INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS

VOL.1 NO.2
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online)
http://www.researchpub.org/journal/jac/jac.html

APRIL 2013

Dynamic Modeling, Simulation and Control of Electric Machines for

Mechatronics Applications
Farhan A. Salem*

the different ways in which these windings are connected

lead to machines operating with different characteristics.
The field winding can be either self-excited or separatelyexcited, that is, the terminals of the winding can be
connected across the input voltage terminals or fed from a
separate voltage source. Further, in self-excited motors, the
field winding can be connected either in series or in parallel
with the armature winding. These different types of
connections give rise to very different types of machines.
Each electric machine is designed by a manufacturer to
operate in a certain range of voltages and currents, the
parameter quoted by the manufacturer is known as rating of
the machine.
The electric machines, considered in this paper are PMDC
motor, separately excited DC motor, armature controlled
DC motor, shunt DC motor and Series DC motor, for each
machine mathematical models are to be derived,
corresponding simulink models to be built and finally
control solutions are proposed.

Abstract- The mathematical models, corresponding simulink

models, analysis and control solutions of basic open loop
electric machines most used in mechatronics applications are
introduced; the introduced models are intended for research
purposes, as well as, for the application in educational process.
Index
TermsMechatronics,
Modeling/Simulation.

Electric

machine,

I. INTRODUCTION
is defined as the synergistic integration of
Mechatronics
sensors, actuators, signal conditioning, power electronics,
decision, control algorithms, computer hardware and software
to manage complexity, uncertainty, and communication in
engineered systems. The key element in mechatronics design
is the concurrent synergetic integration, instead of sequential,
analysis and optimization of these areas and balance between
modeling/analysis and experimentation / hardware
implementation, through the design process resulting in
products with more synergy [1].
Modeling, simulation, dynamics analysis and control of
electric machines most used for mechatronics motion control
applications are of concern, since the accurate control of
motion is a fundamental concern in mechatronics
applications, where placing an object in the exact desired
location with the exact possible amount of force and torque at
the correct exact time is essential for efficient system
operation, the accurate control of motion depends on many
factors including; the accuracy of applied control strategy
design, the accuracy of derived mathematical model, the
accuracy of interpreting simulation and analysis results. This
paper propose derivation of mathematical models, building
corresponding simulink models, dynamic analysis and
introduce control solutions of main DC machines used in
mechatronics applications. DC machines are electrical
machines that consume DC electrical power and produce
mechanical torque [2]. Due to precise, wide, simple, and
continuous control characteristics, small and large electric
machines are used in mechatronics applications, large electric
machines are used in machine tools, printing presses,
conveyor fans, pumps, hoists, cranes, paper mills, textile
mills, Small DC motors (in fractional power rating) are used
in control devices such as tacho-generators for speed sensing
and servomotors for positioning and tracking [3,4].
DC Machines can be classified according to the electrical
connections of the armature winding and the field windings,

II. BASIC EQUATIONS FOR MODELING ELECTRIC

MACHINES
Because of the ease with which they can be controlled,
systems of electric machines have been frequently used in
many applications requiring a wide range of motor speeds
and a precise output motor control [5,6]. The selection of
motor for a specific application is dependent on many
factors, such as the intention of the application, allowable
variation in speed and torque and ease of control, etc.
The dynamic equations of electric machines can be
derived, mainly, based on the Newtons law combined
with the Kirchoffs law. The fundamental system of
electromagnetic equations for any electric motor is given
by [7,8] Eq.(1)
d s

j k s

dt

d R
us RR i R
j ( k Pb m ) R
dt

s Ls i s L i R

R LR i R L i S

us Rs i s

(1)

Where : k the angular speed of rotating coordinate

system (reference frame), Depending on motor
construction (AC or DC), the method of the supply and
the coordinate system (stationary or rotating with the
rotor or stator flux) the above mentioned model becomes
transformed to the desirable form[9], the complement of
Eqs. (1), is equations describing mechanical part of
eclectic motor, without any load attached (that is total

Farhan Atallah Salem AbuMahfouz , with Taif University, 888, Taif,

Saudi Arabia .He is now with the Department of Mechanical engineering
, Faculty of Engineering, Mechatronics Sec. and with Alpha Center for
Engineering
Studies
and
Technology
researches
(e-mail:
salem_farh@yahoo.com).

30

INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS

VOL.1 NO.2
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online)
http://www.researchpub.org/journal/jac/jac.html

inertia of motor and load reduced to motor shaft), and given

by:
d
(2)
J
T e T Load
dt
In the aim of the synthesis of the electric machine control
system, control engineers most frequently use mathematical
models in form of transfer-function, the errors of the
parameters identification, nonlinearities and the temperature
influence (resistances of the windings) are usually omitted
in these models (motor and power converter). Thus, the
additional tests of the control system robustness should be
realized [9]. Electrical equivalent scheme of a DC motor is
shown in Fig. 1(a) , a nonlinear block diagram of a DC
motor is shown in Fig. 1(b).

