Study of transient behavior of DC machine can be very D.C.

motor are need to be connected to the source

hectic and stressful. This is because of the differential
through voltage regulators such as choppers or
equation are usually non linear and difficult to solve and
comprehend analytically. In order to make the topic easier, rectifiers [4]. A circuit model of a Separately Excited
simplifying assumptions are used which do not necessarily D.C. motor is shown in Figure 1
represent actual machine behaviors.
This paper represents the the transient behavior of some
below.
DC machines i.e separately excited, shunt excited and Lf
series wound DC motor. The modeling is based on the Ra
block approach in MATLAB/SIMULINK. If Ia
La
1. Introduction Rf wm Te
The D.C. machines applications have remained
crucial in industrial processes and have some Va
competitive advantages over AC machines.
eb
There are different applications of DC machines such
Tl
as large motors are used in printing presses, conveyor
fans, pumps, hoists, cranes, paper mills, textile mills,
electric cars etc. Small D.C. motors (in fractional Vf
power rating) are used in control devices such as
tacho-generators for speed sensing and servomotors
for positioning and tracking [1]. Fig.1 Separately excited DC motor.
Due to increasing complexity industrial process
demands flexibility from the machines in terms of Dynamic equations of separately excited DC motor
characteristics and speed control[2]. Their can be derived from the above diagram as follows:-
torque/speed characteristics can be varied over a wide
range, while the machine maintains its efficiency (1)
without sacrificing its speed as in the case of
induction motors [3]. D.C. motors considered good to
be used in applications where good controllability is
(2)
demanded. The main advantage of D.C. machines
over other types of machines i.e induction machine
and synchronous machine is the ease of their speed The torque equation is related to the moment of
control [4]. inertia of load & friction losses are represented by a
This paper presents the transient performances of the viscous friction coefficient(B). Then the torque can
various classes of D.C. machines (in motor mode) be represented as:-
using SIMULINK. The electrical and mechanical
equations of each class are developed in state space
form from which the SIMULINK models are built.
(3)

2. Separately excited dc motor

The machine torque is also related to the armature
In this type of dc machine armature current and field current and field current as :-
currents are fed from two different supplies hense
they have different circuitry for the field and the (4)
armature winding. The armature current at the time of
starting is much higher than the rated current value. Where, flux established is:-
This proves to be dangerous to the commutator,
which should not be exposed to current greater than (5)
twice the rated current. Therefore separately excited
Hence ,

(6) (13)

(7)
(14)
From equation (1), (2) & (3) we get :-
(15)

(8) 4. DC series motor

3. DC shunt motor
In a DC shunt motor the armature and the field
windings are connected in parallel. The field current
and armature current are supplied by the same source.
Therefore, the transient in the field current are
simultaneous to that of armature current. The
In the DC series motor field winding is internally
connected in series with the armature winding. Same
amount of current is flown in armature and field
winding. Therefore, as the load decreases the speed
of the motor increases. So theoretically the speed at
no load reaches infinity. Following diagram shows
the circuit configuration of the DC series motor.
Lf Rf

following diagram shows the circuit configuration of Ia=If

Ra
the DC shunt motor:-

is La Va
Rf Ra
wm Te
ia
eb
if
La Va
Tl

wm Te
Lf
Fig.3 Series wound DC motor.
eb
Tl Dynamic equation of DC series motor can be derived
from above diagram as follows:-
Fig.2 Shunt excited DC motor.

(16)
Dynamic equations of DC shunt motor can be
derived from the above diagram as follows:-
(17)
(10)
Hence, the equation for MATLAB/SIMULATION
(11) are :-

Now considering both armature and field excitation (18)

we get the torque relation as:-
(19)
(12)
(20)
Now from equation (10), (11) &(12). We get the
following equations.
 5. SIMULATION MODELS
Block model approach is being used for the
simulation of DC motors. The simulink model clearly
displays the starting response of the dc motor.
Following diagrams shows the SIMULINK model of
the DC separately, shunt & series excited motor.
Fig.5. Subsystem of armature current of separately excited DC
motor.
5.1. Separately excited DC
motor.
Figure (5) is the Simulink representation of the
separately excited DC motor based on the equations
(6),(7) & (8).

Fig.6. Subsystem of field current of separately excited DC motor.

Fig.7. Subsystem of rotor speed calculation of separately excited

DC motor.

Fig.8. Subsystem of motor torque of separately excited DC motor.

5.2. DC shunt motor.

The following figures represents the DC shunt motor

Fig.4 SIMULINK model of separately excited DC motor.
Figure (5) & (6) are the Simulink representation of
equations (8), which calculates the armature and field
current of the separately excited DC motor. Now, the
succeeding figures i.e figure (7) & (8) provides the
rotor speed and torque of the motor based on the
equations (6) and (7) respectively.
Simulink model, figure (8) shows the simulink
subsystems of the equation (13), (14) & (15). Where
each of subsystem is descriptively shown in the
figure (9), (10), (11) & (12), which are based on the
equations (13), (14) & (15) calculating armature
current, field current, rotor speed & torque
respectively.
 remains the same. Hence armature current and field
current are represented by the same equation i.e (18)
and its Simulink representation is given in figure
(14). Figure (15) & (16) are the Simulink
representation of the equation (19) & (20) to
calculate rotor speed and torque respectively.

Fig.8 Simulink model of DC shunt motor.

Fig.13 Simulink model for series wound DC motor.

Fig.9. Subsystem of armature current of DC shunt motor.

Fig.14. Subsystem of armature current of series wound DC motor.

Fig.10. Subsystem of field current of DC shunt motor.

Fig.15. Subsystem of rotor speed of series wound DC motor.

Fig.11. Subsystem of rotor speed of DC shunt motor.

Fig.16. Subsystem of torque of series wound DC motor.

6. Performance curves
Fig.12. Subsystem of torque of DC shunt motor.

Motor parameters in the following Table are used for

5.3. Series wound DC motor.
simulation.
Figure (14) is the Simulink representation of the
Table:-1 Motor Parameters
series wound DC motor. As we know that current in
series remains constant therefore in series wound DC Separately and Shunt Series wound DC
motor the armature current and the field current excited DC motor motor
Ra 0.0130 0.0130 motors.
La 0.010H 0.010H
100
Rf 1.430 0.0260 seperately excited
Lf 0.1670H 0.1670H shunt excited
80
J 0.210Kg-m2 0.210Kg-m2 series wound

field current (A)

B 1.074e-6Nms2 1.074e-6Nms2
60
Tl 2.4930Nm 2.4930Nm
Kb 0.004N-m/A2 0.004N-m/A2
40
Va 24V 24V
Vf 12V 24V
20

0
The simulation of the three motors are based on the 0 5 10 15 20
above parameters. All the the motors have same time (sec)

parameters but it is to be considered that in separately

Fig.18. Field current of DC motor.
excited the field circuit is fed from a different source
which makes the speed regulation easier. In shunt and As shown in the figure(18) the field current shows
the series excited motor field and armature circuit are greater transients in the series wound motor because
fed from the same circuit. The result shown is 24V in series wound motor armature and the field currents
source supply with 12V and 24V field supply in case are same.
of in separately excited motor.
80
1500 seperately excited
seperately excited
60 shunt excited
shunt excited
series wound
armature current (A)

1000 series wound

torque (Nm)

40
500
20

0
0

-500 -20
0 5 10 15 20 0 5 10 15 20
time(sec)
time (sec)

Fig.17. Armature current of DC motors.

Fig.19. DC motor torque.

Fig.17.shows the response of armature current with Response of torque shown in fig(19) shows the
rated load. It is evident from the figure that separately dependence of transients of armature current to the
motor takes more time to reach steady state as it have torque as torque is directly proportional to the
higher transients than the shunt and the series wound armature current and the field current.
 800
80 seperately excited

field current (A)

600 seperately excited shunt excited
60
rotor speed (rad/sec)

shunt excited series wound

series wound
400 40

20
200
0
0 5 10 15 20
0
time (sec)

-200 Fig.23. Field current.

