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Analysis of Electric DC Drive Using Matlab Simulink and SimPower Systems

Conference Paper · September 2018

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Analysis of Electric DC Drive Using Matlab Simulink
and SimPower Systems
Miklosevic, Kresimir ; Spoljaric, Zeljko & Jerkovic, Vedrana
Department of Electromechanical Engineering
Faculty of Electrical Engineering, J. J. Strossmayer University of Osijek
Osijek, Croatia
[email protected], [email protected], [email protected]

Abstract— In this paper model for analysis electric DC drive

made in Matlab Simulink and Matlab SimPower Systems is
given. Basic mathematical formulation which describes DC motor
is given. Existing laboratory motor is described. Simulation
model of DC motor drive and model of discontinuous load is
made. Comparison of model made in Matlab Simulink and
existing model in SimPower Systems is given. Essential Figure 1. Model building process.
parameters for starting simulation of used DC motor drive is
given. Dynamical characteristics of DC motor drive as results of LabVIEW by [3]. The principle of making simulation model in
both simulation are shown. Practical use of simulation model is LabVIEW is similar to making model in Matlab Simulink. In
proposed.
LabVIEW there is virtual instrument panel that provides real
time control and simulation start. This part is separated from
Keywords— analysis, DC drive, Matlab, SimPower Systems,
model, simulation.
part called Block Diagram where program for simulation is
made. In that way all wanted motor parameters, diagrams and
I. INTRODUCTION schemes are visible [9]. The building of motor model is based
on mathematical equations. Process of model building process
The basic problem of this paper is building simulation
is shown on Fig.1. These equations can be found in numerous
model of DC motor by using one of programs for modeling
literature. In this paper equations are used from [4], [5], [6] and
called Matlab Simulink. This will provide testing of motor
[7].
dynamic characteristics and motor performance on model
instead original. This is specially desirable for large DC motors II. MATHEMATICAL MODEL OF DC MOTOR
over 50 kW, because testing of motor for different kinds of
load and testing motors dynamic can prevent some Modeling of any kind of electrical machines such is DC
malfunctions and damages of motor. Model can also be used motor starts with measurements on real model because it is
for testing motor performances and for testing motor prototypes necessary to determine motor parameters. The other possibility
because it provides possibility of changing motor parameters. is to get the motor parameters from manufacturer or
More about essential motor parameters that are crucial for determinate our own parameters if motor prototype is being
building a motor model will be discussed further in paper. build. After that motor model can be made by using all
Motor model in Simulink will be compared with motor model mathematical equations that describe the motor.
from SimPower Systems library which contains different kinds
of models for typical power equipment. This library includes i if
models of: electric transformer, asynchronous motor,
synchronous motor and generator, DC motor and some other ia
power electronics elements. SimPower Systems provides Ra
application for modeling and simulation of electric motor
drives in three levels: modeling of simple drives by using Rf
classical electrical devices, modeling more complex drives by La
using semi-conductor elements and circuits and modeling very u
complex drives by using subsystems for control and regulation TL
of electric machines [1]. Purpose of these two different motor Lf
DC
models is analysis and comparison of possibilities that each J motor
model gives. Similar comparison of possibilities in model
constructing using Matlab Simulink is done by [2]. In that TM Φ
paper model for dynamic testing of asynchronous motor using ω
specified load is made. Dynamic simulation of direct current
motor is also made in one other simulation program called Figure 2. Equivalent circuit of a DC parallel motor [4].
Mathematical equations that describe DC parallel motor dω
derives from equivalent scheme (Fig. 2.). DC parallel motor is TM − TL = J (11)
dt
the DC motor that has parallel field winding. As shown on Fig.
1, after configuration of mathematical model, simulation where TL is load torque, J is moment of inertia and ω is angular
model can be made in Matlab Simulink. Functioning of DC speed. Sum of current is represented with instant values of
motor can be explained by using two electrical circuits. currents in armature and field circuit:
Exciting (field) circuit creates magnetic flux and in armature i = ia + if. (12)
circuit armature current from power source causes appearance
of force on motor windings. Parallel DC motor can be
described by using following equations as given in [7]. The A. Motor model parameters
equation that describes the armature circuit is: As mentioned, before starting of simulation building it is
necessary to have all relevant motor parameters that describe
U = E + Ia Ra (1) the motor. All this parameters are implemented in
mathematical equations that describe the model. Parametars
where U is armature voltage, E is induced voltage, Ia is for motor model made in Matlab Simulink are given in Table
armature current and Ra is armature resistance. Induced 1.
voltage can be expressed with following equation:
TABLE I. MOTOR PARAMETERS FOR MATLAB SIMULINK MODEL
E = ke Φ n (2) Parametar Value
PN 3 kW
where ke is electrical constant of specified DC motor, Φ is UN 220 V
magnetic flux and n is motor speed in rpm. The equation that nN 1500 min-1
describes field circuit can be expressed as:
Ra 0.87 Ω
U = If Rf (3) Rf 550 Ω
If 0.4 A
where If is field circuit current, Rf resitance of field circuit. Ia 16.5 A
Torque on motor shaft (TM) can be expressed as:
Parametars for motor model made in Matlab SimPower
TM = km Φ Ia (4) Systems are given in Table 2.

