DC Motor Transfer Functions

(Reference: Dorf and Bishop, Modern Control Systems, 9th Ed., Prentice-Hall, Inc. 2001)

The figure at the right represents a DC motor attached to an inertial load. The voltages applied to the field and armature sides of the motor are represented by V f and Va . The resistances and inductances of the field and armature sides of the motor are represented by R f , L f , Ra , and La . The torque generated by the motor is proportional to i f and

ia the currents in the field and armature sides of the motor.

Tm = K i f ia

(1.1)

Field-Current Controlled:

DC Motor

In a field-current controlled motor, the armature current ia is held constant, and the field current is controlled through the field voltage V f . In this case, the motor torque increases linearly with the field current. We write

Tm = K mf i f
By taking Laplace transforms of both sides of this equation gives the transfer function from the input current to the resulting torque.

Tm ( s) = K mf I f ( s)
For the field side of the motor the voltage/current relationship is

(1.2)

V f = VR + VL = R f i f + L f ( di f dt )
The transfer function from the input voltage to the resulting current is found by taking Laplace transforms of both sides of this equation.
1

I f ( s) V f (s )

(1 L ) s + (R L )
f f f

(1st order system)

(1.3)

The transfer function from the input voltage to the resulting motor torque is found by combining equations (1.2) and (1.3).

( Kmf L f ) Tm ( s) Tm ( s) I f ( s ) = = V f ( s ) I f ( s) V f ( s ) s + ( R f L f )

(1st order system)

(1.4)

So, a step input in field voltage results in an exponential rise in the motor torque. An equation that describes the rotational motion of the inertial load is found by summing moments

M =T
or

& c = J

(counterclockwise positive)

& + c = Tm J
Free Body Diagram of the Inertial Load

Thus, the transfer function from the input motor torque to rotational speed changes is

(s) (1 J ) = Tm ( s) s + ( c / J )

(1st order system)

(1.5)

Combining equations (1.4) and (1.5) gives the transfer function from the input field voltage to the resulting speed change

( K mf L f J ) ( s ) (s ) Tm ( s) = = V f ( s ) Tm ( s ) V f ( s ) ( s + c J ) ( s + R f L f

(2nd order system)

(1.6)

Finally, since = d dt , the transfer function from input field voltage to the resulting rotational position change is

( K mf L f J ) ( s ) ( s) ( s) = = V f ( s ) ( s) V f ( s ) s ( s + c J ) ( s + R f L f )

(3rd order system)

(1.7)
2

Armature-Current Controlled: In a armature-current controlled motor, the field current i f is held constant, and the armature current is controlled through the armature voltage Va . In this case, the motor torque increases linearly with the armature current. We write

Tm = K ma ia
The transfer function from the input armature current to the resulting motor torque is DC Motor

Tm ( s) = K ma Ia (s)

(1.8)

The voltage/current relationship for the armature side of the motor is

Va = VR + VL + Vb

(1.9)

where Vb represents the "back EMF" induced by the rotation of the armature windings in a magnetic field. The back EMF Vb is proportional to the speed , i.e. Vb ( s) = Kb ( s) . Taking Laplace transforms of Equation (1.9) gives

Va ( s ) Vb ( s) = ( Ra + La s ) I a ( s )
or

(1.10)

Va ( s ) Kb ( s) = ( Ra + La s ) I a ( s)

(1.11)

As before, the transfer function from the input motor torque to rotational speed changes is

(s) (1 J ) = Tm ( s) s + ( c / J )

(1st order system)

(1.12)

Equations (1.8), (1.11) and (1.12) together can be represented by the closed loop block diagram shown below.

Va ( s ) +

1 La s + Ra La

I a ( s)

K ma

Tm ( s)

1J s+c J

(s )

Kb
Block diagram reduction gives the transfer function from the input armature voltage to the resulting speed change.

(s) ( K ma La J ) = Va ( s) ( s + Ra La )( s + c J ) + ( K b K ma La J )

(2nd order system)

(1.13)

The transfer function from the input armature voltage to the resulting angular position change is found by multiplying Equation (1.13) by 1 s .