HO CHI MINH CITY UNIVERSITY OF

TECHNOLOGY AND EDUCATION

FACULTY OF ELECTRICAL AND ELECTRONICS ENGINEERING

DEPARTMENT OF INDUSTRIAL ELECTRICITY

COURSE REPORT OF
INDUSTRIAL POWER SYSTEM CONTROL

CHAPTER 3: DC MOTOR MODEL

Student(s): Sơn Hoàng Dũng (ID: 19142017)

Instructor: Quang-Tho Tran, Ph. D

Hochiminh city, Sep-2022.

Contents
1. LIST OF FIGURES 3
2. INTRODUCTION 4
I. Structure of DC motor 4
II. Principle of operation 4
III. Characteristic equation DC motor 5
IV. Method control speed of DC motor 6
V. Purpose 6

3. MODELING OF DC MOTOR IN MATLAB 7

I. Calculation 7
II. DC motor model 8

4. RESULT AND DISCUSSION 9

REFERENCES 11
 1. LIST OF FIGURES

Figure 3.1: force acting on the wireframe 3

Figure 3.2: Equivalent circuit of a d.c. motor 4
Figure 3.3: Block diagram of an armature current controlled dc motor 5

Figure 3.4 Block diagram of an armature current controlled dc motor in 6

matlab
Figure 3.5 DC motor model in matlab 7
Figure 3.6 scope of electrical torque and speed 7
 2. INTRODUCTION

I. Structure of DC motor
The motor consists of a stator and a rotor. The stator is a steel core assembled from leaves
electrical engineering steel, the inside has a slot to place the field winding. The rotor is
the core. The steel is assembled from electrical engineering steel sheets, the outside is
slotted to place the wrapping response. DC power is supplied to the armature through a
switching system to current reversal is called brush and commutator.
II. Principle of operation
When direct current is applied to the field winding If, in the stator a magnetic flux has is
generated direction in the direction of the S pole (South) to the N pole (North). Now, if
for current DC to the armature winding through the commutator brush. The current Ia in
the windings on the right half of the rotor has an inward direction, the left half rotor has
an output direction. Under the effect of magnetic flux, a force F has the direction follow
the left-hand rule and rotate the rotor wireframe. Therefore, to the rotor wireframe When
rotating continuously, the direction of current in the wire frame needs to be changed by
the commutator brush mechanism when the wire frame is in the vertical position as
shown in. Because the wire frame is fixed in the rotor steel core should cause the whole
rotor to rotate around its axis.

Figure 3.1: force acting on the wireframe

 Figure 3.2: Equivalent circuit of a d.c. motor

III. Characteristic equation DC motor

Equation excitation current:

(3.1)
Equation voltage:

(3.2)
Equation power:

(3.3)
Equation armature electromotive force:

(3.4)
Equation moment motor:

(3.5)
 IV. Method control speed of DC motor
 Change armature voltage
 Change armature resistor
 Change magnetic flux
V. Purpose
In this simulation, we model a DC motor and look at the current and rotational motion at
the motor output. The speed of DC motor is directly proportional to armature voltage and
inversely proportional to flux in field widing. In armature controlled DC motor the
desired speed is obtained by varying the armature voltage. This speed control system is
an electro-mechanical control system. We will discuss transfer function of armature
controlled dc motor.
 3. MODELING OF DC MOTOR IN MATLAB

I. Calculation
From the armature substitution diagram in Figure , it is possible to rewrite
the Equation voltage

(3.6)
Equation moment

(3.7)
Laplace equation (1.1) and (1.2)

(3.8)

(3.9)

with Electrical time constant

with Mechanical time constant

 Figure 3.3: Block diagram of an armature current controlled dc motor
La,Ra: armature inductance and resistance respectively
Va,Ia: armature voltage and current respectively
If: field current
Vb: back emf
J,B: motor inertia and friction coefficient
W, : motor angle and speed
II. DC motor model

Figure 3.4 Block diagram of an armature current controlled dc motor in matlab

Ngõ vào của động cơ là điện áp Vt, moment tải TL, tổn hao ma sát Tf, ngõ ra là tốc
độ, moment, dòng điện
Parameters setting
Đại lượng Gía trị
Vt 240 (V)
Ra 1.086 (Ω)
La 0.01216 (H)
B 0.003406
J 0.04251 (kgm2)
Ia 39.37 (A)
Tn 42.37 (Nm)
Tf 1.076 (Nm)
TL 40.7 (Nm)

Figure 3.5 DC motor model in matlab

4. RESULT AND DISCUSSION

 Figure 3.6 scope of electrical torque and speed
Based on the DC motor model to get parameters, the power supply for the fixed
excitation 300V, the power supply for the armature voltage 240V, adjust the slide gain to
adjust the load torque so that the rated speed is correct, then measure it. get the rated
current and electromagnetic torque, then invert the magnetic flux and use it in your
mathematical model.
REFERENCES

[1] T. Q. Thọ, Giáo trình Truyền động Điện Tự động, TP HỒ CHÍ MINH, 2020.

[2] A. A. MASOUD, M. ABU-ALI and A. A. AL-SHAIKHI, "Experimental Determination of an

Extended DC Servo-Motor State Space Model: An Undergraduate Experiment,"
December 2020.
[3] S. A. a. D. S. Radojka Krneta, "Recursive Least Squares Method in Parameters,"
December 2005.
[4] W. P. Aung, "Analysis on Modeling and Simulink of DC," World Academy of Science,
Engineering and Technology, 2007.