111Equation Chapter 1 Section 1212Equation Chapter 2 Section

1BAHÇEŞEHİR UNIVERSITY

MCH3008 CONTROL SYSTEMS LABORATORY

LABORATORY 4 – TRANSFER FUNCTION BASED MODELING OF

A DC MOTOR

SPRING 2021

Date: ........................................................

Section: ........................................................

Student Names/ID: ........................................................

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

LABORATORY 4: TRANSFER FUNCTION BASED MODELING OF

A DC MOTOR

1. OBJECTIVES

The DC motor is an electromechanical actuator that is frequently used in industrial

manipulators, mobile robots, CNC machines, and other applications requiring precise
motion control. In this lab, the dynamic model of a permanent magnet (PM) stator DC
motor will be developed. Several procedures for determining the parameters of the DC
motor, including bump tests commonly used in system analysis, is introduced.

2. PRE-LABORATORY ASSIGNMENTS

The PM stator, brush type DC motor model consists of three sub-models:

1. The circuit model of the rotor windings,
2. The mechanical model of the rotor, shaft, and load, and
3. The electromagnetic coupling between the circuit model and mechanical model.

The schematic diagram of the DC motor is shown below in Figure2-1.

Figure2-1. The schematic of a DC motor.

2.1 Fundamental Relations

Apply Kirchoff’s voltage law (KVL) to the armature circuit and develop the relationship

between the applied armature voltage (

va (t ) ) and resulting armature current ( ia (t ) ).
Assuming zero initial conditions, compute the Laplace transform of the armature circuit
equation.

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

The back-electro motor force (EMF)voltage(

vb (t ) ) is induced due to the motion of the
rotor carrying the armature current relative to the magnetic field of the stator and

opposes the voltage. The back-EMF voltage is proportional to the rotation speed  (t ) of
the rotor.

vb (t )  Kb   (t ) 323\* MERGEFORMAT (.)

Compute the Laplace transform of the back-EMF voltage equation (Eq. Error: Reference
source not found) and update the armature circuit equation.

For a PM stator DC motor, the magnetic field acting on the armature windings is

constant and the torque produced by the motor (

 m (t ) ) is proportional to the current

passing through the armature. The back-EMF constant (

K b ) and the torque constant (

K t ) are equal when SI units are used.

 m (t )  K t  ia (t ) 424\* MERGEFORMAT (.)

The equation of motion for the shaft and the load attached is computed using Newton’s
laws of motion. Draw a free-body-diagram of the shaft and derive the dynamic equation
describing the relationship between the torque produced by the motor, the rotation

speed of the shaft and the load torque (

 l (t ) ).

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

Assume zero initial conditions and convert the resulting equation to the Laplace
domain.

Finally, the electromechanical equation describing the dynamics of a PM stator, brush-

type DC motor can be obtained by computing the Laplace transform of Eq. Error:
Reference source not foundand using it to couple the dynamic equations describing the
circuit and the shaft. Derive the equation describing the dynamics of the motor in the
Laplace domain.

2.2 The DC Motor Transfer Function

In such applications, the rotational speed of the DC motor is considered as the output.
Based on the previous derivations for the DC motor, derive the transfer function between
the Armature voltage (input) and the shaft speed (output),Load torque (input) and the
shaft speed(output).

In contrast to speed control servo applications, certain servo positioning applications

require precise control over the position of the load. Derive the transfer function between
the Armature voltage (input) and the shaft rotation angle (output), Load torque (input)
and the shaft rotation angle (output). And develop the block diagram representation for

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

the DC motor considering the armature voltage and load torque as the inputs and the
rotational shaft rotation angle as the output.

2.3 Determining the Armature Resistance

The armature resistance (

Ra )can be estimated from observing the armature current
response to a step voltage input applied to the DC motor. Compute the time domain

response of the armature current to a step voltage input of the form

Va s . Elaborate on
how the resistance can be computed from the time domain response of the armature
current.

2.4 Determining the Motor Torque Constant

For a constant armature voltage, after the transients settle, the motor speed and
armature voltage reaches a constant value. For this case derive the dynamic equation of
the armature circuit. Based on the above derivation, determine the equation for
determining the back-emf constant.

