EE 327 Proj2

EE 327 Signals and Systems
West Virginia University
Separately Excited DC Motor
Prepared by:
Cheri Settell
Jeannine Meyers
Janet Klinkhachorn
Submitted to:
Dr. Ali Jalali, EE327
November 22, 2002

Table of Contents
Abstract 3
1. Introduction 4
2. Design Approach 6
3. Theory 7
Figure 1, Separately Excited DC Motor Schematic 7
4. Calculations 9
MatLab Code 10
5. Procedure 11
6. Results 13
Figure 2, Initial Value Graphs 13
Figure 3, Increased Rf Graphs 14
Figure 4, Increased Lf Graphs 15
Figure 5, Increased both Rf and Lf Graphs 16
Figure 6, Decreased Rf Graphs 17
Figure 7, Decreased Lf Graphs 18
Figure 8, Decreased both Rf and Lf Graphs 19
7. Analysis 20
Figure 9, Comparison of Rf Values 22
Figure 10, Comparison of Lf Value 23
Figure 11, Comparison of Changing Both Rf and Lf Values 23
8. Conclusion 24
9. Bibliography 26
2
Abstract
Our team was tasked with finding a way for the armature current, field current, speed,
and back emf of a Separately Excited DC Motor to have no attenuation in the graph of
the values vs. time. The project had to be simulated using MatLab. Our team used the
differential equations pertaining to the speed, armature current, field current, and back
emf of the Separately Excited DC Motor to simulate the motor in MatLab. Once the code
was written, base values for the field resistance and inductance, and the base values for
the armature resistor and inductor were assigned and the simulation ran. After the initial
values were taken, the simulation was run again increasing and decreasing the field
resistor and inductor values. From the data collected, it was concluded that optimal
conditions were reached by decreasing the field inductance from 50 to 25 ohms and
leaving the field resistor at 75 ohms.
3
1. Introduction
A DC motor converts electrical power into mechanical power, because of this DC
machines are used in special heavy duty applications like draglines, electric trains, and
steal mills. They are used for these applications because their speed and torque can easily
be varied without suffering a reduction in the efficiency of the machine. A DC machine
has two parts: stator and rotor. The stator is the outer part and it is usually stationary.
The rotor rotates inside the stator. The stator houses the field windings, and the rotor
houses the armature windings. A DC motor is driven by a DC current supplied to the
armature windings. This is called the armature current. There is also current supplied to
the field windings, this is called the field current. Since the rotor rotates inside the stator,
there is an interaction between the armature current and the field current by way of the
magnetic flux created by both of these windings.1 A torque Td is formed because of
interaction between the flux of the armature and field windings. The speed voltage ea,
also known as the back-emf, is directly proportional to motor speed. It is related by the
motor speed constant kv and the field current if. The separately excited motor can be
controlled by changing armature voltage, a field voltage, or an armature current. When a
motor is operated using its rated armature voltage, armature current, and field current, it
is said to be running at its base speed b. Armature voltage control is the method of
choice if a speed below the base speed is required. If speed above the base speed is
required, field current must be changed. As the power output of the motor cannot be
greater than its rating, the generated torque declines in over-speed operation.2
1
http://www.mech.up.edu.au
2
http://murray.newcastle.edu.au
4
The goal of our project was to find a way to have the values of the armature current,
field current, speed, and back emf level off with no attenuation in the generated values.
The following report outlines the creation of a simulated Separately Excited DC Motor
using MatLab, and discusses the best way to achieve our groups goal. From the tests
conducted, it was concluded the optimal values of back emf, armature current, field
current, and speed were obtained with the field resistance and inductance being 75 and 25
ohms respectively. Problem Statement: The values of armature current, field current,
speed, and back emf need to have no attenuation in the generated values vs. time.
5
2. Design Approach
I. Research
A. The team began by doing research on how a Separately Excited DC Motor
worked and what it consisted of. We went to the Evansdale Library to get books
on the subject. There were several books on DC Motors, but none pertaining to
simulation of motors in MatLab.
B. After not finding much at the library, the team got on the internet. We looked for
any type of information on Separately Excited DC Motors. We found several
websites with information pertaining to our project. Most of the information we
found was the simulation of a Series DC Motor and the steady state MatLab code
for Separately Excited DC Motors. We did not know how the steady state
equations were derived from the differential equations, so we decided not to use
them, but the differential equations for the characteristics of the Separately
Excited DC Motor we did understand.
II. Design Approach

