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D.C. Motor Simplified 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 2 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. All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 3 2. Model Feature • • 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. All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 4 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 [mNm] 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] All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 5 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 6 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 2012 7 5. Motor Start Up Simulation at Normal Load (2/3) Select “All” for the Voltages and Currents Data Collection Options. All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 8 5. Motor Start Up Simulation at Normal Load (3/3) 80V 40V Torque Load= 19.6mNm 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 9 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 2012 10 6. Motor Start Up Simulation at Half of Normal Load (2/2) 80V 40V Torque Load= 9.8mNm 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 11 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 12 7. Lj of the Motor Model (2/2) The Motor Start-up Waveform is changed by the Lj values. 80V Lj=200m Torque Load= 19.6mNm 40V 0V 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 13 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 0 14 8. Application Example (2/3) Measurement Simulation 1 14A 2 20V 12A 10V 10A 0V Motor Voltage (10V/Div) 8A -10V 6A -20V 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 700ms 900ms 15 8. Application Example (3/3) Measurement Simulation 1 IGBT: VGE 14A 2 50V 3 20V 12A 40V 10V 10A 30V 0V IGBT: VGE (10V/Div) 8A 20V -10V 6A 10V -20V 4A 0V -30V 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 All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 16 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 Lm=100u Lm=165u Load Condition Lm=100u The Motor Current Waveform is changed by the Lm values. Lm=165u 1 0A -20V -2A -30V I(U3:C) -50V >> -60V 898.0ms 898.4ms 2 V(U3:C) 3 898.8ms 899.2ms V(U3:G) Time All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 899.6ms 17 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. All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 18 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.................................................... All Rights Reserved Copyright (C) Bee Technologies Corporation 2012 Lj 19