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DC Motor Transfer Functions: V R L I
DC Motor Transfer Functions: V R L I
(Reference: Dorf and Bishop, Modern Control Systems, 9th Ed., Prentice-Hall, Inc. 2001)
The figure at the right represents a DC motor attached to an inertial load. The voltages applied to the field and armature sides of the motor are represented by V f and Va . The resistances and inductances of the field and armature sides of the motor are represented by R f , L f , Ra , and La . The torque generated by the motor is proportional to i f and
Tm = K i f ia
(1.1)
Field-Current Controlled:
DC Motor
In a field-current controlled motor, the armature current ia is held constant, and the field current is controlled through the field voltage V f . In this case, the motor torque increases linearly with the field current. We write
Tm = K mf i f
By taking Laplace transforms of both sides of this equation gives the transfer function from the input current to the resulting torque.
Tm ( s) = K mf I f ( s)
For the field side of the motor the voltage/current relationship is
(1.2)
V f = VR + VL = R f i f + L f ( di f dt )
The transfer function from the input voltage to the resulting current is found by taking Laplace transforms of both sides of this equation.
1
I f ( s) V f (s )
(1 L ) s + (R L )
f f f
(1.3)
The transfer function from the input voltage to the resulting motor torque is found by combining equations (1.2) and (1.3).
( Kmf L f ) Tm ( s) Tm ( s) I f ( s ) = = V f ( s ) I f ( s) V f ( s ) s + ( R f L f )
(1.4)
So, a step input in field voltage results in an exponential rise in the motor torque. An equation that describes the rotational motion of the inertial load is found by summing moments
M =T
or
& c = J
(counterclockwise positive)
& J + c = Tm
Free Body Diagram of the Inertial Load
Thus, the transfer function from the input motor torque to rotational speed changes is
(s) (1 J ) = Tm ( s) s + ( c / J )
(1.5)
Combining equations (1.4) and (1.5) gives the transfer function from the input field voltage to the resulting speed change
( K mf L f J ) ( s ) (s ) Tm ( s) = = V f ( s ) Tm ( s ) V f ( s ) ( s + c J ) ( s + R f L f
(1.6)
Finally, since = d dt , the transfer function from input field voltage to the resulting rotational position change is
( K mf L f J ) ( s ) ( s) ( s) = = V f ( s ) ( s) V f ( s ) s ( s + c J ) ( s + R f L f )
(1.7)
2
Armature-Current Controlled: In a armature-current controlled motor, the field current i f is held constant, and the armature current is controlled through the armature voltage Va . In this case, the motor torque increases linearly with the armature current. We write
Tm = K ma ia
The transfer function from the input armature current to the resulting motor torque is DC Motor
Tm ( s) = K ma Ia (s)
(1.8)
Va = VR + VL + Vb
(1.9)
where Vb represents the "back EMF" induced by the rotation of the armature windings in a magnetic field. The back EMF Vb is proportional to the speed , i.e. Vb ( s) = Kb ( s) . Taking Laplace transforms of Equation (1.9) gives
Va ( s ) Vb ( s) = ( Ra + La s ) I a ( s )
or
(1.10)
Va ( s ) Kb ( s) = ( Ra + La s ) I a ( s)
(1.11)
As before, the transfer function from the input motor torque to rotational speed changes is
(s) (1 J ) = Tm ( s) s + ( c / J )
(1.12)
Equations (1.8), (1.11) and (1.12) together can be represented by the closed loop block diagram shown below.
Va ( s ) +
1 La s + Ra La
I a ( s)
K ma
Tm ( s)
1J s+c J
(s )
Kb
Block diagram reduction gives the transfer function from the input armature voltage to the resulting speed change.
(s) ( K ma La J ) = Va ( s) ( s + Ra La )( s + c J ) + ( K b K ma La J )
(1.13)
The transfer function from the input armature voltage to the resulting angular position change is found by multiplying Equation (1.13) by 1 s .