applied

sciences
Article
1D Modeling Considering Noise and Vibration of Vehicle
Window Brushed DC Motor
Hyunsu Kim 1, *, Jiman Kim 2 , Kwangkyu Han 3 and Dongkyu Won 3

1 Department of Automotive Engineering, Dong-eui University, 176, Eomgwang-ro, Busanjin-gu,

Busan 47340, Korea
2 Department of Mechanical Engineering, Dong-eui University, 176, Eomgwang-ro, Busanjin-gu,
Busan 47340, Korea
3 R&D Division, Hyundai Motor Group, 150, Hyundaiyeonguso-ro, Namyang-eup,
Hwaseong-si 18280, Gyeonggi-do, Korea
* Correspondence: hkim7@[Link]; Tel.: +82-051-890-2304

Abstract: This study proposes 1D modeling that considers the noise and vibration of a vehicle
window-brushed DC motor. The electrical and mechanical components of the brush DC motor are
included, creating a model that considers noise and vibration. The model has a back electromagnetic
force (EMF) including vibration components and is constructed based on an electric circuit and trans-
fer functions. To ensure the reliability of the model, the back EMF, noise, and vibration experiment
environment of the brushed DC motor were configured. The measured back EMF was applied to
the model, and it was confirmed that the simulation results of the model were consistent with the
measured noise and vibrations.

Keywords: brushed DC motor; noise and vibration; back EMF; 1D modeling; MATLAB/Simulink

Citation: Kim, H.; Kim, J.; Han, K.;

1. Introduction
Won, D. 1D Modeling Considering In recent years, the demand for electric vehicles has increased rapidly as opposed to
Noise and Vibration of Vehicle internal combustion engine vehicles, not only with increased interest in the performance
Window Brushed DC Motor. Appl. of electric vehicles but also with increasing new problems. Electric vehicles are driven by
Sci. 2022, 12, 11405. [Link] a drive motor instead of an internal combustion engine, which generates less noise than
10.3390/app122211405 an engine does. However, in electric vehicles, a new problem of hearing subtle noises that
Academic Editor: Junhong Park are not audible owing to engine noise is emerging. For this reason, the problem of noise,
vibration, and harshness (NVH) of a vehicle is emphasized and is an important factor in
Received: 18 October 2022 the design of vehicles.
Accepted: 8 November 2022
The DC motors used in vehicles are divided into brushed DC motors and brushless DC
Published: 10 November 2022
(BLDC) motors. Brushed DC motors have the advantage of being easy to control in terms
Publisher’s Note: MDPI stays neutral of speed and direction and are relatively inexpensive; however, there is a brush in contact
with regard to jurisdictional claims in with the commutator, meaning that high-speed rotation is difficult and the lifecycle of the
published maps and institutional affil- engine is short. BLDC motors eliminate the brush and compensate for the shortcomings of
iations. DC motors, resulting in longer lifecycles and higher efficiencies. Owing to these advantages
of BLDC motors, the utilization of BLDC motors is increasing, with several studies on
the noise and vibration of BLDC motors currently being conducted [1–5]. BLDC motors,
however, require additional controllers, and because of their high price compared to DC
Copyright: © 2022 by the authors.
motors, traditional brushed DC motors are still widely used in many vehicles. Therefore,
Licensee MDPI, Basel, Switzerland.
various studies have been conducted on the causes of noise and vibration in brushed DC
This article is an open access article
motors [6–10]. In particular, there are research results that indicate that the electromagnetic
distributed under the terms and
force (EMF) generated by electromechanical machines causes noise and vibration; however,
conditions of the Creative Commons
Attribution (CC BY) license (https://
these studies did not identify the cause using modeling [11–13].
[Link]/licenses/by/
Several studies have been conducted to solve the noise and vibration problems in
4.0/).
motors. For example, Finley et al. [14] and Zuo et al. [15] conducted studies to solve the

Appl. Sci. 2022, 12, 11405. [Link] [Link]

Appl. Sci. 2022, 12, 11405 2 of 14

motor vibration problem analytically; Jung et al. [16] and Lee et al. [17] solved the noise
and vibration problem by changing the housing outside the motor, and Nakata et al. [18]
studied the reduction of noise and vibration by changing the internal structure of the motor.
In addition, Wang et al. [19] suggested a vibration reduction method for brushed DC motors
using the sawtooth edge pole (SEP) method, and Hong et al. [20] reduced motor vibration
by attaching a copper ring to the air gap of a permanent magnet. However, all of these
studies dealt with methods to reduce rather than identify noise vibration components.
To develop a model for predicting the vibration component of a motor, a control
model should be considered, and various studies on effective control methods have been
conducted. Aung [21] modeled a DC motor using MATLAB Simulink for the effective
control of wheeled mobile robots. Mapuz et al. [22] demonstrated various types of motor
modeling using state space and transfer functions. Aung et al. [23] modeled a DC motor
to control the motion of a robot arm, and Hwu [24] combined the functions of Powersys
and Simulink to model the motor. Recently, research has been conducted using methods
such as linear quadratic regulator (LQR) control [25], Fuzzy Logic (FL), and artificial neural
networks (ANNs) [26]; however, these studies did not consider the noise and vibration
of the DC motor. On the other hand, Kwon et al. [27] revealed that the window motor is
an important part of the noise and vibration of the vehicle as it is located closest to the
vehicle user and studied the method of reducing noise by analyzing the vehicle door with
ANSYS structural analysis. Instead, the noise generated by the plate was reduced rather
than directly reducing the noise of the motor.
This study proposes a new 1D model that can analyze noise and vibration by adding
a vibration component to a brushed DC motor model. In the classic brushed DC motor
model, the back EMF is simply expressed as a value proportional to the speed. However,
to understand the noise and vibration of the motor analytically, the back EMF of the
motor should not be proportional to a simple speed. To prove this, it was found through
theory and experiments that the back EMF can be expressed as the sum of harmonics and
DC. In addition, the relationship between the back EMF, noise, and vibration was shown
through experiments. Finally, to create a model that can understand the vibration and noise
components of the motor, this study proposes a new block diagram with the vibration
component of the back EMF added, and based on the proposed block diagram, a brushed
DC motor model including vibration components is created using MATLAB/Simulink.
The remainder of this paper is organized as follows. Section 2 describes the classic
brush DC motor model and the formulas required to model the motor. At this time, the
back electromotive, including the vibration component different from the existing model,
is explained, and a block diagram to which it was applied is expressed. Section 3 describes
the method to test the back EMF, noise, and vibration of the brushed DC motors. In
Section 4, the experimental results are analyzed and applied to the model, whilst the
simulation results are presented and discussed. Finally, Section 5 summarizes the contents
of this study.