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

Since the motor torque constant and the back-emf constant are the same for a DC motor
(assuming SI units), the motor constant will also be determined from the above relation.

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

3. LABORATORY EXPERIMENTS
3.1 Determining the Armature Resistance

The armature resistance can be measured from observing the current response of the
armature circuit to a step voltage input. Begin by measuring the offset current when no
voltage is applied. Next, conduct ten experiments and measure the armature current
response. Record the response in the Table I provided below. Be sure to adjust the
current measurements for the zero armature voltage bias. The resistance is determined
from the steady-state current response. Be very careful not to hold the shaft too long and
overheat the motor.

Table I. Armature Resistance Experimental Results.

Applied Measured Corrected Estimated

Exp.
Voltage Current Current Resistance
No [V] [A] [A] [Ω]
0 0

1 -5

2 -4

3 -3

4 -2

5 -1

6 1

7 2

8 3

9 4

10 5

Average Resistance (R a ) [Ω]

Standard Deviation

3.2 Determining Motor Torque Constant

Once, the armature resistance and inductance is measured, the back-emf constant and
hence the motor torque constant can be estimated. With the motor free to spin, motor
torque constant can be measured from observing the current response of the armature
circuit and the rotational speed to a step voltage input. Use the offset current and
estimated resistance from the previous experiment to compute the motor torque
constant. Conduct ten experiments and measure the armature current response. Record

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

the response in the Table II provided below. Be sure to adjust the current measurements
for the zero armature voltage bias.

Table II. Motor Torque Constant Experimental Results.

Applied Measured Corrected Measured Estimated

Exp.
Voltage Current Current Speed Motor Const.
No [V] [A] [A] [rad/s] [V∙s/rad]
0 0

1 -5

2 -4

3 -3

4 -2

5 -1

6 1

7 2

8 3

9 4

10 5

Estimated Resistance (R a ) [Ω]

Average Motor Const. (K t ) [V∙s/rad]

Standard Deviation

3.3 Determining Load Properties

The inertia of the rotor and shaft (Jm) is given by the manufacturer as 1,16×10 −6 kg/m2.
Assuming that the load is a perfect round disk, the mass moment of inertia for the load
is defined as
1
Jl  ml rl 2
2 525\* MERGEFORMAT (.)
Based on the factory specifications provided at the Appendix, calculate the mass
moment inertia of the load and determine the total inertia of the shaft and load
combined (Jt).

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

4. DISCUSSION

Using the factory specifications of the motor parameters, determine the poles of the DC
motor. Compare these poles with the poles of the actual system (obtained by replacing
the factory specified resistance, motor torque and back-emf constants with the
experimentally obtained ones).

Is there any difference between the factory specifications of the armature resistance (Ra)
and the resistance value experimentally obtained in Seciton 3.1? If yes, explain and
elaborate on your results.

How would the armature inductance be determined from the experiment presented in
Section 3.1?

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MCH3008 CONTROL SYSTEMS LAB LAB 4 – TRANSFER FUNCTION BASED MODELING

APPENDIX A: MOTOR AND AMPLIFIER PARAMETERS

The factory specifications for the motor parameters are provided below in Table A-1 [1].

Table A-I. Factory specifications of motor and amplifier parameters.

Parameter Value Unit

Motor Torque Constant (K t ) 0,0502 [N·m/A]

Motor Armature Resistance (R a ) 10,6 [Ω]

Motor Armature Inductance ( L a ) 0,82 [mH]

Motor Parameters

Motor Max. Continuous Torque 0,035 [N·m]

Motor Power Rating 18 [W]

−6 2
Moment of Inertia of Rotor ( J m ) 1,16×10 [kg·m ]

Load (Disc) Mass (m l ) 0,068 [kg]

Load (Disc) Radius ( r l ) 0,0248 [m]

Maximum Output Voltage ( V max ) 15 [V]

Linear Amplifier

Maximum Output Current ( I max ) 1,5 [A]

Parameters

Maximum Output Power (P max ) 22 [W]

Maximum Dissipated Power with

8 [W]
Heat Sink (R l = 4Ω)

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