Experiment No: 8

Date: 26-11-2022

TRANSFER FUNCTION OF ARMATURE CONTROLLED AND FIELD

CONTROLLED D.C. MOTOR

AIM:

To determine the transfer function of an armature controlled and field controlled dc motor .

INSTRUMENTS REQUIRED

SL NO EQUIPMENT SPECIFICATION QUANTITY

1 volt meter 220V(mc) 1

2 ammeter 0-20A(mc) 1

3 ammeter 0-2A(mc) 2

4 rheostat 50ohm,5A 1

5 rheostat 50ohm,1.1A 1

6 stop watch 1

PRE-EXPERIMENTAL WORK

Transfer function of armature controlled dc motor :

Va (t) = Ra Ia(t) + L +eb(t)

The back emf

eb(t)= kb w, w is the angular speed of the motor in red/sec

Hence Va(t)= Raia(t) + L +Kbw …………………………………………………………….(1)

Torque, T(t) =Kφ ia(t) =Kb ia(t) ……………………………………..……….………....….. (2)

The torque had to overcome the accelerating torque due to the polar moment of inertia of the
shaft and the torque due to viscous friction.

T(t) =J + B w…………………………………….…………...…………………………….(3)

taking laplace transforms of these equations,

Va(s)= RaIa(s) + LsIa(s) +Kbθ( s ) …………………………………….………....…………..(4)

T(s)=KtIa(s) ……………………………………………….……….………………………..(5)

T(s)=Js θ( s ) +Bθ( s ) ………………………………………………………….………..……..(6)

Ia(s)=1/Kt(Js θ( s ) +Bθ( s ) )…………………………………………………………………. (7)

Substituting (7) in (4)

θ( s ) KT
=
Va( s ) ( R a + La s ) ( Js 2 + Bs ) + sK T K b

Transfer function of field controlled dc motor :

V
(t)
=
Rf
If(t
) +
L

……………………………………………………………………...……(1)
Torque, T(t) = Kb ia(t) ……………………………………………………………….......…..(2)

T(t) = Jdw/dtf + B w………………………………………………………………..…..….(3)

taking laplace transforms of these equations,

Vf(s) = RfIf(s) + sLIf(s) ……………...………………………..…………...………….……(4)

T(s) = KfIf(s) ……………………………………………………..………..…………...……(5)

T(s) = J s θ(s)+ B θ(s)………………………………………...….…………………………..(6)

From (5) and (6)

1
I f (s)= ………………………………………….……..……………(7)
K f (J s θ(s)+ B θ(s))

Substituting (7) in (4)

Prove analytically that in the SI system of units the back emf constant and torque
constant have the same numerical value

Kb(back emf constant) in SI unit can be expressed as V.s/rad

Motor Torque constant Kt=T/Ia

The SI units for the torque constant are newton-metres per ampere (N-m/A). Since N-m = J,
and A = C/s, then N-m/A = J-s/C = V-s (same units as back EMF constant).

Why DC motor s operated in linear range for control application?

Over a linear range, these motors exhibit a torque that is proportional to the quantity of
current flowing into the device. This can make the design of control laws particularly
convenient since torque can often be easily included into the dynamic equations.

CIRCUIT DIAGRAM

No load test
Load test

Running down test:

PROCEDURE

To find Kt:
No load test:
1. Connections are done as per circuit diagram
2. Keeping the armature rheostat in the maximum resistance position and field rheostat in the
minimum resistance position, switch on the DC supply
3. Keeping the field current constant adjust the armature rheostat and thus increase the speed
in steps.
4. Measure the armature current, armature voltage and speed on each step
5. Bring the rheostats to initial position and switch off the DC supply

To find Kf:
Load test:
1. Connections are done as per circuit diagram.
2. Field rheostat in minimum position and with the machine on no-load, switch on the DC
supply
3. Start the motor using 3-point starter
4. Adjust the field rheostat to have rated speed. Take the meter readings.
5. Decrease the field current by adjusting the field rheostat and at the same time the armature
current is kept constant by adjusting the load.
6. Then for various field currents, note down the meter readings and speed. Each time
armature current is to be kept constant.
7. Release the load on the motor and bring the rheostats to initial position.

To find friction constant B:

8. The armature rheostat is varied till motor speed attains a constant value. (say 1400 rpm)
9. The field rheostat is varied and corresponding If, Ia and V are noted. Every time armature
rheostat is varied till it reaches 1400rpm.

