Modeling of DC Machines

Modeling of DC Machines
Compiled By
Mr. Qamar Saeed
Thanks to
Dr. Ungku Anisa Ungku Amirulddin
Department of Electrical Power Engineering
Dr. Ungku Anisa, July 2008
EEEB443 - Control & Drives
Outline
Introduction
Theory of Operation
Field Excitation
Separately Excited DC Motor
State-Space Modeling
Block Diagrams and Transfer Functions
Measurement of Motor Constants
References
Introduction
DC motor in service for more than a century
Dominated variable speed applications before
Power Electronics were introduced

Advantage:
Precise torque and speed control without
sophisticated electronics
Introduction
Some limitations:
High maintenance (commutators & brushes)
Expensive
Speed limitations
Sparking
Commonly used DC motors
Separately excited
Series (mostly for traction applications)
DC Machine Theory of Operation

Field winding - on stator pole
if produces f
Armature winding on rotor
ia produces a
f and a mutually
perpendicular
maximum torque
Rotor rotates clockwise

For unidirectional torque and
rotation
ia must be same polarity under
each field pole

achieved using commutators
and brushes
DC Machine Field Excitation

Depends on connections of field winding relative to
armature winding
Types of DC machines:
Separately Excited
Shunt Excited
Series Excited
Compounded
Permanent Magnet

Separately Excited
Field winding separated from armature winding
Independent control of if (f ) and ia (T)

Shunt Excited
Field winding parallel to
armature winding
Variable-voltage operation
complex
Coupling of f (if ) and T (ia)

production
T vs characteristic almost
constant
AR = armature reaction
(as T , ia , armature flux
weakens main flux f , )

Series Excited
Field winding in series with
armature winding
Variable-voltage operation
complex
Coupling of f (if ) and T (ia)

production
T ia 2 since if = ia
High starting torque
No load operation must be
avoided (T = 0, )

Compounded
Combines best feature of
series and shunt
Series high starting torque

Shunt no load operation
Cumulative compounding
shunt and series field
strengthens each other.
Differential compounding
Long-shunt
connection
Short-shunt
connection
shunt and series field

opposes each other.
10

Permanent Magnet
Field provided by magnets
Less heat
No field winding resistive

losses
Compact
Armature similar to
separately excited
machine
Disadvantages:
Cant increase flux

Risk of demagnetisation
due to armature reaction
11
Separately Excited DC Machine

Ra
ia
+
va
_
Armature
circuit
va Raia La
Lf
La
Rf
if
ea
Field
circuit
vf
dia
ea
dt
Te Kia K bia
Electromagnetic torque
ea K K b
Armature back e.m.f.
v f Rf i f Lf
di f
dt
12
Separately Excited DC Motor

Motor is connected to a
load.
Therefore,
d
Te J
B TL
dt
where
TL= load torque
J = load inertia (kg/m2)
B = viscous friction
coefficient (Nm/rad/s)
13
DC Machine - State-Space
Modeling
DC motor dynamic equations:
dia
(1)
va Raia La
ea
dt
d
(3)
Te J
B TL
dt
Therefore,
ea K K b
Te Kia K bia
dia
R
K
1
a ia va b
dt
La
La
La
d Kb
B
1
ia TL
dt
J
J
J
(2)
(4)
(5)
(6)
14
Modeling
From (5) and (6), the dynamic equations in state-space
form:
Ra
sia L
a
s
Kb
J
1
i
La a La

B 0
J
Kb
0 v
a
T
1
L
(7)
where s = differential operator with respect to time

This can be written compactly as:
AX BU
X
(8)
15
Modeling
Comparing (7) and (8):
X ia - - - - - state variable vector
T
U va TL - - - - - input vector
T
Ra
L
a
A
Kb
J
1
B La
0
La
B
J
Kb
1
J
16
Modeling
The roots of the system are the eigen-values of matrix A
Ra
L
a
A
Kb
J
La
B
J
Kb
1 Ra B 1
1 , 2
2 La J 2
Ra B Kb 2
Ra B
La J
JLa JLa
(9)
1 and 2 always have negative real part, i.e. motor is
stable on open-loop operation.
17
DC Machine Block Diagrams

and Transfer Functions
Taking Laplace transform of (1) and (3) and neglecting initial
conditions:
V s K b s
I a s a
Ra s La
(10)
K b I a s TL s
B s J
(11)
These relationships can be represented in the following block
diagram
Va(s)
TL(s)
+
-
1
Ra sLa
Ia(s)
Te(s) Kb +
Kb
1
B s J
(s)
18
DC Machine Block Diagrams

and Transfer Functions
From the block diagram, the following transfer functions can be derived:
Kb
s
G Va s
2
Va s s JLa sBLa JRa BRa K b 2
Ra s La
s
G TL s
2
TL s s JLa sBLa JRa BRa K b 2
(12)
(13)
Since the motor is a linear system, the speed response due to simultaneous
Va input and TL disturbance is:
s GVa sVa s GTL sTL s
(14)
The Laplace inverse of (14) gives the speed time response (t).
19
DC Machine Measurement of
Motor Constants
To analyse DC motors we need values for Ra, La and Kb
Armature Resistance Ra
DC voltage applied at armature terminals such that rated ia
flows
Vdc Vbrush Vcontact resistance
Ra
ia, rated
This gives the dc value for Ra
Need to also correct for temperature at which motor is
expected to operate at steady state

Similar procedure can be applied to find Rf of field circuit
20
Motor Constants
Armature Inductance La
Apply low AC voltage through
variac at armature terminals
Measure ia
Motor must be at standstill
(i.e. = 0 and e = 0)
La
Va
I
a
Ra 2
2f
(variac)
f = supply frequency in Hz
Ra = ac armature resistance
Similar procedure can be
applied to find Lf of field circuit
21
Motor Constants
EMF Constant Kb = K
Rated field voltage applied
and kept constant
Shaft rotated by another dc
motor up to rated speed
Voltmeter connected to
armature terminals gives
value of Ea
Get values of ea at different
speeds
Plot Ea vs.
Slope of curve = Kb
Units of Kb = [V/rads-1]
Ea (V)
(rad/s)
22
References
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.

Chapman, S. J., Electric Machinery Fundamentals, McGraw Hill,
New York, 2005.
Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
23

Modeling of DC Machines

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Modeling of DC Machines

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

EEEB443 - Control & Drives

Power Electronics were introduced

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

EEEB443 - Control & Drives

DC Machine Theory of Operation

Rotor rotates clockwise

ia must be same polarity under

each field pole

EEEB443 - Control & Drives

DC Machine Field Excitation

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

DC Machine Field Excitation

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

DC Machine Field Excitation

Coupling of f (if ) and T (ia)

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

DC Machine Field Excitation

Coupling of f (if ) and T (ia)

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

DC Machine Field Excitation

Series high starting torque

shunt and series field

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

DC Machine Field Excitation

No field winding resistive

Cant increase flux

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

Separately Excited DC Machine

Dr. Ungku Anisa, July 2008

Armature back e.m.f.

EEEB443 - Control & Drives

Separately Excited DC Motor

EEEB443 - Control & Drives

EEEB443 - Control & Drives

where s = differential operator with respect to time

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

1 and 2 always have negative real part, i.e. motor is

stable on open-loop operation.

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

DC Machine Block Diagrams

These relationships can be represented in the following block

Dr. Ungku Anisa, July 2008

EEEB443 - Control & Drives

DC Machine Block Diagrams

Va input and TL disturbance is:

s GVa sVa s GTL sTL s

EEEB443 - Control & Drives

Need to also correct for temperature at which motor is

expected to operate at steady state