CONTROLLINGDC MOTOR

CONTENTS
PAGES
INTRODUCTION. . .

..

. . . . . . . ..2

DC MOTORS3
THEORY OF OPERATION3
Mathematical model.4
Feedback Control Principles ...6
PERFORMANCE CRITERIA.6
PROPORTIONAL + INTEGRAL CONTROLER..7
Analog PI Controller...8
CONTROLLING WITH OPEN LOOP SYSTEM .9
CONTROLLING WITH CLOSED LOOP SYSTEM.........................................................12
PART I.12
THEORETICAL PART..........................................................................................................................................................................13
EXPERIMENTAL PART.......................................................................................................................................................................13
Part A: LOAD TORQUE CONSTANT..................................................................................................................................................13
Part B: CONTROL SPEED...................................................................................................................................................................15

PART II...16
EXPERIMENTAL PART......................................................................................................................................................................17

CONCLUSION..19
GENERAL CONCLUSION...... 20

INTRODUCTION
Direct current (dc) motor has variable characteristics and is
used extensively in variable-speed drives. Dc motors can
provide a high starting torque and it is also possible to obtain
speed control over wide range. The methods of speed control
are normally simpler and less expensive than those of ac

CONTROLLINGDC MOTOR

drives. Dc motor plays a significant role in modern industrial

drives. Both series and separately excited dc motor are
normally used in variable-speed drives, but series motors are
traditionally employed for traction applications and require
more

maintenance

than

do

ac

motors.

With

recent

advancement in power conversion, control techniques, and

microcomputer, the ac motor drives are becoming increasingly
competitive with dc motor drives. Although the future trend is
toward ac drives, dc drives are currently used in many
industries. It might be a few decades before the dc drives are
completely replaced by ac drives.
Direct-current motors are used also in and position-control
systems where good dynamic response and steady-state
performance are required. Examples are in robotic drives,
printers, machine tools, process rolling mills, paper and textile
industries, and many others. Control of a dc motor, especially of
the separately excited type, is very straightforward, mainly
because of the incorporation of the commentator within the
motor. The commentator brush allows the motor-developed
torque to be proportional to the armature current if the field
current is held constant. Classical control theories are then
easily applied to the design of the torque and other control
loops of a drive system.

CONTROLLINGDC MOTOR

DCMOTORS
THEORY OF OPERATION:
The invention of the electrical motor comes simply from the
phenomenon that: a current carrying conductor will create a
force when placed in a magnetic field; the direction of the force
is perpendicular to the both, magnetic field and current.
An electrical motor uses this force in such a way to cause a
rotating motion; this can be achieved by placing a wire in loop
(coil) called armature windings that can rotate about an axis in
a magnetic field, with a comutator and brushes to supply
current to the armature as shown in Figure(1).

Figure -1Electrical motor

Operation representation

So whenever the rotor turns half revolution, the current

flow will change direction in the armature windings which
maintain the rotating force in the same direction.
One of the most important operating parameters is the
torque, which is directly proportional to the magnetic field and
the armature current; the motor torque can be expressed as:

T K IT A

(1.1)

Where:

CONTROLLINGDC MOTOR

T = motor torque

KT = a constant based on the motor construction

IA = armature current

= magnetic flux
Also another motor parameter can be seen when the motor
is running, that opposes the line voltage and its effect to cancel
out some of the line voltage, so the actual voltage available to
the armature is:

V A V in CEMF IA V

in

CEMF

(1.2)

RA

Where:

VA = actual voltage available to the armature

Vin = line voltage supplied to the motor

CEMF = voltage generated within the motor

RA

armature

resistance

Mathematical model:
Before we can control a system we must understand in
mathematical term how the system behaves without control,

CONTROLLINGDC MOTOR

this is called system modelling and it is done to obtain the

motor transfer function.
The basic characteristics that affect servo motors are; the
inertial load J on the out put shaft (rotor+ load), and the
viscous friction on the motor bearings referred as a constant b
which is found to be proportional to the shaft speed.
So using Newtons law we get:

T t ( ) J JbT t( )
i

(1.3
)

Where:

: The shaft position

J: The load moment of inertia (load + rotor)
B:

viscous friction constant

From eq (1.1) we get:

Jb K IT A( )t

(1.
4)

So its transfer function is:

s js(

b)

(1.5
)

CONTROLLINGDC MOTOR

Relationship between Torque and Speed

The fact that the field flux of a PM motor remains constant regardless of speed
makes for a very linear torque-speed curve. This is very desirable for control
applications because it simplifies the control equations. Figure -2- shows a
typical PM motor symbol and torque-speed curve. Notice that the curves are
straight lines for both speed and current. The absence of field coils is apparent in
the schematic [Figure
-2 (a)], which shows
the applied voltage
feeding only the
armature. The PM
motor is easily
reversed by reversing
the polarity of the applied voltage. The torquespeed curve can be used to predict
the performance of a motor under any load condition.
Figure -2A permanentant Motor.

