Sec.2.

7 Transfer Functions of Separately Excited De Motor 57

lt command
Field eurrent r-------------------,
controller

Armature
voltage
Speed
controller
command

Torque Tachogenerator
T sensor
Minimum
controller
1055
1----======- -1

Figure 2.15 Minimurn 1055 control of a dc drive.

gested that from the consideration of torque capability, below base speed the drive
should always be operated at the rated flux. In the absence of the minimum loss con-
trol, this seems to be the most appropriate strategy. Because of the complex control,
the minimum loss control is employed only when the energy saving is large enough
to justify the additional cost and complexity. This will happen only when the drive
runs at light loads for prolonged periods of time.

2.7 TRANSFER FUNCTIONS OF SEPARATELV EXCITED DC

MOTOR
Transfer functions in MI appropriate form are needed for the stability analysis and
design of closed-loop drives. Closed-loop drives may be employed for speed control
or position control, and the motor may be operated with armature control or field
control. In this section, transfer functions of a separately excited motor with arma-
ture control and field control are derived in the form suitable for stability analysis
and design of closed-loop drives.
The dynamic model of a dc separately excited motor is shown in figure 2.16.
The source voltage, armature current, back ernf and torque required to do the useful
mechanical work are denoted by v, ia, e, and T M, respectively. The lower case letters
have been employed for the source voltage, armature current, and back emf to ern-

+
v
t:.=3.,
Figure 2.16 Dynamic equivalent circuit of
de separately excited motor.
58 DC Motors Chap. 2

phasize that these are instantaneous values of time varying quantities. The terms B
and J are respectively the coefficient of viscous friction in N-m/(rad/sec.) and polar
moment of inertia in Kg-rrr' of the motor load system referred to the motor shaft.
2.7.1 Armature Control

The voltage equation of the armature circuit under dynamic conditions is given by

· L di, K
v = R ala + adt" + Wm (2.26)

From the dynamics of the motor load system equation (1.5),

dWm
J-=T-TM-Bw (2.27)
dt m

Further,
T=Kia (2.28)
Substitution in equation (2.27) yields

Jdwm = Ki a - TM - Bw m (2.29)
dt
Taking the Laplace transform of equations (2.26) and (2.29), assuming zero initial
conditions, gives
sLaIa(s) + RaIa{s) + Kwm(s) = Ves) (2.30)
sJwm(s) + Bwm(s) + TM(S)= KIa(s) (2.31)
where Ia(s), Ves), wm(s), and TM(s) are Laplace transforms of the variables ia, v, Wm,
and TM, respectively.
From equation (2.30),
Ves) Ves) - Kwm(s)
Ia(s) = Ra(l + S'T J (2.32)
Ra(l + S'T J
where the armature circuit time constant is
'Ta = La/Ra (2.33)
From equation (2.31)
W (s) = (K/B)Ia(s) _!. TM(S) =!. T(s) - TM(S)
(2.34)
m (l + S'T m> B (l + S'T m> B (1 + S'T m)
where the mechanical time constant of the motor load system is
'Tm = J/B (2.35)
From equations (2.32) and (2.34), the block diagram shown in figure 2.17 is ob-
tained. The figure shows that the motor behaves as a closed-loop system with an in-
herent speed feedback due to the back ernf. There are two excitations, Ves) and TM(S).
Sec.2.7 Transfer Functions of Separately Excited De Motor 59

T M (5)

Figure 2.17 Block diagram of separately excited dc motor with armature control.

To be able to obtain the responses for both these exeitations, two transfer funetions
are required: one relating wm(s) with Ves) and another relating wm(s) with TM(s).
Let us eonsider the transfer funetion relating wm(s) with Ves). The closed-Ioop
de drives employing semieonduetor eonverters are usually operated .with an outer
speed eontrolloop and an inner eurrent eontrolloop, as will be explained in ehapter 5.
The transfer funetion should be realized in a form appropriate for this eonfiguration
of the closed-loop drives. A suitable form of the transfer funetion is obtained when it
is realized in two parts: one relating la(s) with Ves) and another relating wm(s) with
lis). Substituting TM = O in equation (2.34) gives

(2.36)

where

Km = K/B (2.37)

