EE-379

LINEAR CONTROL SYSTEMS

Lecture No 5

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 2
(Electromechanical System Transfer
Functions)

Instructor: Dr. Iftikhar Ahmad

Class: BEE 5D

Electrical Engineering Department

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There are two types of dc motor used in control systems:

a) The field control

b) The armature
control

Armature
Controlled dc
motor

?
 Ea -Em T ϴ
Ea G1 
1 Ia G2  2
1
Rm  sLm KT Js  Bs
-
Em

Kms
Figure 2.35
DC motor:
a. schematic
b. block diagram

d m (t )
vb (t )  Kb
dt

Vb (s)  Kb s m (s) (1) Tm ( s)  Kt I a ( s)

Tm ( s )
• vb(t) the back electromotive force (back emf) I a ( s)  (2)
Kt
• Kb is a constant of proportionality , known • Tm is the torque developed by the motor
as back emf constant
• Kt is the motor torque constant

Loop Equation

Substituting Vb(s) and Ia(s) from (1) and (2)

 (3)

Figure 2.36
Typical equivalent mechanical
loading on a motor

Substituting for Tm(s) in (3)

Neglecting La

How to evaluate
the constants ???

Jm , Dm

Kt/Ra , Kb
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Figure 2.37
DC motor driving a
Jm , Dm
rotational mechanical load
 Kt/Ra , Kb ?? Figure 2.38
Torque-speed curves with an
armature voltage, ea, as a
parameter

Ra
Tm ( s )  K bm ( s )  Ea ( s )
Kt

Ra
Tm (t )  K bm (t )  ea (t )
Kt
In steady state
Ra
Tm  K bm  ea
Kt
can be found from a dynamometer test of the motor
Example 2.23
Transfer Function—DC Motor and Load
PROBLEM: Given the system and torque-speed curve of Figure 2.39(a)
and (b), find the transfer function, ƟL(s)/Ea(s).

SOLUTION: Begin by finding the

mechanical constants, Jm and Dm.
The total inertia at the armature of the motor is:

The total damping at the armature of the motor is:

From the torque speed curve

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Figure 2.39
a. DC motor and load;
b. torque-speed curve;
c. block diagram
Exercise 2.11 Home Assignment
(Don’t submit)
Find the transfer function, G(s) = θL(S)/Ea(S), for the motor and load
shown in the Figure. The torque-speed curve is given by
Tm = - 8ωm + 200
when the input voltage is 100 volts.
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