Electromechanical System

T.N.Kaputu
 Introduction
A motor is an electromechanical component that yields a
displacement output for a voltage input, that is, a mechanical
output generated by an electrical input.

Figure 1.1
D.C Motor
 D.C Motor
• In Figure 1.1 a magnetic field is developed by stationary
permanent magnets or a stationary electromagnet called the
fixed field.

• A rotating circuit called the armature, through which current

𝑖𝑎 (𝑡) flows, passes through this magnetic field at right
angles and feels a force, 𝐵𝑙𝑙𝑎 (𝑡), where 𝐵 is the magnetic
field strength and 𝑙 is the length of the conductor.

• The resulting torque turns the rotor, the rotating member of the
motor.
 D.C Motor
• A conductor moving at right angles to a magnetic field
generates a voltage at the terminals of the conductor equal to
𝑒 = 𝐵𝐵𝐵
• where 𝑒 is the voltage and v is the velocity of the conductor
normal to the magnetic field.
• Since the current-carrying armature is rotating in a magnetic
field, its voltage is proportional to speed.
Thus,

𝑑𝜃𝑚 (𝑡)
𝑣𝑏 = 𝐾𝑏 (1)
𝑑𝑑
 D.C Motor
• 𝑣𝑏 is called the back electromotive force (back emf );

• 𝑘𝑏 is a constant of proportionality called the back emf constant

𝑑𝜃𝑚 (𝑡)
• is the angular velocity of the motor.
𝑑𝑑

• Taking the Laplace transform, we get

𝑣𝑏 (𝑠) = 𝐾𝑏 𝜃𝑚 (𝑠) (2)

 D.C Motor
• The relationship between the armature current,𝑖𝑎 (𝑡), the
applied armature voltage, 𝑒𝑎 (𝑡), and the back emf, 𝑣𝑏 (𝑡) is
found by writing a loop equation around the Laplace
transformed armature circuit

𝑅𝑎 𝐼𝑎 (𝑠) + 𝐿𝑎 𝑠𝐼𝑎 (𝑠) + 𝑉𝑏 (𝑠) = 𝐸𝑎 (𝑠) (3)

• The torque developed by the motor is proportional to the

armature current; thus,

𝜏𝑚 𝑠 = 𝐾𝑡 𝐼𝑠 (𝑠) (4)
 D.C Motor
• where 𝜏𝑚 is the torque developed by the motor, and 𝐾𝑡 is a
constant of proportionality, called the motor torque constant,
which depends on the motor and magnetic field characteristics.

In a consistent set of units, the value of 𝐾𝑡 is equal to the value

of 𝐾𝑏 . Rearranging (4) yields

1
𝐼𝑎 (𝑠) = 𝜏𝑚 (𝑠) (5)
𝐾𝑡
 D.C Motor
• To find the transfer function of the motor, we first substitute
eqs. (2) and (5) into (3), yielding

𝑅𝑎 + 𝐿𝑎 𝑠 𝜏𝑚 (𝑠)
+ 𝐾𝑏 𝑠𝜃𝑚 𝑠 = 𝐸𝑎 (𝑠) (6)
𝐾𝑡

• Now we must find 𝜏𝑚 (𝑠) in terms of 𝜃𝑚 𝑠 if we are to

separate the input and output variables and obtain the
transfer function, 𝜃𝑚 𝑠 /𝐸𝑎 (𝑠)
 D.C Motor
• Figure 1.2 shows a typical equivalent mechanical loading on a
motor.
• 𝐽𝑚 is the equivalent inertia at the armature
• 𝐷𝑚 is the equivalent viscous damping at the armature

Figure 1.2
 D.C Motor
From Figure 1.2,
𝜏𝑚 𝑠 = (𝐽𝑚 𝑠 2 + 𝐷𝑚 𝑠)𝜃𝑚 (𝑠) (7)

Substituting eqn (7) into eqn (6) yields

𝑅𝑎 + 𝐿𝑎 𝑠 𝐽𝑚 𝑠 2 + 𝐷𝑚 𝑠 𝜃𝑚 (𝑠)
+ 𝐾𝑏 𝑠𝜃𝑚 𝑠 = 𝐸𝑎 (𝑠) (8)
𝐾𝑡
 D.C Motor
• If we assume that the armature inductance, 𝐿𝑎 , is small
compared to the armature resistance, 𝑅𝑎 , which is usual for a dc
motor, Eq. (8) becomes

𝑅𝑎
𝐽𝑚 𝑠 + 𝐷𝑚 + 𝐾𝑏 𝑠𝜃𝑚 𝑠 = 𝐸𝑎 (𝑠)
𝐾𝑡
𝜃𝑚 (𝑠)
After simplification, the desired transfer function, , is
𝐸𝑎 (𝑠)
found to be