EFאоω

225o rad/sec

EFאאW

375.0

22501.0

T

J

st

o

sec.

EFאW 1.537.17.1

r sec.

EFאאW

-t

oe1

0..33t-3

-t

e1225e1225

rad/sec

אאא

אאאא

- 52 -

٣ J٢אאD.C Servo-Motors אאא

FאKאא٣ J٧Eאאא

אאאאא(Va)א،אאאאאא

Fאא٣ J٨KE

F٣א J٧Eאאאאאא

אF٣ J٨Eאאאאא

Ea

Ia Ra

Va العضو الدوار

Vf

If

Rf

العضو الثابت

o3 o1

Tst3

o2

Tst2

Tst1

Va1

Va2

Va3

T العزم

א

Va1 Va2 Va3

אאא

אאאא

- 53 -

٣ J٢ J١אאא אאאא

،א א א אאא ،אאאW

٣ J٢ J١ J١Wאאאאא(Printed- Circuit Motors)

אאאא א ، א F٣ J٩(אא א א א א

א א א א אא ،Eא אFאאאKאא،א

אא،אאאאאאKאאא،א

א٣ J٩אאאא

א אא א،א אאא א،אא

א א ، אא א א

אאא

אאאא

- 54 -

אאא אא،אK

٣ J٢ J١ J٢Wאאאא

א אא،אאא א א ، א א א א א

א ، K א א אאאאאא

Kאאא

٣ J٢ J١ J٣Wאאאא

אאא،אאאאאאאKא،אא

אאאא،(Basket)אאאאא،

א א אF٣ J١٠Eא אא Kא

א٣ J١٠אאא

אאא

אאאא

- 55 -

W ٣ J١WWאאא

א Jאא–Kא

٣ J٢W؟אאאאאא

٣ J٣ Wא ،א א אאאא؟א

٣ J٤Wא؟אאא ٣ J٥WKאאאאא ٣ J٦WאאאKאא ٣ J٧Wא א א א

אאאא؟

٣ J٨Wאא א؟؟

٣ J٩ W א א 115،60 אא 0.005Kא٢،אאאF٣ J١١Eאא

115W

K אאאאEאאאFK

K Kאא

K אאK

K אאאאאK

K Kאא

K אאאאK

א٣ J١١

אאא

אאאא

- 56 -

٣ J١٠W א 120א،אא 0.008Kא٢،אאאאאW

N.m. 0.6.0.002-T

T،אWא،אאא K אKאאא

K אאK

K Kאא

K אאK

K אאאאאK

K Kאא

K Kאאא

٣ J١١ W א 120א،אא 0.006Kא٢، א0.6א300אאW

K אKאאא

K אאאאEאאאFKK אאאKK אאאKK אאאאאאKK אKאאאא

אאא

אאאא

- 57 -

אאאאאאאא

אאאאאא

אאא

אאאא

- 58 -

אאאאWאאא

אאאאאאאאWאKא

אאאWK אKאאא ٢K אKאאאאאא

K אKאא K אKאאאאא

אאא

אאאא

- 59 -

٤ J١אאא

א אא א א א אאא، אא،א

א אא אא א אאא،אאאKאא

אא،אאאא،אא، אא،א

א،אא אא،Kאא

٤ J١ J١אWא

F ٤ J١ Eא אא א אא،א،אאא

א א א א א א ،אא،אאא

אאא،אאאאא،אא

אאאK

אא א، אאאא،אאא

אאא ،אאאאא א ،אKאאא

א (Interpoles) ،א אאא،אאאK

אאא

אאאא

- 60 -

א٤ J١אאא

אאאאאאאאאא

אאאF٤ J٢EאאW

אWאא،

١-٤ )jXjX R(R I- VE

.ZI - .ZI - V E

sasaa1 a

ssaa1a

Wאא aad

I.EP ٤ J٢

א: losseso P - PP d ٤ J٣

אW )cos(.I VP a1in ٤ J٤

Wא

m

oo

PT

N.m ٤ J٥

Wא

in

o

P

P ٤ J٦

אאא

אאאא

- 61 -

א٤ J٢אאאאאא

٤ J١ J٢Wאאאאא

א אא 15000 א ، ،א ،א

אאאא،אאאא،אKא אא

אF٤ J٣Eאא،אא، אאאא،אאא،W אאא،א א

אאאאאאKאא

אאאאאאא א،Kאאאא

