Innovative Project Report on

Mathematical Modelling and Simulation of DC Motor

SUBMITTED IN COMPLETE FULFILLMENT OF THE REQUIREMENTS FOR
MID TERM EXAMINATION FOR

Bachelor of Technology
in
Electrical Engineering

Submitted by
Vishal Singh
2K20/EE/306
Shivam Kumar
2K20/EE/255

Under the Supervision

of
Dr. Himanshu Singh

Department of Electrical Engineering

Delhi Technological University
Bawana Road, Delhi -110042
November -2021

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 DEPARTMENT OF ELECTRICAL ENGINEERING

DELHI TECHNOLOGICAL UNIVERSITY

(FORMERLY Delhi College of Engineering)
Bawana Road, Delhi-110042

CANDIDATE’S DECLERATION

We, (Vishal Singh, Shivam Kumar, 2K20/EE/306, 2K20/EE/255) students of B. Tech.

(Electrical Engineering) hereby declare that the project Dissertation titled “Mathematical

Modelling and Simulation of DC Motor” which is submitted by us to the Department of

ELECTRICAL ENGINEERING, Delhi Technological University, Delhi in complete

fulfilment of the requirements for mid-termexamination for the degree of Bachelor of

Technology, is original and not copied from any source without proper citation. This

work has not previously formed the basis for the award of any Degree, Diploma

Associateship, Fellowship or other similar title or recognition.

Place: Delhi Vishal Singh (2K20/EE/306)

Date: Shivam Kumar (2K20/EE/255)

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 DEPARTMENT OF ELECTRICAL ENGINEERING
DELHI TECHNOLOGICAL UNIVERSITY
(FORMERLY Delhi College of Engineering)
Bawana Road, Delhi-110042

CERTIFICATE

I hereby certify that the project Dissertation titled “Mathematical Modelling and

Simulation of DC Motor” which is submitted by Vishal Singh, Shivam Kumar

(2K20/EE/306, 2K20/EE/255), [Department of Electrical Engineering], Delhi

Technological University, Delhi in complete fulfilment of the requirements for mid-term

examination for the degree of Bachelor of Technology, is a record of the project work

carried out by the students under my supervision. To the best of my knowledge this work

has not been submitted in part or full for any Degree or Diploma to this University or

elsewhere.

Place: Delhi Dr. Himanshu Singh

Date: SUPERVISOR

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 DEPARTMENT OF ELECTRICAL ENGINEERING

DELHI TECHNOLOGICAL UNIVERSITY

(FORMERLY Delhi College of Engineering) Bawana Road, Delhi-110042

ABSTRACT

A DC motor is any of a class of rotary electrical motors that converts direct

current electrical energy into mechanical energy. The most common types
rely on the forces produced by magnetic fields. Nearly all types of DC
motors have some internal mechanism, either electromechanical or
electronic, to periodically change the direction of current in part of the
motor. DC motors were the first form of motor widely used, as they could
be powered from existing direct-current lighting power distribution
systems.

In this project we will discuss in details about the PDMC Motor, DC Shunt
Motor and DC Series Motor. There Parameters, Mathematical Modelling,
Simulink Model with the Output has been clearly discussed in depths in
this project with well labelled Diagrams for the better understanding of us.

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 DEPARTMENT OF ELECTRICAL ENGINEERING

DELHI TECHNOLOGICAL UNIVERSITY

(FORMERLY Delhi College of Engineering) Bawana Road, Delhi-110042

ACKNOWLEDGEMENT

In performing our major project, we had to take the help and guideline of

some respected people, who deserves our greatest gratitude. The completion of this

project gives us much pleasure. We would like to show our gratitude towards Dr.

Himanshu Singh, mentor for major project. Giving us a good guideline for report

throughout numerous consultations. We would also like to extend our deepest

gratitude to all those who have directly and indirectly guided us in writing this

project.

In addition, we would like to thank Department of Electrical Engineering,

Delhi Technological University for giving us the opportunity to work on this topic.

