CHAPTER ONE 1 INTRODUCTION Developments of high performance DC motor drives are very essential for industrial applications.

A high performance motor drive system must have good dynamic speed command tracking and load regulating response. DC motors provide excellent control of speed for acceleration and deceleration. The power supply of a DC motor connects directly to the field of the motor which allows for precise voltage control, and is necessary for speed and torque control applications. DC drives, because of their simplicity, ease of application, reliability, and good speed regulation frequent starting, braking and reversing and favorable cost has long been a backbone of industrial applications. DC drives are less complex as compared to AC drives system. DC drives are normally less expensive for low horsepower ratings. DC motors have a long tradition of being used as adjustable speed machines and a wide range of options have evolved for this purpose. Cooling blowers and inlet air flanges provide cooling air for a wide speed range at constant torque. DC regenerative drives are available for applications requiring continuous regeneration for overhauling loads. AC drives with this capability would be more complex and expensive. Properly applied brush and maintenance of commutator is minimal. D.C motors have long been the primary means of electric traction, Rolling mills, Paper mills machine tools Printing presses textile mills DC motors are conveniently portable and well fit to special applications, like industrial equipments and machineries that are not easily run from remote power sources.[7] D.C motor is considered as single input and single output system having torque/speed characteristics compatible with most mechanical loads. This makes a D.C motor controllable over a wide range of speeds by proper adjustment of the terminal voltage. Now days, Induction motors, Brushless D.C motors and Synchronous motors have gained widespread use in electric traction system. Even then, there is a persistent effort towards making them behave like dc motors through innovative design and control techniques. Hence dc motors are always a good option for advanced control algorithm because the theory of dc motor speed control is extendable to other types of motors as well.[16]

Speed control techniques in separately excited dc motor: By varying the armature voltage for below rated speed. By varying field flux should to achieve speed above the rated speed. The armature voltage control has many advantages like:- the high efficiency - good transient response - good speed regulation Different methods for speed control of DC motor: Traditionally armature voltage using Rheostat method for low power dc motors. Use of conventional proportional integral derivative controllers. Single phase uniform PWM ac-dc buck-boost converter with only one switching device used for armature voltage control etc. The proportional integral(PI) based speed control has many advantages like fast control, low cost ,stabilizes the drive, adjusts the damping ratio at desired value, makes the steady state speed error close to zero by integral action and filters out noise again due to the integral action and simplified structure. [11] This thesis mainly deals with controlling DC motor speed using Chopper as power converter and PI as speed and current controller. 1.1 PROBLEM STATEMENT Even If there are different kinds of DC motor control like mentioned above DC motor control using the PI based speed control has many advantages like fast control, low cost and simplified structure. In addition, a chopper has one state conversion and they are more efficient. In addition, Dc chopper drives has the advantages of high efficiency flexibility in control, light weight, small size, quick response and regeneration own to very low speed. The closed loop control system has the advantages of improved accuracy, fast dynamic response and reduced effects of disturbances and system non-linearitys. The operation of the chopper is at a high frequency and this improves motor performance by reducing current ripple and eliminating discontinuous conduction.

1.2 OBJECTIVE OF THE PROJECT 1.2.1 General Objective The main objective of the project is dc motor control using chopper under varying speed and varying load torque conditions like rated speed and load torque, since DC motors are the back bone of industrial applications. In addition DC motor control using chopper has various advantages like fast control, low cost and simplified structure and DC motor speed control is extendable to other types of motors as well. 1.2.2 Specific Objective To use chopper for dc motor speed control as convertor. To develop the proportional integrator controller to control the speed of DC motor. To analyze the performance of the proposed controller. Developing Matlab simulation for dc motor speed control. Modeling of dc motor for simulation and designing of speed and current controller. Observing the simulation results from Matlab at different reference speed and torque. 1.3 SCOPE OF THE PROJECT Our project mainly deals on controlling of dc motor using chopper and it is mainly applicable in industrial areas of dc machines to have smooth control, high efficiency, faster response and regeneration facility. In addition the project mainly focuses on controlling of dc motor speed control for rated and below rated speed. MATLAB simulation for speed control of separately excited DC motor will been done in order to observe the various characteristics. 1.4 APPLICATION AREA DC drives, because of their simplicity, ease of application, reliability and favorable cost have long been a backbone of industrial applications, like: Lathes, fans, pumps disc and band saw drive requiring moderate torques. Electric traction, high speed tools. Rolling mills and other loads requiring large momentary toques.

