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PMDC Motor Modeling and Parameter Identification for Control Purpose

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 PMDC Motor Modeling and Parameter Identification
for Control Purpose
1
Zin Maw Tun, 2Tun Lin Naing
Department of Electrical Power Engineering
Mandalay Technological University, Myanmar
1 2
zinmawtun070965@gmail.com, tunlinnaing1980@gmail.com
Abstract - This paper presents mathematical modelling and
parameter identification of PMDC motor for control
purpose. Accurate mathematical models and their
parameters are essential for designing controllers because
they are used to predict the closed loop behaviour of the
plant. Some of the motors are not completely expressed the
parameter values from the manufacturer. Therefore, the
parameters are necessary to obtain for control purpose and
other lab experiments in university. The armature
resistance and inductance are obtained from direct
measurement of the motor armature circuit. The moment of
inertia, motor constant and viscous friction coefficient are
calculated from motor step response. The experimental and
simulation works will be performed to identify the motor
parameters.
Keywords - Parameters Identification, PMDC Motor, State-
Space Equation, Step-Response, Transfer
Function
I. INTRODUCTION
DC motors are widely used in industry today because
of their low cost, higher efficiency compared to AC
machines [1], less complex control structure and wide
range of speed and torque [2]. Permanent magnet DC
motors do not need field excitation arrangement and less
input power is consumed. Because of these advantages,
permanent magnet DC motors have a wide range of
applications where constant speed is to be maintained at
varying loads or where different speeds are to be obtained
at constant load [3]. They are commonly used as starter
motors in automobiles, windshield wipers, washer,
conveyor belts, elevators cranes and sewing machines for
blowers used in heaters and air conditioners due to
precise, wide, simple and continuous control
characteristics [4].
For analytical control system design and optimization,
sometimes a precise model of the PMDC motor used in a
control system must be needed. Although the values for
reference of the motor parameters given in the motor
usually provided by the motor manufacturer, but for
cheaper DC motors which not tend to have relatively
tolerances in their electrical and mechanical parameters.
Different parameter identification techniques and
algorithms have been developed and used by different
researchers to determine some important mechanical and
electrical properties of various models of
electromechanical systems. In literatures, general system
identification methods needed for DC motor parameter
identifications; that are [5] the algebraic identification
method, [6] used the recursive least square method, [7]
applied the inverse theory, [8] used the least square
method, [9] applied the moment method and [10] used
Pasek’s method. These methods are complex in
calculation because of using many algorithms. It should
be noted that the different methods of model parameter
identification reported [5]-[8] are similar to a curve fitting
that has multiple solutions and Pasek’s method has some
instrumentation problems [10]. This means that there are
infinite sets of values that would yield error percentages
between the model and experimental responses. In this
paper uses the first order transfer function and state space
equation under steady state condition in order to ensure
the identified DC motor parameters which can yield
suitable solution.
In this paper, PMDC motor parameters based on first
order transfer function and steady state equation of the
motor speed response under a constant input voltage is
presented. Then, the DC motor mechanical and electrical
constant can be computed from the first quadrant motor
equation. The friction coefficient and motor inertia can be
calculated from transfer function and state space
equation.
This paper presents the comparison of real and model
response of PMDC motor speed to estimate the motor
parameters. Section II describes the equivalent circuits
operation and mathematical model of PMDC motor and
generator set. Section III gives the motor parameters
estimation from mathematical equation. Section IV,
experimental results are illustrated and compared to the
simulation results for identification of motor parameters.
Finally, conclusions of the paper are summarized in
Section V.
II. MATHEMATICAL MODEL OF PMDC MOTOR
DC motor and generator are the examples of
electromechanical system which are used in various
control system applications. PMDC machine used in
electrical systems and mechanical systems which is
composed of field poles, armature winding and later
comprises of commutator and load. This inhibits low
inertia, high starting torque and starting current. The
mechanical and electrical properties of electromechanical
devices are needed to derive mathematical models.
A. PMDC motor schematic diagram
Figure 1 shows the electromechanical device, the
motor and generator set from power electronic lab,
Electrical Power Department at MTU, which is presented
in this paper. If the load is connected to the generator, the
motor can be affected by the action of the load.
 By applying Laplace transform of (5) and (6), the block
diagram model of the PMDC motor shown in Figure 3 is
obtained.
TL(s)

Va(s) 1 Ia(s)
Kt
Te(s) - 1 
+ + B  J eq s
- Ra  La s
Eb

Figure 1. Photo of Motor and Generator Set Kb

The equivalent circuit of the PMDC motor and

generator set is shown in Figure 2, where Va is the input Figure 3. Block diagram of PMDC Motor Model
voltage to the PMDC motor in volts, Ra and ia are the
resistance and current of the armature, La is the B. Transfer Function of PMDC Motor
inductance of the armature windings, and Eb is the back The transfer function is obtained from the block
emf. Te is the electromechanical torque (N.m), Jeq is the diagram of PMDC motor. Relation of the output speed
moment of inertia of the motor plus flywheel plus ω(s) to the input voltage Va(s) can be expressed in the
generator (Kg.m2), B is the viscous friction coefficient form of
(N.m.s/rad), and ω is the angular speed of the DC motor
(rad/sec). Kb is back emf constant (V/rad/s) and Kt is (s) Kt
 (7)
torque constant (N.m/A). Va (s) (La s  R a )( Js  B)  K t K b
Ia Ra La
If La<<Ra, La is neglect by the first order continuous
ω
transfer function. Equation (8) is formed by reducing L a
+
+ + in (7).
Va Jeq
Eb -
- -
(s) G
Motor Generator  (8)
Va (s) s  1
Motor and Generator Set Where τ, the time constant, is given as:
Figure 2. Equivalent Circuit of PMDC Motor and Generator set
J eq R a
 (9)
The mathematical model of the electrical circuit of the BRa  K t K b
PMDC motor can be obtained by applying Kirchhoff’s
voltage law (KVL). The electrical circuit equations are: And G, the gain of the PMDC motor, is given as:
di
Va  R a i a  La a  E b (1) Kt
dt G (10)
BRa  K b K t
E b  K b (2)

For mechanical component of PMDC motor, the C. State Space Model of PMDC Motor
mathematical equations can be applied Newton’s second The state equation is expressed as follow.
law:
x (t )  Ax(t )  Bu(t ) (11)
d
Te  J eq  B  TL (3)
dt The state space model of the PMDC is given below by
Te  K t ia (4) using (5) and (6). In this model, x1(t) =ω (t), x2(t) =ia (t),
are expressed in (12).
According to the Faraday’s laws, the torque generated
by the motor is proportional to the armature current and  B Kt   1 
- -
the motor’s back emf is proportional to the angular speed.  x 1 ( t )   J eq J eq   x 1 ( t )   J eq  TL ( t ) 
 x ( t )  K  
R a   x 2 ( t )  1  Va ( t )
The numerical value of Kb and Kt are equal in SI units (12)
 2  - b
(the international system of units) Kt = Kb.  L L a   L 
Equations (1) through (4) can be rearranged as (5) and  a  a 
(6).
The state matrixes A, B and U can be expressed as
di a ( t ) R a K 1
 i a ( t )  b ( t )  Va ( t ) (5)  B Kt   1 
dt La La La - J 
J eq  - J  T 
A  eq
, B   eq  , U   L 
d( t ) K t B 1  K b R a   1  Va 
 ia (t )  ( t )  TL ( t ) (6) - L   
dt J eq J eq J eq  a La   La 
The output equation is presented as following. step response of the motor is used to find the moment of
inertia is shown in Figure 4.
y(t )  Cx(t )  Du (t ) (13)
Time Series Plot:

1600
1600
 x ( t )  0
y( t )  1 0  1     u(t)
Steady-State Value
(14) 1400
1590rpm
x 2 ( t ) 0 1200
1200
τ X: 11.28

Speed(rpm)
Y: 963.5
At steady state condition, the state space model can be 1000

data
expressed as (15) and (16): 63.2% of Steady-State Value
800
800

600
System Gain
AX  BU  0 (15) 400
400

X  A1BU (16) 200

0
00 5
5 10
10 1515 20
20 2525
Time (seconds)
Equations (17) and (18) can be easily obtained from Time(sec)
(16).
Figure 4. Step Response of PMDC Motor
K t Va
 (17)
KtKb  RaB The steady state value of the time constant has in
BVa 63.2% [3]. According to the step response, the time
Ia  (18) constant is 1.16 sec and the gain of the PMDC motor is
KtKb  RaB 166.5 rad/sec. In order to (8) and Figure 5, the first order
Equations (17) and (18) are equal; the viscous friction system can be described in the form of
coefficient can be illustrated as (19).
(s) 166.5
KI  (21)
B t a (19) Va (s) 1.16s  1

In this section, the transfer function and state-space
The inertia of the motor (5.902x10-4 Kg.m2) is obtained
equation have presented. The moment of inertia and
from (9) and calculated parameters.
viscous friction coefficient are obtained by these
equations. The calculations of required parameters from The collection of motor parameter values such as
step response can be seen in next section. armature resistance, armature inductance, torque constant,
back-electromotive force constant, viscous friction
coefficient and moment of inertia are described in Table
III. MOTOR PARAMETERS ESTIMATION 1.
TABLE I
The armature resistance and the armature inductance in PMDC MOTOR PARAMETER VALUES
the required parameters can be measured from the motor
armature circuit by LC meter and multimeter. The No Parameters Values Unit
armature inductance is 5.621 mH and armature resistance
1 Ra 8.5 Ohm
is 8.5 ohm.
The back emf constant can be obtained from the first 2 La 5.621 mH
quadrant chopper drive [1].
3 Kt, Kb 0.062 N.m/A,V.s/rad
dVa  Ia R a 5.663x10-5
Kb  (20) 4 B N.m.sec/rad

When the motor is supplied the armature voltage Va is 5 Jeq 5.902x10-4 Kg.m2
24 V, the armature current Ia has 0.22 A. The duty cycle d
is 0.7 due to direct supplied DC voltage. In this condition, These calculated motor parameters may be applied to
the measurement of the motor speed is 240.86 rad/sec. generate the simulation results of motor speed and current
Therefore, Kb= 0.062 Vs/rad can be obtained from (20). response. In next section, the comparison of simulation
In equilibrium condition, mechanical power output and experimental results are described to identify the
equals to electrical power input. Therefore, motor parameters.
Pm  Pe
Te  Ea Ia IV. IDENTIFICATION OF PMDC MOTOR PARAMETERS BY
K t Ia   K bIa COMPARISON OF EXPERIMENTAL AND SIMULATION
Kb=Kt RESULT
Therefore Kb=Kt=0.062 N.m/A The motor parameters can be used in the dynamic
Substituting Kt in (19), the viscous friction coefficient model, transfer function and state space model to obtain
is 5.663x10-5 N.m.sec/rad. The required motor parameters the simulation results. Table 2 is the comparison of
have been obtained except the moment of inertia. The experimental and simulation results of dynamic model,
transfer function and state space equation.
 TABLE II The speed response curve of the motor which is tested
COMPARISON OF EXPERIMENTAL RESULT AND SIMULATION RESULTS OF
by varying the loads is illustrated in Figure 6 and Figure
PMDC MOTOR SPEED
7.
Time Series Plot:
1800
Experimental State- 1610rpm
Dynamic Transfer Error 1600
1600
Test Space
Model Function
Va Model 1400
(V) 1200rpm at TL=0.01Nm
1200

Speed(rpm)
ω ω ω ω 1200
(rad/s) (rad/s) (rad/s) (rad/s) % 1000

data
800
800
6.49 74.61 86 86 86 0.114
600
780rpm at TL=0.02Nm
7.78 94.09 103 103 103 0.089
400
400
9.08 113.57 120 120 120 0.065 200

