INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS
2 APRIL 2013
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online) http://www.researchpub.org/journal/jac/jac.html
Dynamic Modeling, Simulation and Control of Electric Machines for
Mechatronics Applications
Farhan A. Salem*
Abstract- The mathematical models, corresponding simulink
models, analysis and control solutions of basic open loop
electric machines most used in mechatronics applications are
introduced; the introduced models are intended for research
purposes, as well as, for the application in educational process.
Index Terms—Mechatronics, Electric machine,
Modeling/Simulation.
I. INTRODUCTION
Mechatronics is defined as the synergistic integration of
sensors, actuators, signal conditioning, power electronics,
decision, control algorithms, computer hardware and software
to manage complexity, uncertainty, and communication in
engineered systems. The key element in mechatronics design
is the concurrent synergetic integration, instead of sequential,
analysis and optimization of these areas and balance between
modeling/analysis and experimentation / hardware
implementation, through the design process resulting in
products with more synergy [1].
Modeling, simulation, dynamics analysis and control of
electric machines most used for mechatronics motion control
applications are of concern, since the accurate control of
motion is a fundamental concern in mechatronics
applications, where placing an object in the exact desired
location with the exact possible amount of force and torque at
the correct exact time is essential for efficient system
operation, the accurate control of motion depends on many
factors including; the accuracy of applied control strategy
design, the accuracy of derived mathematical model, the
accuracy of interpreting simulation and analysis results. This
paper propose derivation of mathematical models, building
corresponding simulink models, dynamic analysis and
introduce control solutions of main DC machines used in
mechatronics applications. DC machines are electrical
machines that consume DC electrical power and produce
mechanical torque [2]. Due to precise, wide, simple, and
continuous control characteristics, small and large electric
machines are used in mechatronics applications, large electric
machines are used in machine tools, printing presses,
conveyor fans, pumps, hoists, cranes, paper mills, textile
mills, Small DC motors (in fractional power rating) are used
in control devices such as tacho-generators for speed sensing
and servomotors for positioning and tracking [3,4].
DC Machines can be classified according to the electrical
connections of the armature winding and the field windings,
Farhan Atallah Salem AbuMahfouz , with Taif University, 888, Taif,
Saudi Arabia .He is now with the Department of Mechanical engineering
, Faculty of Engineering, Mechatronics Sec. and with Alpha Center for
Engineering Studies and Technology researches (e-mail:
salem_farh@yahoo.com).
30
VOL.1 NO.
the different ways in which these windings are connected
lead to machines operating with different characteristics.
The field winding can be either self-excited or separately-
excited, that is, the terminals of the winding can be
connected across the input voltage terminals or fed from a
separate voltage source. Further, in self-excited motors, the
field winding can be connected either in series or in parallel
with the armature winding. These different types of
connections give rise to very different types of machines.
Each electric machine is designed by a manufacturer to
operate in a certain range of voltages and currents, the
parameter quoted by the manufacturer is known as rating of
the machine.
The electric machines, considered in this paper are PMDC
motor, separately excited DC motor, armature controlled
DC motor, shunt DC motor and Series DC motor, for each
machine mathematical models are to be derived,
corresponding simulink models to be built and finally
control solutions are proposed.
II. BASIC EQUATIONS FOR MODELING ELECTRIC
MACHINES
Because of the ease with which they can be controlled,
systems of electric machines have been frequently used in
many applications requiring a wide range of motor speeds
and a precise output motor control [5,6]. The selection of
motor for a specific application is dependent on many
factors, such as the intention of the application, allowable
variation in speed and torque and ease of control, etc.
The dynamic equations of electric machines can be
derived, mainly, based on the Newton’s law combined
with the Kirchoff’s law. The fundamental system of
electromagnetic equations for any electric motor is given
by [7,8] Eq.(1)
d s 
us  Rs i s   j  k s 
dt
 (1)
d R
 j ( k  Pb m ) R 
us  RR i R 
dt

 s  Ls i s  L  i R 
 R  LR i R  L i S 

Where :  k the angular speed of rotating coordinate
system (reference frame), Depending on motor
construction (AC or DC), the method of the supply and
the coordinate system (stationary or rotating with the
rotor or stator flux) the above mentioned model becomes
transformed to the desirable form[9], the complement of
Eqs. (1), is equations describing mechanical part of
eclectic motor, without any load attached (that is total
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL 2013
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online) http://www.researchpub.org/journal/jac/jac.html

inertia of motor and load reduced to motor shaft), and given The PMDC motor open loop transfer function without
by: any load attached relating the input voltage, Vin(s), to the
d motor shaft output angle, θm(s), is given by Eq.(5), this
J  T e  T Load (2)
equation can be simplified to have form given by Eq.(6)
dt
In the aim of the synthesis of the electric machine control
system, control engineers most frequently use mathematical G angle (s ) 
 (s )

Kt  5
models in form of transfer-function, the errors of the V in (s ) 
 La J m s 3  (R a J m  b m La )s 2  (R ab m  K t K b )s  
parameters identification, nonlinearities and the temperature  (s ) Kt
G angle (s )  
influence (resistances of the windings) are usually omitted
in these models (motor and power converter). Thus, the
V in (s ) (R J a m )s 2  (R ab m  K t K b )s    6
additional tests of the control system robustness should be  (s ) K t / Ra J a

realized [9]. Electrical equivalent scheme of a DC motor is V in (s )  1  K t K b 
shown in Fig. 1(a) , a nonlinear block diagram of a DC s s   bm  
 Jm  R a 
motor is shown in Fig. 1(b).