2. Modeling a Brushed DC Motor

2.1. Classic Brushed DC Motor Modeling
The first step in modeling a brushed DC motor is to create an equation that includes
the electrical and mechanical components of the DC motor. The denominations of the
electrical and mechanical elements are listed in Table 1, and a simplified diagram containing
them is shown in Figure 1.
 Appl. Sci. 2022, 12, 11405 3 of 14

Table 1. Names and symbols of electrical and mechanical elements.

Element Name Symbol Unit

Input voltage Vin (t) [V]
Armature resistance Ra [Ω]
Armature inductance La [H]
Armature current ia [A]
Back EMF ea (t)  [V] 2
Motor armature inertia J kg·m ]
Viscous damping, friction coefficient B [N·m/rpm ]
Motor torque τ [N·m ]
Motor angular position θ [rad]
Motor angular velocity ω [rad/s]
Appl. Sci. 2022, 12, x FOR PEER REVIEW Motor torque constant kτ [N·m/A ] 3 of 14
Motor back EMF constant kb [V·s/ rad ]

Figure
Figure 1. Schematic
1. Schematic of aof a simplified
simplified equivalent
equivalent representation
representation of the
of the brushed
brushed DC DC motor’s
motor’s electrome-
electrome-
chanical
chanical components.
components.

Table 1. In the brushed

Names DC of
and symbols motor electrical
electrical elementselements.
and mechanical shown in Figure 1, the applied voltage
can be expressed as the sum of the differential equation of the current and the back EMF
Element voltage
via Kirchhoff’s Name law: Symbol Unit
Input voltage 𝑉 𝑡 [V]
Armature resistance 𝑅 di a [Ω
Vin (t) = R a i a (t) + L a + ea (t) (1)
Armature inductance 𝐿 dt [H]
Armature current 𝑖 [A]
Then,Back
for the
EMF
mechanical element shown 𝑒 𝑡
in Figure 1, using Newton’s [V]
second law, the
torque produced by the motor
Motor armature inertia
can be expressed J
as a differential equation of the
[kg ∙ m ]
angle position:
Viscous damping, friction coefficient 𝐵 [N ∙ m/rpm]
dθ d2 θ
Motor torque τ (t) = B + J 2𝜏 [N ∙ m] (2)
Motor angular position dt𝜃 dt [rad]
Motor angular
The back generated by the motor𝜔is proportional to its rotational
velocity
EMF [rad/s] speed and
Motor torque constant 𝑘
can be expressed as the product of the back EMF constant k b and angular [N ∙ m/A]velocity ω, as
Motor back
expressed EMF constant
in Equation (3). A description of the 𝑘 back EMF is provided ∙ s/
[Vin rad] 2.2.
Section

In the brushed DC motor electrical eelements shown

a (t) = k b ω (t) in Figure 1, the applied voltage (3)
can be expressed as the sum of the differential equation of the current and the back EMF
The torque
via Kirchhoff’s generated
voltage law: by the motor is proportional to the current flowing through the
motor and can be expressed as the product of i a (t) and torque constant k τ :
𝑑𝑖
𝑉 𝑡 𝑅 𝑖 𝑡 𝐿 𝑒 𝑡 (1)
τ (t) = k τ i a (𝑑𝑡
t) (4)
Then, for the mechanical element shown in Figure 1, using Newton’s second law, the
The Laplace
torque produced bytransform can
the motor then
can bebe performed
expressed asusing Equationsequation
a differential (1)–(4), and thus,
of the a block
angle
diagram for modeling can be generated. Refer to Appendix A for a complete breakdown.
position:
2.2. Brushed DC Motor Modeling Considering𝑑𝜃 𝑑 𝜃 Vibration
Back EMF
𝜏 𝑡 𝐵 𝐽 (2)
As previously mentioned, EMF is one of 𝑑𝑡
𝑑𝑡 the factors that can cause noise and vibration
inThe
electrical machines.
back EMF Thisby
generated study attempted
the motor to predict the
is proportional noise
to its and vibration
rotational using
speed and canthe
be expressed as the product of the back EMF constant 𝑘 and angular velocity ω, as ex-
pressed in Equation (3). A description of the back EMF is provided in Section 2.2.
𝑒 𝑡 𝑘 𝜔 𝑡 (3)
The torque generated by the motor is proportional to the current flowing through the
Appl. Sci. 2022, 12, x FOR PEER REVIEW 4 of 14
Appl. Sci. 2022, 12, 11405 4 of 14

