SSRG International Journal of Electrical and Electronics Engineering (SSRG-IJEEE) – volume 2 Issue 3 March 2015

Modelling and Simulation of Armature-

Controlled Direct Current Motor using
MATLAB
Jide Julius Popoola1, Oladele Joshua Oladejo2, and Charity Segun Odeyemi3
1
Department of Electrical and Electronics Engineering, Federal University of Technology, Akure, Nigeria
2
Department of Electrical and Electronics Engineering, Federal University of Technology, Akure, Nigeria
3
Department of Electrical and Electronics Engineering, Federal University of Technology, Akure, Nigeria

ABSTRACT : Technology at present needs faster tradeoff between realism and simplicity. One of the
and easier means of controlling equipment with few important issues in modeling is model validity,
numbers of components. One of such equipment is which is the process of simulating the model under
the direct current (DC) motor, whose speed is known input conditions and comparing model
directly proportional to the supply voltage. Using output with system output [1].
this established relationship between the speed and Basically, simulation of a system is the
the supply voltage, this paper investigates the operation of a model of the system, which can be
effects of different loads and inputs on the output reconfigured and experimented with. Thus,
response of the armature controlled direct current operation of the model can be studied in order to
motor. The aim is to establish relationship between
infer some details on the properties concerning the
the speed of DC motor and the load torque at
different voltages as well as investigating the behavior of the actual system or its subsystem.
performance of closed-loop systems when different Generally, according to [1], simulation is a tool to
voltages are applied to the armature circuit of the evaluate the performance of a system, either
motor when a constant voltage is supplied to the existing or proposed, under different configurations
field circuit of the motor. The study was carried out of interest and over long periods of real time.
in two stages. The first stage involved Hence, for this armature controlled DC
mathematical modeling of the system while the
motor modeling, the analysis was carried out using
second stage centered on the simulation of an
armature controlled direct current motor using both the step and impulse responses. All the data
Simulink environment in MATLAB. The based on internal circuit of the modeled armature
performance analysis of the modeled system shows controlled DC motor for this study were analyzed
that usage of feedback enhances the performance both by control system design calculation and by
of the transient response of the armature controlled MATLAB software.
DC motor. In addition the result obtained shows
In order to enhance both the understanding
that at different input voltages, the speed the DC
and proper presentation of the study reported in this
motor is inversely proportional to the load torque.
paper, the remaining parts of this paper are
organized as follows. In Section II, in depth
Keywords - Model, DC motor, Back emf, DC information on DC motor such as its principle of
motor classifications, Electrical and mechanical operation, classification and different methods of
variables controlling the speed of DC motors were presented.
Section III provides in detail, the methodology
used in carrying out the study reported in this
I. INTRODUCTION
paper. The results obtained are presented,
The universe we live undergoes continual
interpreted and discussed in Section V while the
change. This change is not always apparent if the
conclusions made are presented in Section V.
time scale is long as experienced in some
geological processes. However in engineering
where situations that are time-dependent are II. DIRECT CURRENT MOTOR
important, ideal description of objects or processes The DC motor is one of the first machines
must include proper timing. This kind of devised to convert electrical power into mechanical
description is called or known as model. power motor [2 – 4]. Its origin, according to [3],
A model is simply a representation of the can be traced to disc-type machines conceived and
construction and working of some systems of tested by Michael Faraday, who formulated the
interest [1]. According to the author, a model is
fundamental concepts of electromagnetism.
similar to but simpler than the system it represents.
The process of producing a model is known as The DC motor uses electricity and a
modeling. Basically, a good model is a judicious magnetic field to produce torque, which causes it to

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SSRG International Journal of Electrical and Electronics Engineering (SSRG-IJEEE) – volume 2 Issue 3 March 2015

