Thai Nguyen University of Technology

Faculty of International Training

Senior Design I Report

Speed Control of DC Motor by
Controlling Voltage Armature

Supervisor: Mr. Tran Que Son

Students: 1. Nguyen Van Thanh
2. Lang Ngoc Thanh

Thai Nguyen, March 25, 2015

INTRODUCTION

Speed controller means intentional changing of the driving speed to a value

required for performing the specific work process. Speed controller is a different
concept from speed regulation where there is natural changing in speed due change
in load on the shaft. Speed control is either done manually by the operator or by
means of some automatic control devices.
One of the important features of dc motor is that its speed can be controlled
with relative ease. Armature terminal voltage control: The speed control of dc series
motor can be accomplished by supplying the power to the motor from a separate
variable voltage supply.
Armature voltage control: This method of speed control needs a variable
source of voltage separated from the source supplying the field current. This method
avoids disadvantages of poor speed regulation and low efficiency of armatureresistance control methods. The basic adjustable armature voltage control method of
speed d control is accomplished by means of an adjustable voltage generator is
called Ward Leonard system. This method involves using a motor generator (M-G)
set. This method is best suited for steel rolling mills, paper machines, elevators,
mine hoists, etc.

TABLE OF CONTENTS
CHAPTER I: DC MOTOR AND DC SPEED CONTROLLER
1.1

DC motor4
1.2 DC speed controller5

CHAPTER 2: DETERMINE AND DESIGN A CONTROLLER

2.1 Overview of PID controller.8
2.2 Determine parameter of controller..9
2.2.1 Synthesis system controller for DC motor speed with
two loop structures and current speed...9
2.2.2 Schematic structure of the system state of a DC motor
adjusts two loops.11
2.2.3 Synthesis of loop circuits speed....13

CHAPTER I: DC MOTOR AND DC SPEED CONTROLLER

1.1 DC motor.
A DC motor is any of a class of electrical machines that converts direct current
electrical power into mechanical power. The most common types rely on the forces
produced by magnetic fields. Nearly all types of DC motors have some internal
mechanism, either electromechanical or electronic, to periodically change the
direction of current flow in part of the motor. Most types produce rotary motion; a
linear motor directly produces force and motion in a straight line.
DC motors were the first type widely used, since they could be powered from
existing direct-current lighting power distribution systems. A DC motor's speed can
be controlled over a wide range, using either a variable supply voltage or by
changing the strength of current in its field windings. Small DC motors are used in
tools, toys, and appliances. The universal motor can operate on direct current but is
a lightweight motor used for portable power tools and appliances. Larger DC
motors are used in propulsion of electric vehicles, elevator and hoists, or in drives
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for steel rolling mills. The advent of power electronics has made replacement of DC
motors with AC motors possible in many applications.

Working of a brushed electric motor with a two-pole rotor (armature)and

permanent magnet stator. "N" and "S" designate polarities on the inside faces of the
magnets; the outside faces have opposite polarities. The + and - signs show where
the DC current is applied to the commutation which supplies current to the armature
coils.
1.2 DC speed controller.
Electrical driver system usually have two control loops where the controlling of
machine current are inner loop and shaft speed in outer loop , it also including
position loop. The response of current inner loop is faster than this speed of outer
loop, depending on the mechanical torque and load.
DC motors are used extensively in adjustable-speed drives and position control
applications. Speed control means intentional change of the drive speed to a value
required for performing the specific work process. Speed control is a different
concept from speed regulation where there is natural change in speed due change in
load on the shaft. Speed control is either done manually by the operator or by means
of some automatic control device.
The motor speed depends on the amplitude of the applied voltage. The amplitude
of the applied voltage is adjusted using the PWM technique. The required speed is
controlled by a speed controller, which is implemented as a conventional
proportional-integral (PI) controller. The difference between the actual and required
speeds is input to the PI controller which then, based on this difference, controllers

the required DC-bus current. The required DC-bus current is controlled by a current
controller, which is also implemented as a conventional proportional-integral (PI)
controller. The difference between the actual and required DC-bus current is input
to the PI controller which then, based on this difference, controls the duty cycle of
the PWM pulses, which correspond to the voltage amplitude required to maintain
the desired speed.
Speed Control Methods of DC Motor:
+ Flux Control Method