back EMF of a brushed DC motor. The back EMF refers to the induced voltage that pre-
back EMF
vents of aflow
current brushed DCthe
while motor.
motorThe back EMF
rotates, refers
which to the
causes induced
voltage to voltage that prevents
be generated in the
current flow
direction while to
opposite thethe
motor rotates,
voltage appliedwhichfromcauses voltagesource,
the power to be generated in the direction
and the voltage applied
opposite
to the motor to the voltage
drops. The applied
back EMF fromcanthebe power
measured source,
usingand thethe voltage
voltage appliedby
generated to the
the
motor drops. The back EMF can be measured using the voltage
motor when the motor rotates with no load without a power supply. Without load, the generated by the motor
whenEMF
back the motor rotates with
can represent no loadcharacteristics
the motor without a power supply.
itself WithoutDC
with certain load,
andtheAC back EMF
compo-
can represent the motor characteristics itself with certain DC and AC
nents without affecting by input current. The back EMF expressed in Equation (3) is typi-components without
affecting
cally by input
modeled as a current. The back
single value EMF expressed
for simplicity in Equation
but cannot (3) is typically
be a constant modeled
in real terms. In a
as a single value for simplicity but cannot be a constant in real terms.
brushed DC motor, the stator produces a magnetic flux density B between the permanent In a brushed DC
motor, the stator produces a magnetic flux density B between the permanent
magnets, and the rotor consists of a coil wound N times around the cross-sectional area S. magnets,
and
In the rotorfield
a magnetic consists
withof a coil wound
uniform magnetic Nflux
times around
density thecoil
B, the cross-sectional
is wound N times area S. In a
based
magnetic field with uniform magnetic flux density B, the coil is wound
on the cross-sectional area S, and when the coil rotates at a speed of ω, a back EMF is N times based
on the cross-sectional
generated, as shown below:area S, and when the coil rotates at a speed of ω, a back EMF is
generated, as shown below:
ea𝑒(t)𝑡 = NBSωsin
𝑁𝐵𝑆𝜔𝑠𝑖𝑛(ωt 𝜔𝑡) (5)
(5)
In
In brushed motors, the
brushed DC motors, the cross-sectional
cross-sectionalarea
areaofofthe
therotor
rotorand
andthethenumber
numberofof turns
turns of
of
thethe coil
coil areare constant,and
constant, andthe
themagnetic
magneticflux
fluxdensity
densityofofthe
thestator
stator is
is also constant because
because
itit is
is generated
generated by permanent
permanent magnets.
magnets. Therefore,
Therefore, the
the back
back EMF
EMF cancan be
be summarized
summarized as as
Equation (6) by expressing 𝑁 ∙ 𝐵 ∙ 𝑆 as a single constant
Equation (6) by expressing N · B·S as a single constant k b . 𝑘 .

e𝑒a (t)𝑡 = k𝑘b ωsin

𝜔𝑠𝑖𝑛(ωt𝜔𝑡
) (6)
(6)
In other words, even when rotating at the same speed, the back EMF value changes
In other words,
to harmonics even on
depending whentherotating
time t. at thesinusoidal
The same speed, the back EMFofvalue
characteristics changes
this back EMF to
harmonics depending on the time t. The sinusoidal characteristics of this back
affect the voltage applied to the motor and therefore the current, torque, and angular ve-EMF affect
the voltage applied to the motor and therefore the current, torque, and angular velocity of
locity of the motor as well. This effect causes motor rotational vibration, which leads to
the motor as well. This effect causes motor rotational vibration, which leads to motor noise.
motor noise. Using Equation (6), the back EMF, including the vibration component, can
Using Equation (6), the back EMF, including the vibration component, can be expressed in
be expressed in a block diagram, as shown in Figure 2.
a block diagram, as shown in Figure 2.

Figure
Figure 2.
2. Block
Block diagram
diagram of
of brushed
brushed dc
dc motor
motor with
with added
added vibration
vibration components.
components.

3. Experimental
3. Experimental Setup
Setup
3.1. Considerations for Experimentation
3.1. Considerations for Experimentation
The vehicle window brushed motor used in the experiment was a combination of
The vehicle window brushed motor used in the experiment was a combination of a
a motor and a worm gear. As the motor rotates, it moves the worm gear, which affects
motor and a worm gear. As the motor rotates, it moves the worm gear, which affects the
the structure of the vehicle window. Therefore, the window of the vehicle is moved by
structure of the vehicle window. Therefore, the window of the vehicle is moved by con-
controlling the motor. The housing of the sample motor covered the worm gear, and a
trolling the [Link]
power connector Thecoupled
housingbetween
of the sample motorand
the housing covered the worm
the motor. gear,the
To apply andback
a power
EMF,
connector
including was coupled between
the vibration the housing
component, and the
to the model, themotor. To apply
noise and the back
vibration EMF,
of the in-
sample
cluding the vibration component, to the model, the noise and vibration of the
motor are measured in Section 3.2, and the back EMF is measured in Section 3.3. sample mo-
tor are measured in Section 3.2, and the back EMF is measured in Section 3.3.
3.2. Noise and Vibration Measurement of Motor with Housing
The vehicle window motor used in the experiment was a 2-pole 8-slot brushed DC
motor that rotates at 6200 RPM from a rated voltage of 12 V (Figure 3a). In the noise and
vibration measurement experiment, 12 V power was supplied to the test motor using a
[Link].
Appl. Sci.2022,
2022,12,
12,xxFOR
FORPEER
PEERREVIEW
REVIEW 55 of
of 14
14

