EEPE 6398 Homework 2 Spring 2024
Due: Wednesday, February 14, 2024
Make sure that all axes are labeled (include units in the label) for each graph. Turn in all your
work (including code).
Consider a wound field DC motor with the following parameters:
• Armature resistance: 350 mΩ
• Armature inductance: 5.76 mH
• Back emf coefficient (kv): 0.425 V·s/rad at nominal field current
• Torque coefficient (kt): 0.425 N·m/A at nominal field current
• Inertia (including load): 0.162 kg·m2
• Viscous friction coefficient (including load): 0 N·m·s/rad
• Rated armature voltage: 239 V
• Rated speed: 5000 RPM
• Rated load torque: 20 Nm
• Field winding losses: 80 W at nominal field current
1) On two separate plots (one plot for a, b, and c; with a second plot for d), graph the following
with torque on the y-axis and speed in RPM on the x-axis:
a. Steady-state torque vs speed with 100% of rated armature voltage and 100% of nominal
field current (2 points)
b. Steady-state torque vs speed with 50% of rated armature voltage and 100% of nominal
field current (2 points)
c. Steady-state torque vs speed with 100% of rated armature voltage and 50% of nominal
field current (2 points)
d. The motor’s capability curve up to 20,000 RPM (2 points)
2) Assume the motor is operating in steady-state at 2500 RPM with a torque of 2.5 Nm. For
each of the following field currents, calculate the motor’s steady-state armature voltage,
armature current, and efficiency:
a. 100% of nominal field current (3 points)
b. 50% of nominal field current (3 points)
c. 25% of nominal field current (3 points)
Consider a permanent magnet DC motor with the following parameters:
• Armature resistance: 89 mΩ
• Armature inductance: 1.44 mH
• Back emf coefficient (kv): 0.85 V·s/rad
• Torque coefficient (kt): 0.85 N·m/A
• Inertia (including load): 0.162 kg·m2
• Viscous friction coefficient (including load): 0.001 N·m·s/rad
• Rated armature voltage: 232 V
• Rated speed: 2500 RPM
• Rated load torque: 80 Nm
This is the same motor used for the plots in Slide Set 4, so you can verify your answers for
Problems 3 and 4 against those plots to make sure that they are correct.
3) Use the transfer functions for an open-loop DC motor from Slide Set 4 to plot the following
in 3 separate plots:
a. Speed (in RPM) when the armature voltage is stepped from 0 to the rated voltage with no
load torque (3 points)
b. Armature current when the armature voltage is stepped from 0 to the rated voltage with
no load torque (3 points)
c. Speed (in RPM) when the load torque is stepped from 0 to the rated load torque with no
armature voltage (3 points)
4) Use the transfer functions for closed-loop voltage control of the DC motor with kp = 0.25 and
ki = 8 to plot the following in 3 separate plots:
a. Speed (in RPM) when the speed command is stepped from 0 to the rated speed with no
load torque (3 points)
b. Armature current when the speed command is stepped from 0 to the rated speed with no
load torque (3 points)
c. Speed (in RPM) when the load torque is stepped from 0 to the rated load torque with a
speed command of 0 RPM (3 points)