א٤ J٣אאאא

אאא

אאאא

- 62 -

٤ J١ W 120،60،אא ،8000אאא17.580.912Kא

אאW

WאRa = 1.36 WאאאXa = 1.6

WאRs = 0.65

WאאאXs = 1.2

א א Wאא א אא א ،א א80א Kא

WאאWאא،

)jXjX R(R I- VE

.ZI - .ZI - V E

sasaa1 a

ssaa1a

)327.54446.3(58.2458.17120

)8.2j01.2(58.2458.17120

j1.2)j1.665.036.1(58.2458.17120

Volt 747.2968.60120

Volt 2.2405.74Ea

אאאאאאאאK

Wאא 130258.1705.74I.EP aad x watt

Wא 1222801302P - PP Lo d watt

Wא 76.837

60

80002

60

N2 mm

rad/sec

אאא

אאאא

- 63 -

Wא

46.176.837

1222PT

m

o

o

N.m

Wא 96.1923912.058.17120)cos(.I VP

a1in watt

אW

%5.63635.096.1923

1222

P

P

in

o

٤ J٢אא ٤ J٢ J١Wא

א א א א א א א א

،אאאאאאאאFאEא،אאא

אאאKא

٤ J٢ J٢אאW

אF٤ J٤Eאא K א אA،אאאאא،

،אא אא(Transformer

winding) T=A cos، א،אא א(Field winding)F=A sin،אאא

א אא אKא( T )،،אאאFא

E ، א ،

אאא

אאאא

- 64 -

א א א Eא FKא (F)א א ،א

KאF٤ J٤Eא א אאK

אאא،EF،א،א

،א،אאאאאאK

א٤ J٤אא

٤ J٢ J٣Wאאא

א א א אא א א אאאאא،אאאאא

א א א ،א א א א אאאEאאFK

א א א אא א אא א א א א K אא א א ،אא

א א אא א،אאאאKאא

אאא

אאאא

- 65 -

א א ،אאאאא

،אאאאKאאאאאא١٨٢٠אK

א א א א א אא،،אאא

אאאאKאא

אא

אאא

אאאא

- 66 -

אאWאא ١KKKKאאאאWKKKKKK

K Kאאאא

K Kאאא

K Kאא

K Kאא

٢אאאW،אKKKKKKKKKKK

K K

K K

K Kאאא

K K

٣אאWאKKKKKKKKKKKKKK

K K

K K

K KK K

K K

٤אאאWKKKKKKKKKKKK

K אKאאא

K אKאאא

K Kאא

K Kאא

K Kא

W

אאא

אאאא

- 67 -

٤ J١W؟אאאאא؟،Kא

٤ J٢W؟אא،Kא

٤ J٣Wא؟אאא

٤ J٤Wא؟אאא

٤ J٥Wאאאאאאאא؟

٤ J٦ W 240 ،60 ،א א ،12000אאא6.5א0.94 ، א

אאEאאFW

WאZa = 6.15 + j 9.4 Ω

אWZs = 4.55 + j 3.2 Ω

א א Wאא א אא א ،א א65א Kא

٤ J٧ W א 220 ،60 ، ،א 6000 אא א7א0.90 ،

א אאEאאFW

WאZa = 5.5 + j 7.4 Ω

אאWZs = 3.5 + j 3.2 Ω

Wאא א אא א אא ،א אאא70 אK

אאא

אאאא

- 68 -

אאאאאאאא

אאאא

אאא

אאאא

- 69 -

אאאאWאא

אאWKאאאאאא

אאאW

١K א אWאא אאא

אאאK

٢K אאאאאאאא

אאK

אאא

אאאא

- 70 -

٥ J١אאאא

א א אא א א Kא א א א א אא

א،אאKאאאאאאאאאא

אא،אKאא א אא אאאK

٥ J٢Wאאאא אאאאאW

١K א The control transmitter (CX)

٢Kא The control transformer (CT)

٣KאאThe control differential (CD) ٤Kא The control receiver (CR)