It is seen that speed of the motor is inversely proportional to flux. Thus by

decreasing flux speed can be increased and vice versa.
To control the flux, a rheostat is added in series with the field winding, as shown in
the circuit diagram. Adding more resistance in series with field winding will
increase the speed, as it will decrease the flux. Field current is relatively small and
hence I2R loss is small, hence this method is quiet efficient. Though speed can be
increased by reducing flux with this method, it puts a limit to maximum speed as
weakening of flux beyond the limit will adversely affect the commutation.
+ Armature Control Method

Speed of the motor is directly proportional to the back emf Eb and Eb = V- IaRa.
That is when supply voltage V and armature resistance R a are kept constant, speed is
directly proportional to armature current I a. Thus if we add resistance in series with
armature, Ia decreases and hence speed decreases.
Greater the resistance in series with armature, greater the decrease in speed.
+ Voltage Control Method
a) Multiple voltage control: In this method the, shunt filed is connected to a fixed
exciting voltage, and armature is supplied with different voltages. Voltage across
armature is changed with the help of a suitable switchgear. The speed is
approximately proportional to the voltage across the armature.
b) Ward-Leonard System:

This system is used where very sensitive speed control of motor is required (e.g
electric excavators, elevators etc.) The arrangement of this system is as required in
the figure beside.
This system is used where very sensitive speed control of motor is required (e.g
electric excavators, elevators etc.) The arrangement of this system is as required in
the figure beside.

M2 is the motor whose speed control is required.

M1 may be any AC motor or DC motor with constant speed.
G is the generator directly coupled to M1.
In this method the output from the generator G is fed to the armature of the motor
M2 whose speed is to be controlled. The output voltage of the generator G can be
varied from zero to its maximum value, and hence the armature voltage of the motor
M2 is varied very smoothly. Hence very smooth speed control of motor can be
obtained by this method.

CHAPTER 2: DETERMINE AND DESIGN A CONTROLLER

2.1 Overview of PID controller
As we known a controller is the most important to control whatever motor so I will
design a PID controller for this DC motor.
The PID controller is the most common form of feedback. It was an essential
element of early governors and it became the standard tool when process control
emerged in the 1940s. In process control today, more than 95% of the control loops
are of PID type, most loops are actually PI control. PID controllers are today found
in all areas where control is used. The controllers come in many different forms.
There are stand-alone systems in boxes for one or a few loops, which are
manufactured by the hundred thousand yearly. PID control is an important
ingredient of a distributed control system. The controllers are also embedded in
many special-purpose control systems. PID control is often combined with logic,
sequential functions, selectors, and simple function blocks to build the complicated
automation systems used for energy production, transportation, and manufacturing.
Many sophisticated control strategies, such as model predictive control, are also
organized hierarchically. PID control is used at the lowest level; the multivariable
7

controller gives the set points to the controllers at the lower level. The PID
controller can thus be said to be the bread and butteret t of control engineering. It
is an important component in every control engineers tool box. PID controllers
have survived many changes in technology, from mechanics and pneumatics to
microprocessors via electronic tubes, transistors, integrated circuits. The
microprocessor has had a dramatic inuence on the PID controller. Practically all
PID controllers made today are based on microprocessors. This has given
opportunities to provide additional features like automatic tuning, gain scheduling,
and continuous adaptation. The PID controller algorithm involves three separate
constant parameters, and is accordingly sometimes called three-term control: the
propotional, the integral and derivative values, denoted P, I, and D. Simply put,
these values can be interpreted in terms of time: P depends on the present error, I on
the accumulation of past errors, and D is a prediction of future errors, based on
current rate of change
The

algorithm

of

PID

Firstly, from the block diagram that we did before we add PID to this file and
making speed feedback to response input signal.
Secondly, looking at scope to see the graph without P, I, D constant.
Third, comparing referent input speed and output speed.
The structure of real system and a principle is the same by showing as the figure:

2.2 Determine parameter of controller

2.2.1 Synthesis system controller for DC motor speed with two loop structures and
current speed
Synthesis system controller for DC motor speed with two loop structures and
current speed. Figures motor inverter: select a motor capacity from 1.0 to 1.5 KW;
total inductance and resistor motor armature circuit BBD: Rd = 4,5, Ld = 400mH;
total moment of inertia J = 0.02kgm2; BBD amplification coefficient Kb = 25;
adjustable speed range D = 100: 1; missing data calculated by motor and buffet.
Assuming an engine selected, we choose the engine has parameters given in the
table:
P dm