A. Simulation of PMDC motor open loop system using

Simulink

The main, simulink models of PMDC are introduced in

[1] including models based on simplified models and for
Fig. 1(a) Electrical equivalent scheme of a DC motor Speed/time, Torque/time, Position/time and Current/time
curves are shown in Fig. 2
Rresistance, Ra

12 Ra
Current
Vin
Motor1.mat
current ,i
d/dt
1 To File
1/La
s
Step, Kb Integrator1 -K-
Vin=12 Inductance, 1/La Kt

Kb Sum Torque.
Motor2.mat

To File1
Output speed Output angle
d2/dt2(theta) d/dt(theta)
1
1/Jm Angular speed
s
0
Fig. 1(b) A nonlinear block diagram of a DC motor Torque load sum
Inertia , 1/Jm Integrator Motor3.mat

To File2
1
bm
s
III. MODELING AND SIMULATION OF PMDC Damping, b Integrator, anlge

MOTOR Motor4.mat

To File3
(a) Simulink model based on state space representation.
In [1] Modeling, simulation and dynamics analysis issues of
electric motor, using different approaches and verification Load
Tload
torque1
by MATLAB/Simulink, are introduced. In [10] controller
Motor
selection and design for electric motor using different Va
armature
Current,ia Torque Angular speed1
control strategies and verification using 1
Kt
1
1/n -K-
La.s+Ra Jequiv.s+bequiv
MATLAB/Simulink are introduced. Based on Eq.(1) and Vin
motor gear ratiorad2mps linear speed1
Armature
n=3.2 V=W*r2
last two references, the PMDC motor open loop transfer constant1 ,1

function relating the input voltage, Vin(s), to the motor shaft Kb

motor.mat

output angular velocity, ωm(s), given by Eq.(3), by To File..1

assuming that the armature inductance, La is low and can (b) a suggested full block diagram model of PMDC motor open loop
be ignored (La =0) compared to the armature resistance, Ra. system with introduced saturation and coulomb friction.
Current Torque Angular speed
Eq.(3) can be simplified to have form given by Eq.(4)

 (s ) Kt Motor1.mat Motor2.mat Motor4.mat

G speed (s )  
V in (s ) 
 La s  R a  J m s  b m   K t K b    3 Current
To File4
Torque
To File5 ..
Angular position
1/Ra Kt
Kt Step, 1/Jm
1 1
G speed (s )  s s

L J 
Vin=12 Sum.2 Inductance, Kt.

a m s  (R a J m  b m La )s  (R ab m  K t K b ) 
2 1/La
Sum.3
Inertia , Integrator..2 Integrator
1/Jm1
Motor3.mat
bm
To File7
 (s ) Kt
G speed (s )  
 R J  s   R abm   K t K b 
Damping,bm
V in (s ) a m  4 TL

Tload
Kb Kt Kt

 R ab  K t K b  KB
G speed (s )   Kt
 Ra J  s 1
  R b  K K   s  1
(c) Simulink model based on simplified mathematical model
 a t b 

31
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL 2013
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online) http://www.researchpub.org/journal/jac/jac.html

Current. Torque Performing the energy balance on the DC motor

system (Fig. 3) the sum of the torques must equal zero,
we have:
Motor1.mat Motor2.mat

To File To File1
speed.  T  J *   J * d 2 / dt 2
Current
1/La
1
s
Kt
Torque Motor3.mat
T e – T  – T   T EMF  0
Step, 1
Setting, Te  K t i a i f , substituting values , considering
1/Jm To File2
Vin=12. s
Inductance, Integrator. Kt. 1
s
Sum. 1/La1 0 Inertia , Integrator..
Rresistance, Ra.
Tload
Sum.1 1/Jm Integrator..1 angle.. shaft output position gives Eq.(7) and considering shaft
Ra
bm Motor4.mat output position gives Eq.(8):
To File3  d 2   d  (7)
K t i a i f T Load  J m  2   bm  0
Damping, b.
Kt

 dt   dt 
Kt..
(d) Simulink model based on simplified mathematical model d
Fig. 2 PMDC simulink models K t i a i f T Load  J m  bm   0 (8)
dt
VI. MODELING AND SIMULATION OF BRUSHED DC Taking Laplace transform and rearranging yields Eqs.(9),
MOTOR for each output speed and angle.
K t I a  s  I f  s  – T load  J m s 2  s  – b m s   s   0
K I  s  I  s  T   J s  b  s s 
There are four classical types of self excited brushed DC (9)
t a f load m m
machines with field windings; series, shunt, separately
excited windings and compound DC machine K t I a  s  I f  s   T load   J m s  b m    s 
Further rearranging to separate angular speed gives
A. Modeling and simulation of separately excited DC motor Eq.(10)
 (s )  1 
In separately excited DC motor the field magnet has a   
power supply that is separate from the armature  K t * I a (s ) * I f (s ) T Load (s )   J m s  bm   (10)
electromagnet; this means motor field strength is  K * I (s ) * I f (s ) T L (s )
 (s )  t a
completely independent from the armature field strength.  J m s  bm 
An Armature Controlled DC Motor is a separately excited
Applying Kirchoff’s law around the field electrical loop
DC motor where the field current is usually constant and
by summing voltages throughout the R-L circuit gives:
the armature current controls the motor torque, the speed of
a separately excited dc motor could be varied from zero to
 di (t ) 
rated speed mainly by varying armature voltage in the V f  R f i f (t )  Lf  f 
constant torque region. A Field Controlled DC Motor is a  dt 
separately excited DC motor where the field current Taking Laplace transforms, rearranging to separate the
controls the motor torque. Separately excited DC motor field current, if gives:
allows having independent control of both the magnetic
flux and the supply voltage, which allows the required Vf
V f  R f  I f (t )  Lf sI f  I f (s ) 
torque at any required angular speed to be set with great  R f  Lf s 
flexibility; the biggest drawback is they are noisy. The Applying Kirchoff’s law around the armature electrical
separately excited motor allows one to have independent loop by summing voltages throughout the R-L circuit,
control of both the magnetic flux and the supply voltage, taking Laplace transform, gives:
which allows the required torque at any required angular
speed to be set with great flexibility [11].
A simplified equivalent representation of the separately V V in –V R – V L  EMF  0
excited DC motor's two components are shown in Fig. 3, it Setting, EMF  K b i f d  (t ) / dt , gives:
consists of independent two circuits, armature circuit and  di (t )  d  (t )
V in  R a i a (t )  La  a   K b i f
field circuit, in which loads are connected to the armature  dt  dt
circuit The voltage is applied to both to field and armature V in  s   R a I  s   La s I  s   K b i f s   s 
terminals, as shown , there are two currents, filed current,
if(t) and armature current, ia(t) in order to have linear Rearranging to separate the armature current, ia and field
system, one of these two currents most held constant. current, if, gives:
 1 
I a (s )    V a (s )  K b * i f *  (s ) 
  La s  R a  
V in _ f (s )
I f (s ) 
 Lf s  R f 
Substituting armature current, ia in Eq.(9) gives:

 1 
 V in (s )  K b i f  (s )   T load  J m s  (s )  b m s  (s )
2
Kt if 
Fig. 3 Schematic of a simplified equivalent representation of the field 
 a L s  R 
a 
controlled DC motor's electromechanical components.

