Goals for today

• Review of translational dynamical variables: position, velocity

• Review of rotational dynamical variables: angle, angular velocity
• Electrical dynamical variables: charge, current, voltage
• Basic electrical components
– Resistance
– Capacitance
– Inductance
• DC Motor: an electro-mechanical element
– basic physics & modeling
– equation of motion
– transfer function
• Experiment: step and ramp response of the flywheel driven by the
DC motor open loop (no feedback)

2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 1

 Impedances: translational mechanical

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Nise Table 2.4

2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 2

 Impedances: rotational mechanical

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 3

Electrical dynamical variables: charge, current, voltage

2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 4

Electrical resistance

2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 5

Capacitance /1

2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 6

Capacitance /2

2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 7

Inductance

2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 8

Summary: passive electrical elements; Sources

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14

9
 Combining electrical elements: networks
Nise Figure 2.6

Network analysis relies on two physical principles

• Kirchhoff Current Law (KCL) • Kirchhoff Voltage Law (KVL)
– charge conservation – energy conservation

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 10

Impedances in series and in parallel

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 11

The voltage divider

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 12

Example: the RC circuit

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 13

Interpretation of the RC step response

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 14

Example: RLC circuit with voltage source

Nise Figure 2.3

Nise Figure 2.4

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 15

Quick summary of electrical systems

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 16

Power dissipation in electrical systems

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 17

DC Motor as a system

Transducer:

Converts energy from one domain (electrical)

to another (mechanical)

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 18

Physical laws applicable to the DC motor

Lorentz law: Faraday law:

magnetic field applies force to a current moving in a magnetic field results
(Lorentz force) in potential (back EMF)

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 19

DC motor: principle and simplified equations of motion

multiple windings N:
continuity of torque

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 20

DC motor: equations of motion in matrix form

multiple windings N:
continuity of torque

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 21

DC motor: why is Km=Kv?

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 22

DC motor with mechanical load and
realistic electrical properties (R, L)

inductance dissipation
(due to windings) (resistance of windings)

dissipation load
(viscous friction (inertia)
in motor bearings)

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 23

DC motor with mechanical load and
realistic electrical properties (R, L)

inductance dissipation
(due to windings) (resistance of windings)

dissipation load
(viscous friction (inertia)
in motor bearings)

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 24

DC motor with mechanical load and
realistic electrical properties (R, L)

inductance dissipation
(due to windings) (resistance of windings)

dissipation load
(viscous friction (inertia)
in motor bearings)

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2.04A Spring ’13 Lecture 06 – Thursday, Feb. 14 25

Lab 06: Running the flywheel with DC motor
open loop
• Observe motor behavior under different driving voltages.
• Examine transient response of a DC motor
Important: always be ready to turn off the break of power
amplifier when motor is spinning too fast!!

Experimental Setup:
Open-loop

Signal DC motor-
CH1 Power
Generator flywheel
Amplifier system

ACH PC Data- ACH2

1 ETACH2
Acquisition

2.004 Spring ’13 Lecture 06 – Thursday, Feb. 14 26

Procedure
• Make sure all devices are powered off; connect function generator, power amplifier, flywheel
system and PC data acquisition system as shown in the previous slide.

• Add one magnet to the flywheel damper, open Chart Recorder to record ACH1 and ACH2;
turn on function generator, power amplifier and start experiment.

• Obtain system response for a ramp function with Freq: 0.2 Hz, Amp: 0.5 V, offset: 0 V. Repeat
experiment using a sine function with same parameters. Record your response. Referring to
materials we learned from last lecture, comment on the behavior of DC motor- flywheel
system.

• Use a DC signal with 0.2 V offset. Start experiment and record DC motor transient response
data. Convert voltage signal to motor speed (you will need to make use of gear ratio).
Generate appropriate plots of motor speed & amplified current V.S time. Compute mechanical
power of the DC motor.

• Set your function generator to generate a square function(SQUA), set frequency to 0.04 Hz,
amplitude to 0.200V and offset to 0.100V. Collect a full period of flywheel response and
function generator signal. (You can take a screen shots of the plot in Chart Recorder)

2.004 Spring ’13 Lecture 06 – Thursday, Feb. 14 27

Some Hints…

Gear Ratio:
F
n1 44
Gear 1 Gear 2 =
n2 180

Unit Conversion: Power Conservation:

Ka = 2.0 A/V, Km = 0.0292 N-m/A

Pmechanical (t) = T (t) × Ω(t)

= Km × i(t) × Ω(t)

2.004 Spring ’13 Lecture 06 – Thursday, Feb. 14 28

Lab assignment p.1

• Comment on how today’s experiments involving step input are

interpreted differently than we did in Lab 05.

• When the DC motor is driven by a step function, how many poles/

zeros do we need to consider, and where are they? How do the
magnets (“eddy brakes”) influence their locations?

2.04A Spring ’13 Lab assignment 06 – Thursday, Feb. 14 - PLEASE RETURN TO THE T.A. 29
Lab assignment p.2

• When the DC motor is driven by a ramp function, how many poles/

zeros do we need to consider, and where are they? How do the
magnets (“eddy brakes”) influence their locations?

• Comment on the qualitative and quantitative agreement of your

derivations with experiment. Attach sheets with your experimental
results.

2.04A Spring ’13 Lab assignment 06 – Thursday, Feb. 14 - PLEASE RETURN TO THE T.A. 30
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