Documente Academic
Documente Profesional
Documente Cultură
Prepared by:
Cheri Settell
Jeannine Meyers
Janet Klinkhachorn
Submitted to:
Abstract 3
1. Introduction 4
2. Design Approach 6
3. Theory 7
Figure 1, Separately Excited DC Motor Schematic 7
4. Calculations 9
MatLab Code 10
5. Procedure 11
6. Results 13
Figure 2, Initial Value Graphs 13
Figure 3, Increased Rf Graphs 14
Figure 4, Increased Lf Graphs 15
Figure 5, Increased both Rf and Lf Graphs 16
Figure 6, Decreased Rf Graphs 17
Figure 7, Decreased Lf Graphs 18
Figure 8, Decreased both Rf and Lf Graphs 19
7. Analysis 20
Figure 9, Comparison of Rf Values 22
Figure 10, Comparison of Lf Value 23
Figure 11, Comparison of Changing Both Rf and Lf Values 23
8. Conclusion 24
9. Bibliography 26
2
Abstract
Our team was tasked with finding a way for the armature current, field current, speed,
and back emf of a Separately Excited DC Motor to have no attenuation in the graph of
the values vs. time. The project had to be simulated using MatLab. Our team used the
differential equations pertaining to the speed, armature current, field current, and back
emf of the Separately Excited DC Motor to simulate the motor in MatLab. Once the code
was written, base values for the field resistance and inductance, and the base values for
the armature resistor and inductor were assigned and the simulation ran. After the initial
values were taken, the simulation was run again increasing and decreasing the field
resistor and inductor values. From the data collected, it was concluded that optimal
conditions were reached by decreasing the field inductance from 50 to 25 ohms and
leaving the field resistor at 75 ohms.
3
1. Introduction
machines are used in special heavy duty applications like draglines, electric trains, and
steal mills. They are used for these applications because their speed and torque can easily
has two parts: stator and rotor. The stator is the outer part and it is usually stationary.
The rotor rotates inside the stator. The stator houses the field windings, and the rotor
armature windings. This is called the armature current. There is also current supplied to
the field windings, this is called the field current. Since the rotor rotates inside the stator,
there is an interaction between the armature current and the field current by way of the
interaction between the flux of the armature and field windings. The speed voltage ea,
also known as the back-emf, is directly proportional to motor speed. It is related by the
motor speed constant kv and the field current if. The separately excited motor can be
motor is operated using its rated armature voltage, armature current, and field current, it
is said to be running at its base speed b. Armature voltage control is the method of
choice if a speed below the base speed is required. If speed above the base speed is
required, field current must be changed. As the power output of the motor cannot be
greater than its rating, the generated torque declines in over-speed operation.2
1
http://www.mech.up.edu.au
2
http://murray.newcastle.edu.au
4
The goal of our project was to find a way to have the values of the armature current,
field current, speed, and back emf level off with no attenuation in the generated values.
The following report outlines the creation of a simulated Separately Excited DC Motor
using MatLab, and discusses the best way to achieve our groups goal. From the tests
conducted, it was concluded the optimal values of back emf, armature current, field
current, and speed were obtained with the field resistance and inductance being 75 and 25
ohms respectively. Problem Statement: The values of armature current, field current,
speed, and back emf need to have no attenuation in the generated values vs. time.
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2. Design Approach
I. Research
A. The team began by doing research on how a Separately Excited DC Motor
worked and what it consisted of. We went to the Evansdale Library to get books
on the subject. There were several books on DC Motors, but none pertaining to
simulation of motors in MatLab.
B. After not finding much at the library, the team got on the internet. We looked for
any type of information on Separately Excited DC Motors. We found several
websites with information pertaining to our project. Most of the information we
found was the simulation of a Series DC Motor and the steady state MatLab code
for Separately Excited DC Motors. We did not know how the steady state
equations were derived from the differential equations, so we decided not to use
them, but the differential equations for the characteristics of the Separately
Excited DC Motor we did understand.