A. After researching Separately Excited DC Motors, we decided the best way to
implement our design would be to change the differential equations of the
Separately Excited DC Motor into difference equations. These equations could
then be put into MatLab and the Separately Excited DC Motor could be
simulated.
B. We decided to measure the back electromotive force, speed, armature current, and
field current. From these measurements, we wanted to find the best combination
of the four measurements by changing the field resistor and inductor values.
C. Once our team had decided on how to accomplish our project, we needed to learn
how to change a differential equation into a difference equation. We visited Dr.
Choudry. He taught us how to make a differential equation into a difference
equation. Then we needed to put the equation into MatLab. We then went to Dr.
Jalali to learn how to put the difference equation into MatLab. After talking to Dr.
Jalali, we were able to complete our program.
6
3. Theory
A DC motor consists of a stationary cylindrical object called the stator, and a rotating
cylindrical object inside of the stator called the rotor. The stator consists of
electromagnetic poles called the field windings. In Figure 1, the Separately Excited DC
Motor is modeled electrically. Ra and La are the armature resistance and inductance. Ia is
the armature current. Va is the applied voltage to the armature. In our experiment, this
value is represented by a Vt. Ea is the back emf produced. Lf and Rf are the field
inductance and resistance. Vf is the applied field voltage. TL is the load torque. J is the
moment of inertia, and is the speed. In our project, we neglected B, the friction
coefficient.3
Figure 14
Separately Excited DC Motor
When an input voltage is applied to the field windings, the equation that relates the field
voltage (Vf) and the field current (If) is as follows:
Vf = RfIf + LfdIf/dt5
Rf is the field resistance
Lf is the field inductance
The input field voltage and input field current control the speed, induced electromotive
force (Ea), terminal voltage (Vt), and armature current (Ia). The rotor consists of the
armature windings. When an input voltage is applied to the field terminals of a DC
motor, the terminal voltage (Vt) and the armature current (Ia) is related through the
following equation:
Vt = IaRa + Ea + LadIa/dt6
Ra is the armature resistance
La is the armature inductance
3
http://www.avere.org
4
http://murry.newcastle.edu.au
5
http://newcastle.edu.au
6
7
Once the field and terminal voltages are found, the speed of the rotor can be found.
Using the voltage constant (Ke), the speed of the rotor () is dictated by the equation:
Jd / dt = Te - TL7
Te = KeIfIa
Te is the electrical torque
TL is the load torque
J is the moment of inertia
A magnetic field is created by the field windings; when the armature rotates in this
magnetic field, a voltage is induced in the armature winding. This voltage is referred to
as the back emf (Ea). It can be found by the following equation:
Ea = Ke * If *8
Using all four equations, the separately excited DC motor can be controlled directly by
applied armature voltage, armature current, and field current.
7
8
8
4. Calculations
I. Initial Conditions
A. Ke=0.33
B. Vf=150 VDC Vt=100 VDC
C. Ra= 0.9 La= 0.01 H
D. Rf= 75 Lf= 50 H
2
E. J= 0.2 kgm
F. TL= 5 Nm
G. Time limit is 10 seconds and dt =0.001
H. Initial Armature Current (I0), field current (I1), and speed (w0) are set at zero
I. Definiation of the intergral9: I(t + t) i(t)] / t
II. Field Current Equation

A. Vf = RfIf + LfdIf/dt10
B. Using the definition of the integral, the field current equations is as follows:
1. dIa / dt = [(Vt IaRa Ea) / La]
2. [Ia(t + t) ia(t)] / t] = [(Vt IaRa Ea) / La]
3. Ia(t + t) = ia(t) + t * [(Vt IaRa Ea) / La]
C. This equation is represented in MatLab as: Ia = I1 + dt*(Vt (Ra*I1) ea) / La
III. Armature Current Equation

A. Vt = IaRa + Ea + LadIa/dt11
B. Using the definition of the integral, the armature current equations is as follows:
1. dIf / dt = [(Vf IfRf) / Lf]
2. [If(t + t) if(t)] / t] = [(Vf IfRf) / Lf]
3. If(t + t) = if(t) + t * [(Vf IfRf) / Lf]
C. This equation is represented in MatLab as: If = I0 + dt*(Vf (Rf*I0)) / Lf
IV. Speed
A. Jd / dt = KeIfIa - TL12
B. Using the definition of the integral, the speed of the rotor equations is as follows
1. d / dt = [(KeIfIa TL) / J]
2. [(t + t) (t)] / t] = [(0.33IfIa TL) / J]
3. (t + t) = (t) + t * [(0.33IfIa TL) / J]
C. This equation is represented in MatLab as: w = w0 + dt * ((0.33*I0*I1) T1) / J
V. Back emf
The equation is not a differential equation, but varies with the armature current and
speed. The equation represented in MatLab is as follows: ea = 0.33*I0*w0
VI. MatLab code
9
Kirk, Donald and Robert Strum
10
11
12
9
Ra=0.9; La=0.01;
Rf=75; Lf=25;
Tl=5;
J=0.2;
Vf=150; Vt=100;
k=0;
CurrentIf=[1:10000];
Backemf=[1:10000];
CurrentIa=[1:10000];
Speed=[1:10000];
I0=0;
I1=0;
ea=0;
w0=0;
dt=0.001;
for t=0:0.001:10;
If=I0+dt*(Vf-(Rf*I0))/Lf;
Ia=I1+dt*(Vt-(Ra*I1)-ea)/La;
w=w0+dt*((0.33*I0*I1)-Tl)/J;
ea=0.33*I0*w0;
k=k+1;
CurrentIf(k)= If;
CurrentIa (k)=Ia;
Speed (k)=w;
Backemf (k)=ea;
I0=If;
I1=Ia;
w0=w;
end
subplot (2,2,1), plot (Backemf),
title ('Backemf'),
ylabel ('Backemf'),
xlabel ('1*10^-3 s')
subplot (2,2,2), plot (CurrentIf),
title ('Field Current'),
ylabel ('Current'),
xlabel ('1*10^-3 s')
subplot (2,2,3), plot (CurrentIa),
title ('Armature Current'),
ylabel ('Current'),
xlabel ('1*10^-3 s')
subplot (2,2,4), plot (Speed),
title ('Speed'),
ylabel ('Radians'),
xlabel ('1*10^-3 s')
10
5. Procedure
I. Equipment
A. Computer with MatLab software
B. MatLab software
C. Disk
D. Printer
II. Procedure
A. Research
1. The schematic for a Separately Excited DC Motor was shown in Figure , on
page .
2. The differential equations for the Separately Excited DC Motor are shown in
the Theory section of this report.
3. The method in which the differential equations were transformed into the
difference equations is shown in the Calculations section of this report.
B. Initial Values
1. To start the project, initial values for the field resistor and inductor, armature
resistor and inductor, moment of inertia, load torque, and the terminal and
field voltage values had to be given. Our team chose the values based on a
problem taken from West Virginia University class EE335. The initial values
are listed in the MatLab code in the calculations section of this report.
2. The initial values for the speed, armature current, and field current had to be
set to zero.
C. Writing the Program
1. The values for the resistors (Ra and Rf), inductors (La and Lf), moment of
inertia (J), load torque (TL), field voltage (Vf), and terminal voltage (Vt) were
placed in MatLab
2. Four matrixes were created. The matrices were 1 x 10000. These matrices
would contain the values generated by the program for speed.
(Speed=[1:10000], armature current (Current Ia=[1:10000]), field current
(CurrentIf=[1:10000]), and back emf (Backemf=[1:10000]).
3. The initial speed (w0), armature current (I1), and field current (I0) were
placed in MatLab as zero values.
4. The increment of summations was decided to be 0.001 and placed in MatLab
as dt =0.001.
5. A for loop was placed in MatLab. The purpose of the loop was to increment
10,000 times. The following equations were then entered in to MatLab in the
for loop:
a. If=I0+dt*(Vf-(Rf*I0))/Lf;
b. Ia=I1+dt*(Vt-(Ra*I1)-ea)/La;
c. w=w0+dt*((0.33*I0*I1)-Tl)/J;
d. ea=0.33*I0*w0;
An increment was placed before the four matrices so that the values would be
placed in the correct spot within the matrix. This was done by placing k=k+1
11
after the equations within the for loop. The values of the speed, armature
current, field current, and the back emf were placed in the first column of the
matrix. Then the initial values were redefined as the calculated values. This
is seen by the following equations:
a. I0=If;
b. I1=Ia;
c. w0=w;
Then the loop was ended.
6. The plots of speed, armature current, field current, and back emf were then
subploted as follows:
a. subplot (2,2,1), plot (Backemf),
title ('Backemf'),
ylabel ('Backemf'),
xlabel ('1*10^-3 s')
b. subplot (2,2,2), plot (CurrentIf),
title ('Field Current'),
ylabel ('Current'),
xlabel ('1*10^-3 s')
c. subplot (2,2,3), plot (CurrentIa),
title ('Armature Current'),
ylabel ('Current'),
xlabel ('1*10^-3 s')
d. subplot (2,2,4), plot (Speed),
title ('Speed'),
ylabel ('Radians'),
xlabel ('1*10^-3 s')
7. This concluded the writing of the program.
D. Running the Program