U dm

I dm

N dm

GD2

(KW)

(V)

(A)

(v/f)

( )

(H)

(Kg.m2)

1.5

220

8.7

1500

4.5

0.4

0.085

Diagram of transmission principle DC motor two loops

Where:

: Regulators of rotational speed

: Current Regulators

FT: Generator speed

FX: Circuit Pulse control Tiristor of BD
CBD: Sensor current

cd

: Leading voltage (voltage set speed)

u (u
n

u :

n)

: Speed voltage feedback

Voltage set current

u (u I ) : Negative feedback voltage power line

i

To perform two kinds of negative feedback is the current rotational speed and
individual effects for transmission DC motors, in the layout system two controllers,
one for rotation speed and a user an electric current. That means, for adjusting the
output of the rotational speed to the input of the current controller then use the
output of the current controller to control the pulse generator circuit of the rectifier
controller used Tiristor. On the structure of closed-loop, adjusting current, called in
the loop , adjusting the rotational speed on the outside. Thus was formed the twospeed control loop and current
To perform two kinds of negative feedback is the current rotational speed and
individual effects for transmission DC motors, in the layout system two controllers,
one for rotation speed and a user an electric current. That means, for adjusting the
output of the rotational speed to the input of the current controller then use the
output of the current controller to control the pulse generator circuit of the rectifier
controller used Tiristor. On the structure of closed-loop, adjusting in current, called
in the loop , adjusting the rotational speed on the outside. Thus was formed the twospeed control loop and current.
2.2.2 Schematic structure of the system state of a DC motor adjusts two loops.
Based on principles of speed control system has two loops illustrated in Figure 1,
we can build a state structure diagram of the speed control system two loops ,shown
in Figure 2.

10

Figure 2: Schematic structure of the system state to adjust the speed of two loops.
Where:

E C
D

n:

Electromotive force motor

np N

Ce

2 a : Coefficient of electromotive force motor.

I c : M c Cm I c The current corresponding to the total moment is converted to

the motor shaft, including no-load moment and drag moment load

Cm

Te

30
Ce

: Coefficient of moment of the DC motor

Ld
Rd : Electronic time constant of rotor circuit

GD 2 Rd
Tm
375CeCm : Electro-mechanical time constants
GD 2 : Moment inertia of the electric drive system converted to the motor shaft
: Constant time delay of BBD
: Coefficient negative feedback of speed

: Coefficient feedback current

11

In fact, the current signal and speed are measured by whether one facility, the
signal in the noise that existed, limited the impact of noise, in the feedback signal
should have filter. So the actual structure of the system has formed:

Figure 3: Schematic structure of the system control speed with two loops has filter.
Where:

Toi : Constant time of signal filter feedback current

Ton : Constant time of signal filter feedback speed
Schematic structure system state adjusted the speed closed-loop circuit shown in
Figure 3 differs from Figure 2 in that add some filtering stages, including current
filters, filter rotation speed and Two stages signal filter set. Because the current
measurement signal contains AC components. we need low frequency filter stages,
the time constant is selected Toi. Sewing filter can restrict an alternatin component
in the feedback signal, but the feedback signal slowdown. To overcome (a balance
with this delay), the input signal put a inertia same time constants, and called set
signal filter and also called given for signal filter. The meaning of it is to make the
signal set and the feedback signal with a time slower together, makes coordination
both suitable in time.
2.2.3. Synthesis of Current loop

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1. Simplify the current loop structure

1
W
RI

Tois 1

Kb
U
s 1

Tois 1

Tois 1

WRI

U*i

WRI

U*i
K b

s 1

1/ R d
Tes 1

K b / R d
(T is 1)(Tes 1)

In Figure 4, when current loop circuit design, we considered

varying noise types, can be considered almost constant, it means

only a slowly
,

temporary not consider the effect of electromotive force change motor, ensuring
effective separation of feedback electromotive force opposite to the side. Since then
we have an approximate structure diagrams of electrical current loop ignore the
influence of the electromotive force, as shown in Figure 4a, equivalent
transformation is Figure 4b. Because
have:

and Toi are much small than Te so we

T i Toi

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To ignore the effects of electromotive force, the approximate conditions for

conversion are:

1
TmTe

ci 3
Where:

ci

is the cutoff frequency of the current loop.