APRIL 2013

The PMDC motor open loop transfer function without

any load attached relating the input voltage, Vin(s), to the
motor shaft output angle, m(s), is given by Eq.(5), this
equation can be simplified to have form given by Eq.(6)
G angle (s )

Kt
(s )

V in (s )
La J m s 3 (R a J m b m La )s 2 (R ab m K t K b )s

G angle (s )

(s )
V in (s )

(s )
V in (s )

(R J
a

Kt
m

)s 2 (R ab m K t K b )s

K t / Ra J a

K t K b
1
s s
bm

Jm
R a

A. Simulation of PMDC motor open loop system using

Simulink
The main, simulink models of PMDC are introduced in
[1] including models based on simplified models and for
Speed/time, Torque/time, Position/time and Current/time
curves are shown in Fig. 2

Fig. 1(a) Electrical equivalent scheme of a DC motor

Rresistance, Ra
12

Ra
Current

Vin

Motor1.mat
current ,i

d/dt

1
s

1/La
Step,
Vin=12

Kb

Inductance, 1/La

To File

Integrator1

Kt

-K-

Sum

Kb

Torque.
Motor2.mat
To File1
Output speed
d2/dt2(theta)

1
s

1/Jm
0

Fig. 1(b) A nonlinear block diagram of a DC motor

Angular speed

Integrator

Inertia , 1/Jm

sum

Torque load

Output angle
d/dt(theta)

Motor3.mat

III. MODELING AND SIMULATION OF PMDC

MOTOR

G speed (s )

Kt
(s )

V in (s )
La s R a J m s b m K t K b
Kt

L J
a

G speed (s )

(s )
V in (s )

Load
Tload
torque1
Motor
Torque

armature
Current,ia

Va
1

Angular speed1
1

Kt

La.s+Ra

Vin

1/n

-K-

Jequiv.s+bequiv
motor
constant1

Armature

gear ratiorad2mps linear speed1

n=3.2 V=W*r2

,1

motor.mat

Kb

To File..1

(b) a suggested full block diagram model of PMDC motor open loop
system with introduced saturation and coulomb friction.
Current

Current
1/Ra
Step,
Vin=12

To File3

(a) Simulink model based on state space representation.

Torque

Angular speed

Motor1.mat

Motor2.mat

To File4

To File5

Motor4.mat
..

Torque

Kt

Angular position
1
s

1/Jm
Sum.2

Inductance,
1/La

Kt.
Sum.3

R J
a

s R abm K t K b

Damping,bm

R ab K t K b

TL

Ra J
R b K K s 1
t
b
a

Kt

KB

s 1

Tload

Kt

(c) Simulink model based on simplified mathematical model

31

1
s

Inertia , Integrator..2 Integrator

1/Jm1
Motor3.mat
bm

Kt

Kb Kt

G speed (s )

anlge
Motor4.mat

s (R a J m b m La )s (R ab m K t K b )
2

Integrator,

Damping, b

In [1] Modeling, simulation and dynamics analysis issues of

electric motor, using different approaches and verification
by MATLAB/Simulink, are introduced. In [10] controller
selection and design for electric motor using different
control
strategies
and
verification
using
MATLAB/Simulink are introduced. Based on Eq.(1) and
last two references, the PMDC motor open loop transfer
function relating the input voltage, Vin(s), to the motor shaft
output angular velocity, m(s), given by Eq.(3), by
assuming that the armature inductance, La is low and can
be ignored (La =0) compared to the armature resistance, Ra.
Eq.(3) can be simplified to have form given by Eq.(4)
G speed (s )

To File2

1
s

bm

To File7

INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS

VOL.1 NO.2
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online)
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Current.

Performing the energy balance on the DC motor

system (Fig. 3) the sum of the torques must equal zero,
we have:
T J * J * d 2 / dt 2
T e T T T EMF 0
Setting, Te K t i a i f , substituting values , considering

Torque

Motor1.mat

Motor2.mat

To File

To File1

speed.

Step,
Vin=12.

1/La

Current
1
s

Motor3.mat

Torque

Kt

1
s

1/Jm

Inductance, Integrator.
1/La1
Sum.

Kt.
0
Sum.1

Rresistance, Ra.

Inertia , Integrator..
1/Jm

1
s

To File2

Integrator..1

shaft output position gives Eq.(7) and considering shaft

output position gives Eq.(8):
d 2
d
(7)

angle..

Tload
bm

Ra

Damping, b.

APRIL 2013

Motor4.mat
To File3

K t i a i f T Load J m 2 bm
0
dt
dt

Kt
Kt..

d
bm 0
dt

(d) Simulink model based on simplified mathematical model

Fig. 2 PMDC simulink models

K t i a i f T Load J m

VI. MODELING AND SIMULATION OF BRUSHED DC

MOTOR

Taking Laplace transform and rearranging yields Eqs.(9),

for each output speed and angle.
K t I a s I f s T load J m s 2 s b m s s 0
(9)
K I s I s T
J s b s s

There are four classical types of self excited brushed DC

machines with field windings; series, shunt, separately
excited windings and compound DC machine

load

(8)

K t I a s I f s T load J m s b m s
Further rearranging to separate angular speed gives
Eq.(10)

(s )
1

A. Modeling and simulation of separately excited DC motor

K t * I a (s ) * I f (s ) T Load (s ) J m s bm
K * I (s ) * I f (s ) T L (s )
(s ) t a
J m s bm

In separately excited DC motor the field magnet has a

power supply that is separate from the armature
electromagnet; this means motor field strength is
completely independent from the armature field strength.
An Armature Controlled DC Motor is a separately excited
DC motor where the field current is usually constant and
the armature current controls the motor torque, the speed of
a separately excited dc motor could be varied from zero to
rated speed mainly by varying armature voltage in the
constant torque region. A Field Controlled DC Motor is a
separately excited DC motor where the field current
controls the motor torque. Separately excited DC motor
allows having independent control of both the magnetic
flux and the supply voltage, which allows the required
torque at any required angular speed to be set with great
flexibility; the biggest drawback is they are noisy. The
separately excited motor allows one to have independent
control of both the magnetic flux and the supply voltage,
which allows the required torque at any required angular
speed to be set with great flexibility [11].
A simplified equivalent representation of the separately
excited DC motor's two components are shown in Fig. 3, it
consists of independent two circuits, armature circuit and
field circuit, in which loads are connected to the armature
circuit The voltage is applied to both to field and armature
terminals, as shown , there are two currents, filed current,
if(t) and armature current, ia(t) in order to have linear
system, one of these two currents most held constant.

