D.C.

Motor
Simplified SPICE Model

All Rights Reserved Copyright (C) Bee Technologies Corporation 2013

Contents
1. Benefit of the Model 2. Model Feature 3. Parameter Settings 4. D.C. Motor Specification (Example) 5. Motor Start Up Simulation at Normal Load 6. Motor Start Up Simulation at Half of Normal Load 7. Lj of the Motor Model (1/2) 8. Application Example 9. Winding Characteristic Parameters: Lm 10.Winding Characteristic Parameters: Rm

Simulation Index

All Rights Reserved Copyright (C) Bee Technologies Corporation 2013

1. Benefit of the Model

The model enables circuit designer to use D.C. Motor as load in their design which include: Back EMF, Torque(Nm) and Speed (rpm) characteristics. The model can be easily adjusted to your own D.C. Motor specifications by editing a few parameters that are provided in the spec-sheet.

All Rights Reserved Copyright (C) Bee Technologies Corporation 2013

2. Model Feature
1 H1
+ -

TRQ 1 L1 100m

RM {Rm} LM {Lm}

0
2 N4

E_EMF IN+ INOUT+ OUTEMF Rdmy

H2
+ -

OUT+ IN+ OUTINGRB GVALUE

EVALUE

Equivalent circuit of the D.C. Motor model

This D.C. Motor Simplified SPICE Model is for users who require the model of D.C. Motor as a part of their system. Perform electrical (voltage and current) and mechanical (speed and torque) characteristics at current load (Ampere) conditions.

All Rights Reserved Copyright (C) Bee Technologies Corporation 2013

3. Parameter Settings
Model Parameters:
If there is no measurement data, the default value will be used: Rm: motor winding resistance [] Lm: motor winding inductance [H]

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 6.1

Data is given by D.C. motor spec-sheet:

V_norm: normal voltage [V] mNm: normal load [mNm] kRPM_norm: speed at normal load [kr/min] I_norm: current at normal load [A]

D.C. Motor model and Parameters with Default Value

Load Condition:
IL: load current [A]

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4. D.C. Motor Specification (Example)

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 6.1
D.C. Motor Specification Parameters are input

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5. Motor Start Up Simulation at Normal Load (1/3)

Simulation Circuit and Setting
PARAMETERS:
VOUT = 10.25 Rs = 0.5
Input the Supply No Load Voltage* and Series Resistance

VIM VM

Simplified D.C. Motor with RS-540SH Spec.

RS {Rs} V1 T2 = 0.01m V2 = {VOUT}

Current Sensing

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 6.1
Load Condition IL=I_norm

0
*Analysis directives: .TRAN 0 400m 0 0.1m .PROBE V(*) I(*) W(alias(*)) D(alias(*)) NOISE(alias(*))

*No Load Voltage is adjusted until the D.C. motor voltage (VM) equals to the normal voltage (7.2V).

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5. Motor Start Up Simulation at Normal Load (2/3)

Select All for the Voltages and Currents Data Collection Options.

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5. Motor Start Up Simulation at Normal Load (3/3)

80V

40V

Torque Load= 19.6mNm

V(X_U1.TRQ)

0V 20A

D.C. Motor Speed = 14.4krpm

10A

0A I(X_U1.V_kRPM) 10V

D.C. Motor Voltage = 7.2V

5V SEL>> 0V V(VM) 20A

10A

D.C. Motor Current = 6.1A

0s I(VIM) Time 40ms 80ms 120ms 160ms 200ms 240ms 280ms 320ms 360ms 400ms

0A

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6. Motor Start Up Simulation at Half of Normal Load (1/2)

Simulation Circuit and Setting
PARAMETERS:
VOUT = 10.25 Rs = 0.5
Input the Supply No Load Voltage* and Series Resistance

VIM VM

Simplified D.C. Motor with RS-540SH Spec.

RS {Rs} V1 T2 = 0.01m V2 = {VOUT}

Current Sensing

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 3.05
Load Condition IL=I_norm

0
*Analysis directives: .TRAN 0 400m 0 0.1m .PROBE V(*) I(*) W(alias(*)) D(alias(*)) NOISE(alias(*))

*No Load Voltage is adjusted until the D.C. motor voltage (VM) equals to the normal voltage (7.2V).

