Permanet magnet DC motors ( PM DCM) have an advantage over electromagnetically excited commutator motors due to their better energy performance. The application of analytical methods to study PM DCM requires significant simplifications, and the use of field methods is quite labour-intensive.
There is a tendency of replacement of small direct current motors with electromagnetic excitation on permanent magnet direct current (PMDC) motors nowadays. PMDC motors are widely used and that is why a task of creation of mathematical models of this type of motor is actual. The aim of the article is creation of mathematical model of magnetic state of PMDC motors on the basis of theory of electric and magnetic circuit.
Among the promising non-classical control systems electromechanical systems, it can be distinguished the system of energy-based control, where the object is taken as port-controlled Hamiltonian system. The energy shaping control essence consists in forming the shape of energy based on formed task. The article raises the problem of the synthesis of energy-based control systems with nonlinearities. As example, it was selected DC motor with two-zones speed control and model, that takes into account the nonlinearity of the magnetization curve and variable time constant of the field loop.