٥ J٢ J١א(CX)W

،א א אא א א

א120°אF א אאKEאא אאKאא

FאאאKEאאאא א

א،אאאאאאא א א ،אאא Kא ) ٥ J١E

אאאאK

אאא

אאאא

- 71 -

א٥ J١Kא

٥ J٢ J٢א(CT)W

א ، א ،אא א א אא א

Fumbrella constructionE،א א א ،א א ،

Kאאא ، K א א אא

אF٥ J٢EKא

אאא

אאאא

- 72 -

א٥ J٢אK

א٥ J٢אK

٥ J٢ J٣אא(CD):

אאא،א،אKאא

KאאF٥ J٣EKאא

א٥ J٣Kאא

אאא

אאאא

- 73 -

٥ J٢ J٤א(CR)W

א،אאKאK

٥ J٣Wאאאאאא

٥ J٣ J١אWאElements Data Transmitting

אאאאאאאאאא،אF٥ J٤Eא،אאאא

א(error detector)،אאאאא،

א אא א(CT) ، ، אאאא(CT)א

א(CX)K

א٥ J٤אאאא

אאא

אאאא

- 74 -

א א א F٥ J٤E ،א א ،אא،

אאאאא،אאאאאאאא،אאא،א

אא א א א ،א אא ،אK

אאאאאא،אאKאאאא

אא،Kאאאא א אאא

،א א א א א ، אא،אאאאאא

אא ،אאאאאאא

אאאא( e = Er sinα )K

אאא

אאאא

- 75 -

א٥ J٥א

אF٥ J٥ E א א אF٥ J٤E،(output shaft)،(input shaft)،

אאא،אאאאFאאE

Kאאאאאא א Kא א א א א א

אאKאאא

אאאא،אא،אא א אא، ، א

אאאא EF אאא אא،אא(E sin ) (E)א

Kאא

א،א אאא אאאאאאאאאאK

אאא

אאאא

- 76 -

٥ J٣ J٢WאElements Torque Transmitting

א אא א אא א א אא אא FEאא א א א

אKאאאאF٥ J٦א א KEאTd

n א אאא

א א n א Kאא אTbאאאTdKאאאאא

אאאאאאKא

א٥ J٦אאא

אא Tdא א א אא אא א א Eא F א

Td Tb

n n

I II

אאא

אאאא

- 77 -

אאאאKאאאאאא אאא א אאאא

אאאאאא EFTdא אEFTb א אא א

אאאאא א א Kא

٥ J١אW70.75 kg.m825 rpm א א א K

50 HzKאאאאK I

II

Td Tb

n n PmI=60Kw

PSI =

109 Kw

PSO=

109 Kw

Pmo=60K

Par =49Kw

אאא

אאאא

- 78 -

sec/15760

15002

60

2

sec/3.8660

8252

60

2

45.01500

8251500ns

...15002

506060n

S

s

radxxxnx

radxxxnx

n

n

mprx

P

f

SS

rr

S

m

FאאאWEאא אאאאPmIW

KwxXT r 603.861000

81.975.70PmI

א אא אא א א א(II) א אאאאWאא

49Kwx1571000

9.81x0.45x70.75Par Sg sxTxsP

אאאאPSIW

Kw091x1571000

9.8170.75xPSI gIS PT

Kw 9014960PCheak SI armI PP

WEאאFאא אאאאאאאאParW

Kw 49arP

אאאאPmoW

60Kw x4945.0

45.011P mo

arP

S

S

אאא

אאאא

- 79 -

אאאאWאא

Kw 90145.01

60

1P SO

S

P mo

Kw 9014960PCheak SO armo PP

אאא

אאאא

- 80 -

אא Wאאאא

١WאאאאאאKKKKKKKKKK

KאEF EFKא

KאאEF KEF

٢WאאKKKKKKKKKK

אאEFKא אאEFKא

אא א א EF Kא

KEF ٣WאKKKKKKKKKK

אאEFKא אאEFKא

EF אא א א Kא

KEF ٤WאאאאאKKKKKKKKKK

EFאK KEF

KEF KEF

אאא

אאאא

- 81 -

W

٥ J١Wאא؟אא ٥ J٢WאאאK

٥ J٣WאאאK

٥ J٤Wאאא؟א

٥ J٥WKאאא

٥ J٦WKאא ٥ J٧Wאאאא

٥ J٨WאאאאK

٥ J٩WאKא

٥ J١٠WאKא

٥ J١١Wא،א אא אא ،אאF٥ J٤א E

אא60oאאאKא،אאא100،א

Kא

٥ J١٢W א100 kg.m 1000 rpm א K א

50 HzKאאאאK

אאא

אאאא

- 82 -

אא

אא א אא،א–KKK K

،אא،א١٩٨٨א KאאאאPrinciples of Electric Machines and Power Electronics, Jon Wiley & sons, Inc, 1997

P. C. Sen, Jon Wiley & sons

Electric Machinery, West Publishing Company, 1994 M. S. Sarma Electric Machines: Steady State Theory and Dynamic Performance, Mc. Graw-Hill, 1992.

A. E. Fitzgeralad

Electric Machinery, Mc. Graw-Hill, 1994 A. e. Fitzgerald, C. Kingsley. S. D.Umans,

STEPPING MOTORS: a guide to modern theory and practice. IEE CONTROL ENGINEERING SERIES, Peter peregrinus Ltd. 1992.

P. J. Antsaklis, D. P. Atherton, K. Warwick

Electric Machines, West Publishing Company, 1994. M. S. Sarma