ISSN (Print) : 2320 – 3765

ISSN (Online): 2278 – 8875

International Journal of Advanced Research in Electrical,

Electronics and Instrumentation Engineering
(An ISO 3297: 2007 Certified Organization)
Website: www.ijareeie.com

Vol. 6, Issue 2, February 2017

Simulation of Transient Behaviour of

Dc Motor Using MATLAB/Simulink
Bandana1, Sujata Gaur2
Assistant Professor, Dept. of EEE, Krishna Engineering College, Ghaziabad, India1
Assistant Professor, Dept. of EEE, Krishna Engineering College, Ghaziabad, India2

ABSTRACT: The aim of this paper is to introduce the modelling of power components and to use computer
simulation as a tool for conducting transient and control studies. Simulation can be very helpful in gaining insights to
the dynamic behaviour and interactions that are often not readily apparent from reading theory motor. Using these
simulation results we can get information regarding motor behaviour under different operating conditions which are
helpful in designing more advanced protective devices precautionary equipments. In this Paper, the block diagram of a
DC motor is developed and by using SIMULINK, the block diagram is simulated, For simulation of motor, some data
is also required like torque constant which is obtained by experimental investigations. By varying certain parameters of
the DC motor simulink block, the output waveform of the simulation would change accordingly. These parameters
include the field current, armature circuit resistance and armature voltage. The simulation and modelling of the DC
motor also gave an inside look of the expected output when testing the actual DC motor.

KEYWORDS: Transient response, Dc motor, motor modelling

I.INTRODUCTION

The main aim of this paper is to obtain the knowledge of circuit analysis and synthesis and to experience the actual
behaviour of Electrical machines under transient conditions. Transients in electrical machines arise from changes in the
voltages at machine terminals and the sudden change of load on the shaft, machine parameters, during connection of a
machine to or its disconnection from the bus, etc. In real conditions, transients can naturally occur during a
simultaneous variation of a few factors. Such a response of the electrical machine during this state is referred as the
“transient response”. There are large varieties of transients which are much more complex than steady state responses.
By their importance and the influence they have on the operation of the machines, the transients can be divided into the
responses brought about during Starting, Reversing, and Restarting and. Load variation. These responses can appear at
symmetric and asymmetric voltages in symmetric and asymmetric machines. There arises harmonics during the
transient state. These harmonics are never safe. These transients could be 3-8 times rated values. The heavy currents
and voltages produced during this transient state can damage these machines sometimes. These heavy currents
sometimes produces disturbance to the other machines connected across the supply, hence there is a great need to
suppress them. Transients long for only small time if their amplitude is sufficiently enough they can damage any type
of machine. Study of these transient currents and voltages cannot be measured for studied using conventional methods.
Only possible solution for the study of these transients is simulation.
A good simulation requires a good machine model which can exactly represent the machine behaviour.
Using these simulations we can design more advanced protective devices precautionary equipments. The modelling and
simulation of this thesis helped to generate expected outcomes of the project design. The program used was called
SIMULINK, a sub program of the mathematical and simulation software MATLAB. This software is used to provide
simulation design and results for evaluation of the transient response of a DC motor. A great number of research studies
have been done on the subject prior to this study. The transient analysis and output characteristics of DC motors powered
by photovoltaic systems was discussed where it was concluded that when the DC machine is operated at the specified
conditions, the steady-state values are in conformity in both cases of entirely illuminated photovoltaic cells and preset
terminal voltage and at light loads with photovoltaic cells and full illumination, the responses of the machines are greater
as the voltage supplied is greater. The evaluation of the transient response of a DC motor was analyzed and it was

Copyright to IJAREEIE DOI:10.15662/IJAREEIE.2017.0602012 575

 ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

International Journal of Advanced Research in Electrical,

Electronics and Instrumentation Engineering
(An ISO 3297: 2007 Certified Organization)
Website: www.ijareeie.com

Vol. 6, Issue 2, February 2017

inferred that by varying certain parameters of the DC motor system, the output waveform of the simulation would
change accordingly and the simulation and modelling of the DC motor also gave an insight on the estimated output when
testing the definite DC motor and the results from the simulation were never likely to occur in real-time conditions due to
the response times and condition of the actual motor. An appraisal of the transient response of a DC motor using
MATLAB/SIMULINK under no-loading and full-loading conditions was analyzed where a conclusion was drawn that
simulation can be a very helpful tool in studying the dynamic behaviour of D.C shunt motor and its interaction, with
reading experiment. It was also shown that the simulation model correctly predicts the effect of the field resistance on the
torque-speed characteristic of the D.C shunt motor.

