Armature Controlled DC Motors

For armature controlled DC motors, the field voltage is kept constant at V f ,

di t
0 and
so the field current is constant too, which implies that dtf
Vf
i f t I f R f . The state equations become
di a t
dt
dt
dt

Ra
La

i a t

Ke
I t L1a v a t
La f
1
L t DJ t
J

KJe I f i a t
Taking the Laplace transform gives
sI a s i a 0 RL aa I a s KL ae I f s L1a V a s
ss 0 KJe I f I a s 1J L s DJ s
or
L a sI a s L a i a 0 R a I a s K e I f s V a s
Jss J0 K e I f I a s L s Ds
Solving the first equation for I a s yields
V a sL a i a 0K e I f s
I a s
L a sR a
Substituting into the second equation gives
V a sL a i a 0K e I f s
L s Ds
Jss J0 K e I f
L a sR a
that is,
2

K e I V a sL a i a 0

K e I s

f
f

Js Ds
L a sR a
L a sR a
Solving this for s produces
K e I f V a sL a i a 0L a sR a J0 L s
s
2

J0 L s

JsDL a sR a K e I f

Then, the armature current is given by

V a sL a i a 0K e I f s
I a s
L a sR a
V a sL a i a 0K e I f

K e I f V a sL a i a 0L a sR a J0 L s
JsDL a sR a K e I f

L a sR a
V a sL a i a 0 JsDL a sR a K e I f

JsDL a sR a K e I f

K e I f

K e I f V a sL a i a 0L a sR a J0 L s
JsDL a sR a K e I f

L a sR a
2
2
V a sL a i a 0 JsDL a sR a K e I f K e I f V a sL a i a 0K e I f L a sR a J0 L s
L a sR a JsDL a sR a K e I f

V a sL a i a 0JsDL a sR a K e I f L a sR a J0 L s

V a sL a i a 0JsDK e I f J0 L s

L a sR a JsDL a sR a K e I f
JsDL a sR a K e I f

The transfer function from v a to with i f t I f and L s 0 is

KeIf

G v a s Vs
2
a s
L s0,i a 00,00

JsDL a sR a K e I f

The transfer function from L to with i f t I f and V a t 0 is

L a sR a
G L s s

2
L s
V a s0,i a 00,00

JsDL a sR a K e I f

The speed can be expressed as

s| i a 00,00 G v a sV a s G L s L s
The transfer function from v a to i a with i f t I f and L s 0 is
1

I a s
V a s

G v a i a s

L s0,i a 00,00

JsD
2
JsDL a sR a K e I f

The transfer function from L to i a with i f t I f and V a s 0 is

KeIf

G L i a s I aLs
2
s
V a s0,i a 00,00

JsDL a sR a K e I f

The current can be expressed as

I a s| i a 00,00 G v a i a sV a s G L i a s L s
It can be easily verified that
s G v a sV a s G L s L s G v a sL a i a 0 G L sJ0
I a s G v a i a sV a s G L i a s L s G v a i a sL a i a 0 G L i a sJ0
Example A 240V, 12hp, separately excited DC motor has the following
parameters V f 240V, R a 0. 28, L a 2. 81mH, R f 320, L f 2H,
K e 1. 03. J 0. 087kg m, and D 0. 02N m s/rad.
(1) Determine its speed and armature current at steady-state after it is
suddenly connected to a 120V DC source at a load of 15N m.
(2) Determine its speed and armature current as a function of time when it is
suddenly connected to a 120V DC source at a load of 15N m.
(3) 0. 3s later, the armature voltage is suddenly increased from 120V to 150V,
plot the current against time.
Solution: (1)
v f
0 R f i f v f i f
240
0. 75A
Rf
320
0 R a i a K e i f v a i a
0 K e i f i a L D
0 K e i f

v a
Ra

K e i f
Ra

v a K e i f
Ra

L D

that is,
0 K e i f v a K 2e i 2f L R a DR a
Solving this for , we have
K e i f v a L R a
1.030.75120150.28
146. 9rad/s

1.03 2 0.75 2 0.020.28
K 2 i 2 DR
e f

Therefore, the armature current is

v a K e i f
i a
1201.030.75146.9
Ra
0.28

23. 3A

(2) i a 0 0, 0 0,
L t 15 L s 15s ,
v a t 120, V a s 120
s ,
Vf
240
I f R f 320 0. 75A
s

