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The document describes experiments to study the torque-speed characteristics and determine the transfer function of a DC motor. It provides theoretical background on DC motor modeling and details steps to obtain motor/generator characteristics, torque-speed curves, and analyze the step response to determine the motor parameters including time constant, gain constant and inertia.

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47 views4 pages

3

The document describes experiments to study the torque-speed characteristics and determine the transfer function of a DC motor. It provides theoretical background on DC motor modeling and details steps to obtain motor/generator characteristics, torque-speed curves, and analyze the step response to determine the motor parameters including time constant, gain constant and inertia.

Uploaded by

Mithila Zodape
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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INSTITUTE OF COMPUTER & COMMUNICATION TECHNOLOGY FOR WOMEN (ICCT)

NEW VALLABH VIDYANAGAR-388 121 DIST. ANAND, GUJARAT.


ELECTRONICS & COMMUNICATION ENGG. DEPT.

EXPERIMENT 3

AIM: To Study the torque-speed characteristics and determine the transfer


function of D.C. Motor.

APPARATUS: DC Motor Study Kit

Theoretical Background:

DC Motor are the most commonly used actuators in electro-mechanical


control systems or servomechanisms. Compared to actuators like 2-phase a.c.
motor and stepper motor, the d.c. motor has the advantage of higher torque and
simpler driving circuit. However the presence of a commutator and a set of brushes
with the problems of sparking make the d.c. motor somewhat less durable. This of
course is not true for a present day well designed d.c. servomotor.

The study of the dynamic characteristics of the d.c. motor is important


because the overall performance of the control system depends on it. A standard
analysis procedure is to model the various subsystems and then combine these to
develop the model of the overall system. This experiment is designed to obtain the
torque-speed characteristics, compute the various parameter and finally determine
the transfer function of a d.c. motor.

Tm = KT ia ; KT = torque constant

Eb = kb ; Kb = back emf constant

La dia/dt + Ra ia + eb = ea; armature circuit model

J d /dt + B + TL = TM ; Mechanical Model

Taking laplace transformation and rearranging the terms,

 (S)/Ea(S) = KT/[(SLa + Ra)(SJ + B) + KT Kb]


Assuming the inductance of the armature circuit to be very small, the motor
transfer function may be written as,

LAB MANUAL- CONTROL SYSYTEM SUBJECT CODE: 141701


INSTITUTE OF COMPUTER & COMMUNICATION TECHNOLOGY FOR WOMEN (ICCT)
NEW VALLABH VIDYANAGAR-388 121 DIST. ANAND, GUJARAT.
ELECTRONICS & COMMUNICATION ENGG. DEPT.

GM(S) =  (S)/Ea(S) = (KT/Ra)/[JS+B+(KTKb/Ra)]

= KM/(S m + 1) - - - - - - - eq(1)

where,

KM = KT / (RaB+KTKb) ; Motor gain constant

 m = Ra J / (Ra B + KTKb); Motor time constant

Motor and Generator Characteristics:

Following steps are required to be followed for Motor and Generator


characteristics.

(1) Set ‘MOTOR’ switch to ‘ON’. Set ‘RESET’ switch to ‘RESET’. Set ‘LOAD’
switch to 0 position.
(2) Vary Ea in small steps and take readings as shown in following table.
(3) Plot N vs. Ea and Eg. Vs. N. obtain the slopes and compute KM and KG.

Sr.No. Ea, Volts Ia, amp. N, rpm Eg, Volts

LAB MANUAL- CONTROL SYSYTEM SUBJECT CODE: 141701


INSTITUTE OF COMPUTER & COMMUNICATION TECHNOLOGY FOR WOMEN (ICCT)
NEW VALLABH VIDYANAGAR-388 121 DIST. ANAND, GUJARAT.
ELECTRONICS & COMMUNICATION ENGG. DEPT.

Torque Speed Characteristics:

To obtain the torque-speed characteristics, the motor is supplied with a fixed


armature voltage and its speed is recorded for varying external loading. This
loading is effected by electrically loading the coupled generator.

Following steps are followed to obtain torque-speed characteristics.

(1) Set ‘MOTOR’ switch to ‘OFF’. Set ‘RESET’ switch to ‘RESET’. Set
‘LOAD’ switch to 0 position.
(2) Connect Ea to the voltmeter and set Ea = 6 V.
(3) Shift the ‘MOTOR’ switch to ‘ON’. Measure armature input ( Ea ) ,
motor current ( Ia ) and motor speed in rpm. Record the readings.
(4) Set the ‘LOAD’ switch to 1,2,3,4,5 and take readings as above.
(5) Complete the table below with the calculated values.

Motor voltage Ea = 6 V; Ra = 4 ohms

Sr.No. Load Ia, N,  =2πN/60 Eb = Ea-IaRa Kb=Eb/ TM=KbIa


Step amp. rpm rad/sec

1 0

2 1

3 2

4 3

5 4

6 5

(6) Plot torque vs. speed curves on a graph paper.


(7) Compute B from the slope of torque-speed curve and average Kb from the
table.

LAB MANUAL- CONTROL SYSYTEM SUBJECT CODE: 141701


INSTITUTE OF COMPUTER & COMMUNICATION TECHNOLOGY FOR WOMEN (ICCT)
NEW VALLABH VIDYANAGAR-388 121 DIST. ANAND, GUJARAT.
ELECTRONICS & COMMUNICATION ENGG. DEPT.

Step Response:

The dynamics of the motor is studied with the help of its step response. Follow the
below given steps to achieve the same.

(1) Set ‘MOTOR’ switch to ‘OFF’. Set ‘RESET’ switch to ‘RESET’. Set
‘LOAD’ switch to 0 position.
(2) Connect Ea to the voltmeter and set it to 8 V.
(3) Switch ‘ON’ the motor and measure Eg and the speed in rpm. These are
the steady state generator voltage Eg and steady state motor speed N,
respectively.
(4) Set Es to 63.2% of Eg measured above. This is the generator voltage at
which the counter will stop counting.
(5) Switch ‘OFF’ the motor. Set ‘RESET’ switch to ‘READY’.
(6) Now switch the motor ’ON’. Record the counter reading as time constant
in milliseconds.

Sr.No. E a, E g, N, Es=0.632*Eg, Time constant Gain constant,


volts volts rpm volts  m, msec KM=πN/30Ea

(7) Substitute the values of KM and  m in eq.(1)


(8) Using the average values of  m, B, Kb and Ra, calculate the motor inertia
from eq. J =  m [B + Kb2/Ra ]

LAB MANUAL- CONTROL SYSYTEM SUBJECT CODE: 141701

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