Feedback Control Principles :

Broadly speaking, control systems can be classified into two groups: open-loop
and closed-loop. In an open-loop system [Figure-3-(a)], no feedback is used, so
the controller must independently determine what signal to send to the actuator.
The trouble with this approach is that the controller never actually knows if the
actuator did what it was supposed to do.
Figure -3Open- and closed Loop systems.

CONTROLLINGDC MOTOR

PERFORMANCE CRITERIA:
Performance criteria are various measurable parameters that indicate how good
(or bad) the control system is. These are divided into transient (moving) and
steady-state (not changing) parameters.
The exact path the controlled variable takes when going from one position to the
next is called its transient response. Consider the behavior of the robot arm
whose response is shown in Figure -4-; it is directed to move from 0 to 30, as
shown by the dashed line. This type of command (changing instantaneously
from one position to another) is called a step change. The actual response of the
system is shown as a solid line. As you can see, there is a difference between the
ideal path of the arm and the one it took. One major consideration is how fast
the system picks up speed (called rise time). The real arm simply cannot move
fast enough to follow the ideal path.
Rise time (T) is usually defined as the time it takes for the controlled variable to
go from 10 to 90% of the way to its new position. Another transient parameter is
overshoot.
Once the arm starts moving, its momentum will keep it going right on past
where it was supposed to stop. Overshoot can be reduced by the controller but
usually at the expense of a longer rise time. Settling time (Ts) refers to the time
it takes for the response to settle down to within some small percentage
(typically 2-5%) of its final value. In this case, it is the time it takes for the
oscillations to die out. Rise time, settling time, and overshoot are all related; a
change in one will cause a change in the others.

CONTROLLINGDC MOTOR

The steady-state error (ESS) of the system is simply the final position error,
which is the difference between where the controlled variable is and where it
should be. In
Figure -4-, ESS is shown as the position error after the oscillations have died
out. This error is the result of friction, loading, and feedback-sensor accuracy. A
sophisticated controller can reduce steady-state error to practically zero.
Figure-4Transient
Response.
PROPORTIONAL
+ INTEGRAL
CONTROLLER:
Many control systems
use a combination of
the three types of
feedback already discussed: Proportional + Integral
(PI) Control. The
foundation of the system is proportional control. Adding integral control
provides a means to eliminate steady-state error but may increase overshoot.
The response of the PI system can be described by Equation 11.6, which simply
adds together the three components required:

Another form of this obtained by factoring out KP from each term, is

Where
Output PI = output of the PI controller
KP = proportional control gain
KI = integral control gain (often seen as 1/TI)
E = error (deviation from the set point)

CONTROLLINGDC MOTOR

(E T) = sum of all past errors (area under the error time

curve) E/ t = rate of change of error (slope of the error curve)

Analog PI Controller:

CONTROLLING WITH OPEN LOOP SYSTEM

In this part we are dealing with speed torque control system
.we will have to see different relationship between them .we
will have then to plot the speed , the armature current and the
torque and we will see the behaviour of the torque with respect
to the current since there is related to the current .
Using XY graph we will plot the wm versus the torque in order
to seen the influence of the variation of the speed on the
torque .MATLAB SIMULINK is used as tool.

EXPERIMENTAL PART:

CONTROLLINGDC MOTOR

a)

Designingthecontrolsystem
:

b) Graphs out of the scope:

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CONTROLLINGDC MOTOR

Remark:

From the simulation result we remark that the

speed increases until reaches the steady state conditions
and remains constant, and the torque is proportional to
the current, but practically this is not true because after
few minutes of running the parameter of the motor will
change, and this will effect on the torque-speed

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CONTROLLINGDC MOTOR

characteristics. For this reason this system not useful and

not used in applications which implies to use another type
of system which is the closed loop system.

c) Speed torque plot :

CONTROLLING WITH CLOSED LOOP SYSTEM

PART I:
In this part we are dealing with the control of the speed and the
torque of the Dc motor using a feedback control system and a

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CONTROLLINGDC MOTOR

DC chopper .This feedback and DC chopper will help us to

overcome the offset error during the control.
MATLAB is used as tool.

