Indian Institute of Technology Gandhinagar

Department of Electrical Engineering

EE 402 Control System Lab.

B. Tech.: Electrical, Sem. :

VII

EXPERIMENT 1: TRANSFER FUNCTION OF A ARAMATURE CONTROLLED DC MOTOR

AIM
To determine the Transfer Functions of the given armature controlled DC motor

by

stating the mathematical model of the system and determining the various parameters
experimentally. The transfer functions to be determined are Shaft speed Vs Armature
Voltage and Shaft speed Vs Load Torque.
THEORY
The Schematic diagram of the armature controlled Dc Motor is given below. The
armature circuit consists of armature Resistance, armature Inductance and an emf
source (Induced by rotation of the armature). The field circuit with a constant current
provides excitation thro a separate source.

The System Variables and the governing equations are

V a ( t ) =e b+ L a

di a
+i R
dt a a

e b=k 1 ( t ) =k b (t)
T e=k 2 i a ( t ) =k T i a ( t )
T e=T L + J .

d
+ B
dt

Where,

k b =Back emf constant ,

k t =Torque Constant ,
J =Moment of inertia of motor + Load ,
B=Voscovs friction of motor +load
The Lab set up using the Rotary Machines Bench system is shown below.

TRANSFER FUNCTION AND THE REQUIRED PARAMETERS

From the block diagram of the system, the two important transfer functions, the
variables and the parameters required to be determined are summarized below.
The First Transfer Function is (s) vs. Va(s) and is given by,

Kt/ ( Ra B)
(s)
= 2
V a ( s ) s a m + S ( a+ m ) +1 ( k b k t ) / ( R a B )

As a negligible compared to m the equation simplifies to,

Kb/ ( Ra B)
k
(s)
=
= m1
V a ( s ) s m +1+ ( k b k t ) / ( R a B ) s +1

Where the equivalent Motor Constant and Time constant are given by,

km1 =

kb
Ra B+k b k t

m Ra B
R a B+k b k t

The second Transfer Function between Shaft speed and Load Torque is given by,

( s a +1 ) / B
(s)
= 2
T L (s) s . a m + s ( a + m ) + 1+ ( k b k t ) / Ra B

With a << m the equation simplifies to,

k m
(s)
=
T L (s) ( s +1 )

Where,

km=

Ra

( R a B+ k b k t )

m Ra B
R a B+k b k t

From the above equations, it is clear that armature controlled dc motor transfer
functions can be obtained, if the following motor parameters are known.
1.
2.
3.
4.
5.

Ra - armature resistance in ohms

Kb - Motor back emf constant
Kt - motor torque constant
J - moment of inertia of the motor in kg.m2
B - Viscous friction coefficient N.m / Rad / Sec

The measurement of these parameters is explained below

Measurement of Ra
To be done with using a Digital multimeter

Measurement of Kb Back emf Constant

Keep the DC machine in Motor mode.

Do not couple the load ( Alternator )
Set the constant flux mode by keeping the field current at the rated value.
Switch on the armature supply with the pot in min. condition.
Gradually apply the voltage to the armature and record the readings of V a , Ia and

RPM
Repeat the above step till the rated armature voltage is applied.

Tabulate the readings and calculate E b and for each reading and plot the curve

Va

Ia

Eb = Va - Ia

N in rpm

= 2N/60

Ra

From the graph, Kb is evaluated

K b=

Measurement of Torque Constant

Eb

KT

Although the back emf and the torque constants are equal,

procedure to

evaluate the torque constant experimentally is illustrated.

With the load not coupled and the field is on, the armature voltage is applied
gradually and brought to full voltage. In this no load condition the Armature
voltage, Current and the torque on the motor shaft are recorded.

With armature supply switched off, the load is coupled to the Motor.
(Alternator). Now again the armature voltage is applied and brought to its

rated value. Again the set of readings are recorded.

Now the alternator field is gradually applied and the rated voltage on the
alternator terminal is brought on.

The electrical resistive load on the

alternator is gradually added in steps. This adds the load on the DC motor

and the developed torque and the load current of the motor are recorded.
The Torque vs. Armature current is plotted and from the Graph K T is
evaluated.
Va

Ia

Torque

Eb = Va - Ia

N in

Ra

rpm

2N/60

Calculation of Viscous Friction Coefficient B

From the equation

Kb/ ( Ra B)
k
(s)
=
= m1
V a ( s ) s m +1+ ( k b k t ) / ( R a B ) s +1
At steady state
Kb
(s)
( s=0)=
R a B+k b k t
V a ( s)
For a steady state speed of 1500 rpm , Va values are available. B can be calculated.
Measurement Moment Of Inertia of the motor/load by Run down test
The moment of inertia is calculated by obtaining the no load torque characteristics
(torque
developed at different speeds on no-load) and retardation characteristics of the motor
b. Retardation Characteristics
The Motor on no load is brought to its rated speed.

The Armature supply is switched off and the armature starts decelerating and finally

comes to a stop.
The Speed of the armature is to be recorded on a DSO / Alternatively the voltage
across the armature terminal can be measured which will be emf generated during

Run down which is proportional to the speed of the armature ( I f Constant

The DSO data is plotted and the speed of the mechanical load governed by the
equation

J d/ dt=T d { ( 0 )=2 1500/60 } ,

(1)

Also under steady state conditions, Mechanical power developed Pd = Load power
PL=Td
Td = Pd/ at =1500 rpm
J = -Td/

d
)
dt

(at rated rpm =1500rpm)

From this data J is calculated.

TL(1)
((1)

Retardation
Curve

Steady state
load curve
TL()
TL--

----t

With all the parameters evaluated the Transfer Functions are as given below.

RESULT AND INFERENCE