DC Motor Theory and Simulation
DC Motor Theory and Simulation
DC Motor Theory and Simulation
Saif Sabah Sami1, Zeyad Assi Obaid2, Mazin T. Muhssin3, Ali N. Hussain4
1,4College of Electrical and Electronic Engineering Techniques, Middle Technical University, Iraq
1Research and Studies Department, Mayoralty of Baghdad, Iraq
2College of Engineering, University of Diyala, Iraq
3Faculty of Engineering, Mustansiriyah University, Iraq
Corresponding Author:
Saif S Sami
College of Electrical and Electronic Engineering Techniques
Middle Technical University
Al-Dora, Baghdad, Iraq
Email: [email protected]
1. INTRODUCTION
In the light of challenges posted by covid-19 worldwide spared, i.e., closing of universities
campuses, which led to a reduction in students’ physical engagement in laboratory experiments. Specifically
in electrical machines courses, where students should be able to comprehend the construction and principle of
operation and measure various quantities under different settings. An alternative active learning approach
which can take the form of a virtual laboratory is required.
Computer-aided software, like MATLAB/simulink, is important for effective learning of electrical
machines courses [1], [2], particularly dynamic models of these machines [3]-[8]. Capturing the dynamic
behaviour of electrical machines is important for many aspects, such as speed and angular control of motors
[9]-[13]. DC motors have always been used in applications where good controllability is required [3], [4],
[14], [15], such as robotic systems [16]-[19]. Simulink offers a graphical environment to model dynamic
systems easily, using block diagrams or Simscape blocks which mimic the characteristic of electrical and
mechanical components.
Several Simulink models of DC motors were reported in the literature [20]-[22]. However, these
studies generally lack sufficient details that would enable the reader to adequately rebuild the model, mainly
equations and subsystems within the model. In addition, no Simscape library-based models were presented
[23]-[26], which are more visually related to electrical circuits components that students are familiar with.
A DC machine has a stator and rotor. The stator typically accommodates field winding, while the
rotor consists of armature winding. The field and armature windings in DC machines can be supplied by
separate voltage sources (i.e. separately excited) or from the same source (i.e. self-excited). In addition, the
permanent magnet can replace the field winding in the stator, hence a permanent magnet DC machines is
constructed. In self-excited motors, the connection technique of field and armature windings form the basic
types of DC machines, such as shunt-connected, series connected, and compound-connected DC machines
[27], [28]. The majority of models presented in literature are for permanent magnet DC machines [29]-[32],
despite the desired features of other DC types. For instance, series-connected DC machines, that features high
staring torque, are used in traction system [13] and shunt-connected DC, that has relatively constant speed at
different loading levels, are used for industrial drives such as drills [27]. Consequently, the diversity of
research related to DC motor modelling and control may be affected.
The contribution of this paper is to present simple and modifiable packages for modelling and
simulation of different types of DC motors. This paper introduces, for the first time, a virtual laboratory of
dynamic models of (I) separately excited, (II) permanent magnet, (III) shunt-connected and (IV) series-
connected DC motors developed using MATLAB/simulink, where the transient behaviour of these motors can
be investigated. Three different methods to model the four types of DC motors, in MATLAB/Simulink
environment, are presented. Firstly, the block diagram of the motor is developed using transfer function
blocks. In the second approach, blocks represent electrical and mechanical components from Simscape
library are utilized to build the model. Finally, the built-in DC machine block is used to build the model. The
third approach is used for validation of the first and second modelling approaches. In this study,
mathematical models of DC motors are developed to relate the voltage applied to the armature to the velocity
of the motor. All models were depicted clearly for undergraduate students to be replicated easily. Hence, this
paper key contribution is to present simple and modifiable packages for modelling and simulation of different
types of DC motors. Therefore, all models and simulation files are freely available online as a GitHub
repository [33]. The developed models have been successfully integrated into electrical engineering courses
at Middle Technical University, Baghdad, Iraq.
