Simplified Dc Motor Model Using Pspice a6j3i

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(Nm) 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 Model Parameters:

+

-

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 6.1

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 [mNm] kRPM_norm: speed at normal load [kr/min] I_norm: current at normal load [A]

D.C. Motor model and Parameters with Default Value

Load Condition: IL: load current [A]

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4. D.C. Motor Specification (Example)

+

-

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 6.1

D.C. Motor Specification Parameters are input

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5. Motor Start Up Simulation at Normal Load (1/3) Simulation Circuit and Setting PARAMETERS:

Input the Supply No Load Voltage* and Series Resistance

VOUT = 10.25 Rs = 0.5

VIM

Simplified D.C. Motor with RS-540SH Spec.

VM RS {Rs}

Current Sensing

V1 T2 = 0.01m V2 = {VOUT}

+

-

0

0

*No Load Voltage is adjusted until the D.C. motor voltage (VM) equals to the normal voltage (7.2V).

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 6.1 Load Condition IL=I_norm

*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 (2/3)

Select “All” for the Voltages and Currents Data Collection Options.

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5. Motor Start Up Simulation at Normal Load (3/3) 80V

40V

Torque Load= 19.6mNm

0V V(X_U1.TRQ) 20A

D.C. Motor Speed = 14.4krpm

10A

0A I(X_U1.V_kRPM) 10V

D.C. Motor Voltage = 7.2V

5V SEL>> 0V V(VM) 20A

D.C. Motor Current = 6.1A

10A

0A 0s

40ms

80ms

120ms

160ms

200ms

240ms

280ms

320ms

360ms

400ms

I(VIM) Time

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6. Motor Start Up Simulation at Half of Normal Load (1/2) Simulation Circuit and Setting PARAMETERS:

Input the Supply No Load Voltage* and Series Resistance

VOUT = 10.25 Rs = 0.5

VIM

Simplified D.C. Motor with RS-540SH Spec.

VM RS {Rs}

Current Sensing

V1 T2 = 0.01m V2 = {VOUT}

+

-

0

0

*No Load Voltage is adjusted until the D.C. motor voltage (VM) equals to the normal voltage (7.2V).

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 3.05 Load Condition IL=I_norm

*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) 80V

40V

Torque Load= 9.8mNm 0V V(X_U1.TRQ) 20A

D.C. Motor Speed = 18.4krpm 10A SEL>> 0A I(X_U1.V_kRPM) 10V

D.C. Motor Voltage = 8.725V 5V

0V V(VM) 20A

10A

D.C. Motor Current = 3.05A

0A 0s

40ms

80ms

120ms

160ms

200ms

240ms

280ms

320ms

360ms

400ms

I(VIM) Time

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7. Lj of the Motor Model (1/2) Simulation Circuit and Setting PARAMETERS: VOUT = 10.25

Global parameter Lj is assigned

Double click to edit properties of the DC Motor model

Rs = 0.5 Lj = 100m

VIM VM RS {Rs}

V1 T2 = 0.01m V2 = {VOUT}

+

-

*Analysis directives: 0 .TRAN 0 400m 0 0.1m .STEP PARAM Lj LIST 100m, 200m

0

U1 SMPL_DC_MOTOR Rm = 0.1 Lm = 100u V_norm = 7.2 mNm = 19.6 kRPM_norm = 14.4 I_norm = 6.1 IL = 6.1

Input the Lj value or input “{Lj}” for parametric sweep

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7. Lj of the Motor Model (2/2) The Motor Start-up Waveform is changed by the Lj values.

80V

Lj=200m 40V

0V

Torque Load= 19.6mNm Lj=100m V(X_U1.TRQ)

20A

D.C. Motor Speed = 14.4krpm

Lj=100m 10A

Lj=200m

0A

I(X_U1.V_kRPM) 10V

D.C. Motor Voltage = 7.2V

Lj=100m 5V

Lj=200m

0V V(VM) 20A

Lj=200m

D.C. Motor Current = 6.1A

10A SEL>> 0A 0s

Lj=100m 40ms

80ms

120ms

160ms

200ms

240ms

280ms

320ms

360ms

400ms

I(VIM) Time

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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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