EEET2099/ EEET2338:

Variable Speed Drives

Lecture 2: DC Motor Dynamic Operation

Dr. Inam Nutkani

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Today’s Lecture

■ In week 1, we learnt about the working principle of DC motor, and

calculation of its operating parameters (input voltage, back-emf
voltage/speed, torque/current etc.)

Voltage (V)
Frequency (f)
Toque (T)
Speed(w)
Electric
Power
Power Motor
Converter
Source
feedback
Input Target Controller

■ This lecture is about understanding the dynamic operation of loads and

calculation of corresponding motor parameters to satisfy the dynamic
operating conditions of load.

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Key Learning Objectives

■ Understand the dynamic equations of mechanical system i.e.

loads
■ Be able to calculate the required torque to start/stop/accelerate/
decelerate the load.
■ Be able to calculate the corresponding DC motor parameters
such as input voltage/operating current to start/stop/accelerate/
decelerate the load.
■ Understand the four quadrant operation of drive

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Linear Mechanical Systems
■ Modelling of Linear Mechanical Load

Mass M

- Force exerted by motor

- Opposing force by load and friction
- Resultant force that cause the Mass to accelerate

Resultant Applied Load

= -

M = - =

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Linear Mechanical Systems
■ Modelling of Linear Mechanical Load

= - )

By successive integrations, we get speed u(t) and displacement x(t)

= − ) =

■ Block Diagram of Linear Mechanical System

Acceleration Velocity Position

Motor force
1
.
M

Load force
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Rotational Mechanical Systems
■ Relation between Linear and Rotational system (Load) is given by,

Torque(T )  Force( F )  Distance(r) 

Length=r
Length=r
r. cosθ

F=M.g M F=M.g
F=M.g M M
θ

r. cosθ

T F. T F. 0 0 T F. cosθ
Perpendicular 180degree
component
T M. . cosθ
Torque due to mass (M)

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Rotational Mechanical Systems
■ Modeling of Rotational Mechanical System

Jm,Te JL,TL

Motor Load

- Electromagnetic torque exerted by motor Both act on an un-deformable body

- Opposing torque due to load and friction of Moment of Inertia J
- Resultant torque that cause the body of moment of inertial (J) to accelerate

Resultant = Applied  Load TorqueT  J

d
dt
Tj  Te  TL d
Angular velocity   
d d 2 dt
J  J  Te  TL Angular displacement  
dt dt

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Rotational Mechanical Systems
■ Modeling of Rotational Mechanical System
Angular acceleration Angular velocity
d 1 d
  (Te  TL ) 
dt J dt
By successive integrations, we get speed ω and displacement θ

ω = − ) θ = ω

■ Block Diagram of Rotational Mechanical System

Acceleration Velocity Position

Motor force
θ
1 ω
. . .
J

Load
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Rotational Mechanical Systems
■ Mechanical System Variables
■ is directly controlled by motor Current and Flux
■ , usually consists of load torque ( , and friction components
such as viscous friction.
■ , is not controllable and is load dependent and acts as an ‘disturbance’ to
the system

Acceleration Velocity Position

Motor Torque
θ
1 ω
. . .
J

,
Linear or non-linear function
, = + = + ω

The load position, speed and acceleration can be controlled by controlling the
, by controlling the motor Current and Flux
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Rotational Mechanical Systems
■ Modeling of Rotational Mechanical System

TJ  Te  Tload
d
TJ  Te  (TL  T friction ) where, TJ  J and T friction  B f 
dt
d
J  B f   Te  TL
dt
■ s-domain
1
( s ) Js  B f ( s )  Te ( s )  TL ( s )  ( s )  (Te ( s )  TL ( s ))
Js  B f
■ Block Diagram

Speed
Induced Torque
1 ω
.
+Bf

Load Torque
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Rotational Mechanical Systems
■ = - = J.dω/dt ……… here dω/dt is angular acceleration and J is
combined inertia of load and motor shaft.
■ > implies the speed increases and rotor is accelerating
■ < implies the speed decreases and rotor is decelerating
■ = implies the constant speed operation

Accelerate Decelerate
Constant speed
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Four Quadrant Operation of Motors
■ Quadrant I: Applied torque Te > Load torque TL, motor accelerates (ω>0)
■ Quadrant II: Applied torque Te < Load torque TL, motor decelerates (ω>0)
■ Quadrant III: Applied torque Te < Load torque TL, motor reverses (ω<0)
■ Quadrant IV: Applied torque Te > Load torque TL, motor accelerates (ω<0)

decelerating accelerating

ω/E

T /I
Resultant = Applied  Load
Tj  Te  TL

accelerating decelerating 12
Four Quadrant Operation of Motors

■ Example

d m 1
  (Te  TL ) Jm,Te JL,TL
dt J
Here, J  J m  J L Motor Load
/ω

upward upward downward downward ω

ω

/I
3 4 1
5 7

ω ω
6

=0
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Typical Torque-Speed Boundaries of Motor