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 TABLE OF CONTENTS

INTRODUCTION 2

PMDC MOTOR 3
PARAMETERS 3
MATHEMATICAL MODELLING 4
SIMULINK MODEL 5
OUTPUT 6

DC SHUNT MOTOR 8
PARAMETERS 8
MATHEMATICAL MODELLING 9
SIMULINK MODEL 10
OUTPUT 11

DC SERIES MOTOR 14
PARAMETERS 14
MATHEMATICAL MODELLING 15
SIMULINK MODEL 16
OUTPUT 17

CONCLUSION 20

REFERENCES 21

1
INTRODUCTION
A direct current (DC) motor is a type of electric machine that converts
electrical energy into mechanical energy. DC motors take electrical power
through direct current, and convert this energy into mechanical rotation.
DC motors use magnetic fields that occur from the electrical currents
generated, which powers the movement of a rotor fixed within the output
shaft. The output torque and speed depends upon both the electrical input
and the design of the motor.
An electric motor being an electromechanical system utilizes Newton’s laws
(used in the mathematical modeling of mechanical systems) and Kirchhoff’s
laws (used in the modeling and analysis of electrical systems) for its
mathematical modelling.
In this project, modeling and dynamic simulation of PMDC motor , DC shunt
Motor , and DC Series motor have been developed.

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PMDC MOTOR
A DC Motor whose poles are made of
Permanent Magnets is known as
Permanent Magnet DC (PMDC) Motor. The
magnets are radially magnetized and are
mounted on the inner periphery of the
cylindrical steel stator. The stator of the
motor serves as a return path for the
magnetic flux. The rotor has a DC
armature, with commutator segments and
brushes.

PARAMETERS
● Armature Resistance, R = 1Ω
● Armature Inductance, L = 0.2H
● Load Torque,TL = 0Nm for 0<t<10
= 0.4Nm for t>=10
● Torque Constant, Kt = 0.075 Nm /A
● Back emf Constant, Kb = 0.075 V /(𝑟𝑟𝑟/𝑟𝑟𝑟)
● Moment of Inertia, I = 0.005kg.m2
● Viscous Coefficient, c = 0.0025N .s/m
● Applied Voltage, V(s) = 10V

i(t) and ⍵(t) are armature current and angular velocity at time ‘t’ respectively.
Kb and Kt are back emf constant and torque constant respectively.Both are
determined by flux density of permanent magnets and number of turns of
armature windings.

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MATHEMATICAL MODELLING

This motor consists of two first order differential equation and two algebraic equations:

4
SIMULINK MODEL

5
OUTPUT

Angular velocity(⍵) vs
Time(t)

Armature Current(i) vs
Time(t)

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 Electromagnetic Torque(Te)
vs Load Torque(TL)

At 0 second ,10 volt is applied to the armature terminals and load torque is zero.
The peak transient armature current is limited to approximately 7.46 A by the
inductance and resistance of the armature and the fact that the rotor is
accelerating from stall, there by developing the back emf, 𝑟𝑟𝑟𝑟 which opposes the
applied voltage . After about 4 seconds, steady state operation is achieved with the
no-load current of 3.07 A and no-load speed of 92.3 rad/s.
At 10 second, the load torque(=0.4Nm) is suddenly applied to the motor , the
current is increased from 3.07 A to 6.77 A due to reduction in back emf.The speed
is decreased from 92.3 rad/s to 43 rad/s.

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DC SHUNT MOTOR
A DC shunt motor is a variety of brushed
motor that has the field windings
connected in parallel with the armature.
Shunt wound DC motors have a lower
current because of the parallel windings.
Field windings of Shunt DC motors are
thin and have a high number of turns
leading to high field resistance. A shunt
motor is used for applications that
require a constant torque, where the
speed is not significantly altered by load,
such as conveyor belts, mixers and hoists.The specific field windings provide unique
shunt motor characteristics that make it such an effective choice for constant torque
applications.

PARAMETERS
● Armature Resistance, Ra = 0.6Ω
● Armature Inductance, La = 0.012H
● Field Winding Resistance, Rf = 240Ω
● Load Torque,TL = 0Nm for 0<t<10
= 29.2Nm for t>=10
● Field Winding Inductance, Lf = 120H
● Armature Field Winding Inductance, Laf = 1.8 H
● Moment of Inertia, I = 1kg.m2
● Viscous Coefficient, c = 0.0025N .s/m
● Applied Voltage, V(s) = 240V

ia(t), if(t) and ⍵(t) are armature current, field current and angular velocity at
time ‘t’ respectively.