32
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL 2013
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online) http://www.researchpub.org/journal/jac/jac.html

Rearranging, the transfer function relating input armature The armature current must maintained constant ia(t) = ia=
voltage to output motor angular speed given by: constant, rearranging, yields:
T m  (K 1K f i a )i f (t )  K m i f (t )
 (s ) K t I f / Ra R f b
 Where Km : the motor constant. Applying Kirchoff’s law,
V armature (s )  La J  2  La J    K bV field 2  Ohm's law, and Laplace transform to the stator field
  s     s  1  
 R ab   Ra b   R a R f2b  yields mathematical model describing the electrical
 
The following state space equation and matrix form can be characteristics of field controlled DC motor and given
written, as: by:
d R L 1
i a   a i a  f i f *   V in _ a
V V in _ field –V R _ field – V L _ field  0
dt La La La Applying Ohm's law, substituting and rearranging, we
have differential equation that EXCITED
SEPARETLY describes the electrical
DC MOTOR
d R 1
i f   f i f  V in _ f characteristics, given by:
dt Lf Lf
d b L T  di (t Load
)  Tload
     f i a * i f  load V in _ field  R f i f  Lf  f torque 
dt J J J 
armature dt  Angular speed
Va Current,ia Motor
 Rf     1  Where: Lf, stator1 inductance, Rf, stator resistance. Taking
Torque
 L 0 0
 0   L 0 0 
Vin Laplace transform
La.s+Ra and rearranging,
Kt gives:
1
1/n -K-
 f   i f     f armature
V f  Jequiv.s+bequiv
f
i Armature
d       Lf
.,
    motor rad2mps
gear ratio linear spee
Ra 1
ia  0  0   i a    if    0  0  V a  constant
Vin _ field  s 
, n=3.1 V=W*r1
dt    La     a L La Vin _ field  s 1   Lf s  R  If  s   If  s   (13)
       T L 
 Lf s  Rf 
Vf
  if, fField motor.mat
b  Lf   1 Lf.s+Rf current
 0 0   J i f i a   0 0   Vin. To File..
 J  J  filed The Mechanical
field
,.
characteristics of filed controlled DC
motor is obtained by performing the energy balance on
Using derived equation ofSEPARETLY EXCITED DC MOTOR
separately excited DC motor,, the the motor system, whereKbthe sum of the torques must
simulink model shown in Fig. 4 (a), can be built. equal zero, we have:
 T  J *   J * d 2 / dt 2  T m – T – T   0
Load
Tload
The motor torque Tm, is related to the load torque, by:
torque
T m – T   J * d 2 / dt 2
armature Angular speed
Va Current,ia Motor
K m * i f (t ) – b m *s   s  Load
J m *s 2
 s 
Tload
1 Torque torque1

Vin La.s+Ra Kt
1
1/n -K- Substituting If given by (13) and rearranging, gives:
Motor
Angular speed1
armature
Jequiv.s+bequiv Current,ia Torque
armature Armature Va
., gear ratiorad2mps
s 
motor linear speed 1 1
V Kt 1/n -K-
(14)
b m s   s   J m s 2Jequiv.s+bequiv
s 
constant , n=3.1 V=W*r1 in _ field
Vin Km * La.s+Ra –
Vf 1
if, Field
armature1
motor.mat
L s
Armaturef  Rf  motor
constant1 ,1
rad2mps
gear ratio
n=3.2 V=W*r2
linear speed1

Lf.s+Rf current
Vin. To File.. Kb motor1.mat
field Rearranging Eq.(14),where the electrical and mechanical
filed ,.
field current controlled DC motor components are To File..1
Kb coupled to each other through an algebraic the motor
Fig. 4 (a) separately excited DC motor model constant , Km , we obtain the transfer function relating
Armature
input filed voltage Vin_field (s), and motor output angle
resistance

B. Modeling and simulation of the field current controlled θm(s), and

1/La given by:
1
Ra
Table: Parameters of the DC Motor.
s
DC motor, V armature Armature Integrator,
Vf=240[V]

inductance (s )
La=0.012[mH]
K m-K-
G angle (s )  
In the field current controlled DC motor, the armature V in _ filed (s ) s  Lf s  R f  Js  b   Va=240[V]
Load Product mutual Lmutual=1.8[mH]
Tload
current must maintained constant torque1 ia(t) = ia= constant , and The simulink model of the filed current controlled DC Inductance
the field current, iarmaturef varies with
Motor
time ,t, to causeAngular the
speed1 motor to
motor is shown in Fig. 4 (b),Lahere note that the armature Rf=240[W]
J=1[Kg.m2]
rotate,Va this yields; the
Current,ia air-gap
Torque flux, Φ is proportional to the controlled theDC motor is in nature closed loop system,
1 1 armature current IS maintained
armature constant ia(t) = ia= constant
field current and givenKtby: 1/n -K- while filed current 1controlled DC motor Ra=0.6[W]
is open loop. Cr=29.2[N.m]
  K f Armature
Vin La.s+Ra Jequiv.s+bequiv inductance
1/Lf Rf
armature1 * i f (11) motor gear ratiorad2mps linear speed1 s
Filed Motor motor angular Motor linear
constant1 ,1 n=3.2 V=W*r2 V Field Integrator.
current torque speed speedLf=120[mH]
Field 1 Field
The back EMF voltage is given by: inductance Km Field
1
resistance
1 Fc=0.0005[N.m.Sec/Rad]