Since the application of dc motor is more in industrial areas there is a need to have effective control of their speed, so that dc motor control using chopper systems offer smooth control, high efficiency, faster response and regeneration facility. [13]
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1.5 LITERATURE REVIEW Dc drives, because of their simplicity, easy of application automobile are likely to use a chopper for their speed control and braking A.Faizy (2010).For a chopper controlled dc motor drive the variable dc voltage is controlled by varying the on and off times of converter. Variable speed dc motor drive using pulse width modulation (PWM) wave form will emit dominant tonal acoustic noise in addition to the normal motor running (PG Handley-1991). There have been many advances in the development of electric motors, and there is an increasing need for new control technology. Increased energy costs, public concern for

unnecessary energy consumption and environmental impacts, and legislation requiring improved efficiency are among the key forces behind development of new motor controls. R. Valentine, Motor Control Electronics Handbook, 1998. The speed of DC motors can be adjusted within wide boundaries so that this provides easy controllability and high performance. DC motors used in many applications such as still rolling mills, electric trains, electric vehicles, electric cranes and robotic manipulators require speed controllers to perform their tasks. Speed controller of DC motors is carried out by means of voltage control in1981 firstly by Ward Leonard. The regulated voltage sources used for DC motor speed control have gained more importance after the introduction of thyristor as switching devices in power electronics. Then semiconductor components such as MOSFET, IGBT and GTO have been used as electric switching devices Dubey,G.K. Fundamentals of Electrical Drives, 2009. To introduce the concept of a DC to DC converter and how it works, we examine the DC chopper. The DC chopper is the most basic of DC to DC converters and offers a simple and straight-forward circuit topology to illustrate circuit behavior. The operation of the DC Chopper is based on the concept of intermittently switching the supply voltage at a certain rate to limit the amount of time that the source voltage is connected to the supply. If this is done within a specific duty cycle it is the ratio of turn on time to the total time t. Muhammad Rashid, Power Electronics Handbook, 2001. The derivative action causes the noise (random error) in the main signal to be amplified and reflected in the controller output. Hence the most suitable controller for speed control is
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proportional integral type controller it have an advantage of Stabilizes the drive, Adjusts the damping ratio at desired value Makes the steady state speed error close to zero by integral action and filters out noise again due to the integral action. Gopal, M., Control Systems, 2008 . Simulation can be very helpful in gaining insights to the dynamic behavior and interactions that are often not readily apparent from reading theory. Next to having an actual system to experiment on, simulation is often chosen by engineers to study transient and control performance or to test conceptual designs. Matlab/Simulink is used because of the short learning curve that most students require to start using it, its wide distribution, and its general-purpose nature. This will 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. Matlab/Simulink, version 2009.

CHAPTER TWO CHOPPER 2.1. DC CHOPPER A chopper is a static power electronic device that converts fixed dc input voltage to a variable dc output voltage. A Chopper may be considered as dc equivalent of an ac transformer since they behave in an identical manner. As chopper involves one stage conversion, these are more efficient. [1][6] Choppers are now being used all over the world for rapid transit systems. These are also used in trolley cars, marine hoist, forklift trucks and mine haulers. The future electric automobiles are likely to use choppers for their speed control and braking. Chopper systems offer smooth control, high efficiency, faster response and regeneration facility.[6] The power semiconductor devices used for a chopper circuit can be force commutated thyristor, power BJT, MOSFET and IGBT.GTO based chopper are also used. These devices are generally represented by a switch. When the switch is off, no current can flow. Current flows through the load when switch is on. The power semiconductor devices have on-state voltage drop of 0.5V to 2.5V across them. For the sake of simplicity, this voltage drop across these devices is generally neglected. [6] As mentioned above, a chopper is dc equivalent to an ac transformer, have continuously variable turns ratio. Like a transformer, a chopper can be used to step down or step up the fixed dc input voltage. 2.2. PRINCIPLE OF CHOPPER OPERATION A chopper is a high speed on" or off semiconductor switch. It connects source to load and load and disconnect the load from source at a fast speed. In this manner, a chopped load voltage as shown in Fig 2.1. is obtained from a constant dc supply of magnitude Vs. For the sake of highlighting the principle of chopper operation, the circuitry used for controlling the on, off periods is not shown. During the period Ton, chopper is on and load voltage is equal to source voltage Vs. During the period Toff, chopper is off, load voltage is zero. In this manner, a chopped dc voltage is produced at the load terminals. [1][6]
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Fig 2.1 chopper circuit and voltage and current wave form

Average Voltage, Vo= (Ton/ (Ton+Toff))*Vs = (Ton/T)*Vs = Vs Ton=on-time. Toff=off-time. T=Ton+Toff = Chopping period. =Ton/T Thus the voltage can be controlled by varying duty cycle . Vo = f* Ton* Vs f=1/T=chopping frequency. Chopper circuits have several advantages over phase controlled converters [13] 1 Ripple content in the output is small. Peak/average and average current ratios are small. This improves the commutation and decreases the harmonic heating of the motor.

