G Owacz - V13i2 - 6mathematical Model of DC Motor For Analysis of Commutation Processe

Electrical Power Quality and Utilisation, Journal Vol. XIII, No.
2, 2007
Mathematical Model of DC Motor for Analysis

of Commutation Processes
Zygfryd Gowacz and Witold Gowacz
AGH University of Science and Technology, Poland
Summary: The mathematical model of dc motor was created. In model the commutator is
approximated by circuit with variable parameters. Extremely different values are assigned to circuit
parameters depending on the angular position of the rotor. Model equations were solved using
implicit integration method. Commutation processes of dc motor were investigated with the aid of
this model. Presented model can be extended and to take into account another phenomena occurring
in dc motor.
1. INTRODUCTION
The methodological basis for the analysis of dc motor
is the electromechanical system theory [5]. Difficulties in
numerical analysis are caused by commutator. Mathematical
models of commutator can be created with different degree
of accuracy for representing of commutator characteristics
[2, 3, 4, 6, 7]. In this paper the commutator is approximated
by circuit with variable parameters. Mathematical model of
dc motor with loop rotor winding has been constructed for
diagnostics aims. This model creates possibility to avoid or to
reduce the measuring tests as well as to perform investigations
which cannot be carried out on a real object.
2. MATHEMATICAL DESCRIPTION
OF COMMUTATOR DC MOTOR
The mathematical description of dc motor is derived on
the following assumptions:
the magnetic circuit is linear,
the air-gap is uniform,
the unipolar flux is neglected,
the eddy currents in iron are not taken into account,
the commutator of the motor is approximated by circuit
with variable parameters.
The commutator of dc motor is approximated by resistance
circuit. Extremely different values are assigned to parameters
of circuits depending on the angular position of the rotor.
Mathematical model of dc motor formed in this manner is a
set of stiff nonlinear differential equations [1]. This model
is competitive in comparison with variable structure models.
Equivalent circuit of dc motor with loop rotor winding is
presented in Figure 1. The commutator dc motor circuit is
described by stiff differential equations:
d CT LCi + CT RCi = u
dt
L
CT LC = a
Keywords:
mathematical model,
dc motor,
commutation process
i
i = a
ib
(3)
u
u = a
ub
(4)
J d + D = Te Tl
dt
(5)
d =
dt
(6)
Te = 1 (i a )T (L a ) i a
2
(7)
The connections of the circuit elements determine the

form of the C matrix of constraints. The introduction of the
C matrix of constraints reduces the system of branch currents
(1)
(2)
Fig. 1. Equivalent circuit of dc motor with loop rotor winding
Zygfryd Gowacz and Witold Gowacz: Mathematical Model of DC Motor for Analysis of Commutation Processes
65
and system of branch source voltages to systems of mesh

currents and mesh source voltages:
i
ig = C a
ib
0
0
ua =
0
0
u
t
u f
(8)
u
CT u g = a
ub
(9)
The C matrix of constraints is in the following form:

1 0
0 1
0 0
0 0
0 0
0 0
0 0
1 0
1 1
0 1
C =
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0

0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
1
0
0
0
1
0
1
0
0 0
0 0
0 0
1 0
0 1
0 1
0
0
0
0
0
1
0
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
1
0
0
0 0 0
0 1 0
0 1 1
0 0 1

0
0
0
0 0
0 0
0 0
0
0
0
0
0
0
1
0
0
0

0 0
0 0
0 0
0
0
0
0
0
1 1

0 0
0 0
0
0
0
0
0
0
1
0
0
0
0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0 (10)
1 0
1 1
L=
0 1
0 0
0 0
0 0
1 0
1 1
0 1
The ia , ib , ua , ub vectors and L , La , R matrices for

considered machine are of the following forms:
66
ia1
i
a2
ia 3

ia =
i
a( K 1 )
iaK
it
i f
(11)
ib1
i
b2
ib3
ib =

i
b( K 2 )
ib( K 1 )
(12)
Lr1
.
.
M K1
M c1
M
f1
0
.
.
(13)
0
0

0
ub =

0

0
(14)
M 1K
M1c
M1 f
.
.
.
.
.
.
.
.
.
.
LrK
M Kc
M Kf
M cK
Lc
M cf
M fK
M fc
Lf
.
.
0
.
.
0
.
.
0
.
.
.
.
0
.
.
Lr1
M 21

La =
M K1
M c1
M f 1
M12
M1K
M1c
Lr 2
M 2K
M 2c
MK2
M c2
LrK
M cK
M f 2 M fK
M Kc
Lc
M fc
. 0
.
. .
. 0
. 0
(15)
. 0
. 0
.
. .
. 0
M1 f
M2 f

