10/28/2015

lesson14et438a.pptx
LESSON 14: TRANSFER
FUNCTIONS OF DC MOTORS
1 ET 438a Automatic Control Systems Technology

LEARNING OBJECTIVES
After this presentation you will be able to:
lesson14et438a.pptx

 Write the transfer function for an armature

controlled dc motor.
 Write a transfer function for a dc motor that
relates input voltage to shaft position.
 Represent a mechanical load using a mathematical
model.
 Explain how negative feedback affects dc motor
performance.

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STEADY-STATE OPERATION OF
SEPARATELY EXCITED DC MOTORS
Consider steady-state model

lesson14et438a.pptx
ia = armature current
eb= back emf
ea= armature terminal voltage wm
wm = motor speed (rad/sec)
T = motor torque
Tf = static friction torque
Ra = armature resistance
La = armature inductance
Jm = rotational inertia
Bm = viscous friction
Review the steady-state relationships
3
Of machine

STEADY-STATE OPERATION OF
SEPARATELY EXCITED DC MOTORS
Relationships of Separately Excited Dc Motor

Torque-Current Curve Back EMF Curve

T
lesson14et438a.pptx

KT=DT/Dia eb KT=DT/Dia

DT DT
Dia Dia
ia wm
-Tf
wm
wm=wnl – (Dwm/DT)T
Speed-Torque Curve wnl
Dwm
DT

4
T

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STEADY-STATE MOTOR EQUATIONS

Developed Torque KVL in Armature Circuit

T = K T  i a  Tf N - m ea = i a  R a  e b V

T = motor torque ea= armature voltage

lesson14et438a.pptx
KT = torque constant eb = back emf
Tf = motor friction torque Ra = armature resistance
ia = armature current

Back EMF Developed Power

eb = K e  wm V P = wm  T W
wm= shaft speed (rad/s) P = shaft power
eb = back emf
Ke = back emf constant

STEADY-STATE MOTOR EQUATIONS

Combining the previous equations gives:

K T  ea  (T  Tf )  R a ea  i a  R a
wm = (1) wm = (2)
KT  Ke Ke
lesson14et438a.pptx

If the load torque is zero (T=0) then the above equation (1) gives the
no-load speed

K T  e a  (Tf )  R a
wnl =
KT  Ke

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STEADY-STATE MOTOR OPERATION

Example 14-1: An armature-controlled dc motor has the
following ratings: Tf=0.012 N-m, Ra=1.2 ohms, KT=0.06 N-m/A,
Ke=0.06 V-s/rad. It has a maximum speed of 500 rad/s with a

lesson14et438a.pptx
maximum current of 2 A. Find: a) maximum output torque, b)
maximum mechanical output power, c) maximum armature
voltage, d) no-load speed at maximum armature voltage.

EXAMPLE 14-1 SOLUTION (1)

Define given variables
lesson14et438a.pptx

a) Tmax occurs at Imax so….

Answer

b) Find Pmax

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Answer

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EXAMPLE 14-1 SOLUTION (2)

c) Find maximum back emf

lesson14et438a.pptx
Answer

d) Find no-load motor speed

At no-load, T=0. Load torque is zero.

T=0
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TRANSFER FUNCTION OF ARMATURE-

CONTROLLED DC MOTOR
Write all variables as time functions

Write electrical equations Ra La

lesson14et438a.pptx

and mechanical equations. + ia(t) +

Use the electromechanical T(t)
Jm
relationships to couple the ea(t) eb(t)
Bm
two equations.

Consider ea(t) and eb(t) as inputs and ia(t) as output. Write KVL
around armature

di a ( t )
ea ( t ) = R a  i a ( t )  L  e b ( t )
dt
dwm ( t )
Mechanical Dynamics T( t ) =J m   Bm  wm ( t ) 10
dt

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TRANSFER FUNCTION OF ARMATURE-

CONTROLLED DC MOTOR
Electromechanical equations
e b ( t ) = K E  wm ( t )
T( t ) = K T  i a ( t )

lesson14et438a.pptx
Find the transfer function between armature voltage and motor speed
 m (s)
=?
E a (s)