3.2. Noise
3.2. Noise and and Vibration
Vibration Measurement
Measurement of of Motor
Motor with with Housing
Housing
Appl. Sci. 2022, 12, 11405 The vehicle
The vehicle window
window motor motor usedused in in the
the experiment
experiment was was aa 2-pole
2-pole 8-slot
8-slot brushed
brushed DC
DC
5 of 14
motor that
motor that rotates
rotates at at 6200
6200 RPMRPM fromfrom aa rated
rated voltage
voltage of of 12
12 VV (Figure
(Figure 3a). 3a). In
In the
the noise
noise and
and
vibration measurement
vibration measurement experiment,experiment, 12 12 V V power
power was was supplied
supplied to to the
the test
test motor
motor using
using aa
power
power source. The test motor was driven in a no-load state and was performed on bubble
power source.
source. The The test
test motor
motor waswas driven
driven in in aa no-load
no-load state
state and
and was was performed
performed on on bubble
bubble
wrap as aa test
wrap test environment
environment similar similar to to the
the free-boundary
free-boundary condition
condition (Figure (Figure 3b).
3b). At this
this
wrap as as a test environment similar to the free-boundary condition (Figure 3b). At
At this
time,
time, the reason for testing noise and vibration at no load
time, the reason for testing noise and vibration at no load is that the back EMF valuebe
the reason for testing noise and vibration at no load is
is that
that the
the back
back EMF
EMF value
value to
to be
to
measured
measured is
is carried
carried out
out at
at no
no load.
load. An
An HT356A02
HT356A02 accelerometer
accelerometer
be measured is carried out at no load. An HT356A02 accelerometer (PCB Piezotronics) (PCB
(PCB Piezotronics)
Piezotronics) was
was
mounted
mounted
was mounted ontop
on top
onof of theoftest
the
top test motor
themotor tomeasure
to
test motor measure
to measure thevibration
the vibration andaaand
and
the vibration 378B02
378B02 microphone
microphone
a 378B02 from
from
microphone
PCB
PCB Piezotronics
fromPiezotronics
PCB Piezotronics was installed
was installed at an angle
at an angle
was installed at anof of 45°
45° to
angle to measure
ofmeasure
◦
45 to measure the noise
the noise the component.
component. At this
At this
noise component.
time,
time,
At totime,
to
this obtain
obtain toaaobtain
sufficient
sufficient SPL (Sound
SPL
a sufficient (Sound PressurePressure
SPL Pressure
(Sound Level) value
Level) value
Level) tovalue
to analyze
analyze the noise
the
to analyzenoisethe
compo-
compo-
noise
nent,
nent, aa microphone
microphone was
was installed
installed at
at a
a distance
distance of
of 15
15 cm
cm
component, a microphone was installed at a distance of 15 cm from the motor rotating from
from the
the motor
motor rotating
rotating part to
part to
obtain
obtain aa sufficient
sufficient SPL
SPL value
value to
to analyze
analyze the
the noise
noise component.
component.
part to obtain a sufficient SPL value to analyze the noise component. Head Acoustics Head
Head Acoustics
Acoustics Squadriga
Squadriga
II was
II was used
Squadriga used as the
II as
was the measuring
measuring
used instrument,
instrument,
as the measuring and the
and
instrument, the measured
measured
and data were
data
the measured were processed
dataprocessed using
using
were processed
MATLAB.
MATLAB.
using MATLAB.

Microphone
Microphone

Power supply
Power supply

Accelerator
Accelerator
Motor
Motor

(a)
(a) (b)
(b)
Figure3.
Figure
Figure [Link]
3. The motor
Themotor and
motorand measurement
andmeasurement method
measurementmethod used
methodused in
usedin the
inthe experiment:
theexperiment: (a)
experiment:(a) Vehicle
(a)Vehicle windowbrushed
Vehiclewindow
window brushed
brushed
DCmotor
DC motorused
usedin
inthe
theexperiment;
experiment;(b)
(b)equipment
equipmentused
usedininthe
theexperiment:
experiment:Microphone,
Microphone,power
powersup-
sup-
DC motor used in the experiment; (b) equipment used in the experiment: Microphone, power supply,
ply,accelerometer,
ply, accelerometer,brushed
brushedDCDCmotor.
motor.
accelerometer, brushed DC motor.

3.3.
3.3. Back
Back EMF
EMF andand Noise
Noise and
and Vibration Measurement of
Vibration Measurement
Measurement of Motor
Motor without
without Housing
Housing
To measure
To
To measure thethe back
the back EMF,
back EMF, the
EMF, the housing
housing of
housing of the
of the test
the test motor
test motor was
was removed
removed (Figure 4a)
(Figure 4a)
and
and an experimental setup
an experimental
experimental setup thatthat could
could connect
connect thethe driving
driving motor
motor toto the
the test motor was
test motor
motor was
was
constructed (Figure4b).
constructed (Figure
(Figure 4b). The
4b). The drive
drive motor
motor andand sample
sample motor
motor were
were connected
connected using
using aa shaft
shaft
and two couplings, and the experiment was conducted in such a
and two couplings, and the experiment was conducted in such a way that the test motor way that the test motor
rotated when
rotated
rotated whenpower
powerwas
power wasapplied
was appliedtoto
applied tothe
the
the drive
drive
drive motor.
motor.
motor. An
AnAn oscilloscope
oscilloscope
oscilloscopewas was connected
connected
was connected to
to the
to
thepower
power
the power connector
connector ofmotor
of the
connector of themotor
the motor tomeasure
to measure
to measure theback
the back
the back EMF,
EMF,EMF,and theand
and thespeed
speed
the speed wasmeasured
was measured
was measured
using
ausing
Benetech’s
using GM8905
aa Benetech’s
Benetech’s tachometer,
GM8905
GM8905 which iswhich
tachometer,
tachometer, capable
which of measuring
is capable
is capable noncontact
of measuring
of measuring to maintain
noncontact
noncontact to
to
the motor
maintain speed
the constant.
motor speed Noise and
constant. vibration
Noise and measurements
vibration and data
measurements
maintain the motor speed constant. Noise and vibration measurements and data pro- processing
and data were
pro-
performed
cessing were
cessing wereinperformed
the same manner
performed in the
in as described
the same
same mannerin
manner asSection
as described
described [Link]
in Section
Section3.2.
3.2.

(a)
(a) (b)
(b)
Figure 4. Experimental environment for back EMF measurement: (a) Vehicle window brushed
DC motor without housing; (b) connecting the drive motor and the test motor and installing the
measuring equipment.
 Appl. Sci. 2022, 12, x FOR PEER REVIEW 6 of 14

Figure 4. Experimental environment for back EMF measurement: (a) Vehicle window brushed DC
motor without housing; (b) connecting the drive motor and the test motor and installing the meas-
Appl. Sci. 2022, 12, 11405 uring equipment. 6 of 14