2 The chopper is supplied from a constant dc voltage using batteries. The problem of power factor does not occur at all. The conventional phase control method suffers from a poor power factor as the angle is delayed. 3 Current drawn by the chopper is smaller than in phase controlled converters. 4 Chopper circuit is simple and can be modified to provide regeneration and the control is also simple. 2.3. CONTROL STRATEGIES [1][6] The average value of output voltage Vo can be controlled through duty cycle by opening and closing the semiconductor switch periodically. The various control strategies for varying duty cycle are as following: 1. Time ratio Control (TRC) and 2. Current-Limit Control. These are now explained below. 2.3.1. Time Ratio Control (TRC) In this control scheme, time ratio Ton/T(duty ratio) is varied. This is realized by two different ways called Constant Frequency System and Variable Frequency System as described below: 2.3.1.1 Constant frequency system In this scheme, on-time is varied but chopping frequency f is kept constant. Variation of Ton means adjustment of pulse width, as such this scheme is also called pulse-width-modulation scheme.

Fig 2.2 pulse width modulation

2.3.1.2 Variable frequency system In this technique, the chopping frequency f is varied and either (i) on-time Ton is kept constant or (ii) off-time Toff is kept constant. This method of controlling duty ratio is also called Frequency-modulation scheme.

Fig 2.3 out put voltage for time ratio control

2.3.2 Current- Limit Control In this control strategy, the on and off of chopper circuit is decided by the previous set value of load current. The two set values are maximum load current and minimum load current. When the load current reaches the upper limit, chopper is switched off. When the load current falls below lower limit, the chopper is switched on. Switching frequency of chopper can be controlled by setting maximum and minimum level of current. Current limit control involves feedback loop, the trigger circuit for the chopper is therefore more complex. Pulse width modulation technique is the commonly chosen control strategy for the power control in chopper circuit. 2.4 SCR AS A SWITCHING DEVICE The Silicon Controlled Rectifier (SCR) is a semiconductor device that is a member of a family of control devices known as Thyristors. The SCR has become the Workhorse of the industrial control industry. Its evolution over the years has yielded a device that is less expensive, more reliable, and smaller in size than ever before. Typical applications include: DC motor control, generator field regulation, variable frequency drive DC Bus voltage control, Solid State Relays and lighting system control. [16]

2.4.1 Principle of Operation of Silicon Controlled Rectifier The structure and symbol of transistor are shown in the figure 2.4. It is a four layered PNPN switching device having three junctions J1, J2 and J3. It has three external terminals namely the anode (A), cathode (K) and gate (G).the anode and cathode are connected to the main power circuit. The gate terminal carries a low level gate current in the direction gate to cathode. Normally the gate terminal is providing at the P layer near the cathode these is known as cathode gate. [5]

Fig 2. 4 structure and symbol of SCR respectively

When the end p layer is made positive with respect to the end N layer. The two outer junctionJ1and J3 are forward biased but the middle junction J2 becomes reverse biased .This the junction J2 because of the presence of depletion layer, does not allow any current flow through the device only linkage current negligibly small in magnitude, and flow through the device due to the drift of the mobile charges. This current is in sufficient to make the device conduct the depletion layer, most of immobile charges do not constitute any flow of current in other word the SCR under the forward biased conduction does not conduct. This called as the forward blocking set or off state of the device. [5] When the end N layer is made positive with respect to end P layer. The middle J2 becomes forward biased .where as the two outer junctions J1 and J3 do not allow any current to flow through the device. Only a very small amount of linkage current may flow because of the drift of the charges. The linkage current is a gain insufficient to make the device conduct. This is known as the reverse blocking state the device. [5] Advantages of SCR as a switching device
Magnitude of Latching current and holding currents is less.