1. The team decided the best way to change the speed, armature current, field
current, and back emf would be to change the values of the field resistor and
inductor.
2. The program was run with the initial Rf=75 ohms and the Lf=50 ohms. This
was the basis for which the other changes would be compared to.
3. Increasing the values of Rf and Lf.
a. Rf was increased to 100 ohms and the program ran.
b. Lf was increased to 75 ohms and the program ran.
c. Both the values of Rf=100 ohms and Lf=75 ohms were used.
4. Decreasing the values of Rf and Lf.
a. Rf was increased to 50 ohms and the program ran.
b. Lf was increased to 25 ohms and the program ran.
c. Both the values of Rf=50 ohms and Lf=25 ohms were used.
12
6. Results
I. Initial Values.
A. Rf= 75 ohms
B. Lf= 50 ohms
Figure 2
Graphs of Speed, Armature Current, Field Current, an Back emf vs. time
13
II. Increasing Rf to 100 ohms
Figure 3
14
III. Increasing Lf to 75 ohms
Figure 4
15
IV. Increasing Rf to 100 ohms and Lf to 75 ohms
Figure 5
16
V. Decreasing Rf to 50 ohms
Figure 6
17
VI. Decreasing Lf to 25 ohms
Figure 7
18
VII. Decreasing both Rf to 50 ohms and Lf to 25 ohms
Figure 8
19
7. Analysis
I. Initial Values
A. Back emf: the graph increases exponentially for 2.5 seconds to about 95 volts and
then decreases gradually over the next 7.5 seconds to about 92 volts. This is a
satisfactory graph of back emf.
B. Field Current: the graph increases exponentially for 3.75 seconds and then levels
off at 2 amps for the remaining ten seconds. This is an excellent graph for
current.
C. Armature Current: the graph starts at zero and increases directly to 115 amps.
Then the current decreases exponentially for the first 2.5 seconds to about 10
amps. This is an acceptable graph.
D. Speed: The speed increases exponentially for 1.9 seconds to 150 rad/s and then
decreases to about 140 rad/s gradually for the remaining ten seconds. This is a
bad graph.
II. Increasing Rf from 75 to 100 ohms

A. Back emf: the graph increases exponentially for 3.75 seconds to about 92 volts
and then levels off. This is an excellent graph of back emf.
off at 1.5 amps for the remaining ten seconds. This is an excellent graph for
current. From the initial conditions (IC), the current levels off 1.25 seconds
faster, but half an amp is lost.
amps. This is an excellent graph. From the IC, the current does not level off until
1.25 seconds later and the current is the same.
D. Speed: The speed increases exponentially for 3.75 seconds to 180 rad/s and levels
off for the remaining ten seconds. This is an excellent graph. From the IC, the
speed levels off 1.85 seconds later and the speed is increased by 30 Hz.
III. Increasing Lf from 50 to 75 ohms

