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The bond-graph analysis of the DC motor with

permanent magnets

Conference Paper July 2003

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The bond-graph analysis for the DC motor with
permanent magnets
Adriana-Marcela Grava, Teodor Maghiar, Cristian Grava, Vasile oproni

Abstract This paper presents the bond-graph model practice, it is often not necessary to represent all the
for the DC motor with permanent magnets. The bond- phenomena. For example, in the case of the DC motor
graph analysis and simulation, using 20-SIM software, is with permanent magnet we will not take into account
also presented. The aim of this paper is to model the DC the non-linearity due to the saturation of the core. It
motor with permanent magnets by using a complex can be also neglected the variations of some
modeling concept, namely the bond-graphs, which allows parameters by temperature, even the bond-graph
us to deal with the DC motor as an integer system. Using
modeling offer this possibility.
the bond-graph model we can determine any electrical or
mechanical measure using the same model.
II. THE DC MOTOR WITH PERMANENT MAGNETS.
I. INTRODUCTION
EQUATIONS AND BOND-GRAPH MODEL
Using bond-graphs it can be modeled any physical
system, using elements specific to bond-graphs. By The only difference comparative with the separately
using bond-graph elements we can model the physical excited DC motor occurs at the stator level. In the case
phenomena and the energy transfer between different of the DC motor with permanent magnets, a pair of
domains. Thus, any complex physical system can be permanent magnets replaces the windings, in order to
analyzed as a unique system and it can be determined create the magnetic field. Thus, the resulting magnetic
any physical measure that occur in any part of the field Bd is constant [3], [4].
system. The physical system could contain any The resulting expression for the magnetic flux is:
electrical, magnetic, mechanical, hydraulic or other q = Lq iq + d sin( ) =0 = Lq iq (1)
physical parts, through the using of bond-graphs
where:
having an ensemble image of the integer physical
system that has to be analyzed. d = B S = ct , (2)
The DC motor is very used in electrical applications and S is the rotor winding surface.
and because of its construction it represent a very The DC motor with permanent magnets has only
good subject to be studied by using bond-graphs. In rotor electrical resistance.
the class of the DC motors there is many types of The power balance for this machine is:
electrical motors, that has the common property that (
El = iq d 'q + d ' )(3)
they are fed by a continuous electrical voltage.
where E1 is a function of d and .
The DC motor with permanent magnets is very used
The integration of E1 is done between (0,0) and
in the domain of low power electrical controls, for
(d, ). A path for this integration process has to be
example in robotics or in the case of electrical controls
chosen. This path will be split into two components:
for auto-vehicle.
C1 and C2. The C1 path starts at (0,0) and ends atm
The main technical parameters of a DC motor are:
(1, ), by considering the current as being null. In
the rotor resistance; this case:
the rotor inductance; 1 = d sin( )
the torque constant; nd
The 2 path, C2, starts at (1, ) and ends at (d, ).
the rotor inertial moment;
the statically friction torque; ( ) ( )
El = iq d 'q + d ' + iq d 'q + d ' (4)
C1 C2
the dynamic friction torque. Due to the fact that the integration process is made
In addition, in order to reach a given fiability the at zero current for C1 and at fixed angle for C2:
producer could impose that some parameters to not
surpass certain limits: maximal currents or voltages, El = d ' + iq d 'q (5)
C1 C2
maximal torques or angular velocities etc. Because of the fact that on the C1 path, the current
Starting from the electrical schema, we can build a is zero, using the Laplace force expression the torque
bond-graph model, that can also include measures that is also zero. Thus:
cannot be represented in the electrical schema. In q ' d sin( ) '
El = d (6)
sin ( )
L
The authors affiliation is: Faculty of Electrotechnics and d q
Informatics, University of Oradea, 3700, Str. Armatei Romne Nr.5,
Oradea, Romania. E-mail of the contact author: agrava@uoradea.ro.