EMF  Km V in - IKba Ra Lf.s+Rf s

motor1.mat inductance. J.s+B
Step filed Gain Transfer Fcn Integrator Scope
input V Transfer Fcn
To File..1 1/Lf
The torque developed by the motor is related linearly to air-
Fig. 4 (b) Simulink model of the filed current controlled DC motor
gap flux, Φ and the armature current ia(t), and given by
Eq.(12): 1
C. Modeling and simulation Fc of the armature controlled
Motor Torque  T m  K 1 i a (t )
angular
s
(12) DC Motor (1) Integrator., speed
friction
Substituting (12) in (11), we yields: coefficient
Cr
T m  K 1K f i a (t )i f (t ) In armature-current controlled DC motor, the field
Couple
current if is held constant, and-K- the armature
resisting current ia is
mutual
Product1 .1
inductance
33 1/J

Inertia
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL 2013
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online) http://www.researchpub.org/journal/jac/jac.html

controlled through the armature voltage Vin, different Based on these equation simulink model shown in Fig. 4
approaches to derive mathematical model (d), is built, the transfer function relating input voltage
and output angular speed is given by:
Approach (1) : The motor equations can be written to have
the following form:  (s ) 1/ Kb

V in (s ) K 2
2 / Ra 
Tm  Kt * Ia
b
1
Js 1  La / R a 
V V EMF V R _ a V L _ a  0 Load
V a  K b   I a  R a  La s 
Tload
torque1

T m  T Load  b m + J m s armature Motor

Angular speed
Current,
T m  T Load    b m + J m s  Va Torque
Ra ia 1
phai 1/n -K-
Vin s+La/Ra Jequiv.s linear speed1
Based on these equations, the transfer function given by armature field flux gear ratio V=W*r2
,1
Eq.(15) is derived and the simulink model shown in Fig. 4 n=
(c), is built. Equation (15) can be simplified to be first order
phai
transfer function given by Eq.(16), by assuming La=0
(electrical time constant is much smaller than the time field flux
constant of the load dynamics), this yields: Fig. 4 (d) separately excited DC motor model considering flux

 (s ) K t / La J Approach (3) : The motor equations can be written to

 (15)
V a (s )  s  R a / La  s  b / J    K b K t / La / J  have the following form :
d
 (s ) K t / LR a J T Load  K t * i a  J  b
 (16) dt
V a (s ) s  bR a  K b K t  / R a J di a
V in  K b   La  Ra i a
dt
Load
torque1
Tload Further solving these equations will result in PMDC
Angular speed1 transfer function, since the field current is kept constant,
armature Motor
Va Current,ia Torque result in permanent magnetic filed, the simulink model is
La
Kt
1/Jequiv
1/n -K-
identical to model given in Fig. 2(b)
Vin s+Ra/La s+b/Jequiv  (s ) Kt
G speed (s )   ,
 
Torque constant gear ratiorad2mps
V in (s )  La s  R a  J m s  b m   K t K b 
armature1 linear speed1
,1 n=3.2 V=W*r2

 (s ) Kt
Kb motor.mat

EMF constant
To File..1 
V in (s )  La J m s 2  (R a J m  b m La )s  (R ab m  K t K b ) 
  
Fig. 4 (c) the armature controlled DC Motor
D. Accurate modeling and simulation of separately
Approach (2) : The back EMF is given by : excited DC motor.
V EMF  K b  and motor torque is given by:
T m  K b I a . The motor equations can be written to have Accurate characteristic equations of separately excited
the following form DC motor can be represented as follows:

V d R i V in _ a
 V EMF V R _ a  V L _ a  0 ia   a a 
dt La La
T m  T Load  b m s   s  + J m s 2  s  d R i L V in _ a
Assuming absence (negligible) of friction in rotor of motor, i f   f f  mutual  * i a 
dt Lf Lf Lf
yields:
T m  T Load  J m s2  s   T Load  J m s  s  d L C b
  mutual i a * i f  r  
dt J J J
Since equation for back EMF is given by : V EMF  K b  Based on these equations, simulink model shown in Fig. 4
and motor torque is given by: T m  K b I a , substituting (e) is built [12], in this model the couple resisting Cr,
back EMF and motor torque in motor equation, rearranging mutual inductance Lmutual , are introduced.
and solving for armature current and angular speed, gives:
V V EMF V R _ a  V L _ a  K b   I a Ra  La sI  0
Ra
I a  V in  K b   
1  L a s / Ra 

 T m  T Load 
  
 Jms 

34
ar ratiorad2mps linear speed
n=3.1 V=W*r1

motor.mat
INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS
To File..
VOL.1 NO.2 APRIL 2013
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online) http://www.researchpub.org/journal/jac/jac.html

Armature Angular speed VS time angle Vs Time

resistance 10 60

1 Table: Parameters of the DC Motor.

1/La Ra
s 40
Vf=240[V]

Rad/m

Rad
V armature Armature Integrator, 5
La=0.012[mH]
inductance -K- 20
Va=240[V]
Product mutual Lmutual=1.8[mH]
Inductance 0 0
0
Rf=240[W] 2 4 6 0 2 4 6
La J=1[Kg.m2] Tims (sec) Tims (sec)
Torque Vs Time Current Vs Time
armature 0.4
Ra=0.6[W] 15
1 inductance Cr=29.2[N.m]
1/Lf Rf
s 0.3
Lf=120[mH] 10
V Field Field Integrator. Field

N/m

Amp
Field Fc=0.0005[N.m.Sec/Rad]
0.2
inductance resistance
inductance. 5
0.1
1/Lf
0 0
0 2 4 6 0 2 4 6
Tims (sec) Time (sec)
1
Fc angular
s Angular acceleration VS time Angular acceleration VS time
speed
Integrator., friction
8 10 Current VS time
12.1
coefficient
Cr 6
12

