Name Zubair Ashraf

Reg # 2017-EE-419
Marks

Lab Experiment No.7

DC Motor Characteristics
Objectives:
The objective of the experiment is to show how a permanent magnet D.C. motor may be controlled by
varying the magnitude and direction of its armature current and recognize the torque/speed characteristic
of the D.C. Motor

List of Equipment/Software
Following equipment/software is required:

 MATLAB
 Lab VIEW
 DC Servo System(feedback equipment)
a) OU150A Op Amp Unit
b) AU150B Attenuator Unit
c) PA150C Pre-Amplifier Unit
d) SA150D Servo Amplifier
e) PS150E Power Supply
f) DCM150F DC Motor
g) IP150H Input Potentiometer
h) OP150K Output Potentiometer
i) GT150X Reduction Gear Tacho
j) DC Voltmeter

Category Soft – Hardware Experiment

Note: This lab may take two weeks.

Deliverables
A complete lab report including the following:

 Summarized learning outcomes.

 Clearly show the model development and the Simulink model.
 Show the parameter identification graphs and calculations properly.
 Connection diagram of the hardware experimental part.
 Report the results in the table and graphical way with summarized learning outcomes.
Introduction:
This experiment will illustrate the characteristics of the D.C. motor used in the Modular Servo and
show how it can be controlled by the Servo Amplifier. The motor is a permanent magnet type and has a
single armature winding. Current flow through the armature is controlled by power amplifiers as in figure
so that rotation in both directions is possible by using one, or both of the inputs. In most of the later
assignments the necessary input signals are provided by a specialized Pre-Amplifier Unit PA150C, which
connected to Inputs 1 and 2 on SA150D

As the motor accelerates the armature generates an increasing 'back-emf' Va tending to oppose the
driving voltage Vin. The armature current is thus roughly proportional to (Vin - Va). If the speed drops (due
to loading) Va reduces, the current increases and thus so does the motor torque. This tends to oppose the
speed drop. This mode of control is called 'armature control' and gives a speed proportional to V in as in
figure.

Model of the armature-controlled DC motor:

The model of the armature-controlled DC motor has been developed in many text books in particular
(Dorf and Bishop, 2008).

Model Simulation using Simulink:

Prerequisite to this section is a mathematical understanding of the elctro-mechanical model of a DC
motor. Student should be able to understand how electrical terms (voltage, current, emf) interact with
mechanical terms (speed, position) via electro-magnetic circuit (inductance). The students should be able
to understand and derive the mathematical model of a DC motor.
The motor torque, T, is related to the armature current, i, by a constant factor Kt. The back emf, e, is
related to the rotational velocity by the following equations:

T=Kit
e = Ke d/ dt

In SI units (which we will use), Kt (armature constant) is equal to Ke (motor constant).

1. Building the Model

This system will be modeled by summing the torques acting on the rotor inertia and integrating the
acceleration to give the velocity, and integrating velocity to get position. Also, Kirchoff's laws will be
applied to the armature circuit.

Open Simulink and open a new model window. First, we will model the integrals of the rotational
acceleration and of the rate of change of armature current.

 Insert an Integrator block (from the Linear block library) and draw lines to and from its input and
output terminals.
 Label the input line "d2/dt2(theta)" and the output line "d/dt(theta)" as shown below.
 To add such a label, double click in the empty space just above the line.
 Insert another Integrator block attached to the output of the previous one and draw a line from its
output terminal.
 Label the output line "theta".
 Insert a third Integrator block above the first one and draw lines to and from its input and output
terminals.
 Label the input line "d/dt(i)" and the output line "i".
Next, we will start to model both Newton's law and Kirchoff's law. These laws applied to the motor system
give the following equations:

The angular acceleration is equal to 1/J multiplied by the sum of two terms (one pos., one neg.). Similarly,
the derivative of current is equal to 1/L multiplied by the sum of three terms (one pos., two neg.).

 Insert two Gain blocks, (from the Linear block library) one attached to each of the leftmost integrators.
 Edit the gain block corresponding to angular acceleration by double-clicking it and changing its value
to "1/J".
 Change the label of this Gain block to "inertia" by clicking on the word "Gain" underneath the block.
 Similarly, edit the other Gain's value to "1/L" and it's label to Inductance.
 Insert two Sum blocks (from the Linear block library), one attached by a line to each of the Gain
blocks.
 Edit the signs of the Sum block corresponding to rotation to "+-" since one term is positive and one is
negative.
 Edit the signs of the other Sum block to "-+-" to represent the signs of the terms in Kirchoff's equation.

