Electrical Power Engineering Tech.

Electrical Machines (Practical)

MATLAB Simulink for Dynamic Performance of DC Machine Using

Dynamic Equations
Bashar Abdullah Hamad / Northern Technical University
 Simulink is a software package that enables you to model, simulate, and
analyze systems whose outputs change over time.
 Such systems are often referred to as dynamic systems.
 Simulink can be used to explore the behavior of a wide range of real-world
dynamic systems, including electrical circuits, braking systems, and many
other electrical, mechanical systems.
‫) هي حزمة برمجية تمكننا من نمذجة وتمثيل وتحليل األنظمة التي تتغير‬Simulink( ‫الـ‬ 
.‫االخراجات لها مع الزمن‬
.‫وتسمى األنظمة التي تتغير اخراجاتها مع الزمن باألنظمة الديناميكية‬ 
‫) لدراسة أداء مدى واسع من األنظمة الديناميكية الحقيقية كالدوائر‬Simulink( ‫ويستعمل الـ‬ 
.‫الكهربائية وأنظمة الكبح والعديد من األنظمة الكهربائية والميكانيكية األخرى‬

1. Dynamics of Electrical Machines

 Whereas a large number of practical rotating electrical machines operate on
steady-state, important problems arise under various transient operating
conditions, for example, when a generator or motor is suddenly loaded, or a
motor is started and accelerated.
 During the transient process between one steady-state condition and another,
inertial and damping forces come into play, because with the instantaneous
change in the electrical conditions, the stored magnetic-field energy cannot
change instantaneously and the energy balance is largely maintained by the
stored mechanical energy in the rotating masses.
‫ األداء الديناميكي للمكائن الكهربائية‬-1
‫بالرغم من ان عدد كبير من المكائن الكهربائية الدّوارة العملية تعمل عند الحالة‬ 
‫ عندما‬،‫ مثًال‬، ‫ إال أن مشاكل مهمة تظهر عند ظروف تشغيل عابرة مختلفة‬،‫المستقرة‬
.‫ أو عند بدء دوران المحرك وتسارعه‬،‫يتم تحميل المولد أو المحرك فجأًة‬
‫ فانه يظهر تأثير عوامل القصور‬،‫وخالل العملية العابرة بين ظرف حالة مستقرة وأخرى‬ 
‫ فانه ال يمكن أن تتغير‬،‫ وألنه مع التغير اللحظي في الظروف الكهربائية‬،‫الذاتي واإلخماد‬

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Electrical Power Engineering Tech. Electrical Machines (Practical)
‫ ويتم المحافظة على اتزان الطاقة بشكل‬،‫طاقة المجال المغناطيسي المخزونة لحظيًا‬
.‫كبير بواسطة الطاقة الميكانيكية المخزونة في الكتلة الدّوارة‬

Separately Excited DC Machine Model

The electromotive force (EMF) E is proportional to the machine speed.

KE is the voltage constant and is the machine speed.

In a separately excited DC machine model, the voltage constant K E is
proportional to the field current If:

where Laf is the field-armature mutual inductance.

The electromechanical torque developed by the DC machine is proportional
to the armature current Ia.

where KT is the torque constant.

The torque constant is equal to the voltage constant.

Figure equivalent circuit for separately excited DC machine

The armature circuit is represented by a series Ra La branch in series with

an EMF E.

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Electrical Power Engineering Tech. Electrical Machines (Practical)

Constant1

WrLAfIf

Ia
Gain1
LasIa
sIa 1
Va 1/La
s Scope
Constant Add Integrator

RaIa

Gain2

Ra

The field circuit is represented by an RL circuit.

If
Vf Gain1
LfsIf
sIf 1
Constant 1/Lf
s Scope

Add Integrator

RfIf

Gain2

Rf

The mechanical part computes the speed of the DC machine from the net
torque applied to the rotor. The speed is used to implement the EMF voltage
E of the armature circuit.

