Modeling and simulation of DC motor using Simulink

A DC motor is an electromechanical machine that converts electrical energy into

mechanical energy.

The basic schematic diagram of the DC motor is shown below.

In the problem, the mathematical model of the DC Motor has to be done as per the
following assumptions:
Assumptions:
● The Rotor and Shaft are assumed to be rigid. Note that neither the Rotor is rigidly
attached to the shaft nor the shaft is rigidly attached in the motor.
● The Model is a Viscous Friction Model where the Frictional Torque is proportional
to the Shaft Angular Velocity. The Relation between the Frictional Torque and the
Angular Velocity is assumed to be as follows:
Tfriction = b*(dθ/dt) = b*ω
Where b = Motor Viscous Friction Constant or the Damping Coefficient
θ = Angular Displacement of the Shaft/Rotor.
(dθ/dt) = ω = Angular Velocity of the Shaft/Rotor.
Tfriction = Frictional Torque

● As per the Question, the Magnetic Field is constant. Therefore, the Torque
generated by the DC Motor is proportional only to the Armature Current ‘i’ as per
the following relation:
Tmotor = Kti
where Tmotor = Motor Torque
Kt­­ = Motor Torque Constant
i = Armature Current
 ● As per the Question, the back emf ‘e’, is proportional to the angular velocity of
the shaft/rotor by a constant factor Ke :
e = Ke (dθ/dt) = Ke ω
where (dθ/dt) = ω = Angular Velocity of the Shaft/Rotor
Ke = Constant Factor proportioning the back emf and the angular velocity.

Governing Equations:
According to Newton’s 2nd Law of Rotation, if more than one torque acts on a rigid body
about a fixed axis, then the sum of the torques equals the moment of inertia times the
angular acceleration. Here the rigid body is the Rotor. According to the Information for
the Model provided via Explanations, Assumptions and Diagram, Newton’s 2nd Law can
be applied on the Rotor according to the following relation:
Electrical Side
(di/dt) = 1/L [V – iRa – Ke*(dθ/dt)].......................................... (1)
Mechanical Side
(d2θ/dt2) = (1/J) * [ (Kt i) – b*(dθ/dt)].......................................(2)
We are using a script file to define the required parameters for the simulation. We can directly
define these parameters in our model also.
J = 0.01; % Rotor inertia
b = 0.1; % Rotor damping coefficient due to windage and
friction
R = 1; % Armature resistance
L = 0.5; % Armature inductance
V=30; % Constant DC supply voltage
Ke = 1; % Motor back emf constant
Kt = 1; % Motor torque constant
Modelling:
● Simulink Blocks used for implementing this model include Import, Outport,
Integrator, Add and Gain Blocks inside the DC Motor Subsystem (implemented
by adding the Subsystem Block in the main System Window) and Constant Block
+ Scope Block outside the Subsystem in the Main System Window.
● The Blocks have been added and connected amongst each other so as to
represent the equations (1) and (2) which represent the behavior of the Model as
mentioned in the problem statement.
 ● The Main Model is as follows:

Results :
Figure below shows the simulation results of the model.It includes the motor speed,
torque and current in the DC motor.