Now, we will add in the torques which are represented in Newton's equation. First, we will add in the
damping torque.

 Insert a gain block below the inertia block, select it by single-clicking on it, and select Flip from the
Format menu (or type Ctrl-F) to flip it left-to-right.
 Set the gain value to "b" and rename this block to "damping".
 Tap a line (hold Ctrl while drawing) off the first rotational integrator's output (d/dt(theta)) and connect
it to the input of the damping gain block.
 Draw a line from the damping gain output to the negative input of the rotational Sum block.

Next, we will add in the torque from the armature.

 nsert a gain block attached to the positive input of the rotational Sum block with a line.
 Edit it's value to "K" to represent the motor constant and Label it "Kt".
 Continue drawing the line leading from the current integrator and connect it to the Kt gain block.

Now, we will add in the voltage terms which are represented in Kirchoff's equation. First, we will add in
the voltage drop across the coil resistance.

 Insert a gain block above the inductance block, and flip it left-to-right.
 Set the gain value to "R" and rename this block to "Resistance".
 Tap a line (hold Ctrl while drawing) off the current integrator's output and connect it to the input of
the resistance gain block.
 Draw a line from the resistance gain output to the upper negative input of the current equation Sum
block.
Next, we will add in the back emf from the motor.

 Insert a gain block attached to the other negative input of the current Sum block with a line.
 Edit it's value to "K" to represent the motor constant and Label it "Ke".
 Tap a line off the first rotational integrator's output (d/dt(theta)) and connect it to the Ke gain block.
third voltage term in the Kirchoff equation is the control input, V. We will apply a step input.

 Insert a Step block (from the Sources block library) and connect it with a line to the positive input of
the current Sum block.

 To view the output speed, insert a Scope (from the Sinks block library) connected to the output of
the second rotational integrator (theta).
 To provide a appropriate unit step input at t=0, double-click the Step block and set the Step Time to
"0".

2. DC motor nominal values

 moment of inertia of the rotor (J) = 3.2284E-6 kg.m^2/s^2
 damping ratio of the mechanical system (b) = 3.5077E-6 Nms
 electromotive force constant (K=Ke=Kt) = 0.0274 Nm/Amp
 electric resistance (R) = 4 ohm
 electric inductance (L) = 2.75E-6 H
 input (V): Source Voltage
 output (theta): position of shaft

Assumption: The rotor and shaft are assumed to be rigid

The physical parameters must now be set. Run the following commands at the MATLAB prompt:

J=3.2284E-6;
b=3.5077E-6;
K=0.0274;
R=4;
L=2.75E-6;
Run the simulation (Ctrl-t or Start on the Simulation menu).

3. Simulation:
To simulate this system, first, an appropriate simulation time must be set. Select Parameters from the
Simulation menu and enter "0.2" in the Stop Time field. 0.2 seconds is long enough to view the open-loop
response. Also in the Parameters dialog box, it is helpful to change the Solver Options method. Click on
the field which currently contains "ode45 (Dormand Prince)". Select the option "ode15s (stiff/NDF)".
Since the time scales in this example are very small, this stiff system integration method is much more
efficient than the default integration method.

Step input:
 Use step input from 0 volts to 2 volts and observe the response.
 Save the response to workspace variable to further compare with the experimental DC motor (DCM
150F).
 Now Step the input voltage from 2 volts to 4 volts. Save the response to further compare with
experimental motor.
 This is the simulation section for the Exercise 2 – Step input.
Graphical Result:

Sine wave input:

 Remove the Step Input and connect a Function Generator from the
 Simulink-Library to the input of the motor model in Simulink.
 Select Sinusoidal function in the function generator.
 Fix the amplitude of the sine wave to 2.
 Take several responses by varying the frequency of the sinusoidal wave keeping the amplitude fixed.
 Save the input and output of the DC motor model to further compare with experimental motor
response.
 This is the simulation section for the Exercise 2 – Sine input

Graphical Result: