Homework 2

Deadline 16-09-2014
Klaus Bahner, klba@via.dk
7. september 2014

Permanent Magnetic DC Motor Design Parameters

Attached is the datasheet of a small DC Motor with permanent magnets

generating the stator field. Its called a servo motor because it has a rather
small moment of inertia and low inductance, which means it reacts fast
on changes to e.g. input voltage. However, here we only look on the static
(constant load and supply) situation.

Figur 1: Electrical Equivalent of a Permanent Magnetic DC Motor

In class the electrical equivalent - as shown in figure 1 - of a permanent magnetic DC motor was introduced. Since we only look into the static behavior
of the motor, we can set L = 0 because the inductance of the motor only
influences the dynamic behavior of the motor, i.e. how fast the motor reacts
to changes in the supply voltage.
R is the ohmic resistance of the armature (i.e. the rotor windings) and Ub
is the voltage induced in the rotor, due to its rotation (especially in the
anglo-saxon literature also called the back electromotive force, BEMF). This
1

MDI Electrical Machines A14

voltage is oppositely poled to the supply voltage, thus it counteracts the

external voltage. This way the effective voltage across the resistance R is
reduced. Ub will increase with motor speed and decrease when the motor is
braked, e.g. when a mechanical load is attached to it.
In the following we look on the 24V version of the motor, which parameters
are listed in the datasheet.
1. What is the armature resistance of this motor?
(In the datasheet given as "Terminal Resistance", because this is the
resistance you would measure with an ohmmeter between the connection
leads.)
2. If the motor is locked, this is the rotor cannot spin, then Ub is zero.
This is because when the rotor doesnt move, no counteracting voltage
can be generated at all. Calculate the electrical current which flows
through R, this is the rotor windings, in this case. Compare the calculated value with the given value in the datasheet (Peak Current (Stall)).
3. Now look on the performance plot of this motor in the bottom left
corner of the datasheet. Mark the point of operation you just have
computed in this plot.
(Motor speed is 0 and current is the one from your previous answer.)
4. What is the torque produced by the motor under this locked rotor
conditions?
(Find it graphical from the performance plot and since this is an US
datasheet just stick to the unit of oz in (Ounces times inch). )
5. Remember that the Lorentz force is proportional to the current I,
flowing through the rotor, and the strength of the stator field B. Since this motor uses permanent magnets, B is constant, therefore the
Lorentz force must be a linear function of the current. The Lorentz
force produces the motor torque M , hence the motor torque must also
be a linear function of the current.
M

(1)

= Kt I

(2)

Calculate the proportional konstant Kt from the information you calculated and found in your previous answers.
6. Find the torque constant in the datasheet and compare it with the
value you just computed.
7. How can you find this constant graphically in the performance plot?

MDI Electrical Machines A14

8. Assume you have attached a delicate gear to this motor which cannot
tolerate a higher input torque than say 8 ozin at its input - otherwise it
will be destroyed. The mechanical solution would be to add a frictional
clutch in order to protect the gear. You can also choose to limit the
maximum torque electrical. How?
(Which parameter has to be limited and to what value by the power
supply? Input voltage, input current or something else?)
9. Calculate the mechanical shaft power under maximum continuous load
conditions (second and third parameter in the datasheet). Calculate the
electrical power drawn under these conditions. What is the efficiency
of this motor?
10. Assume you have to drive a load which requires a torque of 3 ozin.
At what speed will the motor run under these conditions? What is the
current drawn under these conditions?
11. How hot will the motor become when running under the conditions
of the previous question? Room temperature is 20o C. (Hint: Thermal
resistance in the datasheet)
12. What happens if you try to run this motor for a prolonged time with
a load torque of 24 oz in?
(Look this point of operation up in the performance plot and calculate
the previous powers again.)
13. How long can you run the motor under the load conditions from the
previous question until the motor reaches its maximum winding temperature? Assume an initial motor temperature of 40o C.(Hint: Thermal time constant in the datasheet. Furthermore temperature rise is an
exponential function, like that of an RC-circuit)
14. At what approximate1 speed will this motor run, when powered with
12V instead of 24V and no load attached to it?
(Hint: Voltage constant in the datasheet).
15. Assume you want to use this motor as a little generator. This is, the
motor is spun by an external mechanical rotation of 4000 rpm. What
is then the output voltage produced by the motor?
16. The armature resistance and its inductance form a RL circuit. Calculate its time constant from the datasheet values given for R and L.
Compare it to the value given under "Electrical Time Constant".

Precise calculation would need to consider the motors own friction, which however is
given in the datasheet too.