429
 The expression of E1 becomes:

El =
(
1 q d sin( ) ) 2

(7)
2 Lq
=0

The torque expression can be written as:

E
= l (8)
=0

=
d
Lq
(
cos( ) q d sin( ) ) (9)
Fig. 2. The Causal bond-graph model, using GY element, for the DC
=0 motor with permanent magnets.
d
= q = d iq (10) From the point of view of physical domains
Lq
separation (figure 2), the elements Relec, Ielec, Se and the
Using the above equations, an acausal bond-graph first junction belongs to the electrical domain, Se being
model for this type of DC motor can be determined. the voltage supply.
Two types of bond-graphs models can be determined. The first junction is a 1-type junction that belongs
The first one use an inductive-capacitive multiport, to the electrical domain and it correspond to the
like the separately excited DC motor [1], [2]. division of the supply voltage of the rotoric winding,
Rewriting (1): between: the voltage on the self electrical resistance of
d q di q
= Lq + d cos( ) =0 (11) the coil, the self-inducted voltage on the coil and the
dt dt voltage that will contribute to the generation of
d q diq mechanical energy.
= Lq + d (12) The second junction corresponds to the
dt dt
transformation of the electrical power in mechanical
By integrating (12) it results:
power, the equations that govern this transformation
q = Lq i q + d (13)
being exactly the equations that defines the DC motor
Equations (10) and (13) determine an inductive- behavior. The last junction is a 1-type junction that
capacitive multiport, which can be written as: signifies that the mechanical torque is delivered to the
q Lq d iq inertial load.
= (14)
0 Thus, using the bond-graph modeling we can
d
represent different physical domains on a single
Equations (1) and (14) are the basics relations for representation and we can analyze the DC motor as a
the acausal bond-graph model, with inductive- complete and unique system and this is the major
capacitive multiport, for the DC motor with permanent advantage of bond-graph modeling, comparing with
magnets. In figure 1 the bond-graph itself is presented. other modeling that could be used.
uq By taking into account the losses and transitory

regimes that occurs in electrical engineering systems,
the bond-graph modeling will become the ideal tool
iq for multi-domain system modeling, due to its multiple
advantages:
Rq It allows a very detailed representation for the
geometrical description of the magnetic circuit;
Fig. 1. The acausal bond-graph model, using inductive- capacitive It models the magnetic materials using
multiport, for the DC motor with permanent magnets.
representations that takes into account all the
Another bond-graph representation for the DC phenomena susceptible to change the dynamics of
motor with permanent magnet is obtained by using the B(H) characteristic;
following relation: It allows a very easy connection process between
diq the parts of the system belonging to different
u = u q R q i q Lq = d (15) physical domains;
dt The coupling between different physical domains
Thus, the second model for this type of DC motor, and solving the corresponding system of
using a gyrator (GY) element is obtained. In figure 2, equations is simplified, due to a unique graphical
this second model obtained by using equations (10) representation.
and (15), is presented.

430
 III. EXPERIMENTAL RESULTS
In the following, the bond-graph simulation and
analysis of the DC motor with permanent magnet is
presented; using 20-SIM software.
The simulated motor, ARTUS T-2178, has the
following parameters: Re=22.2 , Le=0.03 H, Ke=0.03
Vs/rad, Kt =0.03 Nm/A, Jm = 7710-6kgm2.
In figure 3 and 4, the simulated starting current Fig. 5. The bond-graph of the DC motor, which was used to obtain
and motor angular velocity are presented. the mechanical characteristics.
curentul de pornire
The maximal torque than can be developed by the
0.4 0.4 simulated motor is:
starting current (A)

0.3 0.3
C max = I max K e C fs (16)
curentul de alimentare

0.2
where Imax is the maximal current in the electric
circuit, Ke is the torque constant, and Cfs is the
0.2

0.1
statically friction torque.
0 0.1 0.2
ti me (s)
0.3 0.4
0.1

I max = U alim /R rotor , (17)

0 0

Because of the fact that in the stationary regime the

winding electrical voltage is neglected, from the
0 0.2 0.4 0.6 0.8 1
time {s}

0 0.2 0.4 0.6 0.8 1.0 previous relations results a maximal torque value of
time (s) 0.083 Nm. This value must be reached after 10
seconds, which means that the value of the scale
Fig. 3. The starting current.
parameter has been 0.083/10. Using this value in our
problem, the resulting torque-angular velocity
15 15
viteza unghiulara la pornire
characteristic is presented in figure 6.
cuplu-turatie mcc mg

15
angular velocity (rad/sec)

15

10 10
angular velocity (rad/sec)

