CONTOH TRANSFER FUNCTION

Transfer Function Model of a DC Motor

A DC motor has two main components: electrical component and mechanical component.
The electrical circuit of the armature and the free body diagram of the rotor are shown in
Fig. 1.

Fig. 1: Electrical circuit and free body diagram of the rotor of DC motor
The flux magnetic in the field coil is a constant
1
by the assumption that the field current

is constant. If is the rotor torque,

2
is torque constant, and

is armature current then

=
2

() ( 1 )
If is electric inductance, is electric resistance, is source voltage, is electromotive
force constant, and is rotor position, then using KVL principle for the armature circuit,
=

+ .

( 2 )
If is moment of inertia of the rotor,

is moment inertia of load, is damping ratio of the

mechanical system,

is damping ratio of load and

is load torque, then using Newton II

principle for mechanical system,
=

+
()

+()
( 3 )

()

()
( 4 )
Substituting Eq ( 4 ) to Eq ( 3 ) the result is:
= +

()

+ +

()
( 5 )
Converting Eq.( 1 ), Eq ( 2 ), and Eq ( 5 ) to the s-domain results :
=
2

() ( 6 )
=

+ () ( 7 )
= +

+ +

() ( 8 )

() can be found using Eq ( 7 )

=
()
+

( 9 )
Practically,
2
= . If () : speed,

= +

= +

, then substituting Eq ( 6 ),
Eq ( 8 ), and Eq ( 9 ) gives the result :
()
()
=

2
+

+
2
( 10 )
When

= and

= , Eq ( 10 ) becomes
()
()
=

2
+ + + + 2
2

( 11 )
When no load, Eq ( 10 ) becomes
()
()
=

2
+ + + +
2
( 12 )
Dividing Eq ( 10 ) to Eq ( 12 ) by s to produce the transfer function of the position,
()
()
=

3
+

2
+

+
2

( 13 )
()
()
=

3
+ +
2
+ + 2
2

( 14 )
()
()
=

3
+ +
2
+ +
2

( 15 )
An example of DC motor parameters are shown in Table 1.
In Table 1, the rotor and shaft are assumed to be rigid. Thus, the transfer functions of the
speed and position are given by:
()
()
=
20

2
+ 102 + 200.2
(speed in rad/s) ( 16 )
()
()
=
20

3
+ 102
2
+ 200.2

(position in rad/s) ( 17 )
When the plant is loaded with the same mechanical system, then
()
()
=
10

2
+ 102 + 200.1
(speed in rad/s) ( 18 )
()
()
=
10

3
+ 102
2
+ 200.1

(position in rad/s) ( 19 )
In the simulation experiment, the loaded DC motor can be approximated by multiplying the
plant with 0.5.
Table 1 Example of DC motor parameters
Parameter Symbol Unit Magnitude
Moment of inertia kg.m
2
0.01
Damping constant kg.m
2
/sec 0.1
Constant - 0.01
Resistance ohm 1.00
Inductance henry 0.50
Source voltage (input) volt Variable
Rotor position (output) rad Variable