A REPORT ON CONTROL SYSTEM LABORATORY

ELP800
System Identification (DC Motor
AC Motor Parameter Identification)

Submitted by Group No. : 2B

Raj Tiwari
Entry No: 2024EEA2306
Nitish Tyagi
Entry No: 2024EEA2308
Ravi Dahiya
Entry No: 2024EEA2849

Under the guidance of

Prof. Subashish Datta

in partial fulfillment of the requirements
for the award of the degree of
Master of Technology

Department of Electrical Engineering

Indian Institute of Technology, Delhi
August 2024

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Contents

1 DC Motor Study 3
1.1 Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Methods used for achieving objectives . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.1 DC motor model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.2 Torque Speed-Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.3 Transient Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.4 Motor and Generator Characteristics . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.5 Torque-Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.6 Step Response of Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 OBSERVATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2 AC Motor Study 8
2.1 Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Methods used for achieving objectives . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Observation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

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1 DC Motor Study
1.1 Objective
To study the characteristics of a dc servomotor and determine its transfer function.
1. The transfer function of a DC motor with respect to the shaft position is:

ω(s) Km
=
E(s) sτm + 1

2. Aim is to find the constants Km and τm from the motor characteristics.

KT
(a) Km = Ra B+KT Kb :Motor gain constant
Ra J
(b) τm = Ra B+KT Kb : Motor time constant

1.2 Methods used for achieving objectives

Figure 1: Panel drawing of the DC Motor Study

1.2.1 DC motor model

Figure 2: Schematic Diagram

The schematic diagram of a d.c. motor is shown in Fig.1 wherein the following notations are used:
1. Ea : armature voltage (volts)
2. Ia : armature current (amp.)
3. Ra : armature resistance (ohms)
4. La : armature inductance (Henry’s)
5. Eb : back emf (volts)

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 6. If : field current (amp.)
7. τM : motor torque (newton-m)
8. τL : load torque (newton-m)

9. ω : angular velocity (rad/sec)

10. J : moment of inertia of the rotor including external loading if any (Newton/ rad/sec2)
11. B : viscous friction coefficient including external loading if any (newton-m/rad/sec)
In the present set-up a permanent magnet d.c. motor is used, the field winding is thus absent and
the air gap flux is constant. The input drive may therefore be applied to the armature only, that is,
only armature controlled operation is possible.
The mathematical equations in this operating mode are:
1. τM = KT ia ; KT : torque constant

2. eb = Kb ω; Kb : back emf constant

∂i
3. La ∂t + Ra ia + eb = ea : armature circuit model

4. J ∂ω
∂t + Bω + TL = TM : mechanical model

Taking Laplace Transform and rearranging the terms:

ω(s)
= KT /((sLa + Ra )(sJ + B) + KT Kb )
Ea (s)

Assuming the inductance of the armature circuit to be very small*, the motor transfer function may
be written as,
ω(s) (KT /Ra ) Km
GM (s) = = =
Ea (s (JS + B + KT /Ra KV sτm + 1
KT
Where, Km = Ra B+K T Kb
: motor gain constant
Ra J
τm = Ra B+KT Kb : motor time constant

1.2.2 Torque Speed-Curves

Ea −Eb Ea Kb ω
1. steady state armature current, Ia = Ra = Ra − Ra

2. steadystatetorquegenerated, TM = KT Ia
3. As the motor runs at constant speed,electrical power input, Pin = Ea xIa watts
4. Power lost in Ra = Ra Ia Ia

5. Power available in the armature, pa rm = (Ea –Ia Ra ) = Eb Ia = Kb ωIa

6. Mechanical power developed, P mech. = τm ω newton−mrad
sec = KT Ia ω
7. Assuming 100% conversion of power from electrical input to mechanical output, the above two
expressions can be equated to get, KT = Kb

8. Thus, the numerical values of KT and Kb may be assumed to be identical. The torque may
then be expressed as,
K2 Kb
τM = − b ω + Ea
Ra Ra
τM = Bω + τL
Ea –Ia Ra
τM = KT Ia = Kb Ia = Ia
ω
Eb Ea –Ia Ra
Kb = =
ω ω

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 Figure 3: Typical Torque Speed Curve

1.2.3 Transient Response

ω(s) KT /Ra Km
GM (s) = = K
=
Ea (s) JS + B + Ra KV
T sτm + 1
KT
where, Km = Ra B+K T Kb
: motor gain constant
Ra J
τm = Ra B+KT Kb : motor time constant
Kb2
J = τm (B + Ra )

