Summary from previous lecture Z2(s)

Z1(s) I2(s)
Vi(s) V1(s)
• Electrical dynamical variables and elements Ia(s)
- Vo(s)
I1(s) +
Charge q(t), Q(s).
Current i(t) = q̇(t), I(s) = sQ(s).
Voltage v(t), V (s) = Z(s)I(s). Figure by MIT OpenCourseWare.

Op—Amp in feedback
Resistor v(t) = Ri(t), ZR (s) = R. configuration:
Capacitor i(t) = C v̇(t), ZC (s) = 1/Cs.
Vo (s) Z2 (s)
Inductor v(t) = Ldi(t)/dt, ZL (s) = Ls. =− .
Vi (s) Z1 (s)

• Electrical networks Z1

i1 ···
Z1 Z2
ik
KCL + I +V
Impedances in series Z2
P
Vi
+
−
2

P
ik (t) = 0
Z = Z1 + Z2
1
=
1
+
1
. − −
Ik (s) = 0 G G1 G2

KVL − ···
+− vk
+
P Vi Z2 V2
Z1
+ v1
P
vk (t) = 0 Z2 Impedances in parallel
Z1 + Z2
Vk (s) = 0 1 1 1
− Z
=
Z1
+
Z2
G = G1 + G2 . Voltage divider

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

Goals for today

• The DC motor:
– basic physics & modeling,
– equation of motion,
– transfer function.
• Next week:
– Properties of 1st and 2nd order systems
– Working in the s-domain: poles, zeros, and their significance

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

Power dissipation in electrical systems

i(t)

+ v(t) –

Instantaneous power dissipation

P (t) = i(t) · v(t).

Unit of power: 1 Watt=1 A · 1 V.

NOTE: P (s) 6= I(s) · V (s). Why?

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

DC Motor as a system

Transducer:

Converts energy from one domain (electrical)

to another (mechanical)

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

Physical laws applicable to the DC motor

Lorentz law: Faraday law:

magnetic field applies force to a current moving in a magnetic field results
(Lorentz force) in potential (back EMF)

F = (i × B) · l = iBl (i ⊥ B) ve = V × B · l = V B l (V ⊥ B)

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

 DC motor: principle and simplified equations of motion

multiple windings N:
continuity of torque
T = 2F r = 2(iBN l)r (Lorentz law)

ve = 2V BN l = 2(ωr)BN l (Faraday law)

or where

T = Km i • Km ≡ 2BN lr torque constant

ve = K v ω • Kv ≡ 2BN lr back-emf constant

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

DC motor: equations of motion in matrix form

multiple windings N:
· ¸ " #· ¸ continuity of torque
ve 2BN lr 0 ω
= 1
i 0 T
2BN lr
or
· ¸ " #· ¸
ve Kv 0 ω
= 1
i 0 T
Km

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

DC motor: why is Km=Kv?

Pin = Pout (power conservation)

⇒ ive = T ω
⇒ Kv iω = Km iω
⇒ Kv = Km QED.

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

DC motor with mechanical load and
realistic electrical properties (R, L)

inductance dissipation Equation of motion — Electrical

(due to windings) (resistance of windings)
KCL: vs − vL − vR − ve = 0
di
⇒ vs − L − Ri − Kv ω = 0
dt
Equation of motion — Mechanical

Torque Balance: T = Tb + TJ
dω
⇒ Km i − bω = J
dt
Combined equations of motion
di
L + Ri + Kv ω = vs
dissipation load dt
(viscous friction (inertia) dω
in motor bearings) J + bω = Km i
dt

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

DC motor with mechanical load and
realistic electrical properties (R, L)

inductance dissipation Equation of motion — Electrical

(due to windings) (resistance of windings)
KCL: Vs (s) − VL (s) − VR (s) − Ve (s) = 0

Vs (s) − LsI(s) − RI(s) − Kv Ω(s) = 0

Equation of motion — Mechanical

Torque Balance: T (s) = Tb (s) + TJ (s)

Km I(s) − bΩ(s) = JsΩ(s)

Combined equations of motion

LsI(s) + RI(s) + Kv Ω(s) = Vs (s)

JsΩ(s) + bΩ(s) = Km I(s)

dissipation load · µ ¶ ¸
(viscous friction (inertia) Js + b
⇒ (Ls + R) + Kv Ω(s) = Vs (s)
in motor bearings) Km
· µ ¶ µ ¶¸
LJ 2 Lb Km Kv Km
⇒ s + +J s+ b+ Ω(s) = Vs (s)
R R R R

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

DC motor with mechanical load and
realistic electrical properties (R, L)

inductance dissipation Neglecting the impedance

(due to windings) (resistance of windings)
L≈0
· µ ¶¸
Km Kv Km
⇒ Js + b + Ω(s) = Vs (s)
R R
This is our familiar 1st —order system!
If we are given step input vs (t) = V0 u(t)
⇒ we already know the step response
Km ³ −t/τ
´
ω(t) = V0 1 − e u(t),
R
where now the time constant is
J
dissipation load τ= Ã !.
(viscous friction (inertia) Km Kv
b+
in motor bearings) R

2.004 Fall ’07 Lecture 05 – Friday, Sept. 14

Review: step response of 1st order systems we’ve seen

• Inertia with bearings (viscous friction)

Step input Ts (t) = T0 u(t) ⇒ Step response

T0 ³ −t/τ
´ J
ω(t) = 1−e , where τ = .
b b
• RC circuit (charging of a capacitor) R

+ +
Step input vi (t) = V0 u(t) ⇒ Step response vi C vC
³ ´ − −
−t/τ
vC (t) = V0 1 − e , where τ = RC.

• DC motor with inertia load, bearings and negligible inductance

Step input vs (t) = V0 u(t) ⇒ Step response
Km ³ −t/τ
´
ω(t) = V0 1 − e ,
R
J
where τ= Ã !.
Km Kv
b+
R
2.004 Fall ’07 Lecture 05 – Friday, Sept. 14