List of principal symbols

The following are the principal symbols used in this book. In general they are also defined within the text. Lower-case symbols normally refer to instantaneous values, and upper-case symbols to constants. In practice, a symbol may refer to more than one quantity; however, within a particular context the meaning should be clear.

B
Bg

d
Cp
^ss

Ea, Ely, Ec

Eg Ek Em
Ej-

fe fp fs F Ff
FL

I
^eff

h
^m

hot

h
If
J-m

IT

I'r
IR

Damping constant Air-gap flux Duty cycle Per-phase r.m.s. e.m.f. Steady-state error Direct-current (d.c.) brushless motor back e.m.f. Tachogenerator voltage Kinetic energy d.c. brushed-motor back e.m.f. Regenerative energy Supply frequency Sample frequency PWM switching frequency Force Frictional force External linear force Moment of inertia. Current Inertia referred to the input of a gearbox Load inertia Motor inertia Total inertia of a system Armature current Field current Induction-motor magnetisation current Induction-motor rotor current referred to the stator Induction-motor rotor current Regenerative current xni

xiv Is K Ke Kg Kp Ks Kt
KT Krp

List of principal symbols Induction-motor stator current Stiffness Voltage constant for a d.c. brushed motor Tachogenerator voltage constant Proportional gain Effective stiffness of a joint d.c. brushed-motor torque constant Induction-motor torque constant d.c. brushless-motor torque constant Armature inductance Induction motor stator inductance Gear ratio Optimum gear ratio Rotary speed, teeth on a gear Lead-screw input speed Turns per pole Number of teeth on belt-drive pulley Number of pole pairs Power Input power Output power Armature resistance Load resistance Referred motor resistance Stator resistance Number of teeth on a stepper-motor stack Slip Dwell time Time to complete a move Time to reach standstill under regeneration Time to reach zero terminal voltage under regeneration Torque Continuous torque requirement Electrical torque output Friction torque Input torque Load torque Motor torque Output torque Peak torque Torque stiffness Windage torque Stall torque Voltages in a stationary three-axis frame

La Ls n n* N
NL

Np
NT

P P Pi Po Ra
RL
Rj.

Rs
RT

s td
^m

tz to T
^cm

Te Tf T^
TL TM

To
^peak

Ts T To <> ^6' K

List of principal symbols

Vd,Vq

xv

^d^^l
Va, Vb, Vc

Vc
Vcpk
VL

Vm Vr Vs a

0
A

c
e
Oe M P

4>
(jj

Ue Ui

^int
^m ^n

UJo
Ur

UJs UJO

Voltages in a rotating two-axis frame Voltages in a stationary two-axis frame Brushless-motor terminal voltages PWM control voltage, Cutting speed PWM peak control voltage Linear speed d.c. motor terminal voltage Induction-motor induced rotor voltage Supply voltage Acceleration Torque angle Peak current deviation in a pulse width modulated drive Efficiency Damping Rotary position Static-position error Coefficient of friction Load factor of a PWM amplifier Flux linkage Rotational speed Synchronous speed Input speed Initial speed prior to application of regeneration Mechanical speed Natural frequency Output speed Rotor electrical speed Slip frequency No-load speed