/, (r)

s+

3lfil,fr"## 111#:*

R,fL,

gives the transrer function

from the input armarure vorrage
to the

(2nd order system)

(1.13)

The transfer function from the

input armature voltage to the resulting
change is found by multiplying
angurar position
Equation ( I . 13) by ll s .

rrG) _
vf (s)

0tL)

'

(1't order system)

+(n,14)

1.3)

The transfer function from the input voltage to the resulting motor
torque is found by
combining equations (l .2) and(1.3).

_T*(t) /r(s) = (x-,lrr)

Vr(s) t,(s) Vr(s) s +(n,14)
T*(s)

1't order system)

(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

\U

- T* - cat *

Ja

c&=cc9

(counterclockwise positive)

0r
Jrh + c0) =T_

Thus, the transfer function from the input motor torque

to rotational speed changes is

o(s)

(U

J)

T^(t) s+(clJ)

Free Body Diagram

of the Inertial Load

(1't order system)

(1.s)

Combining equations (1.4) and (1.5) gives the transfer function from the input field

voltage to the resulting speed change

o(s)

Vr(s)

g(s) T*(t)

(x-r

ltrt)

T^(s) Vr(s)

(2nd order system)

(r.6)

Finally, since to - d?ldt, the transfer function from input field voltage to the resulting
rotational position changb is

0(s)

0(s)

Vr(s)

ar(s) I'r(s)

ar(s)

(x-,

ltrt)

s(s+clt)(s+RrlLr)

(3'd order system)

(r.7)

Current Controlled:

In a armature'current controlled motor, the field current

7 is held constant, and the armature current is controlled
through the armature voltage vn. In this case, the motor
torque increases linearly with the armature current. we
write

arnr( *ura

I*
L"T

T* = K*o

io

*el&

The transfer function from the input armature current to the

resulting motor torque is

T-(t)

ilt)

+-

Tne,"*,bQ

V.
+ ---->
DC Motor

= L*o

1.8)

The voltage/current relationship for the armature side of the motor is

V, =Vo

+V,

+Vu

(1.e)

where [u represents the "back EMF" induced by the rotation of the armature
windings in a
magnetic field. The back EMF
% is proportional to the speed @, i.e. Vub)= qal(s).
Taking Laplace transforms of Equation ( I .9) gives
V,(s)

Vub)=

(& + z,s)d (s)

(1.10)

or

V,(s)- Kua(s) = (& + f,s)f,(s)

(1.11)

As before, the transfer function from the input motor torque to rotational speed changes is

a{s)

4,(s)

0tr)
s

+(cl J)

I't order system)

(1.12)

Suqq

'uorlBnbo sn{lJo soprs r{loqJo surJOJSuBr} ocBIdeT

,(q puno; sI luorJnc Eutlynsu oq1 ol e8u11o,r 1ndu1 eql tuol; uorlcury JeJsuBr eqJ

(w I

tw)tl + tltv
'11+'A=

{t1

sr drqsuorlBlor luorrnc7s8u110n eq] Joloru oqlJo oprs pleg eql rod

"x- (t)t t

(z'r)

liil

@)*J

uorlcury JoJsueJl eql sea.r8 uorlenbe sql

'snb"rol ?ur11nser eql o1

luoJJnc 1ndu1 eql ruo4i
soprs
qloq
sruroJsur1
soeldel Buqul ,(g
Jo
Jo

t! tox

-*J

016 '}uexnc plog aq} qtlm .(1.leeurl seseoJour

enbtol rolou or{l 'esBJ srql uI tl e8ullol plou or{} q8noql pellor}uoc sr
tuerrnc plog
ot{l pue '1ue1suoc ploq sl ol lusunc oJnluuilu eql '.roloru polloJluoc
luoJrnc-plag E uI
olrJ,{A

:pellorluo) ]udfrmr-pm

JOIOI^I JCI

f@1

(r'r)
'Jolo., aqlJo soprs eJnlpuJe pu, plau eql ur sluorJnc

Vrc

J,g

''7

t! 01 luorgodotd

er4l

,!

sr Jolotu eql .dq pelu"reue8 enbtol eq1

"[ 't7 ,lU ,(q peluesetde; ore Jo1oru eqlJo seprs

ptru
oJnlBr.uru pu

hJn+ ?u/,tp

pleu oql Jo soeu4snpur puE socuslsrseJ eqJ

''l prm 2 Kq pelueserder oJE Jolour or{lJo seprs oJnlerrrJ
pu pleg oqt ot perldde seEellorr eqg .puol
lrpour uB o]
peqoene Jolou JCI u sluese;de.r lqgrr eql 1B etngg eq1

(tooz'cul'lluH-aclluord "pa qr6'surals(S lorluo] uroporu .doqsrg puuJroc :acuareJoS)

suollrunf, reJsuBrl rotoIAJ J(I