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 On state voltage drop and associated loss is less. Have less gate drive circuit losses. They are fast switching. They are most commonly used devices. They are cheap, has lower size and weight. It can replace conventional speed control methods like resistance control and at the same time can offer less power consumption The limitation of using SCR as converter is it is a device that allows current to flow in only one direction. A positive current will flow only from anode to cathode. A silicon controlled rectifier, or SCR, is a modified rectifier that behaves like an open switch, but can be turned on by injecting a small positive current into its gate terminal. (This current exits through the cathode terminal.) After being turned on, the SCR will stay on unless the current flowing from anode to cathode drops to zero, at which point the SCR opens up and behave like an open switch again. The solution to the above limitation is the figure 2.5. It shows the basic chopper circuit for the control of dc motor. The chopper circuit is assumed to be working on the principle of time ratio control during the on period ton SCR remains conducting and the supply voltage v is applied to the motor .the motor current follows during the turn on time of the motor. During the off period the SCR blocked hence there is no voltage is applied to the motor. Thus the voltage is applied to the motor in pulses .and a diode d provides a conducting path during the time interval toff and the inductance is used as energy storage during the operation of the SCR in time of on period and the energy is used during the off time of the SCR. [8][13]

Fig 2.5 the basic principle of using SCR as a chopper

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CHAPTER THREE SEPARATELY EXCITED DC MOTOR 3.1. BASICS OF SEPARATELY EXCITED DC MOTOR [17][9]

Fig 3.1 Separately Excited DC motor

Separately Excited DC motor has field and armature winding with separate supply. The field windings of the dc motor are used to excite the field flux. Current in armature circuit is supplied to the rotor via brush and commutator segment for the mechanical work. The rotor torque is produced by interaction of field flux and armature current. 3.2. OPERATION OF SEPARATELY EXCITED DC MOTOR[2][17] When a separately excited dc motor is excited by a field current of if and an armature current of ia flows in the circuit, the motor develops a back EMF and a torque to balance the load torque at a particular speed. The field current if is independent of the armature current ia. Each winding is supplied separately. Any change in the armature current has no effect on the field current. The if is generally much less than the ia. 3.3. FIELD AND ARMATURE EQUATION [17][2] Instantaneous field current: = Where + and are the field resistor and inductor, respectively.
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Instantaneous armature current: = Where + + are the armature resistor and inductance respectively.

The motor back emf, which is also known as speed voltage, is expressed as: =

is the motor voltage constant (in V/A-rad/s) and is the motor speed (in rad/sec). 3.4. BASIC TORQUE EQUATION[17][2] The torque developed by the motor is: = Where ( = For normal operation, the developed torque must be equal to the load torque plus the friction and inertia, i.e.: =J Where B =viscous friction constant, (N.m/rad/s) =load torque in (N.m) J = inertia of the motor (kg. ) +B + = ) is the torque constant (in V/A rad/s).

Sometimes it is written as:

3.5. STEADY-STATE TORQUE AND SPEED [17] The motor speed can be easily derived: = If = That is if the field current is kept constant, the motor speed depends only on the supply voltage.
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is a small value (which is usual),or when the motor is lightly loaded , i.e.

is small,

The developed torque is: = = B +

The required power is: =

3.6. TORQUE AND SPEED CONTROL [17] From the above derivation important facts can be deduced for steady-state operation of DC motor. For a fixed field current, or flux (If ) the torque demand can be satisfied by varying the armature current (Ia). The motor speed can be controlled by: controlling Va (voltage control) controlling Vf (field control) These observation lead to the application of variable DC voltage for controlling the speed and torque of DC motor.

3.7. VARIABLE SPEED OPERATION [17] Form the above the speed of dc motor can be operated by varying the armature voltage. The speed of DC motor can simply be set by applying the correct voltage. The speed variation from no load to full load (rated) can be quite small. It depends on the armature resistance. 3.8. BASE SPEED AND FIELD-WEAKENING [2]

Figure 3.2 Torque Vs Speed And Power Vs Speed Characteristic of Separately Excited DC Motor

Base speed: ( base)

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 The speed which corresponds to the rated Va, rated Ia and rated If. Constant Torque region ( < base) Ia and If are maintained constant to meet torque demand. Va is varied to control the speed. Power increases with speed. Constant Power region (w > wase) Va is maintained at the rated value and If is reduced to increase speed. However, the power developed by the motor (= torque x speed) remains constant. This phenomenon is known as Field weakening.