Take Laplace transform of equations and write in I/O form

E a (s) = L  s  I a (s)  R a  I a (s)  E b (s)

E a (s) = (L  s  R a )  I a (s)  E b (s)
E a (s) E b (s) = (L  s  R a )  I a (s)
 
E a (s) E b (s)
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I a (s) = 
Ls  Ra 

TRANSFER FUNCTION OF ARMATURE-

CONTROLLED DC MOTOR
Laplace Transform of Electromechanical Equations
E b (s) = K E   m (s)
T(s) = K E  I a (s)
lesson14et438a.pptx

Laplace Transform of Mechanical System Dynamics

dwm ( t )
T( t ) =J m   Bm  wm ( t )
dt

T(s) =J m s  m (s)  Bm  m (s)

Rewrite mechanical equation as I/O equation

 
Ts  = J m  s  Bm   m s    m s  =    Ts 
1 12
 m
J  s  B m

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lesson14et438a.pptx
BLOCK DIAGRAM OF ARMATURE-
CONTROLLED DC MOTOR
Draw block diagram from the following equations

   
E a (s) E b (s)
1
I a (s) =  T(s) = K T  Ia (s)  m s  =  1
  Ts 
 L  s  R a   m
J  s  B m

T(s)
Ea(s) Ia(s) m(s)
+- 1/(Las+Ra) KT 1/(Jms+Bm)

Eb(s)

Ke

E b (s) = K E  m (s)
Note: The dc motor has an inherent feedback
from the CEMF. This can improve system stability 13
by adding a electromechanical damping

TRANSFER FUNCTION OF ARMATURE-

CONTROLLED DC MOTOR
Use the feedback formula to reduce the block diagram

 m s  Gs 
=
E a (s) 1  Gs   Hs 
lesson14et438a.pptx

H(s) = K E

G(s) is the product of all the blocks in the forward path

1/(Las+Ra) KT 1/(Jms+Bm)

   
Gs  = K T  
1 1 KT
 =
 La  s  R a   J m  s  Bm  La  s  R a   J m  s  Bm 
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SIMPLIFICATION OF TRANSFER FUNCTION

Substitute G(s) and H(s) into the feedback formula
G(s)
KT
 m s 
=
L a  s  R a   J m  s  Bm 
E a (s)  KT 

lesson14et438a.pptx
1    KE

 aL  s  R a   J m  s  B 
m  H(s)

Simplify by multiplying numerator and G(s)

denominator by factors (Las+Ra)(Jms+Bm)
 m s  KT
=
E a (s) La  s  R a   J m  s  Bm   K T  K E
Expand factors and collect like terms of s Final Formula
 m s  KT
=
E a (s) La  J m  s 2  (R a  J m  Bm  La )  s  (K T  K E  R a  Bm ) 15

Roots of denominator effected by values of parameters. Can be Imaginary.

DC MOTOR POSITION TRANSFER

FUNCTION
Motor shaft position is the integral of the motor velocity with
respect to time. To find shaft position, integrate velocity
lesson14et438a.pptx

d( t )
= w( t )
dt
d( t )
 dt dt =  w(t ) dt = (t )
To find the motor shaft position with respect to armature voltage,
reduce the following block diagram
Ia(s) T(s)
Ea(s) m(s) Qm(s)
+- 1/(Las+Ra) KT 1/(Jms+Bm) 1/s

Eb(s)
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Ke

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DC MOTOR POSITION TRANSFER

FUNCTION
Position found by multiplying speed by 1/s (integration in time)
1 
Q m (s) =     m (s)

lesson14et438a.pptx
s 

Q m (s) 1   KT 
=  
E a (s)  s   L m  J m  s 2  L a  Bm  R a  J m   s  K T  K E  R a  Bm 
Q m (s) KT
=
E a (s) s  (L m  J m  s 2  L a  Bm  R a  J m   s  K T  K E  R a  Bm )
Q m (s) KT
=
E a (s) L m  J m  s 3  L a  Bm  R a  J m   s 2  K T  K E  R a  Bm   s T.F.

