Republic of the Philippines
BATANGAS STATE UNIVERSITY
The National Engineering University
Alangilan Campus
Golden Country Homes, Alangilan Batangas City, Batangas, Philippines 4200
Tel Nos.: (+63 43) 425-0139 local 2121 / 2221
E-mail Address:[Link]@[Link] | Website Address: [Link]
CHAPTER 2 - ELECTROMECHANICAL SYSTEM TRANSFER FUNCTION
PRE-LABORATORY SIMULATION (MATLAB OFFLINE)
Procedures:
1. Open the script in MATLAB and review the initial DC motor parameters defined in the
workspace.
2. Navigate to Part 1 to formulate the denominator coefficients for the combined electrical
and mechanical subsystems. Calculate den3 = La_init * J_init, den2 = Ra_init * J_init +
La_init * b_init, and den1 = Ra_init * b_init + K_init^2.
3. Construct the third-order transfer function for the motor's angular position using the
command G_pos = tf(K_init, [den3, den2, den1, 0]);.
4. Run the script to execute your mathematical model and launch the interactive "DC Motor
Physics Engine" dashboard.
5. Adjust the sliders in the "Motor Parameters" panel (such as Armature Resistance and
Rotor Inertia) and observe the dynamic changes across the 3D rotating motor, the
dual-axis "Current vs Speed" plot, and the "Angular Position" graph.
Guide Questions:
1. Based on the "Current vs Speed (Back-EMF Effect)" plot, what happens to the Armature
Current (Ia) as the motor's angular velocity (⍵) increases toward its steady-state speed?
2. Using the interactive sliders, how does increasing the Armature Resistance (Ra) affect the
final steady-state velocity of the motor?
Republic of the Philippines
BATANGAS STATE UNIVERSITY
The National Engineering University
Alangilan Campus
Golden Country Homes, Alangilan Batangas City, Batangas, Philippines 4200
Tel Nos.: (+63 43) 425-0139 local 2121 / 2221
E-mail Address:[Link]@[Link] | Website Address: [Link]
LABORATORY SIMULATION (MATLAB ONLINE)
Procedures:
1. Open the script within your MATLAB Online workspace.
2. Review STEP 1 to observe how both mechanical parameters (inertia J, damping b) and
electrical parameters (torque constant Kt, back-EMF Ke, inductance L, and resistance R)
are initialized to model the coupled dynamics of the DC motor.
3. Navigate to STEP 2 to examine how the algebraic expansion of the motor's governing
equations is translated into MATLAB arrays. Note the specific construction of the
denominator: den_low = [(J * L), (J * R_low + L * b), (b * R_low + K_t * K_e)];
4. Check STEP 3 to see how the step() command is utilized alongside hold on; to plot the
angular velocity response of both the low-resistance and high-resistance motor models on
the same set of axes.
5. Run the script and observe the MATLAB Command Window to verify the expanded
polynomial coefficients of the transfer functions. Examine the Figure window to compare
the speeds. Modify the Kt and Ke values in STEP 1 (e.g., change both to 0.05), then
re-run to observe the effect of a stronger magnetic field on the motor's response.
Guide Questions:
1. Looking at the algebraic expansion coded in the denominator array in STEP 2 ([(J * L), ...
]), which specific combination of physical parameters mathematically determines the
2
coefficient for the highest power of 𝑠(𝑠 ) in the motor's characteristic equation?
2. Observing the generated step response plot from STEP 3, how does the increase in
armature resistance from 1Ω to 5Ω physically alter the motor's ability to reach a high
steady-state angular velocity when driven by the exact same 1-Volt source?