9234 SERIES BRUSH DC SERVO MOTOR

Motor Data

Symbol

Units

Supply Voltage (Reference)

Vs

Continuous Torque

Tc

Speed @ Cont. Torque

Current @ Cont. Torque
Continuous Output Power

Sc
Ic
Po,c

Motor Constant

KM

Torque Constant

KT

V
oz-in
Nm
rpm
A
W
oz-in/W
Nm/W
oz-in/A
Nm/A
V/krpm
V s/rad

mH
A
rpm
A
oz-in
Nm
oz-in
Nm
oz-in/krpm
Nm s/rad
ms
ms
min
C/W
C
2
oz-in-sec
2
kg m
oz
g

Voltage Constant

KE

Terminal Resistance
Inductance
No-Load Current
No-Load Speed
Peak Current (Stall)

Rmt
L
Inl
Snl
Ipk

Peak Torque (Stall)

Tpk

Coulomb Friction Torque

Tf

Viscous Damping Factor

D
e
m
th
Rth
max

Electrical Time Constant

Mechanical Time Constant
Thermal Time Constant
Thermal Resistance
Max. Winding Temperature
Rotor Inertia

Jr

Motor Weight (Mass)

wM

9.55 V
9.55
6.1
0.043
5070
4.46
23
2.7
0.019
2.04
0.0144
1.51
0.0144
0.56
0.39
0.42
6050
17.1
33.9
0.240
0.60
0.0042
0.039
2.6E-06
0.70
11
12
17
155
5.9E-04
4.2E-06
10.1
286

12.0 V
12.0
6.1
0.043
5260
3.53
24
2.8
0.020
2.58
0.0182
1.91
0.0182
0.83
0.63
0.33
6020
14.5
36.4
0.257
0.60
0.0042
0.039
2.6E-06
0.76
10
12
17
155
5.9E-04
4.2E-06
10.1
286

15.2 V
15.2
6.1
0.043
5410
2.77
24
2.9
0.021
3.29
0.0232
2.43
0.0232
1.26
1.02
0.26
5990
12.1
38.8
0.274
0.60
0.0042
0.039
2.6E-06
0.81
10
12
17
155
5.9E-04
4.2E-06
10.1
286

Performance (24 V Winding)

7000

8.4

6000

7.2
Speed
6.0

Current

4000

4.8

3000

3.6

2000

2.4

1000

1.2

0.0
0

12

18

24

30

36

42

Current (A)

Speed (rpm)

5000

Sintered Bronze Bearings

2-pole Stator
Ceramic Magnets
7-slot Armature

G42A Planetary Gearbox

G42B Planetary Gearbox
G51A Spur Gearbox

Winding Designation
19.1 V
24.0 V
30.3 V
19.1
24.0
30.3
6.1
6.1
6.1
0.043
0.043
0.043
5600
5600
5660
2.24
1.75
1.40
25
25
26
3.0
3.0
3.0
0.021
0.021
0.021
4.07
5.17
6.50
0.0287
0.0365
0.0459
3.01
3.82
4.81
0.0287
0.0365
0.0459
1.89
2.96
4.62
1.56
2.51
3.97
0.21
0.16
0.13
6090
6030
6060
10.1
8.1
6.56
40.3
41.1
41.8
0.284
0.290
0.295
0.60
0.60
0.60
0.0042
0.0042
0.0042
0.039
0.039
0.039
2.6E-06
2.6E-06
2.6E-06
0.83
0.85
0.86
10
9.3
9.1
12
12
12
17
17
17
155
155
155
5.9E-04
5.9E-04
5.9E-04
4.2E-06
4.2E-06
4.2E-06
10.1
10.1
10.1
286
286
286

Standard Features
Heavy-gauge Steel Housing
Silicon Steel Laminations
Copper-graphite Brushes
Diamond-Turned Commutator
Complementary Products
E22A Optical Encoder
E30A Optical Encoder
E30B Optical Encoder
E35A Optical Encoder

Notes:
1

All values specified at 25C ambient temperature and without heat sink.

Peak values are theoretical and supplied for reference only.

Torque oz-in (m Nm )

64

38.2 V
38.2
6.1
0.043
5670
1.10
26
3.0
0.021
8.22
0.0580
6.08
0.0580
7.30
6.35
0.10
6040
5.23
42.2
0.298
0.60
0.0042
0.039
2.6E-06
0.87
9.0
12
17
155
5.9E-04
4.2E-06
10.1
286

215-256-6601 (USA) +39 0373 210245 (Europe) (86-21) 6426 8111 ext 47 (Asia)
www.ametektip.com

48.0 V
48.0
6.1
0.043
5670
0.88
26
3.0
0.022
10.3
0.0730
7.65
0.0730
11.5
10.0
0.080
6030
4.17
42.3
0.299
0.60
0.0042
0.039
2.6E-06
0.87
9.0
12
17
155
5.9E-04
4.2E-06
10.1
286