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Electrical Power Engineering Tech. Electrical Machines (Practical)

The mechanical part is represented by Simulink blocks that implement the

equation

, , where C is constant.

w
Te Gain1
Jsw
sw 1
Constant 1/J
s Scope

Add Integrator

Cw

Gain2

Case I. Armature voltage control of a d.c. separately excited motor with

The transfer function between the output quantity, speed, and the input
quantity, the armature-terminal voltage is obtained from equations as,

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Electrical Power Engineering Tech. Electrical Machines (Practical)

Product1

Armature voltage Va (V)

[Va]
Gain1 [ia] [Te]
Gain5 From4 Va2
1 Goto1 Goto3
1/La 1 [w]
s 1/J Speed wm (rad/s)
s [w]
Va Add Integrator Goto
Product Integrator1
Gain From w
Ra
Gain4 Armature current ia (A)
[Va] [ia]
Gain8
C1 From3 ia
Goto4
Laf
Field current if (A)
Ra=0.6
If [if]
Gain6
La=0.012
[if] Vf=240 From1 if
Vf LfsIf
sIf 1 Rf=240
1/Lf Goto2 Electrical torque Te (n m)
s [Te]
Constant Lf=120
Integrator2
Add1 Laf=1.8 From2 Te
RfIf
If=1
J=1
Gain7 C1=0.2287
Rf

Continuous Armature voltage Va (V)

[Va]
pow ergui C1
From4 Va3
0.2287 Speed wm (rad/s)

w
Va2 TL m Armature current ia (A)
Demux
Va
A+ dc A- ia
s
+ Field current if (A)
-
F+ F-
if
Controlled Voltage Source1
DC Machine Electrical torque Te (n m)

+
v
- Te
Va5 Va1

Ef=240 V
[Va]

Goto4

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 Electrical Power Engineering Tech. Electrical Machines (Practical)

250
Va(V)

200

150

100

50

0
0 1 2 3 4 5 6 7 8 9 10
Wm(rad/s)

140

120

100

80

60

40

20

-20
0 1 2 3 4 5 6 7 8 9 10
350
Ia(A)

300

250

200

150

100

50

-50
0 1 2 3 4 5 6 7 8 9 10
600
Te(N.m)

500

400

300

200

100

-100
0 1 2 3 4 5 6 7 8 9 10
2

1.8
If(A)

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10

Time (s)
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Electrical Power Engineering Tech. Electrical Machines (Practical)

Case II. Field voltage control of a d.c. separately-excited motor with

and constant armature voltage
(The speed characteristic with the variation of flux (or field) for DC separately-
excited motor)
The transfer function between the output quantity, speed, and the input
quantity, the field-terminal voltage is obtained from equations as,

Assuming that the flux is directly proportional to the field current If

plot(If(1:360,1),If(1:360,2)),grid
>> plot(Te(1:360,1),Te(1:360,2)),grid
>> plot(ia(1:360,1),ia(1:360,2)),grid
>> plot(wm(1:360,1),wm(1:360,2)),grid
>> plot(Va(1:360,1),Va(1:360,2)),grid

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 Electrical Power Engineering Tech. Electrical Machines (Practical)

Product1

w
Armature voltage Va (V)
[Vf]
Gain1 [ia] Gain2
[Te] From4
Gain5
1 Goto1
1/La Goto3 30/pi [N]
Va s 1
1/J Speed N (rpm)
s [N]
Add Integrator Goto
Constant1 Product Integrator1
Gain From

Ra
Gain4 Armature current ia (A)
[ia]
Gain8
C1 From3
Laf
[Vf] Field current if (A)
Ra=0.6 [if]
Goto4
Gain6
La=0.012
LfsIf
[if] Va=240 From1
sIf 1 Rf=240
1/Lf Electrical torque Te (n m)
s Goto2
Vf Lf=120 [Te]
Integrator2 If
Add1 Laf=1.8 From2
RfIf
If=1
J=1
Gain7 C1=0.2287
Rf

Figure simulation for field voltage control of a d.c. separately-excited motor with constant armature volta