K e I f V a sL a i a 0L a sR a J0 L s

1.030.75

120
s

JsDL a sR a K e I f
0.00281s0.28 15
s

0.087s0.020.00281s0.281.030.75 2
1.030.751200.00281s0.2815
s2. 444 710 4 s 2 2. 441 610 2 s0.602 36
88. 50.042 15s
s2. 444 710 4 s 2 2. 441 610 2 s0.602 36
88. 5
0.042 15 4 s
4
s

2. 444 710
2. 444 710
2. 441 610 2
2
s
s 0.602 36 4
2. 444 710 4
2. 444 710

362010172. 41s
ss 2 99. 873s2463. 9
362010172. 41s
ss44. 482s55. 391
A
s44.B 482 s55.C 391
s
146. 93
761. 83
614. 9
s44.
s55.
s
482
391
362010172. 41s
362010172. 410
s ss44. 482s55. 391
044.
482055. 391
s0

B s 44. 482

362010172. 41s
ss44. 482s55. 391

83
C s 55. 391

362010172. 41s
ss44. 482s55. 391

t 146. 93 761. 83e 44. 482t

s44. 482

146. 93

362010172. 4144. 482

44. 48244. 48255. 391

362010172. 4155. 391

55. 39144. 48255. 391

s55. 391
55.
391t
614. 9e

761.

614. 9

w (rad/s) 140
120
100
80
60
40
20
0
0.00

0.05

0.10

0.15

0.20

0.25

0.30

t (s)

The Laplace transform of the armature current is

V a sL a i a 0JsDK e I f J0 L s

I a s

120
s

JsDL a sR a K e I f
0.087s0.021.030.75 15
s

0.087s0.020.00281s0.281.030.75 2
1200.087s0.021.030.7515
s2. 444 710 4 s 2 2. 441 610 2 s0.602 36
10. 44s13. 988
s2. 444 710 4 s 2 2. 441 610 2 s0.602 36
10. 44
13. 988
s
4
4
s

2. 444 710
2
2
s 2. 441 610 4
2. 444 710

2. 444 710

0.602 36
2. 444 710 4

42705s57218
ss 2 99. 873s2463. 9
42705s57218
ss44. 482s55. 391
A
s44.B 482
s
23. 223
3796. 7
s44.
s
482

where
A s

C
s55. 391
3820. 0
s55.
391
42705057218
044.
482055. 391
s0
42705s57218

ss44. 482s55. 391 s44. 482

42705s57218

ss44. 482s55. 391 s55. 391

42705s57218
ss44. 482s55. 391

B s 44. 482
C s 55. 391

23. 223
4270544. 48257218
44. 48244. 48255. 391
4270555. 39157218
55. 39144. 48255. 391

3796. 7

 3820. 0
Finally, we obtain the armature current as
i a t 23. 223 3796. 7e 44. 482t 3820. 0e 55. 391t
ia (A)

400

300

200

100

0
0.00

0.05

0.10

0.15

0.20

0.25

0.30

t (s)

Figure3.11 The motor armature current

0. 3 146. 93 761. 83e 44. 4820.3 614. 9e 55. 3910.3 146. 93rad/s
i a 0. 3 23. 223 3796. 7e 44. 4820.3 3820. 0e 55. 3910.3 23. 229A
i a 0 23. 229A, 0 146. 93rad/s
V a sL a i a 0JsDK e I f J0 L s
I a s
2

A
s

150
s

JsDL a sR a K e I f
0.0028123. 2290.087s0.021.030.750.087146. 93

15
s

0.087s0.020.00281s0.281.030.75
1500.0028123. 229s0.087s0.021.030.750.087146. 93s15
s2. 444 710 4 s 2 2. 441 610 2 s0.602 36
5. 678 810 3 s 2 3. 176 5s14. 588
s2. 444 710 4 s 2 2. 441 610 2 s0.602 36
5. 678 810 3
2. 444 710 4

s s2

3. 176 5
14. 588
s
2. 444 710 4
2. 444 710 4
2. 441 610 2
s 0.602 36 4
2. 444 710 4
2. 444 710

s2

23. 229s 2 12993s59672

ss 2 99. 873s2463. 9
23. 229s 2 12993.s59672
ss44. 482s55. 391
s44.B 482 s55.C 391
24. 218
3894. 4
3898. 3
s44.
s55.
s
482
391

where

A s

23. 229s 2 12993s59672

ss44. 482s55. 391

B s 44. 482

s0

23. 2290 2 12993059672

044. 482055. 391

23. 229s 2 12993s59672

ss44. 482s55. 391

s44. 482

24. 218

23. 22944. 482 2 1299344. 48259672

44. 48244. 48255. 391

23. 22955. 391 2 1299355. 39159672

55. 39144. 48255. 391

973. 35
C s 55. 391

23. 229s 2 12993s59672

ss44. 482s55. 391

s55. 391

974. 34
Finally, we obtain the armature current as

i a t 24. 218 973. 35e 44. 482t 974. 34e 55. 391t
ia (A) 140
120
100
80
60
40
20
0
0.00