10.38 133.52 137.5 137.5 137.5 0.039 0

00 10 20 30 40 50 60 70 80
10 20 30 40 50 60 70 80
Time(sec)
Time (seconds)
11.67 154.57 154.58 154.58 154.58 0.0001
Figure 6. Simulation Result of the Motor Speed Response with Load
12.97 172.47 172.5 172.5 172.5 0.0003 Change
Time Series Plot:
1800
1590rpm Motor Speed(rpm)
According to Table 2, the motor speed value of the real 1600
1600

and simulation results are almost similar. Error 1400

percentages between the simulation and experiment 1150rpm at TL=0.01Nm
1200
1200
results of speed are increased if the motor running speed
Speed(rpm)

1000
is decreased. However the motor running speed is
data

increased, the error percentages of simulation and real 800800

results are dramatically decreased. The motor speed is 600 750rpm at TL=0.02Nm
nearly stable between the speed range of 1000 rpm and 400400
1600 rpm because of smaller error percentage. 200
The comparison of real and model step response of
0
motor speed at armature voltage 12.97 V is presented in 00 1010
40 20
20 5030
50
30 60
60 40
70
70 80
80
Time (seconds)
Time(sec)
Figure 5.
Figure 7. Experimental Test Result of the Motor Speed Response with
1800
Time Series Plot:
1800
Time Series Plot: Load Change
1600
Motor Speed(rpm) 1600
Motor Speed(rpm)
1400
1610rpm 1400
1610rpm The results are shown in Figure 6-7; this shows a close
1200 1200 agreement between the model and real response. By
1000 1000
observing the simulation and experimental results, it can
data
data

800 800

600 600
be seen that the larger the load torque, the smaller the
400 400
motor speed. According to the experimental results, the
200 200 motor decreases only about 4% as long as the load torque
0
00 22 44 66 88 1010
0
00 1 22 3 44 5 66 7 88 9 10
10 is increased. The simulation and experimental results are
Time (seconds) Time (seconds)
Time(sec) Time(sec) slightly different due to the voltage instability and other
(a) (b) effect. Therefore, the motor parameters are suitable to use
1800
Time Series Plot:
1800
in control purpose. By the motor parameter values are
1600
Motor Speed(rpm) 1600
Motor Speed(rpm) substituted in (7), the motor plant model Gp(s) is in the
1610rpm
1400 1400

1590rpm
form of
1200 1200

1000 1000
data

105
800 800
G p (s)  (22)
600 600
0.005621s  8.501s  7.329
2
400 400

200 200

0 0
This plant model can be used for the closed loop
0
0 2
2 4
4Time 6
6 8
8 10 00 55 10
10
15
15
20
20
25
25
30
30
35
35

(seconds)
Time(sec)
10
(c)
Figure 5. Comparison of Speed Response at Armature Voltage 12.97V
(a) Dynamic Model (b) State-Space Model (c) Transfer Function
(d) Experimental Test Result
The simulation results of the dynamic model, state
space and the transfer function are the same in speed
response. By comparing the experimental curves and
simulation results, it can be seen that there is
approximately equal in the motor speed responses.
Time(sec) control system.
(d)
V. CONCLUSIONS
The mechanical and electrical parameters (moment of
inertia J, armature resistance Ra, armature inductance La,
motor constant Kb, Kt, viscous friction coefficient B) of
PMDC motor were obtained from state space and motor
step response. These parameters are not supported in the
user manual for the device by the manufacturer.
However, the parameters are needed for a proper design
and testing of speed and current controller for the PMDC
 motor to promote student’s learning. Laboratory
experiments were performed to obtain the step response
of the PMDC motor and a mathematical model was also
derived for the motor in terms of six unknown
parameters. The parameters were obtained from the
experimental step response and system steady state
equations. The estimated parameters can be used to
generate simulation curves for current and speed step
response. According to the experimental test, the transfer
function is reduced to first order system flexible. Error
percentage between the experimental result and
simulation result approaches to negligible value. As a
future work, the motor parameters can be used in the
fields of feedback control applications and to validate the
DC motor performance.

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