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REDUCED ORDER MODEL

Define motor time constants

Jm La
= m and = e
Bm Ra
lesson14et438a.pptx

Where: m = mechanical time constant

e = electrical time constant

Electrical time constant is much smaller than mechanical time

constant. Usually neglected. Reduced transfer function becomes…

 m (s) Ks
=
E a (s) 1  s  s
KT R a  Jm
Where K s = and s =
K T  K E  R a  Bm K T  K E  R a  Bm
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MOTOR WITH LOAD

Consider a motor with load connected through a speed reducer.
Load inertia = JL
Load viscous friction = BL

Motor coupled to speed reducer, motor shaft coupled to smaller

lesson14et438a.pptx
gear with N1 teeth. Load connected to larger gear with N2 teeth.

N 
wL =  1   wm rad/sec N1  N 2
 N2 
N 
TL =  2   Tm N - m N1  N 2
 N1 

Gear reduction decreases speed but increases torque

Pmech=constant. Similar to transformer action 19

MOTOR WITH LOAD

Speed changer affects on load friction and rotational inertia

Without speed changer (direct coupling)

BT = B m  B L N - m - s/rad
lesson14et438a.pptx

JT = Jm  JL N - m - s 2 / rad

With speed changer

2
N 
BT = B m   1   B L N - m - s/rad
 N2 
2
N 
JT = Jm   1   JL N - m - s 2 / rad
 N2 
Where: BT = total viscous friction
JT = total rotational inertia
BL = load viscous friction
Bm = motor viscous friction 20
Jm = motor rotational inertia
JL = load rotational inertia

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MOTOR WITH LOAD BLOCK DIAGRAM

Ia(s) T(s)
Ea(s) m(s) L(s)
+- 1/(Las+Ra) KT 1/(JTs+BT) N1/N2

lesson14et438a.pptx
Eb(s)

Ke
Inertia and
friction of
Transfer function with speed changer load included

N 
KT   1 
 m s   N2 
=
E a (s) L a  J m  s  (R a  J m  Bm  L a )  s  (K T  K E  R a  Bm )
2

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MOTOR POSITION WITH LOAD BLOCK

DIAGRAM
m(s)
Ia(s) T(s)
Ea(s) QL(s)
+- 1/(Las+Ra) KT 1/(JTs+BT) N1/N2 1/s
lesson14et438a.pptx

Eb(s) L(s)

Ke

Motor position transfer function with speed changer. Note:

multiplication by s

N 
KT   1 
Q L s   N2 
=
E a (s) L a  J m  s  (R a  J m  Bm  L a )  s 2  (K T  K E  R a  Bm )  s
3
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DC MOTOR TRANSFER FUNCTION

EXAMPLE
Example 14-2: A permanent magnet dc motor has the following
specifications.
Maximum speed = 500 rad/sec

lesson14et438a.pptx
Maximum armature current = 2.0 A
Voltage constant (Ke) = 0.06 V-s/rad
Torque constant (KT) = 0.06 N-m/A
Friction torque = 0.012 N-m
Armature resistance = 1.2 ohms
Armature inductance = 0.020 H
Armature inertia = 6.2x10-4 N-m-s2/rad
Armature viscous friction = 1x10-4 N-m-s/rad

a) Determine the voltage/velocity and voltage/position transfer

functions for this motor
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b) Determine the voltage/velocity and voltage/position transfer
functions for the motor neglecting the electrical time constant.

EXAMPLE 14-2 SOLUTION (1)

Define all motor parameters

lesson14et438a.pptx

a) Full transfer function model

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EXAMPLE 14-2 SOLUTION (2)

Compute denominator coefficients from parameter values

lesson14et438a.pptx
Can normalize constant by dividing numerator and denominator by 0.00372

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EXAMPLE 14-2 SOLUTION (3)

To covert this to a position transfer function, multiple it by 1/s
lesson14et438a.pptx

b) Compute the transfer functions ignoring the electrical time

constant

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EXAMPLE 14-2 SOLUTION (4)

Compute parameter values

lesson14et438a.pptx
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lesson14et438a.pptx

LESSON 14: TRANSFER

FUNCTIONS OF DC MOTORS
28 ET 438a Automatic Control Systems Technology

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