Figure 4: Step response of motor

1.2.4 Motor and Generator Characteristics

At no load (load step at 0) the motor is supplied with varying armature voltages, Ea =3, 5,
7, . . . . For each Ea, the motor current Ia, speed N, and generator voltage Eg are recorded.
Straight liner approximation of the Ea vs. speed and Eg vs. speed yield the motor and
generator constants Km ( rpm volts
volt ) and KG ( rpm ) the following steps are suggested :

(a) Set ‘MOTOR’ switch to ‘ON’. Set ‘RESET’ switch to ‘RESET’. Set ‘LOAD’ switch to 0
position.
(b) Vary Ea in small steps and take readings as under (Table 1)

1.2.5 Torque-Speed Characteristics

To obtain the torque-speed characteristics, the motor is supplied with a fixed armature voltage
and its speed is recorded for varying external loading . This loading is effected by electrically
loading the coupled generator following steps are suggested
(a) Set ‘MOTOR’ switch to ‘OFF’. Set ‘RESET’ switch to ‘RESET’. Set ‘LOAD’ switch to
0 position.

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 (b) Connect Ea to the voltmeter and set Ea = 6V
(c) Shift the ‘MOTOR’ switch to ‘ON’. Measure armature input (Ea), motor current (Ia )
and motor speed in rpm. Record the readings (at s.no. 1 in the Table-2)
(d) Set the ‘LOAD’ switch to 1, 2, . . . 5 and take readings as above. (s.nos. 2, 3, . . . in the
Table 2)
(e) Complete the table below with the calculated values Motor Voltage Ea = 6 volts; Ra =
4 Ohm

1.2.6 Step Response of Motor

The dynamics of the motor is studied with the help of its step response. The various steps of
this experiment are given below:
(a) Set ‘MOTOR’ switch to ‘OFF’. Set ‘RESET’ switch to ‘RESET’. Set ‘LOAD’ switch to
0 position.
(b) Connect Ea to the voltmeter and set it to 7 V.
(c) Switch ‘ON’ the motor and measure Eg and the speed in rpm. These are the steady state
generator voltageEg and steady state motor speed N, respectively
(d) Set Es to 63.2% of Eg measured above. This is the generator voltage at which the counter
will stop counting.
(e) Switch ‘OFF’ the motor. Set ‘RESET’ switch to ‘READY’.
(f) Now switch the motor ‘ON’. Record the counter reading as time constant in milliseconds.
(g) Repeat above with AEa = 10 V, Ea = 12 V and tabulate the results as shown below in
table-3.

1.3 OBSERVATIONS

S.no Ea (volts) Ia (ma) N(rpm) Eg (volts)

1 3.05 75 1258 2.32
2 4.06 82 1693 3.13
3 5.10 89 2146 3.97
4 5.57 92 2351 4.35

Table 1: Calculation of Motor and Generator Constants

Average
rpm
KM = 433.7
volt
Average
v
KG = 0.001857
rpm

s.no Load step Ia (mA) N(rpm) ω Eb Kb Ia Kb

1 0 97 2550 266.9 5.612 0.0210 2.037
2 1 126 2484 260.0 5.496 0.0211 2.658
3 2 153 2422 253.51 5.388 0.0212 3.244
4 3 179 2363 247.33 5.284 0.0214 3.831
5 4 206 2305 241.26 5.176 0.0215 4.429
6 5 239 2233 233.73 5.044 0.0216 5.162

Table 2: Ea = 6v and Ra = 4Ω

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 s.no Load step Ia (mA) N(rpm) ω Eb Kb Ia Kb
1 0 107 3428 359.94 7.572 0.0210 2.247
2 1 146 3337 350.94 7.416 0.0212 3.095
3 2 183 3248 341.04 7.268 0.0213 3.898
4 3 216 3167 332.54 7.136 0.0214 4.622
5 4 252 3081 323.51 6.992 0.0216 5.443
6 5 290 2986 313.53 6.840 0.0218 6.322

Table 3: Ea = 8v and Ra = 4Ω

s.no Load step Ia (mA) N(rpm) ω Eb Kb Ia Kb

1 0 121 4243 445.52 9.516 0.0213 2.58
2 1 167 4128 433.44 9.332 0.0215 3.59
3 2 212 4019 422.00 9.152 0.0217 4.59
4 3 253 3923 411.92 8.988 0.0218 5.52
5 4 296 3825 401.63 8.816 0.0219 6.49
6 5 343 3715 390.07 8.628 0.0221 7.59

