DC MOTOR TRANSFER FUNCTION

CLASSIFICATION:
The DC motor can be classified into two types based on its operation mode.

Field controlled DC motor.

Armature controlled DC motor.

ARMATURE CONTROLLED DC MOTOR:

In many applications the Armature controlled type of DC motor is preferred.
In the armature controlled type, the field current is kept constant and the voltage applied to the
armature coil is adjusted in order to have a desired speed.

TRANSFER FUNCTION:
The transfer function for the Armature controlled DC motor is derived from two basic equations.

The Voltage applied to the armature coil will be equal to the sum of the voltage drops
across the armature resistance, armature inductance and the back EMF of the motor.

(1)
Where
Va- Voltage applied to the armature coil.
Vb- Back EMF generated by the motor.
VR- Voltage drop across the armature resistance.
VL- Voltage drop across the armature inductance.
The Back EMF generated by the motor is given by

.(2)
Where
Kb Back EMF constant of the motor.
(s) - Angular velocity of the motor.
Substituting equation (2) in Laplace transform of equation (1),
We get

. (3)
The torque generated by the motor is given as the product of Torque constant and the
armature current.
. (4)
Where
Tm -Torque of the motor.
Kma -Torque constant of the motor.
Ia -Armature current.
The Laplace transformation of equation (4) yields

. (5)
The equation of the rotating load is given by its sum of moments.

. (6)
Where
J - Moment of inertia.
Tm - Torque of the motor.
- Angular velocity of the motor.
Taking Laplace transformation on equation (6)
We get

.. (7)
Multiplying the equations (3), (5) and (7), we get the final transfer function which relates
the voltage to the armature coil and the speed of the motor.

. (8)

The block diagram representation of the transfer function of the DC motor is given
below.