0 5 10 15 20
time (sec)

rotor speed (rad/sec)

400
Fig.20. Rotor speed of DC motors.
300
200
800
seperately excited seperately excited
100
shunt excited shunt excited
600 series wound 0 series wound
rotor speed (rad/sec)

0 5 10 15 20
400 time (sec)

200 Fig.24. Rotor speed.

-200
-20 0 20 40 60 80
torque (Nm) 60 seperately excited
shunt excited
torque (Nm)

series wound
Fig.21.Torque vs Speed characteristics of DCmotors. 40

20
The response curves shown in above figures have
separately excited dc motor field excitation with 12V 0
supply. The all the response curves except rotor
-20
speed are showing a very high state of armature and 0 5 10 15 20
field current. time (sec)

Fig.25. Torque.
1000
armature current (A)

seperately excited
shunt excited During the study the separately excited DC motor
series w ound
500 behaves exactly like the shunt excited DC motor with
the field excitation voltage same as the source excited
voltage. The characteristics response having
0 separately excited DC motor field excitation voltage
0 5 10 15 20 of 24V are given in the above figures(22)-(25).
time (sec)
In a separately excited DC motor there are different
Fig.22. Armature current. methods of control such as field control and armature
voltage. In the following figures depicts the
behaviour armature current, torque & rotor speed
keeping the field supply and resistance as constant.
 1000 100 1000 80
armature current (A) 24 V
24 V 24 V 24 V
18 V 18 V 800 18 V 18 V

armature current (A)

60

toque (Nm)
500 50 12 V 12 V 12 V
12 V
600

torque (Nm)
40
0 0 400
20
200
-500 -50
0 5 10 15 20 0 5 10 15 20 0
time (sec) time (sec) 0

-200 -20
(a) (b) 0 5 10 15 20 0 5 10 15 20
time (sec) time (sec)

600 (a) (b)

rotor speed (rad/sec)

400
20 500
200
400

rotor speed (rad/sec)

24 V 15

field current (A)

0 18 V 300
12 V
-200 10 200
0 5 10 15 20
time (sec) 100
24 V
5 24 V
18 V 18 V
0
(c) 12 v 12 V
0 -100
0 5 10 15 20 0 5 10 15 20
Fig.26. separately excited DC motor at different voltage time (sec) time (sec)
levels,(a).Armature current, (b). Torque & (c). rotor speed.
(c) (d)
In any application of dc motor the load does not
Fig.28. Shunt excited DC motor with different voltage levels; (a).
necessarily remains constant therefore any change in
Armature current, (b) torque, (c). Field current & (d). Rotor speed.
the load lead to the change in the armature current
and rotor speed. As it can be seen from the following With the different load conditions to the DC shunt
figure that there is a decrease in rotor speed and motor keeping terminal supply constant it shows a
increase in armature current with the increase in load. behavior similar to the separately excited DC motors
as shown in the following figures.
1000
full load
500
1000 500
800 half load
no load 400 full load
armature current (A)

400
rotor speed (rad/sec)

half load
rotor speed (rad/sec)
armature current (A)

600 300 no load

500 300
400 200
full load 200
200 100 half load
no load 0 100 full load
0 0
half load
0
-100 no load
-200
0 5 10 15 20 0 5 10 15 20
time (sec) time (sec) -500 -100
0 5 10 15 20 0 5 10 15 20
time (sec) time (sec)
(a) (b)
(a) (b)
Fig.27. separately excited DC motor with full, half & no load
conditions; (a). Armature current & (b). rotor speed. 80
full load
60 half load
no load
DC shunt motor has similar configuration as that of
torque (Nm)