4. Experiment Results and Discussion

4.4.1.
Experiment Results and
Noise and Vibration Discussion
Experiment
4.1. Noise and Vibration Experiment
The experimental results obtained with and without the housing of the test motor are
shownTheinexperimental
Figure 5. Given results
thatobtained
the test with
motor and
is awithout
2-pole the housing
8-slot motor,ofthe theeighth-order
test motor
are shown in Figure 5. Given that the test motor is a 2-pole 8-slot motor,
component, which is the least common multiple of the number of poles and slots, is the the eighth-order
component, which vibration
primary rotational is the least common [6].
component multiple
As shown of the number5, of
in Figure thepoles and slots,
eighth-order com-is
the primary rotational vibration component [6]. As shown in Figure
ponent and its harmonic components due to motor rotation have the greatest impact on 5, the eighth-order
component and its harmonic
noise and vibration. In other components due to motorand
words, the eighth-order rotation have thecaused
its harmonics greatestbyimpact
motor
on noise and
rotation vibration.
are more In other
dominant thanwords, the eighth-order
the other components, and mostitslikely
harmonics caused
generated by by the
motor rotation are more dominant than the other components, most
housing. In addition, it can be seen that the magnitude of noise and vibration varies de- likely generated
by the housing.
pending In addition,
on the presence it can of
or absence be the
seen that thewhich
housing, magnitude
appearsoftonoise and vibration
be different regard-
varies
ing the magnitude due to the overall boundary conditions, such as motortostiffness
depending on the presence or absence of the housing, which appears be different
and
regarding the magnitude
change. Given due to the
that the rotation speedoverall boundary
of the motor isconditions,
changed by such
the as motor
worm stiffness
gear in the
and change.
housing, theGiven that the
frequency rotation
of the speed
vibration of the
may alsomotor
change is changed by the worm
slightly. However, gear
there is in
no
the housing, the frequency of the vibration may also change slightly. However,
difficulty in understanding overall noise and vibration trends. Therefore, it can be seen there is no
difficulty
that thereinisunderstanding
no problem, evenoverall noise
if the andand
noise vibration trends.
vibration Therefore,are
components it can be seenusing
analyzed that
there is no problem, even if the noise and vibration components are analyzed using the
the back EMF value measured with the housing removed.
back EMF value measured with the housing removed.

(a) (b)
Acceleration [m/s2 ]
Pressure [Pa]

(c) (d)
Figure 5. FFT results of noise and vibration of the sample motor. The values measured by the mi-
Figure 5. FFT results of noise and vibration of the sample motor. The values measured by the
crophone and accelerometer were acquired as raw data in SQUADRIGA II, and FFT was performed
microphone and accelerometer were acquired as raw data in SQUADRIGA II, and FFT was performed
in MATLAB: (a) Noise experiment results including motor housing; (b) vibration experiment results
in MATLAB:
including (a) Noise
motor experiment
housing; results
(c) noise including
experiment motor
result housing;
with motor (b) vibration
housing experiment
removed; results
(d) vibration
including motor housing; (c) noise experiment
experiment result with motor housing removed. result with motor housing removed; (d) vibration
experiment result with motor housing removed.

On the other hand, even if the same voltage is applied to the sample motor, the RPM
of the sample motor changes, and it can be confirmed that the frequency components and
magnitude of the noise and vibration in the CW (clockwise) and CCW (counterclockwise)
change (Figure 6). Based on these results, it was hypothesized that the back EMF of CW
and CCW would be different even if the sample motor was rotated at the same voltage. To
 On the other hand, even if the same voltage is applied to the sample motor,
Appl. Sci. 2022, 12, x FOR PEER REVIEW
the RPM
7 of 14
of the sample motor changes, and it can be confirmed that the frequency components and
Appl. Sci. 2022, 12, 11405 magnitude of the noise and vibration in the CW (clockwise) and CCW (counterclockwise) 7 of 14
change (Figure
On the other hand, even if the same voltage is applied to the sample motor, the RPM and
6). Based on these results, it was hypothesized that the back EMF of CW
CCW ofwould be different
the sample even if and
motor changes, the itsample motor wasthat
can be confirmed rotated at the same
the frequency voltage.
components To ana-
and
lyze the reason,of
magnitude thetheeighth order
noise and of theinmotor
vibration the CW was fixed byand
(clockwise) rotating the motor at the same
CCW (counterclockwise)
analyze the reason, the eighth order of the motor was fixed by rotating the motor at the
RPM, change (Figure 6). Based
and a comparison on these
of the results, itof
magnitude was
thehypothesized
back EMF is that the back EMF
presented of CW and
in Section 4.2.
same CCW
RPM,would
and abecomparison ofifthe
different even themagnitude
sample motor ofwas
therotated
back EMF
at theissame
presented
[Link]
ToSection
ana- 4.2.
lyze the reason, the eighth order of the motor was fixed by rotating the motor at the same
RPM, and a comparison of the magnitude of the back EMF is presented in Section 4.2.

(a) (b)
(a) (b)
Figure
Figure 6.6. Comparison
Comparison of of CW
CW (clockwise)
(clockwise) andand CCW
CCW (counterclockwise)
(counterclockwise) of of the
the sample motor. The
sample motor. The
figure Figure
shows [Link]
Comparison
even if of same
the CW (clockwise)
voltage isand CCW (counterclockwise)
applied, the noise and of the sample
vibration of CW motor.
and CCWThe differ
figure figure
showsshows
that that
eveneven
if the same voltage is applied, the noise and vibration of CW
if the same voltage is applied, the noise and vibration of CW and CCW differand CCW differ
in magnitude and frequency. The direction of rotation is shown in (a), and in the graph, red is CCW
in magnitude
in magnitudeand and
frequency.
[Link] direction
The directionofof rotation
rotation isisshown
shown in in
(a),(a),
andand ingraph,
in the the graph, red is CCW
red is CCW
and blue is CW:
andisblue
(a)
is (a)
CW:
Results of
(a) Results
FFT ofofCCW
of FFT CCW
and
and
CWnoise
CW
noisecomponents;
components; (b)
(b) results ofofFFT of CCW
and blue CW: Results of FFT of CCW and CW noise components; (b)results
resultsofofFFT
FFT CCW
of CCW and
and CW andvibration
CW vibrationcomponents.
components.
CW vibration components.
4.2.
4.2. Back
4.2. EMF
Back Back
EMFEMF Measurement
Measurement
Measurement Experiment
Experiment
Experiment
To To confirm the back EMF component of the motor, the back EMF time data data
measured
To confirm
confirm the the back
back EMF EMF component
component of of the
the motor,
motor, thethe back
back EMF
EMF time
time data measured
measured
in the in the
CW CW
and and
CCW CCW directions
directions atat 1500
1500 RPM
RPM are
are shown
shown in Figure
in 7a.
Figure In
[Link]
In given
the graph,graph,
given
in thethe
CWbackandEMFCCW directions
is not shown as ata1500 RPMbut
constant areappears
shownasina Figure 7a. wave
sinusoidal In thethat
given graph, the
changes
the
backback
EMF EMF
is notis shown
not shown as a constant
asifaEquation
constant but appears as a sinusoidalwavewave that changes
with time. In addition, (3)but appears
in Section 2.1as
is a sinusoidal
applied at the same that the
RPM, changes
back with
with
[Link].
EMF In addition,
In addition,
should always ifbeEquation
if Equation (3) in(3)
the same in Section
Section
for CW is2.1
2.1CCW,
and is applied
applied
but theatsame
theatactual the same
RPM,RPM,
measurement the the EMF
back
results back
EMF
should should always be the same for CW and CCW, but the actual
always be the same for CW and CCW, but the actual measurement results differed.
differed. measurement results
differed.