(10)

Applying Kirchoffs law around the field electrical loop

by summing voltages throughout the R-L circuit gives:
di (t )
V f R f i f (t ) Lf f

dt
Taking Laplace transforms, rearranging to separate the
field current, if gives:
V f R f I f (t ) Lf sI f I f (s )

Vf
R f Lf s

Applying Kirchoffs law around the armature electrical

loop by summing voltages throughout the R-L circuit,
taking Laplace transform, gives:

V in V R V L EMF 0

Setting, EMF K b i f d (t ) / dt , gives:

d (t )
di (t )
V in R a i a (t ) La a K b i f
dt
dt
V in s R a I s La s I s K b i f s s

Rearranging to separate the armature current, ia and field

current, if, gives:

1
I a (s )
V a (s ) K b * i f * (s )
La s R a
V in _ f (s )
I f (s )
Lf s R f

Substituting armature current, ia in Eq.(9) gives:

1
2
Kt if
V in (s ) K b i f (s ) T load J m s (s ) b m s (s )
L
s

a
a

Fig. 3 Schematic of a simplified equivalent representation of the field

controlled DC motor's electromechanical components.

32

INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS

VOL.1 NO.2
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online)
http://www.researchpub.org/journal/jac/jac.html

Rearranging, the transfer function relating input armature

voltage to output motor angular speed given by:
(s )
V armature (s )

The armature current must maintained constant ia(t) = ia=

constant, rearranging, yields:

T m (K 1K f i a )i f (t ) K m i f (t )

K t I f / Ra R f b
K bV field 2
La J 2 La J
1
s

R a R f2b
R ab
Ra b

Where Km : the motor constant. Applying Kirchoffs law,

Ohm's law, and Laplace transform to the stator field
yields mathematical model describing the electrical
characteristics of field controlled DC motor and given
by:

The following state space equation and matrix form can be

written, as:

R
L
d
1
i a a i a f i f * V in _ a
dt
La
La
La

T
L
d
b
f i a * i f load
dt
J
J
J
0

Ra
La
0

1
0

L
0
i f
f
Lf

0 i a
if 0
L
a


b
Lf

J i f i a 0
J

0
Vin
armature
V f

0 V a
T L
1
Vin.
J filed

1
La
0

EXCITED DC MOTOR
Using derived equation ofSEPARETLY
separately
excited DC motor,, the
simulink model shown in Fig. 4 (a), can be built.

Load
Tload
torque
armature
Current,ia

Va
Vin
armature

Vf

.,

Vin.
filed

field

1/n

motor
constant

Vin _ field s 1 Lf s R
If s If s
if, fField
Lf.s+Rf

current

rad2mps
gear ratio
n=3.1 V=W*r1

Vin _ field s
,

Lf s

linear spee

(13)

Rf

motor.mat
To File..

field
The Mechanical
characteristics of filed controlled DC
,.
motor is obtained by performing the energy balance on
the motor system, whereKbthe sum of the torques must
equal zero, we have:
T J * J * d 2 / dt 2 T m T T 0
The motor torque Tm, is related to the load torque, by:

Substituting If given by (13)

and rearranging, gives:
Angular speed1
Motor

-K-

motor
constant

gear ratiorad2mps
n=3.1 V=W*r1

if, Field
current

Lf.s+Rf

Vf

.,

2
K m * i f (t ) b m *s s Load
J m *s
s
Tload

Jequiv.s+bequiv

Armature

Armature

torque1

Kt

La.s+Ra

Va

) Tload
di (t Load
V in _ field R f i f Lf f torque

dt

armature
Angular speed
Motor
Current,ia
Torque
Where: Lf, stator
inductance,
Rf, stator resistance. Taking
1
1
Kt
1/n
-KLa.s+Ra
Laplace transform
and rearranging,
gives:
Jequiv.s+bequiv

T m T J * d 2 / dt 2

Angular speed

Motor
Torque

V in _ field V R _ field V L _ field 0

Applying Ohm's law, substituting and rearranging, we

have differential equation
that EXCITED
describes
the electrical
SEPARETLY
DC MOTOR
characteristics, given by:

R
d
1
i f f i f V in _ f
dt
Lf
Lf

Rf
L
f
i
f
d
ia 0
dt

0

APRIL 2013

linear speed
Vin
armature1

motor.mat
To File..

Fig. 4 (a) separately excited DC motor model

B. Modeling and simulation of the field current controlled

DC motor,

EMF Km V in - IKba Ra

L s

Armaturef

Torque
1

Kt

b m s s J m s 2Jequiv.s+bequiv
s

motor
constant1

,1

1/n

-K(14)

rad2mps
gear ratio
n=3.2 V=W*r2

linear speed1

motor1.mat

V armature

Vf=240[V]
La=0.012[mH]

Armature
Integrator,
inductance (s )

K m-KG angle (s )

V in _ filed (s ) s Lf s R f Js b

In the field current controlled

DC motor, the armature
Load
Tload
current must maintained constant
ia(t) = ia= constant , and
torque1
Angular the
speed1 motor to
the field current, iarmature
varies
with
time
,t, to cause
f
Motor
rotate,
this
yields;
the
air-gap
flux,

is
proportional
to the
Torque
Current,ia
Va
1
1
field current and
givenKtby:
1/n
-KLa.s+Ra
Jequiv.s+bequiv
Vin
K f Armature
* i f (11) motor
gear ratiorad2mps linear speed1
armature1
,1

Kb

Kb

constant1

Km *

Rf

1
in _ field
La.s+Ra

Rearranging Eq.(14),where the electrical and mechanical

field current controlled DC motor components are To File..1
coupled to each other through an algebraic the motor
constant , Km , we obtain
the transfer function relating
Armature
resistance
input filed voltage Vin_field
(s), and motor output angle
Table: Parameters of the DC Motor.
1
m(s), and
1/La given by:
Ra

,.

