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Speed modeling of DC Motorc (using Tacho

generator)
By Abanoub Malak / Emad Yousry / Momen Gamal

Abstract Using the techniques, we learned

throughout the course we will develop a mathematical
model of the system. Furthermore, we will use various
methods to verify and simulate the response of the
system such as: MATLAB, Simulink, Sims cape and
Arduino. By comparing the results from the simulation
and the hardware we will calculate the error and
Design an algorithm which is helpful for DC motor
speed model. For this we will use the modeling
techniques such as differential equations, Transfer
function, State space and also hardware For this example, we will assume that the input of the system
implementation. This will lead to use MATAB, is the voltage source (V) applied to the motor's armature,
Simulink and Simusacpe of position model of the DC while the output is the rotational speed of the shaft d()/dt.
motor without manual interference using tacho-
The rotor and shaft are assumed to be rigid. We further
generator as speed feedback.
assume a viscous friction model, that is, the friction torque is
proportional to shaft angular velocity.

I. INTRODUCTION Inputs: V(t) The Armature voltage.

Output: Shaft angular displacement.
T HE dc motor is a component that converts direct current
(dc) electrical energy into rotational mechanical energy,
which is available to drive an external load. Its convert
mechanical energy to electrical energy. The electrical side of the system:
A common actuator in control systems is the DC motor. It
directly provides rotary motion and, coupled with wheels or KVL:
drums and cables, can provide translational motion. The
electric equivalent circuit of the armature and the free-body
diagram of the rotor. -V(t) + Ra ia + La + Vb = 0 Time Domain

V(t) The Applied Voltage

I. PROCEDURES Vb The Back Electromotive Force [EMF]

A. Analytical solution to get T.F and Steady-Space For Back EMF:

A common actuator in control systems is the DC motor. It directly
provides rotary motion and, coupled with wheels or drums and
cables, can provide translational motion. The electric equivalent Vb = Kb = Km = Km
circuit of the armature and the free-body diagram of the rotor are
shown in the following figure.
Kb Back emf proportionality constant
Km Motor constant
Kb = Km

In general, the torque generated by a DC motor is

= Km ia (N.M/A)
proportional to the armature current and the strength of the
magnetic field. In this example we will assume that the
magnetic field is constant and, therefore, that the motor =J =J = =

torque is proportional to only the armature current i by a

constant factor Kt as shown in the equation below. This is =B

referred to as an armature-controlled motor.

then, Km ia = J +B

-V(t) + Ra ia + La + Km =0
then,
L.T.M.S Laplace transform for
The mechanical side of the system: mechanical side

Km Ia [S] = J [S] + s B [S]

Ia [S] = [ +s ]

L.T.E.S Laplace transform for electrical

side

V[S] = (Ra + sLa ) Ia [S] + sKm

Note: Torque is analogous to force V[S] = (Ra + sLa ) ( +s ) + sKm.

Multiply by Km

Km * V[S] = [(Ra + sLa ) ( + s B) + s ]

= +
Divide by s

Motor torque Km * V[S] / s = s [Ra + sLa ) ( + B) + ]

Inertial torque We arrive at the following open-loop transfer

function by elminating I(s) between the two above
Rotational damping torque equations, here the rotational speed is considered the
output nd the armature voltage is considered the
input.

Then,
Motor torque is proportional to
armature current T.F = =
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II. DC Motor Speed: State-Space Method

In state-space form, the governing equations above
can be expressed by choosing the rotational speed
and electric current as the state variables. Again, the
armature voltage is treated as the input and the
rotational speed is chosen as the output.
From the main problem, the dynamic equations in
state-space form are given below.

= V
System Step Response

III. RESULTS:

System Ramp Response

Motor Speed (Simulink)

Angle Shaft (Simulink) System Impulse Response

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Appendix
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We are very grateful for the strong support and guidance

provided to us by Dr. Ahmed Taher who guided us for
developing our project.
Our sincerely thank to Eng. Hossam who helped us
through
the steps of the project and helped us to complete our task.
we are also very thankful to Nile University for teaching
us such a very important skill.

Conclusion

To sum up, the researcher came up with the transfer

function and state space for DC motor system. In addition, he
used Simulink and Simu cape to show the curves of motor
speed and angle shaft. Finally, he made the hardware circuit
to compare with the results of Simulink.

References

How to connect your L298N Dual H-Bridge Motor

SIMULINK Controller to Arduino Uno
https://www.youtube.com/watch?v=OkHR1BZCcqA

Estimating a transfer function model from random input

using MATLAB
https://www.youtube.com/watch?v=gFZNNe1qsR8

Simulation of Motor in Matlab.avi

https://www.youtube.com/watch?v=20qnBGHVG5I

SIMU SCAPE

ACKNOWLEDGMENT
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