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.

2
STEADY-STATE OPERATION OF
SEPARATELY EXCITED DC MOTORS
Consider steady-state model

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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

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T 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
STEADY-STATE MOTOR EQUATIONS
Developed Torque KVL in Armature Circuit

T  K T  i a  Tf N - m ea  i a  R a  eb V

T = motor torque

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ea= armature voltage
KT = torque constant
eb = back emf
Tf = motor friction torque Ra = armature resistance
ia = armature current

Back EMF Developed Power

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

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STEADY-STATE MOTOR EQUATIONS
Combining the previous equations gives:

K T  e a  (T  Tf )  R a ea  i a  R a
m  (1) m  (2)
KT  Ke Ke

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

K T  ea  (Tf )  R a
nl 
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

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maximum speed of 500 rad/s with a 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.

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EXAMPLE 14-1 SOLUTION (1)
Define given variables

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a) Tmax occurs at Imax so….

Answer

b) Find Pmax

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Answer
EXAMPLE 14-1 SOLUTION (2)
c) Find maximum back emf

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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 and Ra La

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

Consider ea(t) and eb(t) as inputs and ia(t) as output. Write KVL around
armature
dia ( t )
ea (t )  R a  i a ( t )  L  e b (t )
dt
dm ( t )
Mechanical Dynamics T( t ) J m   B m  m ( t ) 10
dt
 TRANSFER FUNCTION OF ARMATURE-
CONTROLLED DC MOTOR
Electromechanical equations
e b ( t )  K E  m ( t )
T( t )  K T  i a ( t )

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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)
 1 
 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)

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Laplace Transform of Mechanical System Dynamics

dm ( t )
T( t ) J m   B m  m ( t )
dt

T(s) J m s   m (s)  Bm   m (s)

Rewrite mechanical equation as I/O equation

 1 
T s    J m  s  Bm    m  s    m  s      T s 
12
J
 m  s  B m
 lesson14et438a.pptx
BLOCK DIAGRAM OF ARMATURE-
CONTROLLED DC MOTOR
Draw block diagram from the following equations

 1   
 E a (s) E b (s) T (s )  K T  I a (s )  m  s    1
I a (s)     T s 
L s  Ra   J m  s  Bm 

T(s)
Ea(s) Ia(s) Wm(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 

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H(s)  K E

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

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

 1   1  KT
G s  K T    
 L a  s  R a   J m  s  Bm   L a  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 

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1    KE
  L a  s  R a    J m  s  Bm   H(s)

Simplify by multiplying numerator and G(s)

denominator by factors (Las+Ra)(Jms+Bm)
m  s KT

E a (s)  L a  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) L a  J m  s 2  (R a  J m  Bm  L a )  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

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d( t )
 ( t )
dt
d( t )
 dt dt   (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) Wm(s) Qm(s)
+- 1/(Las+Ra) KT 1/(Jms+Bm) 1/s

Eb(s)
16
Ke
DC MOTOR POSITION TRANSFER
FUNCTION
Position found by multiplying speed by 1/s (integration in time)
1 
 m (s)      m (s)

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s 

 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  
 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  )
 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

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Where: tm = mechanical time constant
te = 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 gear with N 1

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teeth. Load connected to larger gear with N2 teeth.

 N1 
L     m rad/sec N1  N 2
 N2 
 N2 
TL     Tm N - m N1  N 2
 N1 

Gear reduction decreases speed but increases torque Pmech=constant.

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Similar to transformer action
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

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JT  Jm  JL N - m - s 2 / rad
2
With speed changer  N1 
BT  B m     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
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Bm = motor viscous friction
Jm = motor rotational inertia
JL = load rotational inertia
 MOTOR WITH LOAD BLOCK DIAGRAM

Ia(s) T(s)
Ea(s) Wm(s) WL(s)
+- 1/(Las+Ra) KT 1/(JTs+BT) N1/N2

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Eb(s)

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

N 
KT   1 
m  s  N2 

E a (s) L a  J m  s 2  (R a  J m  Bm  L a )  s  (K T  K E  R a  Bm )
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 MOTOR POSITION WITH LOAD BLOCK
DIAGRAM
Wm(s)
Ia(s) T(s)
Ea(s) QL(s)
+- 1/(Las+Ra) KT 1/(JTs+BT) N1/N2 1/s

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Eb(s) WL(s)

Ke

Motor position transfer function with speed changer. Note: multiplication by s

 N1 
KT   
L  s  N2 

E a (s) L a  J m  s 3  (R a  J m  Bm  L a )  s 2  (K T  K E  R a  Bm )  s 22
 DC MOTOR TRANSFER FUNCTION
EXAMPLE
Example 14-2: A permanent magnet dc motor has the following
specifications.
Maximum speed = 500 rad/sec

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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 23
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

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a) Full transfer function model

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EXAMPLE 14-2 SOLUTION (2)
Compute denominator coefficients from parameter values

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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

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b) Compute the transfer functions ignoring the electrical time constant

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EXAMPLE 14-2 SOLUTION (4)
Compute parameter values

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