then decreases gradually over the next 7.5 seconds to about 92 volts. This is a
satisfactory graph of back emf. From the IC, no values changed.
B. Field Current: the graph increases exponentially for 5 seconds and then levels off
at 2 amps for the remaining ten seconds. This is an excellent graph for current.
From the IC, the current took an additional 1.25 seconds to level off.
Then the current decreases exponentially for the first 2.5 seconds to about 7 amps.
Next, the current increases to about 10 amps gradually for the remaining ten
seconds. This is bad graph. From the IC, the first 2.5 seconds are close, and the
current is the same.
20
decreases to about 140 rad/s gradually for the remaining ten seconds. This is a
bad graph. From the IC, the only difference in this graph is ten hertz is gained.
IV. Increasing Rf from 75 to 100 ohms and Lf from 50 to 75 ohms
and levels off. This is a good graph of back emf. From the IC, it takes 1.25 more
seconds to peak, but the voltage stays leveled off.
off at 1.5 amps for the remaining ten seconds. This is an excellent graph for
current. From the IC, the rise time is the same, but half an amp is lost.
amps and levels off. This is an excellent graph. From the IC, it takes 1.25
seconds more to level off.
off. This is a good graph. From the IC, the speed takes an additional 1.85
seconds to level off, and increases by 35 hertz.
V. Decreasing Rf from 75 to 50 ohms

A. Back emf: the graph increases exponentially for 1.25 seconds to 100 volts and
then decreases gradually over the next 7.5 seconds to about 95 volts. This is a bad
graph of back emf. From the IC, the voltage increases 1.25 seconds faster and
there is a ten volt increase.
B. Field Current: the graph increases exponentially for 5 seconds and then levels off
at 3 amps for the remaining ten seconds. This is an excellent graph for current.
From the IC, the current takes 1.25 seconds longer to level off, and the current is
increased by one amp.
Then the current decreases exponentially for the first 2.5 seconds to 2 amps.
Next, the current increases gradually to 7 amps during the remaining ten seconds.
This is a bad graph. From the IC, the fall time is the same, but eight amps of
current is lost and then gained back.
decreases to about 99 rad/s gradually for the remaining ten seconds. This is a bad
graph. From the IC, the speed increases faster by 0.65 seconds. The recorded
speed is 25 hertz less than the peaked IC and about 40 hertz less than the leveled
off speed.
VI. Decreasing Lf from 50 to 25 ohms

levels off for the remaining ten seconds. This is an excellent graph of back emf.
From the IC, the voltage increases 0.6 seconds faster and stays at the same
voltage.
21
current. From the IC, the current rises 1.85 seconds faster, and the current stays
the same.
amps. This is an excellent graph. From the IC, the current falls 0.6 seconds
faster, and the current stays the same.
off for the remaining ten seconds. This is an excellent graph. From the IC, the
speed levels of at the same time, but looses ten hertz.
VII. Decreasing Rf from 75 to 50 ohms and Lf from 50 to 25 ohms

and then decreases gradually over the next 7.5 seconds to about 95 volts. This is
an okay graph of back emf. From the IC, the voltage rose 1.25 seconds faster.
current. From the IC, the current raised 1.25 seconds faster and increased one
amp.
The current decreases exponentially for the first 1.25 seconds to about 2 amps,
and then gradually increases to about 8 amps. This is an bad graph. From the IC,
the current falls 1.25 seconds faster, but current is lost.
decreases to about 98 rad/s gradually for the remaining ten seconds. This is a bad
graph. From the IC, the speed increases faster, but 40 hertz is lost.
VIII. Comparison of all values

A. All values bolded are excellent graphs.
B. Rf values comparison
Time IC Rf inc Rf dec

Back emf 2.5 3.75 1.25
Field Current 3.75 2.5 5
Armature Current 2.5 3.75 2.5
Speed 1.9 3.75 1.25
Back emf 92 92 95
Field Current 2 1.5 3
Armature Current 115 115 115
Speed 140 180 99
Figure 9
Comparison of Rf
22
C. Lf values comparison
Time IC Lf inc Lf dec

