ME 4710 Motion and Control

Armature Controlled DC Motor Transfer Functions

(Reference: Dorf and Bishop, Modern Control Systems, 10th Ed., Pearson/Prentice-Hall, Inc. 2005)

o In a armature-current controlled DC 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.
Tm = K ma ia

(1)

o K ma is a constant that depends on the chosen motor.

The transfer function from the input armature current
to the resulting motor torque is

Tm
( s ) = K ma
Ia

(2)

DC Motor

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

Va = VR + VL + Vb = Raia + La ( dia dt ) + Vb

(3)

o Vb represents the back EMF induced by the rotation of the armature windings in a
magnetic field. Vb is proportional to the rotational speed , i.e. Vb ( s ) = K b ( s ) .
o Taking Laplace transforms of Eq. (3) gives

Va ( s) Vb ( s) = ( Ra + La s ) I a ( s )

or

Va ( s) Kb ( s) = ( Ra + La s ) I a ( s)

(4)

o Applying Newtons Law (by summing moments)

for the rotational motion of the motor gives

M = T

c = J 

(CCW positive)

or
J  + c = Tm

(5)

Free Body Diagram

of the Inertial Load
1

o Thus, the transfer function from the input motor torque to rotational speed changes is

Tm

(s) =

(1 J )
s + (c / J )

(1st order system)

(6)

o Together, Eqs. (2), (4) and (6) can be represented by the closed loop block diagram:

Va ( s) +

1 La
s + Ra La

I a ( s)

Tm ( s )

K ma

1J
s+c J

( s)

Kb
o Block diagram reduction gives the transfer function from the input armature voltage to
the resulting speed change.

Va

(s) =

( K ma

La J )
( s + Ra La ) ( s + c J ) + ( Kb K ma La J )

(2nd order system)

(7)

o If we assume the time constant of the electrical circuit is small compared to the time
constant of the load dynamics, the transfer function of Eq. (7) may be reduced to a first
order transfer function

Va

(s) =

K ma / Ra J
s + (cRa + Kb K ma ) / Ra J

(1st order system)

(8)

o The transfer function from the input armature voltage to the resulting angular position
change is found by multiplying Eqs. (7) and (8) by 1 s .

Va

(s) =

K ma / Ra J
s ( s + (cRa + K b K ma ) / Ra J )

(2nd order system)

(9)

Note that this transfer function also represents a second order differential equation with
inertia and damping, but no stiffness (same form as for a hydraulic cylinder!).