Electric Drives(EE541)

Modeling of Direct
Current Machines
 Unit Learning Outcomes
At the end of this unit students should be able to:
1. Derive the equations for the induced armature voltage and
developed torque of a DC motor from first principles.
2. Derive the dynamic electrical equations of a DC motor from first
principles.
3. Derive the dynamic mechanical equations of a DC motor from first
principles.
4. Derive the state-space model of a separately-excited DC motor.
5. Derive the transfer function model of a separately-excited DC
motor.
6. Use the transfer function model to calculate the response of the
motor to changes in its inputs.
7. Use MATLAB/Simulink to carry out dynamic analysis of DC motors.
Introduction
• DC motors are a class of machines fed by a DC source.
• They are the oldest type of rotating machines.
• They have a wide range of speed-torque characteristics.
• Their speed control is easy.
• On the other hand speed control of AC motors is not easy.
• This made DC motors popular in variable speed applications.
• However, this is not the case anymore due to improvements
in power electronics and microprocessors leading to AC
drives being more prevalent.
• DC motors have a complicated design which includes a
mechanical rectifier called a commutator, brushes which
make contact with the commutator and salient poles on the
stator.
• The complicated design makes their manufacturing and
hence initial cost high.
• They require regular maintenance, which makes their
running costs high.
• In recent years, dc machines have been replaced by
induction machines in most variable speed applications.
• However, they are still used in some applications.
• Vector control of AC machines is based on the principle of
control of dc machines.
• It is important to understand the modelling and control of
DC machines as a foundation for the modelling and control
of AC machines.
Induced Armature Voltage
• Consider a DC motor with P pole pairs, Z armature
conductors connected in c parallel paths, useful flux per pole
of 𝜙 [Wb] and rotating speed of 𝜔𝑚 [rpm].
• From first principles it can be shown that the armature
induced voltage is given by

𝑃𝑍𝜙𝜔𝑚
𝑒𝑎 =
𝜋𝑐
• The equation can be written in compact form as

𝑒𝑎 = 𝐾𝑎 𝜙𝜔𝑚

• Where 𝐾𝑎 = 𝑃𝑍 𝜋𝑐 [V.s/wb.rad] is the armature constant.

• If the flux is constant, the induced voltage can be written as

𝑒𝑎 = 𝐾𝜙 𝜔𝑚

• Where 𝐾𝜙 = 𝐾𝑎 𝜙 [V.s/rad] is the flux constant.

• The flux is given by
𝑁𝑓 𝑖𝑓
𝜙=
𝑆𝑚
• Where 𝑁𝑓 𝑖𝑓 is the magnetomotive force and 𝑆𝑚 is the
reluctance of the magnetic circuit.
• The flux constant can thus be written as

𝐾𝑎 𝑁𝑓 𝑖𝑓
𝐾𝜙 = = 𝑀𝑖𝑓
𝑆𝑚
• Where M is the mutual inductance between the field winding
and the armature winding and is given by

𝐾𝑎 𝑁𝑓 𝑃𝑍𝑁𝑓
𝑀= =
𝑆𝑚 𝜋𝑐𝑆𝑚
• The induced voltage is given in terms of mutual inductance as

𝑒𝑎 = 𝑀𝑖𝑓 𝜔𝑚
Equivalent Circuit (Dynamic Electrical Model)
ia  t 

+
Ra

V La

+
ea  t 
- -

Armature circuit
• From the circuit
𝑑𝑖𝑎 𝑡
𝑉 = 𝑒𝑎 𝑡 + 𝑅𝑎 𝑖𝑎 𝑡 + 𝐿𝑎
𝑑𝑡
• In steady-state
𝑉 = 𝐸𝑎 + 𝑅𝑎 𝐼𝑎
• Multiplying both sides by 𝐼𝑎 we get

2
𝑉𝐼𝑎 = 𝐸𝑎 𝐼𝑎 + 𝑅𝑎 𝐼𝑎
Input power Armature copper
Power converted
losses
to mechanical
Developed Torque
• Power converted to mechanical is also known as air-gap
power and is given by

𝑃𝑎𝑔 = 𝐸𝑎 𝐼𝑎 = 𝑇𝑒 𝜔
• Where 𝑇𝑒 is the developed torque.
• Thus developed torque is given by

𝑃𝑎𝑔 𝐸𝑎 𝐼𝑎
𝑇𝑒 = =
𝜔 𝜔
• In terms of the armature constant and the flux constant the
developed torque is given by

