Lecture Note Electrical Drives

Prepared By: Dr.Shaikh Mohammed Suhel

Ph.D, GATE, M.Tech, B.E. Electrical
Q: Dynamic modelling of DC Machine

When supply Va is given to stator winding, flux produced in stator winding linked to Rotor
and Rotor starts rotating as a result back emf is generated. Applying KVL in armature circuit:
d Ia
V a= I a R a+ La + Eb (1)
dt
Where,
V a is the armature voltage in volts.
I a is the armature current in ampere.
La is the armature inductance in Henry.
Ra is the armature resistance in ohms.
Eb is the back emf in volts.

By applying laplace transformation to (1):

V a(s)= I a ( s ) R a+ s La I a ( s )+ Eb (s)

V a ( s )−Eb ( s )
I a ( s )= (2)
R a+ s L a

Similarly for field winding if we apply KVL and transforming into laplace domain
Vf (s)
I f ( s )=
R f + s Lf
V f is the Field Voltage in volts.
R f is the field resistance in ohms.
I f is the Field current in ampere.

Prepared By: Dr. Shaikh Mohammed Suhel, Associate Professor and Head, RNGPIT, Bardoli
Now back emf can be obtained as
ZP
Eb =
60 A ϕN
ZP 60 ɷ
= 60 A ϕ 2Π
ZP ɷ
= A ϕ2Π
ZP
= 2 ΠA ϕɷ
ZP
= 2 ΠA K I f ɷ

=K b I f ɷ
Where,
Z is the number of conductors.
P is the number of poles.
A is the number of Parallel Path.
ϕ is the flux in weber.
N is the number of turns in rpm.
ɷ is the Speed in rad/sec.

Motor torque equation can be written as

T= K t I aϕ
ZP
= 2 ΠA ϕ I a

=K t I f I a
Finally Speed of the machine can be obtained as:
dɷ
T e=T L+ J
dt

T e ( s ) =T L ( s )+ sJɷ

T e −T L
ɷ= Js
T e is the motor Torque in N.m
T L is Load Torque in N.m
J is the inertia.

Prepared By: Dr. Shaikh Mohammed Suhel, Associate Professor and Head, RNGPIT, Bardoli
Prepared By: Dr. Shaikh Mohammed Suhel, Associate Professor and Head, RNGPIT, Bardoli