To determine J:
1. Connections are done as per circuit diagram
2. With the SPST switch in closed position ’, switch ON the DC supply and start the motor
using 3-point starter.
3. Increase the motor field regulator resistance and bring the speed of the motor to a speed
little higher than the rated speed (1550rpm)
4. Open the SPST switch and note down the time t1 seconds taken by the motor speed to fall
from the higher speed to a lower speed (e.g. 1550 rpm to 900 rpm)
5. Bring the rheostats to initial position
6. Restart the motor after taking initial precautions. Repeat the steps 2-3
7. Open the SPST switch, instantaneously and measure the time t2 for the speed to fall from
higher speed to a lower speed as earlier. (e.g.1450 rpm - 900 rpm)
8. Also note down the braking current Ib and braking voltage Vb at both speeds (eg. 1550rpm
and 900rpm) Obtain the mean value of Vb and Ib . (now motor slows down due to the power
wasted in the braking resistance, WR and due to stray losses, WS)
9. Switch OFF the DC supply
Measurement of armature resistance and armature inductance:

1. Use RLC meter to measure armature resistance &armature inductance.

Measurement of field resistance and field inductance:

1.Use RLC meter to measure field resistance &field inductance

Armature Controlled
No load Test

ω=
SL.No Va Ia N Eb = Va - IaRa P = EbIa T = P/ω
2π N
1 228 1 1425 60
149.226 226.8 226.8 1.51985
2 217 0.8 1305 136.659 216.04 172.832 1.26469
3 210 0.8 1293 135.403 209.04 167.232 1.23507
4 193 0.7 1210 126.711 192.16 134.512 1.06157
5 171 0.6 1120 117.286 170.28 102.168 0.8711
Measurement of armature resistance and inductance:

Ra La

1.2 9.6mH

Field Controlled DC Motor

Load test
Armature current Ia =2A

V If N S1 S2 S1-S2 Torque

214 0.87 1250 9 2.2 6.8 6.664

214 0.66 1375 7.5 1.9 5.6 5.488

214 0.59 1490 6.8 1.6 5.2 5.096

214 0.48 1597 6.2 1.6 4.6 4.508

Running down test

Speed(rpm) With supply to

armature switched off
 Time (sec)

N1= 1650-900 4.9

N2=1450-900 4.5

Measurement of field resistance and inductance:

Rf Lf

247 17.14 H

POST EXPERIMENTAL WORK

 Kb= Kt (Slope of T vs Ia)

T vs Ia
1.6
1.4
1.2
TORQUE (T)

1
0.8
0.6
0.4
0.2
0
0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05

ARMATURE CURRENT(Ia)

Kb = Kt = 1.735057988

 Kf (Slope of Tvs If)

 T Vs If
7

5
TORQUE (T)

0
0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9

FIELD CURRRENT (If)

Kf = 5.6

 From T versus ω plot (find B)

T Vs ω
1.6
1.4
1.2
TORQUE (T)

1
0.8
0.6
0.4
0.2
0
115 120 125 130 135 140 145 150 155

ANGULAR FREQUENCY (ω)

B(Slope of T vs ω) = 0.019962149

 dN = 1650-1450 =200 rpm

 dt = t1 - t2 = 5.2 - 3.5 = 1.7 s
 dw = ((2*π*200)/60) = 6.67π
 T = P/ ω = 1.2351
 (dω/dt) = 12.32 rad/sec
 J = ((T-(Bω))/(dω/dt)) = 0.0275

Transfer function of armature controlled dc motor

 ө(s) Kt 1.735057988
=( =
va (s) s +sB ) ( Ra+ sLa )+ KtKbs
2
( S + s 0.01995 ) ( 1.2+ s 0.0096 )+ 3.0104262 s
2

Transfer function of field controlled dc motor

o(s) Kf 5.6
=
Vf (s) ( Rf +sLf )(s 2 j+ sB)
= 2
(247+ s 17.14 )(0.0275 S + 0.0199621 s)

RESULT:

The transfer function of an armature controlled and field controlled dc motor

was determined and found out by experimental methods, using appropriate
apparatus .The transfer function was formulated by finding out values of :-

kt, kb, kf, J & B from the data obtained during the experimental analysis.