~2-3
Short duration
Continuous rated of operation in
torque boundary Rated un-shaded
is due to thermal Power region
constraint

Rated ω @ ,
Speed

Rated Torque
Rated Torque

Rated Speed
=1.3-2

Max. speed is
due to Max. overload
mechanical torque is due
constraint to iron
saturation
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Typical Toque-Speed Characteristics of Loads
■ The load torque changes with its speed as shown below. The motor must
satisfy the load torque and speed/acceleration/deacceleration
requirement of the load.
m

T
T
Centrifugal Fans, Blowers and Pumps Compressors

T
Shaping, Cutting, Grinding or Shearing Machines require constant torque
irrespective of speed 15
Typical Toque-Speed Characteristics of Loads

■ The load torque changes with its speed as shown below. The motor must
satisfy the load torque and speed/acceleration/deacceleration
requirement of the load.

Winder, Lathes, Boring

machines, Milling
machines, Steel Mill Coiler,
and Electric Traction
T
ω
= K ω
Eddy Current
Brakes,
Calendaring
T
T Machines

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DC Machine – Dynamic Model
■ DC motors are still popular due to their fast dynamic responses
compared to the other types of motors.
■ Moreover, since the separately excited DC motor requires simple
control and provides the virtue of decoupled control via the controls
of field current and armature current. Therefore, it is widely used in
modern electric drives.
■ By applying the Kirchhoff’s voltage law to the dynamic armature circuit
model shown below, we have,

Vin  E A  I A RA  LA
dI A E A  K 
dt

Circuit diagram of separately excited dc motor

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DC Machine – Dynamic Model

■ Voltage equation can be re-arranged into following form,

dI A
Vin  E A  I A RA  LA
dt
Vin  E A LA dI A 
LA
 IA 
RA RA dt RA

■ Taking the Laplace transform of above equation, we can derived

the equation in s-domain,

Vin ( s )  E A ( s )
 I A ( s )  sI s ( s )
RA
1 / RA
I A ( s )  [Vin ( s )  E A ( s )]
1  s

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DC Machine – Dynamic Model

■ Solving the armature current from the above equation leads

to,

1 / RA
I A ( s )  [Vin ( s )  E A ( s )]
1  s
■ Above equation when presented in a block diagram, becomes
rather informative as shown below,

Applied voltage Current

Vin ( s ) 1 / RA
1  s
EA (s)
Back emf.

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DC Machine – Dynamic Model
■ The induced electromagnetic torque is balanced by the load torques

1 / RA
I A ( s )  [Vin ( s )  E A ( s )]
1  s
1 1
( s )  (Te ( s )  TL ( s ))  ( s )  ( K I A ( s )  TL ( s ))
Js  B f Js  B f

■ Above equations when presented in a block diagram,

Torque Induced
Applied Current Speed
voltage
1/ 1 ω
. Kϕ .
1 sτ Js+ Bf
Back emf.

Electrical Mechanical
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Example
■ A motor with an inertia of 0.01 kg.m2, armature resistance of 0.1 Ω,
proportionality coefficient (Kϕ) of 0.5 and rated torque of 10 Nm is driving
a constant torque load of 5 Nm and an inertia of 0.04 kg.m2.
a. How fast the motor can reach from 0 to 1500 rpm without exceeding
the rated torque.
b. How much motor torque is needed to operate the load at constant
speed of 1500 rpm?
c. How fast motor can stop from the speed of 1500 rpm?
d. Calculate the corresponding voltage that need to supplied in a, b
and c.

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Example (Tut Q1)

■ A permanent magnet (fixed field flux) dc motor has the following

parameters: RA = 0.35, LA= 1.5 mH, kE= 0.5 V/(rad/s), kT= 0.5 Nm/A and
Jm = 0.02 kg-m2. The motor has a rated torque of 4 Nm.
■ The motor is driving a load at a speed of 1500 rpm, when it suddenly moves
into regenerative braking. Calculate the armature voltage at the point in time,
if the armature current iA is not to exceed 10A in magnitude.
■ Assume that the motor inertia is sufficiently large that the motor speed only
changes slowly.

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Summary of Today’s Lecture
■ Modelling of Mechanical System
d 1
Angular acceleration    (Te  TL )
dt J
Speed
Induced Torque
1 ω
Jm,Te JL,TL .
+Bf

Motor Load Load Torque

■ Four Quadrant Operation

Accelerate 23
Decelerate
Constant speed 23
Summary of Today’s Lecture
■ Block Diagram Model of Motor and Load

Voltage (V)
Frequency (f)
Toque (T)
Speed(w)
Electric
Power
Power Motor
Converter
Source
feedback
Input Target Controller

Torque Induced
Applied Current Speed
voltage
ω
. Kϕ .

Back emf.

Electrical Mechanical 24

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 Next Lecture

■DC Drive - Converters

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