II. MOTOR MODELING

To perform the simulation of a system, an appropriate model needs to be established .For this paper; the system
contains a DC motor. Therefore, a model based on the motor specifications needs to be obtained. Assuming magnetic
linearity, the basic motor equations are
T = Kf if ia = Km ia
ea = Kf if ωm = Km ωm
Km = Kf if Kf is a constant, which is also the ratio e a
e f

Laplace transform of the Equations are

T (s) =Km ia (s) ea = Km ωm(s)

Figure1: Schematic diagram of Armature controlled DC Motor

Let the switch SW be closed at T=0,After switch is closed

di a
V t  e a  R a i a  L eq
dt
From equation above mentioned
dia
Vt  K m m  Ra ia  Leq
dt
The Laplace transform of the above Equation for zero initial conditions.

V t (s) = Km ωm (s) + Ra ia (s) + Leq s ia (s) … V t (s) = Km ωm (s) + Ia (s) Ra (1+ sτa)
Leq
Where τa = is the electrical time constant of the armature.
Ra
The dynamic equation for the mechanical system is

Copyright to IJAREEIE DOI:10.15662/IJAREEIE.2017.0602012 576

 ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

International Journal of Advanced Research in Electrical,

Electronics and Instrumentation Engineering
(An ISO 3297: 2007 Certified Organization)
Website: www.ijareeie.com

Vol. 6, Issue 2, February 2017

T = Km ia = dw m
J  B  m  Tl
dt
The term Bωm represents the rotational loss torque of the system.
The Laplace transform of above Equation is
T(s) = Km ia (s) = Jsωm (s) + B ωm (s) + Tl (s)
This gives (T ( s )  T L ( s ))  K m ia ( s)  TL ( s )
 m (s) 
B (1  s  m ) B (1  s m )
Where τm= J/B is the mechanical time constant of the system hence Ia(s) is given by

(Vt ( s)  E a ( s )) (Vt (s )  K m m (s )
I a (s)  
Ra (1  s a ) Ra (1  s a )

…
Figure 2: Block diagram representation of a separately excited DC motor

Speed control in a DC machine can be achieved by the following methods:

1. Armature voltage control (Vt)
2. Armature resistance control (Ra).
3. Field control (If )
Therefore, speed in a DC machine increases as Vt increases and decreases as Ø or Ra increases.

III.PARAMETER EXTRACTION

To produce a good design, there needs to be some amount of modeling or simulations done to avoid aimless trial and
error techniques with the actual equipment (the DC motor).For this purpose , a number of specifications are needed to be
obtained and established. The specifications of the DC motor like Voltage, Current, Power, Field Voltage, Field Current
are noted from the name plate details.
Specifications:
Type Shunt
Voltage 220v
Current 19A
Power 5 H.P
Field Voltage 220V
Field Current 3A
Insulation B
Table 1: Name plate details of a DC Motor

There is other specification that is required for the modelling of the DC motor and it is measured using test
equipments in the laboratory and through mathematical calculations.

Copyright to IJAREEIE DOI:10.15662/IJAREEIE.2017.0602012 577

 ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

International Journal of Advanced Research in Electrical,

Electronics and Instrumentation Engineering
(An ISO 3297: 2007 Certified Organization)
Website: www.ijareeie.com

Vol. 6, Issue 2, February 2017

Testing the Armature Side of the Dc Motor

Figure3: Experimental setup for testing the Armature side

Observations from test:
Power (W) =22.95 W
Voltage (V) = 22.5V
Current (A) = 3A
Phase angle (Φ ) = cos-1(W/(V*I))= 70.07
Impedance (Z) = (V/I)= 7.5 ohms
Resistance (R) = (W/I2) = 2.55 ohms
reactance (X) = Z 2  R 2 = 7.053 ohms
inductance (L) = X = 0.0225 Henry
2 f
Test for Finding Torque Constant (Km)

Figure 4 Circuit for finding Km of DC motor

Copyright to IJAREEIE DOI:10.15662/IJAREEIE.2017.0602012 578

 ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

International Journal of Advanced Research in Electrical,

Electronics and Instrumentation Engineering
(An ISO 3297: 2007 Certified Organization)
Website: www.ijareeie.com

Vol. 6, Issue 2, February 2017

Table 2: To find the Average Torque constant of DC motor

Terminal Internal Load
Speed, Torque
Voltage, EMF, Current, Speed,
Wm in constant,
Vt Ea IL N(rpm)
(rad/s) Km=Ea/Wm
(Volts) (Volts) (Amps)
220 216.2 1.5 1410 147.56 1.465
220 213.9 2.4 1399 146.49 1.460
220 211.6 3.3 1394 145.92 1.450
220 210.8 3.6 1384 144.89 1.455

By using above data and equations ,Coefficient of viscous friction includes all rotation losses like friction and windage
losses (B) and the moment of inertia of the motor (J) is calculated .and value of B and J is found to be
B=0.0251
J= 0.0759
IV. SIMULINK MODEL

Figure 5 Simulink Model of Dc Motor

With required specification of DC motor, a model of the DC motor was developed using SIMULINK. The DC motor
was modelled using the characteristics. Transfer function of the electrical and mechanical of the motor as shown in
Figure5. Figure5. Shows the DC motor input armature voltage (Vt) summed with the internal EMF. The result is then
fed into the electrical characteristics transfer function block to produce the armature current (Ia).It is then pass through a
toque constant to produce torque. This is then summed with a torque load, giving an output torque which is then fed
into the mechanical characteristics transfer function block. The output power is the rotor speed (Wm), which is fed back
into the speed constant providing the constant EMF.

