FULL TEXT IN RUSSIAN Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, vol. 19, no. 7, pp. 486—496 DOI: 10.17587/mau.19.486-496 The Technique of the Direct Current Motor Parameters Determination A. Yu. Ivoilov, iau13hv@mail.ru, V. A. Zhmud, oao_nips@bk.ru, V. G. Trubin, trubin@ngs.ru Novosibirsk State Technical University, Novosibirsk Corresponding authors: Zhmud Vadim A., D. Sc. (Eng), Associate Professor, Novosibirsk State Technical University, Novosibirsk, 630073, Russian Federation Accepted on April 06, 2018 The technique of the direct current motor math model obtaining is considered in this article. Despite the fact that the classical math model is widely known and well studied it often becomes necessary to refine and determine its parameters by experiment. The technical documentation may not specify all motor parameter of interest. Sometimes there is no information about the motor at all. In addition the features that the classical model does not take into account can be presented in a real motor in practice. At the beginning of the paper the traditional model of the motor is under consideration as well as its static and dynamic characteristics. The model parameters to be determined are brought out. Further the analysis of the features that distinguish the behavior of the real motor from the behavior predicted by the model is carried out. These features are commutator operation, the geometry of the motor, and the reducer action on system. The influence of these features on the motor operation is researched by the different experiments and the conditions under which the parameters of motor model should be obtained are determined. Further the technique of math model obtaining based on the analysis done is carried out. The method is based on the experimental determination of current and torque ratio on the one hand and the applied voltage and rotation speed on the other hand. Wherein the technique takes into account the effect of motor shaft friction which is increasing when there is a load on it. The method for compensating this effect to exclude its influence on the math model determining result is proposed. An example of application of the described technique to determining model of Lego NXT servo motor is given further. The numerical values of the parameters and the graphical data are presented. Finally, the behavior of the real motor and the behavior calculated from the model obtained earlier are compared. As a demonstration system, the automatic control system of the motor shaft rotation angle based on the proportional controller is used. Keywords: DC motor, automatic control systems, math model, experimental parameters obtaining, model features For citation: Ivoilov A. Yu., Zhmud V. A., Trubin V. G. The Technique of the Direct Current Motor Parameters Determination, Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, vol.19, no. 7, pp. 486—496. DOI: 10.17587/mau.19.486-496   To the contents