Aim

Apparatus













Student name

Signature


Date

Batch

To find the transfer function of a Permanent Magnet DC Motor.

EXP-5. TRANSFER FUNCTION OF A PMDC MOTOR

Diagram

I = i
u
R
u
+ I
d
c
dt
+ e
b (1)
e
b
= K
b
(2)
I
c
= [
do
dt
+B +I
I
(3)
T
e
= K
b
i
a
(4)
V = Applied voltage across the motor terminals.
I
a
= Current through the motor.
R
a
= Armature resistance.
L
a
= Armature inductance.
e
b
= Back emf developed.
T
e
= Electromagnetic torque developed.
= speed of the rotor.
J = moment of inertia of the rotor.
B = viscous friction coefficient.
T
l
= load torque.
K
b
= back emf constant.
Procedure
Finding armature resistance (R
a
)
When the rotor is blocked from rotation (at zero rpm) as per (2) back emf becomes
zero.
Apply very less amount of DC voltage to the motor under blocked rotor condition,
When the current reaches steady state the effect of inductance becomes zero.
Under this condition (1) becomes
V = i
a
R
a

Measure i
a
and find resistance.

Finding armature inductance (L
a
)
Apply a small AC voltage to the motor under blocked rotor condition. Measure
current passing through the motor. The ratio of the applied voltage to this
current gives impedance of the armature (Z
a
).
Z
a
= R
a
+ jX
L

From the above equation we find the value of X
L.

X
L
= 2 f L
a
Where f is the frequency of applied voltage
From above equation find the value of X
L
.
Finding back emf constant (K
b
)
Apply a DC voltage to the motor and motor starts to rotate. Allow the motor to
reach a steady state.
At the steady state inductance effect is zero. Measure current through the motor
and speed of the motor.
By solving (1) & (2) find the value of K
b
.


Finding viscous friction coefficient (B)
Under no-load condition apply a DC voltage to the motor and allow the motor to
reach a steady state or constant speed. At this condition (3) becomes
T
e
= B .
Measure speed and current through the motor. Calculate T
e
using (4)
.
From above
equation calculate the value B.
Finding the rotor moment of inertia(J)
Connect the speed sensor to DSO.
Apply a DC voltage to the motor. After a few seconds motor reaches the steady
state speed.
Observe the waveform of speed and find the time constant.
Time constant = J/B
From the above equation calculate J.


Tabulation
Armature Resistance (R
a
)
Voltage(v) Current(i
a
) Ra = v/i
a

Average

Armature inductance (L
a
)
Impedance
(Z)

Reactance
(X
L
)

Armature inductance (L
a
)

Back emf constant(K
b
) and viscous friction coefficient(B)
Applied
voltage
I
a
w K
b
T
e
B









Average value

Rotor Moment of Inertia (J)
Time
constant

Moment of Inertia


Finding transfer function
After finding all the machine constants using (1),(2),(3),(4), find the ratio of (s)/V(s).
(s)
I(s)
=
K
b
s
2
([I
u
) +s(BI
u
+ [R
u
) + (BR
u
+ K
b
2
)









Observations and Remarks
















Conclusion