Control Systems

DC motor

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 Transfer Function of DC Motor

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 Electromechanical system?

• System consists of electrical

and mechanical components

• System whereby power flows

between electrical and
mechanical components

• Sometimes called
mechatronic system

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 Examples of electromechanical systems

• Speaker

• Motor

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 DC Motor – Schematic Diagram

Electrical Magnetic
Components Field

Mechanical
Components

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 DC Motor – Transfer Function Objective

Electrical Mechanical
variable variable

Electrical variable CONTROLS mechanical variable

Input: Electrical variable (applied voltage)
Output: mechanical variable (angular position)

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 DC Motor – Electrical Components

Using Kirchoff’s Voltage Law (KVL) around the loop

vR  ia (t ) Ra

vL  ia (t ) La

vb (t )  K bm (t )
Electromotive
Applied force (emf)
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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 DC Motor – Electrical Components

Using Kirchoff’s Voltage Law (KVL) around the loop

𝐵𝑎𝑐𝑘 𝑒𝑚𝑓 𝑣𝑏 𝑡 = 𝑘∅𝑁

vR  ia (t ) Ra vL  ia (t ) La

vb (t )  K bm (t )
Electrical
Equation

ia (t ) Ra  ia (t ) La  K bm (t )  ea (t )
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 DC Motor – Mechanical Component
Rotor Schematic Model

Mechanical Components

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 DC Motor – Mechanical Component

Use Newton’s Second Law and

Free Body Diagram

m
J mm
J mm  Dmm  Tm
Tm
Jm Dmm Mechanical
Equation
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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 DC Motor – Electromechanical System

ia Ra  ia La  K bm  ea Tm  Kt ia J mm  Dmm  Tm

Electrical Equation Torque-Current Mechanical Equation
Equation
Electromechanical
Equation

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 DC Motor – Electromechanical System

Electrical Equation ia Ra  ia La  K bm  ea

Mechanical Equation J mm  Dmm  Tm

Electromechanical Equation Tm  Kt ia

Combined Equation in
order to obtain the transfer
function

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 DC Motor – Electromechanical System

Transform differential equations into frequency domain

ia Ra  ia La  K bm  ea I a (s) Ra  sI (s) a La  s m (s) Kb  Ea (s)

J mm  Dmm  Tm s 2 J m m ( s)  sDm m ( s)  Tm ( s)

Tm (s)  K t I a (s)

Actual condition is that Resistor is much greater than Inductor

I a (s) Ra  sI (s) a La  s m (s) Kb  Ea (s)

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 DC Motor – Electromechanical System

Combine Equations

I a (s) Ra  sI a (s) La  s m (s) Kb  Ea (s) Tm (s)  K t I a (s)

Tm ( s)
( Ra  sLa )  s m (s) K b   Ea (s)
Kt s 2 J m m ( s)  sDm m ( s)  Tm ( s)

s 2 J m m ( s)  sDm m ( s)
( Ra  sLa )  s m ( s) K b  Ea ( s)
Kt
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 DC Motor – Electromechanical System

Combine Equations

s 2 J m m ( s)  sDm m ( s)
( Ra  sLa )  s m ( s) K b  Ea ( s)
Kt
( s 2 J m  sDm )( Ra  sLa )
 m ( s )  s m ( s ) K b  E a ( s )
Kt
 m (s) 1

Ea ( s) s 2 J Ra  sLa  sD Ra  sLa  sK
m m b
Kt Kt
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 DC Motor – Transfer Function Without Load

 m (s) 1

Ea ( s) s 2 J Ra  sLa  sD Ra  sLa  sK
m m b
Kt Kt

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 DC Motor – Transfer Function Without Load

 m (s) 1

Ea ( s ) R  sL R  sLa
s2 Jm a a
 sDm a  sK b
Kt Kt
 m (s) K t /( Ra  sLa )
 
Ea ( s ) J m s  s ( Dm  K t K b / Ra  sLa ))
2

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ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 DC Motor – Transfer Function Without Load

The term Dm  K t K b / Ra indicates that theback emf

of the motor effectively increases the viscousfriction
of the system.
If D  Dm  K t K b / Ra ,

 m ( s) K t / Ra  ( s) Km
  m 
Ea ( s ) s( sJ m  D) Ea ( s) s( s m  1)
K m  K t / Ra D  motor gain constant
 m  J m / D  motor timeconstant

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