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3. Theory
A DC motor consists of a stationary cylindrical object called the stator, and a rotating
cylindrical object inside of the stator called the rotor. The stator consists of
electromagnetic poles called the field windings. In Figure 1, the Separately Excited DC
Motor is modeled electrically. Ra and La are the armature resistance and inductance. Ia is
the armature current. Va is the applied voltage to the armature. In our experiment, this
value is represented by a Vt. Ea is the back emf produced. Lf and Rf are the field
inductance and resistance. Vf is the applied field voltage. TL is the load torque. J is the
moment of inertia, and is the speed. In our project, we neglected B, the friction
coefficient.3
Figure 14
Separately Excited DC Motor
When an input voltage is applied to the field windings, the equation that relates the field
voltage (Vf) and the field current (If) is as follows:
Vf = RfIf + LfdIf/dt5
Rf is the field resistance
Lf is the field inductance
The input field voltage and input field current control the speed, induced electromotive
force (Ea), terminal voltage (Vt), and armature current (Ia). The rotor consists of the
armature windings. When an input voltage is applied to the field terminals of a DC
motor, the terminal voltage (Vt) and the armature current (Ia) is related through the
following equation:
Vt = IaRa + Ea + LadIa/dt6
Ra is the armature resistance
La is the armature inductance
3
http://www.avere.org
4
http://murry.newcastle.edu.au
5
http://newcastle.edu.au
6
http://newcastle.edu.au
7
Once the field and terminal voltages are found, the speed of the rotor can be found.
Using the voltage constant (Ke), the speed of the rotor () is dictated by the equation:
Jd / dt = Te - TL7
Te = KeIfIa
Te is the electrical torque
TL is the load torque
J is the moment of inertia
A magnetic field is created by the field windings; when the armature rotates in this
magnetic field, a voltage is induced in the armature winding. This voltage is referred to
as the back emf (Ea). It can be found by the following equation:
Ea = Ke * If *8
Using all four equations, the separately excited DC motor can be controlled directly by
applied armature voltage, armature current, and field current.
7
http://newcastle.edu.au
8
http://newcastle.edu.au
8
4. Calculations
I. Initial Conditions
A. Ke=0.33
B. Vf=150 VDC Vt=100 VDC
C. Ra= 0.9 La= 0.01 H
D. Rf= 75 Lf= 50 H
2
E. J= 0.2 kgm
F. TL= 5 Nm
G. Time limit is 10 seconds and dt =0.001
H. Initial Armature Current (I0), field current (I1), and speed (w0) are set at zero
I. Definiation of the intergral9: I(t + t) i(t)] / t
IV. Speed
A. Jd / dt = KeIfIa - TL12
B. Using the definition of the integral, the speed of the rotor equations is as follows
1. d / dt = [(KeIfIa TL) / J]
2. [(t + t) (t)] / t] = [(0.33IfIa TL) / J]
3. (t + t) = (t) + t * [(0.33IfIa TL) / J]
C. This equation is represented in MatLab as: w = w0 + dt * ((0.33*I0*I1) T1) / J
V. Back emf
The equation is not a differential equation, but varies with the armature current and
speed. The equation represented in MatLab is as follows: ea = 0.33*I0*w0
VI. MatLab code
9
Kirk, Donald and Robert Strum
10
http://newcastle.edu.au
11
http://newcastle.edu.au
12
http://newcastle.edu.au
9
Ra=0.9; La=0.01;
Rf=75; Lf=25;
Tl=5;
J=0.2;
Vf=150; Vt=100;
k=0;
CurrentIf=[1:10000];
Backemf=[1:10000];
CurrentIa=[1:10000];
Speed=[1:10000];
I0=0;
I1=0;
ea=0;
w0=0;
dt=0.001;
for t=0:0.001:10;
If=I0+dt*(Vf-(Rf*I0))/Lf;
Ia=I1+dt*(Vt-(Ra*I1)-ea)/La;
w=w0+dt*((0.33*I0*I1)-Tl)/J;
ea=0.33*I0*w0;
k=k+1;
CurrentIf(k)= If;
CurrentIa (k)=Ia;
Speed (k)=w;
Backemf (k)=ea;
I0=If;
I1=Ia;
w0=w;
end
subplot (2,2,1), plot (Backemf),
title ('Backemf'),
ylabel ('Backemf'),
xlabel ('1*10^-3 s')
subplot (2,2,2), plot (CurrentIf),
title ('Field Current'),
ylabel ('Current'),
xlabel ('1*10^-3 s')
subplot (2,2,3), plot (CurrentIa),
title ('Armature Current'),
ylabel ('Current'),
xlabel ('1*10^-3 s')
subplot (2,2,4), plot (Speed),
title ('Speed'),
ylabel ('Radians'),
xlabel ('1*10^-3 s')
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5. Procedure
I. Equipment
A. Computer with MatLab software
B. MatLab software
C. Disk
D. Printer
II. Procedure
A. Research
1. The schematic for a Separately Excited DC Motor was shown in Figure , on
page .