𝑇𝑒 = 𝐾𝑎 𝜙𝐼𝑎 = 𝐾𝜙 𝐼𝑎
Mechanical Model

Te

B
Tl
J

• Mechanical load is modeled as a load torque 𝑇𝑙 [Nm];

moment of inertia 𝐽 𝑘𝑔𝑚2 ; viscous friction 𝐵 𝑁𝑚𝑠 𝑟𝑎𝑑
• The dynamic mechanical equation is given by

𝑇𝑒 = 𝑇𝑎 + 𝑇𝑙𝑜𝑠𝑠 + 𝑇𝑙𝑜𝑎𝑑

Developed Acceleration Loss Load

torque torque torque torque

𝑑𝜔𝑚 𝑡
𝐾𝜙 𝑖𝑎 𝑡 = 𝐽 + 𝐵𝜔𝑚 𝑡 + 𝑇𝑙𝑜𝑎𝑑
𝑑𝑡
• In steady-state
𝑇𝑒 = 𝐵𝜔 + 𝑇𝑙𝑜𝑎𝑑

• Multiplying both sides by 𝜔𝑚 𝑡 we get

𝑇𝑒 𝜔 = 𝐵𝜔2 + 𝑇𝑙𝑜𝑎𝑑 𝜔

Developed Friction Output

power losses power
State-Space Modeling
• The DC motor is a multiple-input, multiple-output system
and can be modeled in state space.
• The general equation for the state-space model in vector
form is
𝑋 = 𝐴𝑋 + 𝐵𝑈
• Where 𝑋 is the state vector; 𝑈 is the input vector; 𝐴 is the
state or system matrix; 𝐵 is the input matrix;
• The state space model is given by

𝑅𝑎 𝐾𝜙 1
− − 0
𝑝𝑖𝑎 𝐿𝑎 𝐿𝑎 𝑖𝑎 𝐿𝑎 𝑉
= +
𝑝𝜔𝑚 𝐾𝜙 𝐵 𝜔𝑚 1 𝑇𝑙
− 0 −
𝐽 𝐽 𝐽
• The roots of the system are evaluated from the A matrix,
giving

 Ra B   Ra B 
2  R B K 2 
         4 a  
 La J   La J   JLa JLa 
 
1, 2 
2

• The eigenvalues of this system will always have a negative

real part, indicating that the motor is always stable in open-
loop operation.
Block Diagram and Transfer Function Model
• The equations of the electrical model and the mechanical
model in Laplace domain, with initial conditions set to 0 are
respectively given by

𝑉 𝑠 = 𝐸𝑎 𝑠 + 𝑅𝑎 𝐼𝑎 𝑠 + 𝑠𝐿𝑎 𝐼𝑎 𝑠
And
𝑇𝑒 𝑠 = 𝑠𝐽𝜔𝑚 𝑠 + 𝐵𝜔𝑚 𝑠 + 𝑇𝑙 𝑠
• Solving for current and speed, respectively, we get

𝑉 𝑠 − 𝐾𝜙 𝜔𝑚 𝑠
𝐼𝑎 𝑠 =
𝑠𝐿𝑎 + 𝑅𝑎
And

𝐾𝜙 𝐼𝑎 𝑠 − 𝑇𝑙 𝑠
𝜔𝑚 𝑠 =
𝑠𝐽 + 𝐵

• Using the two equations we get the block diagram on the

next slide
 Tload s 

V s  1 I a s  Te s 
- 1
+ K +
Ra  sLa B  sJ
- m s 

Ea s 

K

Block diagram of separately-excited DC motor

• The transfer function for the speed response to a change in
armature voltage, with load torque equal to zero is given by
 m s  K
GV s   
V s  ( JLa ) s  BLa  JRa s  BRa  K
2 2

• The transfer function for the speed response to a change in

load torque with armature voltage set to zero is given by

 m s   ( Ra  sLa )
Gl s   
Tl s  ( JLa ) s 2  BLa  JRa s  BR a  K  2
Example 1 (Krishnan Page 24)
A dc motor has the following parameters: 𝑅𝑎 = 0.5 Ω; 𝐿𝑎 =
0.003 𝐻; 𝐾𝜙 = 0.8 𝑉𝑠 𝑟𝑎𝑑; 𝐽 = 0.0167 𝑘𝑔𝑚2 ; 𝐵 =
0.0167 𝑁𝑚 𝑟𝑎𝑑/𝑠
It is started directly from a 220 V dc supply with no mechanical
load. Find its starting speed response and the time taken to
reach a speed of 100 rad/s.
Types of DC Machines
• DC machines are classified according to how the excitation
circuit (field winding) is connected relative to the armature
circuit.
• This leads to five types of DC machines:
1. Separately-excited
2. Shunt-wound
3. Series-wound
4. Compound-wound
5. Permanent magnet
Separately-Excited DC Machine
ia

+
Ra

La Rf if
V
+ +

ea Lf Vf
- - -
• Independent control of field current and armature current
makes it possible for this machine to be employed in high
performance drives with simple control.
• The torque and the flux can be controlled independently and
precisely.
• The field flux is controlled by controlling the field current.
• Torque is controlled by controlling the armature current.
• With the independence of the control of flux and torque it is
possible to run the machine at a constant speed with
variable torque, or at a constant torque with variable speed.
Example 2 (Krishnan Page 25)
A separately-excited dc motor is delivering rated torque at rated
speed. Find the efficiency of the motor at this operating point.
The details of the machine are as follows: rated power =1500 kW;
rated voltage = 600 V; rated speed = 600 rpm; rated current = 2650
A; brush voltage drop = 2 V; field input power = 50 kW; armature
winding resistance = 0.003645 Ω; armature self-inductance = 0.1
mH; frictional torque coefficient = 15 Nm/(rad/s).
The field current can be assumed to be constant and the armature
voltage is variable.
Shunt-wound DC Motor
is ia

+ if
Ra

Rf
La
V
Lf +
ea
- -
• Does not need a separate source for the field winding.
• The field current depends on the input voltage, and if the
input voltage is kept constant, the field flux can be kept
constant.
• In variable input voltage operation, there is a problem of
coupling of the armature current and the field current, and
there is no independent control of flux and torque.
• Therefore, it is not suitable for variable input voltage
operation, but is suitable for constant speed operation.
Series-wound DC Machine
ia Lse Rse

+
Ra

La
V
+
ea
- -
• The field winding is in series with the armature winding,
thus, the field current is equal to the armature current.
• There is no independence between the control of the field
current and the armature current, and hence the flux and
the torque.
• The torque is directly proportional to the square of the
armature current, provided the machine is not driven into
saturation of its magnetic circuit.
• At low speeds, it draws a very high armature current and
develops a very high torque.
• Theoretically, the torque is infinity, but it is curtailed by the
saturation of the magnetic circuit due to the high current.
• The high starting torque makes it suitable for high inertia
loads that require a high starting torque, such as
locomotives.
Example 3 (Krishnan Page 29)
A series-wound dc machine designed for a variable-speed
application has the following name-plate data:
3 hp; 230 V; 2000 rpm; 𝑅𝑎 = 1.5 Ω; 𝑅𝑠𝑒 = 0.7 Ω; 𝐿𝑎 = 0.12 𝐻;
𝐿𝑠𝑒 = 0.03 𝐻; 𝑀 = 0.0675 𝐻; 𝐵 = 0.0025 𝑁𝑚 𝑟𝑎𝑑/𝑠 .
Calculate
(i) the input voltage required in steady-sate to deliver rated
torque at rated speed, and
(ii) the efficiency at this operating point.
Assume that a variable voltage source is available for this
machine.
Compound-wound DC Machine
is ia Lse Rse is Lse Rse ia

+ if + if
Ra Ra

Lsh Lsh
La La
V V

Rsh + Rsh +
ea ea
- - - -

(a) long-shunt (b) short-shunt

• A compound-wound dc machine has two field windings, one
connected in series ad one connected in parallel with the
armature winding.
• This yields a machine which combines the advantages of a
shunt-wound machine and a series-wound machine.
• The shunt field winding can be connected in two different
ways relative to the series field winding and the armature
winding giving rise to a long-shunt or a short-shunt
compound dc machine.
• In the short-shunt compound-wound dc machine, the shunt
field excitation depends on the armature induced voltage,
provided the voltage drop across the armature winding
resistance is negligible compared to the induced voltage.
• For both long-shunt or short- shunt connections, the
machine can be either cumulatively compounded or
differentially compounded depending on whether the fluxes
from the shunt field and the series filed are strengthening or
opposing each other.
Permanent-magnet DC Machine
ia  t 

+
Ra

V La

+
ea  t  Permanent
magnet
- -
• Permanent magnet machines use permanent magnets
mounted on the stator for excitation.
• The advantage of permanent magnet excitation is that the
field is compact and there are no field losses, since the
machine has no field winding.
• This results in a high efficiency machine suitable for high
performance electric drives.
• The main drawback is that the machine can only be
controlled though the armature circuit since the field
excitation is constant.