Appl. Sci. 2022, 12, x FOR PEER REVIEW 8 of 14

(a)

(a)

(b) (c)
Figure 7. The result of measuring the back EMF of the sample motor with an oscilloscope. Red is
7. The
FigureCCW, blueresult
is CW,ofand
measuring
numbers inthe back(b,c)
graphs EMF of the sample
represent motor
motor RPM. Thewith an oscilloscope.
contents of each Figure Red is
CCW,are blue
as is CW, and
follows: numbers
(a) Back in graphs
EMF time (b,c) represent
data measured with an motor [Link]
oscilloscope 1500contents
RPM; (b)of each Figure are
magnitude
of the (a)
as follows: eighth-order
Back EMF vibration component
time data measuredat 1500
withRPM to 3500 RPM; at
an oscilloscope (c)1500
magnitude
RPM; of
(b)the DC com- of the
magnitude
ponent at 20 RPS to 60 RPS.
eighth-order vibration component at 1500 RPM to 3500 RPM; (c) magnitude of the DC component at
20 RPS to 60 ToRPS.
accurately measure the back EMF according to the RPM, each RPM was measured
three times from 1500 RPM to 3500 RPM, and the components of the back EMF were ana-
lyzed using FFT. Based on the back EMF FFT result, the magnitude of the eighth-order
component, which is the main rotational vibration component, is shown in Figure 7b, and
the magnitude of the DC component is shown in Figure 7c. Theoretically, the rotational
Appl. Sci. 2022, 12, 11405 8 of 14

To accurately measure the back EMF according to the RPM, each RPM was measured
three times from 1500 RPM to 3500 RPM, and the components of the back EMF were
analyzed using FFT. Based on the back EMF FFT result, the magnitude of the eighth-order
component, which is the main rotational vibration component, is shown in Figure 7b, and
the magnitude of the DC component is shown in Figure 7c. Theoretically, the rotational
speed of the motor at 1500 RPM is 25 [rev/s], and the eighth-order value is 200 [rev/s].
The first point in Figure 7b, which is the experimental result, was 200 [Hz]. It can be
seen that the vibration frequencies of the back EMF and motor are the same. Similarly, it
can be seen from Figure 7b that the eighth-order component is represented as the main
vibration component for all 2000–3500 RPM. This indicates that both the CW and CCW
vibration components of the back EMF coincide with the noise vibration components of the
motor and that the back EMF value is not constant by ω, but by sinusoidal components
that change with time. In addition, as the RPM increased, the magnitudes of both the DC
component and the eighth-order component of the back EMF tended to increase.
In addition, even at the same RPM, the magnitudes of the eighth-order component
of CW and CCW were different, as were the DC component. In Figure 7b, it can be seen
that the magnitude of the eighth-order component is that CCW is larger than CW, which
makes it possible to see that the rotational vibration of the motor is larger in CCW. As
shown in Figure 7c, the magnitude of the DC component is slightly larger than that of CW.
However, compared to the eighth-order component, the magnitude of the DC component is
overwhelmingly 10 times larger. This difference in the DC components causes a difference
in the voltage applied to the motor, which in turn affects the rotation speed of the motor.
Therefore, even if the same voltage is applied, the CW rotates more slowly than the CCW,
and the frequency of the rotation component is lower. Based on these results, compared
with Figure 6b in Section 4.1, it can be seen that the frequency of the rotational vibration is
lower in CW than in CCW, and the magnitude is smaller. On the other hand, the eighth-
order component of Figure 6b and its harmonic component can be expressed in a gradually
decreasing form. However, in the CCW of Figure 6a, it increased and then decreased in the
range of 1500 Hz to 5000 Hz. Judging from the results of Figure 7a, these peaks appear to
be caused by sparks between the brush contacts, and it is expected that CW and CCW will
differ depending on the wear condition of the brush. Sparking noises do not significantly
affect vibration but seem to affect noise. Further research will need to be conducted to
clarify this.
Based on this result, the back EMF function was created using the magnitude of the
eighth-order component and DC components. The sinusoidal back EMF function derived
in this manner was applied to the model, and the results are explained in Section 4.3.