turn. It requires two magnets of opposite polarity

and an electric coil, which acts as an
electromagnet. The repellent and attractive
electromagnetic forces of the magnets provide the
torque that causes the motor to turn. It also consists
of one set of coils, called armature winding, inside
a set of permanent magnets, called the stator.
Applying a voltage to the coils produces a torque in
the armature, resulting in motion.
The principle of operation on a DC motor
as shown in Figure 1 requires a DC voltage source.
When the two ends of the coil are connected across
a DC voltage source, it will cause current, I, to flow
through it. Hence, a force is exerted on the coil as a
result of the interaction of magnetic field and
electric current. The force on the two sides of the
coil is such that the coil starts to move in the Figure 1: Torque production in a DC motor [6]
direction of force.
In a DC motor, several such coils are
wound on the rotor, all of which experience force,
resulting in rotation. The greater the current in the
wire, or the greater the magnetic field, the faster the
wire movement because of the greater force
created. At the same time, torque is being produced
as the conductors are moving in a magnetic field.
At different positions, the flux linked with it
changes, which causes an electromagnetic force
(emf) to be induced as shown in Figure 2. This
voltage is in opposition to the voltage that causes Figure 2: Induced voltage in armature winding of
current flow through the conductor and is referred DC motor [6]
to as a counter-voltage or back emf.
The value of current flowing through the Basically, there are three types of DC
armature is dependent upon the difference between motors. The two commonly criteria usually use in
the applied voltage and this counter-voltage. The classifying them are their characteristics and the
current due to this counter-voltage tends to oppose connection of their exciting windings or circuits.
the very cause for its production according to Based on these criteria, the three common types
Lenz’s law. It results in the rotor slowing down are: shunt, series and compound motors.
such that the force created by the magnetic field In shunt DC motor, only one exciting
equals the load force applied on the shaft. Then the winding, which is connected across the armature
system moves at constant velocity. Basically, the terminals and is thus in parallel or in shunt with the
operation of DC motor is based on the principle armature. The field winding consists of a large
that when a current carrying conductor is placed in number of turns of fine wire on each pole, and
a magnetic field, the conductor experiences a force. usually the windings on all the poles are connected
This force according to [5], plays an important role in series in one circuit. The current in the field
to produce a powerful torque. The magnitude of the depends upon the line voltage and upon the

F  BIl …………………………… (1)

force is given mathematically in [5] as; resistance of the field winding. The resistance of

Wb / m ,
the field winding is purposely made high so that the
where B is the flux density in Weber per square field current will be between 1 and 5 per cent of the
2 full-load current of the motor. In this class of DC
meter I is the current in ampere (A) motor, a rheostat is normally connected in series
and l is the length of the conductor in meter (m). with the field to control the motor when the speed
is above normal rating [7].
The series DC motor, on the other has
only one exciting winding, which is connected in
series with the armature, so that all current flows
through the field as well as the armature. The field
winding consists of a few turns of thick wire on
each pole, and the windings on all poles are
connected in series. The current in the field

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SSRG International Journal of Electrical and Electronics Engineering (SSRG-IJEEE) – volume 2 Issue 3 March 2015

depends upon the load and is thus large with heavy

load and small with light load. The resistance of the
field winding is purposely made low so that the
loss of voltage and power in that circuit will be
small. According to [7], the only thing that limits
the speed of a series motor is the amount of load
connected to it.
The third class known as the compound or
cumulative motor has both a series winding and a
shunt winding on each pole, which are wound and
connected so that the two windings assist each
other in the protection of magnetism. It is a Figure 3: Armature-controlled DC motor [10]
combination of a shunt and a series motor. The
compound-wound motor has two excitation
windings, both on the main field poles. According In Figure 3, Ra is the resistance of the
to [8], in this type of DC motor the majority of the armature, La is the inductance of the armature
flux results from the conventional shunt winding
with additional excitation from series-connected winding, ia is the armature current, i f is the field
winding. current, ea is the applied armature voltage, eb is
Generally, DC motors are much more

motor,  is the angular displacement of motor-

adaptable speed drives [4] than alternating current the back emf, TM is the torque developed by the
(AC) motors which are associated with a constant
speed rotating field. Indeed one of the primary
reasons for the strong competitive position of DC shaft, J is the equivalent moment of inertia of
motors in modern industrial drives is the fine speed motor shaft and load referred to the motor while
f is the equivalent coefficient of motor and load

Ea  I a Ra 
control. The speed of a DC motor according to [9]
is given as; referred to the motor shaft.
NK

………….. (2)

Ea  I a Ra  is the back emf eb  .

3.2 DERIVATION OF THE SYSTEM EQUATION
The activity in this stage involves the
where, development of both the electrical and mechanical
variables in Figure 3. The variables of interest on
There are three methods of controlling the
the electrical side are voltage and current while the
speed of DC motor: armature voltage speed
variables of interest on the mechanical side are
control, field flux speed control and voltage
torque and speed. The two basic equations relate
control. In this study, the armature method was these four variables and form the foundation of
employed. The modeling and simulating
armature controlled DC motor analysis.
procedures involved in carrying out the study are
According to [8], the developed torque by
presented in Section III.
motor is defined mathematically as;

T ia p  Kt ia p
zp
2a
III. MODEL DEVELOPMENT ……. (3)
In modeling the armature controlled DC
zp
2a
motor for this study, simple electrical circuit of
armature controlled DC motor diagram as shown in where was denoted as Kt .

eb  mathematically as;