Rad/m2

2
Couple

Rad/m
-K-
4 5

Amp
mutual resisting 11.9
Product1 .1
inductance
2 11.8
1/J
0 0
11.7
Inertia 0 5 10 00 5 5
10 15 10
20
Fig. 4 (e) Accurate modeling of separately excited Tims (sec) Tims
Tims (sec)
(sec)
Fig. 4 (g) Torque/time, Speed/time , Position/time Current/time, angular
acceleration/time curves for 12 V step input,
E. Simplified Modeling and simulation of separately
excited DC motor
Motor linear V. MODELING AND SIMULATION OF SHUNT DC
speed
MOTOR
Ignoring armature reactions effects, to minimize the
r Scope effects of armature (compensating winding), this, a linear
A shunt wound DC motor has the armature and field
model of a simplified separately excited DC motor consists
(stator) coils connected in parallel (or shunt) across the
of a mechanical equation and electrical equation as
power source, in result the same voltage is applied to both
determined in the following equations:
coils, the transient in the armature circuit is simultaneous
d
Jm  K n  i a  b   T load with the transient in the field circuit , [13] a shunt excited
dt machine is essentially the same as a separately excited
di machine, with the constraint that the field winding supply
La a  V in _ a  i a R a  K b 
dt voltage Vin_f is equal to the armature winding supply
Where Kn: motor constant, Based on these equation, the voltage, Vin_a. this is shown in Fig. 5. Shunt wound DC
simplified simulink model shown in Fig. 4 (f), is built. motor is designed for applications where constant speed
characteristics under varying load conditions are
Ra important such as pumping fluids and fans, shunt motor
speed varies only slightly with changes in load. A shunt
Kb La
1 wound DC motor is difficult to control, as reducing the
If Ias supply voltage also results in a weakened magnetic field,
Vin '' '
armature current
thus reducing the back EMF, and tending to increase the
Vin Armature speed [ 14].
Kn
K
1
TL J s
,
, angular speed Field current
TL .
B

'

Motor torque

Fig. 4 (f) Simplified separately excited DC motor model

Fig. 5 Two circuit representations of shunt wound DC motor [ 14]
For parameters specified, running simulation
W
of separately
excited DC motor open loop model will result in The stator and rotor circuits have the same voltage supply
Torque/time, Speed/time , Position/time Current/time, and therefore the same voltage drop, and the current
angular acceleration/time curves for 12 V step input shown drawn by the motor, im is the sum of the field current, if
in Fig. 4 (g) and armature current ia, this all can be expressed as:
35
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL 2013
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online) http://www.researchpub.org/journal/jac/jac.html
Separately Excited D.C. Motor

Vin  Va  Vf , i m  if  ia Ra/La

The DC shunt motor has the same dynamics equations for If

1
Kb/La
torque as for the separately excited motor, with constraint W
s Ia
.
that Vin_f = Vin_a and given (including matrix form) by the .
armature current
Vin_a 1/La
following equations:
Vin Armature
di a
V in _ a  R a i a  La  Kbif 
dt Rf/Lf

d R L 1
i a   a i a  f i f *   V in _ a Vin field
1
dt La La La 1/Lf s If
Field current
di f
V in _ f  R f i f  L f ,
dt Kb
Ia*If
d R 1 Te
i f   f i f  V in _ f .,
, Motor torque
dt Lf Lf
d
T m  K b i a i f  T Load  b   J
1
B 1/J
s W
dt TL , angular speed
' '1
d b L T
     f i a * i f  load TL
dt J J J

 Ra K   V in _ a  (b)
   b    Fig. 6 Shunt DC motor models
 i a   La La  i a   La 

i    
f  R  i  V  VI. MODELING AND SIMULATION OF SERIES DC
 0  f   f   in _ a  MACHINES
 Lf   L f 
At steady state, currents are given by: In a series wound DC motor the field and armature
V  K t * * i f V circuits are connected in series, in result the same current
i a  in , i f  in
Ra Rf flows is applied to both coils, this is shown in Fig. 7
Substituting in torque equations, we have:
Kt  Kt  2
Tm  K t i ai f Tm  1  V in _ a
Ra R f  Rf 
Further substituting, and rearranging the load torque is
given by:

Tm  T Load = bm *s   s   J m *s 2  s  Fig. 7 Two circuit representations of Series wound DC motor

T Load = Tm - bm *s   s   J m *s 2  s 
A series wound DC motor is easy to use, will generate a
Kt  Kt  2 larger torque increase (provide startup torque) compared
T Load  1  V in _ a - bm  J ms
Ra R f  R f  with a shunt wound DC motor for given increase in
Based on these, the simulink models of shunt DC motor are current. Series motors cannot be used where a relatively
built and shown in Fig. 6(a)(b). constant speed is required under conditions of varying
load." this means series wound DC might not climb hills
with varying slope briskly and smoothly. The voltage
Load
torque
Tload supply is divided between stator and rotor circuits and a
armature
Motor
Angular speed common current flow through the field and armature coils
Va Current,ia
1 Torque current ia,[ 14] this all can be expressed as:
Vin  Va  Vf i m  if  ia
1
La.s+Ra Kt
Jequiv.s+bequiv
1/n -K-
, ,
Armature ., motor gear ratiorad2mps linear speed
Vin constant , n=3.1 V=W*r1 Applying Kirchoff’s law around the electrical loop,
armature
Vf 1
if, Field motor.mat
yields:
Lf.s+Rf current di di
field
To File.. V in (s )  La a  L f f  I a R f  I a R a  EMF
,. dt dt
di a di f
Kb (La  Lf )  I a  R f  R a  K b i a 
dt dt
(a) These equations can be rewritten, to have the following
form:

36
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL 2013
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d d
V in (s )  i a (La  Lf )  i a  R f  R a   L mutual * i * n
dt dt (Ra+Rf)/(La+Lf)
d
T m  K t i a2  T Load  b   J
dt
d Kb/(La+Lf)
1 Ia
*T m  L mutual i a  T Load  b   J
2 s
dt .
Where :Lmutual :is the mutual inductance between the .

