d.c. motor simplified spice model all rights reserved copyright (c) bee technologies corporation...

D.C. MotorSimplified SPICE Model

All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 1

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


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.


• This D.C. Motor Simplified SPICE Model is for users 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.

2. Model Feature


3. Parameter Settings

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]


Model Parameters:

D.C. Motor model and Parameters with Default Value

-+

U 1S M P L _ D C _ M O TO RR m = 0 . 1L m = 1 0 0 u

I _ n o rm = 6 . 1

m N m = 1 9 . 6V _ n o rm = 7 . 2

k R P M _ n o rm = 1 4 . 4

I L = 6 . 1

4. D.C. Motor Specification (Example)


-+


I _ n o rm = 6 . 1

m N m = 1 9 . 6V _ n o rm = 7 . 2

k R P M _ n o rm = 1 4 . 4

I L = 6 . 1 D.C. Motor Specification Parameters are input

D.C. Motor Specification Parameters are input

00

V M

V I M

V 1

V 2 = {V O U T}T2 = 0 . 0 1 m

PARAMETERS:V O U T = 1 0 . 2 5

R s = 0 . 5

R S{R s }

-+


I _ n o rm = 6 . 1

m N m = 1 9 . 6V _ n o rm = 7 . 2

k R P M _ n o rm = 1 4 . 4

I L = 6 . 1

*Analysis directives: .TRAN 0 400m 0 0.1m .PROBE V(*) I(*) W(alias(*)) D(alias(*)) NOISE(alias(*))


Current SensingCurrent Sensing

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

Input the Supply No Load Voltage* and Series Resistance


Simulation Circuit and Setting

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

5. Motor Start Up Simulation at Normal Load (1/3)



Select “All” for the Voltages and Currents

Data Collection Options.

Select “All” for the Voltages and Currents

Data Collection Options.



Time

0s 40ms 80ms 120ms 160ms 200ms 240ms 280ms 320ms 360ms 400msI(VIM)

0A

10A

20AV(VM)

0V

5V

10V

SEL>>

I(X_U1.V_kRPM)0A

10A

20AV(X_U1.TRQ)

0V

40V

80V

D.C. Motor Current = 6.1A

D.C. Motor Voltage = 7.2V

D.C. Motor Speed = 14.4krpm

Torque Load= 19.6mNm

*Analysis directives: .TRAN 0 400m 0 0.1m .PROBE V(*) I(*) W(alias(*)) D(alias(*)) NOISE(alias(*))


Current SensingCurrent Sensing

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




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

6. Motor Start Up Simulation at Half of Normal Load (1/2)

00

V M

V I M

V 1

V 2 = {V O U T}T2 = 0 . 0 1 m


R s = 0 . 5

R S{R s }

-+


I _ n o rm = 6 . 1

m N m = 1 9 . 6V _ n o rm = 7 . 2

k R P M _ n o rm = 1 4 . 4

I L = 3 . 0 5

Time


0A

10A

20AV(VM)

0V

5V

10VI(X_U1.V_kRPM)

0A

10A

20A

SEL>>

V(X_U1.TRQ)0V

40V

80V

6. Motor Start Up Simulation at Half of Normal Load (2/2)





Torque Load= 9.8mNm


Double click to edit properties of the DC

Motor model

Double click to edit properties of the DC

Motor model

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

sweep

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

sweep



00

V M

V I M

V 1

V 2 = {V O U T}T2 = 0 . 0 1 m


R s = 0 . 5

L j = 1 0 0 m

R S{R s }

-+


I _ n o rm = 6 . 1

m N m = 1 9 . 6V _ n o rm = 7 . 2

k R P M _ n o rm = 1 4 . 4

I L = 6 . 1

Global parameter Lj is assigned

Global parameter Lj is assigned

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

Time


0A

10A

20A

SEL>>

V(VM)0V

5V

10VI(X_U1.V_kRPM)

0A

10A

20AV(X_U1.TRQ)

0V

40V

80V






Torque Load= 19.6mNm

The Motor Start-up Waveform is changed by the Lj values.

