Mode

MOT
Transfer
The DC mo
below.
The DC mo
A major fr
drive an ex
Because o
1. hig
2. spe
3. por
4. we
5. and
DC motors
1. rob
2. tap
3. dis
4. ma
5. and
The transf
1. a li
2. and
will
3. The
4. The
uns
So that
The torque
current as

eling o
TOR i
function o
otor is a po
otor conver
raction of th
xternal load
f features s
h torque,
eed control
rtability,
ll-behaved
d adaptabil
s are widely
botic manip
pe transport
k drives,
achine tools
d servovalv
fer function
near appro
d second-or
l be neglect
e input volt
e air-gap flu
saturated.
e developed
follows:

of Arm
in Sim
of the DC m
ower actuat
rts direct cu
he torque g
d.
such as
lability ove
speed-torq
ity to vario
y used in n
ulators,
t mechanis
s,
ve actuators
of the DC
oximation to
rder effects
ted.
tage may b
ux of the
d by motor

matur
mulink
motor
tor device t
urrent (DC)
generated i
r a wide ra
que charact
ous types of
umerous co
sms,
s.
motor will
o an actual
s, such as h
e applied t
e motor is p
r is assume
re & F
k from
that deliver
) electrical
n the rotor
nge,
teristics,
f control m
ontrol appli
be develop
motor,
hysteresis a
o the field
proportiona
d to be rela
Field
m scra
rs energy to
energy into
(armature
ethods,
ications, in
ped for
and the vol
or armatur
al to the fie

ated linearl
contr
atch
o a load, as

o rotational
) of the mo
cluding
tage drop a
re terminals
eld current,
ly to and

rolled
s shown in
l mechanic
otor is avai
across the
s.
provided t
d the armat
DC
figure
cal energy.
lable to
brushes,
the field is
ture
It is clear
constant w

Field curr
First, we s
amplificati
Where ia=I
current is
The motor
expressed

Where TL(
However,
such as a
below

is written a
So, by rea
Therefore,
from above
while the ot
rent contr
shall consid
on. Then w
Ia is a cons
related to f
r torque Tm
as
(s) is the lo
the disturb
antenna win
as
arranging eq
, the transf
e equation
ther curren
olled moto
er the field
we have, in
tant armat
field voltag
m(s) is equ
oad torque a
bance torqu
nd-gust fo
quation, we
fer function
that, to ha
t becomes
or
d current co
Laplace tra
ture current
e as
al to torque
and Td(s) is
ue must be
rces. The
e have
of the mot
ve a linear
the input c
ontrolled m
ansform no
t, and km i
e delivered

s the distur
e considere
load torque

tor-load co
system, on
current.
otor, which
otification,
s defined a
to the load

rbance torqu
ed in syste
e for rotat

mbination,
ne current
h provides a

as the moto

d. This rela
ue, which i
ms subject
ting inertia


with Td(s)
must be m
a substanti
or constant.
ation may b
s often neg
ted to exte
, as shown
=0, is:
aintained
al power
The field
be
gligible.
ernal forces
n in figure
s
e
The block
Alternativ
Where f=L
may be ne

Armature
The armat
The stator
1. a fi
2. a p
When a co


when a pe

Where km
The armat

Where Vb(
we have

Where (


SIMU

Step 1: M
diagram m
vely, the tra
Lf/Rf and
eglected.
e-controlle
ture-contro
r field can b
ield coil and
permanent
onstant field
ermanent m
is a functio
ture curren
(s) is the ba
s)=s(s)
ULINK
Make a m
model of the
ansfer funct
L=J/b. Typ
ed DC mot
lled DC mo
be establish
d current o
magnet.
d current is
magnet is us
on of the pe
t is related
ack electrom
is the trans
K-MOD
model like
e field-contr
tion may b
pically, one
tor
otor uses th
hed by
r
s establishe
sed, we ha
ermeability
to the inpu
motive-forc
sform of th
DELLIN
this-
rolled DC m

e written in
as
finds that
he armature
ed in a field
ve
of the mag
ut voltage a
ce voltage p
e angular s
NG:
motor is sho
n terms of t
L>f and o
e current ia
d coil, the m

gnetic mate
applied to t
roportional

speed and t

own in figur
the time co

often the fie
a as control
motor torqu

erial.
the armatu

l to the mot
the armatu
re below.

onstants of
eld time con
l variable.
ue is
re by
tor speed. T
ure current
the motor
nstant
Therefore,
is


Step 2: Ma
below is th

Step 3: Fin

ake the mod

he same the
nally make t
del of step 1
above one)
the full mod
, a sub-syst
)
del as system
tem and put
m

t the other thhings as bel low- (DC m

motor block