The back EMF voltage is given by:

armature
Current,ia

Va

Product

Va=240[V]
Lmutual=1.8[mH]

mutual
Inductance

The simulink model of the filed current controlled DC

Rf=240[W]
motor is shown in Fig. 4 (b),Lahere note that the armature
J=1[Kg.m2]
controlled theDC
motor is in nature
closed loop system,
armature current IS maintained
armature constant ia(t) = ia= constant
Ra=0.6[W]
while filed current 1controlled
DC
motor
is open loop. Cr=29.2[N.m]
inductance
1/Lf

n=3.2 V=W*r2

V Field

Rf

Field 1
inductance

Filed
current
Integrator.

Motor
torque

Step
input V

To File..1

The torque developed by the motor is related linearly to airgap flux, and the armature current ia(t), and given by
Eq.(12):
(12)
Motor Torque T m K 1 i a (t )

Gain

filed
Transfer Fcn

Motor linear
speed
Lf=120[mH]

motor angular
speed

Field
inductance. J.s+B

Km

Lf.s+Rf

motor1.mat

Field
1
resistance

Transfer Fcn

1
s

Fc=0.0005[N.m.Sec/Rad]

Integrator

Scope

1/Lf

Fig. 4 (b) Simulink model of the filed current controlled DC motor

1
Fc of the armature controlled
angular
C. Modeling and simulation
s
speed
DC Motor (1) Integrator.,
friction

Substituting (12) in (11), we yields:

coefficient

T m K 1K f i a (t )i f (t )

Cr

In armature-current controlled DC motor, the field

Couple
current if is held constant, and-K- the armature
current ia is
resisting
Product1

33

1/J
Inertia

mutual
.1
inductance

INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS

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controlled through the armature voltage Vin, different

approaches to derive mathematical model

Based on these equation simulink model shown in Fig. 4

(d), is built, the transfer function relating input voltage
and output angular speed is given by:

Approach (1) : The motor equations can be written to have

the following form:

(s )

V in (s )

Tm Kt * Ia

V V EMF V R _ a V L _ a 0

1/ Kb

2
b

2 / Ra

Js 1 La / R a
Load
Tload
torque1

V a K b I a R a La s

T m T Load b m + J m s

T m T Load b m + J m s

Va
Ra

V a (s )

K t / La J
s R a / La s b / J K b K t / La / J

La

-K-

s+b/Jequiv
Torque constant
,1
Kb
EMF constant

Fig. 4 (c) the armature controlled DC Motor

gear ratiorad2mps
n=3.2 V=W*r2

linear speed1

linear speed1
gear ratio V=W*r2
n=

dt
di a
K b La
Ra i a
dt

G speed (s )

To File..1

Kt
(s )

,
V in (s ) La s R a J m s b m K t K b
Kt

D. Accurate modeling and simulation of separately

excited DC motor.

T m K b I a . The motor equations can be written to have

Accurate characteristic equations of separately excited

DC motor can be represented as follows:
R i V in _ a
d
ia a a
dt
La
La

the following form

V EMF V R _ a V L _ a 0

T m T Load b m s s + J m s 2 s

V in _ a
L
R i
d
i f f f mutual * i a
dt
Lf
Lf
Lf

Assuming absence (negligible) of friction in rotor of motor,

yields:
T m T Load J m s2 s T Load J m s s

L
C
d
b
mutual i a * i f r
dt
J
J
J
Based on these equations, simulink model shown in Fig. 4
(e) is built [12], in this model the couple resisting Cr,
mutual inductance Lmutual , are introduced.

Since equation for back EMF is given by : V EMF K b

and motor torque is given by: T m K b I a , substituting
back EMF and motor torque in motor equation, rearranging
and solving for armature current and angular speed, gives:
V V EMF V R _ a V L _ a K b I a Ra La sI 0
I a V in K b

,1

-K-

(s )

V in (s ) La J m s 2 (R a J m b m La )s (R ab m K t K b )

motor.mat

Approach (2) : The back EMF is given by :

V EMF K b and motor torque is given by:

field flux

1/n

Further solving these equations will result in PMDC

transfer function, since the field current is kept constant,
result in permanent magnetic filed, the simulink model is
identical to model given in Fig. 2(b)

Angular speed1

1/n

Jequiv.s

Approach (3) : The motor equations can be written to

have the following form :
d
T Load K t * i a J
b
V in

1/Jequiv

Kt

s+Ra/La

Vin
armature1

Fig. 4 (d) separately excited DC motor model considering flux

(16)

Motor
Torque

armature
Current,ia

phai

phai

Load
Tload
torque1

Va

Angular speed

Motor
Torque

field flux

(15)

K t / LR a J
(s )

V a (s ) s bR a K b K t / R a J

armature
Current,
ia

s+La/Ra

Vin
armature

Based on these equations, the transfer function given by

Eq.(15) is derived and the simulink model shown in Fig. 4
(c), is built. Equation (15) can be simplified to be first order
transfer function given by Eq.(16), by assuming La=0
(electrical time constant is much smaller than the time
constant of the load dynamics), this yields:
(s )

APRIL 2013

Ra
1

a s / Ra

T m T Load

Jms

34

ar ratiorad2mps
n=3.1 V=W*r1

motor.mat

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APRIL 2013

To File..

Angular speed VS time

Armature
resistance

-K-

La

Field
inductance

Integrator.

Rf

Field
Field
resistance
inductance.

