Direct Current Rotational Mechanical Energy: Transfer Function of The DC Motor
Direct Current Rotational Mechanical Energy: Transfer Function of The DC Motor
Direct Current Rotational Mechanical Energy: Transfer Function of The DC Motor
below.
The DC motor converts direct current (DC) electrical energy into rotational mechanical energy. A major fraction of the torque generated in the rotor (armature) of the motor is available to drive an external load. Because of features such as
1. 2. 3. 4. 5.
high torque, speed controllability over a wide range, portability, well-behaved speed-torque characteristics, and adaptability to various types of control methods,
1. 2. 3. 4. 5.
robotic manipulators, tape transport mechanisms, disk drives, machine tools, and servovalve actuators.
1. a linear approximation to an actual motor, 2. and second-order effects, such as hysteresis and the voltage drop across the
brushes, will be neglected.
4. The air-gap flux of the motor is proportional to the field current, provided the
field is unsaturated. So that
The torque developed by motor is assumed to be related linearly to and the armature current as follows:
It is clear from above equation that, to have a linear system, one current must be maintained constant while the other current becomes the input current. Field current controlled motor First, we shall consider the field current controlled motor, which provides a substantial power amplification. Then we have, in Laplace transform notification,
Where ia=Ia is a constant armature current, and km is defined as the field current is related to field voltage as
The motor torque Tm(s) is equal to torque delivered to the load. This relation may be expressed as
However, the disturbance torque must be considered in systems subjected to external forces such as antenna wind-gust forces. The load torque for rotating inertia, as shown in figure below
is written as
Therefore, the transfer function of the motor-load combination, with Td(s)=0, is:
The block diagram model of the field-controlled DC motor is shown in figure below.
Alternatively, the transfer function may be written in terms of the time constants of the motor as
Where f=Lf/Rf and L=J/b. Typically, one finds that L>f and often the field time constant may be neglected. Armature-controlled DC motor The armature-controlled DC motor uses the The stator field can be established by
The armature current is related to the input voltage applied to the armature by
Where (s)=s(s) is the transform of the angular speed and the armature current is
The relations for the armature-controlled DC motor are shown schematically in figure below.
However, for many DC motors, the time constant of the armature, (964)a=La/Ra, is negligible; therefore :
Where the equivalent time constant (964)1=Raj/(Rab+KbKm). Note that Km is equal to Kb. This equality may be shown by considering the steady-state motor equation and the power balanced when the rotor resistance is neglected. The power input to rotor is (Kb(969))ia, and the power delivered to the shaft is T(969). In the steady-state condition, the power input is equal to the power delivered to the shaft so that (Kb(969))ia=T(969); since T=Kmia, we find that Kb=Km. Electric motors are used for moving loads when a rapid response is not required and for relatively low power requirements. Typical constants for a fractional horsepower motor are provided in table below.