Substituting from equation (2.36) into equation (2.32) yields

2
1 + K • 1 ] I (s) = V(s) (2.38)
[ RaB (I + STJ (I + STJ a Ra(I + STa)

or

Ia(s) B(I + ST m)
V(s) = (K2 + RaB) + RaB(Ta + Tm)s + RaBTaTms2

-(K2+RaB)
B [
l+RaB(Ta+Tm)
(I + ST m)
+.RaBTaTm 2
1
K2 + RaB S K2 + RaB S
KmI(I + STm)
(2.39)

where

T mI = JRa/(BRa + K2) (2AO)

KmI = B/(BRa + K2) (2.41)
60 DC Mot'ors Chap.2

From equation (2.39),

Ia(s) Km¡(l+STm)
(2.42)
V(s) = (1 + ST¡) (1 + ST2)

where

- :1' - :, ~ ~[-(;, + ,0 ± ~ (;, + ,0'- 'm~'.] (2.43)

From equations (2.36) and (2.42), the block diagram shown in figure 2.18a is
obtained. .
The time constants T¡ and T2 may be complex conjugate. This is true for large
motors and converter drives with a filter inductor in series with the armature. In that
case, equation (2.39) can be rewritten in a more appropriate form:
Ia(s) Km2(l + ST m)

V(s) = S2 + (1- + ~\ + _1_

Ta T:) TaTm¡
= Km2(l + STm) (2.44)
S2 + 2gwns + w~
where

(2.45)

(2.46)

1
g = 2" (1 + Ta/T m)"v'T m¡/Ta (2.47)

Usually Ta ~ T m' then from equation (2.38),

[1 + ~~ e +l
sT j ]ra(S) = V~:)
or

(2.48)

The simplified block diagram based on equations (2.36) and (2.48) is shown in
figure 2.18b.
There are a number of applications where the load torque is proportional to the
speed. In these applications the effect of the load torque on the drive performance
can be taken into account by simply combining it with the viscous friction term and
upgrading the value of B, equation (2.29). Then all the equations just derived will
also account for the effect of the load torque on the drive performance. When the
load torque is not proportional to the speed, a separate transfer function is required
Sec.2.7 Transfer Functions of Separately Excited De Motor 61

V(s) Km,(l +STm)

(1 + s T,)(l + s T2)

(a)

V(S) Km,(l+sTm)
Figure 2.18 Simplified block diagrams of (1 +STm,)
separately excited motor with armature con-
trol: (a) Exact, (b) Approximate. (b)

between Wm(S) and T M(S). This transfer function is obtained by combining the block
diagram of figure 2.17 with other blocks of the system and setting the reference
speed to zero.

2.7.2 Field Control

Some de drives are operated with field control and with a constant current in the
arrnature circuit. Usually, the arrnature current is maintained constant using a closed-
loop system. Since the arrnature time constant is very small compared to the field
time constant, the response time of the closed-loop system controlling the arrnature
current can be considered zero, and thus the change in the arrnature current due to
the variation of field current and motor speed can be neglected.
From the dynamic equivalent circuit of figure 2.16

V f = R·flf + L fdt
di, (2.49)

Assuming a linear magnetic circuit and noting that the arrnature current is constant,
T = KaIf (2.50)
where K, is a constant.
From the dynarnics of the motor load system (equation (2.27» and equation (2.50)

Jd:m = Kaif - TM - BWm (2.51)

Taking the Laplace transform of equations (2.49) and (2.51), assuming zero
initial conditions, gives
Vf(s) = RfIf(s) + LfsIf(s) (2.52)
Jswm(s) = KaIf(s) - TM(s) - Bwm(s) (2.53)
From equations (2.52) and (2.53), by rearranging the terms,

Vf(s)
If(s) = Rf(l + STf) (2.54)

W (s) = (Ka/B)If(s) _ T M(S)

(2.55)
m (l + ST m) B (l + ST m)
_ T(s) - T M(S)
(2.56)
- B(l + STm)
62 DC"Motors Chap. 2

T M (S)

Figure 2.19 Block diagram of separately excited motor with field control.

where 'rr = Lr/Rr.

Substituting from (2.54) in equation (2.55) gives

(2.57)

where

From equations (2.50), (2.54), and (2.56) the block diagram shown in figure 2.19 is
obtained. When the load torque is proportional to the speed, it can be combined with
the viscous friction by upgrading the value of B. The transfer function for such a
case is obtained by letting TM(s) = O in equation (2.57).

REFERENCES
l. Alexander Kusko and Donald Galler, "Control means for minimization of losses in ae and
de motor drives," IEEE Trans. on Ind. Applications, vol. IA-19, July/Aug. 1983,
pp. 561-570.