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CHAPTER FOUR MODELING OF DC MOTOR FOR DRIVE SYSTEM 4.1. BASIC PRINCIPLE OF DC MOTOR CONTROL [2][11] The basic principle behind DC motor speed control is that the output speed of DC motor can be varied by controlling armature voltage for speed below and up to rated speed keeping field voltage constant. The output speed is compared with the reference speed and error signal is fed to speed controller. Controller output will vary whenever there is a difference in the reference speed and the speed feedback. The output of the speed controller is the control voltage Vc that controls the operation duty cycle of (here the converter used is a Chopper) converter. The converter output give the required Va required to bring motor back to the desired speed. The Reference speed is provided through a potential divider because the voltage from potential divider is linearly related to the speed of the DC motor. The output speed of motor is measured by Tacho-generator and since Tacho voltage will not be perfectly dc and will have some ripple. So, we require a filter with a gain to bring Tacho output back to controller level.

The basic block diagram for DC motor speed control is show below:

Fig 4.1.Closed loop system model for speed control of dc motor

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4.2. MODELING OF SEPARATELY EXCITED DC MOTOR [11][2]

Fig 4.2 separately excited DC motor model.

The armature equation is shown below:

Va =Eg+ IaRa+ La (dIa/dt)

The description for the notations used is given below: 1. Va is the armature voltage in volts. 2. Eg is the motor back emf in volts. 3. Ia is the armature current in amperes. 4. Ra is the armature resistance in ohms. 5. La is the armature inductance in Henry. Now the torque equation will be given by:
Td = Jd/dt +B+TL

Where: 1. TL is load torque in Nm. 2. Td is the torque developed in Nm. 3. J is moment of inertia in kg/m. 4. B is friction coefficient of the motor. 5. is angular velocity in rad/sec. Assuming absence (negligible) of friction in rotor of motor, it will yield: B=0 Therefore, new torque equation will be given by:
Td = Jd/dt + TL ---------

(1)

Taking field flux as and (Back EMF Constant) Kv as K. Equation for back emf of motor will be:
Eg = K

--------- (2) --------- (3)

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Also, Td = K Ia

From motors basic armature equation, after taking Laplace Transform on both sides, we will get:
Ia(S) = (Va Eg)/(Ra + LaS)

Now, taking equation (ii) into consideration, we have:

Ia(s) = (Va K)/ Ra(1+ LaS/Ra )

And, (s) = (Td - TL )/JS = (KIa - TL ) /JS Also , the armature time constant will be given by: (Armature Time Constant) Ta = La/Ra

Fig 4.3 .Block Model of Separately Excited DC Motor

After simplifying the above motor model, the overall transfer function will be as given below: (s) / Va(s) = [K /Ra] /JS(1+TaS) /[ 1 +(K /Ra) /JS(1+TaS)] Further simplifying the above transfer function will yield: (s) /Va(s) = (1 /k) /{ 1 +(k /Ra) /JS(1+TaS)} ---------------- (4) Assuming, Tm = JRa / (k) as electromechanical time constant Then the above transfer function can be written as below: (s)/Va(s) = (1/k)/ [STm (1+STa)+1] --------(5) Let us assume that during starting of motor, load torque TL = 0 and applying full voltage Va Also assuming negligible armature inductance, the basic armature equation can be written as:
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Va = K(t) + IaRa

At the same time Torque equation will be:

Td = Jd/dt = KIa

----- (6)

Putting the value of Ia in above armature equation:

Va=K(t)+(Jd/dt)Ra/ K

Dividing on both sides by K,

Va/K=(t)+JRa(d/dt)/(K) Va/K is

------------------------(7)

the value of motor speed under no load condition. Therefore,

(no load)=(t)+JRa(d/dt)/(K) = (t) + Tm (d/dt) Where, K = Km or (say) And, Tm=JRa/(K)=JRam/(K)

Therefore, J = Tm (Km) / Ra --------- (8) From motor torque equation, we have: (s) = KmIa(s)/JS - TL/JS -------- (9) From equation (8) and (9), we have: (s) = [(Ra / Km) Ia(s) - TL Ra / (Km) ] (1/Tm(s)) Now, Replacing K by Km in equation (5), we will get: (s)/Va(s)=(1/Km) / (1+STm+STaTm) ------------ (10) Since, the armature time constant Ta is much less than the electromechanical time constant Tm,
(Ta << Tm)

Simplifying, 1 + STm + STaTm 1 + S (Ta+Tm) + STaTm = (1 + STm)(1 + STa) The largest time constant will play main role in delaying the system when the transfer function is in time constant form. To compensate that delay due to largest time constant we can use PI controller as speed controller. It is because the zero of the PI controller can be chosen in such a way that this large delay can be cancelled. In Control system term a time delay generally

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corresponds to a lag and zero means a lead, so the PI controller will try to compensate the whole system. Hence, the equation can be written as: (s)/Va(s) = (1/Km)/((1 + STm)(1 + STa)) -----(11)
Tm

and Ta are the time constants of the above system transfer function which will determine the

response of the system. Hence the dc motor can be replaced by the transfer function obtained in equation (11) in the DC drive model shown earlier.

