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Derive the transfer function of a DC motor whose input is Voltage and output
is position. Derive another transfer function whose output is velocity, given the
same input.
Solution. A DC motor can be either Armature Controlled or Field Controlled. In Armature Controlled
DC motors controlled signal is applied in the form of voltages at the armature terminals while keeping
the field terminals at constant-magnet field.
To model the shown DC motor, some parameters should be defined; which are given below.
𝑇 = 𝐾𝑎 𝑖𝑎 ᴪ
ᴪ = K f 𝑖𝑓
𝑇 = 𝐾𝑓 𝑖𝑓 𝐾𝑎 𝑖𝑎
𝑒𝑏 = 𝐾𝑏 𝜃 ′
In SI units both the motor torque and back emf constants are equal; 𝐾𝑏 = 𝐾𝑡 = 𝐾
For differential equation of the circuit by using KVL at the armature side of the circuit we get
𝑑𝑖
𝐿𝑎 = −𝑅𝑎 𝑖𝑎 + 𝑒𝑎 − 𝑒𝑏 (1)
𝑑𝑡
The current in the armature winding produces the torque which then can be applied to the inertia and
friction. By using law of equilibrium we get
𝑑2 𝜃 𝑑𝜃
𝐽 2
= −𝑓 +𝑇
𝑑𝑡 𝑑𝑡
Now, by assuming all the initial conditions to be zero, and then taking the Laplace transform of the
above three equations, we get
1. 𝐾𝑏 𝑠 𝜃(𝑠) = 𝐸𝑏 (𝑠)
2. (𝐿𝑎 𝑠 + 𝑅𝑎 )𝐼𝑎 (𝑠) + 𝐸𝑏 (𝑠) = 𝐸𝑎 (𝑠)
3. (𝐽𝑠 2 + 𝑓𝑠)𝜃(𝑠) = 𝑇(𝑠) = 𝐾𝐼𝑎 (𝑠)
By simplifying,
[(𝐿𝑎 𝑠+𝑅𝑎 )(𝐽𝑠2 +𝑓𝑠)+𝐾𝐾𝑏 𝑠]
6. 𝐾
𝜃(𝑠) = 𝐸𝑎 (𝑠)
Taking 𝜃(𝑠) as output and 𝐸𝑎 (𝑠) as input the transfer function will be
𝜃(𝑠) K
7. 𝐸𝑎 (𝑠)
= [(𝐿 2 +𝑓𝑠)+𝐾𝐾 𝑠]
𝑎 𝑠+𝑅𝑎 )(𝐽𝑠 𝑏
Or
𝜃(𝑠)
1. 𝐸𝑎 (𝑠)
=
K
𝑠[𝐿𝑎 𝐽𝑠2 +(𝐿𝑎 𝑓+𝑅𝑎 𝐽)𝑠+𝑅𝑎 𝑓 +𝐾𝐾𝑏 ]
𝜃(𝑠) K
8. =
𝐸𝑎 (𝑠) 𝑠[𝐿𝑎 𝐽𝑠2 +(𝐿𝑎 𝑓+𝑅𝑎 𝐽)𝑠+𝑅𝑎 𝑓 +𝐾𝐾𝑏 ]
Now recalling that the angular velocity is the derivative of the angular position,
𝑑𝜃
𝜔=
𝑑𝑡
By taking the Laplace transform we get
𝜔(𝑠) = 𝑠𝜃(𝑠)
Thus substituting in equation 8 we get transfer function for angular velocity.
𝜔(𝑠) K
9. 𝐸𝑎 (𝑠)
= [𝐿 2 +(𝐿
𝑎 𝐽𝑠 𝑎 𝑓+𝑅𝑎 𝐽)𝑠+𝑅𝑎 𝑓 +𝐾𝐾𝑏 ]
Q2. By ignoring the inductor, derive a new transfer function (ignore this if you
have made this assumption in the previous part). This transfer function would be
1st order transfer function (velocity output, voltage input).
Solution. By ignoring the inductor the transfer function will reduce to
𝜔(𝑠) K
10. 𝐸𝑎 (𝑠)
=𝑅 𝑠𝐽+𝑅
𝑎 𝑎 𝑓 +𝐾𝐾𝑏
By simplifying,
𝜔(𝑠) K
11. 𝐸𝑎 (𝑠)
= 𝑅𝑎 𝐽
𝑅𝑎 𝑓 +𝐾𝐾𝑏 ( 𝑠+1)
𝑅𝑎𝑓 +𝐾𝐾𝑏
Now let,
𝐾
𝐾𝑚 = = 𝑚𝑜𝑡𝑜𝑟 𝑔𝑎𝑖𝑛 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑅𝑎 𝑓 + 𝐾𝐾𝑏
And
𝑅𝑎 𝐽
𝑇𝑚 = = 𝑚𝑜𝑡𝑜𝑟 𝑡𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑅𝑎 𝑓 + 𝐾𝐾𝑏
Then the transfer function will become
𝜔(𝑠) 𝐾𝑚
12. =
𝐸𝑎 (𝑠) 𝑇𝑚 𝑠+1
Q3. Make a block diagram of the simplified DC motor in Simulink. Give it a step
input.
Solution.