armature winding and the field winding .Under steady state Vin_a 1/(La+Lf)

condition, induction (L=0), gives: Vin Armature armature current

V in (s )  R f I a  R a I a  EMF
V in (s )  I a  R f  R a   EMF Kt
Tm

The torque developed in the rotor is: Motor torque

Tm  K *  *i    K f *i f
W
Tm  Kt *i 2
W 1
B 1/J
s

The back EMF, also, can be expressed as: TL ' '1

, angular speed

EMF  Kb *  * n  Kb (K f * I a )n TL

Substituting, we have the armature current given by: Fig. 8(c) Series DC motor models
V in (s )
Ia  VII. COMPOUND DC MACHINES
R a  R f  K b m
And the developed torque given by: It is a combination of shunt wound and series wound
V in2 * K t configurations, so it can run as a shunt motor, a series
T 
 Ra  R f  K t m 
2
motor, or a hybrid of the two, as shown in Fig. 9. This
Based on this equation, if the input voltage Vin is kept allows the compound motor to be used in applications
constant, the output angular speed is almost inversely where high starting torque and controlled operating speed
proportional to the square root of the torque, therefore a are both required. The total motor voltage drop is the sum
high torque is obtained at low speed and a low torque is of the series field and armature voltage drops, so the
obtained at high speed. Finally, the dynamic equations, for series field coil is usually made out of a few turns of
simulation, can be written as follows: heavy wire to keep the series field voltage drop to a
minimum. A shunt field coil is usually wound with many
V in (s )  R  Ra  K * i * n turns of thin wire to minimize the shunt field current. In
ia   f i  b most compound wound DC motors the field windings
 La  L f   La  L f  a  La  L f  have separate connections so they can be switched in or
d  T m b  T Load out as desired [15]. The speed of a DC compound motor
  
dt J J J can be easily controlled. It is enough if we change just the
Based on these, the simulink models shown in Fig. 8, are voltage supplied to it
built.
Load
Tload
torque1
Angular speed1
Motor
Va Torque
ia1 1
-K- 1/n -K-
La.s+Ra Jequiv.s+bequiv Fig. 9 Two circuit representation of compound DC motor
Vin
. Lmutual gear ratiorad2mpslinear speed1
armature1 ,1
n=3.2 V=W*r2 VIII. BRUSHLESS DC MOTOR (BLDC) MACHINES
'
motor.mat
Kb
The rotor (armature) is composed of one or more
To File..1 permanent magnets and coils for the stator (field). The
Fig. 8 (a) Considering the mutual inductance rotor, being a permanent magnet, simply follows the
Load stator magnetic field around. The speed of the motor is
Tload
torque1 controlled by adjusting the frequency of the stator power.
Motor
Angular speed1 In the BLDC motor, the electromagnets do not move;
Va Torque
1
instead, the permanent magnets rotate and the armature
ia1
Kt 1/n -K- remains static. The BLDC motor is actually an AC motor.
La.s+Ra Jequiv.s+bequiv
Vin
.
The wires from the windings are electrically connected to
armature1 motor gear ratiorad2mpslinear speed1
constant1
,1
n=3.2 V=W*r2 each other either in delta configuration or WYE ("Y"-
' shaped) configuration. The main disadvantages of
motor.mat brushed DC motor is that they need a commutator and
Kb brushes which are subject to wear and require
To File..1
Fig. 8 (b) Considering the torque constant
maintenance, therefore have low life-span.

37
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS
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The kinetics of the motor can be described as:
 d 2   d 
e – T – T  TEMF  0  T e  T Load  J m  2   bm  0
 dt   dt 
The generated electromagnetic torque, T e is given by:
Pe  EMFa * i a    EMFb * i b    EMFc * i c 
Te   the motor, inner and outer loops. the motor torque is
n m
Where : Pe electromagnetic power of the motor, ea, eb, ec :
the back EMF in each phase . ia, ib, ic stator phase currents.
Under normal operation, only two phases are in conduction,
therefore the voltage balance equation, cross the two
windings under conduction, is given by:
 di (t ) 
V w  Rw  iw (t )  Lw  w   EMFw
 dt 
IX. CONTROL SYSTEM SELECTION AND DESIGN
There are many well known motor control system
design strategies that may be more or less appropriate to a
specific type of application, each has its advantages and
disadvantages; the designer must select the best one for
specific application [16]. Different resources introduce,
different models, designs and verifications of different
control strategies for DC motors, In [] DC motor control
applying Proportional-Integral PI, Proportional-Integral-
Derivative PID or bipositional are introduced. [16]
Discussed modeling and controller design for electric
motor, using different control strategies and verification
using MATLAB/Simulink. In [17] different closed loop
control strategies and compensator designs were compared
to eliminate the steady state error and enhance the DC
motor system transient response in terms of output speed,
similar approach will be applied in this paper in terms of
output position. In [18,19] a good description of the optimal
control design, including linear state regulator control, the
output regulator control and linear quadratic tracker. [20]
covered how it is possible to improve the system
performance, along with various examples of the technique
for applying cascade and feedback compensators, using the
methods root locus and frequency response. It also covered
some methods of optimal linear system design and
presentation of eigenvalues assignments for MIMO system
by state feedback. A negative feedback control system with
forward controller shown in Fig. 10 (a)(b) is most used for
controlling DC machines used.
A. Current controller in a DC drive system
There is a need to control current in motor armature,
this is because of the fact that mechanical time constant is
very large, compared with electric time constant, and initial
speed of motor, when started from zero, is zero, this will
result in maximum error, and hence given maximum
voltage, resulting in very large current flow at starting time,
correspondingly, because back EMF is zero when motor
started from zero, this current may exceeds the motor
maximum current limit and can damage the motor
windings. By applying current controller, the applied
voltage Vin will now not dependent on the speed error only,
38
VOL.1 NO.2 APRIL 2013
but also on the current error, this all will result in two
loop motor control, speed control and current control.
B. Two loops control
As shown in Fig. 11(a), two loops are used to control,
controlled by the armature current Ia, which is regulated
by inner current control loop. The motor speed is
controlled by an external loop, which provides the current
reference Ia_R , for the current control loop. A current
sensor with gain Ks is used to measure the armature
current and a speed sensor (tachometer) with gain Ktach is
used to measure the angular speed.
A chopper is a high speed “ON" or “OFF” semiconductor
switch, it connects source to load and load and disconnect
the load from source at a fast speed (PWM), chopper
takes a fixed DC input voltage and gives variable DC
output voltage, chopper works on the principle Pulse
Width Modulation technique, there is no time delay in its
operation, therefore it can be represented by a simple
constant gain Kc.Most suitable controller for both inner
and outer loops are; PI controllers, considering that
mechanical time constant is much larger than electric
time constant.
Applying this method to control the motion of cuboide
platform using PMDC motor simulated as shown in Fig.
11(b) to be prime mover, ( such application example
include mobile robot and small electric vehicle) and
considering load disturbance torque, which is the total
resultant torque generated by the acting resistive forces
including rolling resistance, aerodynamic drag, lift, hill
climbing and coulomb friction, which are modeled in
simulink as shown in Fig. 11(b). The overall system
simulink model is shown in Fig. 11(d).
Running the model for desired output speed of 24 rad/s,
with Ktach =1, and step input of 24, will result in a suitable
output speed response curve shown in Fig. 11(e), with
zero steady state error , the response shows that the
system reaches desired output in 7 seconds without
overshoot and with less time.
Improving this model as shown in Fig. 11(f), to include
speed sensor, current sensor and chopper, assigning
tachometer constant Ttach=1, running the model for
desired output speed of 12 rad/s well result in response
curves shown in Fig. 11(g).these response curves show
that the system reaches the desired output speed in 1.5
seconds, with generated motor torque equal to 9 Nm.
B.1 Proposed control method
To minimize the negative current characteristics, and
maintain generated motor torque, the simulink model
shown in Fig. 11(f), can be modified to be as shown in
Fig. 11(h), where we can relate the load torque
corresponding desired current to overcome this torque,
by dividing load torque value over torque constant, and
multiplying result by current sensor constant Ks, will
result in approximate current required to overcome load
torques, running the model for desired output speed of 12
rad/s well result in response curves shown in Fig. 11(i),
comparing these resulted response curves with response
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL 2013
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.1