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MATHEMATICAL MODELLING

This motor consists of three first order differential equation and two algebraic equations:

9
SIMULINK MODEL

10
OUTPUT

Angular velocity(⍵) vs
Time(t)

Armature current(ia) vs
Time(t)

11
Field current(if) vs
Time(t)

Electromagnetic
Torque(Te) Vs Load
Torque(TL)

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At 0 second ,240 volt is applied to the armature terminals and load torque is zero.
The peak transient armature current is limited to approximately 395.6 A by the
inductance and resistance of the armature and the fact that the rotor is
accelerating from stall, there by developing the back emf, 𝑟𝑟𝑟𝑟𝑟𝑟 which opposes
the applied voltage . After about 4 seconds, steady state operation is achieved with
the no-load current of 0.12 A and no-load speed of 133.3 rad/s.
At 10 second, the load torque(=29.2Nm) is suddenly applied to the motor , the
current is increased from 0.12 A to 16.4 A due to reduction in back emf.The speed
is decreased from 133.3 rad/s to 127.9 rad/s.

From no-load to full load, the speed of the motor only changes by 4.22%.This
implies that the speed of the motor does not vary much with load which is an
important feature of DC shunt motor.

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DC SERIES MOTOR
Series wound DC motors are those in
which field windings are connected in a
series with armature. This means that
the entire armature current passes to the
field winding, creating much faster
speeds. Field windings of Series wound
DC motors are thick and have less
number of turns leading to low field
resistance.

These DC motors can’t regulate their speed particularly well.They have very high
starting torque and no-load speed. While this is a problem for some applications, it
makes them particularly useful for tasks that require high starting torque, such as
power tools and sewing machines.The specific characteristics of DC series motors
offer a clear and distinct purpose.

PARAMETERS
● Armature Resistance, Ra = 1.5Ω
● Armature Inductance, La = 0.012H
● Field Winding Resistance, Rf = 0.7Ω
● Load Torque,TL = 0Nm for 0<t<25
= 10.675Nm for t>=25
● Field Winding Inductance, Lf = 0.03 H
● Armature Field Winding Inductance, Laf = 0.0675H
● Moment of Inertia, I = 0.2365kg.m2
● Viscous Coefficient, c = 0.0095N .s/m
● Applied Voltage, V(s) = 220V

ia(t), if(t) and ⍵(t) are armature current, field current and angular velocity at
time ‘t’ respectively and ia(t) and if(t) are equal as field and armature windings
are in series.

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MATHEMATICAL MODELLING

This motor consists of two first order differential equation and three algebraic equations:

15
SIMULINK MODEL

16
OUTPUT

Angular velocity(⍵) vs
Time(t)

Armature current(ia) vs
Time(t)

17
Electromagnetic
Torque(Te) Vs Load
Torque(TL)

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At 0 second ,220 volt is applied to the armature terminals and load torque is zero.
The peak transient armature current is limited to approximately 64.5 A by the
inductance and resistance of the armature and the fact that the rotor is
accelerating from stall, there by developing the back emf, 𝑟𝑟𝑟𝑟𝑟𝑟 which opposes
the applied voltage . From 0 seconds to 25 seconds, the motor operates under no
load condition. As per theoretical concept, the motor tries to rotate at high speed
which is gradually increased from 0 to 400 rad/sec. This speed is greater than the
nominal speed of the motor. Under this condition , the starting current and torque
developed by the motor is very high.

At 25 second, the load torque(=10.675Nm) is suddenly applied to the motor , the

current is increased from 7.6 A to 13.6 A due to reduction in back emf.The speed is
decreased from 392.7 rad/s to 205.7 rad/s.
Under no-load , the speed of the motor increases to a very high value which can
damage the motor. Therefore, these motors should not be operated under no-load
conditions. The starting torque developed is also very high which makes these
motors a good choice for applications requiring high starting torque.

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CONCLUSION
In this project, modeling and dynamic simulation of PMDC motor, DC shunt Motor
and DC series Motor have been developed using MATLAB Simulink. The
mathematical modelling is done by using differential equations to model DC
motors and creating its simulation by using appropriate Simulink blocks. The
dynamic and steady state characteristics are effectively and more accurately
analyzed which helps in designing starters and controllers for DC motors.

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REFERENCES

● Types of DC motors(https://electrical-engineering-portal.com)
● MATLAB Simulink Documentation(https://www.mathworks.com)
● Mathematical Modeling and Dynamic Simulation of DC Motors using MATLAB/Simulink
Environment(IJMTER Journal)

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