Circuit Diagram for determination of Kt

Tabulation for Determination of Kt

Armature Armature
S.No Current voltage Speed ω=2∏N/60 Eb=Va-IaRa
(N) rpm (rad/sec) (Volts)
(Ia) Amps (Va) Amps
EX.NO:
DATE:

TRANSFER FUNCTION OF ARMATURE CONTROLLED

DC MOTOR
Aim
To find the transfer function of armature controlled DC motor with
control signal is applied to the armature.

Apparatus Required

Name of the
S.No Type Range Quantity
Apparatus
1 Ammeter MC (0-10) A 1
2 Ammeter MI (0-10) A 1
3 Voltmeter MI (0-300) V 1
4 Voltmeter MC (0-300) V 1
5 Voltmeter MC (0-30) V 1
6 Rheostat Wire Wound 270Ω/1.5A 1
7 Rheostat Wire Wound 50Ω/5A 1
8 DPST Switch - - 1
9 Tachometer Digital - 1
10 Auto transformer UPF 240V,10A,2.7KVA 1

Formula Used

Assume J = 0 .1 2 23 Kg-m2/rad & B= 1 N -m / (r a d/ s e c )

1. Inductance of field winding (La)

2 2
Za-R a in ohms
L a= 2π f

where, Ra - Armature resistance in ohms

Za – Armature impedance in ohms

Transfer function of Armature controlled DC shunt motor

Block Diagram

Model Graph
2. Torque constant of DC Motor (Kt)

ΔEb
K t = Kb = Δω in N-m/A

where, Kb = back emf constant

Δω - Change in ω obtained from graph

Δ E b - Change in Eb obtained from graph

Theory

A DC machine can run as a motor, when a DC supply is given to its field

winding to produce magnetic flux while the same DC source is used to supply
current to the armature. Now the armature becomes a current carrying
conductor and as it is kept in a magnetic field, it develops mechanical force.
The direction of the force is given by Fleming’s Left Hand Rule. DC motor in
control applications is used for delivering mechanical power to control
elements while taking electrical control signal as input.
Electrical input to DC motor is called control signal and that can be
applied in two ways. In one method, the control signal is applied to the field
winding while fixed voltage is applied to armature winding. This method is
called Field controlled motor. In another method, control signal is applied to
armature winding and constant voltage is applied to field winding. This method
is called Armature controlled motor. Here the transfer function of armature
controlled motor is to be found out.

Derivation of Transfer Function

Let

Ra = Armature resistance in ohms

La = Armature inductance in Henry

Ia = Armature Current in Amps

Va = Armature Voltage in Volts

T = Torque developed by Motor in N-m

Kt = Torque constant in N-m/A

J = Moment of inertia of Motor in Kg-m2/ rad
B = Frictional Coefficient of motor N-m/ (rad/sec)
Kb = Back emf Constant in Volt / (rad/sec)
Circuit Diagram for determination of Ra

Tabulation to find Ra

Field
Armature Armature Resistance
S.No Voltage (V) Current (I)
(Ra=V/I)
Volts Amps
Ohms

Mean, Ra =_____ohms
According to Kirchhoff’s Voltage Law (KVL),

dI
V a = IaR a + L a dta + e b -----------(1)

On Taking Laplace of equ (1)

I a ( s ) [ R a + S L a ] + E b ( s ) = V a ( s ) -----------(2)

Torque developed in a DC Motor is proportional to flux and armature current

T(t) ∝ i a ( t)
.
.. T(t)= Ka ia (t) -----------(3)

On Taking Laplace of equ (3)

T(s) = K t I a (s) -----------(4)

The differential equation governing the mechanical system of the motor is

given by the expression

d 2θ dθ
J +B = T (t) -----------(5)
dt2 dt

On Taking Laplace of equ (5)

(Js 2 + Bs) θ (s) = T(s) -----------(6)

The back emf of a DC machine is proportional to speed of the shaft

dθ
e b (t) α dt

dθ
e b(t) = K b -----------(7)
dt

On Taking Laplace of equ (7)

E b(s) = K bSθ(s) -----------(8)

Circuit diagram for determination of Za

Tabulation to find Za

Armature Armature Armature

S.No Voltage (V) Current (I) Impedance
Volts Amps (Za) Ohms

Mean, Za=_____ohms
On equating expressions (4) & (6) and solving for Ia(s) gives

(J S 2 +Bs)
I a (s)= θ(s) -----------(9)
Kt

Substuting Equation (8) and (9) in (2) and rearranging gives

θ(s) Kt
= 2
Va(s) (JS +BS)( R a +S L a )+ K t K b S

Precautions

1. While starting and stopping the machine the armature rheostat should be
kept at maximum resistance position and the field rheostat should be kept
at minimum resistance position.
2. DPST switch is kept open initially.

Procedure for determining Kt

¾ The connections are made as per the circuit diagram.

¾ By closing the DPST Switch, 220V DC Supply is given to the circuit and
Start the motor using 3 point starter.

¾ The armature rheostat and field rheostat are varied to bring the speed to
its rated value.

¾ The armature voltage is varied in steps by varying the armature rheostat

and the corresponding speed is noted down in each step. The readings are
taken for speeds below the rated value and tabulated.

¾ From the tabulated values, find the value of Kt

Procedure for determining Armature Resistance (Ra)

¾ The connections are made as per the circuit diagram.

¾ Supply is given by closing the DPST switch.
¾ Tabulate voltage and current readings for various load conditions.
¾ The effective resistance of motor armature is calculated from the tabulated
readings.
Procedure for determining Armature Impedance (Za)

¾ The Connections are made as per the circuit diagram.

¾ The 230V, 50HZ, AC Supply is given to the circuit.
¾ By gradually varying the autotransformer, the different set of armature
voltage (V) and armature current (I) readings are tabulated.

¾ From the tabulated values, the armature impedance (Za) value is

calculated.

Result
Thus the transfer function of armature controlled DC shunt motor was
found.

θ(s)
=
V a (s)