THEORETICAL PART:
In many industrial applications it is required to convert a fixed
voltage dc source into a variable voltage dc source .A dc
chopper converts directly from dc to dc and it is known as a dc
to dc converter .Choppers are widely used for traction motor
control in electric automobiles, trolley cars They provide
smooth acceleration control, high efficiency and fast dynamic
response. Choppers can be used in regenerative braking of dc
motors to return energy back in to the supply.
In our work dc chopper are used as dc to dc converter in ON
OFF feedback control system in order to control the speed and
torque of the Dc machine .The operation of the Step Down
chopper with a freewheeling diode explain the use of chopper
in ON OFF feedback control system. Therefore the operation of
the chopper can be divided in to two modes .During mode 1,
the chopper is switched on and the current flows from the
supply to the load .During mode 2, the chopper is switched off
and the load current continues to flow through freewheeling
diode.
In our case since we are controlling the speed, the ON or OFF
are activated by the difference between the measured value
compared to the set point .Therefore if there is an error the
controller is ON and a signal is outputted from the chopper to
the DC machine .Otherwise the controller is off and no output
from the chopper.

EXPERIMENTAL PART:

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CONTROLLINGDC MOTOR

PartA: LOAD TORQUE CONSTANT

In this experiment the load torque is fixed and we give to the
speed two values (initial value and final value) the we see the
behaviour of the torque when the speed controller is trying to
overcome the error in order to reach the desired final value.

a) Designing the control system:

d) Graph

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CONTROLLINGDC MOTOR

Remark: As it can be seen from the resulting graph the

torque is remarkably affected by the speed error
.Therefore when there s difference between the set point
and the measured speed values the torque is destabilized
and will return on its fixed value when the error will be
corrected by the controller and the speed at its desired
final value.
NB.-Initial speed value is fixed at 80 rad/s
-final speed value is fixed at 160 rad/s
-The load torque is fixed at 5 N.m

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CONTROLLINGDC MOTOR

PartB: CONTROL SPEED

In this part the speed is fixed and we vary the load torque and
then we see variation of the seep with respect to the torque.

a) Designing the control system:

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CONTROLLINGDC MOTOR

b) Graph:

Remark: In this part we see the influence of the torque in

the variation of the speed. Therefore as it has been
verified mathematically the speed is inversely proportional
to the torque.

PART II:
In this part we are going to improve the feedback speed control
system seen in previous part just by adding PI controller in the
feedback loop in order to try to remove the offset in speed
control

EXPERIMENTAL PART:

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CONTROLLINGDC MOTOR

a)

Designingthecontrolsystem
:

b)Graph(speed and torque):

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CONTROLLINGDC MOTOR

CONCLUSION:
We have seen in our experimentation work two types of
controlling a dc motor with following conclude:
A. In part one we were controlling the speed and torque of the
dc machine using a closed loop system. From this, as shown
on XY graph we have shown the relationship between the
speed and the torque.
From here we have to specify the advantages of using
MOSFET in this closed loop control system. Therefore MOSFET
is a voltage controlled device with infinite input impedance
which means that if a voltage is applied the input current to

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CONTROLLINGDC MOTOR

the MOSFET will be very low; thus it doesnt require much

power .And it is also very simply driven
B. In this part we dealt with a simple feedback controlled system
which controls the speed. The step down chopper has been
used for this effect. This kind of system is not enough to
control a signal which contains many oscillations (where in
addition to the error there is an offset to the signal). That why
there is a need to add a PI controllers in the feedback loop in
order to overcome this offset.
C. The PI controller has an advantage in control system since it
helps us to correct continuously the error without oscillations.
Today Fasy-logic controllers are built up to replace the PI
controller because of its advantages since it doesnt need
transfer function to be implemented.
The control of the torque needs to know how the current is
varying since the torque is related to the current .The current
transformer could be used for this purpose.

GENERAL CONCLUSION
DC motors are widely used in applications requiring accurate speed controlfor
Example, in servo systems. Having developed a circuit model and analysis methods
for the DC generator, we can extend these results to DC motors, since these are in
effect DC generators with the roles of input and output reversed.
The closed-loop controller is a very common means of keeping motor speed at the
required "set point" under varying load conditions. It is also able to keep the speed at
the set point value where for example, the set point is ramping up or down at a
defined rate. The essential addition to the previous system is a means for the current
speed to be measured.

MATLAB/SIMULINK is/was used because of the short learning curve that we

require to start using it, its wide distribution, and its general-purpose nature. This

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CONTROLLINGDC MOTOR

demonstrate the advantages of using MATLAB for analyzing power system steady
state behavior and its capabilities for simulating transients in power systems and
power electronics, including control system dynamic behavior.

According to the literature review and the results of this work, it is possible to outline
the most favorable simulation environment for electrical machines, circuit and control
systems. A fundamental assumption for doing so is that the emphasis of the
simulation will be/is on the operation of the whole system and the interaction between
the components, as well as on the behavior and design of each component separately.
Therefore, the best solution must contain two or three different tools operating firmly
together.

REFERENCE

[1]. P.C. Sen, Principles of Electric Machines and Power Electronics (2ndEdition), John
WILEY and Sons Inc., 1989
[2]. Power Electronics Hand Book by MUHAMMAD H. RASHID
[3]. Pricinples and applications of electrical engineering.

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