Copyright to IJAREEIE DOI:10.15662/IJAREEIE.2017.0602012 579

 ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

International Journal of Advanced Research in Electrical,

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(An ISO 3297: 2007 Certified Organization)
Website: www.ijareeie.com

Vol. 6, Issue 2, February 2017

V SIMULATION RESULTS

A. SIMULATION WITH INITIAL CONDITIONS AND WHEN ARMATURE VOLTAGE IS INCREASED

Figure: 6 Armature Current, torque and rotor speed

Figure: 7 Armature current, torque and rotor speed

In Figure 7, the armature terminal voltage is increased to simulate armature voltage control. The output waveform
shows a large increase in the armature current, torque and rotor speed when compared to the initial output in Figure 6

A. SIMULATION RESULTS WHEN ARMATURE VOLTAGE IS DECREASED AND WHEN ARMATURE

RESISTANCE IS INCREASED

Figure: 8 Armature current, torque and rotor speed

Copyright to IJAREEIE DOI:10.15662/IJAREEIE.2017.0602012 580

 ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

International Journal of Advanced Research in Electrical,

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(An ISO 3297: 2007 Certified Organization)
Website: www.ijareeie.com

Vol. 6, Issue 2, February 2017

In Figure 8, the armature terminal voltage is decreased to simulate armature voltage control. The output
waveform shows a drop in the armature current, torque and rotor speed when compared to the initial output in Figure 6.

Figure: 9 armature current, torque and rotor speed

From Figure 9, the armature resistance is increase to simulate armature resistor control. The output waveform shows a
large drop in the armature current, torque and rotor speed when compared to the initial output in Figure 6. And all the
output waveforms took a longer time to reach steady state.

B. SIMULATION RESULTS WHEN FULL LOAD TORQUE APPLIED TO THE MOTOR SUDDENLY

Figure: 10 Armature current, torque and rotor speed

From Figure 10, the armature resistance is decrease to simulate armature resistor control. The output waveform shows a
large increase in the armature current, torque and rotor speed when compared to the initial output in Figure 6. All
three output waveforms show an under damped response.

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 ISSN (Print) : 2320 – 3765
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International Journal of Advanced Research in Electrical,

Electronics and Instrumentation Engineering
(An ISO 3297: 2007 Certified Organization)
Website: www.ijareeie.com

Vol. 6, Issue 2, February 2017

Figure: 11 When Full Load Torque Applied

From the simulation results of the DC motor in Figure 11, it shows the DC motor running at no-load condition at
start up. After the motor has reached steady-state, if a mechanical load is suddenly applied to the shaft, the small no-
load current does not produce enough torque to carry the load and the motor begins to slow down. This causes the
counter EMF to diminish, resulting in a higher current and a corresponding higher torque. When the torque developed
by the motor is exactly equal to the torque imposed by the mechanical load, and then the speed will remain constant.

VI. CONCLUSION

Actual experimentation on bulky power component can be expensive and time consuming. But simulation offers a fast
and inexpensive means to learn more about this component. In this project, the block diagram of a DC motor was
developed and by using SIMULINK, a toolbox extension of the MATLAB program, the block diagram was simulated
with expected waveform output. Furthermore, by varying certain parameter of the DC motor block diagram, the output
waveform of the simulation would change accordingly. These parameter includes the field current, armature circuit
resistance and armature voltage. The simulation and modelling of the DC motor also gave an inside look of the
expected output when testing the actual DC motor. The results from the simulation were never likely to occur in real
life condition due to the response times and condition of actual motor.

REFERENCES

[1]Math Works. (2001). Introduction to MATLAB. The Math Works, Inc. Available:
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[2] MathWorks. (2001). SIMULINK. The MathWorks, Inc. Available: http://www.mathworks.com
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[5 ] The Math Works. MATLAB Student Version Learning MATLAB 6 (Release 12), 2nd printing, January 2001.
[6 ] Sen, Principles of Electric Machines and Power Electronics (2nd Edition), John Wiley and Sons Inc., 1989 49
[7 ] G.R. Slemon and A. Straughen, Electric Machines, Addison-Wesley Publishing Company, 1982
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[10] Peter F.Ryff, David Platnick and Joseph A.Karnas, Electrical Machines and Transformers, Principles and Applications, Prentice Hall, Inc., 1987.
[11]The Starting Block. All about DC motors. (2001) http://www.solarbotics.net/starting/200111_dcmotor/200111_dcmotor.html.
[12 ] Kotak.P.J.,Gadling.P.R “Matlab as a substitute for analysis of transient response of Dc motor without having number of machine” .IJETAE
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