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DEPARTMENT OF AVIONICS ENGINEERING

SUBJECT : Control Systems Lab

SUBJECT CODE : 305312
LAB NO : 08

TITLE : Mathematical Modelling Of DC Motor

SUBMITTED TO : Ms. Anila Ali Ahmed

SEMESTER :
SECTION : B

Marks Obtained
Group Member Group Member Group Member
1 2 3

NAME
REGISTRATION NUMBER
LAB REPORT
PERFORMANCE
TOTAL MARKS

DEADLINE: 1600hrs 11, Dec 2023

DATE OF SUBMISSION:

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Experiment # 08 Page 1 of 5
Control Systems Lab
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Title: Mathematical Modelling of DC Motor

Objectives:

 After completing this exercise, the students will be able to derive the transfer
function of a DC Motor theoretically

Theory/Background:
The armature controlled DC servo motor

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. The motors
schematic is shown in following figure

Figure 1

Mathematical modeling
A magnetic field is developed by stationary permanent magnets or a stationary
electromagnet called the fixed field. The rotating circuit, also known as armature passes
through magnetic field and experiences a force (Lorentz law), given by

F=Bl i a (t)

Where B is the magnetic field strength and l is the length of the conductor. The resulting
Torque due to this Lorentz force is proportional to the armature current and is given by
τ m ( t )=K t i a (t )

Where τ m ( t ) is the torque developed by the motor. This torque turns the rotor, the rotating
member of the motor. K t is a constant of proportionality, called the motor torque
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constant, which depends on the motor and magnetic field characteristics. In a consistent
set of units, the value of K t is equal to the value of K b .
A conductor moving at right angles to a magnetic field generates a voltage at the
terminals of the conductor equal to,
e=Blv

Where e is the voltage and v is the velocity of the conductor normal to the magnetic field.
So we can write the voltage drop at the terminals of the rotor as

d θ m (t) (2)
v b ( t )=K b
dt

We call v b ( t ) the back electromotive force (backemf ); K b is a constant of proportionality

d θ m (t)
called the back emf constant; =ω m (t) is the angular velocity of the motor.
dt
The relationship between the armature current, i a (t) , the applied armature voltage, e a (t) ,
and the back emf , v b ( t ) , is found by writing a loop equation around the circuit shown in
figure 1, and is given by,

d ia
R a i a ( t ) + La + v b ( t ) =e a (t)
dt

Substituting values of v b ( t ) and i a (t) from equations (1) and ( 2 ) , in the above equation,
we get,

Ra L d τ (t ) d θ (t) (3)
τ m ( t ) + a m + K b m =e a (t )
Kt K t dt dt

Now we need τ m ( t ) in terms of position θm ( t). So we proceed considering the

following figure, which shows a typical equivalent mechanical loading on a
motor.

Figure 2(Typical equivalent mechanical loading on a motor )

J mis the equivalent inertia at the armature. Dmis the equivalent viscous damping
at the armature.
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From figure we can write,

2
d θ m (t) d θm
τ m ( t )=J m 2
+ Dm
dt dt

Substituting value of τ m ( t ) in equation (3), we get

( )
2
R a J m d θm (t ) Dm Ra d θm
ea ( t ) = 2
+ +Kb (4)
Kt dt Kt dt

Taking the laplace transform of the above equation, we have,

E a ( s) =
R a Jm 2
Kt
s θm (s)+
Dm R a
Kt (
+ K b s θ m ( s)
)
θm (s)
Rearranging the terms, the transfer function, can be found as
Ea ( s )

θm (s) K t / Ra J m
=

( ( ))
Ea ( s ) 1 K K
s s+ Dm + t b
Jm Ra

Since K t , K b , Ra , J m , Dmare constant values, the above transfer function can be written as

θm (s) K
=
Ea ( s ) s ( s+ α )
Where

K=K t / Ra J m
And

α=
1
Jm
Dm +
(
Kt Kb
Ra )
The time constant is given by

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τ =1/α
So,
θm (s) K
=
Ea ( s ) s ( τ s+1 )

Tasks for the Lab Report:

A) Submit the handwritten mathematical model derivation of the DC motor.

B) Obtain the transfer function model.
C) Obtain the state space representation of the model
D) Given the parameters for the DC motor, obtain the transfer function and the
State Space model in MATLAB.

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Experiment # 08 Page 5 of 5
Control Systems Lab