Department of Electrical Engineering

Lab 02: Validation of fundamental drive equation

Analysis of Electrical Machines
Course Instructor: - Dr. Rajesh M. Pindoriya

Aim: - Validate the fundamental drive equation in the MATLAB/Simulink environment

Objective: - To validate the fundamental drive equation in the MATLAB/Simulink environment

and observe the waveforms of load torque, speed, theta, and electromagnetic torque of the motor.
Name of the components with rating: - Mathematical tools, Scope, Connecting wire, and
Power GUI.
Brief theory: -
A motor generally drives a load through some transmission system. While the motor always
rotates, the load may rotate or may undergo a translational motion. Load speed may be different
from that of a motor, and if the load has many parts, their speeds may be different and while
some may rotate, others may go through a translational motion. It is, however, convenient to
represent the motor load system by an equivalent rotation system shown in Fig. (1).
Circuit diagram:-

Fig. (1). Equivalent motor load system

Fig. (2). Circuit diagram of Matlab/ Simulink Model

1
 Fig. (3). Circuit diagram of Matlab/ Simulink Model of Rotating Mechanical System with
Friction

Fig. (4). Circuit diagram of Matlab/ Simulink Model of Rotating Mechanical System with
Friction and Step Change Load
The fundamental torque equation is defined by Eq. (1)

𝑑 𝑑𝜔𝑚 𝑑𝐽
𝑇 − 𝑇𝑙 = 𝑑𝑡 (𝐽𝜔𝑚) = 𝐽 + 𝜔𝑚 𝑑𝑡 …(1)
𝑑𝑡

Where:

J=Polar moment of inertia of motor load system in kg-m2

ωm= Instantaneous angular velocity of motor shaft in rad/s

T= Instantaneous value of developed motor torque in N-m

Tl=Instantaneous value of load torque in N-m

Eq. (1) is applicable to variable inertia drives such as mine winders, reel drives, industrial robot.
For drives with constant inertia (dJ/dt) =0. Therefore,
𝑑(𝜔𝑚)
𝑇 = 𝑇𝑙 + 𝐽 …(2)
𝑑𝑡

2
Eq. (1) shows that torque developed by motor is counter balanced by a load torque Tl and a
𝑑(𝜔𝑚) 𝑑(𝜔𝑚)
dynamic torque 𝐽 . Torque component 𝐽 is called the dynamic torque because it is
𝑑𝑡 𝑑𝑡
present only during the transient operations. Drive accelerate or decelerates depending on
weather T is greater or less than Tl.

A simple model of rotating electrical machines system is developed by following set of

equations;

The total torque generated by machine is given by Eq. (3)

𝑇 = 𝑇𝑚 − 𝑇𝑙 …(3)

An equivalent moment of inertia is given by Eq. (4)

𝐽𝑒𝑞 = 𝐽𝑚 + 𝐽𝑙 …(4)

An acceleration is given by Eq. (5)

𝑇
𝛼 = 𝐽𝑒𝑞 …(5)

An angular speed is given by Eq. (6)

𝜔𝑚 = ∫ 𝛼 𝑑𝑡 …(6)

Rotor position is given by Eq. (7)

𝜃 = ∫ 𝜔𝑚 𝑑𝑡 …(7)

Where;

Tm is motor torque in N-m, α is acceleration of motor in m/s and θ is rotor position angle in rad.

Observations:-

Now change the value of motor torque Tm and load torque Tl and observe the following
conditions;

1. If set values as Tm=Tl then ωm=0

2. If set values as Tm>Tl then ωm>0

3. If set values as Tm<Tl then ωm<0

Mechanical system model with friction:-

When the friction is including in the system in the form of the friction torque is given by Eq. (8).

𝑇𝑓𝑟𝑖𝑐 = 𝐵𝜔𝑚 …(8)

The motion equation of the rotating systems has the form

𝑑(𝜔𝑚)
𝑇𝑚 = 𝐽𝑒𝑞 + 𝐵𝜔𝑚 + 𝑇𝑙 …(9)
𝑑𝑡
3
Calculate motor speed (ωm) and the angular displacement value repeating instead of continuously
increasing or decreasing from Eq. (8) and (9).

Simulation results and analysis:-

1. Plot graph of acceleration, speed and theta (Y-axis) vs time (X-axis) of electrical
machine.

Here, Tm=5 and 4 N-m, Tl= 4 and 5 N-m and J=5 kg⋅m2

Fig. (5). Waveform of acceleration, speed and theta (Y-axis) vs time (X-axis) of electrical
machine at Tm>Tl.

4
 Fig. (6). Waveform of acceleration, speed and theta (Y-axis) vs time (X-axis) of
electrical machine at Tm=Tl.

Fig. (7). Waveform of acceleration, speed and theta (Y-axis) vs time (X-axis) of electrical
machine at Tm<Tl

2. Plot graph of rotating mechanical system with friction (Angular displacement vs time
and speed vs time)

Here, Tm=5 N-m, Tl= 4 N-m, J= 5 kg⋅m2 and B=0.5

5
Fig. (8). Waveform of acceleration and speed (Y-axis) vs time (X-axis) of rotating mechanical
system at Tm>Tl

3. Give step change load torque and plot graph of load torque, motor torque and speed vs
time.

Here, Tm=15 N-m, Tl= 5-10 N-m in 5 sec, J= 5 kg⋅m2 and B=0.5

Fig. (9). Waveform of load and motor torque, speed (Y-axis) vs time (X-axis) of rotating
mechanical system with step change in load torque

6
Questions and answers:-

1. What is the relationship between load torque and electromagnetic torque in the DC
motor?
Answer: - Electromagnetic torque is the torque required to start the rotation of a motor,
and it is generally equal to the load torque. The output electromagnetic torque (torque
produced by the armature on the air gap) is the load torque at no load, and the load torque
is equal to the electromagnetic torque. Due to electromagnetic force, electrical torque is a
circular motion. Torque is the radial force from an axis of rotation. It is the vector cross
product of the radius and force vectors.

2. If the moment of inertia of the DC motor is zero then what happens with load
torque?
Answer: -We have Torque T=Jα where, T= Torque, J= Moment of inertia and α= Angular
acceleration
If J=0 then T=0 i.e., Torque developed will be Zero

Conclusions:-
After completing this LAB we got a knowledge to simulate fundamental drive equations using
mathematical tools in the MATLAB/Simulink environment and to observe the required different
waveforms.

Submitted By:
Name: - Bipin Silwal
CRN: - 079MSPDE007
Program: - MSc. in Power
Electronics and Drive
Engineering