Bangladesh University of Business & Technology

(BUBT)

Project on
Mathematical Modelling, Block diagram representation
And characterization of DC motor in Simulink

Course title: Control System Design Lab

Course code: EEE - 402
Submitted By
Md. Shahriar Hasan Nihad
ID: 171881108014; Intake:22
Abid Hasan Khan
ID: 171881108017; Intake:22
Tanvir Hasn
ID: 171881108022; Intake:22
Submitted to Md. Sajib Ahmed
ID: 171881108002; Intake:22
Md. Ibrahim Al Imran
Atiqur Rahman
Lecturer,
ID: 17188110827; Intake:22
Department of Electrical and Electronic Engineering (EEE)
Bangladesh University of Business & Technology (BUBT)
Introduction:

To stimulate students’ interest in practical engineering based degree and

also to bridge the gap between the practical and theoretical skills, the use of
computer - based software tools has been integrated into the field of Engineering.
Presently, educators and researchers developed a huge variety of resources to
enhance the teaching of Engineering based Laboratory courses. In the
Mechatronic and Control field, there are a considerable number of specialized
and general purpose Virtual Laboratory tools available for experimental purpose.
MATLAB® / Simulink© is introduced to the Engineering curriculum due to their
extended use for both design and the simulation of the control system. Hence, a
system model can be built in this environment in a similar way that a physical
system is assembled. In recent times, DC motors have been proven as core
ingredient in speed control and it is gaining a limelight with integration of
renewable energy for most automobiles and mechatronics applications. It is
widely used as energy conversion devices[1], serves as a speed drive control in
electric cars and electric traction[2], [3], as an actuators in robotic manipulators
[4], [5] and smart wheelchair[6], used in overhead cranes, medical treatment,
power electronics dc drive applications [7]– [9].

Background:

Most of the driving force on robotics comes from an electric DC-motor (in
this case permanent magnet). In order to use the DC-motor in the simulations,
mathematical modelling has to be done, in order to yield the relations between
the current, voltage and rotational speed. Here I will show how to setup model of
a DC motor, parameter estimation of several constants of the DC-motor is also
done.

Motivation: Several issues must motivate to approach and make improvements

on the following topics. There are many things to learn and get taught via this
mission. Here get some of the best issues that motivates in the following topic to
get forward.

1. Using Simulink is MATLAB saves a huge amount of time.

 2. The calculation is done via MATLAB so we get much space and time

3. The block diagram provides previous idea of any design. As a result, the
complex tasks get simpler.

4. The characterizations helps to give more knowledge. So we can approach to

new functions easily.

5. Overall the whole project helps to get lots of knowledge related to DC motor,
MATLAB, and every pros and cons of software and motor characteristics.

Objective:

1. To introduce the DC motor.

2. To know the social and environmental impact

3. We will learn how to develop a linear model for a DC motor

4. How to analyze the model under MATLAB (poles and zeros, frequency
response, time-domain response, etc.)

5. How to design a controller

6. How to simulate the open-loop and closed-loop systems under SIMULINK.

Methodology:

1. Open MATLAB--> New ---> SIMULINK MODEL--->Save Project Name

2. Open Library Browser from the toolbar and browse the components

3. Connect the components as per circuit diagram

4. Set the desired Parameter

5. Simulate the diagram using MATLAB

6. Analyse and plot the waveforms

Literature Review

Electrical Characteristics: The equivalent electrical circuit of a dc motor is

illustrated in figure1.It can be represented by a voltage source (Uq) across the coil
of the armature. The electrical equivalent of the armature coil can be described
by an inductance (Lq) in series with a resistance (&) in series with an induced
voltage (U,) which opposes the voltage source. The induced voltage is generated
by the rotation of the electrical coil through the fixed flux lines of the permanent
magnets. This voltage is often referred to as the back eqn/(electromotive force)

Figure 1: Representation of DC Motor

A differential equation for the equivalent circuit can be derived by using
Kirchoffs voltage law around the electrical loop. Kirchoffs voltage law states that
the sum of all voltages around a loop must equal zero, or
[1]

According to Ohm's law, the voltage across the resistor can be represented as

Vp— iq R [2]

Where iq is the armature current. The voltage across the inductor is proportional
to the change of current through the coil with respect to time and can be written
as
𝑑𝑖𝑎
𝑉𝐿𝑎 =𝐿𝑎 [3]
𝑑𝑡
Where Lq is the inductance of the armature coil. Finally, the back eqn/can be
written as

𝑉𝑐 = 𝐾𝑣 𝜔𝑎 [4]

where Kp is the velocity constant determined by the flux density of the

permanent magnets, the reluctance of the iron core of the armature, and the
number of turns of the armature winding. mq is the rotational velocity of the
armature.