The Motor Start-up Waveform is changed by the Lj values.

Lj=200m

Lj=100m

Lj=100m

Lj=200m

Lj=100m

Lj=200m

Lj=200m

Lj=100m

-+

U 2S M P L _ D C _ M O TO RR m = 0 . 5 7 6L m = 1 6 5 u

I _ n o rm = 2 . 9

m N m = 9 . 8V _ n o rm = 7 . 2

k R P M _ n o rm = 1 4 . 2

I L = 0 . 6NC

NC

NCA

K

VCC

VO

GND

U 1

TL P 3 5 0

V 1

TD = 0

TF = 1 0 nP W = 1 9 9 . 9 9 uP E R = 4 0 0 u

V 1 = 0

TR = 1 0 n

V 2 = 1 . 8

0

R 11 u

0

V c c1 5 V

0

V C C

V D D

0

R G1 2 0

0

D G T1 0 J 3 2 1 _ sD 3

V C C

V d d1 5 V

V D D

0D 4 0 0 1D 2

U 3G T1 0 J 3 2 1


Simplified D.C. Motor with RS-380PH Spec at No load.Simplified D.C. Motor with

RS-380PH Spec at No load.


No load IL=0.6No load IL=0.6

8. Application Example (1/3)

Time

-100ms 0s 100ms 300ms 500ms 700ms 900ms1 I(U2:1) 2 V(U2:1,U2:2)

-2A

0A

2A

4A

6A

8A

10A

12A

14A1

-60V

-50V

-40V

-30V

-20V

-10V

0V

10V

20V2

>>



Measurement Simulation

Motor Current (2A/Div)

Motor Voltage (10V/Div)

Time

898.0ms 898.4ms 898.8ms 899.2ms 899.6ms1 I(U3:C) 2 V(U3:C) 3 V(U3:G)

-2A

0A

2A

4A

6A

8A

10A

12A

14A1

>>-30V

-20V

-10V

0V

10V

20V

30V

40V

50V2

-60V

-50V

-40V

-30V

-20V

-10V

0V

10V

20V3



Measurement Simulation

IGBT: VGE

IGBT: VCE

IGBT: IC

IGBT: VGE (10V/Div)

IGBT: VCE (10V/Div)

IGBT: IC (2A/Div)

Time

898.0ms 898.4ms 898.8ms 899.2ms 899.6ms1 I(U3:C) 2 V(U3:C) 3 V(U3:G)

-2A

0A

2A

4A

6A

8A

10A

12A

14A1

-30V

-20V

-10V

0V

10V

20V

30V

40V

50V2

-60V

-50V

-40V

-30V

-20V

-10V

0V

10V

20V3

>>

9. Winding Characteristic Parameters: Lm


-+


I _ n o rm = 2 . 9

m N m = 9 . 8V _ n o rm = 7 . 2

k R P M _ n o rm = 1 4 . 2

I L = 0 . 6

Winding Characteristic: LmWinding Characteristic: Lm

Motor Spec.Motor Spec.

Load ConditionLoad Condition

Lm=165u

Lm=100u

The Motor Current Waveform is changed by the Lm values.

The Motor Current Waveform is changed by the Lm values.

Lm=165u

Lm=100u

10. Winding Characteristic Parameters: Rm


-+


I _ n o rm = 2 . 9

m N m = 9 . 8V _ n o rm = 7 . 2

k R P M _ n o rm = 1 4 . 2

I L = 0 . 6

Winding Characteristic: RmWinding Characteristic: Rm

Motor Spec.Motor Spec.

Load ConditionLoad Condition

Rm=0.576

Rm=0.1

The Motor Start-up is Current changed by the Rm values.

The Motor Start-up is Current changed by the Rm values.

Simulation Index


Simulations Folder name

1. Motor Start Up Simulation at Normal Load...................

2. Motor Start Up Simulation at Haft of Normal Load........

3. Lj of the Motor Model....................................................

Normal

Half

Lj

d.c. motor simplified spice model all rights reserved copyright (c) bee technologies corporation...

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