2
4
Tims (sec)
Current Vs Time

2
4
Time (sec)

15

10

N/m

V Field

armature
inductance

1
s

1/Lf

20

Va=240[V]
Lmutual=1.8[mH]
0
0
2
4
Rf=240[W]
Tims (sec)
J=1[Kg.m2]
Torque Vs Time
0.4
Ra=0.6[W]
Cr=29.2[N.m]
0.3
Lf=120[mH]
Fc=0.0005[N.m.Sec/Rad]
0.2

mutual
Inductance

Product

40

Vf=240[V]
5
La=0.012[mH]

Rad

Integrator,

Amp

Armature
inductance

60

Ra

Rad/m

V armature

angle Vs Time

10
Table: Parameters of the DC Motor.

1
s

1/La

0.1
1/Lf

Fc

angular
speed

friction
coefficient

2
4
Tims (sec)

Angular acceleration VS time

Angular acceleration VS time

10

Current VS time

12.1

Cr

Couple
resisting

-KProduct1

mutual
.1
inductance

2
Rad/m
Amp

Integrator.,

Rad/m2

1
s

4
2

12

11.9
11.8

1/J

0
Inertia

Fig. 4 (e) Accurate modeling of separately excited

Motor linear
speed

linear speed

Scope

''

1
Ias
'
armature current

Vin Armature

0
11.7

00

5
10
15
Tims
Tims (sec)
(sec)

10
20

A shunt wound DC motor has the armature and field

(stator) coils connected in parallel (or shunt) across the
power source, in result the same voltage is applied to both
coils, the transient in the armature circuit is simultaneous
with the transient in the field circuit , [13] a shunt excited
machine is essentially the same as a separately excited
machine, with the constraint that the field winding supply
voltage Vin_f is equal to the armature winding supply
voltage, Vin_a. this is shown in Fig. 5. Shunt wound DC
motor is designed for applications where constant speed
characteristics under varying load conditions are
important such as pumping fluids and fans, shunt motor
speed varies only slightly with changes in load. A shunt
wound DC motor is difficult to control, as reducing the
supply voltage also results in a weakened magnetic field,
thus reducing the back EMF, and tending to increase the
speed [ 14].

Ra

Vin

10

V. MODELING AND SIMULATION OF SHUNT DC

MOTOR

Ignoring armature reactions effects, to minimize the

effects of armature (compensating winding), this, a linear
model of a simplified separately excited DC motor consists
of a mechanical equation and electrical equation as
determined in the following equations:
d
Jm
K n i a b T load
dt
di
La a V in _ a i a R a K b
dt
Where Kn: motor constant, Based on these equation, the
simplified simulink model shown in Fig. 4 (f), is built.

La

5
Tims (sec)

Fig. 4 (g) Torque/time, Speed/time , Position/time Current/time, angular

acceleration/time curves for 12 V step input,

E. Simplified Modeling and simulation of separately

excited DC motor

Kb
If

Kn
K
TL
TL

1
s

angular speed

Field current

'
Motor torque

Fig. 4 (f) Simplified separately excited DC motor model

Fig. 5 Two circuit representations of shunt wound DC motor [ 14]

For parameters specified, running simulation

of separately
W
excited DC motor open loop model will result in
Torque/time, Speed/time , Position/time Current/time,
angular acceleration/time curves for 12 V step input shown
in Fig. 4 (g)

The stator and rotor circuits have the same voltage supply
and therefore the same voltage drop, and the current
drawn by the motor, im is the sum of the field current, if
and armature current ia, this all can be expressed as:
35

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Vin Va Vf

, i m if ia

Ra/La

The DC shunt motor has the same dynamics equations for

torque as for the separately excited motor, with constraint
that Vin_f = Vin_a and given (including matrix form) by the
following equations:

If

1
s

Kb/La
W
.

Ia

Vin_a

armature current

1/La

Vin Armature

di a
Kbif
dt
R
L
d
1
i a a i a f i f * V in _ a
dt
La
La
La

V in _ a R a i a La

Rf/Lf

Vin field

1
s

1/Lf

If
Field current

di f
,
dt
R
d
1
i f f i f V in _ f
dt
Lf
Lf

V in _ f R f i f L f

T m K b i a i f T Load b J

d
dt

Te
Motor torque

1
s

1/J

TL
'

T
L
d
b
f i a * i f load
dt
J
J
J

'1

angular speed

TL

V in _ a
K
Ra

La i a La
i a La

R i V
f
f f in _ a
0
Lf
L f

At steady state, currents are given by:

V K t * * i f
V
i a in
,
i f in
Ra
Rf
Substituting in torque equations, we have:
Kt Kt 2
Tm K t i ai f

Kb

Ia*If
.,

(b)
Fig. 6 Shunt DC motor models

VI. MODELING AND SIMULATION OF SERIES DC

MACHINES
In a series wound DC motor the field and armature
circuits are connected in series, in result the same current
flows is applied to both coils, this is shown in Fig. 7

Tm

1
V in _ a
Ra R f
Rf
Further substituting, and rearranging the load torque is
given by:

Tm T Load = bm *s s J m *s 2 s

Fig. 7 Two circuit representations of Series wound DC motor

T Load = Tm - bm *s s J m *s 2 s

A series wound DC motor is easy to use, will generate a

larger torque increase (provide startup torque) compared
with a shunt wound DC motor for given increase in
current. Series motors cannot be used where a relatively
constant speed is required under conditions of varying
load." this means series wound DC might not climb hills
with varying slope briskly and smoothly. The voltage
supply is divided between stator and rotor circuits and a
common current flow through the field and armature coils
current ia,[ 14] this all can be expressed as:

Kt Kt 2
1
V in _ a - bm J ms
Ra R f R f
Based on these, the simulink models of shunt DC motor are
built and shown in Fig. 6(a)(b).
T Load

Load
Tload
torque
armature
Current,ia

Va

Kt

La.s+Ra

Vf

.,

motor
constant

if, Field
current

Lf.s+Rf
field

1/n

Vin Va Vf

-K-

Jequiv.s+bequiv

Armature
Vin
armature

Angular speed

Motor
Torque

gear ratiorad2mps
n=3.1 V=W*r1

linear speed

motor.mat
To File..

