EXPERIMENT8 I

EE508P
Experiment- 8
Measurement of DC Motor parameters and determine its transfer function
Submitted by
Abhaya Kotnala T21082 Arnab Kumar Pal T21090

Harshita Meena T21085 Rahul Dinda T21097
Chitra Bisht T21086 Shailendra Kakri T21099
Laxman Singh T21088 Rohit Singh T21100
Course Instructor:
Dr. Himanshu Misra
Date: 25 October 2021
School of Computing and Electrical Engineering

Indian Institute of Technology,
Mandi, Himachal Pradesh, India – 175005
Contents
0.1Aim of the experiment ............................................................................................................................. 5
0.2 Apparatus Required ............................................................................................................................... 5
0.3 Circuit Diagram ....................................................................................................................................... 6
0.4Theory ...................................................................................................................................................... 6
0.5Procedure:- .............................................................................................................................................. 7
0.5 Motor Transfer Function ....................................................................................................................... 10
0.6 Observations and Calculations:............................................................................................................. 11
0.7 Conclusion ............................................................................................................................................. 12
List of Figure
Figure 1 Circuit diagram of DC shunt motor ................................................................................................. 6
Figure 2 Experimental circuit diagram of dc shunt motor ............................................................................ 6
List Of Tables
Table 1 Apparatus Required ......................................................................................................................... 5
Table 2 Armature resistance calculation .................................................................................................... 11
Table 3 Armature Inductance calculation ................................................................................................... 11
Table 4 EMF Constant calculation ............................................................................................................... 11
Table 5 Friction Constant calculation.......................................................................................................... 12
0.1Aim of the experiment
Objective:-
Determining following parameters of DC motor
(A) Armature resistance (Ra)
(B) Armature inductance (La)
(C) Back-emf constant (Kb)
(D) Friction Constant (B)
0.2 Apparatus Required:
Sr. No. Apparatus Range Quantity

01 DC Motor DC supply = 180 V 01
Power Rating = 300 W
Rated Speed = 1500 RPM
02 Ammeter 0-5 A 01
03 Voltmeter 0-220 V 01
04 Techometer 0-2000 RPM 01
05 Rheostat 0-250 Ohm 01
06 Dipolar switches 0-6 A 02
Table 1 Apparatus Required
0.3 Circuit Diagram
Figure 1 Circuit diagram of DC shunt motor
Figure 2 Experimental circuit diagram of dc shunt motor
0.4Theory
➢ DC motor acts as an energy conversion actuator that converts electrical energy (of
source) into mechanical energy (for load). These motors are extensively applied for
robotic manipulations, cutting tools, electrical tractions etc.

➢ The torque-speed characteristics of DC motors are most compatible with most of the
mechanical loads. Hence DC motors are always a good ground for advanced control
algorithm. The control characteristics of these motors have resulted to their immense use
and hence control of their speed are required.
➢ Speed of a DC motor depends on supply voltage, armature resistance and field flux
produced by the field current.
➢ The methods to control speed of these motors are armature voltage control, armature
resistance control and field flux control.
➢ PID (Proportional Integral Derivative) controllers are extensively operated in control
applications in industries due to their mathematical modeling, easy operation, good
robustness, high reliability, elimination of steady state error. As a result, PID controllers
are used to control the speed of a DC motors.
0.5Procedure:-
(A) Determining Armature Resistance Ra of the DC motor.
• Connections were made as per the fig.1
• As shown in the diagram, field supply was not gave to motor.
• Field supply panel used, EMT 9 to give small controlled DC voltage to armature through
an Ammeter as shown.
• Reading of the voltage and current were taken.
The voltage drop from motor terminal to commutator Vc.

Now V - Vc is voltage drop across armature resistance at rated current. From this data, armature
resistance may be easily calculated as Ra = (V - Vc )/ Ia.
(B) Determining Armature Inductance La of the DC motor

Use small DC voltage as in procedure A above and apply it in both the polarities to armature 3 -
4 times to wipe out residual magnetism in armature.
• Connections were made as per the fig.1
• Use reduced AC voltage as input to armature. (Here, field is not connected to any
supply.)
Using Va (AC), Ia (AC) and made a table.
(C) Determining EMF Constant Kb Ra of the DC motor.
➢ 𝑉 = 𝐸 + 𝐼𝑎 ∗ 𝑅 𝑎
𝐸 = 𝐾𝑁Ф
𝑉 − 𝐼𝑎𝑅𝑎 = 𝐸 = (KNФ ) =𝐾𝑏𝑤
Where, E= back EMF
w= rotational speed in radian per seconds
Kb = Machine constant as required by transfer function
For a separately excited motor if rated field current is passed through field, then flux can be
assumed to be constant
• Connections were made as seperately excited motor.

• Keep applied armature voltage was kept to zero using proper knob on appropriate EMT9 turned
fully CCW. Motor field current kept to it's rated value.
• Now increase the armature voltage gradually. Motor load should be adjusted to about half of
it's full load value.
(D) Determining Friction constant B of the DC motor.
• Connections were as seperately excited motor..
• Armature voltage kept to zero. Keep motor field currentkept to it's rated value.
• Increase the motor armature voltage gradually using knob on appropriate EMT9.
• Measured the steady state speed in RPM. DC motor armature and field supply were
disconnected suddenly and simultaneously using appropriate switches on EMT8.
• Then motor start decelerating. Measured the time taken by the motor to come to
standstill from rated speed using stopwatch.