4.3. Model and Simulation Results with Vibration Components

Based on the block diagram (Figure 2) presented in Section 2.2, a model was created
using MATLAB Simulink (Figure 8). The electrical elements are expressed as circuit models,
and mechanical elements are expressed as transfer-function models. Here, “fcn” is a block
for expressing back EMF and is a new part that is not in the general model. To obtain a
similar RPM to that of the sample motor in the model, arbitrary values were input to each
parameter so that it could rotate at 6000 RPM at a rated 12 V, and the values are shown in
Table 2. Back EMF measurement was only possible up to 3500 RPM owing to the limitations
of the drive motor; however, in the results of Figure 7b,c, the magnitude and frequency have
a constant tendency, meaning that they can be applied, even at 6000 RPM. The frequency
of the back EMF function was designed to have an eighth-order component, which is a
motor rotational vibration component. The back EMF of CW and CCW is expressed by
Equations (7)–(9) and (10)–(12), and applied to the “fcn” block.
 
k b = 0.2056 × 8 f + 0.0932 × 10−3 × 10−3 (7)

DC = 0.0207 f + 0.0117 (8)

 𝐷𝐶 0.0207𝑓 0.0117 (8)

𝐸𝑎 𝑘 sin 8𝜔𝑡 𝐷𝐶 (9)

Appl. Sci. 2022, 12, 11405 9 of 14

𝑘 0.2212 8𝑓 0.0315 10 10 (10)

Ea = k b sin(8ωt) + DC (9)
𝐷𝐶 0.0205𝑓 0.0125  (11)
k b = 0.2212 × 8 f − 0.0315 × 10−3 × 10−3 (10)

𝐸𝑎 𝑘DC𝑠𝑖𝑛 8𝜔𝑡f − 0.0125

= 0.0205 𝐷𝐶 (11) (12)
Ea = k b sin(−8ωt) + DC (12)

Figure 8. MATLAB Simulink modeling based on transfer functions and electrical circuits.
Figure 8. MATLAB Simulink modeling based on transfer functions and electrical circuits.
Table 2. Parameters used in MATLAB Simulink model.

Table 2. Parameters used in MATLAB

Element Name Simulink model.
Symbol Value
Armature resistance 3.83 [Ω]
Element NameArmature inductance
Symbol RL Value
0.274 × 10−3 [H]
Armature resistance
Motor torque constant R Kτ 3.83
0.158 [Ω
[N·m/A ]
× −3 kg·m2 ]
Motor armature inertia
Armature inductance L J
0.274 × 10 [H]
0.557 10
Viscous damping, friction coefficient B 0.65 × 10−3 [N·m/rpm ]
Motor torque constant K 0.158 [N ∙ m/A]
Motor armature inertia results for the CW andJCCW are shown in Figures
The simulation 0.557 9×·10 The ∙eighth-
and 10. [kg m ]
Viscous damping,
orderfriction
frequency component applied to theBmodel was confirmed
coefficient 0.65in ×·10
the back [N ∙ m/rpm]
EMF, current,
and torque. In addition, as shown in Figure 6b of Section 4.1, the vibration test results show
that the frequency of the vibration component of CCW was higher than that of CW, even
when the same voltage was input, whilst the magnitude was also larger. The same voltage
was input in the simulation as well, and it was confirmed that the frequency of CCW was
higher than that of CW, and the magnitude was also larger (Figures 9b and 10b). Table 3
summarizes the contents of this study. It can be seen that these characteristics appear the
same in current (Figures 9d and 10d) and torque (Figures 9f and 10f). In addition, the
harmonic of the vibration component was also confirmed in the simulation, and it can be
observed that it has the same characteristics as a real motor.
 of CW, even when the same voltage was input, whilst the magnitude was also larger. The
same voltage was input in the simulation as well, and it was confirmed that the frequency
of CCW was higher than that of CW, and the magnitude was also larger (Figure 9b, Figure
10b). Table 3 summarizes the contents of this study. It can be seen that these characteristics
appear the same in current (Figure 9d, Figure 10d) and torque (Figure 9f, Figure 10f). In
Appl. Sci. 2022, 12, 11405 10 of 14
addition, the harmonic of the vibration component was also confirmed in the simulation,
and it can be observed that it has the same characteristics as a real motor.

(a) (b)

(c) (d)

(e) (f)
Figure 9. Results of simulation with back EMF including vibration in the CW: (a) Back EMF time
Figure 9. Results of simulation with back EMF including vibration in the CW: (a) Back EMF time data;
data; (b) back EMF FFT data; (c) current time data; (d) current FFT data; (e) torque time data; (f)
(b) back EMF FFT data; (c) current time data; (d) current FFT data; (e) torque time data; (f) torque
torque FFT data.
FFT data.

On the other hand, comparing the measurement results in Figure 7a with the simu-
lation results in Figures 9b and 10b, the simulation result waveform is drawn in a much
cleaner form. This is because only the eighth-order vibration among the vibration com-
ponents of the motor was considered. If vibration components other than eighth-order
vibration are considered and applied to the model, simulation results more similar to
actual measurements can be obtained. However, considering the eighth-order vibration,
which has the greatest influence among the vibration elements of the motor, is a sufficiently
significant result for predicting the vibration.
 [Link].
Appl. Sci.2022,
2022,12,
12,11405
x FOR PEER REVIEW 11 14
11 of 14

(a) (b)

(c) (d)

(e) (f)
Figure 10. Results of simulation with back EMF including vibration in the CCW: (a) Back EMF time
Figure 10. Results of simulation with back EMF including vibration in the CCW: (a) Back EMF
data; (b) back EMF FFT data; (c) current time data; (d) current FFT data; (e) torque time data; (f)
time data; (b) back EMF FFT data; (c) current time data; (d) current FFT data; (e) torque time data;
torque FFT data.
(f) torque FFT data.
Table 3. Comparison of measured vibration and simulation results at the same voltage.
Table 3. Comparison of measured vibration and simulation results at the same voltage.
Measured Motor Vibrations Simulation Result of Back EMF
Measured Motor Vibrations Simulation Result of Back EMF
8th-Order 8th-Order 8th-Order 8th-Order
8th-Order
Magnitude 8th-Order
Frequency 8th-Order
Magnitude 8th-Order
Frequency
CW Magnitude
0.577 Frequency
810.94 [Hz] Magnitude
0.133 Frequency
799 [Hz]
CW
CCW 0.577
0.830 810.94 [Hz]
825 [Hz] 0.133
0.145 799
800[Hz]
[Hz]
CCW 0.830 825 [Hz] 0.145 800 [Hz]
On the other hand, comparing the measurement results in Figure 7a with the simu-
This
lation model
results in can be used
Figures in various
9b and applications.
10b, the simulation For example,
result in theispower
waveform drawnconnection
in a much
part of aform.
cleaner brushed
ThisDC motor, there
is because areeighth-order
only the several electrical elements
vibration among forthe
noise removal
vibration and
compo-
motor protection,
nents of the motorwhich can be expressed
was considered. as a circuit
If vibration in the model
components other to predict
than the change
eighth-order vi-
in vibration caused by this. In addition, it is expected that it can be used
bration are considered and applied to the model, simulation results more similar to actual as a filter for
vibration reduction
measurements can by
be combining various electronic
obtained. However, elements
considering such as resistors,
the eighth-order inductors,
vibration, which
and
has the greatest influence among the vibration elements of the motor, is a sufficiently the
capacitors based on the predicted vibration component and adding it between sig-
power
nificantconnection part and the
result for predicting themotor. Even when the motor operates with a load, the
vibration.
vibration component of the motor, including the load, can be predicted by applying the
Appl. Sci. 2022, 12, 11405 12 of 14