,.
Kb

(a)

36

i m if ia

Applying Kirchoffs law around the electrical loop,

yields:
di
di
V in (s ) La a L f f I a R f I a R a EMF
dt
dt
di a
di f
(La
Lf
) I a R f R a K b i a
dt
dt
These equations can be rewritten, to have the following
form:

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d
d
Lf
) i a R f R a L mutual * i * n
dt
dt
d
T m K t i a2 T Load b J
dt
d
2
*T m L mutual i a T Load b J
dt

V in (s ) i a (La

APRIL 2013

(Ra+Rf)/(La+Lf)

1
s

Kb/(La+Lf)

Ia

Where :Lmutual :is the mutual inductance between the

armature winding and the field winding .Under steady state
condition, induction (L=0), gives:
V in (s ) R f I a R a I a EMF

.
Vin_a

1/(La+Lf)

Vin Armature

armature current

V in (s ) I a R f R a EMF
The torque developed in the rotor is:

Tm

Kt

Motor torque

Tm K * *i K f *i f

Tm Kt *i 2

The back EMF, also, can be expressed as:

EMF Kb * * n Kb (K f * I a )n
Substituting, we have the armature current given by:

TL

angular speed

It is a combination of shunt wound and series wound

configurations, so it can run as a shunt motor, a series
motor, or a hybrid of the two, as shown in Fig. 9. This
allows the compound motor to be used in applications
where high starting torque and controlled operating speed
are both required. The total motor voltage drop is the sum
of the series field and armature voltage drops, so the
series field coil is usually made out of a few turns of
heavy wire to keep the series field voltage drop to a
minimum. A shunt field coil is usually wound with many
turns of thin wire to minimize the shunt field current. In
most compound wound DC motors the field windings
have separate connections so they can be switched in or
out as desired [15]. The speed of a DC compound motor
can be easily controlled. It is enough if we change just the
voltage supplied to it

Based on this equation, if the input voltage Vin is kept

constant, the output angular speed is almost inversely
proportional to the square root of the torque, therefore a
high torque is obtained at low speed and a low torque is
obtained at high speed. Finally, the dynamic equations, for
simulation, can be written as follows:

R Ra
K * i * n
V in (s )
f
i b
La L f La L f a La L f

ia

'1

VII. COMPOUND DC MACHINES

V in2 * K t

K t m

'

Fig. 8(c) Series DC motor models

And the developed torque given by:

Ra R f

1
s

1/J

TL

V in (s )
Ia
R a R f K b m

d T m b T Load

dt
J
J
J

Based on these, the simulink models shown in Fig. 8, are

built.
Load
Tload
torque1
Angular speed1

Motor
Torque

Va

ia1

-K-

La.s+Ra

Vin
armature1

1/n

Jequiv.s+bequiv

Lmutual

-K-

Fig. 9 Two circuit representation of compound DC motor

gear ratiorad2mpslinear speed1

n=3.2 V=W*r2

,1

'
motor.mat

The rotor (armature) is composed of one or more

permanent magnets and coils for the stator (field). The
rotor, being a permanent magnet, simply follows the
stator magnetic field around. The speed of the motor is
controlled by adjusting the frequency of the stator power.
In the BLDC motor, the electromagnets do not move;
instead, the permanent magnets rotate and the armature
remains static. The BLDC motor is actually an AC motor.
The wires from the windings are electrically connected to
each other either in delta configuration or WYE ("Y"shaped) configuration. The main disadvantages of
brushed DC motor is that they need a commutator and
brushes which are subject to wear and require
maintenance, therefore have low life-span.

Kb
To File..1

Fig. 8 (a) Considering the mutual inductance

Load
Tload
torque1
Motor
Torque

Va
Vin
armature1

ia1

Kt

La.s+Ra
.

motor
constant1

Angular speed1
1
Jequiv.s+bequiv
,1

1/n

VIII. BRUSHLESS DC MOTOR (BLDC) MACHINES

-K-

gear ratiorad2mpslinear speed1

n=3.2 V=W*r2

'
motor.mat
Kb
To File..1

Fig. 8 (b) Considering the torque constant

37

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The kinetics of the motor can be described as:

d 2

but also on the current error, this all will result in two
loop motor control, speed control and current control.

d
e T T TEMF 0 T e T Load J m 2 bm
0
dt
dt

B. Two loops control

The generated electromagnetic torque, T e is given by:

Te

Pe

APRIL 2013

As shown in Fig. 11(a), two loops are used to control,

the motor, inner and outer loops. the motor torque is
controlled by the armature current Ia, which is regulated
by inner current control loop. The motor speed is
controlled by an external loop, which provides the current
reference Ia_R , for the current control loop. A current
sensor with gain Ks is used to measure the armature
current and a speed sensor (tachometer) with gain Ktach is
used to measure the angular speed.
A chopper is a high speed ON" or OFF semiconductor
switch, it connects source to load and load and disconnect
the load from source at a fast speed (PWM), chopper
takes a fixed DC input voltage and gives variable DC
output voltage, chopper works on the principle Pulse
Width Modulation technique, there is no time delay in its
operation, therefore it can be represented by a simple
constant gain Kc.Most suitable controller for both inner
and outer loops are; PI controllers, considering that
mechanical time constant is much larger than electric
time constant.
Applying this method to control the motion of cuboide
platform using PMDC motor simulated as shown in Fig.
11(b) to be prime mover, ( such application example
include mobile robot and small electric vehicle) and
considering load disturbance torque, which is the total
resultant torque generated by the acting resistive forces
including rolling resistance, aerodynamic drag, lift, hill
climbing and coulomb friction, which are modeled in
simulink as shown in Fig. 11(b). The overall system
simulink model is shown in Fig. 11(d).
Running the model for desired output speed of 24 rad/s,
with Ktach =1, and step input of 24, will result in a suitable
output speed response curve shown in Fig. 11(e), with
zero steady state error , the response shows that the
system reaches desired output in 7 seconds without
overshoot and with less time.
Improving this model as shown in Fig. 11(f), to include
speed sensor, current sensor and chopper, assigning
tachometer constant Ttach=1, running the model for
desired output speed of 12 rad/s well result in response
curves shown in Fig. 11(g).these response curves show
that the system reaches the desired output speed in 1.5
seconds, with generated motor torque equal to 9 Nm.

