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DC Motor Modeling in Simulink: Eng. Mohamedein Maghraby

The document summarizes a DC motor model in Simulink. It provides two equations to model the DC motor: (1) describes the armature circuit and (2) describes the mechanical torque balance. It defines the variables in the equations such as Va, Ia, Eb, Ra, La, Tm, TL, B, J, ωm, and θm. It also shows the block diagram representation of the DC motor model in Simulink.

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abdullah
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71 views

DC Motor Modeling in Simulink: Eng. Mohamedein Maghraby

The document summarizes a DC motor model in Simulink. It provides two equations to model the DC motor: (1) describes the armature circuit and (2) describes the mechanical torque balance. It defines the variables in the equations such as Va, Ia, Eb, Ra, La, Tm, TL, B, J, ωm, and θm. It also shows the block diagram representation of the DC motor model in Simulink.

Uploaded by

abdullah
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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𝑹𝒂 𝑳𝒂 𝑳𝒂 𝑹𝒂

𝑻𝒎 𝑻𝑳,𝑭𝒓,𝑻𝒓 𝑻𝑳,𝑭𝒓,𝑻𝒓 𝑻𝒎

𝑽𝒂 𝑬𝒃 𝑬𝒃 𝑽𝒂

𝑰𝒂 𝑰𝒂
𝑳𝒐𝒂𝒅 𝑳𝒐𝒂𝒅

DC Motor Modeling in Simulink

Eng. Mohamedein Maghraby


Electrical Engineering Department
Sohag University
Sohag, Egypt
DC Motor Modeling

𝒅𝒊 𝑹𝒂 𝑳𝒂
𝑽𝒂 = 𝒊𝒂 𝑹𝒂 + 𝑳𝒂 𝒅𝒕 + 𝑬𝒃 (1)
𝑻𝒎 𝑻𝑳,𝑭𝒓,𝑻𝒓
σ 𝑭 = 𝒎𝒂 → σ 𝑻 = 𝑱 𝛉ሷ
𝒅ω𝒎 𝑽𝒂 𝑬𝒃
𝑻𝒎 − 𝑻𝑳 − 𝑻𝒇𝒓𝒊𝒄 = 𝑱
𝒅𝒕 𝑰𝒂
𝑳𝒐𝒂𝒅
𝒅ω
𝑻𝒎 = 𝑻𝑳 + 𝑩ω𝒎 + 𝑱 𝒎 (2)
𝒅𝒕

Taking Laplace transform for 1,2: 𝑽𝒂 : armature input voltage


𝑽𝒂 = 𝑰𝒂 𝑹𝒂 + 𝒔𝑳𝒂 𝑰𝒂 + 𝑬𝒃 𝑬𝒃 : back generated EMF (= 𝑲𝒆 ω𝒎)
𝑰𝒂 : armature current
= 𝑰𝒂 𝑹𝒂 + 𝒔𝑳𝒂 + 𝑬𝒃 (1s) 𝑹𝒂 : armature resistance
𝑻𝒎 = 𝑻𝑳 + 𝑩ω 𝒎 + 𝒔𝑱ω 𝒎 𝑳𝒂 : armature inductance
𝑻𝒎 : motor Elec generated torque (= 𝑲𝒆 𝒊𝒂 )
= 𝑻𝑳 + ω𝒎 𝑩 + 𝒔𝑱 (2s) 𝑩 : damping coefficient (due friction)
J : motor body inertia (= 𝒎𝒓𝟐)
Where :
𝑻𝑳 : load torque
𝑻𝒎 = 𝒌 I 𝒂 ,, 𝑬𝒃 = 𝒌ω 𝒎 𝝎𝒎: angular speed (= 𝜽ሶ 𝒎)
𝑲 ∝ 𝑩𝑨𝑵 𝜽𝒎 : motor angular displacement

𝑴𝒐𝒉𝒂𝒎𝒆𝒅𝒆𝒊𝒏 𝑴𝒂𝒈𝒉𝒓𝒂𝒃𝒚
DC Motor Modeling

𝑽𝒂 = 𝑰𝒂 𝑹𝒂 + 𝒔𝑳𝒂 + 𝑬𝒃 (1s) 𝑹𝒂 𝑳𝒂
𝑻𝒎 𝑻𝑳,𝑭𝒓,𝑩

𝑽𝒂 𝑬𝒃
𝑻𝒎 = 𝑻𝑳 + ω 𝒎 𝑩 + 𝒔𝑱 (2s) 𝑰𝒂
𝑳𝒐𝒂𝒅

Where : 𝑻𝒎 = 𝒌I 𝒂 ,, 𝑬𝒃 = 𝒌ω 𝒎

𝟏 𝑰𝒂 𝑻𝒎 𝟏 𝝎𝒎 𝟏 𝜽𝒎
𝑽𝒂 𝑲
𝑹𝒂 + 𝒔𝑳𝒂 𝑩 + 𝒔𝑱 𝒔

𝑻𝑳
𝑬𝒃 back EMF

𝑴𝒐𝒉𝒂𝒎𝒆𝒅𝒆𝒊𝒏 𝑴𝒂𝒈𝒉𝒓𝒂𝒃𝒚

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