Introduction: The purpose of this lab is to obtain mathematical model for the motor by determining the parameters K, J, and

Ra. Using the experimental data to obtain the motor armature resistance and moment of inertia (J). We used the motor model

equation to derive the experimental design, open loop equation, which is the experimental model equation for the behavior of the motor. The equipment was used: motor- GM8X12, NIS Elvis Board, LabVIEW program, Amp Meter, pliers. Discussion: Block Diagram: We added 3 frames, before after and the middle one. Outside the first frame we added a variable power supply to initialize (it is important to be outside the loop), 1 inside the first frame with a constant voltage of 5[V], 1 to finish in the last frame of the flat sequence. Time Sequence: In the first frame of the flat sequence we have a tick count, and as before we have one in the first frame of the flat sequence and one inside the while loop to give us the time in ms. We have 2initialize arrays, one to take data from good rpm one to take data from time. Now we have a time constant, of a 1000, which is linked to a stop sequence, in other words we had run for 1 s. We have 2 build array inside the middle flat sequence inside the while loop, 2 build array wired to itself as before, one to take data from time, one to take data from good rpm. Finally in the last frame of the flat sequence we used another build array and wired the two outputs (one from time array, one from rpm array) and we send that signal to write to spreadsheet (2D data, 2 arrays), and to a graph. Resistance Measurements: We obtained Ra1, Ra2 (resistance of the motor) in two ways. First by measuring the resistance across the two terminals of the motor. The big resistance is the armature resistance but there is some error in that measurement. The motor does have other components inside the motor that have resistance and that would cause higher resistance reading. We measured the resistance to be Ra1 = 6.5[Measured resistance). Second Resistance Ra2 we obtained by measuring the current through the Elvis board with an Amp meter and applying enough torque so that the armature that it

does not rotate, therefore the w=0, due to no rotation and this allowed us to calculate the current through the motor, and we know the constant voltage of 5[V], Using Ohms Law we calculated the Resistance Ra2. Current I= 1.025 [A], V=IRa2, Ra2= 4.878[Calculated Resistance) Derivation for the open loop equation:

Tapplied dw K 2 K + w= ea + , there is no applied torque so equation becomes: dt JRa JRa J dw K 2 K + w= e, dt JRa JRa a

w = wc + w p (1),
where wc = complete (complementary homogeneous) solution, and wp = particular (forced) solution.

dw dw K2 K2 kt + Kw = 0, w = Ae , =w k=dt dt JRa JRa w c = Ae

-K 2 t JR a

(2),

w p = C (3),
Now substituting equation (2) and (3) into equation (1), we get:
-K 2 JR a

w = Ae

+ C,

K2 K e C= ea C = a , JRa JRa K

w = Ae

-K 2 JR a

, using initial condition of w (0)=0 we get:

0 = A+

ea e A = - a ; Now plugging the constants back in we get: K K

-K 2 -K 2

e e e w( t ) = a e JR a + a w( t ) = a (1 - e JR a ), K K K
-t JRa ea where t = 2 , w( t ) = (1 - e t ). K K

t=

JRa , from here we can solve for J (Moment of Inertia of the Motor), using from K2

the excel spreadsheet that we created of the motor step response, of reaching the steady state.
-t ea Using w( t ) = (1 - e t ). setting t we get: w(t ) = 1 - e -1 t = 0.632121w . K

Using the Excel spreadsheet graph that we created and the 63% of the steady state value, we obtained the corresponding time = 106.5 [ms].
Correlation 0.595792707 Linear Regression 1.253848324 Steady State RPM 2936.962515 Tau RPM Tau Time 1856.454006 106.5 [ms]

Calculating J:

t=

JRa , solving for J, using K=1.43 [Volts/kRPM] = 13.7e-3 [Nm/A] and K2

R=4.878[], .1065 [s] J= 4.0977829[Kg*m2]. Comparison:

Resistance [] Voltage [V] Motor Constant K [V/kRPM] Current [A] Torque constant [Nm/A] Moment of Inertia [kg*m ]
2

Obtained Experimentally R= 4.878 V=5.0(constant) K=1.433 I=1.025(w/ applied torque) KT=13.7e-3

Manufacturers Specifications R= 4.38 V=12(reference) K=1.43 I=0.22(no load) KT=13.7e-3 J=9.18e-7

J= 4.0977829

Conclusion: In conclusion we used the motor model equation to derive the experimental design, open loop equation, which is the experimental model equation for the behavior of the motor. We obtained the resistance in 2 ways; one was more accurate than the other. We derived the open loop equation and an excel plot that was used that to calculate J.

Block Diagram:

Good Rpm:

Graph from LabVIEW (white line is time and the axis in number of samples, in excel we make a plot of rpm vs. time where we make the time to be the x-axis):