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A separately excited DC motor with name plate ratings of 2hp, 220V (DC), 6.

8A,1500
rpm is used. Following parameter values are associated with it.
Moment of Inertia, J = .3 Kg-m2.

Back EMF Constant = 1.5 Volt-sec/rad.

Rated Current = 6.8 A.

Maximum Current Limit = 8 A.

Resistance of Armature, Ra = 3.01 ohm.

Armature Inductance, La = .15 H.

DESIGN
For analog circuit maximum controller output is ± 10 Volts.

Tm = J/Bt=.3/.001=300 s

Kr = V/Vcm=220/10=22

Tr = 1/f =1/(50 kHz) = 20*10-6 s

Gr(s) = (Kr)/(1+s Tr) = 22/(1 + 20*10-6)s

Imax = 8 A

Hc = 10/8 =1.25

K1 = Bt/(Kb2 + Ra*Bt) =.001/(1.5^2 + 3.01*.001) = 4.439*10-4

T1 + T2 =( Bt*La + J*Ra)/(Kb2 + Ra*Bt) =(.001*.15+.3*3.01)/(1.5^2 + 3.01*.001) = .4

T1* T2 =( J*La)/(Kb2 + Ra*Bt) =(3*.15)/(1.5^2 + 3.01*.001) = .01997

T1 = .347 s

T2 =.05847 s

Tc = T2 =.0575 s

K = T1 /(2*Tr)= .347/(2*20*10-6) = 34150
Kc = (K * Tc )/( K1 * Hc * Kr * Tm ) = (34150 * .0575 )/(4.439 * 10-4 * 1.25 * 22 * 300 ) =536

Hw = Vcm/ (2 * 3.14 * Nr /60) = .07525

Tw =.002

T3 = T1 + Tr = .34702 s

Ti = T3 /( 1 + K ) = .34703 / (1+ 34150) = 1.016 * 10-5 s

T4 = Ti + Tw = 2.010160 * 10-3 s

Ki = K /(Hc(1 + K)) = 34150 / ( 1.25 (1+34150)) = .799

K2 =( Ki * Kb * Hw) /(Bt * Tm) = (.799 * 1.5 * .07525)/ (.001 * 300) = .2579

Ks =1/(2 * K2 * T4) = 1/(2 *.2579 * 2.010160 *10-3 = 964.47

Ts =4 * T4 = 4 * 2.010160 * 10-3 = 8.04064 * 10-3 s

TRANSFER FUNCTIONS
SPEED FEEDBACK = Hw/(1+sTw) = .07525/ (1 + .002 s )

CURRENT FEEDBACK = Hc = 1.25

SPEED CONTROLLER =Ks (1+s Ts)/(sTs) = 964.47(1 + 8.04064*10-3 s)/( 8.04064*10-3 s)

CURRENT CONTROLLER = Kc (1+s Tc)/ (s Tc) = 536 ( 1 + .0575 s) /(.0575 s )

CHOPPER = Kr / ( 1 + s Tr) = 22/(20 * 10-6)