(16)
M Kf
M cf
L f
R = diag (R r1 ,..., R rK , R c , R f , R a1 ,..., R aK ,

Rb1 ,..., RbK )
(17)
The inductances depend on the rotor position and are obtained

by finite element calculations and then expressed in Fourier
series [8]. A smaller accuracy is achieved when the inductances
are calculated by means of the air-gap permeance function:
=

1 + a cos (y )
'
=1

tg
z
1 + b cos y +
r

=1
' = kC k Fe
(18)
(19)
Power Quality and Utilization, Journal Vol. XIII, No 2, 2007
Resistances Ram, Rbm, m = 1,.., K depend on the rotor

position. These resistances in the motor with rotor loop
winding are determined by the formulae:
Ram ( t ) = h ( t ) + 3 + ( m 1 ) + mod 2 3
2
p
p
(20)
Rbm ( t ) = h ( t ) + 3 + ( m 1 ) + 3 mod 2 3
2p
p
(21)
for m {1, 2, ..., K}
= 2 , 3 = 0.5 b + 2
K
r
K
c
A function f() is in the form:
Rz R p
h( ' ) = min max
1
(22)
' 1
, R p , Rz (23)
where:
|| absolute value of function,
1 = 1 3 , 2 = 2 3 , 1 , 2 coefficients.
In the model equations and figure the notation was applied:
K number of commutator bars,
C matrix of constraints,
L matrix of branch inductances,
La matrix of mesh inductances,
R matrix of branch resistances,
ig vector of branch currents,
i vector of mesh currents,
ia resistance-inductance mesh currents vector,
ib resistance mesh currents vector,
ug vector of branch source voltages,
u vector of mesh source voltages,
ua resistance-inductance mesh source voltages vector,
ub resistance mesh source voltages vector,
Te , Tl electromagnetic and load torques,
air-gap permeance,
o magnetic permeability of the air,
r mean radius of the air-gap,
d, d value and equivalent value of the air-gap,
kC Carter coefficient,
kFe iron saturation coefficient,
Lr1 ,..., LrK self-inductances of rotor coils,
Lc self-inductance of commutation winding,
Lf self-inductance of field winding,
Mij, i = 1,, K + 2, j = 1,, K + 2, i j mutual

inductances,
Rr1 ,..., RrK resistance of rotor coils,
Rc resistance of commutation winding,
Rf resistance of field winding,
Ra1 ,..., RaK, Rb1 ,..., RbK commutator resistances,
Rp min. value of brush-coil contact resistance,
Rz max. value of brush-coil contact resistance,
b width of brush,
rc radius of commutator,
J inertia moment,
D damping coefficient.
3. SIMULATION RESULTS
The effective implicit integration method is used for
solution of stiff equations of model. Location algorithm
which allows to determine the parameter value change
instants with required accuracy is employed. Simulation
parameters are determined by the transient state duration
and required accuracy of calculations. The numerical
investigations were carried out using FORTRAN language.
The design data and values of the parameters of motor were:
PN = 13 kW, UN = 75 V, IN = 200 A, UfN = 220 V, IfN =
4 A, nN = 700 obr/min, p = 2, r = 0.15 m, rc = 0.130 m,
b = 0.025 m, dc = 0.006 m, df = 0.004 m, Rc = 0.0064 ,
Rf = 50 , Rr1 = Rr2 = ... = RrK = 0.00093 , K = 126,
Rp = 0.01 , Rz = 10000 , J = 0.9 kgm2, D = 0 Nms/rad.
Operation of this motor was simulated at constant armature
voltage Ut = 75 V, constant field voltage Uf = 220 V, load
torque Tl = 20 Nm, initial value of field current if (0) = 3.2
A and initial value of velocity of rotor (0) = 70.16 rad/s.
Selected calculation results are presented in Figures 26.
4. CONCLUSIONS
Mathematical model of commutator dc motor with loop
and other type winding of rotor is a set of stiff nonlinear
differential equations. This mathematical model enables
to investigate the commutation processes of dc motor.
Fig. 2. Current of one coil of rotor
Fig. 3. Current of armature winding
Zygfryd Gowacz and Witold Gowacz: Mathematical Model of DC Motor for Analysis of Commutation Processes
67
calculations and measurements results are caused by still

inaccurate description of physical phenomena in commutator
dc motor.
5. REFERENCES
Fig. 4. Current of field winding
1. C a s h J . R . : A Class of Implicit Runge-Kutta Methods for the