where km is mechanical constant of specified DC motor. It can TABLE II. MOTOR PARAMETERS FOR MATLAB SIMPOWER SYSTEMS
be seen on Fig. 1. that sum of currents for parallel DC motor MODEL
is: Parametar Value
I = I a + I f. (5) PN 150 kW
UN 250 V
Following equations given above are used for model building nN 618 min-1
in Matlab Simulink. This model is used to obtain motor static J 25 kgm2
characteristics. Motor dynamic characteristic can be obtained Ra 0.012 Ω
from motor model in SimPower Systems. The equations that
Rf 12 Ω
are used for this model are differential equations as given in
La 0.00035 Ω
[4]. For motor armature and field circuit, field current, field
Lf 9H
flux and motor torque can be expressed by following
equations: Laf 0.036 H
di In Table 2. parameter Laf is parameter that is determining
u = Ra ia + La a + e (6)
dt mutual inductance.

e = ke Φ ω (7) III. MATLAB SIMULINK MODEL

Simulink is software package or program tool developed
di f in Matlab graphic interface. It provides modeling, simulation
u = Rf if + Lf (8) and analysis of different kinds of continuous and discrete
dt
systems. In that way Simulink can be used for exploring the
behavior of a wide range of real world dynamic systems
Φ = f( if ) (9)
including electrical circuits and many other electrical and
mechanical systems [8]. System that is being built in Simulink
TM = km Φ ia . (10)
is consisting of a number of blocks which are connected with
signal lines in one functionally group.
One more equation that describes Newton low for concentrated
mass as given in [4] is: In Fig.3. Matlab Simulink library is presented. It consist from
 Figure 3. Matlab Simulink library.