Figure 3 was employed while the activities
involved were broken down into four stages. The Similarly, the authors defined the back
four stages involved are presented in the following electromotive force

eb  n p …………………
sub-sections as follows.
zp
(4)
3.1 ARMATURE CONTROLLED DC MOTOR CIRCUIT 60a
DIAGRAM REPRESENTATION
60
However, since;

n
This stage focus was on development of

2
an armature controlled DC motor as shown in …………………………. (5)
Figure 3 with torque and rotor angle.
Substitute (5) into (4), to obtain

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SSRG International Journal of Electrical and Electronics Engineering (SSRG-IJEEE) – volume 2 Issue 3 March 2015

eb   p  Kb p
zp 3.3 DERIVATION OF THE SYSTEM EQUATION

2a
……… (6) Taking the Laplace transform of (12), (13)
and (14) respectively, assuming zero initial

Eb s   Kb s s  ……………….. (15)
zp
2a
conditions;
where was denoted as Kb .

La s  Ra I a s   Es   Eb s  ………… (16)

Js 2  fs  s   T s   Kt I a s ……… (17)
zp
2a
The factor is frequently referred to

Substitute Eb s  in (15) in (16) to obtain;

as torque constant K t in (3) and voltage constant
Kb  Kt , a new
La s  Ra I a s   Es   Kb s s 
Kb in equation (6). Since
constant, K , which is defined in [8] as; .…. (18)

K   Kt  Kb 
I a s  the subject of the formula in (18) to
zp
2a
………… (7)
Make
obtain;

 p is merged with K  to yield another E s   Kb s s 

I a s  
Since the field strength is fixed, the flux

La s  Ra
per pole
…… (19)
constant, K , which is expressed mathematically
as; Substitute (19) in (17) to obtain;

K t E s   K t K b s s  ….... (20)
K
zp
p Js 
 fs  s  
2a La s  Ra
2
…………………… (8)

where K is referred to as the machine constant.

 
 s  Js 2  fs La s  Ra   Kt Kb s s   Kt Es 
Hence, (3) can be re-expressed as; Re-arrange (20) to obtain;

T  Kia ……………………... (9)

eb  K ………………………. (10)
Likewise, (6) can be re-expressed as;
Hence, the system transfer function is
expressed mathematically as;

 s 
For clarity purposes so that it will be easy

 
E s  Js  fs La s  Ra   K t K b s s 
to differentiate between electrical and mechanical

 2
variables, the constant K in (9) and (10) are Kt
... (21)
replaced with K t and K b to obtain (11) and (12)

T  Kt ia
respectively giving as follows;
…………………... (11)
3.2 CONVERSION OF TRANSFER FUNCTION TO

eb  Kb …………………
and MODEL BLOCK
(12) From (21), the block diagram for the
armature controlled DC motor was developed. The
Applying Kirchhoff Voltage Law (KVL) in Figure
block diagram is shown in Figure 4. The block
3, the differential equation of the armature circuit diagram of the armature controlled DC motor was
is; implemented in the simulink environment in the

 Raia  eb  ea ………… (13)

dia MATLAB. The model created in simulink toolbox
La of MATLAB is shown in Figure 5.
dt
Similarly, the armature current produces
the torque that is applied to the inertia and friction

d 2 d
to obtain the torque equation;

J 2 f  T  Kt ia ……... (14)
dt dt

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SSRG International Journal of Electrical and Electronics Engineering (SSRG-IJEEE) – volume 2 Issue 3 March 2015

E s   s 
sJs  f 
1
La s  Ra
Kt
 Eb s 

Kb s
Figure 4: Block Diagram of an Armature
controlled DC motor

Figure 6: Plot of armature voltage against motor

speed

The steady state response as shown in

Figure 6 shows the variation in the speed as the
voltage increases. The result obtained as shown in
Figure 5: Model created in SIMULINK Toolbox Figure 6 shows that the voltage-speed
of MATLAB characteristics of armature controlled DC motor
speed increases with increase in voltage. This
IV. SIMULATION RESULTS AND implies that the speed of the DC motor is directly
proportional to the armature voltage.
DISCUSSIONS
In addition, under the steady state
The simulated model was analyzed based
response, the variation of the torque speed
on its transient and steady state responses. The
characteristics for the DC motor at different
standard test input signals for transient response
armature voltages was examined. The obtained
were step function and impulse function. However,
result as shown in Figure 7 shows that at different
for the steady state response, the graphs of torque-
input voltages, the higher the speed the lower the
speed characteristics for different armature voltages
load torque. This implies that the speed of the DC
and armature speed characteristics were
motor at different voltages is inversely proportional
considered. The motor specifications are 3hp, 125V
to the load torque. The Figure shows that the
Ra  0.6, La  6mH , J  0.093kgm,
and 1500rpm while its parameters:
torque-speed curve is shifted upward by increasing

K t  0.7274, K b  0.6, Bm  0.008Nmrad 1s 1.

the armature voltage while the slope of the curve
remains constant as it is theoretically expected.
For the analyses, all the initial conditions
are assumed to be zero, so there is no current
flowing through the motor when it first started. The
values above were input into the model and
simulation took place. The respective results under
the steady state response and transient response are
presented in the following sub-sections.

