D.C. Motor Simplified SPICE Model
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Contents 1. Benefit of the Model 2. Model Feature 3. Parameter Settings 4. D.C. Motor Specification (Example) 5. Motor Start Up Simulation at Normal Load 6. Motor Start Up Simulation at Half of Normal Load 7. Lj of the Motor Model (1/2) 8. Application Example 9. Winding Characteristic Parameters: Lm 10.Winding Characteristic Parameters: Rm
Simulation Index
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1. Benefit of the Model • The model enables circuit designer to use D.C. Motor as load in their design which include: Back EMF, Torque(Nm) and Speed (rpm) characteristics. • The model can be easily adjusted to your own D.C. Motor specifications by editing a few parameters that are provided in the spec-sheet.
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2. Model Feature 1
H1
TRQ + -
RM {Rm} LM {Lm}
H2 + -
2
H
1
H
L1 100m
0 2 N4
OUT+ IN+ OUTINGRB GVALUE
0
E_EMF IN+ IN-
OUT+ OUT-
EMF Rdmy
EVALUE
0
Equivalent circuit of the D.C. Motor model
•
•
This D.C. Motor Simplified SPICE Model is for s who require the model of D.C. Motor as a part of their system. Perform electrical (voltage and current) and mechanical (speed and torque) characteristics at current load (Ampere) conditions.
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3. Parameter Settings
D.C. Motor model and Parameters with Default Value
Model Parameters: If there is no measurement data, the default value will be used: Rm: motor winding resistance [] Lm: motor winding inductance [H] Data is given by D.C. motor spec-sheet: V_norm: normal voltage [V] mNm: normal load [mNm] kRPM_norm: speed at normal load [kr/min] I_norm: current at normal load [A] Load Condition: IL: load current [A]
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4. D.C. Motor Specification (Example)
D.C. Motor Specification Parameters are input
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5. Motor Start Up Simulation at Normal Load (1/2) Simulation Circuit and Setting Input the Supply No Load Voltage* and Series Resistance
Simplified D.C. Motor with RS-540SH Spec. Current Sensing
Load Condition IL=I_norm
*No Load Voltage is adjusted until the D.C. motor voltage (VM) equals to the normal voltage (7.2V).
*Analysis directives: .TRAN 0 400m 0 0.1m .PROBE V(*) I(*) W(alias(*)) D(alias(*)) NOISE(alias(*)) All Rights Reserved Copyright (C) Bee Technologies Corporation 2013
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5. Motor Start Up Simulation at Normal Load (2/2)
Torque Load= 19.6mNm
D.C. Motor Speed = 14.4krpm
D.C. Motor Voltage = 7.2V
D.C. Motor Current = 6.1A
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6. Motor Start Up Simulation at Half of Normal Load (1/2) Simulation Circuit and Setting Input the Supply No Load Voltage* and Series Resistance
Simplified D.C. Motor with RS-540SH Spec.
Current Sensing
Load Condition IL=I_norm
*No Load Voltage is adjusted until the D.C. motor voltage (VM) equals to the normal voltage (7.2V).
*Analysis directives: .TRAN 0 400m 0 0.1m .PROBE V(*) I(*) W(alias(*)) D(alias(*)) NOISE(alias(*)) All Rights Reserved Copyright (C) Bee Technologies Corporation 2013
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6. Motor Start Up Simulation at Half of Normal Load (2/2)
Torque Load= 9.8mNm
D.C. Motor Speed = 18.4krpm
D.C. Motor Voltage = 8.725V
D.C. Motor Current = 3.05A
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7. Lj of the Motor Model (1/2) Simulation Circuit and Setting
Input the Lj value or input “{Lj}” for parametric sweep
*Analysis directives: .TRAN 0 400m 0 0.1m .STEP PARAM Lj LIST 100m, 200m
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7. Lj of the Motor Model (2/2) The Motor Start-up Waveform is changed by the Lj values. Lj=200m
Torque Load= 19.6mNm Lj=100m
D.C. Motor Speed = 14.4krpm
Lj=100m
Lj=200m
D.C. Motor Voltage = 7.2V
Lj=100m
Lj=200m
Lj=200m
D.C. Motor Current = 6.1A Lj=100m
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8. Application Example (1/3) Simulation Circuit and Setting VDD
VCC
VCC Vdd 15V
0
Vcc 15V
0
D2 D4001
+
-
Simplified D.C. Motor with RS-380PH Spec at No load. U2 SMPL_DC_MOTOR Rm = 0.576 Lm = 165u V_norm = 7.2 mNm = 9.8 kRPM_norm = 14.2 I_norm = 2.9
U1 IL = 0.6 NC
R1 1u
VCC VDD
A K
V1 V1 = 0 V2 = 1.8 TD = 0 TR = 10n TF = 10n PW = 199.99u PER = 400u
0
No load IL=0.6
RG 120
NC
D3 DGT10J321_s
VO
NC
U3 GT10J321
GND
TLP350
0
0
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0
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8. Application Example (2/3)
Measurement
Simulation 1
14A
2
20V
12A
10V
10A
0V
8A
-10V
6A
-20V
Motor Voltage (10V/Div)
Motor Current (2A/Div) 4A
-30V
2A
-40V
0A
-50V
-2A
>> -60V -100ms 0s 100ms 1 I(U2:1) 2
300ms 500ms V(U2:1,U2:2) Time
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700ms
900ms
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8. Application Example (3/3)
Measurement
Simulation 1
IGBT: VGE
14A
2
50V
3
20V
12A
40V
10V
10A
30V
0V
8A
20V
-10V
6A
10V
-20V
4A
0V
-30V
IGBT: VGE (10V/Div)
IGBT: VCE (10V/Div)
IGBT: VCE
IGBT: IC
2A
-10V
-40V
0A
-20V
-50V
>> -2A
IGBT: IC (2A/Div) -30V
-60V 898.0ms 898.4ms 1 I(U3:C) 2
898.8ms 899.2ms 899.6ms V(U3:C) 3 V(U3:G) Time
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9. Winding Characteristic Parameters: Lm 14A 50V Winding Characteristic: 1 2 Lm
+
-
U2 SMPL_DC_MOTOR Rm = 0.576 Lm = 165u Motor Spec. V_norm = 7.2 mNm = 9.8 kRPM_norm = 14.2 I_norm = 2.9 IL = 0.6
3
20V
12A
40V
10V
10A
30V
0V
8A
20V
-10V
6A
10V
-20V
4A
0V
-30V
2A
-10V
-40V
0A
-20V
-50V
-2A
-30V
Lm=100u Lm=165u
Load Condition
Lm=100u
The Motor Current Waveform is changed by the Lm values.
Lm=165u
1
I(U3:C)
>> -60V 898.0ms 898.4ms 2 V(U3:C) 3
898.8ms 899.2ms V(U3:G) Time
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899.6ms
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10. Winding Characteristic Parameters: Rm Winding Characteristic: Rm
+
-
U2 SMPL_DC_MOTOR Rm = 0.576 Lm = 165u Motor Spec. V_norm = 7.2 mNm = 9.8 kRPM_norm = 14.2 I_norm = 2.9
Rm=0.1
IL = 0.6 Load Condition
Rm=0.576
The Motor Start-up is Current changed by the Rm values.
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Simulation Index Simulations
Folder name
1. Motor Start Up Simulation at Normal Load...................
Normal
2. Motor Start Up Simulation at Haft of Normal Load........ Half
3. Lj of the Motor Model....................................................
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Lj
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