40
the separately excited DC motor but in separately
20
excited field has independent regulated supply but in
0
case of shunt the field current depends on terminal
supply. Following depicts the behavior of the shunt -20
0 5 10 15 20
time (sec)
motor with different voltage levels.
(c)

Fig.29. Shunt excited DC motor with full, half & no load

condition; (a). Armature current, (b). Rotor speed & (c). Torque.
The series wound DC motor shows a different (c)
behavior than the previous two motors. The effect of
Fig.31. Series wound DC motor with full, half & no load
voltage change is greatly viewed in the rotor speed as condition; (a). Armature current, (b). Torque & (c). Rotor speed.
shown in following fig.(c). but no significant change
can be seen in the armature current and the torque.
100
24 V
40
24 V
Steady state characteristics.
80 18 V 18 V
armature current (A)

12 V 30 12 V

60 torque (Nm) Steady state characteristics of these motors can be

20
40 plotted as like the conventional motor such as by
20
10 keeping one parameter constant and varying the
0 0
other. The model can be used to compute the steady
0 10 20 30 0 10 20 30
time (sec) time (sec) state characteristic of the three motors. Due to the
same characteristic behavior of separately excited DC
(a) (b)
motor to that of the shunt excited motor with 24V
250 field excitation of separately excited motor.
200 Therefore the steady state characteristics are taken at
rotor speed (rad/sec)

150
12V field excitation of separately DC motor.
100
24 V
50
18 V 2.5
0 12 V
torque (Nm) 2
-50
0 20 40 60 80 100
time (sec) 1.5

1
(c) seperately excited
0.5 shunt excited
series w ound
Fig.30. series wound DC motor with different voltage levels; 0
0 10 20 30 40 50 60 70
(a).Armature current, (b). Torque & (c).Rotor speed. armature current (a)

Loading of series wound is most important because Fig.32. Torque vs armature current characteristics.
theoretically at no load the speed of the series wound
motor is infinity as it can be seen in the following 1500
rotor speed (rad/sec)

fig.(c) that at no load the rotor speed is approaching seperately excited

towards infinity. shunt excited
1000 series w ound
100 40
full load full load
half load half load
80
armature current (A)

30 no loada
no load
torque (Nm)

60
20
500
40

10
20

0 0
0
0 20 40 60 80 100 0 20 40 60 80 100 0 0.5 1 1.5 2 2.5
time (sec) time (sec)
torque (Nm)
(a) (b)
Fig.33. Rotor speed vs torque.
1000

800 7. Conclusion
rotor speed (rad/sec)

600

400 The work in this paper has demonstrated the use of

200
SIMULINK with MATLAB codes, the modeling of
full load different types of DC motors i.e separately excited,
0 half load
no load shunt excited and series wound DC motor to study
-200
0 100 200 300 400 500 their transient behaviors. The speed control and
time (sec)
steady state behavior can also be studied using this
model.
The model developed can be used for teaching tool
for DC machine transient behavior and characteristics
of those machines. It will proves to be very beneficial
for electric machine Students to study by the block-
based approach which makes it easy and elegant to
comprehend as opposed to time-wasting program
writing.

8. References
1. Slemon, G.R. and Straughen, A. 1982. Electric Machines.
Addison Wesley Publishing Company: New York, NY.
2. Ryff, D., Platnick, D., and Karnas, J. 1987. Electric Machines
and Transformers, Principles and Application. Prentice-Hall
Inc.: New York, NY.
3. Wildi, T. 2000. Electric Machines, Drives, Power Systems.
Prentice-Hall Inc.: New York, NY.
4. Ostovic, V. 1994. Computer Aided Analysis of Electric
Machines. Prentice Hall International Ltd.: London, UK.
5. Guru, B.S. and Hiziroglu, H.R. 1998. Electric Machines and
Transformer. Oxford University Press: London, UK.
6. Zeina Bitar, Samih Al Jabi, Imad Khamis, Modeling and
Simulation of Series DC Motors in Electric Car, Energy
Procedia , pp- 460 470, 2014.