Linear Control Systems (EE-3052)

Lecture-5
Mathematical Modeling of Electromechanical Systems
Dr. Imtiaz Hussain
Associate Professor (Control Systems),
Department of Electrical Engineering
DHA Suffa University, Karachi, Pakistan
email: [email protected]

5th Semester (BE-EE-5A)

Fall 2020

Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogata, Norman S Nise and various other internet sources. 1
 Electromechanical Systems
• Electromechanics combines electrical and mechanical
 processes.
• Devices which carry out electrical operations by using
moving parts are known as electromechanical.
– Relays
– Solenoids
– Electric Motors
– Electric Generators
– Switches and e.t.c

2
 D.C Drives
• Speed control can be achieved using DC
drives in a number of ways. 

• Variable Voltage can be applied to the

armature terminals of the DC motor . 

• Another method is to vary the flux per

pole of the motor. 

• The first method involve adjusting the

motor’s armature voltage while the latter
method involves adjusting the motor field. 

• These methods are referred to as

“armature control” and “field control.”
3
 D.C Drives
• Characteristics of D.C Motor

Armature Control Mode

Field Control Mode

4
 Example-1: Armature Controlled D.C Motor
Ra La
Input: voltage u B
ia
Output: Angular velocity  u eb T J

Electrical Subsystem (loop method):
tant
co ns
V f=
dia
u  Ra ia  La  eb , where e b  back-emf voltage Eq. 1
dt

Mechanical Subsystem

T  Jω  Bω Eq. 2

5
 Example-1: Armature Controlled D.C Motor
Ra La
Power Transformation: B
ia
u eb T J


Torque-Current: T  K t ia
t
Eq. 3 stan
= con
Vf
• where Kt: torque constant

Voltage-Speed: eb  K b ω Eq. 4

• where Kb: velocity constant

6
 Example-1: Armature Controlled D.C Motor
dia Ra La
u  Ra ia  La  eb Eq. 1
dt B
ia
T  Jω  Bω Eq. 2 u eb T J

T  K t ia Eq. 3
t
stan
con
eb  K b ω Eq. 4
=
Vf

• Substituting the value of eb in Eq.(1)

dia
u  Ra ia  La  Kbω Eq. 5
dt
• Substituting the value of T in Eq.(2)

  B
K t ia  Jω Eq. 6 7
 Example-1: Armature Controlled D.C Motor
• Taking Laplace transform of the system’s differential equations with zero
initial conditions gives:

U(s)   La s  Ra  I a(s)  K b Ω(s)

K t I a(s)   Js  B  Ω(s)

Eliminating Ia yields the input-output transfer function

Ω(s) Kt

U(s) La Js 2   JRa  BLa  s  BRa  K t K b

8
 Example-1: Armature Controlled D.C Motor
Reduced Order Model
Assuming small inductance, La 0

Ω(s) Kt

U(s) JRa s  BRa  K t K b

9
 Example-1: Armature Controlled D.C Motor
If output of the D.C motor is angular position θ then

d
 Ra La
dt B
ia
u eb T J
( s )  s ( s ) θ
t
stan
= con
Vf
Which yields following transfer function

(s) Kt

U(s) s ( JRa s  BRa  K t K b )
10
 Example-2: Field Controlled D.C Motor
Rf Ra La

if
ef Lf Tm J ea
B ω

Applying KVL at field circuit

di f
ef  if Rf  Lf
dt
Mechanical Subsystem
Tm  Jω  Bω

11
 Example-2 : Field Controlled D.C Motor

Power Transformation:

Torque-Current: Tm  K f i f

where Kf: torque constant

Combing previous equations and taking Laplace transform (considering

initial conditions to zero) results in the following mathematical model:


 E f ( s )  R f I f ( s )  sL f I f ( s )

 Js( s )  B( s )  K f I f ( s )

12
 Example-2 : Field Controlled D.C Motor
Eliminating If(S) yields

Ω(s) Kf

E f (s)  Js  B ( L f s  R f )

If angular position θ is output of the motor

Rf Ra La

if
ef Lf Tm J ea
B θ

(s) Kf

E f (s) s  Js  B ( L f s  R f )
13
 Example-3
Drive the overall transfer function of the system i.e. ΩL(s)/ Ea(s)
Ra La
Bm N1
ia
ea 15 v eb T Jm
BL

JL
t
tan L
con
s N2
=
Vf
Determine the gear ratio such that the rotational speed of the load is reduced
to half and torque is doubled.
Armature winding resistance of the motor is 0.2 Ω, armature winding
inductance is negligible, back emf constant is 5.5x10-2 v sec/rad, motor torque
constant is 6x10-5, moment of inertia of motor 10-5, viscous friction coefficient
is negligible, moment of inertia of load is 4.4x10 -3, viscous friction coefficient of
load is 4x10-2.
14
 System constants

Ra = armature winding resistance = 0.2 Ω

La = armature winding inductance = negligible

ia = armature winding current

Kb = back emf constant = 5.5x10-2 volt-sec/rad

Kt = motor torque constant = 6x10-5 N-m/ampere

Jm = moment of inertia of the motor = 1x10-5 kg-m2

Bm=viscous-friction coefficients of the motor = negligible

JL = moment of inertia of the load = 4.4x10-3 kgm2

BL = viscous friction coefficient of the load = 4x10-2 N-m/rad/sec

gear ratio = N1/N2=1/2

15
 Example-3
Since armature inductance is negligible therefore reduced order transfer
function of the motor is used.

Ω(s) Kt ΩL(s) Kt
 
U(s) JRa s  BRa  K t K b U(s) J eq Ra s  Beq Ra  K t K b

Ra La
Bm N1
ia
ea 15 v eb T Jm
BL

JL
t
tan L
ns N2
=co
Vf
2 2
 N2   N2 
J eq    J m  J L Beq    Bm  BL
 N1   N1  16
 Example-4 (Home Work)
Filed resistance of the motor is 0.25 Ω, Filed inductance is 0.1 H, motor
torque constant is 1x10-4, moment of inertia of motor 10-5, viscous friction
coefficient is 0.003, moment of inertia of load is 4.4x10 -3, viscous friction
coefficient of load is 4x10-2.

Rf Ra La
N1
if ea
ef Lf Tm
Bm ωm Jm BL
JL
L
N2

Drive the overall transfer function of the system i.e. ΩL(s)/ Ef(s)

17
 Example-5 (Home Work)
Drive the overall transfer function of the system i.e. ϴL(s)/ Ea(s)

18
To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURE-5

19