4.1 STEADY STATE RESPONSE

The steady state responses of this armature
controlled DC motor model show the performance
of the motor under different operating conditions.
The steady state responses to be considered are:
armature voltage speed characteristics and torque
speed characteristics for different armature
voltages.
Figure 7: Torque-speed characteristics for three
different armature voltages

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SSRG International Journal of Electrical and Electronics Engineering (SSRG-IJEEE) – volume 2 Issue 3 March 2015

4.2 TRANSIENT RESPONSE

Similarly, the transient response of the
modeled armature controlled DC motor was
examined. The response shows how the use of
feedback helps in improving both the performance
and stability of the motor.
On performance analysis, the motor
performances under different values of K a with
unit input were considered. The responses obtained
were shown graphically in Figures 8 - 10. In Figure
8, the amplitude starts at zero at time, t, equals
zero. However, as time, t, increases, the value of
amplitude tends to 1.649rps. By this, it takes 0.6
time unit for amplitude in Figure 8 to reach the
steady state value. It can also be seen from Figure 8
K a  2.0
Figure 10: Response of the motor to a unit step
that the amplitude increased steadily without any
oscillation. Since the performance objective is to input, at
have amplitude track the unit step, it is reasonable
to say that the modeled motor performs reasonably
well as expected though it a long time for
amplitude of Figure 8 to get to its steady state.
However, when the value of K a was increased in
Figure 9 and Figure 10, the responses become
faster. The responses now reach the steady state in
0.4 time unit and 0.2 time unit respectively. The
results show that as the value of K a is increasing,

impulse input, at K a  0.7274

Figure 11: Response of the motor to an
the response rate is increasing.

impulse input, at K a  0.3

Figure 12: Response of the motor to an

K a  0.7274
Figure 8: Response of the motor to a unit step input, at

input, at K a  1.0 impulse input, at K a  0.1

Figure 9: Response of the motor to a unit step Figure 13: Response of the motor to an

In order to further evaluate the

performance of the modeled motor, its performance
was also examined using impulse signal at different

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SSRG International Journal of Electrical and Electronics Engineering (SSRG-IJEEE) – volume 2 Issue 3 March 2015

1-19. Online [Available]:

values of K a . The responses obtained were shown http://vlab.ee.nus.edu.sg/~bmchen/courses/EG1108_DCmotors.
in Figures 11 – 13. The graphs show the shapes pdf. Accessed on 23rd March, 2015.
obtained for the three values of K a were similar [7] S.L. Alerich, and W.N. Herman, Industrial motor
except that it took the responses different time units control, Delmar Publishers, Fourth Edition, 1999.

0.5 time units in Figure 11 when K a  0.7274 , it

to return to zero. For instance, while it takes about
[8] H.A. Toliyat, and G.B. Kliman, Handbook of
Electric Motors, CRC Press, USA, 2004.

K a  0.3000 while the response in Figures 13

takes infinitesimal time unit in Figure 12 when [9] B.L. Theraja, and A.K. Theraja, A Textbook of
Electrical Technology, S. Chand and Company Ltd, Twenty-
Third Edition, 2012.

K a  0.1000 .
returns to zero immediately when the value of
[10] I.J. Nagrath, and M. Gopal, Control Systems
Engineering, New Age International Publisher, New Delhi, Fifth
On the stability of the motor, the speed of Edition, 2011.
the motor at when subjected to disturbance at
different values of K a were observed. The results
obtained presented graphically above show that the
speed of the motor is directly proportional to the
value of K a . The results also show that the initial
introduction of the disturbance causes a drop in the
speed of the motor. The result further shows that
disturbance does affect the speed of motor.

V. CONCLUSION
In this paper, the simulation model of an
armature controlled DC motor was developed using
MATLAB/Simulink. The analysis and performance
evaluation of the developed motor show that the
simulated motor correctly predicts the effect of
armature voltage on the armature voltage-speed
characteristics and torque-speed characteristics of
the armature controlled dc motor. Furthermore, the
results of the study show that the speed of the DC
motor is directly proportional to the armature
voltage.

REFERENCES
[1] A. Maria, Introduction to modeling and simulation
studies, Proc. of the 1997 Winter Simulation Conf. Atlanta, GA,
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[2] K.B.T.M. Khalil, PI control of DC motor drive,

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[5] M. Abdus Salam, Fundamentals of electrical

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[6] B.M. Chen, Personal Course Website EG1108

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