Transfer function of Armature controlled DC Motor Exp.

No: Date: AIM : To derive the transfer function of Armature controlled DC Motor and experimentally obtain its parameters

Name plate details of the DC Motor

Apparatus Required S.No: Name of the apparatus

Type

Range

Qty.

THEORY : Introduction The low power DC motor is a power actuator device that delivers energy to a load as showin figure.

The DC motor converts direct current electrical energy into rotational energy. A major fraction of the torque generated in the rotor (armature) of the motor is available to driven an external load. Because of features such as 1. high torque, 2. speed controlability over a wide range, 3. well-behaved speed-torque characteristics, 4. and adaptability to various types of control methods. Low power DC motors are widely used in numerous control applications, including 1. robotic manipulators, 2. tape transport mechnism, 3.disk drives, 4. machine tools and servovalve actuartors. Transfer Function The transfer function of the DC Motor will be developed for 1. a linear approximation to an actual motor. 2. and second order effects, such as hysteresis , commutation and the voltage drop across the brushes will be neglected. 3. The input voltage may be applied to the filed or armature terminals. 4. The air-gap flux , of the motor is proportional to the field current, provide the field is unsaturated. The figure represents a DC motor attached to an inertial load. The voltages applied to the field and armature sides of the motor are represented by Vf and Va .The resistances and inductances of the field and armature sides of the motor are represented by Rf , Lf , Ra , and La .The torque generated by the motor is proportional to if and ia the currents in the field and armature sides of the motor. Electro-mechanical equivalent diagram of DC Motor

Motor torque, = Armature - current control In a Armature - current controlled motor, the armature current, is held constant, and the armature current is controlled through the armature voltage , . In this case, the motor torque increases linearly with the armature current. We write

, By taking Laplace transforms of both sides of this equation gives the transfer function from the input current to the resulting torque.
() ()

= (. )

For the armature of the motor the voltage/current relationship is = + + (. ) where, represents the "back EMF" induced by the rotation of the armature windings in a magnetic field. The back EMF, is proportional to the speed , i.e. = () Taking Laplace transforms of Equation (1.3) gives = ( + ) (. ) OR () = ( + ) (. )

An equation that describes the rotational motion of the inertial load is found by summing moments = = + = Thus, the transfer function from the input motor torque to rotational speed changes is () = () + (. )

Fig. shows free body Diagram of the inertial load

Combining equations (1.2) , (1.5) and (1.6) together can be represented by the closed loop block diagram shown below bygive the transfer function from the input Armature voltage to the resulting speed change

Block diagram reduction gives the transfer function from the input armature voltage to the resulting speed change.

Finally, since = / , the transfer function from input field voltage to the resulting rotational position change is
() ()

() () () ()

PROCEDURE Measurement of 1. Make the connections as per the circuit diagram. 2. Vary the field voltage (should not exceed 10 % of rated field voltage) by adjusting the potentiometer (AC to DC kit) and note down the corresponding current. 3. Repeat the procedure for different field currents and tabulate the readings. Measurement of 1. Make the connections as per the circuit diagram. 2. Vary the AC field voltage (should not exceed 30 % of rated field voltage) by adjusting the single phase variac (auto transformer) and note down the corresponding current. 3. Repeat the procedure for different field currents and tabulate the readings. Measurement of J and B 1. Connections are given as per the circuit diagram. 2. Before giving the supply, Armature POT should be kept at minimum position and field POT should be kept at maximum position 2. Give DC supply to the motor by switch on the MCB in kit (AC to DC) and keeping DPDT switch at position 1-1. 3. Vary the Armature POT to run the motor at its rated speed. (As per name plate details). 4. Open the DPDT switch suddenly and note down the time taken for the motor to fall from its rated speed to 10 rpm. 5. Bring down all POTS (armature and field) to Zero. 6. Again by keeping DPDT switch at 1-1 position, bring down the motor to run at its rated speed by adjusting both armature and field pots. 7. Now change the position of DPDT switch suddenly from 1-1 to 3-3 position. 8. Note down the time taken for the motor to fall from its rated speed to 10 rpm. Also note down the meter readings and tabulate. 9. Bring down all the POTS (Potentiometers) to their initial position and switch off the supply.

Measurement of Kb 1. Give connections as per the circuit diagram. 2. Before giving the supply, Armature POT should be kept at minimum position and field POT should be kept at maximum position. 3. The dc supply is given to the motor by closing the MCB (Miniature circuit Breaker) and run the motor to its rated speed by adjusting the armatures POT. 4. Note down the speed , Ammeter and voltmeter readings . 5. Decrease the armature voltage by adjusting the armatures POT and note down the speed, Ammeter and voltmeter readings . 6.Repeat the step 5 for various values of armature voltage by adjusting the armatures POT and tabulate the readings List of formulae 1. Back emf constant, Kb = (60/ 2N) Eb where Eb = Va - IaRa 2. Kt =Kb 3. Moment of inertia, J in kg-m2 =
1 2

60 2 2 2

Kg-m2

Where, = 2 1 =
1 +2 2

= 1 2
2

4. , =

1 2

Seconds /( )

5. , = 6. =
2 2 Ohms

Where = = 7. =
2

Ohms (from measurement of La tabulation) Ohms (from measurement of Ra tabulation)

Henry

8. = Seconds 9. Torque, = + /2 1 ~ 2 9.81

10.

() ()

Measurement of Ra Armature voltage, Va in volts Armature current, Ia in Amps Armature resistance, Ra in ohms

S.No:

Average Ra = -------- ohms.

Measurement of Za Armature voltage, Va in volts Armature current, Ia in Amps Armature impedance Za in ohms

S.No:

Average Za = --------- ohms Measurement of Kb S.no Armature Voltage (Va in volts) Armature current (Ia in amps) Speed in rpm Kb

Measurement of B and J S.no: Load condition Without load Time, t sec. AT 1500 rpm V1 volts I1 Amps AT 10 rpm V2 volts I2 Amps

With load

RESULT:

Questions 1. Define transfer function. 2. Mention the applications of DC shunt and series motor. 4. What are the advantages and disadvantages of transfer function? 5. What do you mean by electromechanical system? 6. Define electrical time constant. 7. Define mechanical time constant. 8. What is meant by moment of inertia? 9. What does viscous friction co-efficient mean?

Measurement of Kb

M C B

Determination of Ra

M DC supply C B

Determination of armature inductance La :

M C B

Variac