Back emf 2.5 2.5 1.9
Field Current 3.75 5 1.9
Speed 1.9 1.9 1.9
Back emf 92 95 95
Field Current 2 2 2
Speed 140 140 140
Figure 10
Comparison of Lf
D. Both Rf and Lf values
Time IC B inc B dec

Back emf 2.5 3.75 1.25
Field Current 3.75 3.75 2.5
Speed 1.9 3.75 1.25
Back emf 92 90 95
Field Current 2 1.5 3
Speed 140 185 98
Figure 11
Comparison of both
values
23
8. Conclusion
The goal of this project was to have no attenuation in the graphs of the armature
current, field current, speed, and back emf vs. time for a Separately Excited DC Motor.
We were tasked with finding a way to simulate the motor using MatLab. The team
decided the best way to simulate the motor would be by finding the differential equations
of the speed, armature current, field current, and back emf of the motor. Then using the
equations, find a way to have no attenuation in the graphs by changing the field resistance
and inductance values.
The first obstacle our team encountered was how to change the differential
equations of the motor into difference equations. After talking to Dr. Jalali, the team
learned how to change the differential equations of the motor into difference equations
using the definition of the integral. After we were able to calculate the motor equations
for discrete time, the second obstacle was writing the MatLab code. No one in our group
had any real experience using the program. It was only after hours of research including
the internet, library, and talking again to Dr. Jalali, we were able to even begin our
MatLab code. Once the code was written, finding the optimal values for Rf and Lf was
simply a process of changing the values one at a time.
From the data collected, we discovered two possible solutions to our problem.
The first possible solution was to increase the field resistance by 25 ohms. This created
graphs with no attenuation, but the rise and fall time increased by 1.25 seconds from the
24
initial conditions, and half an amp was lost in the field current and the speed of the motor
increased thirty hertz. The second possible solution was decreasing the field inductance
by 25 ohms. This also created a graph with no attenuation. The rise and fall time for
these graphs decreased 0.6 seconds from the initial conditions and the values of the
speed, armature current, field current, and back emf remained the same. Our group
decided the second solution was going to be our solution to our project.
The group decided on the second solution was most favorable since none of the
initial values of speed, armature current, field current, and back emf changed. The only
thing that changed was the decrease in the rise and fall time, and this was an excellent
outcome. There for our group concluded, the field resistance should remain at 75 ohms,
and the field inductance should be 25 ohms to produce the optimal values of armature
current, field current, speed, and back emf.
25
9. Bibliography
1. http://newcastle.edu.au/users/students/2000/c9504876/dcmotors.html
2. http://www.avere.org/working/en/electric.html
3. http://www.mech.uq.edu.au/cources/mech3760/chap25/s1.htm
4. Kirk, Donald and Robert Strum. Contemporary Linear Systems. California:

Brooks/Cole, 2000. (Kirk and Strum 366-374)
5. No Author. MatLab Student Version. 2000.
26

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EE 327 Signals and Systems

West Virginia University

Separately Excited DC Motor

Dr. Ali Jalali, EE327

November 22, 2002

A DC motor converts electrical power into mechanical power, because of this DC

be varied without suffering a reduction in the efficiency of the machine. A DC machine

houses the armature windings. A DC motor is driven by a DC current supplied to the

magnetic flux created by both of these windings.1 A torque Td is formed because of

controlled by changing armature voltage, a field voltage, or an armature current. When a

II. Design Approach

II. Field Current Equation

III. Armature Current Equation

D. Running the Program

II. Increasing Rf from 75 to 100 ohms

III. Increasing Lf from 50 to 75 ohms

V. Decreasing Rf from 75 to 50 ohms

VI. Decreasing Lf from 50 to 25 ohms

VII. Decreasing Rf from 75 to 50 ohms and Lf from 50 to 25 ohms

VIII. Comparison of all values

Time IC Rf inc Rf dec

Time IC Lf inc Lf dec

D. Both Rf and Lf values

Time IC B inc B dec

and inductance values.

simply a process of changing the values one at a time.

current, field current, speed, and back emf.

4. Kirk, Donald and Robert Strum. Contemporary Linear Systems. California:

5. No Author. MatLab Student Version. 2000.

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