10
turatia {rad/s}

10

5
tur
5 ati
e
{ra
d/s

5 } 5

0 0

0
0
0 0.2 0.4 0.6 0.8 1
time {s}

0 0.2 0.4 0.6 0.8 1.0 0 0.01 0.02 0.03 0.04 0.05
cuplu impus {N.m}
0.06 0.07 0.08

time (s) 0 0.02 0.04 0.06 0.08

Fig. 4. The starting angular velocity.
torque (Nm)
In order to obtain reliable torque-angular velocity Fig. 6. The torque-angular velocity characteristic, obtained with a
characteristics, it is necessary to introduce a commanded brake.
commanded brake, as in the practical experiments.
The evident error in the zone of the null torque is
This brake behaves as an effort supply, the effort due to the testing method. If the imposed friction
being non-zero only if the flux (or the angular torque would be descending, the result wouldnt have
velocity) is non-zero and this effort (commanded in been affected in the origin area.
amplitude) is always opposite to the rotation sense. To compensate this fact, a modified bond-graph
In figure 5 the bond-graph model that will be model is used (see figure 5).
simulated, is presented. In order to command the brake From the same consideration, the simulation time
it is used the time signal, that is scaled corresponding has been chosen to be great enough comparing with
to the maximal motor torque. The simulation time has the electrical and mechanical time-constants in the
been chosen great enough (10 seconds), in order that model. A scaling is necessary, in order to obtain an
the result to be not affected by the dynamic behavior, appropriate angular velocity, having a maximal value
more precisely to be not affected by the inertial close to the maximal angular velocity of the motor.
phenomena existing in the mechanical and electrical Because the torque is negative at the connection
fields. level between the angular velocity and the axis, it is
necessary to insert an inversor, as a 0type connection,
which act as a torque traductor.

431
 In figure 7, the torque angular velocity diagram REFERENCES
is presented. It can be observed the DC motor [1] P. Barret, Rgimes transitoires des machines tournantes
behavior in the brake regime, the maximal value of the lectriques, Eyrolles, 1982.
angular velocity being greater than the maximal value [2] R.P. Bouchard, O. Guy, Conception de moteurs asynchrones
triphass, Montral Editions de l'Ecole Polytechnique de
of the angular velocity in the uncharged regime: Montreal, 1997.
[3] P.J. Gawthrop, Bond-graphs and dynamic systems, London
Title

15
Prentice Hall, 1996.
15 [4] A. Grava, Modlisation des moteurs asynchrones par bond-
graphs, Rapport de stage au Laboratoire dAutomatique
angular velocity (rad/sec)

Industrielle, INSA de Lyon, 2000.

10
10 [5] D. Karnopp, R. Rosenberg, System dynamics: a unified
approach, John Willley, New-York, Second edition, 1991;
turatie {rad/s}

[6] S. Scavarda, G. Dauphin-Tanguy, Modlisation des systmes

5 5
physiques par bond-graphs, INSA de Lyon, France, 1994.
[7] S. Scavarda, G. Dauphin-Tanguy, etc, Les bond-graphs
Hermes, 2000.
0 0

-0.01 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

cuplu

-0.01 0 0.02 0.04 0.06 0.08

torque (Nm)

Fig. 7. The torque angular velocity diagram.

It can be noticed that, the brake regime is reached

for the angular velocities greater than 12 rad/second.
Even the simulation models were different, the
simulation results are very close between them, and
they are also very close to the real torque angular
velocity diagram, of a real DC motor with permanent
magnets.

IV. CONCLUSIONS
It can be observed the good concordance between
the experimental and simulated results, using a
homogenous simulation environment.
The bond-graph modeling could be an ideal
modeling language that allows us to take into accounts
the losses and transitory regimes of electrical
engineering systems. The bond-graph modeling has
the following advantages:
it is a method that allows a detailed description of
the geometry of magnetic circuit;
it represents magnetic materials taking into
account all the phenomena that can modify the
B(H) characteristic, in dynamic regime;
the chosen formulation allow an easy coupling of
the models of system parts that could be different
from physical point of view;
the practical implementation of the coupling of
different physical domains and solving the system
of equations could be facilitate by a unique
representation.
Thus, it is recommended to adopt a global
formulation to simplify the representation of magnetic
geometry of the circuit. This simplification will allow
the representation of the properties of magnetic circuit
using differential equations that will facilitate the
coupling between different physical parts of a system.

432

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