Scribd
Upload
18 views

Experiment 1 Advanced Control System Lab

The document discusses determining the transfer function of an armature controlled DC servomotor. It provides the necessary theory around DC motors and derives equations to relate the input voltage to motor speed output. A block diagram and Simulink model are presented and the transfer function is calculated and output.

Uploaded by

Pinky Shakya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
18 views

Experiment 1 Advanced Control System Lab

The document discusses determining the transfer function of an armature controlled DC servomotor. It provides the necessary theory around DC motors and derives equations to relate the input voltage to motor speed output. A block diagram and Simulink model are presented and the transfer function is calculated and output.

Uploaded by

Pinky Shakya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 5

Poornima College of Engineering, Jaipur

Department of Electrical Engineering


Experiment 1
TRANSFER FUNCTION OF ARMATURE CONTROLLED
DC SERVOMOTOR
AIM:

To determine the transfer function of an armature controlled dc servomotor.

APPARATUS REQUIRED: MATLAB

THEORY:

Transfer function is defined as the ratio of Laplace transform of the output


variable to the Laplace transform of input variable at zero initial conditions.

Armature controlled DC shunt motor

In this system, Ra = Resistance of armature in Ω


La= Inductance of armature windings in H
Ia = Armature current in A
If = Field current in A
e = Applied armature voltage in V
eb = back emf in V
Tm = Torque developed by the motor in Nm
J = Equivalent moment of inertia of motor and load referred to
motor shaft in kgm2
B= Equivalent viscous friction coefficient of inertia of motor
and load referred to motor shaft in Nm/(rad/s)

In Servo applications, DC motors are generally used in the linear range of the
magnetization curve. Therefore, the air gap flux φ is proportional to the field current.
φ α If
φ = Kf If ,where Kf is a constant. ----------------------------- (1)

The torque Tm developed by the motor is proportional to the product of the armature
current and air gap flux.
Tm α φ Ia
Tm =Ki φ Ia = Ki Kf If Ia , where Ki is a constant --------------(2)

In the armature controlled DC motor, the field current is kept constant. So the above
equation can be written as
Tm = Kt Ia , Where Kt is known as motor torque constant.------ (3)

The motor back emf being proportional to speed is given by


eb α dθ/dt,
eb = Kb dθ/dt, where Kb is the back emf constant.----------------(4)

The differential equation of the armature circuit is


e = IaRa + La dIa/dt + eb ----------------------------------------- (5)

The torque equation is


Tm = Jd2θ/dt2 + B dθ/dt ------------------------------------------ (6)

Equating equations (3) and (6)

Jd 2θ/dt2 + B dθ/dt = Kt Ia ---------------------------------------(7)

Taking Laplace transforms for the equations (4) to (7), we get

Eb(s) = Kb s θ(s) -------------------------------------------- (8)


(s La + Ra ) Ia(s) = E(s) – Eb(s). ------------------------------- (9)
( J s2+ B s) θ(s) = Tm (s) = Kt Ia(s) ---------------------------- (10)

From equations (8) to (10) , the transfer function of the system is obtained as
Block diagram

Using the above equations, the block diagram for the armature controlled DC motor is
given below:

E(s)
+ θ (s)
ω(s) 1/[Ra+sLa] Kt 1/s[Js+B]

- Eb(s)

s Kb
Simulink Model of DC Servo Motor:

Parameters:

Ra=1
La=0.5
Kt=0.01
J=0.01
f=0.1
Kb=0.01
Vin=1
Program:

J=0.01;
f=0.1;
K=0.01;
R=1;
L=0.5;
s=tf('s');
P_motor=K/(s*((J*s+f)*(L*s+R)+K^2))

Output Transfer function:

P_motor =

0.01
-------------------------------
0.005 s^3 + 0.06 s^2 + 0.1001 s

Continuous-time transfer function.

Result: TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVOMOTOR HAS BEEN DETERMINED.

You might also like