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10

6. Motor Start Up Simulation at Half of Normal Load (2/2)

80V

40V

Torque Load= 9.8mNm

0V V(X_U1.TRQ) 20A

D.C. Motor Speed = 18.4krpm

10A SEL>> 0A I(X_U1.V_kRPM) 10V

D.C. Motor Voltage = 8.725V

5V 0V V(VM) 20A

10A

D.C. Motor Current = 3.05A

0s I(VIM) Time 40ms 80ms 120ms 160ms 200ms 240ms 280ms 320ms 360ms 400ms

0A

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11

7. Lj of the Motor Model (1/2)

Simulation Circuit and Setting
PARAMETERS:
VOUT = 10.25 Rs = 0.5 Lj = 100m VIM VM RS {Rs} V1 T2 = 0.01m V2 = {VOUT}

Global parameter Lj is assigned

Double click to edit properties of the DC Motor model

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 6.1

*Analysis directives: 0 .TRAN 0 400m 0 0.1m .STEP PARAM Lj LIST 100m, 200m

Input the Lj value or input {Lj} for parametric sweep

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12

7. Lj of the Motor Model (2/2)

80V

The Motor Start-up Waveform is changed by the Lj values.

Lj=200m

40V

Torque Load= 19.6mNm

Lj=100m
V(X_U1.TRQ)

0V 20A

Lj=100m
10A

D.C. Motor Speed = 14.4krpm

0A 10V

Lj=200m
I(X_U1.V_kRPM)

Lj=100m
5V

D.C. Motor Voltage = 7.2V

0V V(VM) 20A

Lj=200m

Lj=200m
10A SEL>> 0A 0s

D.C. Motor Current = 6.1A

Lj=100m
40ms I(VIM) Time 80ms 120ms 160ms 200ms 240ms 280ms 320ms 360ms 400ms

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13

8. Application Example (1/3)

Simulation Circuit and Setting
VDD Vdd 15V VCC Vcc 15V VCC

Simplified D.C. Motor with RS-380PH Spec at No load.

U2 SMPL_DC_MOTOR Rm = 0.576 Lm = 165u V_norm = 7.2 mNm = 9.8 kRPM_norm = 14.2 I_norm = 2.9 IL = 0.6

D2 D4001

U1 R1 1u
NC A VCC VDD NC VO GND

RG 120 U3 GT10J321

No load IL=0.6
D3 DGT10J321_s

V1 V1 = 0 V2 = 1.8 TD = 0 TR = 10n TF = 10n PW = 199.99u PER = 400u

K NC

TLP350

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14

8. Application Example (2/3)

Measurement
1 14A 12A 2 20V 10V

Simulation

10A 8A 6A

0V

Motor Voltage (10V/Div)

-10V -20V

Motor Current (2A/Div)

4A 2A -30V -40V

0A -2A

-50V >> -60V -100ms 0s 100ms 1 I(U2:1) 2

300ms 500ms V(U2:1,U2:2) Time

700ms

900ms

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15

8. Application Example (3/3)

Measurement
1 14A 12A 10A 2 50V 40V 30V 20V 10V 0V -10V -20V -30V 3

Simulation
20V 10V 0V

IGBT: VGE

IGBT: VGE (10V/Div)

8A 6A 4A -10V -20V -30V

IGBT: VCE
2A 0A -40V -50V

IGBT: VCE (10V/Div)

IGBT: IC

>> -2A

IGBT: IC (2A/Div)
-60V 898.0ms 898.4ms 1 I(U3:C) 2 898.8ms 899.2ms 899.6ms V(U3:C) 3 V(U3:G) Time

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16

9. Winding Characteristic Parameters: Lm

U2 SMPL_DC_MOTOR Rm = 0.576 Lm = 165u Motor Spec. V_norm = 7.2 mNm = 9.8 kRPM_norm = 14.2 I_norm = 2.9 IL = 0.6
Load Condition
4A 0V -30V 14A 50V Winding Characteristic:2 Lm 1 3 20V

12A

40V

10V

10A

30V

0V

8A

20V

-10V

Lm=100u
Lm=165u

6A

10V

-20V

The Motor Current Waveform is changed by the Lm values.

Lm=100u
2A -10V -40V

Lm=165u
0A -20V -50V

-2A 1

-30V I(U3:C)

>> -60V 898.0ms 898.4ms 2 V(U3:C) 3

898.8ms 899.2ms V(U3:G) Time

899.6ms

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17

10. Winding Characteristic Parameters: Rm

U2 SMPL_DC_MOTOR Rm = 0.576 Lm = 165u Motor Spec. V_norm = 7.2 mNm = 9.8 kRPM_norm = 14.2 I_norm = 2.9 IL = 0.6
Load Condition

Winding Characteristic: Rm

Rm=0.1

Rm=0.576

The Motor Start-up is Current changed by the Rm values.

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18

Simulation Index
Simulations Folder name

1. Motor Start Up Simulation at Normal Load...................

Normal

2. Motor Start Up Simulation at Haft of Normal Load........ Half

3. Lj of the Motor Model....................................................

Lj

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