0.05

0.10

0.15

0.20

0.25

0.30

t (s)

The expression for the armature current is

i a t

20. 234 875. 9e 44. 482t 896. 14e 55. 391t

24. 218 973. 35e 44. 482t0.3 974. 34e 55. 391t0.3

if t 0. 3
if t 0. 3

ia (A)
300

200

100

0
0.0

0.1

0.2

0.3

0.4

0.5

0.6

t (s)

Speed Control of DC Motors

G v a i a s

JsD
JsDL a sR a K 2b

1
T1

K1

1
T2

1
2

D
J

Ra
La

Vf
Rf

If

Speed control of armature controlled DC motors

K 1 1T m s
1T 1 s1T 2 s

1
4

D
J

Ra
La

K 2b DR a
JL a

D
K 2b DR a
J
D

Tm
Current Controller Design: G c s K pc . Set K b K e I f .
G i ar i a s

K 1 1T m s
1T 1 s1T 2 s
K 1 1T m s
1H c K pc K r
1T 1 s1T 2 s
K pc K r K 1 1T m s

K pc K r

K pc K r K 1 1T m s
1T 1 s1T 2 sH c K pc K r K 1 1T m s

T 1 T 2 s 2 T 1 T 2 H c K pc K r K 1 T m s1H c K pc K r K 1

The gain is not chosen on the basis of the damping ratio because the poles
are most likely to be real ones. The gain can be chosen by a trial-and-error
method. With this current controller and a PI controller for the speed
K ps 1T s s
K
G s s K ps KsIs
, T s KpsIs
Tss
the closed-loop transfer function from r to is

K ps 1T s s
Tss

G r s

K ps 1T s s
Tss

K b /D
1T m s

K pc K r K 1 1T m s
1T 1 s1T 2 sH c K pc K r K 1 1T m s

K b /D
1T m s

K ps K pc K r K 1 K b /D1T s s
T s s1T 1 s1T 2 sH c K pc K r K 1 1T m s

1H s

K pc K r K 1 1T m s
1T 1 s1T 2 sH c K pc K r K 1 1T m s

H s K ps K pc K r K 1 K b /D1T s s
T s s1T 1 s1T 2 sH c K pc K r K 1 1T m s

K ps K pc K r K 1 K b /D1T s s
T s s1T 1 s1T 2 sH c K pc K r K 1 1T m sH s K ps K pc K r K 1 K b /D1T s s

The denominator is
T s s1 T 1 s1 T 2 s H c K pc K r K 1 1 T m s H s K ps K pc K r K 1 K b /D1 T s s
T s sT 1 T 2 s 2 T 1 T 2 H c K pc K r K 1 T m s 1 H c K pc K r K 1
K
H s K pc K r K 1 K b
HK KK K
K ps s pc Dr 1 b s
T s Tpss
D
T s T 1 T 2 s 3 T 1 T 2 H c K pc K r K 1 T m s 2
K
H s K pc K r K 1 K b
HK KK K
T s 1 H c K pc K r K 1 K ps s pc Dr 1 b s Tpss
D
T s T 1 T 2 s 3 T 1 T 2 H c K pc K r K 1 T m s 2 1 H c K pc K r K 1 K ps K 5 s
T s a 3 s 3 a 2 s 2 a 1 s a 0
with
H s K pc K r K 1 K b
K5
D
K ps
a 0 K 5 Ts
a 1 1 H c K pc K r K 1 K ps K 5
a 2 T 1 T 2 H c K pc K r K 1 T m
a3 T1T2
Then
K
K pc K r K 1 K b
K ps K pc K r K 1 K b /D1T s s
1T s s
Tpss
G r s
D
T s a s 3 a s 2 a sa
a s 3 a s 2 a sa
3

