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ASSIGNMENT 2

SYSTEM DESIGN AND CONTROL (MEE5027)

MATHEMATICAL MODELING AND SIMULATION OF

ELECTRIC LINEAR ACTUATOR

The Electric linear actuator is designed by using pwm controlled DC motor coupled with gear
box and wheel and axel. This is simple mechatronic circuit developed to perform real time
linear actuation. In simulink model, pwm converter, H-bridge circuit, gear box, wheel and
axel and ideal force source are the other elements.

MATHEMATICAL MODELING:
The schematic diagram of DC motor is below. There is a magnetic field by means of
stationary permanent magnets called fixed field. In the armour a current ia(t) circulates trough
this magnetic field to right angles and detects a force, F = Bl* ia(t), where B is the intensity
of magnetic field and l is the motors inductance.

Fig. 1. Schematic diagram of the DC motor.

A magnetic field generates a voltage in the terminals of the conductor, equal to e = B*l*v,
where e is the voltage and v the speed of the motor. Since the carrying armour of current is
turning in a magnetic field, its voltage is proportional to the speed.
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Where vb(t) is the electromotive force; kb is the fem constant; and dm(t)/dt = m(t) is the
angular speed of the motor. The relationship among the armour current ia(t), the applied
voltage of armor ea(t), and the electromotive force vb(t).

From above two equations,

The torque Tm(t) created by the armor current is,

Where, Kt is a proportionality constant of torque.

Fig. 2. Representative equivalent mechanical load in a motor

In a consistent set of units the value of Kt is equal to the value of Kb. Figure2 shows a
representative equivalent mechanical load on a motor. The Jm is the equivalent inertia in the
armor and includes armor and load inertias. Dm is the equivalent viscous damping in the
armor. From figure 2, we have,

From two equations of Tm(t), we get

From ea(t), and above equation, by applying Laplaces transformation the function of
transference is obtained, where the entrance corresponds to the voltage Ea(s) and the angular
position of the CD motor m(s) is:
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Calculus of Jm and Dm:

It is important to study mechanical constants Jm and Dm in order to connect the motor with
the mechanical load.

Fig 3. DC Motor that moves a rotational mechanical load

Consider figure 3, that shows a motor with inertia Ja and a damping Da in the armor that
moves a load formed by inertia JL and damping DL. Knowing the gearbox relationship,
expressed as N1 and N2, it is possible to translate the inertia and damping in the load to the
motor as follows,

CONVERSION ANGULAR TO LINEAR DISPLACEMENT:

The displacement of DC motor is angular displacement. It is converted to linear

displacement by sing gear box and wheel and axel mechanism. The free body diagram as
shown in below.

Fig. 6. Free body diagram for the linear electrical actuator.

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Where we can state that P= 2l and angular velocity m(t), by applying Laplace
transformation we get

MATHEMATICAL SIMULATION:

The simulation is done by using MATLAB SIMULINK as shown below.

Input parameters:
Supply voltage: 12v
Mass load: 10kg
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RESULTS:
These are the results obtained by simulating the above model.

Linear position:

Linear speed:

The above two graphs shows the position and speed of linear motion by the DC motor
for the load of 10kg mass.