EMFa * i a EMFb * i b EMFc * i c

n
m
Where : Pe electromagnetic power of the motor, ea, eb, ec :
the back EMF in each phase . ia, ib, ic stator phase currents.
Under normal operation, only two phases are in conduction,
therefore the voltage balance equation, cross the two
windings under conduction, is given by:
di (t )
V w Rw iw (t ) Lw w
EMFw
dt

IX. CONTROL SYSTEM SELECTION AND DESIGN

There are many well known motor control system
design strategies that may be more or less appropriate to a
specific type of application, each has its advantages and
disadvantages; the designer must select the best one for
specific application [16]. Different resources introduce,
different models, designs and verifications of different
control strategies for DC motors, In [] DC motor control
applying Proportional-Integral PI, Proportional-IntegralDerivative PID or bipositional are introduced. [16]
Discussed modeling and controller design for electric
motor, using different control strategies and verification
using MATLAB/Simulink. In [17] different closed loop
control strategies and compensator designs were compared
to eliminate the steady state error and enhance the DC
motor system transient response in terms of output speed,
similar approach will be applied in this paper in terms of
output position. In [18,19] a good description of the optimal
control design, including linear state regulator control, the
output regulator control and linear quadratic tracker. [20]
covered how it is possible to improve the system
performance, along with various examples of the technique
for applying cascade and feedback compensators, using the
methods root locus and frequency response. It also covered
some methods of optimal linear system design and
presentation of eigenvalues assignments for MIMO system
by state feedback. A negative feedback control system with
forward controller shown in Fig. 10 (a)(b) is most used for
controlling DC machines used.
A. Current controller in a DC drive system

B.1 Proposed control method

There is a need to control current in motor armature,

this is because of the fact that mechanical time constant is
very large, compared with electric time constant, and initial
speed of motor, when started from zero, is zero, this will
result in maximum error, and hence given maximum
voltage, resulting in very large current flow at starting time,
correspondingly, because back EMF is zero when motor
started from zero, this current may exceeds the motor
maximum current limit and can damage the motor
windings. By applying current controller, the applied
voltage Vin will now not dependent on the speed error only,

To minimize the negative current characteristics, and

maintain generated motor torque, the simulink model
shown in Fig. 11(f), can be modified to be as shown in
Fig. 11(h), where we can relate the load torque
corresponding desired current to overcome this torque,
by dividing load torque value over torque constant, and
multiplying result by current sensor constant Ks, will
result in approximate current required to overcome load
torques, running the model for desired output speed of 12
rad/s well result in response curves shown in Fig. 11(i),
comparing these resulted response curves with response
38

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APRIL 2013

.1

curves shown in Fig. 11(g) show, that applying this new

theoretical technique , will result in more smooth response ,
less current (61 Amp), and with the same motor torque.

-Kaerodaynamic torque,
-K.
-K- M*g, .

r/2

0.5*ru*A*Cd*V^2*r
0.8
Derivative,

Angle or Speed
reference (desired) +

Error, Volt

Controller
(angle, speed)

-K-

Motor shaft

Control voltage,
Vc

or

60

cos(u)

Inclination
angle

du/dt

r^2m/2.

-K-

sin(u)

r*m*g/2

SinCos.

wheel radius,
V=W*r1

angular speed

bm

Volt

Coloum friction
Kt

Sensor
Angle or Speed measure e,.g
Potentiometer, Tachometer

(b)
Fig. 11Load torque sub-system of a mobile platform

Fig. 10 (a) Block diagram representation of PMDC motor control

electric Motor
Subsystem

Controller to be
selected

C. Combined armature and field currents control

Angle, speed

Error
P(s)

In1

Out1

Step input

Combined armature and field currents control using

PI controllers is shown in Fig. 12, running this model for
defined values of field, running this model for armature
volt input of 200 and field volt input of 100 will result in
response curves shown in Fig. 12 (b) the response curves
show that the output angular speed of 75 rad/s, is
achieved, with motor torque of 100 Nm. Applied PI
controllers can be tuned for better performance

Output
aaaaa.mat

-K-

To File

sensor

Fig. 10 (b) Preliminary simulink model for negative feedback with forward
compensation

DC Vin

Speed ,
angle
m

Chopper
PID-controller
Ia

Current
Sensor

Current
controller

CONCLUSIONS

Speed
Sensor

The mathematical models, corresponding simulink

models, analysis and control solutions of basic open loop
electric DC machines most used in mechatronics
applications are introduced. Two loops current and speed
control of eclectic machines are introduced and tested. A
proposed, yet theoretical, control method relating the load
torque with desired armature current and torque constant
to minimize current drawn while attaining generated
desired motor torque, is proposed and theoretically tested,
resulting in reducing controlling current in acceptable
ranges. Proposed models are intended for research
purposes, as well as, for the application in educational
process.
As future work, a practical implementation of the
proposed current and torque control is to be held tested,
and compared with theoretical result and proved
physically.

