International Journal of Scientific & Engineering Research, Volume 8, Issue 3, March-2017 57

ISSN 2229-5518

Dynamic Model Analysis of a DC Motor in

MATLAB
Pratyusha Biswas Deb, Oindrila Saha, Sajan Saha, Shaon Paul

Abstract— In this paper, modeling of a DC motor is performed by using generalized equation in MATLAB and also analysis of its
performance through a speed control using Proportional Integral Derivative controller. Basically DC motors have some important
application like electric traction, robot manipulators, and industrial applications. Due to the simplicity in operation conventional Proportional
Integral Derivative controller is used as a control strategy. Here performance analysis of the modeled DC motor is performed through a
speed control by programming in MATLAB using Proportional Integral Derivative controller.

Index Terms— DC Motor, Dynamic Model, MATLAB, Modeling, PID Controller.

——————————  ——————————

1 INTRODUCTION

T HE DC motor acts as an energy conversion actuator that

converts electrical energy (of source) into mechanical
energy (for load). These motors are extensively applied for
3 MODELING OF DC MOTOR
As The DC motor model is implemented by mathematical ex-
pression. This implemented model is analysed by techniques
robotic manipulations, cutting tools, electrical tractions, etc.
of time domain and frequency domain analysis in MATLAB
The torque-speed characteristics of DC motors are most com-
simulation and the advance control analysis of hi-tech prob-
patible with most mechanical loads. Hence DC motors are

IJSER
lems are solved by the help of this model.
always a good ground for advanced control algorithm.
The control characteristics of these motors have resulted to 3.1 Physical System
their immense use and hence control of their speed are re- Figure 1 depicts the electrical circuit and free body of a closed
quired. Speed of a DC motor depends on supply voltage, ar- loop system of DC motor.
mature resistance and field flux produced by the field current.
The methods to control speed of these motors are armature
voltage control, armature resistance control and field flux con-
trol.
PID (Proportional Integral Derivative) controllers are exten-
sively operated in control applications in industries due to
their mathematical modeling, easy operation, good robust-
ness, high reliability, elimination of steady state error. As a
Figure 1: Free body diagram of armature of a DC motor
result, PID controllers are used to control the speed of a DC
motors. Here, V is the input armature voltage. The DC motor is ana-
In this paper, modeling of a DC motor is performed and also lysed by either state space model or Laplace transform. In this
its performance is analysed through a speed control using PID paper, we discussed about the dynamic model of dc motor by
controller. state space equations as well as Laplace transform equations.

3.1 State Space Modelling

2 OBJECTIVES OF THIS WORK DC Above mention dc motor can be analyzed by its state
The main objectives of this paper: space equation. With the increase in motor torque T, the arma-
1) By using generalized equation in MATLAB, modelling ture current i, also increases by a constant Kt. Also With the
of a DC motor is done. increase in motor back e, the rotational velocity θ, also increas-
2) By using PID controller to analyze the performance by es by a constant Ke.
controlling the speed of modeled DC motor. Then We get,
————————————————
(1)
• Pratyusha Biswas Deb is currently working as Assistant Professor in elec-
trical engineering department in Narula Institute of Technology, India
PH-+919748941162. E-mail: [email protected]
• Oindrila Saha is a student, Department of electrical engineering in Narula
Where
Institute of Technology, India. PH-+919830379697. Kt is armature constant, Ke is motor constant,
E-mail: [email protected] .
• Sajan Saha is a student, Department of electrical engineering in Narula
θ or w is angular velocity.
Institute of Technology, India. PH-+918620011731.
E-mail: [email protected]
• Shaon Paul is currently working as Assistant Proffesor in electrical engi-
neering department in Camallia Institute of Technology, India PH-
+918336901660. E-mail: [email protected]
IJSER © 2017
http://www.ijser.org
International Journal of Scientific & Engineering Research, Volume 8, Issue 3, March-2017 58
ISSN 2229-5518
By combination of Newton’s law with Kirchhoff’s law from
Figure 1:
From Equation (2.4), the transfer function (the ratio of θ(s) to
voltage V(s) ) is:
θ (S ) K
G=
A (s) = (2.5)
(2) V ( s ) s[( R + Ls )( Js + b) + K 2 ]
The transfer function of the angular velocity ω(s) to the
Where input voltage V (s) is (refering Figure 2):
J stands for moment of inertia, b stands for friction coeffi-
ω (S ) K
cient, L is armature inductance, R stands for armature resistance, V G=
v (s) = (2.6)
stands for input .voltage, K stands for electromotive force constant, V ( s ) ( R + Ls )( Js + b) + K 2
θ angular acceleration.
stands for
The rotating speed and current act as state variables and
voltage (V) as input and the output is angular velocity, in state 4 ANALYSIS OF DC MOTOR IN MATLAB
space.
4.1 MATLAB Representation
In this paper, the dynamic modeling of DC motor is imple-
mented using Laplace transform expression. The transfer func-
tion from Laplace transform expressions is put into MATLAB
m-file by defining the polynomial. Furthermore, function
(3) conv (A, B), which results in the product of the polynomials.
The transfer function is put in MATLAB using Voltage as in-

IJSER
put and velocity and angle as output.
3.3 Laplace Transform Expression 4.2 Simulation Results
In control system, analysis and design of technologies are ap- Here two types of analysis i.e. Time-Domain Analysis and
plied for development in real-time. The analysis of DC motor Frequency-Domain Analysis is depicted. These two responses
can be done easily by Laplace transform. are analysed in the modeled DC motor by MATLAB m-file.
The Laplace transform of Equation (2) is given as: (A) Time-Domain Responses
Js 2θ ( s ) + bsθ ( s ) =
KI ( s ) (2.1)
Here the step and impulse response of the modeled DC motor
is depicted from Figure 3 to 6.
LsI ( s ) + RI ( s ) =V ( s ) − Ksθ ( s ) (2.2)

Here s is the Laplace operator, θ(s) represents angular dis-

placement in s domain. From Equation (2.2) I(s) is given as:
V ( s ) − Ksθ ( s )
I (s) = (2.3)
R + sL
Which is substituted in Equation (2.1) to obtain:
V ( s ) − Ksθ ( s )
Js 2θ ( s ) + bsθ ( s ) =
K (2.4)
R + sL Figure 3: Step response of velocity
This Laplace Equation for the DC motor is implemented by
the block diagram in Figure 2.