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CHAPTER FIVE CONTROLLER DESIGN 5.1. CONTROLLER FUNDAMENTALS [11][12 The controller used in a closed loop provides a very easy and common technique of keeping motor speed at any desired set-point speed under changing load conditions. This controller can also be used to keep the speed at the set-point value when, the set-point is ramping up or down at a defined rate. The essential addition required for this condition to the previous system is a means for the present speed to be measured. In this closed loop speed controller, a voltage signal obtained from a Tacho-generator attached to the rotor which is proportional to the motor speed is fed back to the input where signal is subtracted from the set-point speed to produce an error signal. This error signal is then fed to work out what the magnitude of controller output will be to make the motor run at the desired set-point speed. For example, if the error speed is negative, this means the motor is running slow so that the controller output should be increased and vice-versa.

5.2. DECIDING THE TYPE OF CONTROLLER [11][12 The control action can be imagined at first sight as something simple like if the error speed is negative, then multiply it by some scale factor generally known as gain and set the output drive to the desired level. But this approach is only partially successful due to the following reason: if the motor is at the set-point speed under no load there is no error speed so the motor free runs. If a load is applied, the motor slows down and a positive error speed is observed. Then the output increases by a proportional amount to try and restore the desired speed. However, when the motor speed recovers, the error reduces drastically and so does the drive level. The result is that the motor speed will stabilize at a speed below the set-point speed at which the load is balanced by the product of error speed and the gain. This basic technique discussed above is known as "proportional control" and it has limited use as it can never force the motor to run exactly at the set-point speed. From the above discussion an improvement is required for the correction to the output which will keep on adding or subtracting a small amount to the output until the motor reaches the setpoint. This effect can be done by keeping a running total of the error speed observed for instant at regular interval of time and multiplying this by another gain before adding the result to the
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proportional correction found earlier. This approach is basically based on what is effectively the integration of the error in speed. Till now we have two mechanisms working simultaneously trying to correct the motor speed which constitutes a PI (proportional-integral) controller. The proportional term does the job of fast-acting correction which will produce a change in the output as quickly as the error arises. The integral action takes a finite time to act but has the capability to make the steady-state speed error zero. A further refinement uses the rate of change of error speed to apply an additional correction to the output drive. This is known as derivative approach. It can be used to give a very fast response to sudden changes in motor speed. In simple proportional-integral-derivative controllers it becomes difficult to generate a derivative term in the output that has any significant effect on motor speed. It can be deployed to reduce the rapid speed oscillation caused by high proportional gain. However, in many controllers, it is not used. The derivative action causes the noise (random error) in the main signal to be amplified and reflected in the controller output. Hence the most suitable controller for speed control is PI type controller.

5.3. IMPORTANCE OF CURRENT CONTROLLER IN A DC DRIVES SYSTEM [2][11][12] When the machine is made to run from zero speed to a high speed then motor has to go to specified speed. But due to electromechanical time constant motor will take some time to speed up. But the speed controller used for controlling speed acts very fast. Speed feedback is zero initially. So this will result in full controller output Ec (Vc) and hence converter will give maximum voltage. So a very large current flow at starting time because back Emf is zero at that time which sometime exceeds the motor maximum current limit and can damage the motor windings. Hence there is a need to control current in motor armature. To solve the above problem we can employ a current controller which will take care of motor rated current limit. The applied voltage Va will now not dependent on the speed error only but also on the current error. We should ensure that Va is applied in such a way that machine during positive and negative torque, does not draw more than the rated current. So, an inner current loop hence current controller is required.

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5.4. REPRESENTATION OF CHOPPER IN TRANSFER FUNCTION Since chopper takes a fixed DC input voltage and gives variable DC output voltage. It works on the principle Pulse Width Modulation technique. There is no time delay in its operation. Hence, it can be represented by a simple constant gain Kt. [6] 5.5. COMPLETE LAYOUT FOR DC MOTOR SPEED CONTROL [2][7]

Figure 5.1.Complete layout for DC motor speed control

5.6. CURRENT CONTROLLER DESIGN [2][11] The motor current can be sensed by current transducer. This signal is compared with reference speed. This error signal is given to current controller. The current controller produces control signal to the power converter for controlling the output. We need to design current controller for the extreme condition when back emf is zero that is during starting period because at that time large current flows through the machine.