Armature
Current, Ia

Speed
controller

+
Desired speed
(a)

To SPEED
controller

3 To CURRENT controller

2 armature current, Ia

from
CURRENT 1
controller
Input 4

1 Cuurent, ia
Load torque

1 angular speed, W

TL 2

Error
from
SPEED 3
controller1

current Tm
Kt

La.s+Ra

den(s)

1/(Ls+R)3

1/(Js + b)3
Kb

Ks

angular
speed
1/n

speed
1/r

gear ratio.
Derivative du/dt

EMF constant
Derivative1 du/dtAngular acceleration

current sensor, Ks
-K-

Fig. 11(c)
PMDC motor sub-system
speed feedbacK

39

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Load torque

APRIL 2013

Load sub-system
Cuurent, ia
Load torque

f rom CURRENT controller

angular speed

angular speed, W

Chopper gain Kc

Kc

two_loops.mat
TL

armature current, Ia

speed

To File5

Armature current

f rom SPEED controller1 To CURRENT controller

Ia -K1
s

-K-

PI current controller1
Kp
Input

To SPEED controller

Step

1
s

Ki
Subsystem

PI speed controller

Fig. 11(d) Overall motion control system including load torque.

Ktach
speed sensor
-Kexited.mat

armature current, Ia

1
s

-K-

Step

exited1.mat

motor torque, Tm

-K1
s

-K-

Kc

PI 1current controller.

Cuurent, ia
Load torque
angular speed

1/Kt

''

Field current
1

Load sub-system1

'

Armature current

Vin_armmature

PI speed controller

exited2.mat

Angular speed, W

Kc

Ks

'''

Angular speed

Tload

exited3.mat

angular Position,

current sensor
1/Kt

'.

Angular position
PM DC Motor Subsystem1

Ks
Current sensor

Fig. 11(f) Overall motion control system including load torque.

Ktach
speed sensor
-Kexited.mat

armature current, Ia

1
s

-K-

Step

Armature current

Vin_armmature

PI speed controller

exited1.mat

motor torque, Tm

-KLoad sub-system1

-K-

Load torque

1
s

Kc

PI 1current controller.

Cuurent, ia

angular speed

Field current
1

1/Kt

Kc

exited3.mat

angular Position,

Angular position
PM DC Motor Subsystem1

Current sensor

Fig. 11(h) Proposed model

40

'''

Angular speed

Tload

1/Kt current sensor

Ks

''
exited2.mat

Angular speed, W

Ks

'

'.

Kp
Wm
2

Ki CONTROL, AUTOMATION AND SYSTEMS

-KINTERNATIONAL
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s
W*
Ia
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1PI speed
controller1

APRIL 2013

Desired angular speed1

Ks
Current sensor
-Kexited.mat

armature current, Ia

1
s

-K-

Kc

Vin_armmature

exited1.mat

Field current, If

-KLoad sub-system1

V
Constant

Cuurent, ia

1
s

-K-

Kc

PI1 field controller.

''

Field current

Vin_f ield

'

Armature current

PI armature controllerchopper gain

Step

exited2.mat

Motor torque, Tm

Kc

'''

Motor torque

Load torque

Tload

exited3.mat

angular speed, W

angular speed

Angular speed

'.

Separately excited DC Motor Subsystem1

Ks

Fig. 12 (a) Block diagram of combined armature and field currents control.

10

10
0
-10

40

Fig. 11(e) speed step response curve applying two loops control, speed
and current

200

10

, Angular speed Vs time

5
Time(s)

20

40
.
Armature current

60

20

40
.
Field current

60

20

60

100

Motor torque Vs time

150

10

Ampere

15

N/m

10
5

Ampere

5
Time(s)

50

20
10

Torque
100

60

Omega

Mgnitude

Omega

80

20

20

, Combined control;Armature and field

Two loops control ;Error signal

30

N/m

Two loops control;Speed and current

30

100

50

50

0
0

.
Armature current

200

10

[2]

Time(s)

, Angular speed Vs time

Motor torque Vs time

15

[3]

10

[4]

N/m

10
5

20

40
.
Armature current

60

80

4
.
Angular position Vs time

[5]

[6]

400

40

Ampere

600

60

[7]

200

20

40
Time(s)

[1] Ahmad A. Mahfouz, Mohammed M. K., Farhan A. Salem,

20

Fig. 11(g) angular speed/time, motor torque/time, armature current/time,

angular position/time response curves , running model given in Fig.
11(f)

REFERENCES

Time(s)

60

30

400

40

Fig. 12 (b) applying combined armature and field currents control

40

Ampere

20
Time(s)

.
Angular position Vs time

600

20

40
Time(s)

60

20

40

[8]

60

Time(s)

Fig. 11(i) Speed/time, torque/time, armature current/time, position/time

response curves.

41

Modeling, Simulation and Dynamics Analysis Issues of Electric

Motor, for Mechatronics Applications, Using Different Approaches
and Verification by MATLAB/Simulink", IJISA, vol.5, no.5,
pp.39-57, 2013.
Mohammad S. Widyan Anas I. Al Tarabsheh, Issa Y. Etier, Rolf E.
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Farhan Atallah Salem AbuMahfouz

B.Sc.,
M.Sc
and
Ph.D.,
in
Mechatronics of production systems,
Moscow, 2000. Now he is ass.
professor
in
Taif
University,
Mechatronics program, Dept. of
Mechanical Engineering and gendirector of alpha center for engineering studies and
technology researches. Research Interests; Design,
modeling and analysis of primary Mechatronics
Machines, Control selection, design and analysis for
Mechatronics systems. Rotor Dynamics and Design for
Mechatronics applications

42

APRIL 2013