SCHOOL OF ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

LAB REPORT OF

INTRUMENTATION AND CONTROL (COEG 304) LAB PROJECT- MOTOR POSITION

Submitted by Submitted to
Sambhranta Nidhi Tiwari Anil Lamichhane sir
ME II Hydropower DOEE
Roll no. 29 Kathmandu University

December 2021
1. INTRODUCTION

A common actuator in control systems is the DC motor. It directly provides rotary motion and,
coupled with wheels or drums and cables, can provide translational motion. The electric circuit
of the armature and the free-body diagram of the rotor are shown in the following figure:

The input to the system is the voltage applied to the motor's armature (V), while the output is the
angular position of the shaft (θ).

The motor torque is proportional to the armature current i by a constant factor Kt as shown in the
relation below.

T = Kt.i (i)
The back emf, e, is proportional to the angular velocity of the shaft by a constant factor Kb.

e = Keθ (ii)
In SI units, the motor torque and back emf constants are equal, that is, 

K = Kt = Ke (iii)

2. SIMULINK MODEL

The system was modelled by summing the torques acting on the rotor inertia and integrating the
rotor’s angular acceleration to get velocity and further integrating it to get acceleration.
Kirchoff’s law was applied to the armature circuit.
2
∬ dd tθ2 dt =∫ dθ
dt
dt=θ (iv)

di
∫ dt dt=i (v)
To obtain equation (iv) two integrator blocks were connected and output was labelled as θ and
for equation (v) an integrator block was used with output labelled as i.
Newtons law and kirchoffs law were applied to the motor to generate the following equations.
d2θ 1 dθ
i = ( K t i−b ) (vi)
dt 2
J dt
di 1 dθ
= (−Ri+V −K 0b ) (vii)
dt L dt
To get the above equations two gain blocks were inserted and labeled the 1/J and 1/L and label
them inertia and inductance respectively. Then two add blocks were inserted and the one
connected to inductance were assigned ‘+-’ signs and the other one assigned ‘-+-’ signs to
signify Kirchoff’s equations. Then a damping toque was added by creating a gain block below
the inertia block and was connected to the add block having sign ‘+-’ to the negative input. Then
the torque from armature was added by creating a gain block attached to the positive input of the
add block and it was labelled Kt. to added the voltage drop across the armature resistance, a gain
block was added above the inductance block and named R and its input terminal was connected
to the current integrators output and finally connected to the negative input of the current
equation add block. For the back emf another gain block was attached to the negative input of
current add block and labelled Ke and finally to the first rotational integrator’s output. Then step
input and scope were connected and the step time wa set to 0 and the stop time was set to 0.2
seconds which is enough to reach steady state. For convenience, the following parameters were
used.
J = 3.2284E-6;
b = 3.5077E-6;
K = 0.0274;
R = 4;
L = 2.75E-6;

3. RESULT AND DISCUSSION

From the results it was observed that when 1 volt is applied to the system the motor position
grows unbounded. Under the given conditions it shows that there will be no steady state error
and the response of the system at the given stop time is not stable at all.
Figure 1 Motor position system response