Substituting all equations (1-4) can be get the following differential equation

𝑑𝑖𝑎
𝑉𝑎 − 𝑖𝑎 𝑅𝑎 − 𝐿𝑎 − 𝐾𝑣 𝜔𝑎 =0
𝑑𝑡

Physical System: Consider a DC motor, whose electric circuit of the

armature and the free body diagram of the rotor are shown in Figure 2

Figure 2: Schematic representation of the considered DC motor

The rotor and the shaft are assumed to be rigid. Consider the following values for
the physical parameters:

moment of inertia of the rotor J =0.01 kg· m2

damping (friction) of the mechanical b =0.1 Nms
system
(back-)electromotive force constant K =0.01 Nm/A
electric resistance R=1Ω
electric inductance L = 0.5 H

The input is the armature voltage V in Volts (driven by a voltage source).

Measured variables are the angular velocity of the shaft ω in radians per second,
and the shaft angle θ in radians.
Simulation:

Fig-1
Fig-2
Discussion:

This paper works as a base for modeling DC motor in MATLAB/Simulink for

a control mechatronics. All the simulations were done using directly
MATLAB/Simulink. It is so easy to ruin all the simulation. By making the best use
of the simulation we can obtain the preferred mathematical equation should be
applied. By applying a DC voltage of 220 volts we get the rotation of 1291 RPM.
And by applying 100 volts we get 570 RPM.

Socio-economic Impact:

The follow subject can be defined very easily as a time saving and economy-
friendly project. There are so many positive effects which really brings impact on
the socio economic state.

As an example, using derived PMDC motor models, the different Simulink models
for Speed/time, Torque/time, position/time and Current/time curves can be
obtained, these curve can be used to evaluated, test and validate a given DC
motor. Using such data it is easy to face any, resolve, or arrange any mechanical
model in a smoother way. As well as that may decrease the cost of overall
procession and production.

Environment Impact and Sustainability:

Most of the time the modeling and the block diagram designing don't affect
the environment. The DC motor Simulink only require some skills and proper idea
about MATLAB. But general motors sometimes affects the environment in
different ways. Considering this facts, Hitachi, LG, etc. brands come forward to
stop such effects. Well, again by finding the characterizations no such
environmental effects come in front.

In case of making Simulink the MATLAB function is a must. So, the project
creator’s must have the following software and availability to run fluently. Again
the DC motor bloc diagram and other designing must meet a clear vision as well
as a proper flow of sequence.
Conclusion:

The paper presents modeling and simulation of the dynamic equations of

electromechanical DC motor in Simulink and to simulate the dynamic accurately
Lagrange’s and Hamilton’s equations were adopted contrary to the conventional
Kirchhoff’s and Newton’s laws methods. Results are shown graphically and the
calculation is done for a model with speed, torque and load in MATLAB to
illustrate the methodology. The validation of these model are done with the state
space model built in Simulink. This validation is done to ensure that model can be
used to replicate the behavior of a DC motor dynamic.
References:
[1] E. Can and H. H. Sayan, “THE PERFORMANCE OF THE DC MOTOR BY THE PID
CONTROLLING PWM DC-DC BOOST CONVERTER,” Tech. J., vol. 6168, pp. 182–187,
2017.
[2] A. A. Mahfouz and F. A. Salem, “Modeling , Simulation and Dynamics Analysis
Issues of Electric Motor , for Mechatronics Applications , Using Different
Approaches and Verification by MATLAB / Simulink ( I ).,” I.J. Intell. Syst. Appl., no.
April, pp. 39–57, 2013.
[3] Z. Bitar, S. Al, and I. Khamis, “Modeling and Simulation of Series DC Motors in
Electric Car,” Energy Procedia, vol. 50, pp. 460–470, 2014.
[4] M. Kim, W. Moon, D. Bae, and I. Park, “Dynamic simulations of
electromechanical robotic systems driven by DC motors,” Robotica, vol. 22, no. 5,
pp. 523–531, 2004.
[5] N. P. Mahajan and S. B. Deshpande, “Study of Nonlinear Behavior of DC Motor
Using,” Int. J. Sci. Res. Publ., vol. 3, no. 3, pp. 1–6, 2013.
[6] Y. V. P. Paulite, N. J. C. Carandang, and E. R. Arboleda, “Smart wheelchair with
dual control using touchpad and android mobile device,” Indones. J. Electr. Eng.
Informatics, vol. 6, no. 1, pp. 86–96, 2018. [7] M. R. Khan, “Speed Control of DC
Motor under Varying Load Using PID Controller,” Int. J. Eng., no. 9, pp. 38–48.
[8] A. B. Yildiz, “Electrical Power and Energy Systems Electrical equivalent circuit
based modeling and analysis of direct current motors,” Int. J. Electr. POWER
ENERGY Syst., vol. 43, no. 1, pp. 1043–1047, 2012.
[9] A. Budianto and K. B. Tawi, “Modeling and simulation for micro DC motor
based on simulink Modeling and simulation for micro DC motor based on
simulink,” in IOP Conf. Series: Materials Science and Engineering (ICAMMT 2017),
2017, pp. 0–7.