Hence, structural diagram of Figure 4c simplified.

Thus the transfer function of the circuit is

Wm

Kb / Rd
(Ti s 1)(Te s 1)

Coefficient current feedback or the amplification coefficient of the current

sensor
*
U im
10

1.15
I dm 8.7
*
U
im
(
is limiting the input voltage to the operational amplifier)

K b 25 , Rd 4.5 , T i Toi

1
1

0.0033
mf 50 * 6
(s)

(m: rhythm rectifiers, selected m=6 with 3 phase bridge rectifier)

T
Select oi

0.5 (ms) (0.5 -1ms)

T i Toi 3.3 0.5 3.8 (ms)

Te

Ld 0.4

0.089
Rd 4.5

Wm
So:

Kb / Rd
1.15* 25

(Ti s 1)(Te s 1) 4.5* (3.8*103 s 1)(0.089 s 1)

14

Wm

6.39
(3.8*103 s 1)(0.089s 1)

2. Calculate and implement of the current controller

Synthesis of loop circuits optimum standard modules we have the transfer function
of the regulator loop PI current:

WRI K pi (1

With 1

1
)
1s

Te 0.089 ,

Thus:

K pi

WRI 1.833(1

Te Rd
1.833
2 Kb T i

1
)
0.089s

With above diagram we have

1 R pi Ci 0.089
Select

Ci 1( F ) to R pi 89( K )

K pi
Toi

R pi
Roi

1.833 Roi 48.55( K )

1
Roi Coi Roi Coi 0.002 Coi 0.04( F )
4

2.2.4. Synthesis of loop circuits speed

1. Transfer function equivalent circuit loop of loop circuits current
When designing the adjustable slew rate can be considered within the current circuit
design has done, is a part of the system to adjust the speed of rotation, so we need to
find its equivalent transfer function.
Transfer function of the closed loop circuit (current) is:

15

KI
s(T i s 1)
1
Wki ( s )

KI
T i 2
s
1
s
1
s(T i s 1) K I
KI
Because of the loop circuits cutoff frequency rotational speed is generally quite low,
so

Wki ( s) may downgrade an approximation:

Wki ( s)

1
2T i s 1

Conditions are approximate:

cn

1
5T i

2. Calculate and implement speed controller

After taking the equivalent of circuit stages within the current alternative to closed
loop circuit power line in Figure 4, schematic structure of the entire state system to
adjust the rotation speed will become walls such as Figure 6a.

16

WR

Rd
Ce Tm s

/
Tn s 1

U c (s)

Ton s 1
Rd
Ce Tms

1/
2Tis 1

WR

1
Ton s 1

17

Transform schematic structure we have figure 6b

With

T n Ton 2T i

From Figure 6b we see, from behind the interference point of load has an integral
stitch. To perform no steady-state error rotation speed, we need to add a stitch
arranged in front integral point interference effects, so we need to typical system
type 2. In terms of quality, systems first speed requires good anti-jamming features,
typical type II systems meet this requirement.
Want calibrated loop circuits rotational speed of typical type II system,
a PI controller, its transfer function of the form:

WR ( s) K pn
Where:

K pn

R must be

ns 1
ns

: The scaling factor of the speed adjustment dial

n : The time constant of the speed adjustment dial.

According to the method selected parameters typical type II system, we have:

n hT n
K pn

(h 1) CeTm
2h Rd T n

Select h is intermediate frequency widths system, it is based on the system

requirements for the feature to determine the state. Here we choose h = 5

T
Select on

1 (ms)

n hT n 5*(1 2 *3.8) 43 (ms)

Ce

U dm RI dm 220 4.5*8.7

0.12
ndm
1500

GD 2 * Rd
0.085* 4.5
Tm

0.0074
375* Ce * Cm 375* 0.12 * 30 * 0.12

18

The coefficient of negative feedback rate here can use a resistive transmitter
with sufficient speed, the approximation we have:

U
10

0,03183
100

K pn

Thus:

(5 1) *1.15* 0.12 * 0.0074

0.5
2 *5* 0,03183* 4.5* 0.0086

WR ( s ) 0.5(1

1
)
0.043s

With above diagram we have:

n R pnCn 0.0043
K pn
Ton

R pn
Ron

, select

Cn 1( F ) to R pn 4.3( K )

0.5 Ron 8.6( K )

1
RonCon 0.001 Con 0.46( F )
4

19