They replace (s La + Ra) with (Ra). Well, that's fine in some cases, but we are not really comparing La to Ra, but need to compare (s La) to Ra, which includes frequency.
They are not comparing sLa to Ra. They are just removing the pole (sLa + Ra). When you remove a pole, you must make sure that you do not change the steady state response (static gain). Thats why they replace the pole (sLa + Ra) with just Ra and not with 1. (they set La=0)
How, do you know what their logic is? They make almost no explanation other than "when La is small it can be neglected"
The only logic there is that if you neglect the La, the error to the model is very small. And it is better to work with simpler model.
But, it is incorrect for you to say "They are just removing the pole (sLa + Ra)", when (sLa+Ra) is not even a pole in the system.
Replacing (sLa + Ra) with Ra removes a pole from the system.
This is not an issue to be determined by one single reference (that 'book'). Stating that "the inductance is small so it can be ignored" is a very common way to explain this phenomenon withing having to take the time to go into detail about why this was said. If we look at better written books i am totally certain that we will see them comparing the time constant of R and L to the time constant of J and f, and i have absolutely no doubt whatsoever about this because this is a time tested and fairly well known concept.
Hi,
Just to add a little here to a good post already here by MisterT...
The units of Torque would be kilogram meters not Newton meters if working in SI units. The energy is in Newton meters.
Are you sure about this?
https://en.wikipedia.org/wiki/Newton_metre
Maybe the SI unit of torque should be the "meter-newton", for reasons similar to the use of the English name "pound-foot" for torque:
https://en.wikipedia.org/wiki/Pound-foot_(torque)
TheElectrician,
Of course, you are correct. Torque is defined as force acting on a lever arm distance. Hence it is always force times distance which is Newton-meters (Nm), in SI units. However, there is a good reason not to call it a meter-Newton because we would tend to abbreviate this as mN which looks like milliNewtons, and would be confusing.
MrAl,
I think you misunderstood what my stand was from the beginning. I reread my own post #12 and I feel that that post does not contradict what you and MisterT have been saying.
Of course R and wL need something to compare to. Otherwise, how do know what frequencies are relevant to judge if wL is small compared to R. You have to look at the full system and the application and do a lot of thinking to know the relevant bandwidth (frequencies) to consider in a design. A key thing I was trying to explain to PG was how La is ignored in the analysis of the book. The book arrives at eqn. 3.120 very quickly based on a very simple idea that La is small. But I wanted to stress that you can't judge if La is small without knowing the frequency range that is relevant; - a point which the book neglected to mention. Knowing the frequency range is not always easy in general, and really goes even beyond what you have mentioned too. I would never want to suggest to any engineer or student to take too narrow a view of the system when judging what approximations to make. So, if anything I've said seemed to suggest that, then let's kill that notion now.
Why are you saying that I hold the book as a bible? That is a ridiculous thing to say. How can one page from a student's text book be considered a bible by any reasonable person? I've spent the last 7 years doing advanced motor control on induction, PM and SRM motors. Trust me when I say that I understand that there is a lot to doing a proper analysis and judging where approximations can be made. Also, I can give a few examples where comparing time constants would give the wrong answer about making the approximations. It is too bold to say your #1 comparison works in EVERY conceivable case. There is no way that book, or anything said in this thread can do justice to the full complexity of motor control design. I was simply trying to help PG get over one stumbling block in his studies, and that requires using the excerpt from the book he provided.
To show just how much you misunderstood me, look at what you asked me.
"I give you three inductances and resistances and you tell me if the inductance is significant
or insignificant in each case:
Case1: 0.1H and 10 ohms
Case2: 0.01H and 10 ohms
Case3: 0.001H and 10 ohms
All you have to do is determine for these three cases if the inductance is significant or not."
After I explained the importance of using frequency when comparing R and wL, you give me no insight to judge what frequencies are relevant. How can isolated values for R and L tell me anything about the system to make a judgment about frequency? No, we need all information about the system and the application to decide if eqn. 3.120 from the book might be a simplification we can make in our design. We arrive at eqn. 3.120 in a very simple way, but judging if eqn. 3.120 can be used is a different matter entirely.
However, my thought was to compare ωL and R which have the same units. We can see in the text that they arrive at eqn. 3.120 by neglecting sL compared to R. Then, they lump parameters together to get a simple expression. I think this is the easiest way to understand the neglecting of inductance in this case. This is what I mentioned above, and I'm not sure why you didn't understand it.
It may very well be that La and R are not enough to look at to see if La can be neglected. However, this is what the book is doing, and my quick look at it didn't reveal a case where La can be neglected if R is small compared to sLa. However, if you have identified another case where R is small and La can still be neglected, then that's fine. You have looked at this in more detail than I have, and I trust your analysis over my lack of analysis.
I dont see why you wish to hold this book as the Bible on motors anyway.
I am not saying that you are drawing an incorrect 'logical' conclusion based on the text, i am
suggesting that any logical conclusion that comes out of that one text alone can not be sufficient.
We need to look elsewhere because the information in the book is given too quick, without
explanation. So on the one hand you say that that the book does not give enough information,
yet you are more than willing to use that limited information to reach a conclusion.
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