Modeling of DC Machines

By
Dr. Ungku Anisa Ungku Amirulddin
Department of Electrical Power Engineering
College of Engineering
Dr. Ungku Anisa, July 2008 1 EEEB443 - Control & Drives
Outline
Introduction
Theory of Operation
Field Excitation
Separately Excited DC Motor
State-Space Modeling
Block Diagrams and Transfer Functions
Measurement of Motor Constants
References
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 2
Introduction
DC motor in service for more than a century
Dominated variable speed applications before
Power Electronics were introduced
Advantage:
Precise torque and speed control without
sophisticated electronics

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 3
Introduction
Some limitations:
High maintenance (commutators & brushes)
Expensive
Speed limitations
Sparking
Commonly used DC motors
Separately excited
Series (mostly for traction applications)
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 4
DC Machine Theory of Operation
Field winding - on stator pole
i
f
produces |
f
Armature winding on rotor
i
a
produces |
a
|
f
and |
a
mutually
perpendicular
maximum torque
Rotor rotates clockwise
For unidirectional torque and
rotation
i
a
must be same polarity under
each field pole
achieved using commutators
and brushes
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 5
DC Machine Field Excitation
Depends on connections of field winding relative to
armature winding
Types of DC machines:
Separately Excited
Shunt Excited
Series Excited
Compounded
Permanent Magnet
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 6
DC Machine Field Excitation
Separately Excited
Field winding separated from armature winding
Independent control of i
f
(|
f
) and i
a
(T)
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 7
DC Machine Field Excitation
Shunt Excited
Field winding parallel to
armature winding
Variable-voltage operation
complex
Coupling of |
f
(i
f
) and T (i
a
)
production
T vs e characteristic almost
constant
AR = armature reaction
(as T |, i
a
|, armature flux
weakens main flux |
f
+, e|)
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 8
DC Machine Field Excitation
Series Excited
Field winding in series with
armature winding
Variable-voltage operation
complex
Coupling of |
f
(i
f
) and T (i
a
)
production
T i
a
2
since i
f
= i
a

High starting torque
No load operation must be
avoided (T = 0, e )
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 9
DC Machine Field Excitation
Compounded
Combines best feature of
series and shunt
Series high starting torque
Shunt no load operation
Cumulative compounding
shunt and series field
strengthens each other.
Differential compounding
shunt and series field
opposes each other.
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 10
Long-shunt
connection
Short-shunt
connection
DC Machine Field Excitation
Permanent Magnet
Field provided by magnets
Less heat
No field winding resistive
losses
Compact
Armature similar to
separately excited
machine
Disadvantages:
Cant increase flux
Risk of demagnetisation
due to armature reaction
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 11
L
f
R
f

i
f

a
a
a a a a
e
dt
di
L i R v + + =
+

e
a


_
L
a
R
a

i
a

+

v
t


_
+

v
f


_
Separately Excited DC Machine

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 12
dt
di
L i R v
f
f f f f
+ =
a b a e
i K i K T = = |
Electromagnetic torque
e |e
b a
K K e = =
Armature back e.m.f.
Armature
circuit
Field
circuit
Separately Excited DC Motor
Motor is connected to a
load.
Therefore,


where

T
L
= load torque


J = load inertia (kg/m
2
)
B = viscous friction
coefficient (Nm/rad/s)
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 13
L e
T B
dt
d
J T + + = e
e
DC Machine - State-Space
Modeling
DC motor dynamic equations:




Therefore,
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 14
a
a
a a a a
e
dt
di
L i R v + + =
L e
T B
dt
d
J T + + = e
e
e
a
b
a
a
a
a
a a
L
K
v
L
i
L
R
dt
di
+ =
1
L a
b
T
J J
B
i
J
K
dt
d 1
= e
e
a b a e
i K i K T = = |
e |e
b a
K K e = = (1) (2)
(3) (4)
(5)
(6)
DC Machine - State-Space
Modeling
From (5) and (6), the dynamic equations in state-space
form:



where s = differential operator with respect to time
This can be written compactly as:

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 15
(

(
(

+
(

(
(
(

=
(

L
a
a
a
b
a
b
a
a
a
T
v
J
L
i
J
B
J
K
L
K
L
R
s
si
1
0
0
1
e e
BU AX X + =

(7)
(8)
DC Machine - State-Space
Modeling
Comparing (7) and (8):


Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 16
(
(
(

=
J
B
J
K
L
K
L
R
b
a
b
a
a
A
| | vector variable state - - - - -
T
a
i e = X
| | vector input - - - - -
T
L a
T v = U
(
(

=
J
L
a
1
0
0
1
B
DC Machine - State-Space
Modeling
The roots of the system are the eigenvalues of matrix A








1
and
2
always have negative real part, i.e. motor is
stable on open-loop operation.
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 17
(
(
(

=
J
B
J
K
L
K
L
R
b
a
b
a
a
A
|
|
.
|

\
|
+
|
|
.
|

\
|
+
|
|
.
|

\
|
+ =
a
b
a
a
a
a
a
a
JL
K
JL
B R
J
B
L
R
J
B
L
R
2
2
2 1
4
2
1
2
1
,
(9)
DC Machine Block Diagrams
and Transfer Functions
Taking Laplace transform of (1) and (3) and neglecting initial
conditions:



These relationships can be represented in the following block
diagram



Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 18
( )
( ) ( )
a a
b
L R
K
s
s s V
s I
a
a
+

=
( )
( ) ( )
( ) J B
K
b
s
s T s I
s
L a
+

=
(10) (11)
( )
a a
L R s
1
+ ( ) J B s
1
+
K
b
T
L
(s)
T
e
(s)
I
a
(s)
V
a
(s)
K
b
e(s)
+
+
-
-
DC Machine Block Diagrams
and Transfer Functions
From the block diagram, the following transfer functions can be derived:






Since the motor is a linear system, the speed response due to simultaneous
V
a
input and T
L
disturbance is:


The Laplace inverse of (14) gives the speed time response e(t).
Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 19
( )
( )
( )
( ) ( ) ( )
2
2
a
V
s s
s V
s
s G
a
b a a a a
b
K BR JR BL JL
K
+ + + +
= =
(12)
(13) ( )
( )
( )
( )
( ) ( ) ( )
2
2
L
T
s s
s
s T
s
s G
L
b a a a a
a a
K BR JR BL JL
L R
+ + + +
+
= =
( ) ( ) ( ) ( ) ( ) s T s G s V s G s
L T a V
L a
+ =
(14)
DC Machine Measurement of
Motor Constants
To analyse DC motors we need values for R
a
, L
a
and K
b
Armature Resistance R
a
DC voltage applied at armature terminals such that rated i
a
flows


This gives the dc value for R
a
Need to also correct for temperature at which motor is
expected to operate at steady state
Similar procedure can be applied to find R
f
of field circuit

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 20
rated ,
resistance contact
a
brush dc
a
i
V V V
R

=
DC Machine Measurement of
Motor Constants
Armature Inductance L
a
Apply low AC voltage through
variac at armature terminals
Measure i
a
Motor must be at standstill
(i.e. e = 0 and e = 0)




f = supply frequency in Hz
R
a
= ac armature resistance
Similar procedure can be
applied to find L
f
of field circuit

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 21
f
R
I
V
L
a
a
a
a
t 2
2
2

|
|
.
|

\
|
=
(variac)
DC Machine Measurement of
Motor Constants
EMF Constant K
b
= K|

Rated field voltage applied
and kept constant
Shaft rotated by another dc
motor up to rated speed
Voltmeter connected to
armature terminals gives
value of E
a

Get values of e
a
at different
speeds
Plot E
a
vs. e
Slope of curve = K
b

Units of K
b
= [V/rads
-1
]

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 22
E
a
(V)
e (rad/s)
References
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
Chapman, S. J., Electric Machinery Fundamentals, McGraw Hill,
New York, 2005.
Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
Dr. Ungku Anisa, July 2008 23 EEEB443 - Control & Drives