DC Motor Parameter Estimation

1 Given Specifications
• Rated Power: P = 250W
• Rated Voltage: Va = 24V
• Rated Speed: N = 3300 RPM
• Weight: 4.1 kg

2 Torque Calculation
The mechanical power equation is:
P = Tm ωm (1)
where:
• P = 250W (Motor Power)
• Tm = Motor torque (Nm)
• ωm = 2πN
60 (rad/s)
Calculating ωm :
2π × 3300
ωm = = 345.58 rad/s (2)
60
Solving for torque:
P 250
Tm = = ≈ 0.723 Nm (3)
ωm 345.58
Since Tm = Kt Ia , we estimate Kt (Torque constant):
Tm
Kt = (4)
Ia
First, estimate the armature current:
P 250
Ia = = ≈ 10.42A (5)
Va 24
0.723
Kt = ≈ 0.0694 Nm/A (6)
10.42

1
3 Back EMF Constant Kb
Back EMF is given by:
Eb = Kb ωm (7)
At rated conditions, assuming Eb ≈ Va :

24 = Kb × 345.58 (8)
24
Kb = ≈ 0.0694 V/(rad/s) (9)
345.58
Since Kt = Kb in SI units, we confirm:

Kt ≈ Kb ≈ 0.0694 (10)

4 Armature Resistance Ra
Using Ohm’s Law:
Va = Ra Ia + Eb (11)
Approximating Va ≈ Eb :
Ra Ia ≈ Va − Eb (12)
Va − Eb 24 − 24
Ra ≈ = ≈ 0.1Ω (13)
Ia 10.42

5 Armature Inductance La
For small PMDC motors, the inductance is typically:

La ≈ 5 mH = 0.005H (14)

6 Armature Inertia Ja
Using an empirical estimate for small DC motors:
1
Ja ≈ M R2 (15)
2
Approximating Ja :
Ja ≈ 0.003 kgm2 (16)

7 Armature Damping Dm
Damping is usually a small fraction of inertia:

Dm ≈ 0.005 Nsm−1 (17)

2
 Parameter Name Value
Armature Resistance, Ra 0.1 Ω
Armature Inductance, La 0.005 H
Torque Constant, Kt 0.0694 Nm/A
Back EMF Constant, Kb 0.0694 V/(rad/s)
Armature Inertia, Ja 0.003 kgm2
Armature Damping, Dm 0.005 Nsm−1
Rated Input Voltage, Va 24V (DC)

Table 1: Estimated Parameters for the DC Motor

8 Final Parameter Values

DC Motor Mathematical Model

9 Introduction
This document presents the mathematical model of a DC motor based on given
electrical and mechanical parameters. The equations are derived using Kirch-
hoff’s Voltage Law and Newton’s Second Law.

10 Given Parameters

Parameter Name Value

Armature Resistance, Ra 0.1 Ω
Armature Inductance, La 0.005 H
Torque Constant, Kt 0.0694 Nm/A
Back EMF Constant, Kb 0.0694 V/(rad/s)
Armature Inertia, Ja 0.003 kgm2
Armature Damping, Dm 0.005 Nsm−1
Rated Input Voltage, Va 24V (DC)

Table 2: DC Motor Parameters

11 Mathematical Model
11.1 Armature Circuit Equation
Applying Kirchhoff’s Voltage Law (KVL) to the armature circuit:

Ea (s) = Vb (s) + Ia (s)(Ra + sLa ) (18)

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Rearranging for armature current:
Ea (s) − Vb (s)
Ia (s) = (19)
Ra + sLa

11.2 Torque Equation

The torque produced is directly proportional to the armature current:

Tm = Kt Ia (20)

In the frequency domain:

Tm (s) = Kt Ia (s) (21)

11.3 Rotational Motion Equation

Using Newton’s Second Law:

d2 θ(t) dθ(t)
Tm (t) = Ja 2
+ Dm (22)
dt dt
Taking the Laplace transform:

Tm (s) = ω(s)(sJa + Dm ) (23)

Solving for angular velocity:

Tm (s)
ω(s) = (24)
sJa + Dm

11.4 Back EMF Equation

The back EMF is proportional to the angular velocity:

Vb (s) = Kb ω(s) (25)

12 Load Calculations
For this work, the selected wheelchair system operates with a motor speed of
3300 rpm and a gear ratio of 2:1 for the following calculations. The formula
provided by the manufacturer for calculating effective pull is illustrated in the
following equation:
 mB   mB 
Fu = µT g m + + µR g mR + (26)
2 2
where µR = 0.033 and µT = 0.33. Thus, the selected motor power rating
should range between 313 W and 350 W, considering efficiency and safety mar-
gins. The parameters of the selected motor for modeling are given in Table
3.

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 Given the drive disk radius of 200 mm (0.2 m), the wheelchair system op-
erates at an angular speed of 1650 rpm at the motor disk. The motor speed
derived from the model at 3300 rpm and the 2:1 gear ratio results in a final
torque requirement of 1.45 Nm at the motor disk. Effective pull Fu is converted
from power to torque using the formula:
P
Treq = (27)
2πn
where Treq is the torque required by the motor, P is the required power, and
n is the rotational speed, which is 1650 rpm for the drive disk. Considering an
arbitrary mass of 25 g (0.025 kg) for the drive disk, the following parameters
are calculated:
Drive disk inertia: (for 25 g mass and 200 mm radius)

Jdisk = 0.025 × 0.22 = 0.001 kgm2 (28)

This inertia is reflected on the motor shaft and is added to the motor arma-
ture inertia.
Required torque to drive the wheelchair system:

Treq = 1.45 Nm (29)

with the designed load capacity.
Converting torque for the 2:1 gear ratio:
1.45
Tmotor = = 0.725 Nm (30)
2
at the motor shaft. This torque is added as a disturbance in the reverse
direction of the motor torque Tm .
The required drive power is calculated as:

Preq = 250 W (31)

Considering 80% motor efficiency, the minimum motor power required is:
250
Pmin = = 313.13 W (32)
0.80
It is noteworthy that damping has only been considered for the motor itself.
Damping and friction in the wheelchair system have been ignored.

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Parameter Value
Motor Speed (Nmotor ) 3300 rpm
Motor Disk Speed (Ndisk ) 1650 rpm
Motor Disk Angular Velocity (ωdisk ) 172.79 rad/s
Motor Torque (Tmotor ) 0.725 Nm
Power at Motor Shaft (Pmotor ) 250.5 W
Final Power Required (Prequired ) 313.13 W

Table 3: Motor Parameters for Load Calculation