2. The differential equations for the Separately Excited DC Motor are shown in
the Theory section of this report.
3. The method in which the differential equations were transformed into the
difference equations is shown in the Calculations section of this report.
B. Initial Values
1. To start the project, initial values for the field resistor and inductor, armature
resistor and inductor, moment of inertia, load torque, and the terminal and
field voltage values had to be given. Our team chose the values based on a
problem taken from West Virginia University class EE335. The initial values
are listed in the MatLab code in the calculations section of this report.
2. The initial values for the speed, armature current, and field current had to be
set to zero.
C. Writing the Program
1. The values for the resistors (Ra and Rf), inductors (La and Lf), moment of
inertia (J), load torque (TL), field voltage (Vf), and terminal voltage (Vt) were
placed in MatLab
2. Four matrixes were created. The matrices were 1 x 10000. These matrices
would contain the values generated by the program for speed.
(Speed=[1:10000], armature current (Current Ia=[1:10000]), field current
(CurrentIf=[1:10000]), and back emf (Backemf=[1:10000]).
3. The initial speed (w0), armature current (I1), and field current (I0) were
placed in MatLab as zero values.
4. The increment of summations was decided to be 0.001 and placed in MatLab
as dt =0.001.
5. A for loop was placed in MatLab. The purpose of the loop was to increment
10,000 times. The following equations were then entered in to MatLab in the
for loop:
a. If=I0+dt*(Vf-(Rf*I0))/Lf;
b. Ia=I1+dt*(Vt-(Ra*I1)-ea)/La;
c. w=w0+dt*((0.33*I0*I1)-Tl)/J;
d. ea=0.33*I0*w0;
An increment was placed before the four matrices so that the values would be
placed in the correct spot within the matrix. This was done by placing k=k+1
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after the equations within the for loop. The values of the speed, armature
current, field current, and the back emf were placed in the first column of the
matrix. Then the initial values were redefined as the calculated values. This
is seen by the following equations:
a. I0=If;
b. I1=Ia;
c. w0=w;
Then the loop was ended.
6. The plots of speed, armature current, field current, and back emf were then
subploted as follows:
a. subplot (2,2,1), plot (Backemf),
title ('Backemf'),
ylabel ('Backemf'),
xlabel ('1*10^-3 s')
b. subplot (2,2,2), plot (CurrentIf),
title ('Field Current'),
ylabel ('Current'),
xlabel ('1*10^-3 s')
c. subplot (2,2,3), plot (CurrentIa),
title ('Armature Current'),
ylabel ('Current'),
xlabel ('1*10^-3 s')
d. subplot (2,2,4), plot (Speed),
title ('Speed'),
ylabel ('Radians'),
xlabel ('1*10^-3 s')
7. This concluded the writing of the program.
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6. Results
I. Initial Values.
A. Rf= 75 ohms
B. Lf= 50 ohms
Figure 2
Graphs of Speed, Armature Current, Field Current, an Back emf vs. time
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II. Increasing Rf to 100 ohms
Figure 3
Graphs of Speed, Armature Current, Field Current, an Back emf vs. time
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III. Increasing Lf to 75 ohms
Figure 4
Graphs of Speed, Armature Current, Field Current, an Back emf vs. time
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IV. Increasing Rf to 100 ohms and Lf to 75 ohms
Figure 5
Graphs of Speed, Armature Current, Field Current, an Back emf vs. time
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V. Decreasing Rf to 50 ohms
Figure 6
Graphs of Speed, Armature Current, Field Current, an Back emf vs. time
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VI. Decreasing Lf to 25 ohms
Figure 7
Graphs of Speed, Armature Current, Field Current, an Back emf vs. time
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VII. Decreasing both Rf to 50 ohms and Lf to 25 ohms
Figure 8
Graphs of Speed, Armature Current, Field Current, an Back emf vs. time
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7. Analysis
I. Initial Values
A. Back emf: the graph increases exponentially for 2.5 seconds to about 95 volts and
then decreases gradually over the next 7.5 seconds to about 92 volts. This is a
satisfactory graph of back emf.