Table 4: Ea = 10v and Ra = 4Ω

s.no Load step Ia (mA) N(rpm) ω Eb Kb Ia Kb

1 0 127 4631 486.25 10.49 0.0215 2.74
2 1 177 4496 472.08 10.29 0.0217 3.86
3 2 225 4372 459.06 10.10 0.0220 4.95
4 3 269 4265 447.83 9.92 0.0221 5.95
5 4 314 4159 436.69 9.74 0.0223 7.00
6 5 367 4040 424.20 9.53 0.0224 8.24

Table 5: Ea = 11v and Ra = 4Ω

s. no Ea Eg N(rpm) Es τm Gain constant

1 8 6.31 3413 3.987 87 44.65
2 10 7.87 4260 4.967 88 44.588
3 11 8.52 4619 5.384 89 43.95

Table 6: Gain Constant of DC motor, for varying Ea

1.4 Conclusion
We got our transfer function as

ω(s) Km 433.77
G(s) = = =
E(s) sτm + 1 0.089s + 1

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2 AC Motor Study
2.1 Objective
1. To study the characteristics of a small a.c. servomotor and determine its transfer function.
2. The transfer function of AC servomotor w.r.t. the shaft position is:

θ(s) KM
G(s) = =
Ec (s) s(τm s + 1)

where,
K1
KM =
B + K2
J
τm =
B + K2
3. Aim to the experiment to determine KM ,τm

2.2 Methods used for achieving objectives

Figure 5: Panel drawing AC Servomotor Study

Figure 6: Block diagram of an a.c.motor system

The block diagram of an a.c. servomotor system is presented in Fig.2 This is a highly simplified and
linearized version of the actual behaviour of the motor and is valid at low speed of operation only.
Detailed description of the working and derivation of the block diagram may be seen in any of the
text books listed at the end of this document. Here Ec is the voltage applied at the control phase
which results in a proportional torque which however is reduced by a factor related to the motor
torque efficiency to generate the actual motor torque as:
Tm (s) = K1 Ec (s) - K2 ω(s), where w is the shaft speed . This torque, further reduced by the
mechanical load torque, TL, drives the inertia, J and the friction, B of the motor to result in the
speed, ω and subsequently the angular position, q of the motor shaft. From the block diagram of
Fig.2 the transfer function of the motor may be written as:

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 θ(s) KM
=
EC (s) s(τm s + 1)
Where,
K1
KM =
B + K2
J
τm =
B + K2
are the motor gain constant and the motor time constant respectively. As students of control system,
our interest is to evaluate the transfer function and the parameters of the ac servomotor.
Again for Ec (s)=0
1
θ(s) Kn
= − B+K2 = −
τL (s) s(τ s + 1) τm s + 1
1
where,kn = B+K2

Combining the above two transfer functions (under assumption of linearity) The computa-
tion of Km and Kn can be done by using the final value theorem, i.e.,Steady state speed, ωs s
= lims→0 sω(s) = Km Ec –Kn TL ,where
Ec = Constant voltage applied to the control winding
TL = Constant Load torque
Ec is measured by the a.c. voltmeter on the panel and TL is calculated from the loading of the
coupled d.c. generator as ,

Figure 7: Loading circuit arrangement

ElectricalP owerdrawnf romthegeneratorinwatts

TL = Angularvelocityof theshaf tinradians
sec
The calculation assumes that the generator mechanical parameters are negligible compared to that
of the servomotor.

2.3 Observation

Input step N Load step(no load) KG

1 1387 2.64 0.00190339
2 1997 3.81 0.00190786
3 2136 4.08 0.00190922

Table 7: Detrmination of Genration Constant

Average Generator Constant, KG = 0.00190682

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 Input Load step-1 Load step-2 Load step-3
Step Ec E0 IL N τL IL N τ IL N τL
1 4.01 2.62 0 1382 0 0.65 1008 0.0119 0.92 830 0.01679
2 7.85 3.79 0 1972 0 1.05 1643 0.01916 1.56 1450 0.02847
3 11.55 4.03 0 2119 0 1.18 1863 0.02153 1.82 1707 0.03321

Table 8: Calculation of Load Torque for different inputs and load

S.no Es τm
1 2.528 73
2 2.55 72
3 2.56 70

Table 9: Rise time of the AC motor

2.4 Conclusion
The results given below taken from a sample unit for input-3 and may differ from the unit supplied
to you. This is because of the variation in the characteristics of the motor,generator and to some
extent on the experimental errors.

1. Reference winding input, Ec = 11.55

motor speed,N= 2119
Generator coefficient, KG = 1.906 ∗ 10−3 Volt/RPM
Nπ
Km = 30E c
= 19.2122
2. Reference winding input, Ec = 11.55
motor time constant, τm = 70 msec
3. transfer function of motor
θ Km 19.2122
G(s) = = =
Ec s(τm s + 1) s(0.07s + 1)

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