1
Hs

1
Hs

K ps
Ts

a0
a3

s3

H s K pc K r K 1 K b
D
a2
a3

1T s s
a 3 s 3 a 2 s 2 a 1 sa 0

1
Hs

K ps
Ts

a 0 1T s s
a 3 s 3 a 2 s 2 a 1 sa 0

1T s s

s2

a1
a3

a0
a3

Pole Placement
Place poles to
p 1 n j n 1 2 , p 2 n j n 1 2 , p 3 n
Characteristic equation is
s n j n 1 2
s p 1 s p 2 s p 3 s n j n 1 2
s 2 2 n s 2n s n s 3 2 n s 2 2n s n s 2 2 2 2n s
s 3 2 n s 2 1 2 2 2n s 3n
Equating the coefficiencies of similar terms in s 3 aa 23 s 2 aa 13 s aa 03 and
s 3 2 n s 2 1 2 2 2n s 3n gives
T 1 T 2 H c K pc K r K 1 T m
a2
a2
2 n n a 3 2

a3
T 1 T 2 2
a1
a3
a0
a3

1 2 2 2n a 1 a 3 1 2 2 2n T 1 T 2 1 2 2 2n
3n a 0 a 3 3n T 1 T 2 3n
The controller gains are calculated as
K ps a 1 1 H c K pc K r K 1 /K 5
K 5 K ps
K
K ps
Ts
, K Is Tpss
Ka 05
a0
K 5 K ps
a0

Example A 240V, 12hp, separately excited DC motor has the following

parameters R a 0. 28, L a 2. 81mH, R f 320, L f 2H, K e 1. 03.
J 0. 087kg m, and D 0. 02N m s/rad. It is controlled by an H-bridge
chopper with V cm 10V and V s 260V at the armature controlled mode.
Assume that the maximum allowable armature current is 2.5 times the rated
load current and the speed sensor gain is H s 0. 033. Design a speed
control system with a proportional current controller and a PI speed controller
for this motor with a damping ratio of 0.85.
Solution: The converter gain is K r V s /V cm 26. The current feedback
gain should be determined by dividing the maximum safe control voltage
(v c V a /K r ) by the maximum allowable armature current
93. 25), that is,
(I a max 2. 5 12746
240
H c V a /K r /I a max 240/26/93. 25 0. 099
I f V f /R f 0. 75A.
K b K e I f 1. 03 0. 75 0. 772 5
The motor time constants are
1
T1
0. 0225s
2

1
2

D
J

Ra
La

1
4

T2

Ra
La

Ra
La

K b DR a
JL a

K2
b DR a
JL a

Tm
K1

D
J

1
2

D
J

Ra
La

1
4

D
J

0. 0181s

4. 35s
0. 0332

J
D

D
K 2b DR a

The current controller gain is selected as K pc 0. 1. The damping ratio is

chosen as 0. 85 and 25.
a 2 T 1 T 2 H c K pc K r K 1 T m 0. 077
a 3 T 1 T 2 4. 058 10 4
a2
n a 3 2
8. 296
a1
a0
K ps
Ts

a 3 1 2 2 2n 1. 0303
a 3 3n 4. 877
a 1 1 H c K pc K r K 1 /K 5 0. 199
K 5 K ps

0. 0045
a0

Position Control of DC Motors

Set L 0.
Kb
DR a

T a s1T m s1
T a RL aa ,

G va
G cp
Gc

1
s

Tm

T m s1
J
,
D

K2
T m s1
K Kb
1 T m2s1

K2

Kb
DR a

K2
sT m s1K 2 K b

K D s 2 K P sK I
s
G cp K r G v a
1G cp K r G v a

K D s 2 K P sK I
s

Kb
DR a

K D s 2 K P sK I
s

KrK2
sT m s1K 2 K b
HpKrK2
sT m s1K 2 K b

K r K 2 K D s 2 K P sK I
s 2 T m s1K 2 K b H p K r K 2 K D s 2 K P sK I
K r K 2 K D s 2 K P sK I
T m s 3 1K 2 K b H p K r K 2 K D s 2 H p K r K 2 K P sH p K r K 2 K I
s3

KrK2
s 2 K P sK I
T m K D
1K 2 K b H p K r K 2 K D 2 H p K r K 2 K P
s
Tm
Tm

s p 1 s p 2 s p 3

HpKrK2KI
Tm

s n j n 1 2

s n j n 1 2

s 2 2 n s 2n s n s 3 2 n s 2 2n s n s 2 2 2 2n s
s 3 2 n s 2 1 2 2 2n s 3n
1K 2 K b H p K r K 2 K D
T 1K K
2 n K D 2Hnp Kmr K 2 2 b
Tm
HpKrK2KP
Tm
HpKrK2KI
Tm

1 2 2 2n K P
3n K I

12 2 2n T m
HpKrK2

3n T m
HpKrK2

10

SpeedControl

PositionControl