The remaining sections of the paper is organised as follows; in section 2, the basic equations of DC
motors are presented. Sections 3, 4, 5 and 6 present the modelling of each of the four types of DC motors
using the three aforementioned methods. Simulation results of all models are depicted and discussed in
section 7. Finally, a summary of this study was presented in the conclusion section.
𝑣 = 𝑟 + 𝑖 +𝜔 𝐿 𝑖 (1)
𝑣 = 𝑟 + 𝑖 (2)
where
rf, ra: self-resistance of the field and armature windings.
LFF, LAA: self-inductances of the field and armature windings.
if , ia: currents flowing through the field and armature windings.
ωr: rotor (armature) speed.
LAF: mutual inductance between the field and armature coils.
The electromagnetic torque (Te) can be expressed as:
𝑇 =𝐿 𝑖 𝑖 (3)
The electromagnetic torque and load torque (TL) are related by:
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𝑇 =𝐽 +𝐵 𝜔 +𝑇 (4)
where
J: inertia of the rotor (plus any connected mechanical load).
Bm: damping coefficient associated with the mechanical rotational system of the machine.
The equivalent circuit of different types of DC motors is shown in Figure 1.
Figure 1. Equivalent circuit of (a) separately excited, (b) permanent magnet, (c) shunt-connected
and (d) series-connected DC motors (adopted from [28]).
Figure 2. A model of a separately excited DC motor using transfer function blocks in Simulink.
Detailed modelling and simulation of different DC motor types for research and… (Saif Sabah Sami)
706 ISSN: 2088-8694
(a)
(b)
𝑣 = 𝑟 + 𝑖 +𝜔 𝐾 (6)
𝑇 =𝐾 𝑖 (7)
The equivalent circuit for this type of machine is shown in Figure 1.b.
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Figure 4. A model of a permanent magnet DC motor using transfer function blocks in simulink.
(a)
(b)
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𝑣 =𝑣 (9)
𝐼 =𝐼 +𝐼 (10)
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(a)
(b)
𝑣 =𝑣 +𝑣 ;𝑖 =𝑖 (12); (13)
𝑉 = 𝑟 𝐼 + 𝑠𝐿 𝐼 + 𝜔 𝐿 𝐼
𝑉 = 𝑟 + 𝑠𝐿 𝐼
𝐼 =𝐼
𝑉 = 𝑉 + 𝑉 = 𝑟 + 𝑟 + 𝑠𝐿 + 𝑠𝐿 𝐼 +𝜔 𝐿 𝐼
∴ 𝐼 = (𝑉 − 𝜔 𝐿 𝐼 ) (9.a)
𝑇 = (𝑠𝐽 + 𝐵 )𝜔 + 𝑇 , 𝑇 = 𝐿 𝐼 ; ∴ 𝜔 = ( )
𝐿 𝐼 −𝑇 (9.b)
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(a)
(b)
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7. SIMULATION RESULTS
Models presented in earlier sections are simulated and their start-up characteristics are depicted and
discussed in this section. Machine’s parameters used in simulation are presented in Table 1. All models were
built and simulated using MATLAB 2018a.
Detailed modelling and simulation of different DC motor types for research and… (Saif Sabah Sami)
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(a) (b)
(a) (b)
(a) (b)
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(a) (b)
8. CONCLUSIONS
A virtual laboratory of models representing DC motors for undergraduate education and research
purposes was developed. Dynamic models of separately excited, permanent magnet, shunt-connected and
series-connected DC motors developed using MATLAB/simulink were presented. These developed models of
the four DC motors types are beneficial for research and educational purposes, hence, all models are made
accessible via a publicly available GitHub repository. A block diagram modelling approach was used that
allows model modification for various applications, such as speed control of DC motors. The second
modelling approach utilise Simscape library components, which mimic electrical and mechanical parts of DC
machines, to construct models. All developed models allow all machine parameters to be changed for
monitoring and evaluation purposes, hence an enhanced learning environment is created. In the third
modelling approach, the Simulink built-in DC machine block was adopted, which provide a benchmark for
the first and second modelling approaches to be validated. This study is part of an ongoing research on the
modelling and control of DC motors.
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