0.5 Motor Transfer Function
Transfer function of the dc motor can be calculated using the below block diagram. Here we
have calculated the armature resistance Ra , armature inductance La , EMF constant Kb anf
friction constant B.
The linear block diagram of the system can be easily computed by specializing the block
diagram .to the case when the armature current is constant (note that, since the whole system has
become linear). It can be easily seen that the system shrinks to the only above branch; as a matter
of fact, the constant current ia yields a constant transfer function.

0.6 Observations and Calculations:
1. Determining Ra
Applied Contact Drop Ia (Amp) Drop (V-Vc) Ra

Voltage (Va) (Vc)
13.5 1.5 1.6 12.9 7.5
Table 2 Armature resistance calculation
2. Determining La
Xl = 𝑟𝑜𝑜𝑡(𝑍 2 − 𝑅 2 ) = 54.46 Ω
100*pi*L = 54.46
L = 0.1733 H
Applied Ia (Amp) Z = Va/Ia Ra (ohm) La (H)

Voltage (Va)
44.2 0.804 54.975 7.5 0.1733
Table 3 Armature Inductance calculation
3. Determining EMF Constant (Kb)
Applied Ia (Amp) E = Va-IaRa Speed Speed (ω Kb=E/ω

Voltage (RPM) rad/sec)
(Va)
180.5 0.495 176.78 1765 184.83 0.956
161 0.456 157.608 1640 171.74 0.917
131 0.429 127.8 1450 151.84 0.841
120.51 0.422 117.37 1387 145.246 0.808
Table 4 EMF Constant calculation
4. Determining B
Mech. Time Constant (τm) = 𝐽/𝐵

𝑡
ω = ωo*(1-τm ) {After Approximation}
𝐽𝑑𝑤
⸪ + 𝐵𝜔 = 𝑇 e – (S1-S2)*0.2*g*r
𝑑𝑡
ωo
⸫ J (− τ
) + B𝜔 = 𝑇e – (S1 − S2) ∗ 0.2 ∗ g ∗ r
ωo
(B ∗ τm) ∗ (− ) + B𝜔 = 𝑇e – (S1 − S2) ∗ 0.2 ∗ g ∗ r {From τm = 𝐽/𝐵 }
τ
Applie Ia Speed Speed (ω Te S1 S2 Tload(in t (ω2 = B (in mili
d (Amp) (RPM) rad/sec) mili 0) Nm/rad/sec)
Voltag Nm) Seconds
e (Va)
182.1 0.481 1787 187.134 0.4588 0 0 0 0.54 19.08
180.3 0.91 1671 174.94 0.9026 12 11 79.968 0.32 19.26
180.1 1.05 1657 173.52 1.0425 16 11 399.84 0.28 20.34
Table 5 Friction Constant calculation
Transfer function of the machine

At Tload = 0, Ra = 7.5Ω, La = 0.1733H, Kb = 0.95 V/rad/sec, B = 0.019 Nm/rad/sec,
J = 0.0102 Nm/rad/sec2
950
ω(s)/V(s) = (19+4.66𝑠)(7.5+0.17𝑠)+902.5
0.7 Conclusion
The estimated motor parameters can be used to verify the dc motor performance such as speed or
load torque response against respective disturbance or to be used to build a model of the motor.

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EE508P

Abhaya Kotnala T21082 Arnab Kumar Pal T21090

School of Computing and Electrical Engineering

(A) Armature resistance (Ra)

(B) Armature inductance (La)

(C) Back-emf constant (Kb)

(D) Friction Constant (B)

0.2 Apparatus Required:

Sr. No. Apparatus Range Quantity

Figure 1 Circuit diagram of DC shunt motor

Figure 2 Experimental circuit diagram of dc shunt motor

robotic manipulations, cutting tools, electrical tractions etc.

and hence control of their speed are required.

produced by the field current.

resistance control and field flux control.

➢ PID (Proportional Integral Derivative) controllers are extensively operated in control

applications in industries due to their mathematical modeling, easy operation, good

are used to control the speed of a DC motors.

(A) Determining Armature Resistance Ra of the DC motor.

• Connections were made as per the fig.1

• As shown in the diagram, field supply was not gave to motor.

• Reading of the voltage and current were taken.

The voltage drop from motor terminal to commutator Vc.

resistance may be easily calculated as Ra = (V - Vc )/ Ia.

(B) Determining Armature Inductance La of the DC motor

4 times to wipe out residual magnetism in armature.

• Connections were made as per the fig.1

Using Va (AC), Ia (AC) and made a table.

(C) Determining EMF Constant Kb Ra of the DC motor.

𝑉 − 𝐼𝑎𝑅𝑎 = 𝐸 = (KNФ ) =𝐾𝑏𝑤

Where, E= back EMF

w= rotational speed in radian per seconds

Kb = Machine constant as required by transfer function

• Connections were made as seperately excited motor.

fully CCW. Motor field current kept to it's rated value.

it's full load value.

(D) Determining Friction constant B of the DC motor.

• Connections were as seperately excited motor..

disconnected suddenly and simultaneously using appropriate switches on EMT8.

standstill from rated speed using stopwatch.

of fact, the constant current ia yields a constant transfer function.

Applied Contact Drop Ia (Amp) Drop (V-Vc) Ra

Applied Ia (Amp) Z = Va/Ia Ra (ohm) La (H)

3. Determining EMF Constant (Kb)

Applied Ia (Amp) E = Va-IaRa Speed Speed (ω Kb=E/ω

Mech. Time Constant (τm) = 𝐽/𝐵

Table 5 Friction Constant calculation

Transfer function of the machine

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