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    TF Armature Controlled DC Motor

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    email2vadivel
    This document describes how to determine the transfer function of an armature-controlled DC motor. It provides circuit diagrams and procedures to calculate key parameters like the torque constant (Kt), armature resistance (Ra), and armature impedance (Za). These parameters are needed to derive the transfer function, which relates the motor's angular displacement (θ) to the input armature voltage (Va). The transfer function models how the motor's speed will respond to changes in the input voltage control signal.

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    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd

    TF Armature Controlled DC Motor

    Uploaded by

    email2vadivel
    5K views9 pages
    This document describes how to determine the transfer function of an armature-controlled DC motor. It provides circuit diagrams and procedures to calculate key parameters like the torque constant (Kt), armature resistance (Ra), and armature impedance (Za). These parameters are needed to derive the transfer function, which relates the motor's angular displacement (θ) to the input armature voltage (Va). The transfer function models how the motor's speed will respond to changes in the input voltage control signal.

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    This document describes how to determine the transfer function of an armature-controlled DC motor. It provides circuit diagrams and procedures to calculate key parameters like the torque constant (Kt), armature resistance (Ra), and armature impedance (Za). These parameters are needed to derive the transfer function, which relates the motor's angular displacement (θ) to the input armature voltage (Va). The transfer function models how the motor's speed will respond to changes in the input voltage control signal.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    5K views9 pages

    TF Armature Controlled DC Motor

    Uploaded by

    email2vadivel
    This document describes how to determine the transfer function of an armature-controlled DC motor. It provides circuit diagrams and procedures to calculate key parameters like the torque constant (Kt), armature resistance (Ra), and armature impedance (Za). These parameters are needed to derive the transfer function, which relates the motor's angular displacement (θ) to the input armature voltage (Va). The transfer function models how the motor's speed will respond to changes in the input voltage control signal.

    Copyright:

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    Download as PDF, TXT or read online from Scribd
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    Circuit Diagram for determination of Kt

    Tabulation for Determination of Kt

    Armature Armature
    S.No Current voltage Speed ω=2∏N/60 Eb=Va-IaRa
    (N) rpm (rad/sec) (Volts)
    (Ia) Amps (Va) Amps
    EX.NO:
    DATE:

    TRANSFER FUNCTION OF ARMATURE CONTROLLED

    DC MOTOR
    Aim
    To find the transfer function of armature controlled DC motor with
    control signal is applied to the armature.

    Apparatus Required

    Name of the
    S.No Type Range Quantity
    Apparatus
    1 Ammeter MC (0-10) A 1
    2 Ammeter MI (0-10) A 1
    3 Voltmeter MI (0-300) V 1
    4 Voltmeter MC (0-300) V 1
    5 Voltmeter MC (0-30) V 1
    6 Rheostat Wire Wound 270Ω/1.5A 1
    7 Rheostat Wire Wound 50Ω/5A 1
    8 DPST Switch - - 1
    9 Tachometer Digital - 1
    10 Auto transformer UPF 240V,10A,2.7KVA 1

    Formula Used

    Assume J = 0 .1 2 23 Kg-m2/rad & B= 1 N -m / (r a d/ s e c )

    1. Inductance of field winding (La)


    2 2
    Za-R a in ohms
    L a= 2π f

    where, Ra - Armature resistance in ohms

    Za – Armature impedance in ohms


    Transfer function of Armature controlled DC shunt motor

    Block Diagram

    Model Graph
    2. Torque constant of DC Motor (Kt)

    ΔEb
    K t = Kb = Δω in N-m/A

    where, Kb = back emf constant

    Δω - Change in ω obtained from graph

    Δ E b - Change in Eb obtained from graph


    Theory

    A DC machine can run as a motor, when a DC supply is given to its field


    winding to produce magnetic flux while the same DC source is used to supply
    current to the armature. Now the armature becomes a current carrying
    conductor and as it is kept in a magnetic field, it develops mechanical force.
    The direction of the force is given by Fleming’s Left Hand Rule. DC motor in
    control applications is used for delivering mechanical power to control
    elements while taking electrical control signal as input.
    Electrical input to DC motor is called control signal and that can be
    applied in two ways. In one method, the control signal is applied to the field
    winding while fixed voltage is applied to armature winding. This method is
    called Field controlled motor. In another method, control signal is applied to
    armature winding and constant voltage is applied to field winding. This method
    is called Armature controlled motor. Here the transfer function of armature
    controlled motor is to be found out.