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Fig 5.2 block model for current controller design

Transfer function of the above model:

Ia(s)(f)/Ia(s)ref={[Kc(1+TcS)/TcS](Kt)[(1/Ra)/(1+STa)}/{1+[Kc(1+TcS)/TcS]Kt[(1/Ra)/(1+STa)][K2/(1+T2S)]} -----(12) Here, Tc (Current Controller Parameter) can be varied as when required. Tc should be chosen such that it cancels the largest time constant in the transfer function in order to reduce order of the system. Now, the response will be much faster. So, let us assume Tc = Ta Now, putting this value in equation (12) Ia(S)(f)/ Ia(S)(ref) ={ Kc(Kt/TaRa)(1+T2S)} /{ S (1+T2S) + (KcKtK2)/TaRa} ---(13) Let, Ko = (KcKt/TaRa)
Ia(S)(f)/ Ia(S)(ref) =Ko(1+T2S) / [ST2+S+ KoK2] ---------- (14)

Where T2 corresponds filter lag. Dividing T2 on right hand side: Ia(S) (f)/ Ia(S) (ref) = {(Ko/T2) (1+T2S)}/ [S+S/T2 + KoK2/T2] ------ (15) Characteristic Equation:S+(S/T2)+ (KoK2/T2)S+2+

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here, = (KoK2)/T2 =1/ (2T) =1/2 (T2K2Ko) Since, it is a second order system. So, to get a proper response should be 0.707 So, 1/ (2) = (T2K2Ko) => Ko = 1/ (2K2T2) = KcKt / (RaTa)
Kc = (RaTa)/ (2KtK2T2)

Here, Ko = Kc Kt / (RaTa) = 1/ (2K2T2) => KoK2=1/2T2 Now, from equation-(14): Ia(S) (f)/ Ia(S) (ref) = {(1/K2) (1+T2S)}/ [2ST2+2ST2 + 1] --- (16) We can see that the zero in the above equation may result in an overshoot. Therefore, we will use a time lag filter to cancel its effect. The current loop time constant is much higher than filter time constant. Hence a small delay will not affect much
{Ia(S) (f)/ Ia(S) (ref)} (1+ST2) = {(1/K2) (1+T2S)}/[ 2ST2+2ST2 + 1] Hence,

Ia(S) (f) / Ia(S) (ref) = (1/K2)/ (2ST22ST2+1)

5.7. SPEED CONTROLLER DESIGN [2][11] The motor speed can be sensed by any one speed sensor and this signal is compared with reference speed. This error signal is given to speed controller. The speed controller produces control signal to the power converter.

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Figure 5.3.Block model for Speed Controller design

Now, converting the block model in transfer function, we will get: (s)/(s)(ref.)=
(Kn/K2)(Ra/KmTmTn)(1+TnS/(1+2T2S)S)/{1+(KnRa/K2KmTmTn)(1+TnS/(1+2T2S)S)(K1/(1+T1S))}

--------

(17) Here, we have the option to Tn such that it cancels the largest time constant of the transfer function
So, Tn = 2T2

Hence, equation --- (17) will be written as: (s)/(s)(ref.)=(KnRa/K2KmTmTn)(1+T1S)/{K2KmTnS2(1+T1S)+KnRaK1}

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CHAPTER SIX MATLAB SIMULATION, RESULTS AND ANALYSIS A separately excited DC motor with name plate ratings of 300KW, 460V (DC), 52.3 rad/sec is used in all Simulation. Following parameter values are associated with it. [9] Moment of Inertia, J = 84 Kg-m. Back EMF Constant = 8.5 Volt-sec/rad. Rated Current = 690 A. Maximum Current Limit = 1200 A. Resistance of Armature, Ra = 0.02342 ohm. Armature Inductance, La = 0.7026 mH. Speed Feedback Filter Time Constant T1 = 25 ms Current Filter Time Constant T2 = 3.5ms. Maximum controller output is 10 Volts. Rated torque =5500 N.m

Current Controller Parameter Current PI type controller is given by: Kc {(1+ TcS)/TcS} Here, Tc = Ta and Kc = RaTa/ (2K2KtT2)
Ta = La/Ra Kt

=0.7026 mH/0.02342 ohm= 30ms.

= 460/10 =46 because the maximum controller output is 10 Volts

Also, K2 = 10/1200 = 0.0083 Since Kc = RaTa/ (2K2KtT2) and putting the value of Ra, Ta, K2, Kt and T2
Kc

= 0.1762.