PROBLEMS
2.1 A separately excited de motor is running at 1000 rpm, driving a load whose torque is
proportional to the square of the shaft speed. The annature current is 100 A. The arma-
ture resistance drop and the rotational losses of the motor are negligible and the mag-
netic circuit can be assumed linear. The motor armature voltage is reduced from 200 V
to 100 V. Mark and explain the correct answer.
(a) The motor speed will increase to 2000 rpm/decrease to 500 rpm/decrease to
(1ooo/Y2) rpm/remain constant.
(b) The annature current will increase to 200 A/decrease to 50 A/decrease to 25 A.
2.2 A separately excited de motor is running at 1000 rpm, driving a load whose torque is
constant. The motor annature current is 200 A, and the annature resistance drop and the
rotational losses are negligible. The magnetie circuit can be assumed linear. The field
current is reduced to half.
Mark and explain the correct answer.
(a) The motor speed will increase to 2000 rpm/decrease to 500 rpm/remain constant.
(b) The motor current will decrease to 100 A/increase to 400 A/remain eonstant.
Chap. 2 Problems 63

2.3 A separately excited de motor is running at 500 rpm, driving a load whose torque is
proportional to the speed. The motor armature voltage is 220 V and the armature cur-
rent is 20 A. What resistance should be inserted in the armature circuit to reduce the
motor speed to 250 rpm? The armature resistance is I {l.
2.4 A de shunt motor is running at 1000 rpm, driving a load whose torque is constant at all
speeds. The armature current is 100 A. The armature resistance drop can be neglected
and the field circuit can be assumed linear. If the source voltage is reduced to half, cal-
culate the motor speed and the armature current.
2.5 A 220 V, 960 rpm, 90 A separately excited de motor has an armature resistance of
0.06 n. Under rated conditions the motor is driving a load whose torque is constant and
independent of speed. The speeds below the rated speed are obtained with armature
voltage control (with full field) , and the speeds above the rated speed are obtained by
fie1d control (with rated armature voltage).
(a) Ca1culate the motor terminal voltage when the speed is 600 rpm.
(b) Obtain the value of flux as a percent of rated flux if the motor speed is 1200 rpm.
Neglect the motor's rotationallosses.
2.6 A 200 V de series motor takes 20 A and runs at 500 rpm with a certain load on its
n
shaft. The field winding and armature resistances are of 1 each. A resistance of 9 n
is now connected in parallel with the armature. Find the motor speed if the load on the
motor shaft is removed. Neglect friction and windage.
2.7 A dc series motor is driving a load whose torque is proportional to the square of the
speed. When supplied with 200 V it takes 100 A and runs at 1000 rpm. The total resis-
tance of the armature and field is 0.1 n. What voltage should be applied to the motor to
reduce its speed to 500 rpm? Assume the magnetic circuit of the motor is linear, and ne-
glect friction and windage.
2.8 A de series motor is driving a load whose torque is constant and independent of speed.
The motor speed is increased from 1000 rpm to 1200 rpm by eonnecting a diverter resis-
tance across its field. Find the ratio of the armature to the field winding current. As-
sume a negligible drop across the field winding and the armature resistance, and a linear
magnetic circuit.
2.9 A de series motor is driving a load whose torque is constant. The motor is running at
1000 rpm (clockwise) and the armature current is 200 A. Find the magnitude and the
direction of the motor speed and armature current if the motor terminal voltage is re-
versed and the number of turns in the field winding are reduced to 80 percent. Neglect
the voltage drop across the armature and field, and assume a linear magnetic circuit.
2.10 A motor is to be selected for driving a load having a large torque of short duration fol-
lowed by a long no-load periodo A fly-wheel of suitable inertia is already mounted on
the load shaft. Out of the various types of de motors (separately or shunt excited, series
and compound) which one will you recommend for this application and why?
2.11 A 220- V, 960 rpm, 90 A de separately excited motor has an armature resistance of
0.06 n. It is coupled to an overhauling load with a torque of 300 N-m. Determine the
speed at which the motor can hold the load by regenerative braking.
2.12 The motor-load system of problem 2.11 is now braked by dynamic braking instead of
regenerative braking. It is required that the machine should hold the load at 600 rpm.
Calculate the value of external resistance to be connected across the armature.
2.13 The following figures give the magnetization curve of a de series motor when running
at 960 rpm:
field current A 20 40 60 80 1()()
e.m.f. V 261 540 738 882 945