curves shown in Fig. 11(g) show, that applying this new -K-
aerodaynamic torque,
theoretical technique , will result in more smooth response , -K-

less current (61 Amp), and with the same motor torque. . r/2 0.5*ru*A*Cd*V^2*r
-K- M*g, .
0.8
Derivative,

Angle or Speed Error, Volt Controller Motor shaft -K- du/dt

Control voltage,
reference (desired) + (angle, speed) Vc sin(u) -K- r^2m/2.
- ω or θ 60
cos(u)
r*m*g/2 wheel radius,
Inclination SinCos. r V=W*r1
angle

bm

Volt Coloum friction

Kt
Sensor

Angle or Speed measure e,.g 1 Cuurent, ia 2 angular speed

1 Load torque
Potentiometer, Tachometer
(b)
Fig. 10 (a) Block diagram representation of PMDC motor control Fig. 11Load torque sub-system of a mobile platform
electric Motor
Controller to be
Subsystem
selected C. Combined armature and field currents control
Error Angle, speed
P(s) In1 Out1
Combined armature and field currents control using
Step input Output PI controllers is shown in Fig. 12, running this model for
-K- -
aaaaa.mat
defined values of field, running this model for armature
volt input of 200 and field volt input of 100 will result in
sensor To File
response curves shown in Fig. 12 (b) the response curves
Fig. 10 (b) Preliminary simulink model for negative feedback with forward
compensation show that the output angular speed of 75 rad/s, is
achieved, with motor torque of 100 Nm. Applied PI
controllers can be tuned for better performance
Speed ω ,
DC Vin Chopper angle θ
PID-controller CONCLUSIONS
Ia ωm
Current Speed The mathematical models, corresponding simulink
Sensor Sensor models, analysis and control solutions of basic open loop
Current
controller electric DC machines most used in mechatronics
applications are introduced. Two loops current and speed
- control of eclectic machines are introduced and tested. A
Armature proposed, yet theoretical, control method relating the load
+ Current, Ia torque with desired armature current and torque constant
Speed to minimize current drawn while attaining generated
controller desired motor torque, is proposed and theoretically tested,
resulting in reducing controlling current in acceptable
- ranges. Proposed models are intended for research
+ purposes, as well as, for the application in educational
Desired speed process.
(a) As future work, a practical implementation of the
proposed current and torque control is to be held tested,
and compared with theoretical result and proved
physically.

To SPEED
4 3 To CURRENT controller 2 armature current, Ia 1 angular speed, W
controller
from TL 2
CURRENT 1
controller speed
current Tm angular
Input 4 Error 1 1 speed
Kt 1/n 1/r
from La.s+Ra den(s)
SPEED 3 1/(Ls+R)3 1/(Js + b)3 gear ratio.
controller1
Kb Derivative du/dt
Ks
EMF constant
current sensor, Ks Derivative1 du/dtAngular acceleration
-K-

Fig. 11(c) PMDC motor sub-system

speed feedbacK

39
 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL 2013
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Load torque Load sub-system

Cuurent, ia

Load torque

angular speed
f rom CURRENT controller angular speed, W
Chopper gain Kc Kc

two_loops.mat
TL armature current, Ia
speed To File5 Ia -K-

1
f rom SPEED controller1 To CURRENT controller
Armature current -K-
s
PI current controller1

Kp
Input To SPEED controller

Step 1
Ki
s
Subsystem
PI speed controller

Fig. 11(d) Overall motion control system including load torque.

Ktach

speed sensor

-K-

1 armature current, Ia exited.mat

-K-
Step s
I Armature current '
PI speed controller Vin_armmature

motor torque, Tm exited1.mat

-K- Field current ''
1
Load sub-system1 1
-K- Kc Angular speed, W exited2.mat
s
Cuurent, ia PI 1current controller. Kc Angular speed '''
Tload

Load torque 1/Kt Ks

angular Position, exited3.mat
angular speed current sensor
1/Kt '.
Angular position
PM DC Motor Subsystem1
Ks

Current sensor

Fig. 11(f) Overall motion control system including load torque.