Speed Controller Parameter Speed PI type controller is given by: Kn{(1+TnS)/TnS}

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Here, Tn = 4(
Kn = TmKmK2/

+ (2K1

) =4(25+7) =128ms ( + ))

=10/52.3 =0.191
Tm = JRa/Km =84*0.02342 /8.5 =231ms

From the above Kn = 6.12 6.1MODEL BLOCK DIAGRAM

Fig 6.1 simulink block diagram of speed control

6.2 RESULTS OF THE BLOCK DIAGRAM MODEL The results of the block diagram are shown below under different cases such as actual speed equal to rated speed and full load torque, at speed equals actual speed and half of load torque, at half of speed and full load torque and half of load torque and the results shows good control speed in the above characteristics.
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1 speed response at reference speed equal with actual speed and full load torque
Speed Rad/S

Time in second

Fig 6.2 reference speed equal to actual speed

2 speed response at reference speed and half of rated torque. .

Speed Rad/s

Time in second

Fig 6.3 reference speed equal to actual speed and half rated torque.

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3 speed response at half reference speed and rated torque

Speed Rad/s

Time in second

Fig 6.4 half reference speed and load torque

4 speed response at half reference speed and half rated torque.

Speed Rad/s

Time in second

Fig 6.5 half of reference speed and half rated torque

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CHAPTER SEVEN LIMITATION, CONCLUSION AND RECOMMENDATION 7.1 LIMITATION OF THE PROJECT Lack of knowledge in different subject matters in our project especially, control system. Lack of time for the project and interruption of internet connection and this leads as to work the project in a subject matter with that of control and without any knowledge on it. Lack of experience on project affects as in the selection of appropriate title. 7.2 CONCLUSION The speed of a dc motor has been successfully controlled by using Chopper as a converter and Proportional-Integral type Speed and Current controller based on closed loop system model. Initially a simplified closed loop model for speed control of DC motor is considered and requirement of current controller is studied. Then a generalized modeling of dc motor is done. After that a complete layout of DC drive system is obtained. Then designing of current and speed controller is done. A DC motor specification is taken and corresponding parameters are found out from derived design approach. Finally simulation is done for the model Speed response at rated speed and rated load torque and by varying the load torque and reference speed. The system response or the simulation shows good results under all conditions employed during simulation. For the future scope of the project optimization of speed control loop is achieved through Modulus Hugging approach in order to reduce the error during starting and as much as possible we tries to implement the hard ware to see the actual feasibility of the project. 7.3 RECOMMENDATION In the project we have faced a lot of problems when working with the project especially in lack of knowledge in control system and mat lab and the interruption of internet even more than a week. Problems just like the above should be improved for the students who are working projects in different subject maters by giving them as a block course and detail dealing of the project by considering their gap in different subjects and the nature of the project.

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REFERANCES
[1] Rashid, M.H., Power Electronics, Prentice Hall of India, New Delhi, 1993. [2] Gopakumar, K., Power Electronics and Electrical Drives, Video Lectures 1-25, Centre [3] Ogata, K., Modern Control Engineering. Englewood Cliffs, NJ: Prentice Hall, 2001. [4] Moleykutty George., Speed Control of Separately Excited DC motor, American Journal of Applied Sciences, 5(3), 227-233, 2008. [5] Ned Mohan Power electronics and Drives, United States of America, 2003 edition. [6] Bimbhra, P.S., Power Electronics. New Delhi, Khanna Publishers, 2006. [7] Dubey, G.K., Fundamentals of Electrical Drives. New Delhi, Narosa Publishing House, 2009 [8] Biswanath P.Iindustrial electronics and Control second edition, New Delhi, 1991. [9] Closed loop control system International Journal of Advances in Engineering & Technology [10] Gopal, M., Control Systems, Principles and Design. New Delhi, Tata McGraw Hill Publishing Company limited 2008. [11] Lab View Based Speed Control of DC Motor European Journal of Scientific Research [12] Infineon Technologies, Basic DC motor speed PID control with the Infineon Technologies. [13] M.Kaliamoorthy power electronics and drives lecture notes AP/EEE, PSNACET [14] SIMULINK, Model-based and system-based design, using Simulink, Math Works Inc., Natick, MA, 2000. [15] MATLAB SIMULINK, version 2009, SimPowerSystem, One quadrant chopper DC drive. [16] www.wikipedia.org [17] Salam Dr. Zainal, UTJMB, Power Electronics and Drives (Version 3-2003).

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