load to the model. This has a significant advantage over other models that have been
previously studied.

5. Conclusions
To model the motor considering noise and vibration, the motor was modeled by
adding the back EMF, including the vibration component, to the equations and block
diagrams of the classic motor model. To model the vibration component of the back EMF,
the back EMF of the test motor was measured with an oscilloscope. Based on these results, a
back EMF function was generated using the eighth-order component and DC components.
A simulation was performed based on the model to which the vibration component was
added, and it was found that the result was the same as that of the measured component.
The conclusions of this study are as follows:
1. To create a model expressing noise and vibration from the traditional motor equation,
it was confirmed that the back EMF is composed of the sum of harmonic and DC
components rather than constants and is expressed as a block diagram based on
the equation.
2. The back EMF value was measured using an actual motor, and experiment results
confirmed that the vibration components of the motor and back EMF tended to be
identical. However, it was confirmed that CW and CCW, which should theoretically be
the same, are different in actual motors. This was attributed to the difference between
the DC component and the eighth-order component of the back EMF. However,
further research on the harmonic components observed in the noise component of the
CCW should be conducted.
3. The entire model was constructed based on the block diagram, and it was modeled
using MATLAB Simulink based on the electric circuit and transfer function. To verify
the reliability of the model, the measured back EMF value was applied to the model,
and it was confirmed that the predicted vibration component was consistent with the
actual vibration component. This will be of great help in predicting the main vibration
component in a brushed DC motor. Given that it does not include all vibration
components, it can be expressed in a simpler form than the actual measurement result;
however, it is still successful as it predicts the largest vibration component.
4. The brushed DC motor model created in this study to predict the vibration component
of the motor can be applied in various fields. For example, if R, L, and C are attached
to the tip of the motor resistor and inductor and used as a filter, they can be applied to
reduce noise and vibration. Alternatively, the vibration component generated by the
motor can be predicted when a specific load is applied.

Author Contributions: Methodology, D.W.; Project administration, H.K.; Software, J.K. and K.H.;
Writing—review & editing, H.K. All authors have read and agreed to the published version of
the manuscript.
Funding: This research was supported by Hyundai Motor’s industry–academic research project.
This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the Grand
Information Technology Research Center support program (IITP-202-2020-0-01791) supervised by
the IITP (Institute for Information & Communications Technology Planning & Evaluation). This
work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea
government (MSIT) (No. NRF-2021R1F1A1062389).
Conflicts of Interest: The authors declare no conflict of interest.

Appendix A
Using the Laplace transform, Equations (A1)–(A4) can be transformed into the Laplace
domain as follows:
Vin (s) = R a Ia (s) + sL a Ia (s) + Ea (s) (A1)
T (s) = sBΘ(s) + s2 JΘ (s) (A2)
 Appendix A
Using the Laplace transform, Equations (A1)–(A4) can be transformed into the La-
place domain as follows:

Appl. Sci. 2022, 12, 11405 𝑉 𝑠 𝑅 𝐼 𝑠 𝑠𝐿 𝐼 𝑠 𝐸 𝑠 13(A1)

of 14

𝛵 𝑠 𝑠𝐵𝛩 𝑠 𝑠 𝐽𝛩 𝑠 (A2)

Ea ( s ) = k b ω ( s ) (A3)
𝐸 𝑠 𝑘 𝜔 𝑠 (A3)
T ( s ) = k τ Ia ( s ) (A4)
𝛵 𝑠 𝑘 𝐼 𝑠 (A4)
For modeling, if Equation (A1) is rearranged as an expression for Ia (s):
For modeling, if Equation (A1) is rearranged as an expression for 𝐼 𝑠 :
1
Ia ( s ) = 1 (Vin (s) − Ea (s)) (A5)
𝐼 𝑠 La s + Ra 𝑉 𝑠 𝐸 𝑠 (A5)
𝐿 𝑠 𝑅
To derive the relation between the angle Θ(s) and the torque T(s), Equation (A2) can
To derive the relation between the angle Θ(s) and the torque Τ(s), Equation (A2) can
be rearranged as an expression for Θ(s):
be rearranged as an expression for Θ(s):
1
Θ𝛩(s)𝑠 = 2 1 · T∙ 𝛵 (s)𝑠 (A6)
(A6)
𝐽𝑠 + Bs
Js 𝐵𝑠
Given
Given that the
the angular
angular velocity 𝜔(s𝑠) isisthe
velocity ω thederivative
derivativeofofthe angleΘ𝛩
theangle (s)𝑠with
with respect
respect to
to time
time t, Equation
t, Equation (A6)
(A6) cancan
be be written
written as as follows:
follows:

11 ∙ 𝑇 𝑠
ω𝜔(s)𝑠 = sΘ
𝑠𝛩(s)𝑠 =
𝐽𝑠+ B𝐵· T (s)
(A7)
(A7)
Js
It can be expressed as a block diagram using Equations (A3)–(A6), as shown in Figure
It can be expressed as a block diagram using Equations (A3)–(A6), as shown in
A1.
Figure A1.

Figure
Figure A1. Classic
Classic block
block diagram
diagram of
of brushed
brushed DC motor.

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