B. Field Current: the graph increases exponentially for 3.75 seconds and then levels
off at 2 amps for the remaining ten seconds. This is an excellent graph for
current.
C. Armature Current: the graph starts at zero and increases directly to 115 amps.
Then the current decreases exponentially for the first 2.5 seconds to about 10
amps. This is an acceptable graph.
D. Speed: The speed increases exponentially for 1.9 seconds to 150 rad/s and then
decreases to about 140 rad/s gradually for the remaining ten seconds. This is a
bad graph.
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D. Speed: The speed increases exponentially for 1.9 seconds to 160 rad/s and then
decreases to about 140 rad/s gradually for the remaining ten seconds. This is a
bad graph. From the IC, the only difference in this graph is ten hertz is gained.
IV. Increasing Rf from 75 to 100 ohms and Lf from 50 to 75 ohms
A. Back emf: the graph increases exponentially for 3.75 seconds to about 90 volts
and levels off. This is a good graph of back emf. From the IC, it takes 1.25 more
seconds to peak, but the voltage stays leveled off.
B. Field Current: the graph increases exponentially for 3.75 seconds and then levels
off at 1.5 amps for the remaining ten seconds. This is an excellent graph for
current. From the IC, the rise time is the same, but half an amp is lost.
C. Armature Current: the graph starts at zero and increases directly to 115 amps.
Then the current decreases exponentially for the first 3.75 seconds to about 10
amps and levels off. This is an excellent graph. From the IC, it takes 1.25
seconds more to level off.
D. Speed: The speed increases exponentially for 3.75 seconds to 185 rad/s and levels
off. This is a good graph. From the IC, the speed takes an additional 1.85
seconds to level off, and increases by 35 hertz.
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current. From the IC, the current rises 1.85 seconds faster, and the current stays
the same.
C. Armature Current: the graph starts at zero and increases directly to 115 amps.
Then the current decreases exponentially for the first 1.9 seconds to about 10
amps. This is an excellent graph. From the IC, the current falls 0.6 seconds
faster, and the current stays the same.
D. Speed: The speed increases exponentially for 1.9 seconds to 140 rad/s and levels
off for the remaining ten seconds. This is an excellent graph. From the IC, the
speed levels of at the same time, but looses ten hertz.
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C. Lf values comparison
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8. Conclusion
The goal of this project was to have no attenuation in the graphs of the armature
current, field current, speed, and back emf vs. time for a Separately Excited DC Motor.
We were tasked with finding a way to simulate the motor using MatLab. The team
decided the best way to simulate the motor would be by finding the differential equations
of the speed, armature current, field current, and back emf of the motor. Then using the
equations, find a way to have no attenuation in the graphs by changing the field resistance
The first obstacle our team encountered was how to change the differential
equations of the motor into difference equations. After talking to Dr. Jalali, the team
learned how to change the differential equations of the motor into difference equations
using the definition of the integral. After we were able to calculate the motor equations
for discrete time, the second obstacle was writing the MatLab code. No one in our group
had any real experience using the program. It was only after hours of research including
the internet, library, and talking again to Dr. Jalali, we were able to even begin our
MatLab code. Once the code was written, finding the optimal values for Rf and Lf was
From the data collected, we discovered two possible solutions to our problem.
The first possible solution was to increase the field resistance by 25 ohms. This created
graphs with no attenuation, but the rise and fall time increased by 1.25 seconds from the
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initial conditions, and half an amp was lost in the field current and the speed of the motor
increased thirty hertz. The second possible solution was decreasing the field inductance
by 25 ohms. This also created a graph with no attenuation. The rise and fall time for
these graphs decreased 0.6 seconds from the initial conditions and the values of the
speed, armature current, field current, and back emf remained the same. Our group
decided the second solution was going to be our solution to our project.
The group decided on the second solution was most favorable since none of the
initial values of speed, armature current, field current, and back emf changed. The only
thing that changed was the decrease in the rise and fall time, and this was an excellent
outcome. There for our group concluded, the field resistance should remain at 75 ohms,
and the field inductance should be 25 ohms to produce the optimal values of armature
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9. Bibliography
1. http://newcastle.edu.au/users/students/2000/c9504876/dcmotors.html
2. http://www.avere.org/working/en/electric.html
3. http://www.mech.uq.edu.au/cources/mech3760/chap25/s1.htm
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