Numerical Integration of Stiff Ordinary Differential Equations. JACM,
Vol. 22, No. 4, 1975, pp. 501511.
2. G o w a c z Z .: Mathematical model and simulation investigation
of dc machine with equalizing connections in emergency states. Proc.
of International Conference on Electrical Machines (ICEM 2000),
Espoo, 2000, pp. 14471451.
3. G o w a c z Z . , Z d r o j e w s k i A . : Mathematical Modelling
of Commutator DC Motor in Failure Conditions. Proc. of 5th IEEE
International Symposium on Diagnostics for Electric Machines,
Power Electronics and Drives (SDEMPED 2005), Vienna, 2005, pp.
267271.
4. G o w a c z Z . , Z d r o j e w s k i A . : Spectral Analysis of Signals
of Commutator DC Motor. Proc. of International Conference on
Electrical Machines (ICEM 2006), Chania, Greece, 2006, CD, No.
656, pp. 14.
5. K r a u s e P. C .: Analysis of Electrical Machines, New York: McGrawHill, Book Company, 1986.
6. N o g a M . , G o w a c z Z . , R u s e k J .: Mathematisches
Modellder Gleichstrommaschine zur Berechnung der Strme in den
Luferwicklungen. 6. Wissenschaftliche Konferenz: Rationalisierung
im Maschinenbau durch Schlssel-technologien, Fachtagung 8:
Elektroautomatisierungstechnik, TH Zwickau, 1989, s. 167170.
7. R a m s W . : The Commutator Machine as a System of the Cyclic
Constant Structure. Proc. of International Conference on Electrical
Machines (ICEM 2004), Cracow, 2004, CD, pp. 16.
8. S c h r d e r R . , O b e r r e t l K . : Neues Verfaren zur Berechnung
der Kommutierung von Gleichstrommaschinen unter Bercksichtigung
der Brstenbergangswiderstnde. Archiv fr Elektrotechnik, Vol. 73,
No. 2, 1990, s. 6979.
Zygfryd Gowacz
Fig. 5. Electromagnetic torque
received the M.Sc. degree in electrical engineering in

1973 from the University of Science and Technology
in Cracow. He started to work as an assistant at the
University of Science and Technology. He received
the doctors degree (Ph.D.) in 1979. At present he is
employed as a professor at Department of Electrical
Machines. His research interests include mathematical
models for electrical machines and thyristor converters, methods of analysis,
simulation languages.
E-mail: [email protected]
Witold Gowacz
received the M.Sc. degree in automatics and robotics in

2007 from the University of Science and Technology
in Cracow. His research interests include mathematical
models of physical phenomena, computer linguistics,
applications of computer science in control and
management.
E-mail: [email protected]
Fig. 6. Angular velocity of rotor
Considered model can be extended and to take into account

another phenomena occurring in dc motor (e.g. saturation
of magnetic circuit, influence of temperature on brush-coil
resistance, equalizing connections). Such model can be used
in investigation of semiconductor converter fed commutator
motor. The rotor coil currents, armature current, field current,
electromagnetic torque and angular velocity are depending
on parameters of dc motor. Effects of commutation processes
are visible in considered waveforms. The differences between
68
Power Quality and Utilization, Journal Vol. XIII, No 2, 2007

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Electrical Power Quality and Utilisation, Journal Vol. XIII, No.

Mathematical Model of DC Motor for Analysis

The connections of the circuit elements determine the

and system of branch source voltages to systems of mesh

The C matrix of constraints is in the following form:

The ia , ib , ua , ub vectors and L , La , R matrices for

R = diag (R r1 ,..., R rK , R c , R f , R a1 ,..., R aK ,

The inductances depend on the rotor position and are obtained

Power Quality and Utilization, Journal Vol. XIII, No 2, 2007

Resistances Ram, Rbm, m = 1,.., K depend on the rotor

for m {1, 2, ..., K}

A function f() is in the form:

Fig. 2. Current of one coil of rotor

Fig. 3. Current of armature winding

calculations and measurements results are caused by still

Fig. 4. Current of field winding

1. C a s h J . R . : A Class of Implicit Runge-Kutta Methods for the

Fig. 5. Electromagnetic torque

received the M.Sc. degree in electrical engineering in

received the M.Sc. degree in automatics and robotics in

Fig. 6. Angular velocity of rotor

Considered model can be extended and to take into account

Power Quality and Utilization, Journal Vol. XIII, No 2, 2007

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