Ktach

speed sensor

-K-

1 armature current, Ia exited.mat

-K-
Step s
I Armature current '
PI speed controller Vin_armmature

motor torque, Tm exited1.mat

-K- Field current ''
1
Load sub-system1 1
-K- Kc Angular speed, W exited2.mat
s
Cuurent, ia PI 1current controller. Kc Angular speed '''
Tload

Load torque 1/Kt Ks

angular Position, exited3.mat
angular speed 1/Kt current sensor Angular position '.
PM DC Motor Subsystem1
Ks

Current sensor

Fig. 11(h) Proposed model

40
 Kp
Wm
2 1
Ki CONTROL, AUTOMATION AND SYSTEMS 3
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W* Ia
ISSN 2165-8277 (Print) ISSN 2165-8285 (Online)
1PI speed controller1 http://www.researchpub.org/journal/jac/jac.html
Desired angular speed1

Ks

Current sensor

-K-

1 armature current, Ia exited.mat

-K- Kc Vin_armmature
s
Armature current '
PI armature controllerchopper gain
Step
Field current, If exited1.mat
-K- ''
Vin_f ield
Field current

Load sub-system1 1 1
V
-K- Kc Motor torque, Tm exited2.mat
s
Constant PI1 field controller. Kc '''
Cuurent, ia Motor torque

Load torque Tload

angular speed, W exited3.mat
angular speed '.
Angular speed
Separately excited DC Motor Subsystem1
Ks

Fig. 12 (a) Block diagram of combined armature and field currents control.

Two loops control;Speed and current Two loops control ;Error signal , Combined control;Armature and field Torque
30 30 80 100

20
20 60
Mgnitude
Omega

Omega

N/m
10
40 50
10
0
20
0 -10
0 5 10 0 5 10 0 0
0 20 40 60 0 20 40 60
Time(s) Time(s)
. .
Fig. 11(e) speed step response curve applying two loops control, speed Armature current Field current
and current 200 100
, Angular speed Vs time Motor torque Vs time
15 10 150
Ampere

Ampere

100 50
10
N/m


5 50
5
0 0
0 20 40 60 0 20 40 60
0 0 Time(s) Time(s)
0 1 2 3 0 2 4 6
. . Fig. 12 (b) applying combined armature and field currents control
Armature current Angular position Vs time
600 40
REFERENCES
30
400
[1] Ahmad A. Mahfouz, Mohammed M. K., Farhan A. Salem,
Ampere

20


Modeling, Simulation and Dynamics Analysis Issues of Electric

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and Verification by MATLAB/Simulink", IJISA, vol.5, no.5,
0 0 pp.39-57, 2013.
0 1 2 3 0 1 2 3
Time(s) Time(s) [2] Mohammad S. Widyan Anas I. Al Tarabsheh, Issa Y. Etier, Rolf E.
Fig. 11(g) angular speed/time, motor torque/time, armature current/time, Hanitsch, Transient Analysis and Output Characteristics of DC
angular position/time response curves , running model given in Fig. Motors Fed by Photovoltaic Systems, Jordan Journal of Mechanical
11(f) and Industrial Engineering, Volume 4, Number 1, Jan.2010
, Angular speed Vs time Motor torque Vs time
15 10 [3] Slemon, G.R. and Straughen, A. 1982. Electric Machines. Addison
Wesley Publishing Company: New York, NY.
10 [4] O.I. Okoro, C.U. Ogbuka, and M.U. Agu, Simulation of D.C.
N/m


5 Machines Transient Behaviors: Teaching and Research, The Pacific

5 Journal of Science and Technology, Volume 9. Number 1. May-
June 2008 (Spring)
0 0
0 20 40 60 0 2 4 6 [5] Halila A., Étude des machines à courant continu, MS Thesis,
. . University of LAVAL, (Text in French), May 2001.
Armature current Angular position Vs time
80 600 [6] Capolino G. A., Cirrincione G., Cirrincione M., Henao H., Grisel
R., Digital signal processing for electrical machines, International
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40 Kusadasi (Turkey), pp.211-219, 2001.



20
200 [7] M.P.Kazmierkowski, H.Tunia "Automatic Control of Converter-
Fed Drives", Warszawa 1994
0 0
0 20 40 60 0 20 40 60 [8] R.D. Doncker, D.W.J. Pulle, and A. Veltman. Advanced Electri-cal
Time(s) Time(s)
Drives: Analysis, Modeling, Control. Springer, 2011.
Fig. 11(i) Speed/time, torque/time, armature current/time, position/time
response curves.

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ISSN 2165-8277 (Print) ISSN 2165-8285 (Online) http://www.researchpub.org/journal/jac/jac.html

[9] Grzegorz Sieklucki,Analysis of the Transfer-Function Models of

Electric Drives with Controlled Voltage Source, PRZEGL ˛ AD
ELEKTROTECHNICZNY (Electrical Review), ISSN 0033-2097,
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selection and design of electric motor for mechatronics motion
applications, using different control strategies and verification
using MATLAB/Simulink (II).
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[16] Farhan A. Salem, Modeling and controller design for electric
motor, using different control strategies and verification using
MATLAB/Simulink (II). I.J. Intelligent Systems and Applications
[17] Hedaya Alasooly, ''Control of DC motor using different control
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[18] Hedaya alasooly, "PhD thesis: Control and Modeling of Facts
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Farhan Atallah Salem AbuMahfouz

B.Sc., M.Sc and Ph.D., in
Mechatronics of production systems,
Moscow, 2000. Now he is ass.
professor in Taif University,
Mechatronics program, Dept. of
Mechanical Engineering and gen-
director of alpha center for engineering studies and
technology researches. Research Interests; Design,
modeling and analysis of primary Mechatronics
Machines, Control selection, design and analysis for
Mechatronics systems. Rotor Dynamics and Design for
Mechatronics applications

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