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EE 111 DC Motor Project Guide

This document outlines an assignment for an EE 111 course to model and analyze the performance of a permanent magnet DC motor system. Students are asked to: 1) Derive the transfer function of the motor from mathematical equations provided 2) Determine the closed loop transfer function without and with a controller 3) Analyze the system's steady state error, stability, performance criteria using given motor constants 4) Plot the unit step response, impulse response, pole-zero map, and root locus with variations of the controller gain K. The report should include an introduction to PM DC motors, the transfer function derivation, discussion of analysis results, and relevant plots and figures with references.

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Darrel Pasalo
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111 views3 pages

EE 111 DC Motor Project Guide

This document outlines an assignment for an EE 111 course to model and analyze the performance of a permanent magnet DC motor system. Students are asked to: 1) Derive the transfer function of the motor from mathematical equations provided 2) Determine the closed loop transfer function without and with a controller 3) Analyze the system's steady state error, stability, performance criteria using given motor constants 4) Plot the unit step response, impulse response, pole-zero map, and root locus with variations of the controller gain K. The report should include an introduction to PM DC motors, the transfer function derivation, discussion of analysis results, and relevant plots and figures with references.

Uploaded by

Darrel Pasalo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EE 111 Final Project

1st Semester SY 2018-2019


Due: Thursday, December 20, 2018 (via Edmodo)

Permanent Magnet DC
Motor

Ra = Armature Resistance (ohms)


La = Armature Inductance
(Henry)
e(t) = Voltage source (Volts)
eb(t) = Back EMF (Volts)
ia(t) = Armature Current
(Ampere)
ω(t) = Rotor Angular Velocity
(radian per sec)
J = Rotor Inertia (kg-m2) Figure 1. Permanent Magnet DC Motor Schematic Diagram
D = Damping Coefficient (Nm-s/radian)
Kb = Velocity Constant (V-s/radian)
Km = Motor/Torque Constant (Nm/A)
Kt = Tacho Constant (V-s/radian)
K = Gain of the Controller

Mathematical Model for the DC Motor

Electrical Characteristics:
Applying KVL at Figure 1:

e(t) - ia(t) Ra - La dia(t)/dt - eb(t) = 0 (Eqn. 1)


Back EMF is proportional to the angular velocity so it can be written as,

eb(t) = Kb ω(t) (Eqn. 2)

Substituting Eqn. 2 to Eqn. 1,

e(t) - ia(t) Ra - La dia(t)/dt - Kb ω(t) = 0 (Eqn. 3)


Mechanical Characteristics:

Using Figure 2,

𝜏m – 𝜏d – 𝜏j – 𝜏l = 0
Where,

𝜏m = Motor Torque = Km ia(t)


𝜏d = Damping Torque = D ω(t)
𝜏j = Inertial Torque = J d ω(t)/dt Figure 2. FBD
𝜏l = Load Torque

Assuming that the load torque is constant, then the load torque will not appear in the transfer
function that will be derived (s-Domain).

Km ia(t) - D ω(t) - J d ω(t)/dt = 0 (Eqn. 4)

1. Derived the transfer function of the motor Gm(s) using Eqn. 3 and Eqn. 4. Where the
angular velocity is the output and the e(t) as the input.
2. Use the Block Diagram in Figure 3 and Figure 4 without controller to determine the Closed-
Loop Transfer Function of the whole system.
3. Using the data given for all the different constant, determine a) case does the system falls b)
steady state error c) stability d) all performance criteria e) pole-zero map f) Plot the unit step
response and impulse response.
4. Repeat number 2 and number 3 but this time with controller.
5. Plot the root locus and determine the possible values for K.

Figure 3. General Block Diagram


Figure 4. Block Diagram with Transfer Functions

Your report should contain the following:


I. Introduction
- Principles of PM DC Motors
II. Discussion
A. Derivation of the Transfer Function of the Motor
B. Steady State Error
C. Stability
D. Performance Criteria
E. Controller Gain (K)
III. Figures and Plots
A. Block Diagram
B. Impulse Response (whole system)
C. Unit Step Response (whole system)
D. Pole-Zero Map (whole system)
E. Root Locus
IV. References

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