Figure 3: Step response of velocity

Figure 2: Modeled block diagram of a DC motor

Figure 4: Step response of angle

IJSER © 2017
http://www.ijser.org
International Journal of Scientific & Engineering Research, Volume 8, Issue 3, March-2017 59
ISSN 2229-5518
4.3 Performance Analysis
The performance of the DC motor whose modeling is done
here is analysed by using a PID controller for speed control
test. The block diagram of PID controller with closed loop is
depicted in Figure 9.

Figure 5: Impulse response of velocity

Figure 9: Block diagram of closed loop PID controller

By applying Laplace’s transform the transfer function C(s) of a

PID controller with step response is can be written as:
U (s) K
C (s) = = K p + i + Kd s
E (s) s
K d s 2 + K p s + Ki
= (2.7)
s

IJSER
Here, U = controller output
Figure 6: Impulse response of angle
E = controller input
(B) Frequency-Domain Responses
K p = proportional gain
Here the bode response of the modeled DC motor is depicted
from Figure 7 and 8. K i = integral gain
K d = derivative gain.
Now with necessary PID commands the program is made to
run and the graph obtained is depicted in Figure 10.

Figure 7: Bode response of velocity

Figure 10: Closed loop step response of a DC motor using PID controller

Figure 8: Bode response of angle

IJSER © 2017
http://www.ijser.org
International Journal of Scientific & Engineering Research, Volume 8, Issue 3, March-2017 60
ISSN 2229-5518

be attempted.
5 RESULT AND DISCUSSION 3) To control the speed by SEPIC converter when DC
A model of a DC motor using the generalized equation in supply is Solar energy.
MATLAB is obtained and the time domain and frequency
domain responses for both step, impulse and bode plot is re- ACKNOWLEDGMENT
spectively discussed. It is a pleasant task to express our gratitude to all those who
To do the modeling and simulation of DC motor, the follow- have accompanied and help us in this work.
ing steps are followed: Our heart-felt thanks to our family members for their moral
1) The DC motor circuit diagram is represented. support and encouragement, without which the work would
2) The system equations are created. not have been possible. Last but not least, we extend our
3) The transfer function is calculated. thanks and appreciation to everyone who have helped us di-
4) Then the model block diagram is prepared. rectly or indirectly to complete this work.
5) The is done to simulate the model in programming
MATLAB. REFERENCES
6) And finally the performance analysis is carried out.
[1] Kanneth B. Renford, “Electrical Control of Machines”, Delmar
The simulation parameters are set and the simulation is made
Publishers Inc.
to run to see the step response. For the definition of the motor
[2] John Webb, “ Industrial Control Electronics”, Merrill Publishing
constants the given values for the physical quantities are as-
Company.
sumed in Table 1:
TABLE 1: Motor Constants [3] Stephen L. Herman, “Industrial Motor Control”, Delmar Publish-
ers Inc.
Symbol Description Value with [4] P.S. Bhimbhra, “Electrical Machinery”, Khanna Publishers.

IJSER
unit [5] Austin Hughes, “Electric Motor & Drives”, Fundamentals, type &
J Moment of Inertia of 0.01 applications- third Edition.
the rotor kg.m^2/s^2 [6] S.K. Bhattacharya, Brijinder Singh, “Control of Machines”, New
B Damping ratio 0.1 Nms Age International Publishers.
K=K e =K t Electromotive force 0.01 Nm/ [7] Robert Babuska and Stefano Stramigioli, “Mat lab and Simulink
constant Amp for Modeling and control”, -November 1999.
R Electrical Resistance 1Ω [8] P.S. Bhimbhra, “ Generalised Theory of Electrical Machines”, Khan-
L Electrical Inductance 0.5 H na Publishers.
[9] B. Liptak , “Process Control”, Instrument Engineers Handbook.
Table 2 shows the result of the step and impulse responses. [10] C. Johnson, “ Process Control Instrumentation Technology”, Pren-
TABLE 2: Results of step & impulse response tice Hall of India, New Delhi, 1996.
[11] D.P. Eckman, “ Automatic process Control”, Wiley Eastern, New
Response Output Settling Overshoot Steady-State Delhi, 1958.
Variable Time Error
Step Velocity 2.07 2.22e – 014 1.14 (Sec)
(Sec) (%)
Angle NA NA NA
Impulse Velocity 2.27(Sec) NA NA
Angle 2.07(Sec) NA NA

4 CONCLUSION
This paper is all about DC motor modeling using generalized
equation in MATLAB simulation and to analysis the perfor-
mance of this modeled DC motor using PID controller.
Here the time domain analysis for both step and impulse sig-
nal is discussed. The frequecy domain analysis is made by
bode plot.

5 FUTURE SCOPE
Following areas of further study are considered interesting:
1) To analysis the performance of higher order speed
control to other non linear systems may be attempted.
2) To reduce error of PID controller for dc motor may
IJSER © 2017
http://www.ijser.org