different kinds of blocks such as: sources, sinks, subsystems

etc. Each block given above represents one group of elements.
Figure 6. Matlab SimPower Systems library.
In Fig. 4, simulation model of parallel DC motor is presented.
As mentioned, in Simulink model are directly implemented information about numeric value of torque.
equations from (1) to (5). Different blocks are used for
presentation of different motor parameters that are beeing IV. SIMPOWER SYSTEMS MODEL
observed, like motor electric and mechanic power, current, SimPower Systems is the part of Matlab Simulink and it
speed, torque etc. With this model it is posible to relate two operates in Simulink environment [6]. It consists of electrical
motor parametars and this reperesents motor static power circuits and electromechanical devices such as motors
characteristuics. and generators. It is supposed to be used for simulation of
electrical drive systems, in witch, in combination with
machines, elements of energetic and control electronic are
present. In Fig. 6 SimPower Systems library is presented
together with toolbox that contains all types of motors and
generators. In toolbox on the down left side elements of
energetic electronics (tiristors, diodes, IGBT transistors etc.)
are presented. In each of this modules mathematical model of
device is implemented. For simulation start it is only necessary
to input parameters for simulated device. In this paper it is
necessary to input parameters of DC motor, which is shown on
Fig. 7 together with part for motor load, motor source, timer
and bracker for simulation start and part for results export.
Fig 8 presents DC motor under the mask. It is now visible that
motor consists of all elements that are shown in Fig 2
(elements of equivalent scheme). The subsystem block called
Figure 4. Matlab Simulink model of parallel DC motor. Mechanics describes the mechanical equation given in relation
(11). In subsystem block called Measurement list all wanted
Fig. 5 presents model of discontinuous load for DC motor. It
electrical and mechanical values can be presented in diagram,
consists from ramp function, relation operator and block that
in function of time. These characteristics are motor dynamic
determines maximal torque. With block Scope instant value
characteristics.
of motor torque can be observed. Block Display gives

Figure 5. Matlab Simulink model of discontinous load. Figure 7. DC motor model in SimPower Systems.
 Figure 10. Motor static characteristic: n = f(T), η = f(T), Ia = f(T).

parameter are shown. Uppermost characteristic presents the

Figure 8. DC motor model under the mask. characteristic when field current changes from 0.4 A to 0.35
A. Second characteristic is the nominal characteristic with
V. RESULTS values from Table 1. The third characteristic is the
As mentioned before, the main topic of paper is building characteristic with changed armature resistance and the last
simulation model of parallel DC motor in Matlab Simulink characteristic is the characteristic with changed source
and testing the possibilities of DC motor dynamic performance (armature) voltage. From these curves motor behavior during
by using SimPower Systems model library, which contains mentioned changes can be observed.
model of DC motor. Motor used for Simulink model is
laboratory motor (3 kW) given in Fig. 9. Some parameters for
this motor are obtained from manufacturer and some
parameters are measured as shown in Table 1. The motor data
used for simulation in SimPower Systems is given in [5] and
all relevant data are shown in Table 2.
A. Results of simulation in Matlab Simulink
Results of simulation model made in Matlab Simulink are
static characteristics. Some of these characteristics are shown
in Fig. 10. In Fig. 10 presented characteristics are: speed in
function of torque, armature current in function of torque and
efficiency in function of torque. It is possible to obtain some
other characteristic also, and see their mutual dependence.
Fig. 11 presents one experiment with given four different
characteristics n = f(T). On these torque characteristics
changes which occur during the change of one motor Figure 11. Torque characteristic for different motor parameters [1].

B. Results of simulation in SimPower Systems

Results of simulation model made in SimPower Systems
are motor dynamic characteristics. Some of these
characteristic are presented on Fig. 12. These characteristics

Figure 9. Paralell DC laboratory motor 3 kW [1]. Figure 12. Load characteristics.

present motor behaviour during motor start. All values are in REFERENCES
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drives in wich motor could be implemented can be tested
before real application in industrial envirement. There is also
possibility of testing motor protoypes with easy way of
changing motor parameters. In this
paper all mentioned possibilities include work with Matlab
Simulink or SimPower Systems tools for modeling. The other
avaliable programs can also be implemented because the
procedure for modeling is the same. It is important to mention
that for good model all parametars have to be reliable. It is
good if there exist posibility of testing the simulation model on
real laboratory model, so that characteristics can be compared
and calibrated. In this way one model of DC motor (in
example) can be used for all DC motors with other parameters.
Further research will include complete evaluation of real and
simulation model, testing of model for different types of load
and motor, and determination of dynamical parameters. Also
there is possibility of testing the SimPower System program
for modelling asynchronous motors and synchronous
generators.

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