INSTITUTE OF TECHNOLOGY OF CAMBODIA

ECAM LASALLE

ELECTRICAL
MACHINE DRIVE
REPORT
DC Motor
Parameter
Estimation

2023 -1 2024
 INSTITUTE OF TECHNOLOGY OF CAMBODIA
ECAM LASALLE

DC Motor Parameter

INSTRUCTED BY: MR. LIM PHING

Name: EL Danin
ID: e20201627

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 TP2: DC Motor Parameter Estimation
Lab Requirements
• MATLAB and Simulink with installed of Parameter Estimation Toolbox
• A zip file name “DC_Motor_Data.zip” which contain of the files as follow:
- Experiment_Data.mat: data for estimate the parameters of dc motor.
- Test_Data.mat: data for testing the parameters from estimations.
1. Objective
- Get to know DC motor and its modeling.
- Be able to find the parameters of DC motor base on time series data of input and
output in MATLAB.
2. Background
2.1. Introduction to DC motor
DC motor or Direct Current motor is an electric machine which supply by Direct
Current voltage. The structure of DC motor is shown in Figure 1.

Figure 1:Structure of DC motor

There are two main parts of DC motor:

- Stator or stationary: part of machine consists of the frame, which provides
physical support, and pole pieces, which project inward and provide a path for
magnetic flux in machine.
- Rotor or rotating part: a wound inside the motor which can rotate a round its axle.
2.2. DC Motor Modeling

Figure 2: Equivalent Model of DC motor

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 Figure 3: Mathematical Model of DC Motor

Transfer function of the motor has the form

𝜃𝜃(𝑠𝑠) 𝐾𝐾𝑚𝑚
𝐺𝐺(𝑠𝑠) = =
𝑉𝑉(𝑠𝑠) 𝑠𝑠[(𝐿𝐿𝐿𝐿 + 𝑅𝑅)(𝐽𝐽𝐽𝐽 + 𝐵𝐵) + 𝐾𝐾𝑏𝑏 𝐾𝐾𝑚𝑚 ]
Where:

− 𝜔𝜔: speed of motor in 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠

−𝑉𝑉: terminal voltage of DC motor in 𝑉𝑉
−𝑖𝑖: winding current in 𝐴𝐴
−𝐾𝐾𝑏𝑏 : back − EMF constant of DC motor in 𝑉𝑉/𝑟𝑟𝑟𝑟𝑟𝑟
−𝐾𝐾𝑚𝑚 : torque constant in 𝑁𝑁𝑁𝑁/𝐴𝐴
−𝑅𝑅: terminal resistance in 𝛺𝛺
−𝐿𝐿: terminal inductance in 𝐻𝐻
−𝑇𝑇𝑑𝑑 : disturbance torque in 𝑁𝑁𝑁𝑁
−𝐵𝐵: viscous fraction in 𝑁𝑁𝑁𝑁. 𝑠𝑠
3. Experiment Procedure
3.1. Load data
• Exact “DC_Motor_Data.zip” to a specific Folder name. Two .mat files
will be appear under the name “Experiment_Data.mat” and
“Test_Data.mat”
• Open MATLAB then choose the directory to Folder above.
• You can load data from .mat files by using command:
• Plot the times series of input and output from Experiment_Data and
Test_Data

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Figure 4: Voltage input of train data

Figure 5: Speed output of train data

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Figure 6: Voltage input of test data

Figure 7: Speed output of test data

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3.2.Create Simulink Block for DC motor
• Open MATLAB Simulink, then create a block Simulink from DC motor and
convert it into subsystem

Figure 8: Simulink block in subsystem of DC motor

Figure 9: Subsystem of DC motor

• Next, create a subsystem for generate input voltage signal base on the
experiment data input

Figure 10: Input Generator subsystem

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 Figure 11: Input generator

Figure 12: Generator Voltage

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3.3. Estimate Parameters
• Connect input and DC motor

Figure 13: The connectiong of Input and DC Motor

• Estimating for Parameters

Figure 14: Parameters Estimation

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 Figure 15: The output of train data with parameters value

• Plot the output speed of DC Motor by Simulink using disturbance at 1.5N

at 2s (test data)

Figure 16:Simulink block in subsystem of DC motor connecting with the given disturbance

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 Figure 17: Graph of disturbance

Figure 18: Simulink Model of DC Motor with test data and disturbance

Figure 19: The output of test data

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 Table1: Table of Parameters Value

Actual Value Initial Estimate Value Estimate Value

Parameters Value Parameters Value Parameters Value
actual_R 0.5 motor_R 1.00 estimate_R 0.11606
actual_L 0.0015 motor_L 0.01 estimate_L 0.0002776
actual_Kb 0.05 motor_Kb 0.50 estimate_Kb 0.056151
actual_Km 0.05 motor_Km 0.50 estimate_Km 4032.1
actual_J 0.00025 motor_J 0.041 estimate_J 88.148
actual_B 0.001 motor_B 0.42 estimate_B -185.19

3.4. Discussion
• By using initial value with train data to estimate for parameters value has
led the experiment to be accurate. The input is as same as output which is
the only goal that has been expected.
• With the parameters value after being estimated, it has been used to plot
for the output of test data (speed and voltage). The different between train
data and test data is test data involve with the given disturbance. At this
point, the given disturbance has no efficiency on the output of test data.

4. Conclusion
the experiment conducted on the DC motor using MATLAB has provided valuable
insights into its behavior and characteristics. Through the implementation of various
control algorithms and analysis techniques, we have gained a deeper understanding of
how the motor responds to different inputs and operating conditions.

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