    Derivation of Transfer Function


    Let

    Ra = Armature resistance in ohms

    La = Armature inductance in Henry

    Ia = Armature Current in Amps

    Va = Armature Voltage in Volts


    T = Torque developed by Motor in N-m

    Kt = Torque constant in N-m/A


    J = Moment of inertia of Motor in Kg-m2/ rad
    B = Frictional Coefficient of motor N-m/ (rad/sec)
    Kb = Back emf Constant in Volt / (rad/sec)
    Circuit Diagram for determination of Ra

    Tabulation to find Ra

    Field
    Armature Armature Resistance
    S.No Voltage (V) Current (I)
    (Ra=V/I)
    Volts Amps
    Ohms

    Mean, Ra =_____ohms
    According to Kirchhoff’s Voltage Law (KVL),

    dI
    V a = IaR a + L a dta + e b -----------(1)

    On Taking Laplace of equ (1)

    I a ( s ) [ R a + S L a ] + E b ( s ) = V a ( s ) -----------(2)

    Torque developed in a DC Motor is proportional to flux and armature current

    T(t) ∝ i a ( t)
    .
    .. T(t)= Ka ia (t) -----------(3)

    On Taking Laplace of equ (3)

    T(s) = K t I a (s) -----------(4)

    The differential equation governing the mechanical system of the motor is


    given by the expression

    d 2θ dθ
    J +B = T (t) -----------(5)
    dt2 dt

    On Taking Laplace of equ (5)

    (Js 2 + Bs) θ (s) = T(s) -----------(6)

    The back emf of a DC machine is proportional to speed of the shaft

    dθ
    e b (t) α dt

    dθ
    e b(t) = K b -----------(7)
    dt

    On Taking Laplace of equ (7)

    E b(s) = K bSθ(s) -----------(8)


    Circuit diagram for determination of Za

    Tabulation to find Za

    Armature Armature Armature


    S.No Voltage (V) Current (I) Impedance
    Volts Amps (Za) Ohms

    Mean, Za=_____ohms
    On equating expressions (4) & (6) and solving for Ia(s) gives

    (J S 2 +Bs)
    I a (s)= θ(s) -----------(9)
    Kt

    Substuting Equation (8) and (9) in (2) and rearranging gives

    θ(s) Kt
    = 2
    Va(s) (JS +BS)( R a +S L a )+ K t K b S

    Precautions

    1. While starting and stopping the machine the armature rheostat should be
    kept at maximum resistance position and the field rheostat should be kept
    at minimum resistance position.
    2. DPST switch is kept open initially.

    Procedure for determining Kt

    ¾ The connections are made as per the circuit diagram.

    ¾ By closing the DPST Switch, 220V DC Supply is given to the circuit and
    Start the motor using 3 point starter.

    ¾ The armature rheostat and field rheostat are varied to bring the speed to
    its rated value.

    ¾ The armature voltage is varied in steps by varying the armature rheostat


    and the corresponding speed is noted down in each step. The readings are
    taken for speeds below the rated value and tabulated.

    ¾ From the tabulated values, find the value of Kt

    Procedure for determining Armature Resistance (Ra)

    ¾ The connections are made as per the circuit diagram.


    ¾ Supply is given by closing the DPST switch.
    ¾ Tabulate voltage and current readings for various load conditions.
    ¾ The effective resistance of motor armature is calculated from the tabulated
    readings.
    Procedure for determining Armature Impedance (Za)

    ¾ The Connections are made as per the circuit diagram.


    ¾ The 230V, 50HZ, AC Supply is given to the circuit.
    ¾ By gradually varying the autotransformer, the different set of armature
    voltage (V) and armature current (I) readings are tabulated.

    ¾ From the tabulated values, the armature impedance (Za) value is


    calculated.

    Result
    Thus the transfer function of armature controlled DC shunt motor was
    found.

    θ(s)
    =
    V a (s)

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