Continuous Armature voltage Va (V

[Vf]
pow ergui C1
Speed wm (rad/s) From4 Gain2
0.2287 Speed N (rpm
30/pi

TL m Armature current ia (A
Demux
Va=240 V
A+ dc A-
Field current if (A)
F+ F-

DC Machine Electrical torque Te (n m

Va2
Vf

s
+
-
Controlled Voltage Source1

+
v
-
Va5 Va1

[Vf]

Goto4

Figure simulation for field voltage control of a d.c. separately-excited motor with constant armature volta

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 Electrical Power Engineering Tech. Electrical Machines (Practical)

250

200

150

Vf (V)
100

50

0
0 2 4 6 8 10 12 14 16 18 20
1800

1600

1400

1200
N (r.p.m) 1000

800

600

400

200

0
0 2 4 6 8 10 12 14 16 18 20

0.9

0.8

0.7

If (A)
0.6

0.5

0.4

0.3

0.2

0.1

0
0 2 4 6 8 10 12 14 16 18 20
300

250

200

Te (N.m) 150

100

50

0
0 2 4 6 8 10 12 14 16 18 20

450

400

350

300

250

Ia (A) 200

150

100

50

0
0 2 4 6 8 10 12 14 16 18 20

Time (s)

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 Electrical Power Engineering Tech. Electrical Machines (Practical)

Example:
Write necessary equations for field voltage control of d.c. separately excited motor with
and constant armature current. If the motor has the following parameters:

represent this motor by Simulink block

Solution:
Assuming that the flux is directly proportional to the field current If
, (constant)

w
[Vf] Armature voltage Va (V)
[Vf]
Goto4 [if]
Gain6 [Te] Gain2
Gain5 From4 Va2
LfsIf Goto2
sIf 1 Goto3 30/pi [N]
1/Lf 1
s Laf*Ia 1/J Speed N (rpm)
Vf s [N]
Integrator2 Goto
Add1 If Integrator1
Gain8 From N
RfIf

Gain4 Armature current ia (A)

Gain7
[ia]
Rf C1 From3 ia

Field current if (A)

Ra=0.6 [if]
La=0.012
Va=240 From1 if
Rf=240 Electrical torque Te (n m)
Lf=120 [Te]
Laf=1.8 From2 T
Ia=15
J=1
C1=0.2287

Figure simulation for field voltage control of d.c. separately excited motor with and constant armature cu

H.W:
Write necessary equations for armature voltage control of d.c. separately excited motor with
and constant field current. If the motor has the following parameters:

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 Electrical Power Engineering Tech. Electrical Machines (Practical)

represent this motor by Simulink block

Example:
Write a necessary equations for d.c. separately excited generator at rated speed=1220 r.p.m. and
. If the generator has the following parameters:

represent this case by Simulink block

solution:

The electromotive force (EMF) E is proportional to the machine speed.

[w]

Goto
1220 pi/30
wr(rad/sec)
N(rpm) RL [Ia]
rpm to rad/sec
[w]
VL wr(rad/sec)
Goto1
Ia
emf
240 1
1/Lf Laf 1 [Te]
s 1/La Te(N.m)
Vf Product s LafIf [Ia]
Add1 Integrator Product1 Goto3 Ia(A)
BL3 Add2 Integrator1
IaRa
[If]
Ra [If]
Goto2 If (A)

Rf

[Te]
Te(N.m)

Scope1
Lf=120
Rf=240
Laf=1.8 IL(A)
La=0.012
Ra=0.6
RL=40 [Ia]
VL(V)
RL

Scope

Figure simulation for field voltage control of d.c. separately excited generator at rated speed by MATLAB

References
1. Analysis of Electric Machinery, Krause et al., pp. 89–92.

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Electrical Power Engineering Tech. Electrical Machines (Practical)
2. ROTATING ELECTRICAL MACHINERY,DR.S.K.SEN,1976
3. Dynamic Braking Of Synchronous Motor, Hamad, Bashar,2007.

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